[board] Add Adafruit Feather M4 Express BSP and examples

.github/workflows/linux.yml

@@ -92,7 +92,7 @@ jobs:
       - name: Examples SAMD Devices
         if: always()
         run: |
-          (cd examples && ../tools/scripts/examples_compile.py samd samd21_xplained_pro)
+          (cd examples && ../tools/scripts/examples_compile.py feather_m4 samd samd21_xplained_pro)
       - name: Examples SAMG Devices
         if: always()
         run: |

README.md

@@ -632,63 +632,65 @@ We have out-of-box support for many development boards including documentation.
 <td align="center"><a href="https://modm.io/reference/config/modm-disco-l476vg">DISCO-L476VG</a></td>
 </tr><tr>
 <td align="center"><a href="https://modm.io/reference/config/modm-feather-m0">FEATHER-M0</a></td>
+<td align="center"><a href="https://modm.io/reference/config/modm-feather-m4">FEATHER-M4</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-feather-rp2040">FEATHER-RP2040</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-mega-2560-pro">MEGA-2560-PRO</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f031k6">NUCLEO-F031K6</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f031k6">NUCLEO-F031K6</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f042k6">NUCLEO-F042K6</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f072rb">NUCLEO-F072RB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f091rc">NUCLEO-F091RC</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f103rb">NUCLEO-F103RB</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f103rb">NUCLEO-F103RB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f303k8">NUCLEO-F303K8</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f303re">NUCLEO-F303RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f334r8">NUCLEO-F334R8</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f401re">NUCLEO-F401RE</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f401re">NUCLEO-F401RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f411re">NUCLEO-F411RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f429zi">NUCLEO-F429ZI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f439zi">NUCLEO-F439ZI</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f446re">NUCLEO-F446RE</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f446re">NUCLEO-F446RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f446ze">NUCLEO-F446ZE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f746zg">NUCLEO-F746ZG</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-f767zi">NUCLEO-F767ZI</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g071rb">NUCLEO-G071RB</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g071rb">NUCLEO-G071RB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g431kb">NUCLEO-G431KB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g431rb">NUCLEO-G431RB</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-g474re">NUCLEO-G474RE</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-h723zg">NUCLEO-H723ZG</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-h723zg">NUCLEO-H723ZG</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-h743zi">NUCLEO-H743ZI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l031k6">NUCLEO-L031K6</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l053r8">NUCLEO-L053R8</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l152re">NUCLEO-L152RE</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l152re">NUCLEO-L152RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l432kc">NUCLEO-L432KC</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l452re">NUCLEO-L452RE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l476rg">NUCLEO-L476RG</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l496zg-p">NUCLEO-L496ZG-P</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l496zg-p">NUCLEO-L496ZG-P</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-l552ze-q">NUCLEO-L552ZE-Q</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-nucleo-u575zi-q">NUCLEO-U575ZI-Q</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-olimexino-stm32">OLIMEXINO-STM32</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-raspberrypi">Raspberry Pi</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-raspberrypi">Raspberry Pi</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-rp-pico">Raspberry Pi Pico</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-samd21-mini">SAMD21-MINI</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-samd21-xplained-pro">SAMD21-XPLAINED-PRO</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-same54-xplained-pro">SAME54-XPLAINED-PRO</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-same54-xplained-pro">SAME54-XPLAINED-PRO</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-same70-xplained">SAME70-XPLAINED</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-samg55-xplained-pro">SAMG55-XPLAINED-PRO</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-samv71-xplained-ultra">SAMV71-XPLAINED-ULTRA</a></td>
-<td align="center"><a href="https://modm.io/reference/config/modm-srxe">Smart Response XE</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/config/modm-srxe">Smart Response XE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-stm32_f4ve">STM32-F4VE</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-stm32f030_demo">STM32F030-DEMO</a></td>
 <td align="center"><a href="https://modm.io/reference/config/modm-thingplus-rp2040">THINGPLUS-RP2040</a></td>
+</tr><tr>
 </tr>
 </table>
 <!--/bsptable-->
@@ -700,7 +702,7 @@ We have out-of-box support for many development boards including documentation.
 We also have a number of completely target-independent drivers for external
 devices connected via I<sup>2</sup>C, SPI, UART, BitBang, etc. Most of these
 also give you access to the entire device so you can easily configure them for
-you specific needs.
+your specific needs.
 
 <center>
 <!--drivertable-->

examples/feather_m4/blink/main.cpp

@@ -0,0 +1,40 @@
+/*
+ * Copyright (c) 2016-2017, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+using namespace Board;
+
+int
+main()
+{
+	initialize();
+
+	// Use the logging streams to print some messages.
+	// Change MODM_LOG_LEVEL above to enable or disable these messages
+	MODM_LOG_DEBUG   << "debug"   << modm::endl;
+	MODM_LOG_INFO    << "info"    << modm::endl;
+	MODM_LOG_WARNING << "warning" << modm::endl;
+	MODM_LOG_ERROR   << "error"   << modm::endl;
+
+	uint32_t counter(0);
+
+	while (true)
+	{
+		Led::toggle();
+		modm::delay(500ms);
+
+		MODM_LOG_INFO << "loop: " << counter++ << modm::endl;
+	}
+
+	return 0;
+}
+

