Add variant for the ROBOTIS OpenRB-150.

boards.txt

@@ -713,3 +713,42 @@ tian_cons.upload_port.0.pid=0xEA70
 tian_cons.descriptor.0=Standard Com Port
 tian_cons.hide=true
 tian_cons.build.board=SAMD_TIAN
+
+# OpenRB-150
+# ---------------
+# menu.device_variant=Variant
+# menu.bootloader_version=Bootloader version
+# menu.upload_method=Upload method
+
+OpenRB-150.name=OpenRB-150
+OpenRB-150.vid.0=0x2F5D
+OpenRB-150.pid.0=0x2202
+OpenRB-150.upload_port.0.vid=0x2F5D
+OpenRB-150.upload_port.0.pid=0x2202
+
+OpenRB-150.upload.tool=bossac
+OpenRB-150.upload.tool.default=bossac
+OpenRB-150.upload.tool.network=arduino_ota
+OpenRB-150.upload.protocol=sam-ba
+OpenRB-150.upload.maximum_size=262144
+OpenRB-150.upload.maximum_data_size=32768
+OpenRB-150.upload.use_1200bps_touch=true
+OpenRB-150.upload.wait_for_upload_port=true
+OpenRB-150.upload.native_usb=true
+OpenRB-150.build.mcu=cortex-m0plus
+OpenRB-150.build.f_cpu=48000000L
+OpenRB-150.build.usb_product="OpenRB-150"
+OpenRB-150.build.usb_manufacturer="ROBOTIS"
+OpenRB-150.build.board=ARDUINO_OpenRB
+OpenRB-150.build.core=arduino
+OpenRB-150.build.common_flags=-D__OPENRB_150__
+OpenRB-150.build.extra_flags=-DUSE_ARDUINO_MKR_PIN_LAYOUT -D__SAMD21G18A__ {build.usb_flags}
+OpenRB-150.build.ldscript=linker_scripts/gcc/flash_with_bootloader.ld
+OpenRB-150.build.openocdscript=openocd_scripts/arduino_zero.cfg
+OpenRB-150.build.variant=OpenRB-150
+OpenRB-150.build.vid=0x2F5D
+OpenRB-150.build.pid=0x2202
+OpenRB-150.bootloader.tool=openocd
+OpenRB-150.bootloader.tool.default=openocd
+OpenRB-150.bootloader.file=openrb-150_bootloader.bin
+

variants/openrb_150/debug_scripts/variant.gdb

@@ -0,0 +1,31 @@
+#
+#  Arduino Zero OpenOCD script.
+#
+#  Copyright (c) 2014-2015 Arduino LLC. 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
+#
+
+# Define 'reset' command
+define reset
+
+info reg
+
+break main
+
+# End of 'reset' command
+end
+
+target remote | openocd -c "interface cmsis-dap" -c "set CHIPNAME at91samd21g18" -f target/at91samdXX.cfg -c "gdb_port pipe; log_output openocd.log"

