The SAM CMake template targets embedded system cross-compiling. The goal is to provide a more modern build system that is cross-platform that does not rely on makefile. Typically, on windows, one would have to download cygwin or mingw. Now that VS 2019 packages the arm-none-eabi-gcc toolchain with its linux tools, all you need to begin developing for ATMEL SAM systems is the dependencies and a few additional scripts.
Inside of the build/ directory, there is a CMake toolchain file that is suppose to find the ARM toolchain, bossac, and other dependencies. The toolchain currently provides all utilities required to compile, link, and build a C program. The toolchain file 'sam_gcc.cmake' must be provided as an argument in the call to cmake. VS 2019 provides an addition method for specifying the toolchain which I will outline in vs_2019_setup.md.
In addition to the toolchain, the CMake cache requires a few variables to be adjusted to the specifics of your platform:
- ARM_CPU (default is 'cortex-m0')
- ARM_UPLOADTOOL (default is 'bossac')
- UPLOAD_PORT (default is 'COM4')
- ATMEL_ARCH (default is '')
- SAM_MCU (default is 'samd21g18a')
NOTE: The typical linker scripts that come with the SAM_DFP pack are modified to be compatible with UF2 loading. Inside of the provided 'samd51j20a_flash.ld', the FLASH start address and length are adjusted to meet the requirements of the UF2 specifications. Adafruit provides good documentation on the SAMD21 and SAMD51 concerning the offsets. Below is an example of SAMD51 offsetting:
rom (rx) : ORIGIN = 0x00004000, LENGTH = 0x00100000 - 0x4000
The project currently targets the SAMD51J20A, which is the MCU on the SparkFun SAMD51 ThingPlus. All files currently exemplify setup via this MCU. 'main.c' is a basic blink program that specifically uses the SAMD51J20A PA_17 (which is the ThingPlus LED GPIO). I am still working on the UPLOAD feature and trying to determine the configurations of the linker script that will allow bossac to upload the binary to the MCU that is running the UF2 bootloader.
The goal is to provide multiple common ways to upload/flash the executable to the MCU. So far, this project is targeting:
- BOSSA
- The uploader Arduino uses.
- UF2
- Microsoft provides a UF2 converter script. This supports SAMDx boards right now.
- Segger JLink
- There is a cheaper education solution for non-commercial use. I highly suggest this option if you are wanting to better learn embedded systems and bare-metal implementations. As a recent graduate, I have found the Segger to be extremely beneficial to my education.
The toolchain will search for these programs and include projects based off of available methods.
UF2 'flashing' consists of converting a binary to a *.uf2 file that is copyable. The platform needs to provide the copy command to CMake, thus CMake can copy the output UF2 file to the Mass Storage device drive (also need to provide that Drive letter or mount point).
- CMake caching of 'copy' command. Currently hard-coded for windows.
- Setup scaffolding for Segger JLink flashing and debugging.
- Design integration with GDB for debugging. JLink provides a GDB Server.
- Better abstract example from SAMD51J20A specifics.
- Clone Microsoft UF2 repository for SAMD packs and 'uf2conv.py' script.
- Internally control copying of linker scripts from packs via CMake.
- Support C++ programs.
Today, numerous embedded platforms are coming out with all sorts of features and power. The advent of Arduino and the Raspberry pi has opened up a new market of constrained systems for hobbyists, students, educators, etc.
While these systems are fairly inexpensive and quiet easy to find, they are often constrained to their dependencies and support. Raspberry pis are typically linux loaded, while Atmel SAM-xyz boards are heavily Arduino dependent. Boards such as SparkFun's SAMD51 ThingPlus, Adafruit's Feather m0/m4, Arduino Zero, etc. I will note that Circuit Python is certainly taking on a bigger role on these products, but it still isn't a true embedded solution. The Arduino Framework contains a lot of hardcoded configurations (although I did notice the IDE is attempting to externalize common variables via the menus, such as clock speeds). To truly have full control over a project (bare-metal) you would require an IDE such as Atmel Studio. The IDE is fairly old and requires tooling such as a SEGGER Jlink for flashing and debugging. Thus, many resort to Arduino for a quick prototype and upload solution that doen't require any additional tools other than a USB cable and the board of your choosing.
CMake build systems are highly configurable. And with VS2019's adoption of the cross-platform building system, I decided to attempt to make a templated build system using CMake that will allow one to start bare-metal projects for SAM boards without additional tooling like Arduino, while maintaining libraries from Atmel. All of this provided on a modern IDE that is slowly moving towards full cross-platform capacity. Now one can upload a solution with any configurations they want, using only the handlers they need; no Arduino Framework overhead.
Yes, this method is a lot more technical, and one would require documentation of the CPU and MCU in order to code. This isn't to say one cannot download a different framework (i.e. ASF). But I hope this project is the next step in providing bare-metal access without complex tooling. Everything is free: CMake, VS2019 Community Edition , OpenSource Frameworks, etc. This project will allow one to dig deeper into what frameworks provide and how to write embedded code.
