Merge pull request #373 from adafruit/add-issue-template

add issue template

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,95 @@
+name: Bug Report
+description: Report a problem
+labels: 'Bug'
+body:
+  - type: markdown
+    attributes:
+      value: |
+        Thanks for taking the time to fill out this bug report!
+        It's okay to leave some blank if it doesn't apply to your problem.
+
+  - type: dropdown
+    attributes:
+      label: Operating System
+      options:
+              - Linux
+              - MacOS
+              - RaspberryPi OS
+              - Windows 7
+              - Windows 10
+              - Windows 11
+              - Others
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Arduino IDE version
+      placeholder: e.g Arduino 1.8.15
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Board
+      placeholder: e.g Metro M4 Express
+    validations:
+      required: true
+      
+  - type: input
+    attributes:
+      label: ArduinoCore version
+      description: Can be found under "Board Manager" menu
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Sketch as ATTACHED TXT
+      placeholder: |
+        e.g examples/MassStorage/msc_ramdisk.
+        If it is custom sketch, please provide it as **ATTACHED** files or link to it.
+        Pasting raw long code that hurts readability can get your issue **closed**
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Compiled Log as ATTACHED TXT
+      placeholder: |
+        Compiled log from Arduino IDE as **ATTACHED** txt.
+        Pasting raw long log that hurts readability can get your issue **closed**
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: What happened ?
+      placeholder: A clear and concise description of what the bug is.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: How to reproduce ?
+      placeholder: |
+        1. Go to '...'
+        2. Click on '....'
+        3. See error      
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Debug Log as ATTACHED TXT
+      placeholder: |
+        Debug log where the issue occurred as attached txt file, best with comments to explain the actual events.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshots
+      description: If applicable, add screenshots to help explain your problem.
+    validations:
+      required: false

.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Adafruit Support Forum
+    url: https://forums.adafruit.com
+    about: If you have other questions or need help, post it here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: Feature
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

.github/workflows/githubci.yml

@@ -0,0 +1,61 @@
+name: Build
+
+on: [pull_request, push]
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        board:
+          # Alphabetical order
+          - 'circuitplayground_m0'
+          - 'feather_m4_can'
+          - 'hallowing'
+          - 'hallowing_m4'
+          - 'metro_m0'
+          - 'metro_m4'
+          - 'pybadge_m4'
+          - 'pygamer_m4'
+          - 'pyportal_m4'
+          - 'pyportal_m4_titano'
+          # with TinyUSB
+          - 'metro_m0:usbstack=tinyusb'
+          - 'metro_m4:speed=120,usbstack=tinyusb'
+
+    runs-on: ubuntu-latest
+    
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+      with:
+        submodules: 'true'
+
+    - name: Install Arduino CLI and Tools
+      run: |
+        # make all our directories we need for files and libraries
+        mkdir $HOME/.arduino15
+        mkdir $HOME/.arduino15/packages
+        mkdir $HOME/Arduino
+        mkdir $HOME/Arduino/libraries
+        curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh
+        echo "$GITHUB_WORKSPACE/bin" >> $GITHUB_PATH
+        
+    - name: Install BSP and Libraries
+      env:
+        BSP_URL: https://adafruit.github.io/arduino-board-index/package_adafruit_index.json
+        BSP_PATH: .arduino15/packages/adafruit/hardware/samd
+      run: |
+        arduino-cli config init
+        arduino-cli core update-index
+        arduino-cli core update-index --additional-urls $BSP_URL        
+        arduino-cli core install arduino:samd --additional-urls $BSP_URL
+        arduino-cli core install adafruit:samd --additional-urls $BSP_URL
+        # Replace release BSP with our code
+        BSP_VERSION=`eval ls $HOME/$BSP_PATH`
+        rm -r $HOME/$BSP_PATH/*
+        ln -s $GITHUB_WORKSPACE $HOME/$BSP_PATH/$BSP_VERSION
+        arduino-cli lib install "Adafruit NeoPixel" "Adafruit seesaw Library" "Adafruit SPIFlash" "FlashStorage" "MIDI Library" "SD" "SdFat - Adafruit Fork"
+
+    - name: Build examples
+      run: python3 tools/build_all.py ${{ matrix.board }}

.gitignore

@@ -3,3 +3,4 @@
 
 bootloaders/*/build/
 *~
+/libraries/**/build/

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "libraries/Adafruit_TinyUSB_Arduino"]
+	path = libraries/Adafruit_TinyUSB_Arduino
+	url = https://github.com/adafruit/Adafruit_TinyUSB_Arduino.git
+[submodule "libraries/Adafruit_ZeroDMA"]
+	path = libraries/Adafruit_ZeroDMA
+	url = https://github.com/adafruit/Adafruit_ZeroDMA

README.md

@@ -1,5 +1,7 @@
 # Arduino Core for SAMD21 and SAMD51 CPU
 
+[![Build Status](https://github.com/adafruit/ArduinoCore-samd/workflows/Build/badge.svg)](https://github.com/adafruit/ArduinoCore-samd/actions)
+
 This repository contains the source code and configuration files of the Arduino Core
 for Atmel's SAMD21 and SAMD51 processor (used on the Arduino/Genuino Zero, MKR1000 and MKRZero boards).
 

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21e15a.h

@@ -218,7 +218,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21e16a.h

@@ -218,7 +218,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21e17a.h

@@ -218,7 +218,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21e18a.h

@@ -218,7 +218,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21g15a.h

@@ -222,7 +222,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21g16a.h

@@ -222,7 +222,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21g17a.h

@@ -222,7 +222,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21g18a.h

@@ -222,7 +222,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21j15a.h

@@ -226,7 +226,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21j16a.h

@@ -226,7 +226,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21j17a.h

@@ -226,7 +226,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/mzero/Bootloader_D21/src/ASF/sam0/utils/cmsis/samd21/include/samd21j18a.h

@@ -226,7 +226,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21e15a.h

@@ -218,7 +218,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21e16a.h

@@ -218,7 +218,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21e17a.h

@@ -218,7 +218,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21e18a.h

@@ -218,7 +218,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21g15a.h

@@ -222,7 +222,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21g16a.h

@@ -222,7 +222,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21g17a.h

@@ -222,7 +222,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21g18a.h

@@ -222,7 +222,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21j15a.h

@@ -226,7 +226,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21j16a.h

@@ -226,7 +226,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21j17a.h

@@ -226,7 +226,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

bootloaders/sofia/Bootloader_D21_Sofia_V2.1/src/ASF/sam0/utils/cmsis/samd21/include/samd21j18a.h

@@ -226,7 +226,11 @@ void I2S_Handler                 ( void );
  * \brief Configuration of the Cortex-M0+ Processor and Core Peripherals
  */
 
+#if defined(LITTLE_ENDIAN) && (LITTLE_ENDIAN != 1)
+  #error "Little Endian is already defined, but to different value than expected?!"
+#else
   #define LITTLE_ENDIAN          1
+#endif
 #define __CM0PLUS_REV          1         /*!< Core revision r0p1 */
 #define __MPU_PRESENT          0         /*!< MPU present or not */
 #define __NVIC_PRIO_BITS       2         /*!< Number of bits used for Priority Levels */

cores/arduino/Arduino.h

@@ -46,7 +46,6 @@ extern "C"{
 
 // Include Atmel headers
 #include "sam.h"
-
 #include "wiring_constants.h"
 
 #define clockCyclesPerMicrosecond() ( SystemCoreClock / 1000000L )
@@ -97,8 +96,33 @@ void loop( void ) ;
 #undef abs
 #endif // abs
 
-#define min(a,b) ((a)<(b)?(a):(b))
-#define max(a,b) ((a)>(b)?(a):(b))
+#ifdef __cplusplus
+  template<class T, class L> 
+  auto min(const T& a, const L& b) -> decltype((b < a) ? b : a)
+  {
+    return (b < a) ? b : a;
+  }
+
+  template<class T, class L> 
+  auto max(const T& a, const L& b) -> decltype((b < a) ? b : a)
+  {
+    return (a < b) ? b : a;
+  }
+#else
+#ifndef min
+#define min(a,b) \
+   ({ __typeof__ (a) _a = (a); \
+       __typeof__ (b) _b = (b); \
+     _a < _b ? _a : _b; })
+#endif
+#ifndef max
+#define max(a,b) \
+   ({ __typeof__ (a) _a = (a); \
+       __typeof__ (b) _b = (b); \
+     _a > _b ? _a : _b; })
+#endif
+#endif
+
 #define abs(x) ((x)>0?(x):-(x))
 #define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
 #define round(x)     ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
@@ -124,10 +148,15 @@ void loop( void ) ;
 #define digitalPinToInterrupt(P)   ( P )
 #endif
 
-// USB Device
+// USB
+#ifdef USE_TINYUSB
+  // Needed for declaring Serial
+  #include "Adafruit_USBD_CDC.h"
+#else
   #include "USB/USBDesc.h"
   #include "USB/USBCore.h"
   #include "USB/USBAPI.h"
   #include "USB/USB_host.h"
+#endif
 
 #endif // Arduino_h

cores/arduino/Print.cpp

@@ -94,6 +94,28 @@ size_t Print::print(unsigned long n, int base)
   else return printNumber(n, base);
 }
 
+size_t Print::print(long long n, int base)
+{
+  if (base == 0) {
+    return write(n);
+  } else if (base == 10) {
+    if (n < 0) {
+      int t = print('-');
+      n = -n;
+      return printULLNumber(n, 10) + t;
+    }
+    return printULLNumber(n, 10);
+  } else {
+    return printULLNumber(n, base);
+  }
+}
+
+size_t Print::print(unsigned long long n, int base)
+{
+  if (base == 0) return write(n);
+  else return printULLNumber(n, base);
+}
+
 size_t Print::print(double n, int digits)
 {
   return printFloat(n, digits);
@@ -172,6 +194,20 @@ size_t Print::println(unsigned long num, int base)
   return n;
 }
 
+size_t Print::println(long long num, int base)
+{
+  size_t n = print(num, base);
+  n += println();
+  return n;
+}
+
+size_t Print::println(unsigned long long num, int base)
+{
+  size_t n = print(num, base);
+  n += println();
+  return n;
+}
+
 size_t Print::println(double num, int digits)
 {
   size_t n = print(num, digits);
@@ -218,6 +254,81 @@ size_t Print::printNumber(unsigned long n, uint8_t base)
   return write(str);
 }
 
+// REFERENCE IMPLEMENTATION FOR ULL
+// size_t Print::printULLNumber(unsigned long long n, uint8_t base)
+// {
+  // // if limited to base 10 and 16 the bufsize can be smaller
+  // char buf[65];
+  // char *str = &buf[64];
+
+  // *str = '\0';
+
+  // // prevent crash if called with base == 1
+  // if (base < 2) base = 10;
+
+    // do {
+      // unsigned long long t = n / base;
+      // char c = n - t * base;  // faster than c = n%base;
+      // n = t;
+      // *--str = c < 10 ? c + '0' : c + 'A' - 10;
+  // } while(n);
+
+  // return write(str);
+// }
+
+// FAST IMPLEMENTATION FOR ULL
+size_t Print::printULLNumber(unsigned long long n64, uint8_t base)
+{
+  // if limited to base 10 and 16 the bufsize can be 20
+  char buf[64];
+  uint8_t i = 0;
+  uint8_t innerLoops = 0;
+
+  // prevent crash if called with base == 1
+  if (base < 2) base = 10;
+
+  // process chunks that fit in "16 bit math".
+  uint16_t top = 0xFFFF / base;
+  uint16_t th16 = 1;
+  while (th16 < top)
+  {
+    th16 *= base;
+    innerLoops++;
+  }
+
+  while (n64 > th16)
+  {
+    // 64 bit math part
+    uint64_t q = n64 / th16;
+    uint16_t r = n64 - q*th16;
+    n64 = q;
+
+    // 16 bit math loop to do remainder. (note buffer is filled reverse)
+    for (uint8_t j=0; j < innerLoops; j++)
+    {
+      uint16_t qq = r/base;
+      buf[i++] = r - qq*base;
+      r = qq;
+    }
+  }
+
+  uint16_t n16 = n64;
+  while (n16 > 0)
+  {
+    uint16_t qq = n16/base;
+    buf[i++] = n16 - qq*base;
+    n16 = qq;
+  }
+
+  size_t bytes = i;
+  for (; i > 0; i--)
+    write((char) (buf[i - 1] < 10 ?
+    '0' + buf[i - 1] :
+    'A' + buf[i - 1] - 10));
+
+  return bytes;
+}
+
 size_t Print::printFloat(double number, uint8_t digits)
 {
   size_t n = 0;
@@ -262,3 +373,4 @@ size_t Print::printFloat(double number, uint8_t digits)
 
   return n;
 }
+

cores/arduino/Print.h

@@ -37,6 +37,7 @@ class Print
   private:
     int write_error;
     size_t printNumber(unsigned long, uint8_t);
+    size_t printULLNumber(unsigned long long, uint8_t);
     size_t printFloat(double, uint8_t);
   protected:
     void setWriteError(int err = 1) { write_error = err; }
@@ -69,6 +70,8 @@ class Print
     size_t print(unsigned int, int = DEC);
     size_t print(long, int = DEC);
     size_t print(unsigned long, int = DEC);
+    size_t print(long long, int = DEC);
+    size_t print(unsigned long long, int = DEC);
     size_t print(double, int = 2);
     size_t print(const Printable&);
 
@@ -81,6 +84,8 @@ class Print
     size_t println(unsigned int, int = DEC);
     size_t println(long, int = DEC);
     size_t println(unsigned long, int = DEC);
+    size_t println(long long, int = DEC);
+    size_t println(unsigned long long, int = DEC);
     size_t println(double, int = 2);
     size_t println(const Printable&);
     size_t println(void);

cores/arduino/Reset.cpp

@@ -29,7 +29,7 @@ extern "C" {
 #if (ARDUINO_SAMD_VARIANT_COMPLIANCE >= 10610)
 
 extern const uint32_t __text_start__;
-#define APP_START ((volatile uint32_t)(&__text_start__) + 4)
+#define APP_START ((uint32_t)(&__text_start__) + 4)
 
 #else
 

cores/arduino/RingBuffer.h

@@ -29,7 +29,7 @@
 // location from which to read.
 
 #ifndef SERIAL_BUFFER_SIZE
-#define SERIAL_BUFFER_SIZE 256
+#define SERIAL_BUFFER_SIZE 350
 #endif
 
 template <int N>

cores/arduino/SERCOM.cpp

@@ -537,8 +537,18 @@ bool SERCOM::startTransmissionWIRE(uint8_t address, SercomWireReadWriteFlag flag
   // 7-bits address + 1-bits R/W
   address = (address << 0x1ul) | flag;
 
-  // Wait idle or owner bus mode
-   while ( !isBusIdleWIRE() && !isBusOwnerWIRE() );
+  // If another master owns the bus or the last bus owner has not properly
+  // sent a stop, return failure early. This will prevent some misbehaved
+  // devices from deadlocking here at the cost of the caller being responsible
+  // for retrying the failed transmission. See SercomWireBusState for the
+  // possible bus states.
+  if(!isBusOwnerWIRE())
+  {
+    if( isBusBusyWIRE() || (isArbLostWIRE() && !isBusIdleWIRE()) || isBusUnknownWIRE() )
+    {
+      return false;
+    }
+  }
 
   // Send start and address
   sercom->I2CM.ADDR.bit.ADDR = address;
@@ -546,29 +556,35 @@ bool SERCOM::startTransmissionWIRE(uint8_t address, SercomWireReadWriteFlag flag
   // Address Transmitted
   if ( flag == WIRE_WRITE_FLAG ) // Write mode
   {
-    while( !sercom->I2CM.INTFLAG.bit.MB )
-    {
+    while( !sercom->I2CM.INTFLAG.bit.MB ) {
       // Wait transmission complete
+
+      // If certain errors occur, the MB bit may never be set (RFTM: SAMD21 sec:28.10.6; SAMD51 sec:36.10.7).
+      // The data transfer errors that can occur (including BUSERR) are all
+      // rolled up into INTFLAG.bit.ERROR from STATUS.reg
+      if (sercom->I2CM.INTFLAG.bit.ERROR) {
+        return false;
+      }
     }
   }
   else  // Read mode
   {
-    while( !sercom->I2CM.INTFLAG.bit.SB )
-    {
+    while( !sercom->I2CM.INTFLAG.bit.SB ) {
+      // Wait transmission complete
+
       // If the slave NACKS the address, the MB bit will be set.
+      // A variety of errors in the STATUS register can set the ERROR bit in the INTFLAG register
       // In that case, send a stop condition and return false.
-        if (sercom->I2CM.INTFLAG.bit.MB) {
+      if (sercom->I2CM.INTFLAG.bit.MB || sercom->I2CM.INTFLAG.bit.ERROR) {
         sercom->I2CM.CTRLB.bit.CMD = 3; // Stop condition
         return false;
       }
-      // Wait transmission complete
     }
 
     // Clean the 'Slave on Bus' flag, for further usage.
     //sercom->I2CM.INTFLAG.bit.SB = 0x1ul;
   }
 
-
   //ACK received (0: ACK, 1: NACK)
   if(sercom->I2CM.STATUS.bit.RXNACK)
   {
@@ -587,10 +603,11 @@ bool SERCOM::sendDataMasterWIRE(uint8_t data)
 
   //Wait transmission successful
   while(!sercom->I2CM.INTFLAG.bit.MB) {
-
-    // If a bus error occurs, the MB bit may never be set.
-    // Check the bus error bit and bail if it's set.
-    if (sercom->I2CM.STATUS.bit.BUSERR) {
+    // If a data transfer error occurs, the MB bit may never be set.
+    // Check the error bit and bail if it's set.
+    // The data transfer errors that can occur (including BUSERR) are all
+    // rolled up into INTFLAG.bit.ERROR from STATUS.reg
+    if (sercom->I2CM.INTFLAG.bit.ERROR) {
       return false;
     }
   }
@@ -634,6 +651,21 @@ bool SERCOM::isBusOwnerWIRE( void )
   return sercom->I2CM.STATUS.bit.BUSSTATE == WIRE_OWNER_STATE;
 }
 