variants/openrb_150/linker_scripts/gcc/flash_with_bootloader.ld

@@ -0,0 +1,216 @@
+/*
+  Copyright (c) 2014-2015 Arduino LLC.  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
+*/
+
+/* Linker script to configure memory regions.
+ * Need modifying for a specific board.
+ *   FLASH.ORIGIN: starting address of flash
+ *   FLASH.LENGTH: length of flash
+ *   RAM.ORIGIN: starting address of RAM bank 0
+ *   RAM.LENGTH: length of RAM bank 0
+ */
+MEMORY
+{
+  FLASH (rx) : ORIGIN = 0x00000000+0x2000, LENGTH = 0x00040000-0x2000 /* First 8KB used by bootloader */
+  RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00008000
+}
+
+/* Linker script to place sections and symbol values. Should be used together
+ * with other linker script that defines memory regions FLASH and RAM.
+ * It references following symbols, which must be defined in code:
+ *   Reset_Handler : Entry of reset handler
+ *
+ * It defines following symbols, which code can use without definition:
+ *   __exidx_start
+ *   __exidx_end
+ *   __copy_table_start__
+ *   __copy_table_end__
+ *   __zero_table_start__
+ *   __zero_table_end__
+ *   __etext
+ *   __data_start__
+ *   __preinit_array_start
+ *   __preinit_array_end
+ *   __init_array_start
+ *   __init_array_end
+ *   __fini_array_start
+ *   __fini_array_end
+ *   __data_end__
+ *   __bss_start__
+ *   __bss_end__
+ *   __end__
+ *   end
+ *   __HeapLimit
+ *   __StackLimit
+ *   __StackTop
+ *   __stack
+ */
+ENTRY(Reset_Handler)
+
+SECTIONS
+{
+	.text :
+	{
+		__text_start__ = .;
+
+		KEEP(*(.sketch_boot))
+
+		. = ALIGN(0x2000);
+		KEEP(*(.isr_vector))
+		*(.text*)
+
+		KEEP(*(.init))
+		KEEP(*(.fini))
+
+		/* .ctors */
+		*crtbegin.o(.ctors)
+		*crtbegin?.o(.ctors)
+		*(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
+		*(SORT(.ctors.*))
+		*(.ctors)
+
+		/* .dtors */
+ 		*crtbegin.o(.dtors)
+ 		*crtbegin?.o(.dtors)
+ 		*(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
+ 		*(SORT(.dtors.*))
+ 		*(.dtors)
+
+		*(.rodata*)
+
+		KEEP(*(.eh_frame*))
+	} > FLASH
+
+	.ARM.extab :
+	{
+		*(.ARM.extab* .gnu.linkonce.armextab.*)
+	} > FLASH
+
+	__exidx_start = .;
+	.ARM.exidx :
+	{
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+	} > FLASH
+	__exidx_end = .;
+
+	/* To copy multiple ROM to RAM sections,
+	 * uncomment .copy.table section and,
