add samd51 (itsybitsy_m4) to hardware test loop

.github/workflows/build_esp.yml

@@ -92,14 +92,15 @@ jobs:
           name: ${{ matrix.board }}
           path: cmake-build/cmake-build-${{ matrix.board }}
 
-      - name: Test on actual hardware
-        run: |
-          python3 test/hil/hil_test.py --board ${{ matrix.board }} hil_pi4.json
-
       - name: Reset USB bus
         run: |
           for port in $(lspci | grep USB | cut -d' ' -f1); do
               echo -n "0000:${port}"| sudo tee /sys/bus/pci/drivers/xhci_hcd/unbind;
-              sleep 1;
+              sleep 0.5;
               echo -n "0000:${port}" | sudo tee /sys/bus/pci/drivers/xhci_hcd/bind;
+              sleep 3;
           done
+
+      - name: Test on actual hardware
+        run: |
+          python3 test/hil/hil_test.py --board ${{ matrix.board }} hil_pi4.json

.github/workflows/cmake_arm.yml

@@ -102,6 +102,13 @@ jobs:
         path: |
           cmake-build/cmake-build-feather_nrf52840_express/*/*/*.elf
 
+    - name: Upload Artifacts for Hardware Testing (samd51)
+      if: matrix.family == 'samd51' && github.repository_owner == 'hathach'
+      uses: actions/upload-artifact@v3
+      with:
+        name: itsybitsy_m4
+        path: |
+          cmake-build/cmake-build-itsybitsy_m4/*/*/*.bin
 
   # ---------------------------------------
   # Hardware in the loop (HIL)
@@ -116,8 +123,9 @@ jobs:
       fail-fast: false
       matrix:
         board:
-          - 'raspberry_pi_pico'
           - 'feather_nrf52840_express'
+          - 'itsybitsy_m4'
+          - 'raspberry_pi_pico'
     steps:
       - name: Clean workspace
         run: |
@@ -136,14 +144,15 @@ jobs:
           name: ${{ matrix.board }}
           path: cmake-build/cmake-build-${{ matrix.board }}
 
-      - name: Test on actual hardware
-        run: |
-          python3 test/hil/hil_test.py --board ${{ matrix.board }} hil_pi4.json
-
       - name: Reset USB bus
         run: |
           for port in $(lspci | grep USB | cut -d' ' -f1); do
               echo -n "0000:${port}"| sudo tee /sys/bus/pci/drivers/xhci_hcd/unbind;
-              sleep 1;
+              sleep 0.5;
               echo -n "0000:${port}" | sudo tee /sys/bus/pci/drivers/xhci_hcd/bind;
+              sleep 3;
           done
+
+      - name: Test on actual hardware
+        run: |
+          python3 test/hil/hil_test.py --board ${{ matrix.board }} hil_pi4.json

hw/bsp/samd21/family.cmake

@@ -10,7 +10,7 @@ set(CMAKE_SYSTEM_PROCESSOR cortex-m0plus CACHE INTERNAL "System Processor")
 set(CMAKE_TOOLCHAIN_FILE ${TOP}/examples/build_system/cmake/toolchain/arm_${TOOLCHAIN}.cmake)
 
 set(FAMILY_MCUS SAMD21 CACHE INTERNAL "")
-
+set(OPENOCD_OPTION "-f interface/cmsis-dap.cfg -c \"transport select swd\" -f target/at91samdXX.cfg")
 
 #------------------------------------
 # BOARD_TARGET
@@ -102,4 +102,5 @@ function(family_configure_example TARGET RTOS)
 
   # Flashing
   family_flash_jlink(${TARGET})
+  #family_flash_openocd(${TARGET} ${OPENOCD_OPTION})
 endfunction()

hw/bsp/samd51/family.c

@@ -157,6 +157,20 @@ uint32_t board_button_read(void) {
   return gpio_get_pin_level(BUTTON_PIN) ? 0 : 1;
 }
 
+size_t board_get_unique_id(uint8_t id[], size_t max_len) {
+  (void) max_len;
+
+  uint32_t did_addr[4] = {0x008061FC, 0x00806010, 0x00806014, 0x00806018};
+
+  for (int i = 0; i < 4; i++) {
+    uint32_t did = *((uint32_t const*) did_addr[i]);
+    did = TU_BSWAP32(did); // swap endian to match samd51 uf2 bootloader
+    memcpy(id + i * 4, &did, 4);
+  }
+
+  return 16;
+}
+
 int board_uart_read(uint8_t* buf, int len) {
   (void) buf;
   (void) len;

hw/bsp/samd51/family.cmake

@@ -10,7 +10,7 @@ set(CMAKE_SYSTEM_PROCESSOR cortex-m4 CACHE INTERNAL "System Processor")
 set(CMAKE_TOOLCHAIN_FILE ${TOP}/examples/build_system/cmake/toolchain/arm_${TOOLCHAIN}.cmake)
 
 set(FAMILY_MCUS SAMD51 CACHE INTERNAL "")
-
+set(OPENOCD_OPTION "-f interface/cmsis-dap.cfg -c \"transport select swd\" -c \"set CHIPNAME samd51\" -f target/atsame5x.cfg")
 
 #------------------------------------
 # BOARD_TARGET
@@ -100,5 +100,7 @@ function(family_configure_example TARGET RTOS)
   target_link_libraries(${TARGET} PUBLIC board_${BOARD} ${TARGET}-tinyusb)
 