+bool SERCOM::isBusUnknownWIRE( void )
+{
+  return sercom->I2CM.STATUS.bit.BUSSTATE == WIRE_UNKNOWN_STATE;
+}
+
+bool SERCOM::isArbLostWIRE( void )
+{
+  return sercom->I2CM.STATUS.bit.ARBLOST == 1;
+}
+
+bool SERCOM::isBusBusyWIRE( void )
+{
+  return sercom->I2CM.STATUS.bit.BUSSTATE == WIRE_BUSY_STATE;
+}
+
 bool SERCOM::isDataReadyWIRE( void )
 {
   return sercom->I2CS.INTFLAG.bit.DRDY;
@@ -676,9 +708,17 @@ uint8_t SERCOM::readDataWIRE( void )
 {
   if(isMasterWIRE())
   {
-    while( sercom->I2CM.INTFLAG.bit.SB == 0 )
-    {
+    while (sercom->I2CM.INTFLAG.bit.SB == 0) {
       // Waiting complete receive
+      // A variety of errors in the STATUS register can set the ERROR bit in the INTFLAG register
+      // In that case, send a stop condition and return false.
+      // readDataWIRE should really be able to indicate an error (which would never be used
+      // because the readDataWIRE callers (in Wire.cpp) should have checked availableWIRE() first and timed it
+      // out if the data never showed up
+      if (sercom->I2CM.INTFLAG.bit.MB || sercom->I2CM.INTFLAG.bit.ERROR) {
+        sercom->I2CM.CTRLB.bit.CMD = 3; // Stop condition
+        return 0xFF;
+      }
     }
 
     return sercom->I2CM.DATA.bit.DATA ;

cores/arduino/SERCOM.h

@@ -225,6 +225,9 @@ class SERCOM
 		bool isSlaveWIRE( void ) ;
 		bool isBusIdleWIRE( void ) ;
 		bool isBusOwnerWIRE( void ) ;
+		bool isBusUnknownWIRE( void ) ;
+		bool isArbLostWIRE( void );
+		bool isBusBusyWIRE( void );
 		bool isDataReadyWIRE( void ) ;
 		bool isStopDetectedWIRE( void ) ;
 		bool isRestartDetectedWIRE( void ) ;
@@ -245,7 +248,7 @@ class SERCOM
 		uint32_t getFreqRef(void) { return freqRef; };
 #else
 		// The equivalent SAMD21 dummy functions...
-		void setClockSource(int8_t idx, SercomClockSource src, bool core) { };
+		void setClockSource(int8_t idx, SercomClockSource src, bool core) { (void)idx; (void)src; (void)core; };
 		SercomClockSource getClockSource(void) { return SERCOM_CLOCK_SOURCE_FCPU; };
 		uint32_t getFreqRef(void) { return F_CPU; };
 #endif

cores/arduino/Stream.cpp

@@ -35,6 +35,7 @@ int Stream::timedRead()
   do {
     c = read();
     if (c >= 0) return c;
+    yield(); // running TinyUSB task
   } while(millis() - _startMillis < _timeout);
   return -1;     // -1 indicates timeout
 }
@@ -47,6 +48,7 @@ int Stream::timedPeek()
   do {
     c = peek();
     if (c >= 0) return c;
+    yield(); // running TinyUSB task
   } while(millis() - _startMillis < _timeout);
   return -1;     // -1 indicates timeout
 }

cores/arduino/Tone.cpp

@@ -20,12 +20,6 @@
 #include "Tone.h"
 #include "variant.h"
 
-#if defined(__SAMD51__) 
-#define WAIT_TC16_REGS_SYNC(x) while(x->COUNT16.SYNCBUSY.bit.ENABLE);
-#else
-#define WAIT_TC16_REGS_SYNC(x) while(x->COUNT16.STATUS.bit.SYNCBUSY);
-#endif
-
 uint32_t toneMaxFrequency = F_CPU / 2;
 uint32_t lastOutputPin = 0xFFFFFFFF;
 
@@ -37,22 +31,24 @@ volatile bool toneIsActive = false;
 volatile bool firstTimeRunning = false;
 
 #if defined(__SAMD51__)
-#define TONE_TC         TC3
-#define TONE_TC_IRQn    TC3_IRQn
-#define TONE_TC_GCLK_ID	TC3_GCLK_ID
+  #define TONE_TC         TC0
+  #define TONE_TC_IRQn    TC0_IRQn
+  #define TONE_TC_GCLK_ID	TC0_GCLK_ID
+  #define Tone_Handler    TC0_Handler
+
+  #define WAIT_TC16_REGS_SYNC(x) while(x->COUNT16.SYNCBUSY.bit.ENABLE);
+
 #else
   #define TONE_TC         TC5
   #define TONE_TC_IRQn    TC5_IRQn
+  #define Tone_Handler    TC5_Handler
+
+  #define WAIT_TC16_REGS_SYNC(x) while(x->COUNT16.STATUS.bit.SYNCBUSY);
 #endif
+
 #define TONE_TC_TOP     0xFFFF
 #define TONE_TC_CHANNEL 0
 
-#if defined(__SAMD51__)
-void TC2_Handler (void) __attribute__ ((weak, alias("Tone_Handler")));
-#else
-void TC5_Handler (void) __attribute__ ((weak, alias("Tone_Handler")));
-#endif
-
 static inline void resetTC (Tc* TCx)
 {
   // Disable TCx
@@ -72,6 +68,14 @@ void toneAccurateClock (uint32_t accurateSystemCoreClockFrequency)
 
 void tone (uint32_t outputPin, uint32_t frequency, uint32_t duration)
 {
+
+  // Avoid divide by zero error by calling 'noTone' instead
+  if (frequency == 0)
+  {
+    noTone(outputPin);
+    return;
+  }
+
   // Configure interrupt request
   NVIC_DisableIRQ(TONE_TC_IRQn);
   NVIC_ClearPendingIRQ(TONE_TC_IRQn);
@@ -80,7 +84,7 @@ void tone (uint32_t outputPin, uint32_t frequency, uint32_t duration)
   {
     firstTimeRunning = true;
     
-    NVIC_SetPriority(TONE_TC_IRQn, 0);
+    NVIC_SetPriority(TONE_TC_IRQn, 5);
 
 #if defined(__SAMD51__)
     GCLK->PCHCTRL[TONE_TC_GCLK_ID].reg = GCLK_PCHCTRL_GEN_GCLK0_Val | (1 << GCLK_PCHCTRL_CHEN_Pos);
@@ -91,9 +95,6 @@ void tone (uint32_t outputPin, uint32_t frequency, uint32_t duration)
 #endif
   }
   
-  //if it's a rest, set to 1Hz (below audio range)
-  frequency = (frequency > 0 ? frequency : 1);
-  
   if (toneIsActive && (outputPin != lastOutputPin))
     noTone(lastOutputPin);
 
@@ -178,11 +179,21 @@ void tone (uint32_t outputPin, uint32_t frequency, uint32_t duration)
 }
 
 void noTone (uint32_t outputPin)
+{
+  /* 'tone' need to run at least once in order to enable GCLK for
+   * the timers used for the tone-functionality. If 'noTone' is called
+   * without ever calling 'tone' before then 'WAIT_TC16_REGS_SYNC(TCx)'
+   * will wait infinitely. The variable 'firstTimeRunning' is set the
+   * 1st time 'tone' is set so it can be used to detect wether or not
+   * 'tone' has been called before.
+   */
+  if(firstTimeRunning)
   {
     resetTC(TONE_TC);
     digitalWrite(outputPin, LOW);
     toneIsActive = false;
   }
+}
 
 #ifdef __cplusplus
 extern "C" {

cores/arduino/USB/CDC.cpp

@@ -16,6 +16,8 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
+#ifndef USE_TINYUSB
+
 #include <Arduino.h>
 #include <Reset.h> // Needed for auto-reset with 1200bps port touch
 
@@ -257,6 +259,52 @@ Serial_::operator bool()
 	return result;
 }
 
+int32_t Serial_::readBreak() {
+	uint8_t enableInterrupts = ((__get_PRIMASK() & 0x1) == 0);
+
+	// disable interrupts,
+	// to avoid clearing a breakValue that might occur 
+	// while processing the current break value
+	__disable_irq();
+
+	int32_t ret = breakValue;
+
+	breakValue = -1;
+
+	if (enableInterrupts) {
+		// re-enable the interrupts
+		__enable_irq();
+	}
+
+	return ret;
+}
+
+unsigned long Serial_::baud() {
+	return _usbLineInfo.dwDTERate;
+}
+
+uint8_t Serial_::stopbits() {
+	return _usbLineInfo.bCharFormat;
+}
+
+uint8_t Serial_::paritytype() {
+	return _usbLineInfo.bParityType;
+}
+
+uint8_t Serial_::numbits() {
+	return _usbLineInfo.bDataBits;
+}
+
+bool Serial_::dtr() {
+	return _usbLineInfo.lineState & 0x1;
+}
+
+bool Serial_::rts() {
+	return _usbLineInfo.lineState & 0x2;
+}
+
 Serial_ Serial(USBDevice);
 
 #endif
+
+#endif // USE_TINYUSB

cores/arduino/USB/PluggableUSB.cpp

@@ -17,6 +17,8 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
+#ifndef USE_TINYUSB
+
 #include "USBAPI.h"
 #include "USBDesc.h"
 #include "USBCore.h"
@@ -114,3 +116,5 @@ PluggableUSB_::PluggableUSB_() : lastIf(CDC_ACM_INTERFACE + CDC_INTERFACE_COUNT)
 
 #endif
 #endif
+
+#endif // USE_TINYUSB

cores/arduino/USB/SAMD21_USBDevice.cpp

@@ -5,6 +5,7 @@
  *      Author: deanm
  */
 
+#ifndef USE_TINYUSB
 
 #include "SAMD21_USBDevice.h"
 
@@ -36,3 +37,5 @@ void USBDevice_SAMD21G18x::calibrate() {
     usb.PADCAL.bit.TRANSP = pad_transp;
     usb.PADCAL.bit.TRIM   = pad_trim;
 }
+
+#endif // USE_TINYUSB

cores/arduino/USB/USBAPI.h

@@ -85,7 +85,7 @@ public:
 	uint32_t sendControl(int /* ep */, const void *data, uint32_t len) { return sendControl(data, len); }
 	uint32_t recvControl(void *data, uint32_t len);
 	uint32_t sendConfiguration(uint32_t maxlen);
-	bool sendStringDescriptor(const uint8_t *string, uint8_t maxlen);
+	bool sendStringDescriptor(const uint8_t *string, uint32_t maxlen);
 	void initControl(int end);
 	uint8_t SendInterfaces(uint32_t* total);
 	void packMessages(bool val);

cores/arduino/USB/USBCore.cpp

@@ -16,7 +16,7 @@
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
-
+#ifndef USE_TINYUSB
 #if defined(USBCON)
 
 #include <Arduino.h>
@@ -110,12 +110,12 @@ static EPHandler *epHandlers[7] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL};
 // Send a USB descriptor string. The string is stored as a
 // plain ASCII string but is sent out as UTF-16 with the
 // correct 2-byte prefix
-bool USBDeviceClass::sendStringDescriptor(const uint8_t *string, uint8_t maxlen)
+bool USBDeviceClass::sendStringDescriptor(const uint8_t *string, uint32_t maxlen)
 {
 	if (maxlen < 2)
 		return false;
 
-	uint8_t buffer[maxlen];
+	uint8_t* buffer = (uint8_t*)malloc(maxlen);
 	buffer[0] = strlen((const char*)string) * 2 + 2;
 	buffer[1] = 0x03;
 
@@ -126,7 +126,9 @@ bool USBDeviceClass::sendStringDescriptor(const uint8_t *string, uint8_t maxlen)
 		buffer[i] = 0;
 	}
 
-	return USBDevice.sendControl(buffer, i);
+	bool ret = USBDevice.sendControl(buffer, i);
+	free(buffer);
+	return ret;
 }
 
 bool _dry_run = false;
@@ -244,26 +246,25 @@ bool USBDeviceClass::sendDescriptor(USBSetup &setup)
 		}
 		else if (setup.wValueL == ISERIAL) {
 #ifdef PLUGGABLE_USB_ENABLED
-#if defined(__SAMD51__)
-			char name[ISERIAL_MAX_LEN];
-			PluggableUSB().getShortName(name);
-			return sendStringDescriptor((uint8_t*)name, setup.wLength);
-#else
+#ifdef __SAMD51__
+			#define SERIAL_NUMBER_WORD_0	*(volatile uint32_t*)(0x008061FC)
+			#define SERIAL_NUMBER_WORD_1	*(volatile uint32_t*)(0x00806010)
+			#define SERIAL_NUMBER_WORD_2	*(volatile uint32_t*)(0x00806014)
+			#define SERIAL_NUMBER_WORD_3	*(volatile uint32_t*)(0x00806018)
+#else // samd21
 			// from section 9.3.3 of the datasheet
 			#define SERIAL_NUMBER_WORD_0	*(volatile uint32_t*)(0x0080A00C)
 			#define SERIAL_NUMBER_WORD_1	*(volatile uint32_t*)(0x0080A040)
 			#define SERIAL_NUMBER_WORD_2	*(volatile uint32_t*)(0x0080A044)
 			#define SERIAL_NUMBER_WORD_3	*(volatile uint32_t*)(0x0080A048)
-
+#endif
 			char name[ISERIAL_MAX_LEN];
 			utox8(SERIAL_NUMBER_WORD_0, &name[0]);
 			utox8(SERIAL_NUMBER_WORD_1, &name[8]);
 			utox8(SERIAL_NUMBER_WORD_2, &name[16]);
 			utox8(SERIAL_NUMBER_WORD_3, &name[24]);
-
-			PluggableUSB().getShortName(&name[32]);
+			name[32] = '\0';
 			return sendStringDescriptor((uint8_t*)name, setup.wLength);
-#endif
 #endif
 		}
 		else {
@@ -878,6 +879,7 @@ bool USBDeviceClass::handleStandardSetup(USBSetup &setup)
 			sendZlp(0);
 			return true;
 		}
+		return false;
 
 	case SET_ADDRESS:
 		setAddress(setup.wValueL);
@@ -1039,3 +1041,4 @@ void USBDeviceClass::ISRHandler()
 USBDeviceClass USBDevice;
 
 #endif
+#endif // USE_TINYUSB

cores/arduino/USB/samd21_host.c

@@ -17,6 +17,7 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
+#ifndef USE_TINYUSB
 
 #include <stdio.h>
 #include <stdint.h>
@@ -553,3 +554,5 @@ uint32_t UHD_Pipe_Is_Transfer_Complete(uint32_t ul_pipe, uint32_t ul_token_type)
 // }
 
 #endif //  HOST_DEFINED
+
+#endif // USE_TINYUSB

cores/arduino/WInterrupts.c

@@ -250,8 +250,9 @@ void detachInterrupt(uint32_t pin)
  * External Interrupt Controller NVIC Interrupt Handler
  */
 #if defined(__SAMD51__)
-void InterruptHandler(uint32_t i)
+void InterruptHandler(uint32_t unused_i)
 {
+  (void)unused_i;
   // Calling the routine directly from -here- takes about 1us
   // Depending on where you are in the list it will take longer
 

cores/arduino/WInterrupts.h

@@ -31,7 +31,7 @@ extern "C" {
 #define FALLING 3
 #define RISING 4
 
-#define DEFAULT 1
+//#define DEFAULT 1
 #define EXTERNAL 0
 
 typedef void (*voidFuncPtr)(void);

cores/arduino/WString.cpp

@@ -693,12 +693,21 @@ void String::remove(unsigned int index){
 }
 
 void String::remove(unsigned int index, unsigned int count){
-	if (index >= len) { return; }
-	if (count <= 0) { return; }
-	if (count > len - index) { count = len - index; }
+	// removes characters from the middle of a string.
+	if (count <= 0) { return; }   // exit if nothing to remove
+	if (index >= len) { return; } // ensure start is within string length; thus, ensures (len-index >= 1)
+	if (count > len - index) {    // ensure characters to remove is no larger than total length remaining
+		count = len - index;
+	}
 	char *writeTo  = buffer + index;
+	char *copyFrom = buffer + index + count;
 	len = len - count;
-	strncpy(writeTo, buffer + index + count,len - index);
+	
+	// strncpy() cannot be used with overlapping buffers, so copy one char at a time
+	unsigned int charactersToMove = len - index; // yes, uses post-adjusted length
+	for (unsigned int i = 0; i < charactersToMove; i++, writeTo++, copyFrom++) {
+		*writeTo = *copyFrom;
+	}
 	buffer[len] = 0;
 }
 

cores/arduino/WVariant.h

@@ -57,6 +57,8 @@ typedef enum _EAnalogChannel
   ADC_Channel19=19,
   DAC_Channel0,
   DAC_Channel1,
+  ADC_Channel_Bandgap=0x1B,
+  ADC_Channel_PTAT=0x1C,
 } EAnalogChannel ;
 
 #if defined(__SAMD51__)
@@ -88,7 +90,7 @@ typedef enum _ETCChannel
   TC3_CH0 =  (6<<8)|(0),
   TC3_CH1 =  (6<<8)|(1),
 } ETCChannel ;
-#elif defined(__SAMD51J19A__) || defined(__SAMD51J20A__)
+#elif defined(__SAMD51J19A__) || defined(__SAMD51J20A__) || defined(__SAME51J19A__)
 
 typedef enum _ETCChannel
 {
@@ -99,10 +101,16 @@ typedef enum _ETCChannel
   TCC0_CH3 = (0<<8)|(3),
   TCC0_CH4 = (0<<8)|(4),
   TCC0_CH5 = (0<<8)|(5),
+  TCC0_CH6 = (0<<8)|(6),
+  TCC0_CH7 = (0<<8)|(7),
   TCC1_CH0 = (1<<8)|(0),
   TCC1_CH1 = (1<<8)|(1),
   TCC1_CH2 = (1<<8)|(2),
   TCC1_CH3 = (1<<8)|(3),
+  TCC1_CH4 = (1<<8)|(4),
+  TCC1_CH5 = (1<<8)|(5),
+  TCC1_CH6 = (1<<8)|(6),
+  TCC1_CH7 = (1<<8)|(7),
   TCC2_CH0 = (2<<8)|(0),
   TCC2_CH1 = (2<<8)|(1),
   TCC2_CH2 = (2<<8)|(2),
@@ -122,9 +130,13 @@ typedef enum _ETCChannel
   TC4_CH1 =  (9<<8)|(1),
   TC5_CH0 =  (10<<8)|(0),
   TC5_CH1 =  (10<<8)|(1),
+  TC6_CH0 =  (11<<8)|(0),
+  TC6_CH1 =  (11<<8)|(1),
+  TC7_CH0 =  (12<<8)|(0),
+  TC7_CH1 =  (12<<8)|(1),
 } ETCChannel ;
 
-#elif defined(__SAMD51P19A__) || defined(__SAMD51P20A__)
+#elif defined(__SAME53N20A__) || defined(__SAME53N19A__) || defined(__SAME54P20A__) || defined(__SAME54P19A__) || defined(__SAME54N20A__) || defined(__SAME54N19A__) || defined(__SAMD51P20A__) || defined(__SAMD51P19A__) || defined(__SAMD51N20A__) || defined(__SAMD51N19A__) || defined(__SAME51N20A__) || defined(__SAME51N19A__)
 
 typedef enum _ETCChannel
 {
@@ -198,6 +210,12 @@ typedef enum _ETCChannel
   TC4_CH1  = (4<<8)|(1),
   TC5_CH0  = (5<<8)|(0),
   TC5_CH1  = (5<<8)|(1),
+  #if defined (__SAMD21J18A__) 
+    TC6_CH0  = (6<<8)|(0),
+    TC6_CH1  = (6<<8)|(1),
+    TC7_CH0  = (7<<8)|(0),
+    TC7_CH1  = (7<<8)|(1),
+  #endif // __SAMD21J18A__
 } ETCChannel ;
 
