diff --git a/circuit/mkstepper/eagle.epf b/circuit/mkstepper/eagle.epf
index 40a3930cde88da1453c8dd99843f0b9899d1c21f..d40b9de98a08535aebf4e8f775e7fb9a4948eef3 100644
--- a/circuit/mkstepper/eagle.epf
+++ b/circuit/mkstepper/eagle.epf
@@ -32,12 +32,18 @@ UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/rload.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/sym.lbr"
[Win_1]
-Type="Board Editor"
+Type="Control Panel"
Loc="0 0 1919 1016"
State=1
+Number=0
+
+[Win_2]
+Type="Board Editor"
+Loc="0 0 1919 1016"
+State=3
Number=2
File="mkstepper.brd"
-View="-14.8855 10.1188 80.511 38.1294"
+View="19.1941 22.2824 34.6011 26.8063"
WireWidths=" 0.0762 0.1016 0.127 0.4064 0.15 0.2032 0.508 1.016 0.254 0.2 2.54 0.1524 1.27 0.8128 0.6096 0.3048"
PadDiameters=" 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0 0.55 0.45 0.425"
PadDrills=" 0.2 0.25 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.35 0.3"
@@ -77,13 +83,13 @@ AddLevel=2
PadsSameType=0
Layer=16
-[Win_2]
+[Win_3]
Type="Schematic Editor"
Loc="0 0 1919 1016"
State=1
Number=1
File="mkstepper.sch"
-View="-81.791 -21.5659 470.35 333.384"
+View="48.0247 158.394 176.435 240.944"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
@@ -122,17 +128,11 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
-Views=" 1: -81.791 -21.5659 470.35 333.384"
+Views=" 1: 48.0247 158.394 176.435 240.944"
Sheet="1"
-[Win_3]
-Type="Control Panel"
-Loc="0 0 1919 1016"
-State=1
-Number=0
-
[Desktop]
-Screen="6000 2160"
+Screen="3840 1080"
Window="Win_1"
Window="Win_2"
Window="Win_3"
diff --git a/embedded/README.md b/embedded/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7ca92e990067c0d78eb48e58368a93b533405fd7
--- /dev/null
+++ b/embedded/README.md
@@ -0,0 +1,321 @@
+# MK Stepper Embedded Doc
+
+My goal is to
+ - verify that I can communicate over both UART ports to the board
+ - now, wrap gpio and uart in tiny packages
+ - verify that I can speak SPI to the TMC2660, maybe the AS5147D.
+ - then, wrap spi into a package
+ - fiddle through tmc2660 config and send some steps
+ - send a key:value to the board that is a 'step command' - a # of steps to take over a timespan, and setup a queue of these
+
+## Ring Testing the ATSAMD51
+
+OK, first I setup the systick timer to fire every 500 cycles. This is handy - I use the interrupt to toggle a pin, then I can get a rough estimate of where the main clock is running.
+
+```C
+int main(void)
+{
+ /* Initialize the SAM system */
+ SystemInit();
+
+ // setup blinking
+
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 13);
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 14);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 13);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 14);
+
+ // setup ring
+
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 2);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 2);
+
+ PORT->Group[1].DIRCLR.reg = (uint32_t)(1 << 3);
+ PORT->Group[1].PINCFG[3].reg |= PORT_PINCFG_INEN;
+ PORT->Group[1].PINCFG[3].reg &= ~PORT_PINCFG_PULLEN;
+
+ SysTick_Config(500);
+
+ while (1)
+ {
+
+ }
+}
+
+void SysTick_Handler(void){
+ PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 2);
+ PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 14); // blink STLB
+}
+```
+
+I see 48kHz on the scope, and I know I've got a 1000x multiplier on that wave (as the scope is counting positive clock edges only, the toggle does postive-to-negative etc). So these chips set up to run at 48MHz unless we tell them otherwise. Let's try that. I'm following adafruit's bootloader code, mostly.
+
+Also, [this](https://github.com/ataradov/mcu-starter-projects/blob/master/samd21/hal_gpio.h) was nice GPIO reference for the structures used in the ATSAMD series (21 and 51).