   # Flashing
+  family_add_bin_hex(${TARGET})
   family_flash_jlink(${TARGET})
+  #family_flash_openocd(${TARGET} ${OPENOCD_OPTION})
 endfunction()

src/device/usbd_pvt.h

@@ -33,11 +33,6 @@
  extern "C" {
 #endif
 
-// Level where CFG_TUSB_DEBUG must be at least for USBD is logged
-#ifndef CFG_TUD_LOG_LEVEL
-#define CFG_TUD_LOG_LEVEL   2
-#endif
-
 #define TU_LOG_USBD(...)   TU_LOG(CFG_TUD_LOG_LEVEL, __VA_ARGS__)
 
 //--------------------------------------------------------------------+

src/host/usbh_pvt.h

@@ -35,11 +35,6 @@
  extern "C" {
 #endif
 
-// Level where CFG_TUSB_DEBUG must be at least for USBH is logged
-#ifndef CFG_TUH_LOG_LEVEL
-  #define CFG_TUH_LOG_LEVEL   2
-#endif
-
 #define TU_LOG_USBH(...)   TU_LOG(CFG_TUH_LOG_LEVEL, __VA_ARGS__)
 
 enum {

src/tusb_option.h

@@ -299,6 +299,16 @@
   #define CFG_TUSB_DEBUG 0
 #endif
 
+// Level where CFG_TUSB_DEBUG must be at least for USBH is logged
+#ifndef CFG_TUH_LOG_LEVEL
+  #define CFG_TUH_LOG_LEVEL   2
+#endif
+
+// Level where CFG_TUSB_DEBUG must be at least for USBD is logged
+#ifndef CFG_TUD_LOG_LEVEL
+  #define CFG_TUD_LOG_LEVEL   2
+#endif
+
 // Memory section for placing buffer used for usb transferring. If MEM_SECTION is different for
 // host and device use: CFG_TUD_MEM_SECTION, CFG_TUH_MEM_SECTION instead
 #ifndef CFG_TUSB_MEM_SECTION

test/hil/hil_pi4.json

@@ -23,6 +23,15 @@
             "flasher": "jlink",
             "flasher_sn": "000682804350",
             "flasher_args": "-device nrf52840_xxaa"
+        },
+        {
+            "name": "itsybitsy_m4",
+            "uid": "D784B28C5338533335202020FF044726",
+            "flasher": "bossac",
+            "flashser_vendor": "Adafruit Industries",
+            "flasher_product": "ItsyBitsy M4 Express",
+            "flasher_reset_pin": "2",
+            "flasher_args": "--offset 0x4000"
         }
     ]
 }

test/hil/hil_test.py

@@ -34,13 +34,22 @@
 import json
 import glob
 
+# for RPI double reset
+try:
+    import gpiozero
+except ImportError:
+    pass
+
+
 ENUM_TIMEOUT = 10
 
 
 # get usb serial by id
 def get_serial_dev(id, vendor_str, product_str, ifnum):
     if vendor_str and product_str:
         # known vendor and product
+        vendor_str = vendor_str.replace(' ', '_')
+        product_str = product_str.replace(' ', '_')
         return f'/dev/serial/by-id/usb-{vendor_str}_{product_str}_{id}-if{ifnum:02d}'
     else:
         # just use id: mostly for cp210x/ftdi flasher
@@ -115,7 +124,7 @@ def flash_jlink(board, firmware):
 
 def flash_openocd(board, firmware):
     ret = subprocess.run(
-        f'openocd -c "adapter serial {board["flasher_sn"]}" {board["flasher_args"]} -c "program {firmware}" -c "reset init" -c "resume" -c "exit"',
+        f'openocd -c "adapter serial {board["flasher_sn"]}" {board["flasher_args"]} -c "program {firmware} reset exit"',
         shell=True, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
     return ret
 
@@ -133,6 +142,37 @@ def flash_esptool(board, firmware):
     return ret
 
 
+def doublereset_with_rpi_gpio(board):
+    # Off = 0 = Reset
+    led = gpiozero.LED(board["flasher_reset_pin"])
+
+    led.off()
+    time.sleep(0.1)
+    led.on()
+    time.sleep(0.1)
+    led.off()
+    time.sleep(0.1)
+    led.on()
+
+def flash_bossac(board, firmware):
+    # double reset to enter bootloader
+    doublereset_with_rpi_gpio(board)
+
+    port = get_serial_dev(board["uid"], board["flashser_vendor"], board["flasher_product"], 0)
+    timeout = ENUM_TIMEOUT
+    while timeout:
+        if os.path.exists(port):
+            break
+        else:
+            time.sleep(0.5)
+            timeout = timeout - 0.5
+    assert timeout, 'bossac bootloader is not available'
+    # sleep a bit more for bootloader to be ready
+    time.sleep(0.5)
+    ret = subprocess.run(f'bossac --port {port} {board["flasher_args"]} -U -i -R -e -w {firmware}', shell=True, stdout=subprocess.PIPE,
+                         stderr=subprocess.STDOUT)
+    return ret
+
 # -------------------------------------------------------------
 # Tests
 # -------------------------------------------------------------
@@ -305,7 +345,7 @@ def main(config_file, board):
 
         for test in test_list:
             fw_list = [
-                # cmake: esp32 use .bin file
+                # cmake: esp32 & samd51 use .bin file
                 f'cmake-build/cmake-build-{item["name"]}/device/{test}/{test}.elf',
                 f'cmake-build/cmake-build-{item["name"]}/device/{test}/{test}.bin',
                 # make