 // Definitions for PWM channels

cores/arduino/avr/io.h

@@ -25,8 +25,14 @@
 #ifndef _IO_H_
 #define _IO_H_
 
+#ifdef __SAMD51__
+  #define RAMSTART (HSRAM_ADDR)
+  #define RAMSIZE  (HSRAM_SIZE)
+#else
   #define RAMSTART (HMCRAMC0_ADDR)
   #define RAMSIZE  (HMCRAMC0_SIZE)
+#endif
+
 #define RAMEND   (RAMSTART + RAMSIZE - 1)
 
 #endif

cores/arduino/cortex_handlers.c

@@ -127,10 +127,13 @@ void SERCOM7_0_Handler           ( void ) __attribute__ ((weak, alias("Dummy_Han
 void SERCOM7_1_Handler           ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
 void SERCOM7_2_Handler           ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
 void SERCOM7_3_Handler           ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void CAN0_Handler                ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void CAN1_Handler                ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
 void USB_0_Handler               ( void ) __attribute__ ((weak));
 void USB_1_Handler               ( void ) __attribute__ ((weak));
 void USB_2_Handler               ( void ) __attribute__ ((weak));
 void USB_3_Handler               ( void ) __attribute__ ((weak));
+void GMAC_Handler                ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
 void TCC0_0_Handler              ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
 void TCC0_1_Handler              ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
 void TCC0_2_Handler              ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
@@ -193,6 +196,7 @@ extern uint32_t __bss_end__;
 extern uint32_t __StackTop;
 
 /* Exception Table */
+__attribute__ ((used))
 __attribute__ ((section(".isr_vector"))) const DeviceVectors exception_table =
 {
 	/* Configure Initial Stack Pointer, using linker-generated symbols */
@@ -294,13 +298,13 @@ __attribute__ ((section(".isr_vector"))) const DeviceVectors exception_table =
 	  (void*) SERCOM7_1_Handler,             /* 75 Serial Communication Interface 7 IRQ 1 */
 	  (void*) SERCOM7_2_Handler,             /* 76 Serial Communication Interface 7 IRQ 2 */
 	  (void*) SERCOM7_3_Handler,             /* 77 Serial Communication Interface 7 IRQ 3 */
-	  (void*) (0UL),
-	  (void*) (0UL),
+	  (void*) CAN0_Handler,                  /* 78 Control Area Network 0 (SAM E5x) */
+	  (void*) CAN1_Handler,                  /* 79 Control Area Network 0 (SAM E5x) */
 	  (void*) USB_0_Handler,                 /* 80 Universal Serial Bus IRQ 0 */
 	  (void*) USB_1_Handler,                 /* 81 Universal Serial Bus IRQ 1 */
 	  (void*) USB_2_Handler,                 /* 82 Universal Serial Bus IRQ 2 */
 	  (void*) USB_3_Handler,                 /* 83 Universal Serial Bus IRQ 3 */
-	  (void*) (0UL),
+	  (void*) GMAC_Handler,					 /* 84 Ethernet MAC */
 	  (void*) TCC0_0_Handler,                /* 85 Timer Counter Control 0 IRQ 0 */
 	  (void*) TCC0_1_Handler,                /* 86 Timer Counter Control 0 IRQ 1 */
 	  (void*) TCC0_2_Handler,                /* 87 Timer Counter Control 0 IRQ 2 */
@@ -404,6 +408,7 @@ extern uint32_t __bss_end__;
 extern uint32_t __StackTop;
 
 /* Exception Table */
+__attribute__ ((used))
 __attribute__ ((section(".isr_vector"))) const DeviceVectors exception_table =
 {
   /* Configure Initial Stack Pointer, using linker-generated symbols */

cores/arduino/delay.c

@@ -117,6 +117,17 @@ void SysTick_DefaultHandler(void)
   tickReset();
 }
 
+#if defined(USE_TINYUSB)
+
+// run TinyUSB background task when yield()
+void yield(void)
+{
+  TinyUSB_Device_Task();
+  TinyUSB_Device_FlushCDC();
+}
+
+#endif
+
 #ifdef __cplusplus
 }
 #endif

cores/arduino/hooks.c

@@ -28,6 +28,7 @@
 static void __empty() {
 	// Empty
 }
+
 void yield(void) __attribute__ ((weak, alias("__empty")));
 
 /**

cores/arduino/main.cpp

@@ -39,7 +39,10 @@ int main( void )
   initVariant();
 
   delay(1);
-#if defined(USBCON)
+
+#if defined(USE_TINYUSB)
+  TinyUSB_Device_Init(0);
+#elif defined(USBCON)
   USBDevice.init();
   USBDevice.attach();
 #endif
@@ -49,6 +52,8 @@ int main( void )
   for (;;)
   {
     loop();
+    yield(); // yield run usb background task
+
     if (serialEventRun) serialEventRun();
   }
 

cores/arduino/math_helper.c

@@ -164,13 +164,14 @@ void arm_float_to_q12_20(float *pIn, q31_t * pOut, uint32_t numSamples)
 uint32_t arm_compare_fixed_q15(q15_t *pIn, q15_t * pOut, uint32_t numSamples)
 {
   uint32_t i; 
-  int32_t diff, diffCrnt = 0;
+  int32_t diff;
+  uint32_t diffCrnt = 0;
   uint32_t maxDiff = 0;
 
   for (i = 0; i < numSamples; i++)
   {
     diff = pIn[i] - pOut[i];
-  	diffCrnt = (diff > 0) ? diff : -diff;
+    diffCrnt = (uint32_t)( (diff > 0) ? diff : -diff );
 
     if(diffCrnt > maxDiff)
     {
@@ -192,13 +193,14 @@ uint32_t arm_compare_fixed_q15(q15_t *pIn, q15_t * pOut, uint32_t numSamples)
 uint32_t arm_compare_fixed_q31(q31_t *pIn, q31_t * pOut, uint32_t numSamples)
 {
   uint32_t i; 
-  int32_t diff, diffCrnt = 0;
+  int32_t diff;
+  uint32_t diffCrnt = 0;
   uint32_t maxDiff = 0;
 
   for (i = 0; i < numSamples; i++)
   {
     diff = pIn[i] - pOut[i];
-  	diffCrnt = (diff > 0) ? diff : -diff;
+    diffCrnt = (uint32_t)( (diff > 0) ? diff : -diff );
 
     if(diffCrnt > maxDiff)
     {

cores/arduino/pulse.c

@@ -41,10 +41,10 @@ uint32_t pulseIn(uint32_t pin, uint32_t state, uint32_t timeout)
    * No assembly required, no conversion of loop counts to times (which is
    * worrisome in the presence of cache.)
    */
-  volatile uint32_t *port = &(PORT->Group[p.ulPort].IN.reg);
+  const volatile uint32_t *port = &(PORT->Group[p.ulPort].IN.reg);
   uint32_t usCallStart;  // microseconds at start of call, for timeout.
   uint32_t usPulseStart; // microseconds at start of measured pulse.
-  usCallStart = micros();
+  usCallStart = usPulseStart = micros();
   // wait for any previous pulse to end
   while ((*port & bit) == stateMask) {
       if (micros() - usCallStart > timeout)

cores/arduino/startup.c

@@ -63,7 +63,7 @@ void SystemInit( void )
    * 1) Enable XOSC32K clock (External on-board 32.768Hz oscillator)
    */
   
-  OSC32KCTRL->XOSC32K.reg = OSC32KCTRL_XOSC32K_ENABLE | OSC32KCTRL_XOSC32K_EN32K | OSC32KCTRL_XOSC32K_EN32K | OSC32KCTRL_XOSC32K_CGM_XT | OSC32KCTRL_XOSC32K_XTALEN;
+  OSC32KCTRL->XOSC32K.reg = OSC32KCTRL_XOSC32K_ENABLE | OSC32KCTRL_XOSC32K_EN1K | OSC32KCTRL_XOSC32K_EN32K | OSC32KCTRL_XOSC32K_CGM_XT | OSC32KCTRL_XOSC32K_XTALEN;
   
   while( (OSC32KCTRL->STATUS.reg & OSC32KCTRL_STATUS_XOSC32KRDY) == 0 ){
     /* Wait for oscillator to be ready */
@@ -261,6 +261,47 @@ void SystemInit( void )
   CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
   DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
 
+  /* ----------------------------------------------------------------------------------------------
+   * 5) Load AC factory calibration values
+   */
+
+  uint32_t bias0 = (*((uint32_t *)AC_FUSES_BIAS0_ADDR) & AC_FUSES_BIAS0_Msk) >> AC_FUSES_BIAS0_Pos;
+  AC->CALIB.reg = AC_CALIB_BIAS0(bias0);
+
+  /* ----------------------------------------------------------------------------------------------
+   * 6) Load ADC factory calibration values
+   */
+
+  // ADC0 Bias Calibration
+  uint32_t biascomp = (*((uint32_t *)ADC0_FUSES_BIASCOMP_ADDR) & ADC0_FUSES_BIASCOMP_Msk) >> ADC0_FUSES_BIASCOMP_Pos;
+  uint32_t biasr2r = (*((uint32_t *)ADC0_FUSES_BIASR2R_ADDR) & ADC0_FUSES_BIASR2R_Msk) >> ADC0_FUSES_BIASR2R_Pos;
+  uint32_t biasref = (*((uint32_t *)ADC0_FUSES_BIASREFBUF_ADDR) & ADC0_FUSES_BIASREFBUF_Msk) >> ADC0_FUSES_BIASREFBUF_Pos;
+
+  ADC0->CALIB.reg = ADC_CALIB_BIASREFBUF(biasref)
+                    | ADC_CALIB_BIASR2R(biasr2r)
+                    | ADC_CALIB_BIASCOMP(biascomp);
+
+  // ADC1 Bias Calibration
+  biascomp = (*((uint32_t *)ADC1_FUSES_BIASCOMP_ADDR) & ADC1_FUSES_BIASCOMP_Msk) >> ADC1_FUSES_BIASCOMP_Pos;
+  biasr2r = (*((uint32_t *)ADC1_FUSES_BIASR2R_ADDR) & ADC1_FUSES_BIASR2R_Msk) >> ADC1_FUSES_BIASR2R_Pos;
+  biasref = (*((uint32_t *)ADC1_FUSES_BIASREFBUF_ADDR) & ADC1_FUSES_BIASREFBUF_Msk) >> ADC1_FUSES_BIASREFBUF_Pos;
+
+  ADC1->CALIB.reg = ADC_CALIB_BIASREFBUF(biasref)
+                    | ADC_CALIB_BIASR2R(biasr2r)
+                    | ADC_CALIB_BIASCOMP(biascomp);
+
+  /* ----------------------------------------------------------------------------------------------
+   * 7) Load USB factory calibration values
+   */
+
+  //USB Calibration
+  uint32_t usbtransn = (*((uint32_t *)USB_FUSES_TRANSN_ADDR) & USB_FUSES_TRANSN_Msk) >> USB_FUSES_TRANSN_Pos;
+  uint32_t usbtransp = (*((uint32_t *)USB_FUSES_TRANSP_ADDR) & USB_FUSES_TRANSP_Msk) >> USB_FUSES_TRANSP_Pos;
+  uint32_t usbtrim = (*((uint32_t *)USB_FUSES_TRIM_ADDR) & USB_FUSES_TRIM_Msk) >> USB_FUSES_TRIM_Pos;
+  USB->DEVICE.PADCAL.reg = USB_PADCAL_TRIM(usbtrim)
+                           | USB_PADCAL_TRANSN(usbtransn)
+                           | USB_PADCAL_TRANSP(usbtransp);
+
 //*************** END SAMD51 *************************//
   
 #else
@@ -536,4 +577,3 @@ void SystemInit( void )
     NVMCTRL->CTRLB.bit.MANW = 1;
   #endif
 }
-

cores/arduino/wiring.c

@@ -92,7 +92,7 @@ void init( void )
   PM->APBCMASK.reg |= PM_APBCMASK_SERCOM0 | PM_APBCMASK_SERCOM1 | PM_APBCMASK_SERCOM2 | PM_APBCMASK_SERCOM3 | PM_APBCMASK_SERCOM4 | PM_APBCMASK_SERCOM5 ;
 
   // Clock TC/TCC for Pulse and Analog
-  PM->APBCMASK.reg |= PM_APBCMASK_TCC0 | PM_APBCMASK_TCC1 | PM_APBCMASK_TCC2 | PM_APBCMASK_TC3 | PM_APBCMASK_TC4 | PM_APBCMASK_TC5 ;
+  PM->APBCMASK.reg |= PM_APBCMASK_TCC0 | PM_APBCMASK_TCC1 | PM_APBCMASK_TCC2 | PM_APBCMASK_TC3 | PM_APBCMASK_TC4 | PM_APBCMASK_TC5 | PM_APBCMASK_TC6 | PM_APBCMASK_TC7;
 
   // ATSAMR, for example, doesn't have a DAC
   #ifdef PM_APBCMASK_DAC

cores/arduino/wiring_analog.c

@@ -32,7 +32,7 @@ static int _writeResolution = 12;
 static int _dacResolution = 12;
 #else
 static int _writeResolution = 8;
-static int _dacResolution = 10;
+//static int _dacResolution = 10;
 #endif
 
 
@@ -280,8 +280,8 @@ uint32_t analogRead(uint32_t pin)
 #ifdef DAC
 
 	#if defined(__SAMD51__)
-	  if (pin == A0 || pin == A1) { // Disable DAC, if analogWrite(A0,dval) used previously the DAC is enabled
-		uint8_t channel = (pin == PIN_A0 ? 0 : 1);
+	  if (pin == PIN_DAC0 || pin == PIN_DAC1) { // Disable DAC, if analogWrite(A0,dval) used previously the DAC is enabled
+		uint8_t channel = (pin == PIN_DAC0 ? 0 : 1);
 		
 		if(dacEnabled[channel]){
 			dacEnabled[channel] = false;
@@ -298,7 +298,7 @@ uint32_t analogRead(uint32_t pin)
 		
 		while (DAC->SYNCBUSY.bit.ENABLE);
 	#else
-	  if (pin == A0) { // Disable DAC, if analogWrite(A0,dval) used previously the DAC is enabled
+	  if (pin == PIN_DAC0) { // Disable DAC, if analogWrite(A0,dval) used previously the DAC is enabled
 	    syncDAC();
 		
 		DAC->CTRLA.bit.ENABLE = 0x00; // Disable DAC
@@ -375,6 +375,9 @@ uint32_t analogRead(uint32_t pin)
   syncADC();
   ADC->SWTRIG.bit.START = 1;
 
+  // Waiting for the 1st conversion to complete
+  while (ADC->INTFLAG.bit.RESRDY == 0);
+
   // Clear the Data Ready flag
   ADC->INTFLAG.reg = ADC_INTFLAG_RESRDY;
 
@@ -410,9 +413,9 @@ void analogWrite(uint32_t pin, uint32_t value)
 	  {
 	    // DAC handling code
 #if defined(__SAMD51__)
-		if (pin == PIN_A0 || pin == PIN_A1) { // 2 DACs on A0 (PA02) and A1 (PA05)
+		if (pin == PIN_DAC0 || pin == PIN_DAC1) { // 2 DACs on A0 (PA02) and A1 (PA05)
 #else
-	    if (pin == PIN_A0) { // Only 1 DAC on A0 (PA02)
+	    if (pin == PIN_DAC0) { // Only 1 DAC on A0 (PA02)
 #endif
 
 #if defined(__SAMD51__)
@@ -420,7 +423,7 @@ void analogWrite(uint32_t pin, uint32_t value)
 	    value = mapResolution(value, _writeResolution, _dacResolution);
 
 
-			uint8_t channel = (pin == PIN_A0 ? 0 : 1);
+			uint8_t channel = (pin == PIN_DAC0 ? 0 : 1);
 
 			pinPeripheral(pin, PIO_ANALOG);
 

cores/arduino/wiring_digital.c

@@ -30,39 +30,43 @@ void pinMode( uint32_t ulPin, uint32_t ulMode )
     return ;
   }
 
+  EPortType port = g_APinDescription[ulPin].ulPort;
+  uint32_t pin = g_APinDescription[ulPin].ulPin;
+  uint32_t pinMask = (1ul << pin);
+
   // Set pin mode according to chapter '22.6.3 I/O Pin Configuration'
   switch ( ulMode )
   {
     case INPUT:
       // Set pin to input mode
-      PORT->Group[g_APinDescription[ulPin].ulPort].PINCFG[g_APinDescription[ulPin].ulPin].reg=(uint8_t)(PORT_PINCFG_INEN) ;
-      PORT->Group[g_APinDescription[ulPin].ulPort].DIRCLR.reg = (uint32_t)(1<<g_APinDescription[ulPin].ulPin) ;
+      PORT->Group[port].PINCFG[pin].reg = (uint8_t) (PORT_PINCFG_INEN);
+      PORT->Group[port].DIRCLR.reg = pinMask;
     break;
 
     case INPUT_PULLUP:
       // Set pin to input mode with pull-up resistor enabled
-      PORT->Group[g_APinDescription[ulPin].ulPort].PINCFG[g_APinDescription[ulPin].ulPin].reg=(uint8_t)(PORT_PINCFG_INEN|PORT_PINCFG_PULLEN) ;
-      PORT->Group[g_APinDescription[ulPin].ulPort].DIRCLR.reg = (uint32_t)(1<<g_APinDescription[ulPin].ulPin) ;
+      PORT->Group[port].PINCFG[pin].reg = (uint8_t) (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN);
+      PORT->Group[port].DIRCLR.reg = pinMask;
 
       // Enable pull level (cf '22.6.3.2 Input Configuration' and '22.8.7 Data Output Value Set')
-      PORT->Group[g_APinDescription[ulPin].ulPort].OUTSET.reg = (uint32_t)(1<<g_APinDescription[ulPin].ulPin) ;
+      PORT->Group[port].OUTSET.reg = pinMask;
     break;
 
     case INPUT_PULLDOWN:
       // Set pin to input mode with pull-down resistor enabled
-      PORT->Group[g_APinDescription[ulPin].ulPort].PINCFG[g_APinDescription[ulPin].ulPin].reg=(uint8_t)(PORT_PINCFG_INEN|PORT_PINCFG_PULLEN) ;
-      PORT->Group[g_APinDescription[ulPin].ulPort].DIRCLR.reg = (uint32_t)(1<<g_APinDescription[ulPin].ulPin) ;
+      PORT->Group[port].PINCFG[pin].reg = (uint8_t) (PORT_PINCFG_INEN | PORT_PINCFG_PULLEN);
+      PORT->Group[port].DIRCLR.reg = pinMask;
 
       // Enable pull level (cf '22.6.3.2 Input Configuration' and '22.8.6 Data Output Value Clear')
-      PORT->Group[g_APinDescription[ulPin].ulPort].OUTCLR.reg = (uint32_t)(1<<g_APinDescription[ulPin].ulPin) ;
+      PORT->Group[port].OUTCLR.reg = pinMask;
     break;
 
     case OUTPUT:
       // enable input, to support reading back values, with pullups disabled
-      PORT->Group[g_APinDescription[ulPin].ulPort].PINCFG[g_APinDescription[ulPin].ulPin].reg=(uint8_t)(PORT_PINCFG_INEN) ;
+      PORT->Group[port].PINCFG[pin].reg = (uint8_t) (PORT_PINCFG_INEN | PORT_PINCFG_DRVSTR);
 
