boards: add support for kw41z-mini

boards/openlabs-kw41z-mini/Makefile

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+MODULE = board
+
+include $(RIOTBASE)/Makefile.base

boards/openlabs-kw41z-mini/Makefile.dep

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+ifneq (,$(filter saul_default,$(USEMODULE)))
+  USEMODULE += saul_adc
+  USEMODULE += saul_gpio
+endif
+
+# TODO uncomment after #12277 (add support for kw41zrf) is merged
+# ifneq (,$(filter netdev_default gnrc_netdev_default,$(USEMODULE)))
+#   USEMODULE += kw41zrf
+# endif

boards/openlabs-kw41z-mini/Makefile.features

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+CPU = kinetis
+CPU_MODEL = mkw41z512vht4
+
+# Put defined MCU peripherals here (in alphabetical order)
+FEATURES_PROVIDED += periph_adc
+FEATURES_PROVIDED += periph_dac
+FEATURES_PROVIDED += periph_i2c
+# TODO uncomment this after Kinetis PWM support is merged
+# FEATURES_PROVIDED += periph_pwm
+FEATURES_PROVIDED += periph_rtc
+FEATURES_PROVIDED += periph_rtt
+FEATURES_PROVIDED += periph_spi
+FEATURES_PROVIDED += periph_timer
+FEATURES_PROVIDED += periph_uart
+FEATURES_PROVIDED += riotboot

boards/openlabs-kw41z-mini/Makefile.include

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+# Configure riotboot bootloader and slot lengths.
+RIOTBOOT_LEN ?= 0x4000
+NUM_SLOTS ?= 2
+SLOT0_LEN ?= 0x3C000
+SLOT1_LEN ?= $(SLOT0_LEN)
+
+# support SWD and UART via Pi GPIO header
+PORT_LINUX ?= /dev/serial0
+# TODO change to bcm2835gpio after it's merged as it's faster
+# DEBUG_ADAPTER ?= bcm2835gpio
+DEBUG_ADAPTER ?= sysfs_gpio
+SRST_PIN ?= 16
+SWCLK_PIN ?= 20
+SWDIO_PIN ?= 21
+
+# Include default FRDM board config for openocd configuration
+include $(RIOTBOARD)/common/frdm/Makefile.include

boards/openlabs-kw41z-mini/board.c

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+/*
+ * Copyright (C) 2017 Thomas Stilwell <stilwellt@openlabs.co>
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @ingroup     boards_openlabs-kw41z-mini
+ * @{
+ *
+ * @file
+ * @brief       Board specific initialization for openlabs-kw41z-mini
+ *
+ * @author      Thomas Stilwell <stilwellt@openlabs.co>
+ *
+ * @}
+ */
+
+#include "board.h"
+#include "periph/rtc.h"
+#include "periph/gpio.h"
+
+void board_init(void)
+{
+    /* initialize the CPU core */
+    cpu_init();
+
+    /* initialize and turn off LEDs */
+    LED0_OFF;
+    gpio_init(LED0_PIN, GPIO_OUT);
+
+    /* enable OSCERCLK output on PTB3 */
+#if PTB3_OUTPUT_OSCERCLK
+    SIM->SOPT2 |= SIM_SOPT2_CLKOUTSEL(0b110);
+    gpio_init_port(GPIO_PIN(PORT_B,  3), PORT_PCR_MUX(4));
+
+    /* enable 32KHz oscillator output on PTB3 */
+#elif PTB3_OUTPUT_OSC32K
+    SIM->SOPT1 |= SIM_SOPT1_OSC32KOUT_MASK;
+#endif
+}