+	 * define __STARTUP_COPY_MULTIPLE in startup_ARMCMx.S */
+	/*
+	.copy.table :
+	{
+		. = ALIGN(4);
+		__copy_table_start__ = .;
+		LONG (__etext)
+		LONG (__data_start__)
+		LONG (__data_end__ - __data_start__)
+		LONG (__etext2)
+		LONG (__data2_start__)
+		LONG (__data2_end__ - __data2_start__)
+		__copy_table_end__ = .;
+	} > FLASH
+	*/
+
+	/* To clear multiple BSS sections,
+	 * uncomment .zero.table section and,
+	 * define __STARTUP_CLEAR_BSS_MULTIPLE in startup_ARMCMx.S */
+	/*
+	.zero.table :
+	{
+		. = ALIGN(4);
+		__zero_table_start__ = .;
+		LONG (__bss_start__)
+		LONG (__bss_end__ - __bss_start__)
+		LONG (__bss2_start__)
+		LONG (__bss2_end__ - __bss2_start__)
+		__zero_table_end__ = .;
+	} > FLASH
+	*/
+
+	__etext = .;
+
+	.data : AT (__etext)
+	{
+		__data_start__ = .;
+		*(vtable)
+		*(.data*)
+
+		. = ALIGN(4);
+		/* preinit data */
+		PROVIDE_HIDDEN (__preinit_array_start = .);
+		KEEP(*(.preinit_array))
+		PROVIDE_HIDDEN (__preinit_array_end = .);
+
+		. = ALIGN(4);
+		/* init data */
+		PROVIDE_HIDDEN (__init_array_start = .);
+		KEEP(*(SORT(.init_array.*)))
+		KEEP(*(.init_array))
+		PROVIDE_HIDDEN (__init_array_end = .);
+
+
+		. = ALIGN(4);
+		/* finit data */
+		PROVIDE_HIDDEN (__fini_array_start = .);
+		KEEP(*(SORT(.fini_array.*)))
+		KEEP(*(.fini_array))
+		PROVIDE_HIDDEN (__fini_array_end = .);
+
+		KEEP(*(.jcr*))
+		. = ALIGN(16);
+		/* All data end */
+		__data_end__ = .;
+
+	} > RAM
+
+	.bss :
+	{
+		. = ALIGN(4);
+		__bss_start__ = .;
+		*(.bss*)
+		*(COMMON)
+		. = ALIGN(4);
+		__bss_end__ = .;
+	} > RAM
+
+	.heap (COPY):
+	{
+		__end__ = .;
+		PROVIDE(end = .);
+		*(.heap*)
+		__HeapLimit = .;
+	} > RAM
+
+	/* .stack_dummy section doesn't contains any symbols. It is only
+	 * used for linker to calculate size of stack sections, and assign
+	 * values to stack symbols later */
+	.stack_dummy (COPY):
+	{
+		*(.stack*)
+	} > RAM
+
+	/* Set stack top to end of RAM, and stack limit move down by
+	 * size of stack_dummy section */
+	__StackTop = ORIGIN(RAM) + LENGTH(RAM);
+	__StackLimit = __StackTop - SIZEOF(.stack_dummy);
+	PROVIDE(__stack = __StackTop);
+
+	__ram_end__ = ORIGIN(RAM) + LENGTH(RAM) -1 ;
+
+	/* Check if data + heap + stack exceeds RAM limit */
+	ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed with stack")
+}