+
+OK, this clock is baffling me. I'm trapped at 48MHz ... going to move on for now. Somehow I want to set up the DFLL (digital frequency locked loop .. ?) to run on the 32.768kHz xtal (as a reference) with a big ol' multiplier to bring it up to 120MHz. To be honest I'm not really sure if even this is correct.
+
+In any case, here's some code for a ring test, for when I get the clock sorted. On a 48MHz clock it runs at 1.6MHz. Uses the setup above...
+
+```C
+ while (1)
+ {
+ //PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 2);
+ if(PORT->Group[1].IN.reg & (1 << 3)){
+ PORT->Group[1].OUTCLR.reg = (uint32_t)(1 << 2);
+ } else {
+ PORT->Group[1].OUTSET.reg = (uint32_t)(1 << 2);
+ }
+ }
+```
+
+## USART on the ATSAMD51
+
+Altogether more registers than I'd like to manage, but here we are.
+
+```C
+
+int main(void)
+{
+ /* Initialize the SAM system */
+ SystemInit();
+
+ //clock_init();
+
+ /*setup blinking
+ STLR PB13
+ STLB PB14
+ */
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 13);
+ PORT->Group[1].DIRSET.reg |= (uint32_t)(1 << 14);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 13);
+ PORT->Group[1].OUTSET.reg |= (uint32_t)(1 << 14);
+
+ SysTick_Config(5000000);
+
+ /* setup UARTs
+ NP1RX PA12 / SER4-1
+ NP1TX PA13 / SER4-0
+
+ NP2RX PB03 / SER5-1 / Peripheral D
+ NP2TX PB02 / SER5-0 / Peripheral D
+ */
+
+ // setup pins for peripheral
+ PORT->Group[1].DIRCLR.reg = (uint32_t)(1 << 3); // rx is input
+ PORT->Group[1].DIRSET.reg = (uint32_t)(1 << 2); // tx output
+ PORT->Group[1].PINCFG[3].bit.PMUXEN = 1;
+ PORT->Group[1].PMUX[3>>1].reg |= PORT_PMUX_PMUXE(0x3);
+ PORT->Group[1].PMUX[3>>3].reg |= PORT_PMUX_PMUXO(0x3);
+ PORT->Group[1].PINCFG[2].bit.PMUXEN = 1;
+ PORT->Group[1].PMUX[2>>1].reg |= PORT_PMUX_PMUXE(0x3);
+ PORT->Group[1].PMUX[2>>3].reg |= PORT_PMUX_PMUXO(0x3);
+ // unmask clocks
+ MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
+ // generate clocks to, starting with clock 6 (arbitrary choice, lower # held for system things)
+ // datasheet says normally one gclk per peripheral shrugman knows why
+ GCLK->GENCTRL[6].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
+ while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL6);
+ GCLK->PCHCTRL[SERCOM5_GCLK_ID_CORE].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN_GCLK6;
+ // now the sercom
+ while(SERCOM5->USART.SYNCBUSY.bit.ENABLE);
+ SERCOM5->USART.CTRLA.bit.ENABLE = 0;
+ while(SERCOM5->USART.SYNCBUSY.bit.SWRST);
+ SERCOM5->USART.CTRLA.bit.SWRST = 1;
+ while(SERCOM5->USART.SYNCBUSY.bit.SWRST);
+ while(SERCOM5->USART.SYNCBUSY.bit.SWRST || SERCOM5->USART.SYNCBUSY.bit.ENABLE);
+ // now reset and ready, do config
+ SERCOM5->USART.CTRLA.reg = SERCOM_USART_CTRLA_MODE(1) | SERCOM_USART_CTRLA_DORD | SERCOM_USART_CTRLA_RXPO(1) | SERCOM_USART_CTRLA_TXPO(0);
+ while(SERCOM5->USART.SYNCBUSY.bit.CTRLB);
+ SERCOM5->USART.CTRLB.reg = SERCOM_USART_CTRLB_RXEN | SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_CHSIZE(0);
+ /*
+ BAUD = 65536*(1-S*(fBAUD/fref))
+ where S is samples per bit, 16 for async uart
+ where fBAUD is the rate that you want