       // Set pin to output mode
-      PORT->Group[g_APinDescription[ulPin].ulPort].DIRSET.reg = (uint32_t)(1<<g_APinDescription[ulPin].ulPin) ;
+      PORT->Group[port].DIRSET.reg = pinMask;
     break;
 
     default:

cores/arduino/wiring_digital.h

@@ -25,6 +25,8 @@
 
 #include "WVariant.h"
 
+typedef int PinStatus;
+
 /**
  * \brief Configures the specified pin to behave either as an input or an output. See the description of digital pins for details.
  *

libraries/Adafruit_TinyUSB_Arduino

@@ -0,0 +1 @@
+Subproject commit c953968c468218d8968138b5ed8482fa565373df

libraries/Adafruit_ZeroDMA

@@ -0,0 +1 @@
+Subproject commit acc5dadb458b2c329757a61dc4f18dda945a0c36

libraries/Adafruit_ZeroDMA/Adafruit_ZeroDMA.cpp

@@ -1,654 +0,0 @@
-#include <Adafruit_ZeroDMA.h>
-#include <malloc.h> // memalign() function
-
-#include "utility/dma.h"
-static volatile uint32_t _channelMask = 0; // Bitmask of allocated channels
-
-// DMA descriptor list entry point (and writeback buffer) per channel
-__attribute__((__aligned__(16))) static DmacDescriptor // 128 bit alignment
-  _descriptor[DMAC_CH_NUM] SECTION_DMAC_DESCRIPTOR,
-  _writeback[DMAC_CH_NUM]  SECTION_DMAC_DESCRIPTOR;
-
-// Pointer to ZeroDMA object for each channel is needed for the
-// ISR (in C, outside of class context) to access callbacks.
-static Adafruit_ZeroDMA *_dmaPtr[DMAC_CH_NUM] = { 0 }; // Init to NULL
-
-// Adapted from ASF3 interrupt_sam_nvic.c:
-
-static volatile unsigned long cpu_irq_critical_section_counter = 0;
-static volatile unsigned char cpu_irq_prev_interrupt_state     = 0;
-
-static void cpu_irq_enter_critical(void) {
-    if(!cpu_irq_critical_section_counter) {
-        if(__get_PRIMASK() == 0) { // IRQ enabled?
-            __disable_irq();   // Disable it
-            __DMB();
-            cpu_irq_prev_interrupt_state = 1;
-        } else {
-            // Make sure the to save the prev state as false
-            cpu_irq_prev_interrupt_state = 0;
-        }
-    }
-
-    cpu_irq_critical_section_counter++;
-}
-
-static void cpu_irq_leave_critical(void) {
-    // Check if the user is trying to leave a critical section
-    // when not in a critical section
-    if(cpu_irq_critical_section_counter > 0) {
-        cpu_irq_critical_section_counter--;
-
-        // Only enable global interrupts when the counter
-        // reaches 0 and the state of the global interrupt flag
-        // was enabled when entering critical state */
-        if((!cpu_irq_critical_section_counter) &&
-            cpu_irq_prev_interrupt_state) {
-                __DMB();
-                __enable_irq();
-        }
-    }
-}
-
-// CONSTRUCTOR -------------------------------------------------------------
-
-// Constructor initializes Adafruit_ZeroDMA basics but does NOT allocate a
-// DMA channel (that's done in allocate()) or start a job (that's done in
-// startJob()).  This is because constructors in a global context are called
-// before a sketch's setup() function, which may have some other hardware
-// initialization of its own, don't want it clobbering us.
-Adafruit_ZeroDMA::Adafruit_ZeroDMA(void) {
-    channel           = 0xFF;  // Channel not yet allocated
-    jobStatus         = DMA_STATUS_OK;
-    hasDescriptors    = false; // No descriptors allocated yet
-    loopFlag          = false;
-    peripheralTrigger = 0;     // Software trigger only by default
-    triggerAction     = DMA_TRIGGER_ACTON_TRANSACTION;
-    memset(callback, 0, sizeof(callback));
-}
-
-// TODO: add destructor? Should stop job, delete descriptors, free channel.
-
-// INTERRUPT SERVICE ROUTINE -----------------------------------------------
-
-// This is a C function that exists outside the Adafruit_ZeroDMA context.
-// DMA channel number is determined from the INTPEND register, from this
-// we get a ZeroDMA object pointer through the _dmaPtr[] array.
-// (It's done this way because jobStatus and callback[] are protected
-// elements in the ZeroDMA object -- we can't touch them in C, but the
-// next function after this, being part of the ZeroDMA class, can.)
-
-#ifdef __SAMD51__
-void DMAC_0_Handler(void) {
-#else
-void DMAC_Handler(void) {
-#endif
-    cpu_irq_enter_critical();
-
-    uint8_t channel = DMAC->INTPEND.bit.ID; // Channel # causing interrupt
-    if(channel < DMAC_CH_NUM) {
-        Adafruit_ZeroDMA *dma;
-        if((dma = _dmaPtr[channel])) { // -> Channel's ZeroDMA object
-#ifdef __SAMD51__
-            // Call IRQ handler with channel #
-            dma->_IRQhandler(channel);
-#else
-            DMAC->CHID.bit.ID = channel;
-            // Call IRQ handler with interrupt flag(s)
-            dma->_IRQhandler(DMAC->CHINTFLAG.reg);
-#endif
-        }
-    }
-
-    cpu_irq_leave_critical();
-}
-
-#ifdef __SAMD51__
-void DMAC_1_Handler(void) __attribute__((weak, alias("DMAC_0_Handler")));
-void DMAC_2_Handler(void) __attribute__((weak, alias("DMAC_0_Handler")));
-void DMAC_3_Handler(void) __attribute__((weak, alias("DMAC_0_Handler")));
-void DMAC_4_Handler(void) __attribute__((weak, alias("DMAC_0_Handler")));
-#endif
-
-void Adafruit_ZeroDMA::_IRQhandler(uint8_t flags) {
-#ifdef __SAMD51__
-    // 'flags' is initially passed in as channel number,
-    // from which we look up the actual interrupt flags...
-    flags = DMAC->Channel[flags].CHINTFLAG.reg;
-#endif
-    if(flags & DMAC_CHINTENCLR_TERR) {
-        // Clear error flag
-#ifdef __SAMD51__
-        DMAC->Channel[channel].CHINTFLAG.reg = DMAC_CHINTENCLR_TERR;
-#else
-        DMAC->CHINTFLAG.reg = DMAC_CHINTENCLR_TERR;
-#endif
-        jobStatus           = DMA_STATUS_ERR_IO;
-        if(callback[DMA_CALLBACK_TRANSFER_ERROR]) {
-            callback[DMA_CALLBACK_TRANSFER_ERROR](this);
-        }
-    } else if(flags & DMAC_CHINTENCLR_TCMPL) {
-        // Clear transfer complete flag
-#ifdef __SAMD51__
-        DMAC->Channel[channel].CHINTFLAG.reg = DMAC_CHINTENCLR_TCMPL;
-#else
-        DMAC->CHINTFLAG.reg = DMAC_CHINTENCLR_TCMPL;
-#endif
-        jobStatus           = DMA_STATUS_OK;
-        if(callback[DMA_CALLBACK_TRANSFER_DONE]) {
-            callback[DMA_CALLBACK_TRANSFER_DONE](this);
-        }
-    } else if(flags & DMAC_CHINTENCLR_SUSP) {
-        // Clear channel suspend flag
-#ifdef __SAMD51__
-        DMAC->Channel[channel].CHINTFLAG.reg = DMAC_CHINTENCLR_SUSP;
-#else
-        DMAC->CHINTFLAG.reg = DMAC_CHINTENCLR_SUSP;
-#endif
-        jobStatus           = DMA_STATUS_SUSPEND;
-        if(callback[DMA_CALLBACK_CHANNEL_SUSPEND]) {
-            callback[DMA_CALLBACK_CHANNEL_SUSPEND](this);
-        }
-    }
-}
-
-// DMA CHANNEL FUNCTIONS ---------------------------------------------------
-
-// Allocates channel for ZeroDMA object
-ZeroDMAstatus Adafruit_ZeroDMA::allocate(void) {
-
-    if(channel < DMAC_CH_NUM) return DMA_STATUS_OK; // Already alloc'd!
-
-    // Find index of first free DMA channel.  As currently written,
-    // this "does not play well with others" as it assumes _channelMask
-    // is the final arbiter of channels in use (this is true only within
-    // this library -- but other DMA-driven code may have allocated its
-    // own channel(s) elsewhere, sometimes with an equally broken
-    // approach).  A possible alternate approach, I haven't tested this
-    // yet, might be to loop through each channel, set DMAC->CHID.bit.ID
-    // and then test whether CHCTRLA.bit.ENABLE is set?  But for now...
-    for(channel=0; (channel < DMAC_CH_NUM) &&
-      (_channelMask & (1 << channel)); channel++);
-    // Doesn't help that code later does a software reset of the DMA
-    // controller, which would blow out other DMA-using libraries
-    // anyway (or they're just as likely to blow out this one).
-    // I think it's just an all-or-nothing affair...use one library
-    // for DMA everything, never mix and match.
-
-    if(channel >= DMAC_CH_NUM) { // No free channel!
-        return DMA_STATUS_ERR_NOT_FOUND;
-    }
-
-    cpu_irq_enter_critical();
-
-    if(!_channelMask) { // No channels allocated yet; initialize DMA!
-#if (SAML21) || (SAML22) || (SAMC20) || (SAMC21)
-        PM->AHBMASK.bit.DMAC_       = 1;
-#elif defined(__SAMD51__)
-        MCLK->AHBMASK.bit.DMAC_     = 1; // Initialize DMA clocks
-#else
-        PM->AHBMASK.bit.DMAC_       = 1; // Initialize DMA clocks
-        PM->APBBMASK.bit.DMAC_      = 1;
-#endif
-        DMAC->CTRL.bit.DMAENABLE    = 0; // Disable DMA controller
-        DMAC->CTRL.bit.SWRST        = 1; // Perform software reset
-
-        // Initialize descriptor list addresses
-        DMAC->BASEADDR.bit.BASEADDR = (uint32_t)_descriptor;
-        DMAC->WRBADDR.bit.WRBADDR   = (uint32_t)_writeback;
-        memset(_descriptor, 0, sizeof(_descriptor));
-        memset(_writeback , 0, sizeof(_writeback));
-
-        // Re-enable DMA controller with all priority levels
-        DMAC->CTRL.reg = DMAC_CTRL_DMAENABLE | DMAC_CTRL_LVLEN(0xF);
-
-        // Enable DMA interrupt at lowest priority
-#ifdef __SAMD51__
-        IRQn_Type irqs[] = { DMAC_0_IRQn, DMAC_1_IRQn, DMAC_2_IRQn,
-                             DMAC_3_IRQn, DMAC_4_IRQn };
-        for(uint8_t i=0; i<(sizeof irqs / sizeof irqs[0]); i++) {
-            NVIC_EnableIRQ(irqs[i]);
-            NVIC_SetPriority(irqs[i], (1<<__NVIC_PRIO_BITS)-1);
-        }
-#else
-        NVIC_EnableIRQ(DMAC_IRQn);
-        NVIC_SetPriority(DMAC_IRQn, (1 << __NVIC_PRIO_BITS) - 1);
-#endif
-    }
-
-    _channelMask    |= 1 << channel; // Mark channel as allocated
-    _dmaPtr[channel] = this;         // Channel-index-to-object pointer
-
-    // Reset the allocated channel
-#ifdef __SAMD51__
-    DMAC->Channel[channel].CHCTRLA.bit.ENABLE  = 0;
-    DMAC->Channel[channel].CHCTRLA.bit.SWRST   = 1;
-#else
-    DMAC->CHID.bit.ID         = channel;
-    DMAC->CHCTRLA.bit.ENABLE  = 0;
-    DMAC->CHCTRLA.bit.SWRST   = 1;
-#endif
-
-    // Clear software trigger
-    DMAC->SWTRIGCTRL.reg     &= ~(1 << channel);
-
-    // Configure default behaviors
-#ifdef __SAMD51__
-    DMAC->Channel[channel].CHPRILVL.bit.PRILVL = 0;
-    DMAC->Channel[channel].CHCTRLA.bit.TRIGSRC = peripheralTrigger;
-    DMAC->Channel[channel].CHCTRLA.bit.TRIGACT = triggerAction;
-    DMAC->Channel[channel].CHCTRLA.bit.BURSTLEN =
-      DMAC_CHCTRLA_BURSTLEN_SINGLE_Val; // Single-beat burst length
-#else
-    DMAC->CHCTRLB.bit.LVL     = 0;
-    DMAC->CHCTRLB.bit.TRIGSRC = peripheralTrigger;
-    DMAC->CHCTRLB.bit.TRIGACT = triggerAction;
-#endif
-
-    cpu_irq_leave_critical();
-
-    return DMA_STATUS_OK;
-}
-
-void Adafruit_ZeroDMA::setPriority(dma_priority pri) const {
-#ifdef __SAMD51__
-    DMAC->Channel[channel].CHPRILVL.bit.PRILVL = pri;
-#else
-    DMAC->CHCTRLB.bit.LVL = pri;
-#endif
-}
-
-// Deallocate DMA channel
-// TODO: should this delete/deallocate the descriptor list?
-ZeroDMAstatus Adafruit_ZeroDMA::free(void) {
-
-    ZeroDMAstatus status = DMA_STATUS_OK;
-
-    cpu_irq_enter_critical(); // jobStatus is volatile
-
-    if(jobStatus == DMA_STATUS_BUSY) {
-        status = DMA_STATUS_BUSY; // Can't leave when busy
-    } else if((channel < DMAC_CH_NUM) && (_channelMask & (1 << channel))) {
-        // Valid in-use channel; release it
-        _channelMask &= ~(1 << channel); // Clear bit
-        if(!_channelMask) {              // No more channels in use?
-#ifdef __SAMD51__
-            NVIC_DisableIRQ(DMAC_0_IRQn); // Disable DMA interrupt
-            DMAC->CTRL.bit.DMAENABLE = 0; // Disable DMA
-            MCLK->AHBMASK.bit.DMAC_  = 0; // Disable DMA clock
-#else
-            NVIC_DisableIRQ(DMAC_IRQn);   // Disable DMA interrupt
-            DMAC->CTRL.bit.DMAENABLE = 0; // Disable DMA
-            PM->APBBMASK.bit.DMAC_   = 0; // Disable DMA clocks
-            PM->AHBMASK.bit.DMAC_    = 0;
-#endif
-        }
-        _dmaPtr[channel] = NULL;
-        channel          = 0xFF;
-    } else {
-        status = DMA_STATUS_ERR_NOT_INITIALIZED; // Channel not in use
-    }
-
-    cpu_irq_leave_critical();
-
-    return status;
-}
-
-// Start DMA transfer job.  Channel and descriptors should be allocated
-// before calling this.
-ZeroDMAstatus Adafruit_ZeroDMA::startJob(void) {
-    ZeroDMAstatus status = DMA_STATUS_OK;
-
-    cpu_irq_enter_critical(); // Job status is volatile
-
-    if(jobStatus == DMA_STATUS_BUSY) {
-        status = DMA_STATUS_BUSY; // Resource is busy
-    } else if(channel >= DMAC_CH_NUM) {
-        status = DMA_STATUS_ERR_NOT_INITIALIZED; // Channel not in use
-    } else if(!hasDescriptors || (_descriptor[channel].BTCNT.reg <= 0)) {
-        status = DMA_STATUS_ERR_INVALID_ARG; // Bad transfer size
-    } else {
-        uint8_t i, interruptMask = 0;
-        for(i=0; i<DMA_CALLBACK_N; i++) {
-            if(callback[i]) interruptMask |= (1 << i);
-        }
-        jobStatus            = DMA_STATUS_BUSY;
-#ifdef __SAMD51__
-        DMAC->Channel[channel].CHINTENSET.reg =
-          DMAC_CHINTENSET_MASK &  interruptMask;
-        DMAC->Channel[channel].CHINTENCLR.reg =
-          DMAC_CHINTENCLR_MASK & ~interruptMask;
-        DMAC->Channel[channel].CHCTRLA.bit.ENABLE = 1;
-#else
-        DMAC->CHID.bit.ID    = channel;
-        DMAC->CHINTENSET.reg = DMAC_CHINTENSET_MASK &  interruptMask;
-        DMAC->CHINTENCLR.reg = DMAC_CHINTENCLR_MASK & ~interruptMask;
-        DMAC->CHCTRLA.bit.ENABLE = 1; // Enable the transfer channel
-#endif
-    }
-
-    cpu_irq_leave_critical();
-
-    return status;
-}
-
-// Set and enable callback function for ZeroDMA object. This can be called
-// before or after channel and/or descriptors are allocated, but needs
-// to be called before job is started.
-void Adafruit_ZeroDMA::setCallback(
-  void (*cb)(Adafruit_ZeroDMA *), dma_callback_type type) {
-    callback[type] = cb;
-}
-
-// Suspend/resume don't quite do what I thought -- avoid using for now.
-void Adafruit_ZeroDMA::suspend(void) const {
-    cpu_irq_enter_critical();
-#ifdef __SAMD51__
-    DMAC->Channel[channel].CHCTRLB.reg |= DMAC_CHCTRLB_CMD_SUSPEND;
-#else
-    DMAC->CHID.bit.ID  = channel;
-    DMAC->CHCTRLB.reg |= DMAC_CHCTRLB_CMD_SUSPEND;
-#endif
-    cpu_irq_leave_critical();
-}
-
-#define MAX_JOB_RESUME_COUNT 10000
-void Adafruit_ZeroDMA::resume(void) {
-    cpu_irq_enter_critical(); // jobStatus is volatile
-    if(jobStatus == DMA_STATUS_SUSPEND) {
-        int      count;
-        uint32_t bitMask   = 1 << channel;
-#ifdef __SAMD51__
-        DMAC->Channel[channel].CHCTRLB.reg |= DMAC_CHCTRLB_CMD_RESUME;
-#else
-        DMAC->CHID.bit.ID  = channel;
-        DMAC->CHCTRLB.reg |= DMAC_CHCTRLB_CMD_RESUME;
-#endif
-
-        for(count = 0; (count < MAX_JOB_RESUME_COUNT) &&
-          !(DMAC->BUSYCH.reg & bitMask); count++);
-
-        jobStatus = (count < MAX_JOB_RESUME_COUNT) ?
-          DMA_STATUS_BUSY : DMA_STATUS_ERR_TIMEOUT;
-    }
-    cpu_irq_leave_critical();
-}
-
-// Abort is OK though.
-void Adafruit_ZeroDMA::abort(void) {
-    if(channel <= DMAC_CH_NUM) {
-        cpu_irq_enter_critical();
-#ifdef __SAMD51__
-        DMAC->Channel[channel].CHCTRLA.reg = 0; // Disable channel
-#else
-        DMAC->CHID.bit.ID = channel; // Select channel
-        DMAC->CHCTRLA.reg = 0;       // Disable
-#endif
-        jobStatus         = DMA_STATUS_ABORTED;
-        cpu_irq_leave_critical();
-    }
-}
-
-// Set DMA peripheral trigger.
-// This can be done before or after channel is allocated.
-void Adafruit_ZeroDMA::setTrigger(uint8_t trigger) {
-    peripheralTrigger = trigger; // Save value for allocate()
-
-    // If channel already allocated, configure peripheral trigger
-    // (old lib required configure before alloc -- either way OK now)
-    if(channel < DMAC_CH_NUM) {
-        cpu_irq_enter_critical();
-#ifdef __SAMD51__
-        DMAC->Channel[channel].CHCTRLA.bit.TRIGSRC = trigger;
-#else
-        DMAC->CHID.bit.ID         = channel;
-        DMAC->CHCTRLB.bit.TRIGSRC = trigger;
-#endif
-        cpu_irq_leave_critical();
-    }
-}
-
-// Set DMA trigger action.
-// This can be done before or after channel is allocated.
-void Adafruit_ZeroDMA::setAction(dma_transfer_trigger_action action) {
-    triggerAction = action; // Save value for allocate()
-
-    // If channel already allocated, configure trigger action
-    // (old lib required configure before alloc -- either way OK now)
-    if(channel < DMAC_CH_NUM) {
-        cpu_irq_enter_critical();
-#ifdef __SAMD51__
-        DMAC->Channel[channel].CHCTRLA.bit.TRIGACT = action;
-#else
-        DMAC->CHID.bit.ID         = channel;
-        DMAC->CHCTRLB.bit.TRIGACT = action;
-#endif
-        cpu_irq_leave_critical();
-    }
-}
-
-// Issue software trigger. Channel must be allocated & descriptors added!
-void Adafruit_ZeroDMA::trigger(void) const {
-    if((channel <= DMAC_CH_NUM) & hasDescriptors) {
-        DMAC->SWTRIGCTRL.reg |= (1 << channel);
-    }
-}
-
-// Returns true if DMA transfer in progress.
-bool Adafruit_ZeroDMA::isActive(void) const {
-    return _writeback[channel].BTCTRL.bit.VALID;
-}
-
-// DMA DESCRIPTOR FUNCTIONS ------------------------------------------------
-
-// Allocates a new DMA descriptor (if needed) and appends it to the
-// channel's descriptor list.  Returns pointer to DmacDescriptor,
-// or NULL on various errors.  You'll want to keep the pointer for
-// later if you need to modify or free the descriptor.
-// Channel must be allocated first!
-DmacDescriptor *Adafruit_ZeroDMA::addDescriptor(
-  void           *src,
-  void           *dst,
-  uint32_t        count,
-  dma_beat_size   size,
-  bool            srcInc,
-  bool            dstInc,
-  uint32_t        stepSize,
-  bool            stepSel) {
-
-    // Channel must be allocated first
-       if(channel >= DMAC_CH_NUM) return NULL;
-
-    // Can't do while job's busy
-    if(jobStatus == DMA_STATUS_BUSY) return NULL;
-
-    DmacDescriptor *desc;
-
-    // Scan descriptor list to find last entry.  If an entry's
-    // DESCADDR value is 0, that's the end of the list and it's
-    // currently un-looped.  If the DESCADDR value is the same
-    // as the first entry, that's the end of the list and it's
-    // looped.  Either way, set the last entry's DESCADDR value
-    // to the new descriptor, and the descriptor's own DESCADDR
-    // will be set later either to 0 or the list head.
-    if(hasDescriptors) {
-        // DMA descriptors must be 128-bit (16 byte) aligned.
-        // memalign() is considered 'obsolete' but it's replacements
-        // (aligned_alloc() or posix_memalign()) are not currently
-        // available in the version of ARM GCC in use, but this is,
-        // so here we are.
-        if(!(desc = (DmacDescriptor *)memalign(16, sizeof(DmacDescriptor)))) {
-            return NULL;
-        }
-        DmacDescriptor *prev = &_descriptor[channel];
-        while(prev->DESCADDR.reg &&
-             (prev->DESCADDR.reg != (uint32_t)&_descriptor[channel])) {
-            prev = (DmacDescriptor *)prev->DESCADDR.reg;
-        }
-        prev->DESCADDR.reg = (uint32_t)desc;
-    } else {
-        desc = &_descriptor[channel];
-    }
-    hasDescriptors = true;
-
-    uint8_t bytesPerBeat; // Beat transfer size IN BYTES
-    switch(size) {
-       default:                  bytesPerBeat = 1; break;
-       case DMA_BEAT_SIZE_HWORD: bytesPerBeat = 2; break;
-       case DMA_BEAT_SIZE_WORD:  bytesPerBeat = 4; break;
-    }
-
-    desc->BTCTRL.bit.VALID     = true;
-    desc->BTCTRL.bit.EVOSEL    = DMA_EVENT_OUTPUT_DISABLE;
-    desc->BTCTRL.bit.BLOCKACT  = DMA_BLOCK_ACTION_NOACT;
-    desc->BTCTRL.bit.BEATSIZE  = size;
-    desc->BTCTRL.bit.SRCINC    = srcInc;
-    desc->BTCTRL.bit.DSTINC    = dstInc;
-    desc->BTCTRL.bit.STEPSEL   = stepSel;
-    desc->BTCTRL.bit.STEPSIZE  = stepSize;
-    desc->BTCNT.reg            = count;
-    desc->SRCADDR.reg          = (uint32_t)src;
-
-    if(srcInc) {
-        if(stepSel) {
-            desc->SRCADDR.reg += bytesPerBeat * count * (1 << stepSize);
-        } else {
-            desc->SRCADDR.reg += bytesPerBeat * count;
-        }
-    }
-
-    desc->DSTADDR.reg          = (uint32_t)dst;
-
-    if(dstInc) {
-        if(!stepSel) {
-            desc->DSTADDR.reg += bytesPerBeat * count * (1 << stepSize);
-        } else {
-            desc->DSTADDR.reg += bytesPerBeat * count;
-        }
-    }
-
-    desc->DESCADDR.reg = loopFlag ? (uint32_t)&_descriptor[channel] : 0;
-
-    return desc;
-}
-
-// Modify DMA descriptor with a new source address, destination address &
-// block transfer count.  All other attributes (including increment enables,
-// etc.) are unchanged.  Mostly for changing the data being pushed to a
-// peripheral (DAC, SPI, whatev.)
-void Adafruit_ZeroDMA::changeDescriptor(DmacDescriptor *desc,
-  void *src, void *dst, uint32_t count) {
-
-    uint8_t bytesPerBeat; // Beat transfer size IN BYTES
-    switch(desc->BTCTRL.bit.BEATSIZE) {
-       default:                  bytesPerBeat = 1; break;
-       case DMA_BEAT_SIZE_HWORD: bytesPerBeat = 2; break;
-       case DMA_BEAT_SIZE_WORD:  bytesPerBeat = 4; break;
-    }
-
-    if(count) desc->BTCNT.reg = count;
-
-    if(src) {
-        desc->SRCADDR.reg = (uint32_t)src;
-        if(desc->BTCTRL.bit.SRCINC) {
-            if(desc->BTCTRL.bit.STEPSEL) {
-                desc->SRCADDR.reg += desc->BTCNT.reg *
-                  bytesPerBeat * (1 << desc->BTCTRL.bit.STEPSIZE);
-            } else {
-                desc->SRCADDR.reg += desc->BTCNT.reg * bytesPerBeat;
-            }
-        }
-    }
-
-    if(dst) {
-        desc->DSTADDR.reg = (uint32_t)dst;
-        if(desc->BTCTRL.bit.DSTINC) {
-            if(!desc->BTCTRL.bit.STEPSEL) {
-                desc->DSTADDR.reg += desc->BTCNT.reg *
-                  bytesPerBeat * (1 << desc->BTCTRL.bit.STEPSIZE);
-            } else {
-                desc->DSTADDR.reg += desc->BTCNT.reg * bytesPerBeat;
-            }
-        }
-    }
-
-// I think this code is here by accident -- disabling for now.
-#if 0
-    cpu_irq_enter_critical();
-    jobStatus          = DMA_STATUS_OK;
-#ifdef __SAMD51__
-    DMAC->Channel[channel].CHCTRLA.bit.ENABLE = 1;
-#else
-    DMAC->CHID.bit.ID  = channel;
-    DMAC->CHCTRLA.reg |= DMAC_CHCTRLA_ENABLE;
-#endif
-    cpu_irq_leave_critical();
-#endif
-}
-
-// TODO: delete descriptor, delete whole descriptor chain
-
-// Select whether channel's descriptor list should repeat or not.
-// This can be done before or after channel & any descriptors are allocated.
-void Adafruit_ZeroDMA::loop(boolean flag) {
-    // The loop selection is 'sticky' -- that is, you can enable or
-    // disable looping before a descriptor list is built, or after
-    // the fact.  This requires some extra steps in the library code
-    // but avoids a must-do-in-X-order constraint on user.
-    loopFlag = flag;
-
-    if(hasDescriptors) { // Descriptor list already started?
-        // Scan descriptor list to find last entry.  If an entry's
-        // DESCADDR value is 0, that's the end of the list and it's
-        // currently un-looped.  If the DESCADDR value is the same
-        // as the first entry, that's the end of the list and it's
-        // already looped.
-        DmacDescriptor *desc = &_descriptor[channel];
-        while(desc->DESCADDR.reg &&
-          (desc->DESCADDR.reg != (uint32_t)&_descriptor[channel])) {
-            desc = (DmacDescriptor *)desc->DESCADDR.reg;
-        }
-        // Loop or unloop descriptor list as appropriate
-        desc->DESCADDR.reg = loopFlag ?  (uint32_t)&_descriptor[channel] : 0;
-    }
-}
-
-// MISCELLANY --------------------------------------------------------------
-
-void Adafruit_ZeroDMA::printStatus(ZeroDMAstatus s) const {
-    if(s == DMA_STATUS_JOBSTATUS) s = jobStatus;
-    Serial.print("Status: ");
-    switch(s) {
-       case DMA_STATUS_OK:
-            Serial.println("OK");
-            break;
-       case DMA_STATUS_ERR_NOT_FOUND:
-            Serial.println("NOT FOUND");
-            break;
-       case DMA_STATUS_ERR_NOT_INITIALIZED:
-            Serial.println("NOT INITIALIZED");
-            break;
-       case DMA_STATUS_ERR_INVALID_ARG:
-            Serial.println("INVALID ARGUMENT");
-            break;
-       case DMA_STATUS_ERR_IO:
-            Serial.println("IO ERROR");
-            break;
-       case DMA_STATUS_ERR_TIMEOUT:
-            Serial.println("TIMEOUT");
-            break;
-       case DMA_STATUS_BUSY:
-            Serial.println("BUSY");
-            break;
-       case DMA_STATUS_SUSPEND:
-            Serial.println("SUSPENDED");
-            break;
-       case DMA_STATUS_ABORTED:
-            Serial.println("ABORTED");
-            break;
-       default:
-            Serial.print("Unknown 0x");
-            Serial.println((int)s);
-            break;
-    }
-}