variants/openrb_150/linker_scripts/gcc/flash_without_bootloader.ld

@@ -0,0 +1,214 @@
+/*
+  Copyright (c) 2014-2015 Arduino LLC.  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
+*/
+
+/* Linker script to configure memory regions.
+ * Need modifying for a specific board.
+ *   FLASH.ORIGIN: starting address of flash
+ *   FLASH.LENGTH: length of flash
+ *   RAM.ORIGIN: starting address of RAM bank 0
+ *   RAM.LENGTH: length of RAM bank 0
+ */
+MEMORY
+{
+  FLASH (rx) : ORIGIN = 0x00000000, LENGTH = 0x00040000
+  RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00008000
+}
+
+/* Linker script to place sections and symbol values. Should be used together
+ * with other linker script that defines memory regions FLASH and RAM.
+ * It references following symbols, which must be defined in code:
+ *   Reset_Handler : Entry of reset handler
+ *
+ * It defines following symbols, which code can use without definition:
+ *   __exidx_start
+ *   __exidx_end
+ *   __copy_table_start__
+ *   __copy_table_end__
+ *   __zero_table_start__
+ *   __zero_table_end__
+ *   __etext
+ *   __data_start__
+ *   __preinit_array_start
+ *   __preinit_array_end
+ *   __init_array_start
+ *   __init_array_end
+ *   __fini_array_start
+ *   __fini_array_end
+ *   __data_end__
+ *   __bss_start__
+ *   __bss_end__
+ *   __end__
+ *   end
+ *   __HeapLimit
+ *   __StackLimit
+ *   __StackTop
+ *   __stack
+ *   __ram_end__
+ */
+ENTRY(Reset_Handler)
+
+SECTIONS
+{
+	.text :
+	{
+		__text_start__ = .;
+
+		KEEP(*(.isr_vector))
+		*(.text*)
+
+		KEEP(*(.init))
+		KEEP(*(.fini))
+
+		/* .ctors */
+		*crtbegin.o(.ctors)
+		*crtbegin?.o(.ctors)
+		*(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
+		*(SORT(.ctors.*))
+		*(.ctors)
+
+		/* .dtors */
+ 		*crtbegin.o(.dtors)
+ 		*crtbegin?.o(.dtors)
+ 		*(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
+ 		*(SORT(.dtors.*))
+ 		*(.dtors)
+
+		*(.rodata*)
+
+		KEEP(*(.eh_frame*))
+	} > FLASH
+
+	.ARM.extab :
+	{
+		*(.ARM.extab* .gnu.linkonce.armextab.*)
+	} > FLASH
+
+	__exidx_start = .;
+	.ARM.exidx :
+	{
+		*(.ARM.exidx* .gnu.linkonce.armexidx.*)
+	} > FLASH
+	__exidx_end = .;
+
+	/* To copy multiple ROM to RAM sections,
+	 * uncomment .copy.table section and,
+	 * define __STARTUP_COPY_MULTIPLE in startup_ARMCMx.S */
+	/*
+	.copy.table :
+	{
+		. = ALIGN(4);
+		__copy_table_start__ = .;
+		LONG (__etext)
+		LONG (__data_start__)
+		LONG (__data_end__ - __data_start__)
+		LONG (__etext2)
+		LONG (__data2_start__)
+		LONG (__data2_end__ - __data2_start__)
+		__copy_table_end__ = .;
+	} > FLASH
+	*/
+
+	/* To clear multiple BSS sections,
+	 * uncomment .zero.table section and,
+	 * define __STARTUP_CLEAR_BSS_MULTIPLE in startup_ARMCMx.S */
+	/*
+	.zero.table :
+	{
+		. = ALIGN(4);
+		__zero_table_start__ = .;
+		LONG (__bss_start__)
+		LONG (__bss_end__ - __bss_start__)
+		LONG (__bss2_start__)
+		LONG (__bss2_end__ - __bss2_start__)
+		__zero_table_end__ = .;
+	} > FLASH
+	*/
+
+	__etext = .;
+
+	.data : AT (__etext)
+	{
+		__data_start__ = .;
+		*(vtable)
+		*(.data*)
+
+		. = ALIGN(4);
+		/* preinit data */
+		PROVIDE_HIDDEN (__preinit_array_start = .);
+		KEEP(*(.preinit_array))
+		PROVIDE_HIDDEN (__preinit_array_end = .);
+
+		. = ALIGN(4);
+		/* init data */
+		PROVIDE_HIDDEN (__init_array_start = .);
+		KEEP(*(SORT(.init_array.*)))
+		KEEP(*(.init_array))
+		PROVIDE_HIDDEN (__init_array_end = .);
+
+
+		. = ALIGN(4);
+		/* finit data */
+		PROVIDE_HIDDEN (__fini_array_start = .);
+		KEEP(*(SORT(.fini_array.*)))
+		KEEP(*(.fini_array))
+		PROVIDE_HIDDEN (__fini_array_end = .);
+
+		KEEP(*(.jcr*))
+		. = ALIGN(16);
+		/* All data end */
+		__data_end__ = .;
+
+	} > RAM
+
+	.bss :
+	{
+		. = ALIGN(4);
+		__bss_start__ = .;
+		*(.bss*)
+		*(COMMON)
+		. = ALIGN(4);
+		__bss_end__ = .;
+	} > RAM
+
+	.heap (COPY):
+	{
+		__end__ = .;
+		PROVIDE(end = .);
+		*(.heap*)
+		__HeapLimit = .;
+	} > RAM
+
+	/* .stack_dummy section doesn't contains any symbols. It is only
+	 * used for linker to calculate size of stack sections, and assign
+	 * values to stack symbols later */
+	.stack_dummy (COPY):
+	{
+		*(.stack*)
+	} > RAM
+
+	/* Set stack top to end of RAM, and stack limit move down by
+	 * size of stack_dummy section */
+	__StackTop = ORIGIN(RAM) + LENGTH(RAM) ;
+	__StackLimit = __StackTop - SIZEOF(.stack_dummy);
+	PROVIDE(__stack = __StackTop);
+
+	__ram_end__ = ORIGIN(RAM) + LENGTH(RAM) -1 ;
+
+	/* Check if data + heap + stack exceeds RAM limit */
+	ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed with stack")
+}