examples/feather_m4/blink/project.xml

@@ -0,0 +1,10 @@
+<library>
+  <extends>modm:feather-m4</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/feather_m4/blink</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:architecture:delay</module>
+  </modules>
+</library>

examples/feather_m4/neopixel/main.cpp

@@ -0,0 +1,94 @@
+/*
+ * Copyright (c) 2016-2017, Niklas Hauser
+ * Copyright (c) 2023, Thomas Rush
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+using namespace Board;
+
+/*
+ * Output a color (GRB) to the Neopixel
+ *
+ * 'Neopixel' is Adafruit's name for what is essentially a WS2812 RGB LED.
+ * The timing, which runs at 800kHz, is basically a long high pulse followed
+ * by a short low pulse for a '1' bit, or a short high pulse followed by a
+ * long low pulse for a '0' bit. The idle state of the signal is low. The
+ * data is 24 bits long (three 8-bit color values sent out in green-red-blue
+ * order, MSB first).
+ *
+ * The long and short pulse times chosen here are nominally 875ns and 375ns,
+ * respectively, totalling 1.25us per bit. Using modm::delay_ns() with these
+ * values means that the actual times will be slightly longer because of the
+ * setup times for each bit, but the cycle time can be longer (within limits)
+ * without affecting the operation. (See
+ * https://cpldcpu.wordpress.com/2014/01/14/light_ws2812-library-v2-0-part-i-understanding-the-ws2812/
+ * for more information about the signal timing for these devices.)
+ *
+ * This function is not intended to be the best solution as a driver for the
+ * WS2812, just an example of a simple application of the modm library.
+ */
+
+void
+setPixel(uint32_t data)
+{
+	constexpr uint32_t neoPeriod = 1250;
+	constexpr uint32_t neoOneHi  = 875;
+	constexpr uint32_t neoZeroHi = 375;
+
+	uint32_t bitMask = (1UL << 23);
+
+	{
+		modm::atomic::Lock lock;
+
+		do
+		{
+			uint32_t hiTime = data & bitMask ? neoOneHi : neoZeroHi;
+			Neopixel::toggle(); // toggle high
+			modm::delay_ns(hiTime);
+			Neopixel::toggle(); // toggle low
+			modm::delay_ns(neoPeriod - hiTime);
+			bitMask >>= 1;
+		}
+		while (bitMask);
+	}
+}
+
+int
+main()
+{
+	initialize();
+
+	// Use the logging streams to print some messages.
+	// Change MODM_LOG_LEVEL above to enable or disable these messages
+	MODM_LOG_DEBUG   << "debug"   << modm::endl;
+	MODM_LOG_INFO    << "info"    << modm::endl;
+	MODM_LOG_WARNING << "warning" << modm::endl;
+	MODM_LOG_ERROR   << "error"   << modm::endl;
+
+	uint32_t counter(0);
+
+	const char *log_str[] = { "green ", "red ", "blue ", "loop: " };
+
+	while (true)
+	{
+		// color values are reduced to decrease the brightness of the LED
+		// (full intensity can be uncomfortable for the eyes!)
+		for (uint32_t i = 0, color = 0x110000; i < 4; i++, color >>= 8) {
+			modm::delay(1s);
+			setPixel(color);
+			MODM_LOG_INFO << log_str[i];
+		}
+		MODM_LOG_INFO << counter++ << modm::endl;
+	}
+
+	return 0;
+}
+

examples/feather_m4/neopixel/project.xml

@@ -0,0 +1,10 @@
+<library>
+  <extends>modm:feather-m4</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/feather_m4/neopixel</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:architecture:delay</module>
+  </modules>
+</library>

examples/feather_m4/usbserial/main.cpp

@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2016-2017, Niklas Hauser
+ * Copyright (c) 2022, Christopher Durand
+ * Copyright (c) 2023, Thomas Rush
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <modm/processing/timer.hpp>
+
+using namespace Board;
+
+modm::IODeviceWrapper<UsbUart0, modm::IOBuffer::BlockIfFull> usb_io_device;
+modm::IOStream usb_stream(usb_io_device);
+
+int
+main()
+{
+	initialize();
+	initializeUsbFs();
+
+	tusb_init();
+
+	uint32_t counter(0);
+
+	modm::PeriodicTimer timer{500ms};
+
+	while (not timer.execute()) {
+		tud_task();
+	}
+
+	// it can be hard to catch this without the preceding delay
+	usb_stream << "Hello from USB" << modm::endl;
+
+	while (true)
+	{
+		tud_task();
+		if (timer.execute()) {
+			Led::toggle();
+			usb_stream << "loop: " << counter++ << modm::endl;
+		}
+	}
+
+	return 0;
+}

examples/feather_m4/usbserial/project.xml

@@ -0,0 +1,12 @@
+<library>
+  <extends>modm:feather-m4</extends>
+  <options>
+    <option name="modm:tinyusb:config">device.cdc</option>
+    <option name="modm:build:build.path">../../../build/feather_m4/usbserial</option>
+  </options>
+  <modules>
+    <module>modm:tinyusb</module>
+    <module>modm:build:scons</module>
+    <module>modm:processing:timer</module>
+  </modules>
+</library>