boards/openlabs-kw41z-mini/doc.txt

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+/**
+@defgroup    boards_openlabs-kw41z-mini openlabs.co kw41z-mini board
+@ingroup     boards
+@brief       Support for openlabs-kw41z-mini
+
+ ### General information
+
+This is an open-source development board shipped by openlabs.co with
+source files located at https://openlabs.co/OSHW/kw41z-mini
+
+A driver for the radio transceiver is available in #12277 (802.15.4 only).
+
+
+### Programming Pinout
+
+Programming and debugging can be done with a Raspberry Pi (or equivalent)
+running OpenOCD.
+
+
+    Pi GPIO Pins       kw41z-mini
+ ====================================
+                  ||
+    GPIO_19 ------||------- RST
+                  ||
+    GPIO_20 ------||------- SWDCLK
+                  ||
+    GPIO_21 ------||------- SWDIO
+                  ||
+      3.3V -------||------- 3.3V
+                  ||
+       GND -------||------- GND
+                  ||
+
+
+### Compiling and Flashing
+
+# install build deps for openocd
+apt install git build-essential libtool automake
+# fetch and build openocd with support for JTAG via RPi or generic GPIO
+git clone https://github.com/beduino-project/openocd.git
+cd openocd
+./bootstrap
+./configure --enable-bcm2835gpio --enable-sysfsgpio
+make -j4 && sudo make install
+
+# install arm toolchain
+apt install git gcc-arm-none-eabi gdb-arm-none-eabi
+# fetch Riot
+git clone https://github.com/RIOT-OS/RIOT.git
+# build and flash the gnrc_networking example
+cd RIOT/examples/gnrc_networking
+BOARD=openlabs-kw41z-mini CFLAGS+="-DKW41ZRF_ENABLE_LEDS=1" make -j4 flash
+
+
+### Debug Uart Pinout
+
+It is also possible to use the Pi for connecting to the debug uart.
+
+
+    Pi GPIO Pins     kw41z-mini
+ ==================================
+                 ||
+     UART TX ----||------ RXI
+                 ||
+     UART RX ----||------ TXO
+                 ||
+       GND ------||------ GND
+                 ||
+
+
+# enable the uart on the Pi
+echo "enable_uart=1" >> /boot/config.txt
+reboot
+# install serial terminal
+apt install picocom
+# run serial terminal to access debug uart
+picocom -b115200 /dev/serial0
+
+
+It is recommended (if possible) to switch the Pi to the better-clocked
+uart for higher baud rates:
+
+echo "dtoverlay=disable-bt" >> /boot/config.txt
+reboot
+
+
+### Notes
+
+To get a working radio, add #12277 and uncomment the lines in
+boards/openlabs-kw41z-mini/Makefile.dep
+
+The DAC output is on pin PTB18.
+
+ADC input A3 needs a hack applied to cpu/kinetis/periph/adc.c to remove
+ADC_CFG2_MUXSEL_MASK from CFG2 to switch to the correct mux setting.
+
+The PWM peripheral on this board isn't supported in the Kinetis PWM driver yet.
+
+Use external I2C pullup resistors if I2C is used.
+ */

boards/openlabs-kw41z-mini/include/adc_params.h

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+/*
+ * Copyright (C) 2017 Thomas Stilwell <stilwellt@openlabs.co>
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup   boards_openlabs-kw41z-mini
+ * @{
+ *
+ * @file
+ * @brief     Board specific configuration of direct mapped ADC
+ *
+ * @author    Joakim Nohlgård <joakim.nohlgard@eistec.se>
+ * @author    Thomas Stilwell <stilwellt@openlabs.co>
+ */
+
+#ifndef ADC_PARAMS_H
+#define ADC_PARAMS_H
+
+#include "board.h"
+#include "saul/periph.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief    ADC configuration
+ */
+static const saul_adc_params_t saul_adc_params[] =
+{
+    {
+        .name = "A0",
+        .line = ADC_LINE(0),
+        .res  = ADC_RES_16BIT,
+    },
+    {
+        .name = "A1",
+        .line = ADC_LINE(1),
+        .res  = ADC_RES_16BIT,
+    },
+        {
+        .name = "A2",
+        .line = ADC_LINE(2),
+        .res  = ADC_RES_16BIT,
+    },
+        {
+        .name = "A3",
+        .line = ADC_LINE(3),
+        .res  = ADC_RES_16BIT,
+    },
+    {
+        .name = "coretemp",
+        .line = ADC_LINE(4),
+        .res  = ADC_RES_16BIT,
+    },
+    {
+        .name = "corebandgap",
+        .line = ADC_LINE(5),
+        .res  = ADC_RES_16BIT,
+    },
+    {
+        .name = "dcdcvbat",
+        .line = ADC_LINE(6),
+        .res  = ADC_RES_16BIT,
+    },
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ADC_PARAMS_H */
+/** @} */

