mulle: Initial import of Eistec Mulle board.

Initially supports only Mulles with serial number > 220 (due to missing
MK60DN256ZVLL10 support in k60).

See also: https://github.com/RIOT-OS/RIOT/wiki/Board%3A-Mulle

Signed-off-by: Joakim Gebart <joakim.gebart@eistec.se>

boards/mulle/Makefile

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+# tell the Makefile.base which module to build
+MODULE = $(BOARD)_base
+
+include $(RIOTBASE)/Makefile.base

boards/mulle/Makefile.features

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+FEATURES_PROVIDED = periph_gpio periph_uart periph_spi periph_i2c periph_pwm periph_adc periph_rtc periph_random periph_cpuid

boards/mulle/Makefile.include

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+# define the cpu used by the Mulle board
+export CPU = k60
+
+### CPU part number (must have a specific linker script for each part)
+# Note that MK60DN256ZVLL10 (version 1.x) and MK60DN256VLL10 (version 2.x, no Z)
+# only differ in some register locations etc, not in the actual memory layout,
+# so it is safe to use the same linker script for both version 1.x and version
+# 2.x silicon.
+# The linker script needs to know the flash and RAM sizes of the device.
+
+export GDBPORT ?= 3333
+
+# MULLE_SERIAL is used to select which specific Mulle board we are compiling for.
+# This was called MULLE_BOARD_SERIAL_NUMBER previously, renamed because
+# MULLE_BOARD_SERIAL_NUMBER is too long to type.
+ifdef MULLE_SERIAL
+  ifeq "200" "$(word 1, $(sort 200 $(MULLE_SERIAL)))"
+    # >= 100
+    ifneq "220" "$(word 1, $(sort 220 $(MULLE_SERIAL)))"
+      # < 220
+      CPU_MODEL = K60DN256ZVLL10
+    else
+      # >= 220
+      CPU_MODEL = K60DN512VLL10
+    endif
+  endif
+  CFLAGS += -DMULLE_SERIAL=$(MULLE_SERIAL)
+endif
+
+ifeq ($(CPU_MODEL),)
+  CPU_MODEL = K60DN512VLL10
+endif
+
+export CPU_MODEL
+
+# Host OS name
+OS := $(shell uname)
+
+# OpenOCD settings for Mulle board.
+# Try to determine which version of the OpenOCD config file we should use.
+# Specify PROGRAMMER_VERSION or PROGRAMMER_SERIAL to choose a specific programmer board.
+ifeq ($(PROGRAMMER_VERSION),)
+  ifneq ($(PROGRAMMER_SERIAL),)
+    # Makefile-way of comparing numbers, using lexicographical sorting since we don't have any arithmetic comparisons.
+    # Programmers with serial 100 -- 148 are version 0.60
+    # Programmers with serial 301 -- 330 are version 0.70
+    ifeq "100" "$(word 1, $(sort 100 $(PROGRAMMER_SERIAL)))"
+      # >= 100
+      ifneq "149" "$(word 1, $(sort 149 $(PROGRAMMER_SERIAL)))"
+        # < 149
+        PROGRAMMER_VERSION = 0.60
+      else
+        # >= 149
+        PROGRAMMER_VERSION = 0.70
+      endif
+    endif
+  endif
+  # Default to version 0.60 programmer for now.
+  PROGRAMMER_VERSION ?= 0.60
+endif
+
+OOCD_BOARD_FLAGS = -f '$(RIOTBOARD)/$(BOARD)/dist/openocd/mulle-programmer-$(PROGRAMMER_VERSION).conf'
+
+# Add serial matching command
+ifneq ($(PROGRAMMER_SERIAL),)
+  OOCD_BOARD_FLAGS += -c 'ftdi_serial $(PROGRAMMER_SERIAL)'
+
+  ifeq ($(PORT),)
+    # try to find tty name by serial number, only works on Linux currently.
+    ifeq ($(OS),Linux)
+      PORT :=$(shell $(RIOTBOARD)/dist/tools/ftdi/find-tty.sh $(PROGRAMMER_SERIAL))
+    endif
+  endif
+endif
+
+ifeq ($(PORT),)
+    ifeq ($(OS),Linux)
+      PORT := /dev/ttyUSB0
+    else ifeq ($(OS),Darwin)
+      PORT := $(shell ls -1 /dev/tty.SLAB_USBtoUART* | head -n 1)
+    endif
+endif
+
+# TODO: add support for windows as host platform
+ifeq ($(PORT),)
+  $(info CAUTION: No terminal port for your host system found!)
+endif
+export PORT
+
+# Default optimization level, possible to override from command line.
+OPTIMIZATION ?= -Os
+
+# define tools used for building the project
+export PREFIX ?= arm-none-eabi-
+export GDBPREFIX ?= $(PREFIX)
+export OPENOCD ?= openocd
+export GDB ?= $(GDBPREFIX)gdb
+export CC = $(PREFIX)gcc
+export CXX = $(PREFIX)g++
+export AR = $(PREFIX)ar
+export AS = $(PREFIX)as
+export LINK = $(PREFIX)gcc
+export SIZE = $(PREFIX)size
+export OBJCOPY = $(PREFIX)objcopy
+export TERMPROG ?= $(RIOTBASE)/dist/tools/pyterm/pyterm
+export FLASHER ?= $(OPENOCD)
+export DEBUGGER ?= $(GDB)
+export DEBUGSERVER ?= $(OPENOCD)
+export RESET ?= $(OPENOCD)
+
+# define build specific options
+CPU_USAGE = -mcpu=cortex-m4
+FPU_USAGE = -mfloat-abi=soft -msoft-float
+export CFLAGS += -ggdb -g3 -std=gnu99 $(OPTIMIZATION) -Wall -Wstrict-prototypes -Werror=implicit-function-declaration $(CPU_USAGE) $(FPU_USAGE) -mlittle-endian -mthumb -mno-thumb-interwork -nostartfiles
+export CFLAGS += -ffunction-sections -fdata-sections -fno-builtin
+export CXXFLAGS += -ffunction-sections -fdata-sections -fno-builtin
+export ASFLAGS += -ggdb -g3 $(CPU_USAGE) $(FPU_USAGE) -mlittle-endian
+export LINKFLAGS += -g3 -ggdb -std=gnu99 $(CPU_USAGE) $(FPU_USAGE) -mlittle-endian -static -mthumb -nostartfiles -Wl,--fatal-warnings
+export LINKFLAGS += -L$(LINKERSCRIPTPATH) -T$(LINKERSCRIPT)
+export OFLAGS ?= -O binary
+
+FFLAGS ?= $(OOCD_BOARD_FLAGS)
+FFLAGS += \
+    -c 'tcl_port 0' \
+    -c 'gdb_port 0' \
+    -c 'telnet_port 0' \
+    -c 'init' \
+    -c 'targets' \
+    -c 'reset halt' \
+    -c 'flash write_image erase bin/$(BOARD)/$(APPLICATION).elf 0x00000000 elf' \
+    -c 'verify_image bin/$(BOARD)/$(APPLICATION).elf' \
+    -c 'reset run' \
+    -c 'shutdown'
+
+export FFLAGS
+
+DEBUGSERVER_FLAGS ?= $(OOCD_BOARD_FLAGS)
+DEBUGSERVER_FLAGS += \
+    -c 'tcl_port 0' \
+    -c 'gdb_port $(GDBPORT)' \
+    -c 'telnet_port 0' \
+    -c 'init' \
+    -c 'targets' \
+    -c 'reset halt'
+
+export DEBUGSERVER_FLAGS
+
+RESET_FLAGS ?= $(OOCD_BOARD_FLAGS)
+RESET_FLAGS += \
+    -c 'tcl_port 0' \
+    -c 'gdb_port 0' \
+    -c 'telnet_port 0' \
+    -c 'init' \
+    -c 'reset run' \
+    -c 'shutdown'
+
+export RESET_FLAGS
+
+DEBUGGER_FLAGS ?= -x $(RIOTBOARD)/$(BOARD)/dist/gdb.conf
+DEBUGGER_FLAGS += \
+    -ex 'tar ext :$(GDBPORT)' \
+    $(BINDIR)/$(APPLICATION).elf
+
+export DEBUGGER_FLAGS
+
+export TERMFLAGS += -p "$(PORT)"
+
+# use newLib nano-specs if available
+ifeq ($(shell $(LINK) -specs=nano.specs -E - 2>/dev/null >/dev/null </dev/null ; echo $$?),0)
+export LINKFLAGS += -specs=nano.specs -lc -lnosys
+endif
+
+# export board specific includes to the global includes-listing
+export INCLUDES += -I$(RIOTBOARD)/$(BOARD)/include