libraries/Adafruit_ZeroDMA/Adafruit_ZeroDMA.h

@@ -1,66 +0,0 @@
-#ifndef _ADAFRUIT_ZERODMA_H_
-#define _ADAFRUIT_ZERODMA_H_
-
-#include "Arduino.h"
-#include "utility/dma.h"
-
-// Status codes returned by some DMA functions and/or held in
-// a channel's jobStatus variable.
-enum ZeroDMAstatus {
-    DMA_STATUS_OK = 0,
-    DMA_STATUS_ERR_NOT_FOUND,
-    DMA_STATUS_ERR_NOT_INITIALIZED,
-    DMA_STATUS_ERR_INVALID_ARG,
-    DMA_STATUS_ERR_IO,
-    DMA_STATUS_ERR_TIMEOUT,
-    DMA_STATUS_BUSY,
-    DMA_STATUS_SUSPEND,
-    DMA_STATUS_ABORTED,
-    DMA_STATUS_JOBSTATUS = -1 // For printStatus() function
-};
-
-class Adafruit_ZeroDMA {
- public:
-  Adafruit_ZeroDMA(void);
-
-  // DMA channel functions
-  ZeroDMAstatus   allocate(void), // Allocates DMA channel
-                  startJob(void),
-                  free(void);     // Deallocates DMA channel
-  void            trigger(void) const,
-                  setTrigger(uint8_t trigger),
-                  setAction(dma_transfer_trigger_action action),
-                  setCallback(void (*callback)(Adafruit_ZeroDMA *) = NULL,
-                    dma_callback_type type = DMA_CALLBACK_TRANSFER_DONE),
-                  loop(boolean flag),
-                  suspend(void) const,
-                  resume(void),
-                  abort(void),
-                  setPriority(dma_priority pri) const,
-                  printStatus(ZeroDMAstatus s = DMA_STATUS_JOBSTATUS) const;
-  uint8_t         getChannel(void) const { return channel; }
-
-  // DMA descriptor functions
-  DmacDescriptor *addDescriptor(void *src, void *dst, uint32_t count = 0,
-                    dma_beat_size size = DMA_BEAT_SIZE_BYTE,
-                    bool srcInc = true, bool dstInc = true, 
-                    uint32_t stepSize = DMA_ADDRESS_INCREMENT_STEP_SIZE_1, 
-                    bool stepSel = DMA_STEPSEL_DST);
-  void            changeDescriptor(DmacDescriptor *d, void *src = NULL,
-                    void *dst = NULL, uint32_t count = 0);
-  bool            isActive(void) const;
-
-  void            _IRQhandler(uint8_t flags); // DO NOT TOUCH
-
-
- protected:  
-  uint8_t                     channel;
-  volatile enum ZeroDMAstatus jobStatus;
-  bool                        hasDescriptors;
-  bool                        loopFlag;
-  uint8_t                     peripheralTrigger;
-  dma_transfer_trigger_action triggerAction;
-  void                      (*callback[DMA_CALLBACK_N])(Adafruit_ZeroDMA *);
-};
-
-#endif // _ADAFRUIT_ZERODMA_H_

libraries/Adafruit_ZeroDMA/LICENSE

@@ -1,22 +0,0 @@
-The MIT License (MIT)
-
-Copyright (c) 2016 Adafruit Industries
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-

libraries/Adafruit_ZeroDMA/README.md

@@ -1,6 +0,0 @@
-# Adafruit_ZeroDMA
-DMA helper/wrapped for ATSAMD21 such as Arduino Zero & Feather M0
-
-Current version of this library no longer requires Adafruit_ASFcore as a prerequisite. However...IT BREAKS COMPATIBILITY WITH PRIOR VERSIONS. Function names, calling sequence and return types/values have changed. See examples!
-
-Item(s) in 'utility' directory are much pared-down derivatives of Atmel ASFcore 3 files. Please keep their original copyright and license intact when editing.

libraries/Adafruit_ZeroDMA/examples/zerodma_memcpy/zerodma_memcpy.ino

@@ -1,94 +0,0 @@
-// Simple ZeroDMA example -- an equivalent to the memcpy() function.
-// Decause it uses DMA, unlike memcpy(), your code could be doing other
-// things simultaneously while the copy operation runs.
-
-#include <Adafruit_ZeroDMA.h>
-#include "utility/dma.h"
-
-Adafruit_ZeroDMA myDMA;
-ZeroDMAstatus    stat; // DMA status codes returned by some functions
-
-// The memory we'll be moving:
-#define DATA_LENGTH 1024
-uint8_t source_memory[DATA_LENGTH],
-        destination_memory[DATA_LENGTH];
-
-volatile bool transfer_is_done = false; // Done yet?
-
-// Callback for end-of-DMA-transfer
-void dma_callback(Adafruit_ZeroDMA *dma) {
-  transfer_is_done = true;
-}
-
-void setup() {
-  uint32_t t;
-  pinMode(LED_BUILTIN, OUTPUT);   // Onboard LED can be used for precise
-  digitalWrite(LED_BUILTIN, LOW); // benchmarking with an oscilloscope
-  Serial.begin(115200);
-  while(!Serial);                 // Wait for Serial monitor before continuing
-
-  Serial.println("DMA test: memory copy");
-
-  Serial.print("Allocating DMA channel...");
-  stat = myDMA.allocate();
-  myDMA.printStatus(stat);
-
-  Serial.println("Setting up transfer");
-  myDMA.addDescriptor(source_memory, destination_memory, DATA_LENGTH);
-
-  Serial.println("Adding callback");
-  // register_callback() can optionally take a second argument
-  // (callback type), default is DMA_CALLBACK_TRANSFER_DONE
-  myDMA.setCallback(dma_callback);
-
-  // Fill the source buffer with incrementing bytes, dest buf with 0's
-  for(uint32_t i=0; i<DATA_LENGTH; i++) source_memory[i] = i;
-  memset(destination_memory, 0, DATA_LENGTH);
-
-  // Show the destination buffer is empty before transfer
-  Serial.println("Destination buffer before transfer:");
-  dump();
-
-  Serial.println("Starting transfer job");
-  stat = myDMA.startJob();
-  myDMA.printStatus(stat);
-
-  Serial.println("Triggering DMA transfer...");
-  t = micros();
-  digitalWrite(LED_BUILTIN, HIGH);
-  myDMA.trigger();
-
-  // Your code could do other things here while copy happens!
-
-  while(!transfer_is_done); // Chill until DMA transfer completes
-
-  digitalWrite(LED_BUILTIN, LOW);
-  t = micros() - t; // Elapsed time
-
-  Serial.print("Done! ");
-  Serial.print(t);
-  Serial.println(" microseconds");
-
-  Serial.println("Destination buffer after transfer:");
-  dump();
-
-  // Now repeat the same operation, but 'manually' using memcpy() (not DMA):
-  t = micros();
-  digitalWrite(LED_BUILTIN, HIGH);
-  memcpy(destination_memory, source_memory,  DATA_LENGTH);
-  digitalWrite(LED_BUILTIN, LOW);
-  t = micros() - t; // Elapsed time
-  Serial.print("Same operation without DMA: ");
-  Serial.print(t);
-  Serial.println(" microseconds");
-}
-
-// Show contents of destination_memory[] array
-void dump() {
-  for(uint32_t i=0; i<DATA_LENGTH; i++) {
-    Serial.print(destination_memory[i], HEX); Serial.print(' ');
-    if ((i & 15) == 15) Serial.println();
-  }
-}
-
-void loop() { }