boards/openlabs-kw41z-mini/include/board.h

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+/*
+ * Copyright (C) 2017 Thomas Stilwell <stilwellt@openlabs.co>
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser General
+ * Public License v2.1. See the file LICENSE in the top level directory for more
+ * details.
+ */
+
+/**
+ * @ingroup     boards_openlabs-kw41z-mini
+ * @{
+ *
+ * @file
+ * @brief       Board specific definitions for openlabs-kw41z-mini
+ *
+ * @author      Joakim Nohlgård <joakim.nohlgard@eistec.se>
+ * @author      Thomas Stilwell <stilwellt@openlabs.co>
+ */
+
+#ifndef BOARD_H
+#define BOARD_H
+
+#include "cpu.h"
+#include "periph_conf.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/*
+ * NMI shares a pin with DAC output and ADC input. Holding the pin low during
+ * reset will cause a hang unless NMI is disabled. It can be enabled in
+ * applications where the pin is not held low during reset.
+ */
+#define KINETIS_FOPT 0xFB /* disable NMI (0xFF to enable) */
+
+/**
+ * @name   LED pin definitions and handlers
+ * @{
+ */
+#define LED0_PIN           GPIO_PIN(PORT_B,  0)
+#define LED0_MASK          (1 << 0)
+#define LED0_ON            (GPIOB->PCOR = LED0_MASK)
+#define LED0_OFF           (GPIOB->PSOR = LED0_MASK)
+#define LED0_TOGGLE        (GPIOB->PTOR = LED0_MASK)
+/** @} */
+
+/**
+ * @name    xtimer configuration
+ * @{
+ */
+#if KINETIS_XTIMER_SOURCE_PIT
+/* PIT xtimer configuration */
+#define XTIMER_DEV                  (TIMER_PIT_DEV(0))
+#define XTIMER_CHAN                 (0)
+/* Default xtimer settings should work on the PIT */
+#else
+/* LPTMR xtimer configuration */
+#define XTIMER_DEV                  (TIMER_LPTMR_DEV(0))
+#define XTIMER_CHAN                 (0)
+/* LPTMR is 16 bits wide and runs at 32768 Hz (clocked by the RTC) */
+#define XTIMER_WIDTH                (16)
+#define XTIMER_BACKOFF              (16)
+#define XTIMER_ISR_BACKOFF          (5)
+#define XTIMER_HZ                   (32768ul)
+#endif
+/** @} */
+
+/**
+ * @def     PTB3_OUTPUT_OSC32K
+ *
+ * @brief   Enable LF oscillator output on PTB3 to aid debugging or calibration
+ */
+#ifndef PTB3_OUTPUT_OSC32K
+#define PTB3_OUTPUT_OSC32K          (0)
+#endif
+
+/**
+ * @def     PTB3_OUTPUT_OSCERCLK
+ *
+ * @brief   Enable HF oscillator output on PTB3 to aid debugging or calibration
+ */
+#ifndef PTB3_OUTPUT_OSCERCLK
+#define PTB3_OUTPUT_OSCERCLK        (0)
+#endif
+
+/**
+ * @brief Initialize board-specific hardware, including clock, LEDs, and stdio
+ */
+void board_init(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* BOARD_H */
+/** @} */