boards/mulle/board.c

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+/*
+ * Copyright (C) 2014 Eistec AB
+ *
+ * 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     board_k60
+ * @{
+ *
+ * @file
+ * @brief       Board specific implementations for the Mulle board
+ *
+ * @author      Joakim Gebart <joakim.gebart@eistec.se>
+ *
+ * @}
+ */
+
+#include <stddef.h> /* for NULL */
+#include <stdio.h>
+#include "board.h"
+#include "cpu.h"
+#include "periph/gpio.h"
+#include "periph/uart.h"
+#include "devicemap.h"
+
+static void leds_init(void);
+
+void board_init(void)
+{
+    /* initialize the boards LEDs, this is done first for debugging purposes */
+    leds_init();
+
+    LED_RED_ON;
+
+    /* Set up clocks */
+    SystemInit();
+
+    /* Update SystemCoreClock global var */
+    SystemCoreClockUpdate();
+
+    /* initialize the CPU */
+    cpu_init();
+
+    LED_YELLOW_ON;
+
+    devicemap_init();
+}
+
+/**
+ * @brief Initialize the boards on-board LEDs
+ *
+ * The LEDs are initialized here in order to be able to use them in the early
+ * boot for diagnostics.
+ *
+ */
+static void leds_init(void)
+{
+    /* The pin configuration can be found in board.h and periph_conf.h */
+    gpio_init_out(LED_RED_GPIO, GPIO_NOPULL);
+    gpio_init_out(LED_YELLOW_GPIO, GPIO_NOPULL);
+    gpio_init_out(LED_GREEN_GPIO, GPIO_NOPULL);
+}