libraries/Adafruit_ZeroDMA/examples/zerodma_spi1/zerodma_spi1.ino

@@ -1,97 +0,0 @@
-// DMA-based SPI buffer write.  This is transmit-only as written, i.e.
-// not equivalent to Arduino's SPI.transfer() which both sends and
-// receives a single byte or word.  Also, this is single-buffered to
-// demonstrate a simple SPI write case.  See zerodma_spi2.ino for an
-// example using double buffering (2 buffers alternating fill & transmit).
-
-#include <SPI.h>
-#include <Adafruit_ZeroDMA.h>
-#include "utility/dma.h"
-
-Adafruit_ZeroDMA myDMA;
-ZeroDMAstatus    stat; // DMA status codes returned by some functions
-
-// The memory we'll be issuing to SPI:
-#define DATA_LENGTH 2048
-uint8_t source_memory[DATA_LENGTH];
-
-volatile bool transfer_is_done = false; // Done yet?
-
-// Callback for end-of-DMA-transfer
-void dma_callback(Adafruit_ZeroDMA *dma) {
-  transfer_is_done = true;
-}
-
-void setup() {
-  uint32_t t;
-  pinMode(LED_BUILTIN, OUTPUT);   // Onboard LED can be used for precise
-  digitalWrite(LED_BUILTIN, LOW); // benchmarking with an oscilloscope
-  Serial.begin(115200);
-  while(!Serial);                 // Wait for Serial monitor before continuing
-
-  Serial.println("DMA test: SPI data out");
-
-  SPI.begin();
-
-  Serial.println("Configuring DMA trigger");
-#ifdef __SAMD51__
-  // SERCOM2 is the 'native' SPI SERCOM on Metro M4
-  myDMA.setTrigger(SERCOM2_DMAC_ID_TX);
-#else
-  // SERCOM4 is the 'native' SPI SERCOM on most M0 boards
-  myDMA.setTrigger(SERCOM4_DMAC_ID_TX);
-#endif
-  myDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
-
-  Serial.print("Allocating DMA channel...");
-  stat = myDMA.allocate();
-  myDMA.printStatus(stat);
-
-  Serial.println("Setting up transfer");
-  myDMA.addDescriptor(
-    source_memory,                    // move data from here
-#ifdef __SAMD51__
-    (void *)(&SERCOM2->SPI.DATA.reg), // to here (M4)
-#else
-    (void *)(&SERCOM4->SPI.DATA.reg), // to here (M0)
-#endif
-    DATA_LENGTH,                      // this many...
-    DMA_BEAT_SIZE_BYTE,               // bytes/hword/words
-    true,                             // increment source addr?
-    false);                           // increment dest addr?
-
-  Serial.println("Adding callback");
-  // register_callback() can optionally take a second argument
-  // (callback type), default is DMA_CALLBACK_TRANSFER_DONE
-  myDMA.setCallback(dma_callback);
-
-  // Fill the source buffer with incrementing bytes
-  for(uint32_t i=0; i<DATA_LENGTH; i++) source_memory[i] = i;
-
-  // Start SPI transaction at 12 MHz
-  SPI.beginTransaction(SPISettings(12000000, MSBFIRST, SPI_MODE0));
-
-  Serial.println("Starting transfer job");
-  t = micros();
-  digitalWrite(LED_BUILTIN, HIGH);
-
-  // Because we've configured a peripheral trigger (SPI), there's
-  // no need to manually trigger transfer, it starts up on its own.
-  stat = myDMA.startJob();
-
-  // Your code could do other things here while SPI write happens!
-
-  while(!transfer_is_done); // Chill until DMA transfer completes
-
-  digitalWrite(LED_BUILTIN, LOW);
-  t = micros() - t; // Elapsed time
-
-  SPI.endTransaction();
-  myDMA.printStatus(stat); // Results of start_transfer_job()
-
-  Serial.print("Done! ");
-  Serial.print(t);
-  Serial.println(" microseconds");
-}
-
-void loop() { }

libraries/Adafruit_ZeroDMA/examples/zerodma_spi2/zerodma_spi2.ino

@@ -1,103 +0,0 @@
-// Double-buffered DMA on auxiliary SPI peripheral on pins 11/12/13.
-// Continuously alternates between two data buffers...one is filled
-// with new data as the other is being transmitted.
-
-#include <SPI.h>
-#include <Adafruit_ZeroDMA.h>
-#include "utility/dma.h"
-#include "wiring_private.h" // pinPeripheral() function
-
-// Declare our own SPI peripheral 'mySPI' on pins 11/12/13:
-// (Do not call this SPI1; Arduino Zero and Metro M0 already
-// have an SPI1 (the EDBG interface) and it won't compile.)
-SPIClass mySPI(
-  &sercom1,         // -> Sercom peripheral
-  34,               // MISO pin (also digital pin 12)
-  37,               // SCK pin  (also digital pin 13)
-  35,               // MOSI pin (also digital pin 11)
-  SPI_PAD_0_SCK_1,  // TX pad (MOSI, SCK pads)
-  SERCOM_RX_PAD_3); // RX pad (MISO pad)
-
-Adafruit_ZeroDMA myDMA;
-ZeroDMAstatus    stat; // DMA status codes returned by some functions
-
-// Data we'll issue to mySPI.  There are TWO buffers; one being
-// filled with new data while the other's being transmitted in
-// the background.
-#define DATA_LENGTH 512
-uint8_t source_memory[2][DATA_LENGTH],
-        buffer_being_filled = 0, // Index of 'filling' buffer
-        buffer_value        = 0; // Value of fill
-
-volatile bool transfer_is_done = true; // Done yet?
-
-// Callback for end-of-DMA-transfer
-void dma_callback(Adafruit_ZeroDMA *dma) {
-  transfer_is_done = true;
-}
-
-DmacDescriptor *desc; // DMA descriptor address (so we can change contents)
-
-void setup() {
-  Serial.begin(115200);
-  while(!Serial); // Wait for Serial monitor before continuing
-
-  Serial.println("DMA test: SPI data out");
-
-  mySPI.begin();
-  // Assign pins 11, 12, 13 to SERCOM functionality
-  pinPeripheral(11, PIO_SERCOM);
-  pinPeripheral(12, PIO_SERCOM);
-  pinPeripheral(13, PIO_SERCOM);
-
-  // Configure DMA for SERCOM1 (our 'mySPI' port on 11/12/13)
-  Serial.println("Configuring DMA trigger");
-  myDMA.setTrigger(SERCOM1_DMAC_ID_TX);
-  myDMA.setAction(DMA_TRIGGER_ACTON_BEAT);
-
-  Serial.print("Allocating DMA channel...");
-  stat = myDMA.allocate();
-  myDMA.printStatus(stat);
-
-  desc = myDMA.addDescriptor(
-    source_memory[buffer_being_filled], // move data from here
-    (void *)(&SERCOM1->SPI.DATA.reg),   // to here
-    DATA_LENGTH,                        // this many...
-    DMA_BEAT_SIZE_BYTE,                 // bytes/hword/words
-    true,                               // increment source addr?
-    false);                             // increment dest addr?
-
-  Serial.println("Adding callback");
-  // register_callback() can optionally take a second argument
-  // (callback type), default is DMA_CALLBACK_TRANSFER_DONE
-  myDMA.setCallback(dma_callback);
-}
-
-void loop() {
-  // Fill buffer with new data.  The other buffer might
-  // still be transmitting in the background via DMA.
-  memset(source_memory[buffer_being_filled], buffer_value, DATA_LENGTH);
-
-  // Wait for prior transfer to complete before starting new one...
-  Serial.print("Waiting on prior transfer...");
-  while(!transfer_is_done) Serial.write('.');
-  mySPI.endTransaction();
-  Serial.println("Done!");
-
-  // Modify the DMA descriptor using the newly-filled buffer as source...
-  myDMA.changeDescriptor(desc,           // DMA descriptor address
-    source_memory[buffer_being_filled]); // New src; dst & count don't change
-
-  // Begin new transfer...
-  Serial.println("Starting new transfer job");
-  mySPI.beginTransaction(SPISettings(12000000, MSBFIRST, SPI_MODE0));
-  transfer_is_done = false;            // Reset 'done' flag
-  stat             = myDMA.startJob(); // Go!
-  myDMA.printStatus(stat);
-
-  // Switch buffer indices so the alternate buffer is filled/xfer'd
-  // on the next pass.
-  buffer_being_filled = 1 - buffer_being_filled;
-  buffer_value++;
-}
-

libraries/Adafruit_ZeroDMA/library.properties

@@ -1,9 +0,0 @@
-name=Adafruit Zero DMA Library
-version=1.0.4
-author=Adafruit
-maintainer=Adafruit <info@adafruit.com>
-sentence=DMA helper/wrapped for ATSAMD21 such as Arduino Zero & Feather M0
-paragraph=DMA helper/wrapped for ATSAMD21 such as Arduino Zero & Feather M0
-category=Signal Input/Output
-url=https://github.com/adafruit/Adafruit_ZeroDMA
-architectures=samd

libraries/Adafruit_ZeroDMA/utility/dma.h

@@ -1,145 +0,0 @@
-/**
- * \file
- *
- * \brief SAM Direct Memory Access Controller Driver
- *
- * Copyright (C) 2014-2015 Atmel Corporation. All rights reserved.
- *
- * \asf_license_start
- *
- * \page License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- *    this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- *    this list of conditions and the following disclaimer in the documentation
- *    and/or other materials provided with the distribution.
- *
- * 3. The name of Atmel may not be used to endorse or promote products derived
- *    from this software without specific prior written permission.
- *
- * 4. This software may only be redistributed and used in connection with an
- *    Atmel microcontroller product.
- *
- * THIS SOFTWARE IS PROVIDED BY ATMEL "AS IS" AND ANY EXPRESS OR IMPLIED
- * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
- * EXPRESSLY AND SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR
- * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
- * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
- * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
- * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- * \asf_license_stop
- *
- */
-/*
- * Support and FAQ: visit <a href="http://www.atmel.com/design-support/">Atmel Support</a>
- */
-#ifndef DMA_H_INCLUDED
-#define DMA_H_INCLUDED
-
-// THIS IS A PARED-DOWN VERSION OF DMA.H FROM ATMEL ASFCORE 3.
-// Please keep original copyright and license intact!
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if (SAML21) || (SAML22) || (SAMC20) || (SAMC21) || defined(__DOXYGEN__) || defined(__SAMD51__)
-#define FEATURE_DMA_CHANNEL_STANDBY
-#endif
-
-enum dma_transfer_trigger_action{
-#ifdef __SAMD51__
-    // SAMD51 has a 'burst' transfer which can be set to one
-    // beat to accomplish same idea as SAMD21's 'beat' transfer.
-    // Trigger name is ACTON_BEAT for backward compatibility.
-    DMA_TRIGGER_ACTON_BLOCK       = DMAC_CHCTRLA_TRIGACT_BLOCK_Val,
-    DMA_TRIGGER_ACTON_BEAT        = DMAC_CHCTRLA_TRIGACT_BURST_Val,
-    DMA_TRIGGER_ACTON_TRANSACTION = DMAC_CHCTRLA_TRIGACT_TRANSACTION_Val,
-#else
-    DMA_TRIGGER_ACTON_BLOCK       = DMAC_CHCTRLB_TRIGACT_BLOCK_Val,
-    DMA_TRIGGER_ACTON_BEAT        = DMAC_CHCTRLB_TRIGACT_BEAT_Val,
-    DMA_TRIGGER_ACTON_TRANSACTION = DMAC_CHCTRLB_TRIGACT_TRANSACTION_Val,
-#endif
-};
-
-enum dma_callback_type {
-    // First item here is for any transfer errors. A transfer error is
-    // flagged if a bus error is detected during an AHB access or when
-    // the DMAC fetches an invalid descriptor
-    DMA_CALLBACK_TRANSFER_ERROR,
-    DMA_CALLBACK_TRANSFER_DONE,
-    DMA_CALLBACK_CHANNEL_SUSPEND,
-    DMA_CALLBACK_N, // Number of available callbacks
-};
-
-enum dma_beat_size {
-    DMA_BEAT_SIZE_BYTE = 0, // 8-bit
-    DMA_BEAT_SIZE_HWORD,    // 16-bit
-    DMA_BEAT_SIZE_WORD,     // 32-bit
-};
-
-enum dma_event_output_selection {
-    DMA_EVENT_OUTPUT_DISABLE = 0, // Disable event generation
-    DMA_EVENT_OUTPUT_BLOCK,       // Event strobe when block xfer complete
-    DMA_EVENT_OUTPUT_RESERVED,
-    DMA_EVENT_OUTPUT_BEAT,        // Event strobe when beat xfer complete
-};
-
-enum dma_block_action {
-    DMA_BLOCK_ACTION_NOACT = 0,
-    // Channel in normal operation and sets transfer complete interrupt
-    // flag after block transfer
-    DMA_BLOCK_ACTION_INT,
-    // Trigger channel suspend after block transfer and sets channel
-    // suspend interrupt flag once the channel is suspended
-    DMA_BLOCK_ACTION_SUSPEND,
-    // Sets transfer complete interrupt flag after a block transfer and
-    // trigger channel suspend. The channel suspend interrupt flag will
-    // be set once the channel is suspended.
-    DMA_BLOCK_ACTION_BOTH,
-};
-
-// DMA step selection. This bit determines whether the step size setting
-// is applied to source or destination address.
-enum dma_step_selection {
-    DMA_STEPSEL_DST = 0,
-    DMA_STEPSEL_SRC,
-};
-
-// Address increment step size. These bits select the address increment step
-// size. The setting apply to source or destination address, depending on
-// STEPSEL setting.
-enum dma_address_increment_stepsize {
-    DMA_ADDRESS_INCREMENT_STEP_SIZE_1 = 0, // beat size * 1
-    DMA_ADDRESS_INCREMENT_STEP_SIZE_2,     // beat size * 2
-    DMA_ADDRESS_INCREMENT_STEP_SIZE_4,     // beat size * 4
-    DMA_ADDRESS_INCREMENT_STEP_SIZE_8,     // etc...
-    DMA_ADDRESS_INCREMENT_STEP_SIZE_16,
-    DMA_ADDRESS_INCREMENT_STEP_SIZE_32,
-    DMA_ADDRESS_INCREMENT_STEP_SIZE_64,
-    DMA_ADDRESS_INCREMENT_STEP_SIZE_128,
-};
-
-// higher numbers are higher priority
-enum dma_priority {
-    DMA_PRIORITY_0, // lowest (default)
-    DMA_PRIORITY_1,
-    DMA_PRIORITY_2,
-    DMA_PRIORITY_3, // highest
-};
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // DMA_H_INCLUDED

libraries/CI_Tests/CI_Tests.h

@@ -0,0 +1 @@
+// fake empty header file to make Arduino IDE happy

libraries/CI_Tests/examples/test_cmsis_fast_rfft/test_cmsis_fast_rfft.ino

@@ -0,0 +1,12 @@
+#include <arm_math.h>
+
+arm_rfft_fast_instance_f32 plan;
+
+void setup() {
+  arm_rfft_fast_init_f32(&plan, 256);
+}
+
+void loop() {
+    float in[256] = { 0 }, out[256] = { 0 };
+    arm_rfft_fast_f32(&plan, in, out, 0);
+}

libraries/I2S/src/I2S.cpp

@@ -37,6 +37,12 @@ static I2SDevice_SAMD21G18x i2sd(*I2S);
 
 #include "I2S.h"
 
+#ifdef USE_TINYUSB
+// For Serial when selecting TinyUSB
+#include <Adafruit_TinyUSB.h>
+#endif
+
+
 int I2SClass::_beginCount = 0;
 
 I2SClass::I2SClass(uint8_t deviceIndex, uint8_t clockGenerator, uint8_t sdPin, uint8_t sckPin, uint8_t fsPin) :

libraries/SAMD_AnalogCorrection/src/SAMD_AnalogCorrection.cpp

@@ -19,6 +19,11 @@
 
 #include "SAMD_AnalogCorrection.h"
 
+#ifdef USE_TINYUSB
+// For Serial when selecting TinyUSB
+#include <Adafruit_TinyUSB.h>
+#endif
+
 void analogReadCorrection (int offset, uint16_t gain)
 {
   Adc *adc;

libraries/SPI/SPI.cpp

@@ -22,6 +22,11 @@
 #include <wiring_private.h>
 #include <assert.h>
 
+#ifdef USE_TINYUSB
+// For Serial when selecting TinyUSB
+#include <Adafruit_TinyUSB.h>
+#endif
+
 #define SPI_IMODE_NONE   0
 #define SPI_IMODE_EXTINT 1
 #define SPI_IMODE_GLOBAL 2
@@ -46,7 +51,16 @@ SPIClass::SPIClass(SERCOM *p_sercom, uint8_t uc_pinMISO, uint8_t uc_pinSCK, uint
 
 void SPIClass::begin()
 {
-  init();
+  if(!initialized) {
+    interruptMode = SPI_IMODE_NONE;
+    interruptSave = 0;
+    interruptMask = 0;
+    initialized = true;
+  }
+
+  if(!use_dma) {
+    dmaAllocate();
+  }
 
   // PIO init
   pinPeripheral(_uc_pinMiso, g_APinDescription[_uc_pinMiso].ulPinType);
@@ -56,16 +70,6 @@ void SPIClass::begin()
   config(DEFAULT_SPI_SETTINGS);
 }
 
-void SPIClass::init()
-{
-  if (initialized)
-    return;
-  interruptMode = SPI_IMODE_NONE;
-  interruptSave = 0;
-  interruptMask = 0;
-  initialized = true;
-}
-
 void SPIClass::config(SPISettings settings)
 {
   _p_sercom->disableSPI();
@@ -80,6 +84,7 @@ void SPIClass::end()
 {
   _p_sercom->resetSPI();
   initialized = false;
+  // Add DMA deallocation here
 }
 
 #ifndef interruptsStatus
@@ -235,157 +240,239 @@ void SPIClass::transfer(void *buf, size_t count)
   }
 }
 
-// Pointer to SPIClass object, one per DMA channel.
+// DMA-based SPI transfer() function ---------------------------------------
+
+// IMPORTANT: references to 65535 throughout the DMA code are INTENTIONAL.
+// DO NOT try to 'fix' by changing to 65536, or large transfers will fail!
+// The BTCNT value of a DMA descriptor is an unsigned 16-bit value with a
+// max of 65535. Larger transfers are handled by linked descriptors.
+
+// Pointer to SPIClass object, one per DMA channel. This allows the
+// DMA callback (which has to exist outside the class context) to have
+// a reference back to the originating SPIClass object.
 static SPIClass *spiPtr[DMAC_CH_NUM] = { 0 }; // Legit inits list to NULL
 
 void SPIClass::dmaCallback(Adafruit_ZeroDMA *dma) {
   // dmaCallback() receives an Adafruit_ZeroDMA object. From this we can get
   // a channel number (0 to DMAC_CH_NUM-1, always unique per ZeroDMA object),
   // then locate the originating SPIClass object using array lookup, setting
-  // the dma_busy element 'false' to indicate end of transfer.
+  // the dma_busy element 'false' to indicate end of transfer. Doesn't matter
+  // if it's a read or write transfer...both channels get pointers to it.
   spiPtr[dma->getChannel()]->dma_busy = false;
 }
 
-void SPIClass::transfer(const void* txbuf, void* rxbuf, size_t count,
-  bool block) {
+// For read-only and read+write transfers, a callback is assigned only
+// to the read channel to indicate end-of-transfer, and the write channel's
+// callback is assigned to this nonsense function (for reasons I'm not
+// entirely sure of, setting the callback to NULL doesn't work).
+static void dmaDoNothingCallback(Adafruit_ZeroDMA *dma) { (void)dma; }
 