variants/openrb_150/openocd_scripts/arduino_zero.cfg

@@ -0,0 +1,30 @@
+#
+#  Arduino Zero OpenOCD script.
+#
+#  Copyright (c) 2014-2015 Arduino LLC.  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
+#
+
+source [find interface/cmsis-dap.cfg]
+
+# chip name
+set CHIPNAME at91samd21g18
+set ENDIAN little
+
+# choose a port here
+set telnet_port 0
+
+source [find target/at91samdXX.cfg]

variants/openrb_150/pins_arduino.h

@@ -0,0 +1,21 @@
+/*
+  Copyright (c) 2011 Arduino.  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
+*/
+
+// API compatibility
+#include "variant.h"
+

variants/openrb_150/variant.h

@@ -0,0 +1,231 @@
+/*
+  Copyright (c) 2014-2015 Arduino LLC.  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
+*/
+
+#pragma once
+
+// The definitions here needs a SAMD core >=1.6.10
+#define ARDUINO_SAMD_VARIANT_COMPLIANCE 10610
+
+#include <WVariant.h>
+
+// General definitions
+// -------------------
+
+// Frequency of the board main oscillator
+#define VARIANT_MAINOSC (32768ul)
+
+// Master clock frequency
+#define VARIANT_MCK     (48000000ul)
+
+// Pins
+// ----
+
+// Number of pins defined in PinDescription array
+#ifdef __cplusplus
+extern "C" unsigned int PINCOUNT_fn();
+#endif
+#define PINS_COUNT           (PINCOUNT_fn())
+#define NUM_DIGITAL_PINS     (15u)
+#define NUM_ANALOG_INPUTS    (7u)
+#define NUM_ANALOG_OUTPUTS   (1u)
+
+// Low-level pin register query macros
+// -----------------------------------
+#define digitalPinToPort(P)      (&(PORT->Group[g_APinDescription[P].ulPort]))
+#define digitalPinToBitMask(P)   (1 << g_APinDescription[P].ulPin)
+//#define analogInPinToBit(P)    ()
+#define portOutputRegister(port) (&(port->OUT.reg))
+#define portInputRegister(port)  (&(port->IN.reg))
+#define portModeRegister(port)   (&(port->DIR.reg))
+#define digitalPinHasPWM(P)      (g_APinDescription[P].ulPWMChannel != NOT_ON_PWM || g_APinDescription[P].ulTCChannel != NOT_ON_TIMER)
+
+/*
+ * digitalPinToTimer(..) is AVR-specific and is not defined for SAMD
+ * architecture. If you need to check if a pin supports PWM you must
+ * use digitalPinHasPWM(..).
+ *
+ * https://github.com/arduino/Arduino/issues/1833
+ */
+// #define digitalPinToTimer(P)
+
+//Battery
+#define ADC_BATTERY	(33u)
+
+// LEDs
+// ----
+#define PIN_LED     (32u)
+#define LED_BUILTIN PIN_LED
+
+// DYNAMIXEL POWER FET
+#define BDPIN_DXL_PWR_EN  (31u)
+
+// Analog pins
+// -----------
+#define PIN_A0 (15u)
+#define PIN_A1 (16u)
+#define PIN_A2 (17u)
+#define PIN_A3 (18u)
+#define PIN_A4 (19u)
+#define PIN_A5 (20u)
+#define PIN_A6 (21u)
+static const uint8_t A0  = PIN_A0;
+static const uint8_t A1  = PIN_A1;
+static const uint8_t A2  = PIN_A2;
+static const uint8_t A3  = PIN_A3;
+static const uint8_t A4  = PIN_A4;
+static const uint8_t A5  = PIN_A5;
+static const uint8_t A6  = PIN_A6;
+#define ADC_RESOLUTION 12
+
+// SPI Interfaces
+// --------------
+#define SPI_INTERFACES_COUNT 1
+
+// SPI
+#define PIN_SPI_MISO  (10u)
+#define PIN_SPI_MOSI  (8u)
+#define PIN_SPI_SCK   (9u)
+#define PIN_SPI_SS    (4u)
+#define PERIPH_SPI    sercom1
+#define PAD_SPI_TX    SPI_PAD_0_SCK_1
+#define PAD_SPI_RX    SERCOM_RX_PAD_3
+
+static const uint8_t SS   = PIN_SPI_SS;   // SPI Slave SS not used. Set here only for reference.
+static const uint8_t MOSI = PIN_SPI_MOSI;
+static const uint8_t MISO = PIN_SPI_MISO;
+static const uint8_t SCK  = PIN_SPI_SCK;
+
+// SPI1: Connected to SD
+// #define PIN_SPI1_MISO (29u)
+// #define PIN_SPI1_MOSI (26u)
+// #define PIN_SPI1_SCK  (27u)