-    // If receiving data and the RX DMA channel is not yet allocated...
-    if(rxbuf && (readChannel.getChannel() >= DMAC_CH_NUM)) {
+// This could've gone in begin(), but for the sake of organization...
+void SPIClass::dmaAllocate(void) {
+  // In order to support fully non-blocking SPI transfers, DMA descriptor
+  // lists must be created for the input and/or output data. Rather than
+  // do this dynamically with every transfer, the lists are allocated once
+  // on SPI init. Maximum list size is finite and knowable -- transfers to
+  // or from RAM or from flash memory will never exceed the corresponding
+  // memory size (if they do, you have bigger problems). Descriptors
+  // aren't large and there's usually only a handful to a dozen, so this
+  // isn't an excessive burden in exchange for big non-blocking transfers.
+  uint32_t maxWriteBytes = FLASH_SIZE; // Writes can't exceed all of flash
+#if defined(__SAMD51__)
+  uint32_t maxReadBytes = HSRAM_SIZE;  // Reads can't exceed all of RAM
+#else
+  uint32_t maxReadBytes = HMCRAMC0_SIZE;
+#endif
+  if(maxReadBytes > maxWriteBytes) { // I don't think any SAMD devices
+    maxWriteBytes = maxReadBytes;    // have RAM > flash, but just in case
+  }
+
+  // VITAL to alloc read channel first, assigns it a higher DMA priority!
   if(readChannel.allocate() == DMA_STATUS_OK) {
-            readDescriptor =
-              readChannel.addDescriptor(
+    if(writeChannel.allocate() == DMA_STATUS_OK) {
+
+      // Both DMA channels (read and write) allocated successfully,
+      // set up transfer triggers and other basics...
+
+      // readChannel callback only needs to be set up once.
+      // Unlike the write callback which may get switched on or off,
+      // read callback stays put. In certain cases the read DMA job
+      // just isn't started and the callback is a non-issue then.
+      readChannel.setTrigger(getDMAC_ID_RX());
+      readChannel.setAction(DMA_TRIGGER_ACTON_BEAT);
+      readChannel.setCallback(dmaCallback);
+      spiPtr[readChannel.getChannel()] = this;
+
+      writeChannel.setTrigger(getDMAC_ID_TX());
+      writeChannel.setAction(DMA_TRIGGER_ACTON_BEAT);
+      spiPtr[writeChannel.getChannel()] = this;
+
+      // One descriptor per channel has already been allocated
+      // in Adafruit_ZeroDMA, this just gets pointers to them...
+      firstReadDescriptor = readChannel.addDescriptor(
         (void *)getDataRegister(), // Source address (SPI data reg)
         NULL,                      // Dest address (set later)
         0,                         // Count (set later)
         DMA_BEAT_SIZE_BYTE,        // Bytes/hwords/words
         false,                     // Don't increment source address
         true);                     // Increment dest address
-            readChannel.setTrigger(getDMAC_ID_RX());
-            readChannel.setAction(DMA_TRIGGER_ACTON_BEAT);
-            spiPtr[readChannel.getChannel()] = this;
-            // Since all RX transfers involve a TX, a
-            // separate callback here is not necessary.
-        }
-    }
-
-    // Unlike the rxbuf check above, where a RX DMA channel is allocated
-    // only if receiving data (and channel not previously alloc'd), the
-    // TX DMA channel is always needed, because even RX-only SPI requires
-    // writing dummy bytes to the peripheral.
-    if(writeChannel.getChannel() >= DMAC_CH_NUM) {
-        if(writeChannel.allocate() == DMA_STATUS_OK) {
-            writeDescriptor =
-              writeChannel.addDescriptor(
+      firstWriteDescriptor = writeChannel.addDescriptor(
         NULL,                      // Source address (set later)
         (void *)getDataRegister(), // Dest (SPI data register)
         0,                         // Count (set later)
         DMA_BEAT_SIZE_BYTE,        // Bytes/hwords/words
         true,                      // Increment source address
         false);                    // Don't increment dest address
-            writeChannel.setTrigger(getDMAC_ID_TX());
-            writeChannel.setAction(DMA_TRIGGER_ACTON_BEAT);
-            writeChannel.setCallback(dmaCallback);
-            spiPtr[writeChannel.getChannel()] = this;
+      // This is the number of EXTRA descriptors beyond the first.
+      int numReadDescriptors  = ((maxReadBytes  + 65534) / 65535) - 1;
+      int numWriteDescriptors = ((maxWriteBytes + 65534) / 65535) - 1;
+      int totalDescriptors    = numReadDescriptors + numWriteDescriptors;
+
+      if(totalDescriptors <= 0) { // Don't need extra descriptors,
+        use_dma = true;           // channels are allocated, we're good.
+      } else {                    // Else allocate extra descriptor lists...
+        // Although DMA descriptors are technically a linked list, we just
+        // allocate a chunk all at once, and finesse the pointers later.
+        if((extraReadDescriptors = (DmacDescriptor *)malloc(
+          totalDescriptors * sizeof(DmacDescriptor)))) {
+          use_dma = true; // Everything allocated successfully
+          extraWriteDescriptors = &extraReadDescriptors[numReadDescriptors];
+
+          // Initialize descriptors (copy from first ones)
+          // cast to void* to suppress warning: with no trivial copy-assignment [-Wclass-memaccess]
+          for(int i=0; i<numReadDescriptors; i++) {
+            memcpy((void*) &extraReadDescriptors[i], firstReadDescriptor,
+              sizeof(DmacDescriptor));
           }
+          for(int i=0; i<numWriteDescriptors; i++) {
+            memcpy((void*) &extraWriteDescriptors[i], firstWriteDescriptor,
+              sizeof(DmacDescriptor));
+          }
+        } // end malloc
+      } // end extra descriptor check
+
+      if(use_dma) { // If everything allocated successfully,
+        return;     // then we're done here.
+      }             // Otherwise clean up interim allocations...
+      writeChannel.free();
+    } // end writeChannel alloc
+    readChannel.free();
+  } // end readChannel alloc
+
+  // NOT FATAL if channel or descriptor allocation fails.
+  // transfer() function will fall back on a manual byte-by-byte loop.
 }
 
-    if(writeDescriptor && (readDescriptor || !rxbuf)) {
+void SPIClass::transfer(const void *txbuf, void *rxbuf, size_t count,
+  bool block) {
+
+  if((!txbuf && !rxbuf) || !count) { // Validate inputs
+    return;
+  }
+  // OK to assume now that txbuf and/or rxbuf are non-NULL, an if/else is
+  // often sufficient, don't need else-ifs for everything buffer related.
+
+  uint8_t *txbuf8 = (uint8_t *)txbuf; // Must cast to byte size
+  uint8_t *rxbuf8 = (uint8_t *)rxbuf; // for pointer math
+
+  if(use_dma) { // DMA-BASED TRANSFER YAY ----------------------------------
+
     static const uint8_t dum = 0xFF; // Dummy byte for read-only xfers
 
-        // Initialize read descriptor dest address to rxbuf
-        if(rxbuf) readDescriptor->DSTADDR.reg = (uint32_t)rxbuf;
+    // Set up DMA descriptor lists -----------------------------------------
 
-        // If reading only, set up writeDescriptor to issue dummy bytes
-        // (set SRCADDR to &dum and SRCINC to 0). Otherwise, set SRCADDR
-        // to txbuf and SRCINC to 1. Only needed once at start.
-        if(rxbuf && !txbuf) {
-            writeDescriptor->SRCADDR.reg       = (uint32_t)&dum;
-            writeDescriptor->BTCTRL.bit.SRCINC = 0;
-        } else {
-            writeDescriptor->SRCADDR.reg       = (uint32_t)txbuf;
-            writeDescriptor->BTCTRL.bit.SRCINC = 1;
+    DmacDescriptor *rDesc = firstReadDescriptor;
+    DmacDescriptor *wDesc = firstWriteDescriptor;
+    int descIdx = 0; // Index into extra descriptor lists
+
+    while(count) { // Counts down to end of transfer
+      uint32_t bytesThisDescriptor = count;
+      if(bytesThisDescriptor > 65535) { // Limit each descriptor
+        bytesThisDescriptor = 65535;    // to 65535 (not 65536) bytes
+      }
+      rDesc->BTCNT.reg = wDesc->BTCNT.reg = bytesThisDescriptor;
+      if(rxbuf) { // Read-only or read+write
+        // Auto-inc addresses in DMA descriptors must point to END of data.
+        // Buf pointers would advance at end of loop anyway, do it now...
+        rxbuf8 += bytesThisDescriptor;
+        rDesc->DSTADDR.reg = (uint32_t)rxbuf8;
+      }
+      if(txbuf) { // Write-only or read+write
+        txbuf8 += bytesThisDescriptor; // Same as above
+        wDesc->SRCADDR.reg       = (uint32_t)txbuf8;
+        wDesc->BTCTRL.bit.SRCINC = 1; // Increment source pointer
+      } else { // Read-only requires dummy write
+        wDesc->SRCADDR.reg       = (uint32_t)&dum;
+        wDesc->BTCTRL.bit.SRCINC = 0; // Don't increment source pointer
+      }
+      count -= bytesThisDescriptor;
+      if(count) { // Still more data?
+        // Link to next descriptors. Extra descriptors are IN ADDITION
+        // to first, so it's safe and correct that descIdx starts at 0.
+        rDesc->DESCADDR.reg = (uint32_t)&extraReadDescriptors[descIdx];
+        wDesc->DESCADDR.reg = (uint32_t)&extraWriteDescriptors[descIdx];
+        rDesc = &extraReadDescriptors[descIdx];  // Update pointers to
+        wDesc = &extraWriteDescriptors[descIdx]; // next descriptors
+        descIdx++;
+        // A write-only transfer doesn't use the read descriptor list, but
+        // it's quicker to build it (full of nonsense) anyway than to check.
+      } else { // No more data, end descriptor linked lists
+        rDesc->DESCADDR.reg = wDesc->DESCADDR.reg = 0;
+      }
     }
 
-        while(count > 0) {
-            // Maximum bytes per DMA descriptor is 65,535 (NOT 65,536).
-            // We could set up a descriptor chain, but that gets more
-            // complex. For now, instead, break up long transfers into
-            // chunks of 65,535 bytes max...these transfers are all
-            // blocking, regardless of the "block" argument, except
-            // for the last one which will observe the background request.
-            // The fractional part is done first, so for any "partially
-            // blocking" transfers like these at least it's the largest
-            // single-descriptor transfer possible that occurs in the
-            // background, rather than the tail end.
-            int  bytesThisPass;
-            bool blockThisPass;
-            if(count > 65535) { // Too big for 1 descriptor
-                blockThisPass = true;
-                bytesThisPass = count % 65535; // Fractional part
-                if(!bytesThisPass) bytesThisPass = 65535;
-            } else {
-                blockThisPass = block;
-                bytesThisPass = count;
-            }
+    // Set up DMA transfer job(s) ------------------------------------------
 
-            // Issue 'bytesThisPass' bytes...
-            if(rxbuf) {
-                // Reading, or reading + writing.
-                // Set up read descriptor.
-                // Src address doesn't change, only dest & count.
-                // DMA needs address set to END of buffer, so
-                // increment the address now, before the transfer.
-                readDescriptor->DSTADDR.reg += bytesThisPass;
-                readDescriptor->BTCNT.reg    = bytesThisPass;
-                // Start the RX job BEFORE the TX job!
-                // That's the whole secret sauce to the two-channel transfer.
-                // Nothing will actually happen until the write channel job
-                // is also started.
+    if(rxbuf) { // Read+write or read-only
+      // End-of-read callback is already set up, disable write CB, start job
+      writeChannel.setCallback(dmaDoNothingCallback);
       readChannel.startJob();
+    } else { // Write-only, use end-of-write callback
+      writeChannel.setCallback(dmaCallback);
     }
-            if(txbuf) {
-                // DMA needs address set to END of buffer, so
-                // increment the address now, before the transfer.
-                writeDescriptor->SRCADDR.reg += bytesThisPass;
-            }
-            writeDescriptor->BTCNT.reg = bytesThisPass;
+
+    // Run DMA jobs, blocking if requested ---------------------------------
+
     dma_busy = true;
-            writeChannel.startJob();
-            count   -= bytesThisPass;
-            if(blockThisPass) {
-                while(dma_busy);
+    writeChannel.startJob(); // All xfers, even read-only, need write job.
+    if(block) {              // If blocking transfer requested,
+      while(dma_busy);       // wait for job to finish
     }
-        }
-    } else {
-        // Non-DMA fallback.
-        uint8_t *txbuf8 = (uint8_t *)txbuf,
-                *rxbuf8 = (uint8_t *)rxbuf;
-        if(rxbuf8) {
+
+  } else { // NON-DMA FALLBACK ---------------------------------------------
+
     if(txbuf8) {
-                // Writing and reading simultaneously
+      if(rxbuf8) { // Write + read simultaneously
         while(count--) {
           *rxbuf8++ = _p_sercom->transferDataSPI(*txbuf8++);
         }
-            } else {
-                // Reading only
-                while(count--) {
-                    *rxbuf8++ = _p_sercom->transferDataSPI(0xFF);
-                }
-            }
-        } else if(txbuf) {
-            // Writing only
+      } else {     // Write only
         while(count--) {
           (void)_p_sercom->transferDataSPI(*txbuf8++);
         }
       }
+    } else {       // Read only
+      while(count--) {
+        *rxbuf8++ = _p_sercom->transferDataSPI(0xFF);
       }
     }
 
+  } // end non-DMA
+}
+
 // Waits for a prior in-background DMA transfer to complete.
 void SPIClass::waitForTransfer(void) {
   while(dma_busy);
 }
 
+/* returns the current DMA transfer status to allow non-blocking polling */
+bool SPIClass::isBusy(void) {
+  return dma_busy;
+}
+
+
+// End DMA-based SPI transfer() code ---------------------------------------
+
 void SPIClass::attachInterrupt() {
   // Should be enableInterrupt()
 }
@@ -405,8 +492,12 @@ static const struct {
   { &SERCOM1->SPI.DATA.reg, SERCOM1_DMAC_ID_TX, SERCOM1_DMAC_ID_RX },
   { &SERCOM2->SPI.DATA.reg, SERCOM2_DMAC_ID_TX, SERCOM2_DMAC_ID_RX },
   { &SERCOM3->SPI.DATA.reg, SERCOM3_DMAC_ID_TX, SERCOM3_DMAC_ID_RX },
+#if defined(SERCOM4)
   { &SERCOM4->SPI.DATA.reg, SERCOM4_DMAC_ID_TX, SERCOM4_DMAC_ID_RX },
+#endif
+#if defined(SERCOM5)
   { &SERCOM5->SPI.DATA.reg, SERCOM5_DMAC_ID_TX, SERCOM5_DMAC_ID_RX },
+#endif
 #if defined(SERCOM6)
   { &SERCOM6->SPI.DATA.reg, SERCOM6_DMAC_ID_TX, SERCOM6_DMAC_ID_RX },
 #endif
@@ -477,4 +568,3 @@ void SPIClass::setClockSource(SercomClockSource clk) {
 #if SPI_INTERFACES_COUNT > 5
   SPIClass SPI5(&PERIPH_SPI5, PIN_SPI5_MISO, PIN_SPI5_SCK, PIN_SPI5_MOSI, PAD_SPI5_TX, PAD_SPI5_RX);
 #endif
-

libraries/SPI/SPI.h

@@ -52,9 +52,11 @@
   // The datasheet specifies a typical SPI SCK period (tSCK) of 42 ns,
   // see "Table 36-48. SPI Timing Characteristics and Requirements",
   // which translates into a maximum SPI clock of 23.8 MHz.
-  // Conservatively, the divider is set for a 12 MHz maximum SPI clock.
+  // We'll permit use of 24 MHz SPI even though this is slightly out
+  // of spec. Given how clock dividers work, the next "sensible"
+  // threshold would be a substantial drop down to 12 MHz.
   #if !defined(MAX_SPI)
-    #define MAX_SPI 12000000
+    #define MAX_SPI 24000000
   #endif
   #define SPI_MIN_CLOCK_DIVIDER (uint8_t)(1 + ((F_CPU - 1) / MAX_SPI))
 #endif
@@ -81,7 +83,7 @@ class SPISettings {
 #if defined(__SAMD51__)
     this->clockFreq = clock; // Clipping handled in SERCOM.cpp
 #else
-    this->clockFreq = (clock >= (MAX_SPI * 2 / SPI_MIN_CLOCK_DIVIDER) ? MAX_SPI * 2 / SPI_MIN_CLOCK_DIVIDER : clock);
+    this->clockFreq = clock >= MAX_SPI ? MAX_SPI : clock;
 #endif
 
     this->bitOrder = (bitOrder == MSBFIRST ? MSB_FIRST : LSB_FIRST);
@@ -118,6 +120,7 @@ class SPIClass {
   void transfer(const void* txbuf, void* rxbuf, size_t count,
          bool block = true);
   void waitForTransfer(void);
+  bool isBusy(void);
 
   // Transaction Functions
   void usingInterrupt(int interruptNumber);
@@ -147,11 +150,10 @@ class SPIClass {
 #else
   // On SAMD21, this compiles to nothing, so user code doesn't need to
   // check and conditionally compile lines for different architectures.
-  void setClockSource(SercomClockSource clk) { };
+  void setClockSource(SercomClockSource clk) { (void)clk; };
 #endif // end __SAMD51__
 
   private:
-  void init();
   void config(SPISettings settings);
 
   SERCOM *_p_sercom;
@@ -167,12 +169,16 @@ class SPIClass {
   char interruptSave;
   uint32_t interruptMask;
 
-  // transfer(txbuf, rxbuf, count, block) uses DMA if possible
-  Adafruit_ZeroDMA readChannel,
-                   writeChannel;
-  DmacDescriptor  *readDescriptor  = NULL,
-                  *writeDescriptor = NULL;
+  // transfer(txbuf, rxbuf, count, block) uses DMA when possible
+  Adafruit_ZeroDMA readChannel;
+  Adafruit_ZeroDMA writeChannel;
+  DmacDescriptor  *firstReadDescriptor   = NULL;  // List entry point
+  DmacDescriptor  *firstWriteDescriptor  = NULL;
+  DmacDescriptor  *extraReadDescriptors  = NULL;  // Add'l descriptors
+  DmacDescriptor  *extraWriteDescriptors = NULL;
+  bool             use_dma               = false; // true on successful alloc
   volatile bool    dma_busy              = false;
+  void             dmaAllocate(void);
   static void      dmaCallback(Adafruit_ZeroDMA *dma);
 };
 

libraries/Servo/README.adoc

@@ -0,0 +1,25 @@
+= Servo Library for Arduino =
+
+This library allows an Arduino board to control RC (hobby) servo motors.
+
+For more information about this library please visit us at
+http://www.arduino.cc/en/Reference/Servo
+
+== License ==
+
+Copyright (c) 2013 Arduino LLC. All right reserved.
+Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA

libraries/Servo/examples/Knob/Knob.ino

@@ -0,0 +1,27 @@
+/*
+ Controlling a servo position using a potentiometer (variable resistor)
+ by Michal Rinott <http://people.interaction-ivrea.it/m.rinott>
+
+ modified on 8 Nov 2013
+ by Scott Fitzgerald
+ http://www.arduino.cc/en/Tutorial/Knob
+*/
+
+#include <Servo.h>
+
+Servo myservo;  // create servo object to control a servo
+
+int potpin = 0;  // analog pin used to connect the potentiometer
+int val;    // variable to read the value from the analog pin
+
+void setup() {
+  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
+}
+
+void loop() {
+  val = analogRead(potpin);            // reads the value of the potentiometer (value between 0 and 1023)
+  val = map(val, 0, 1023, 0, 180);     // scale it to use it with the servo (value between 0 and 180)
+  myservo.write(val);                  // sets the servo position according to the scaled value
+  delay(15);                           // waits for the servo to get there
+}
+

libraries/Servo/examples/Sweep/Sweep.ino

@@ -0,0 +1,32 @@
+/* Sweep
+ by BARRAGAN <http://barraganstudio.com>
+ This example code is in the public domain.
+
+ modified 8 Nov 2013
+ by Scott Fitzgerald
+ http://www.arduino.cc/en/Tutorial/Sweep
+*/
+
+#include <Servo.h>
+
+Servo myservo;  // create servo object to control a servo
+// twelve servo objects can be created on most boards
+
+int pos = 0;    // variable to store the servo position
+
+void setup() {
+  myservo.attach(9);  // attaches the servo on pin 9 to the servo object
+}
+
+void loop() {
+  for (pos = 0; pos <= 180; pos += 1) { // goes from 0 degrees to 180 degrees
+    // in steps of 1 degree
+    myservo.write(pos);              // tell servo to go to position in variable 'pos'
+    delay(15);                       // waits 15ms for the servo to reach the position
+  }
+  for (pos = 180; pos >= 0; pos -= 1) { // goes from 180 degrees to 0 degrees
+    myservo.write(pos);              // tell servo to go to position in variable 'pos'
+    delay(15);                       // waits 15ms for the servo to reach the position
+  }
+}
+

libraries/Servo/keywords.txt

@@ -0,0 +1,24 @@
+#######################################
+# Syntax Coloring Map Servo
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+Servo	KEYWORD1	Servo
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+attach	KEYWORD2
+detach	KEYWORD2
+write	KEYWORD2
+read	KEYWORD2
+attached	KEYWORD2
+writeMicroseconds	KEYWORD2
+readMicroseconds	KEYWORD2
+
+#######################################
+# Constants (LITERAL1)
+#######################################

libraries/Servo/library.properties

@@ -0,0 +1,9 @@
+name=Servo
+version=1.1.4
+author=Michael Margolis, Arduino
+maintainer=Arduino <info@arduino.cc>
+sentence=Allows Arduino/Genuino boards to control a variety of servo motors.
+paragraph=This library can control a great number of servos.<br />It makes careful use of timers: the library can control 12 servos using only 1 timer.<br />On the Arduino Due you can control up to 60 servos.<br />
+category=Device Control
+url=http://www.arduino.cc/en/Reference/Servo
+architectures=avr,megaavr,sam,samd,nrf52,stm32f4

libraries/Servo/src/Servo.h

@@ -0,0 +1,121 @@
+/*
+  Servo.h - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+  Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+/* 
+  A servo is activated by creating an instance of the Servo class passing 
+  the desired pin to the attach() method.
+  The servos are pulsed in the background using the value most recently 
+  written using the write() method.
+
+  Note that analogWrite of PWM on pins associated with the timer are 
+  disabled when the first servo is attached.
+  Timers are seized as needed in groups of 12 servos - 24 servos use two 
+  timers, 48 servos will use four.
+  The sequence used to sieze timers is defined in timers.h
+
+  The methods are:
+
+    Servo - Class for manipulating servo motors connected to Arduino pins.
+
+    attach(pin )  - Attaches a servo motor to an i/o pin.
+    attach(pin, min, max  ) - Attaches to a pin setting min and max values in microseconds
+    default min is 544, max is 2400  
+ 
+    write()     - Sets the servo angle in degrees.  (invalid angle that is valid as pulse in microseconds is treated as microseconds)
+    writeMicroseconds() - Sets the servo pulse width in microseconds 
+    read()      - Gets the last written servo pulse width as an angle between 0 and 180. 
+    readMicroseconds()   - Gets the last written servo pulse width in microseconds. (was read_us() in first release)
+    attached()  - Returns true if there is a servo attached. 
+    detach()    - Stops an attached servos from pulsing its i/o pin. 
+ */
+
+#ifndef Servo_h
+#define Servo_h
+
+#include <inttypes.h>
+
+/* 
+ * Defines for 16 bit timers used with  Servo library 
+ *
+ * If _useTimerX is defined then TimerX is a 16 bit timer on the current board
+ * timer16_Sequence_t enumerates the sequence that the timers should be allocated
+ * _Nbr_16timers indicates how many 16 bit timers are available.
+ */
+
+// Architecture specific include
+#if defined(ARDUINO_ARCH_AVR)
+#include "avr/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_SAM)
+#include "sam/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_SAMD)
+#include "samd/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_STM32F4)
+#include "stm32f4/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_NRF52)
+#include "nrf52/ServoTimers.h"
+#elif defined(ARDUINO_ARCH_MEGAAVR)
+#include "megaavr/ServoTimers.h"
+#else
+#error "This library only supports boards with an AVR, SAM, SAMD, NRF52 or STM32F4 processor."
+#endif
+
+#define Servo_VERSION           2     // software version of this library
+
+#define MIN_PULSE_WIDTH       544     // the shortest pulse sent to a servo  
+#define MAX_PULSE_WIDTH      2400     // the longest pulse sent to a servo 
+#define DEFAULT_PULSE_WIDTH  1500     // default pulse width when servo is attached
+#define REFRESH_INTERVAL    20000     // minumim time to refresh servos in microseconds 
+
+#define SERVOS_PER_TIMER       12     // the maximum number of servos controlled by one timer 
+#define MAX_SERVOS   (_Nbr_16timers  * SERVOS_PER_TIMER)
+
+#define INVALID_SERVO         255     // flag indicating an invalid servo index
+
+#if !defined(ARDUINO_ARCH_STM32F4)
+
+typedef struct  {
+  uint8_t nbr        :6 ;             // a pin number from 0 to 63
+  uint8_t isActive   :1 ;             // true if this channel is enabled, pin not pulsed if false 
+} ServoPin_t   ;  
+
+typedef struct {
+  ServoPin_t Pin;
+  volatile unsigned int ticks;
+} servo_t;
+
+class Servo
+{
+public:
+  Servo();
+  uint8_t attach(int pin);           // attach the given pin to the next free channel, sets pinMode, returns channel number or 0 if failure
+  uint8_t attach(int pin, int min, int max); // as above but also sets min and max values for writes. 
+  void detach();
+  void write(int value);             // if value is < 200 its treated as an angle, otherwise as pulse width in microseconds 
+  void writeMicroseconds(int value); // Write pulse width in microseconds 
+  int read();                        // returns current pulse width as an angle between 0 and 180 degrees
+  int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
+  bool attached();                   // return true if this servo is attached, otherwise false 
+private:
+   uint8_t servoIndex;               // index into the channel data for this servo
+   int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH    
+   int8_t max;                       // maximum is this value times 4 added to MAX_PULSE_WIDTH   
+};
+
+#endif
+#endif

libraries/Servo/src/avr/Servo.cpp

@@ -0,0 +1,318 @@
+/*
+ Servo.cpp - Interrupt driven Servo library for Arduino using 16 bit timers- Version 2
+ Copyright (c) 2009 Michael Margolis.  All right reserved.
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ */
+
+#if defined(ARDUINO_ARCH_AVR)
+
+#include <avr/interrupt.h>
+#include <Arduino.h>
+
+#include "Servo.h"
+
+#define usToTicks(_us)    (( clockCyclesPerMicrosecond()* _us) / 8)     // converts microseconds to tick (assumes prescale of 8)  // 12 Aug 2009
+#define ticksToUs(_ticks) (( (unsigned)_ticks * 8)/ clockCyclesPerMicrosecond() ) // converts from ticks back to microseconds
+
+
+#define TRIM_DURATION       2                               // compensation ticks to trim adjust for digitalWrite delays // 12 August 2009
+
+//#define NBR_TIMERS        (MAX_SERVOS / SERVOS_PER_TIMER)
+
+static servo_t servos[MAX_SERVOS];                          // static array of servo structures
+static volatile int8_t Channel[_Nbr_16timers ];             // counter for the servo being pulsed for each timer (or -1 if refresh interval)
+
+uint8_t ServoCount = 0;                                     // the total number of attached servos
+
+
+// convenience macros
+#define SERVO_INDEX_TO_TIMER(_servo_nbr) ((timer16_Sequence_t)(_servo_nbr / SERVOS_PER_TIMER)) // returns the timer controlling this servo
+#define SERVO_INDEX_TO_CHANNEL(_servo_nbr) (_servo_nbr % SERVOS_PER_TIMER)       // returns the index of the servo on this timer
+#define SERVO_INDEX(_timer,_channel)  ((_timer*SERVOS_PER_TIMER) + _channel)     // macro to access servo index by timer and channel
+#define SERVO(_timer,_channel)  (servos[SERVO_INDEX(_timer,_channel)])            // macro to access servo class by timer and channel
+
+#define SERVO_MIN() (MIN_PULSE_WIDTH - this->min * 4)  // minimum value in uS for this servo
+#define SERVO_MAX() (MAX_PULSE_WIDTH - this->max * 4)  // maximum value in uS for this servo
+
+/************ static functions common to all instances ***********************/
+
+static inline void handle_interrupts(timer16_Sequence_t timer, volatile uint16_t *TCNTn, volatile uint16_t* OCRnA)
+{
+  if( Channel[timer] < 0 )
+    *TCNTn = 0; // channel set to -1 indicated that refresh interval completed so reset the timer
+  else{
+    if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && SERVO(timer,Channel[timer]).Pin.isActive == true )
+      digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,LOW); // pulse this channel low if activated
+  }
+
+  Channel[timer]++;    // increment to the next channel
+  if( SERVO_INDEX(timer,Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
+    *OCRnA = *TCNTn + SERVO(timer,Channel[timer]).ticks;
+    if(SERVO(timer,Channel[timer]).Pin.isActive == true)     // check if activated
+      digitalWrite( SERVO(timer,Channel[timer]).Pin.nbr,HIGH); // its an active channel so pulse it high
+  }
+  else {
+    // finished all channels so wait for the refresh period to expire before starting over
+    if( ((unsigned)*TCNTn) + 4 < usToTicks(REFRESH_INTERVAL) )  // allow a few ticks to ensure the next OCR1A not missed
+      *OCRnA = (unsigned int)usToTicks(REFRESH_INTERVAL);
+    else
+      *OCRnA = *TCNTn + 4;  // at least REFRESH_INTERVAL has elapsed
+    Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
+  }
+}
+
+#ifndef WIRING // Wiring pre-defines signal handlers so don't define any if compiling for the Wiring platform
+// Interrupt handlers for Arduino
+#if defined(_useTimer1)
+SIGNAL (TIMER1_COMPA_vect)
+{
+  handle_interrupts(_timer1, &TCNT1, &OCR1A);
+}
+#endif
+
+#if defined(_useTimer3)
+SIGNAL (TIMER3_COMPA_vect)
+{
+  handle_interrupts(_timer3, &TCNT3, &OCR3A);
+}
+#endif
+
+#if defined(_useTimer4)
+SIGNAL (TIMER4_COMPA_vect)
+{
+  handle_interrupts(_timer4, &TCNT4, &OCR4A);
+}
+#endif
+
+#if defined(_useTimer5)
+SIGNAL (TIMER5_COMPA_vect)
+{
+  handle_interrupts(_timer5, &TCNT5, &OCR5A);
+}
+#endif
+
+#elif defined WIRING
+// Interrupt handlers for Wiring
+#if defined(_useTimer1)
+void Timer1Service()
+{
+  handle_interrupts(_timer1, &TCNT1, &OCR1A);
+}
+#endif
+#if defined(_useTimer3)
+void Timer3Service()
+{
+  handle_interrupts(_timer3, &TCNT3, &OCR3A);
+}
+#endif
+#endif
+
+
+static void initISR(timer16_Sequence_t timer)
+{
+#if defined (_useTimer1)
+  if(timer == _timer1) {
+    TCCR1A = 0;             // normal counting mode
+    TCCR1B = _BV(CS11);     // set prescaler of 8
+    TCNT1 = 0;              // clear the timer count
+#if defined(__AVR_ATmega8__)|| defined(__AVR_ATmega128__)
+    TIFR |= _BV(OCF1A);      // clear any pending interrupts;
+    TIMSK |=  _BV(OCIE1A) ;  // enable the output compare interrupt
+#else
+    // here if not ATmega8 or ATmega128
+    TIFR1 |= _BV(OCF1A);     // clear any pending interrupts;
+    TIMSK1 |=  _BV(OCIE1A) ; // enable the output compare interrupt
+#endif
+#if defined(WIRING)
+    timerAttach(TIMER1OUTCOMPAREA_INT, Timer1Service);
+#endif
+  }
+#endif
+
+#if defined (_useTimer3)
+  if(timer == _timer3) {
+    TCCR3A = 0;             // normal counting mode
+    TCCR3B = _BV(CS31);     // set prescaler of 8
+    TCNT3 = 0;              // clear the timer count
+#if defined(__AVR_ATmega128__)
+    TIFR |= _BV(OCF3A);     // clear any pending interrupts;
+	ETIMSK |= _BV(OCIE3A);  // enable the output compare interrupt
+#else
+    TIFR3 = _BV(OCF3A);     // clear any pending interrupts;
+    TIMSK3 =  _BV(OCIE3A) ; // enable the output compare interrupt
+#endif
+#if defined(WIRING)
+    timerAttach(TIMER3OUTCOMPAREA_INT, Timer3Service);  // for Wiring platform only
+#endif
+  }
+#endif
+
+#if defined (_useTimer4)
+  if(timer == _timer4) {
+    TCCR4A = 0;             // normal counting mode
+    TCCR4B = _BV(CS41);     // set prescaler of 8
+    TCNT4 = 0;              // clear the timer count
+    TIFR4 = _BV(OCF4A);     // clear any pending interrupts;
+    TIMSK4 =  _BV(OCIE4A) ; // enable the output compare interrupt
+  }
+#endif
+
+#if defined (_useTimer5)
+  if(timer == _timer5) {
+    TCCR5A = 0;             // normal counting mode
+    TCCR5B = _BV(CS51);     // set prescaler of 8
+    TCNT5 = 0;              // clear the timer count
+    TIFR5 = _BV(OCF5A);     // clear any pending interrupts;
+    TIMSK5 =  _BV(OCIE5A) ; // enable the output compare interrupt
+  }
+#endif
+}
+
+static void finISR(timer16_Sequence_t timer)
+{
+    //disable use of the given timer
+#if defined WIRING   // Wiring
+  if(timer == _timer1) {
+    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+    TIMSK1 &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
+    #else
+    TIMSK &=  ~_BV(OCIE1A) ;  // disable timer 1 output compare interrupt
+    #endif
+    timerDetach(TIMER1OUTCOMPAREA_INT);
+  }
+  else if(timer == _timer3) {
+    #if defined(__AVR_ATmega1281__)||defined(__AVR_ATmega2561__)
+    TIMSK3 &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
+    #else
+    ETIMSK &= ~_BV(OCIE3A);    // disable the timer3 output compare A interrupt
+    #endif
+    timerDetach(TIMER3OUTCOMPAREA_INT);
+  }
+#else
+  //For arduino - in future: call here to a currently undefined function to reset the timer
+  (void) timer;  // squash "unused parameter 'timer' [-Wunused-parameter]" warning
+#endif
+}
+
+static boolean isTimerActive(timer16_Sequence_t timer)
+{
+  // returns true if any servo is active on this timer
+  for(uint8_t channel=0; channel < SERVOS_PER_TIMER; channel++) {
+    if(SERVO(timer,channel).Pin.isActive == true)
+      return true;
+  }
+  return false;
+}
+
+
+/****************** end of static functions ******************************/
+
+Servo::Servo()
+{
+  if( ServoCount < MAX_SERVOS) {
+    this->servoIndex = ServoCount++;                    // assign a servo index to this instance
+	servos[this->servoIndex].ticks = usToTicks(DEFAULT_PULSE_WIDTH);   // store default values  - 12 Aug 2009
+  }
+  else
+    this->servoIndex = INVALID_SERVO ;  // too many servos
+}
+
+uint8_t Servo::attach(int pin)
+{
+  return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
+}
+
+uint8_t Servo::attach(int pin, int min, int max)
+{
+  if(this->servoIndex < MAX_SERVOS ) {
+    pinMode( pin, OUTPUT) ;                                   // set servo pin to output
+    servos[this->servoIndex].Pin.nbr = pin;
+    // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
+    this->min  = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
+    this->max  = (MAX_PULSE_WIDTH - max)/4;
+    // initialize the timer if it has not already been initialized
+    timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+    if(isTimerActive(timer) == false)
+      initISR(timer);
+    servos[this->servoIndex].Pin.isActive = true;  // this must be set after the check for isTimerActive
+  }
+  return this->servoIndex ;
+}
+
+void Servo::detach()
+{
+  servos[this->servoIndex].Pin.isActive = false;
+  timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
+  if(isTimerActive(timer) == false) {
+    finISR(timer);
+  }
+}
+
+void Servo::write(int value)
+{
+  if(value < MIN_PULSE_WIDTH)
+  {  // treat values less than 544 as angles in degrees (valid values in microseconds are handled as microseconds)
+    if(value < 0) value = 0;
+    if(value > 180) value = 180;
+    value = map(value, 0, 180, SERVO_MIN(),  SERVO_MAX());
+  }
+  this->writeMicroseconds(value);
+}
+
+void Servo::writeMicroseconds(int value)
+{
+  // calculate and store the values for the given channel
+  byte channel = this->servoIndex;
+  if( (channel < MAX_SERVOS) )   // ensure channel is valid
+  {
+    if( value < SERVO_MIN() )          // ensure pulse width is valid
+      value = SERVO_MIN();
+    else if( value > SERVO_MAX() )
+      value = SERVO_MAX();
+
+    value = value - TRIM_DURATION;
+    value = usToTicks(value);  // convert to ticks after compensating for interrupt overhead - 12 Aug 2009
+
+    uint8_t oldSREG = SREG;
+    cli();
+    servos[channel].ticks = value;
+    SREG = oldSREG;
+  }
+}
+
+int Servo::read() // return the value as degrees
+{
+  return  map( this->readMicroseconds()+1, SERVO_MIN(), SERVO_MAX(), 0, 180);
+}
+
+int Servo::readMicroseconds()
+{
+  unsigned int pulsewidth;
+  if( this->servoIndex != INVALID_SERVO )
+    pulsewidth = ticksToUs(servos[this->servoIndex].ticks)  + TRIM_DURATION ;   // 12 aug 2009
+  else
+    pulsewidth  = 0;
+
+  return pulsewidth;
+}
+
+bool Servo::attached()
+{
+  return servos[this->servoIndex].Pin.isActive ;
+}
+
+#endif // ARDUINO_ARCH_AVR
+