+// #define PIN_SPI1_SS   (28u)
+// #define PERIPH_SPI1   sercom4
+// #define PAD_SPI1_TX   SPI_PAD_0_SCK_1
+// #define PAD_SPI1_RX   SERCOM_RX_PAD_3
+// static const uint8_t SS1   = PIN_SPI1_SS;
+// static const uint8_t MOSI1 = PIN_SPI1_MOSI;
+// static const uint8_t MISO1 = PIN_SPI1_MISO;
+// static const uint8_t SCK1  = PIN_SPI1_SCK;
+
+// Needed for SD library
+// #define SDCARD_SPI      SPI1
+// #define SDCARD_MISO_PIN PIN_SPI1_MISO
+// #define SDCARD_MOSI_PIN PIN_SPI1_MOSI
+// #define SDCARD_SCK_PIN  PIN_SPI1_SCK
+// #define SDCARD_SS_PIN   PIN_SPI1_SS
+
+// Wire Interfaces
+// ---------------
+#define WIRE_INTERFACES_COUNT 1
+
+// Wire
+#define PIN_WIRE_SDA        (11u)
+#define PIN_WIRE_SCL        (12u)
+#define PERIPH_WIRE         sercom0
+#define WIRE_IT_HANDLER     SERCOM0_Handler
+static const uint8_t SDA = PIN_WIRE_SDA;
+static const uint8_t SCL = PIN_WIRE_SCL;
+
+// USB
+// ---
+#define PIN_USB_DM          (22ul)
+#define PIN_USB_DP          (23ul)
+// #define PIN_USB_HOST_ENABLE (24ul)
+
+// I2S Interfaces
+// --------------
+// #define I2S_INTERFACES_COUNT 1
+
+// #define I2S_DEVICE          0
+// #define I2S_CLOCK_GENERATOR 3
+// #define PIN_I2S_SD          (PIN_A6)
+// #define PIN_I2S_SCK         (2u)
+// #define PIN_I2S_FS          (3u)
+
+// Serial ports
+// ------------
+#ifdef __cplusplus
+#include "SERCOM.h"
+#include "Uart.h"
+
+// Instances of SERCOM
+extern SERCOM sercom0;
+extern SERCOM sercom1;
+extern SERCOM sercom2;
+extern SERCOM sercom3;
+extern SERCOM sercom4;
+extern SERCOM sercom5;
+
+// Serial1
+extern Uart Serial1;
+// #define PIN_SERIAL3_RX (13ul)
+// #define PIN_SERIAL3_TX (14ul)
+// #define PAD_SERIAL3_TX (UART_TX_PAD_2)
+// #define PAD_SERIAL3_RX (SERCOM_RX_PAD_3)
+#define PIN_SERIAL1_TX (26ul)
+#define PIN_SERIAL1_RX (27ul)
+#define PAD_SERIAL1_TX (UART_TX_PAD_0)
+#define PAD_SERIAL1_RX (SERCOM_RX_PAD_1)
+
+// Serial2 4pin uart
+extern Uart Serial2;
+#define PIN_SERIAL2_TX (28ul)
+#define PIN_SERIAL2_RX (29ul)
+#define PAD_SERIAL2_TX (UART_TX_PAD_2)
+#define PAD_SERIAL2_RX (SERCOM_RX_PAD_3)
+
+// Serial3 exp uart
+extern Uart Serial3;
+#define PIN_SERIAL3_TX (14ul)
+#define PIN_SERIAL3_RX (13ul)
+#define PAD_SERIAL3_TX (UART_TX_PAD_2)
+#define PAD_SERIAL3_RX (SERCOM_RX_PAD_3)
+#endif // __cplusplus
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+unsigned int PINCOUNT_fn();
+#ifdef __cplusplus
+}
+#endif
+
+// These serial port names are intended to allow libraries and architecture-neutral
+// sketches to automatically default to the correct port name for a particular type
+// of use.  For example, a GPS module would normally connect to SERIAL_PORT_HARDWARE_OPEN,
+// the first hardware serial port whose RX/TX pins are not dedicated to another use.
+//
+// SERIAL_PORT_MONITOR        Port which normally prints to the Arduino Serial Monitor
+//
+// SERIAL_PORT_USBVIRTUAL     Port which is USB virtual serial
+//
+// SERIAL_PORT_LINUXBRIDGE    Port which connects to a Linux system via Bridge library
+//
+// SERIAL_PORT_HARDWARE       Hardware serial port, physical RX & TX pins.
+//
+// SERIAL_PORT_HARDWARE_OPEN  Hardware serial ports which are open for use.  Their RX & TX
+//                            pins are NOT connected to anything by default.
+#define SERIAL_PORT_USBVIRTUAL      SerialUSB
+#define SERIAL_PORT_MONITOR         SerialUSB
+#define SERIAL_PORT_HARDWARE        Serial3
+#define SERIAL_PORT_HARDWARE_OPEN   Serial3
+
+// Alias Serial to SerialUSB
+#define Serial                      SerialUSB
+