+ where fref is the peripheral clock from GCLK, in this case (and most) 48MHz
+ */
+ SERCOM5->USART.BAUD.reg = 45402;
+ while(SERCOM5->USART.SYNCBUSY.bit.ENABLE);
+ SERCOM5->USART.CTRLA.bit.ENABLE = 1;
+
+
+ while (1)
+ {
+ while(!SERCOM5->USART.INTFLAG.bit.DRE);
+ SERCOM5->USART.DATA.reg = (uint8_t)170;
+ }
+}
+
+void SysTick_Handler(void){
+ PORT->Group[1].OUTTGL.reg = (uint32_t)(1 << 14); // blink STLB
+}
+```
+
+## Interrupts on the ATSAMD51
+
+To configure an interrupt on the ATSAMD51, roughly, we do this:
+
+```C
+
+int main(void){
+
+ __enable_irq(); // globally enables the NVIC
+
+ // turns on a particular 'irq line' or 'irq number'
+ // for example, in the SERCOM->UART section of the datasheet,
+ // see 34.8.8 - the interrupt 'flag' sections. these are analagous to 'line numbers'
+ // and are linked to 'interrupt numbers' per 10.2.2
+ NVIC_EnableIRQ(SERCOM4_2_IRQn);
+}
+
+// we can then handle the interrupt:
+
+void SERCOM4_2_Handler(void){
+ // we must clear the flag, often this is done by reading the flag register, like this:
+ // SERCOM4->USART->INTFLAG.bit.RXC = 1; // odd, writing '1' is normally the way to clear it
+ // however, for this particular register, we read the data from the peripheral to clear the interrupt.
+ uint8_t data = SERCOM4->USART.DATA.reg;
+ pin_clear(&stlr); // indicate
+ // then we would presumably do something
+}
+
+```
+
+TODO: make ATSAMD51 doc page for all of this bringup !
+
+## Async-happy USART
+
+To handle USART on these systems, I implement a (hopefully) bulletproof and interrupt-friendly architecture.
+
+TX and RX both have interrupt handlers - the RX dumps bytes into a ringbuffer for the application to poll later on (polling the ringbuffer, not the UART hardware) and the TX buffer is set up so that the application can dump a block of bytes into the transmitter at once, without waiting for anything to transmit.
+
+```C
+
+int main(void)
+{
+ /* Initialize the SAM system */
+ SystemInit();
+ SysTick_Config(5000000);
+
+ //clock_init();
+
+ // lights
+
+ stlb = pin_new(&PORT->Group[1], 14);
+ pin_output(&stlb);
+ pin_set(&stlb);
+ stlr = pin_new(&PORT->Group[1], 13);
+ pin_output(&stlr);
+ pin_set(&stlr);
+
+ // ready interrupt system
+ __enable_irq();
+ NVIC_EnableIRQ(SERCOM4_0_IRQn); //up1tx
+ NVIC_EnableIRQ(SERCOM4_2_IRQn); //up1rx
+ NVIC_EnableIRQ(SERCOM5_0_IRQn);
+ NVIC_EnableIRQ(SERCOM5_2_IRQn);
+
+ // ringbuffers (for uart ports)
+ rb_init(&up1_rbrx);
+ rb_init(&up1_rbtx);
+ rb_init(&up2_rbrx);
+ rb_init(&up2_rbtx);
+
+ // uarts (ports)
+ // TODO: have used PMUXO and PMUXE incorrectly: only set one of these, based on whether / not pin is even / odd !
+
+ up1 = uart_new(SERCOM4, &PORT->Group[0], &up1_rbrx, &up1_rbtx, 12, 13, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM4;
+ uart_init(&up1, 6, SERCOM4_GCLK_ID_CORE, 63018); // baud: 45402 for 921600, 63018 for 115200
+ up2 = uart_new(SERCOM5, &PORT->Group[1], &up2_rbrx, &up2_rbtx, 3, 2, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
+ uart_init(&up2, 7, SERCOM5_GCLK_ID_CORE, 63018);
+
+
+ // SPI
+ // TMC_MOSI PA07 / SER0-3
+ // TMC_MISO PA04 / SER0-0
+ // TMC_SCK PA05 / SER0-1
+ // TMC_CSN PA06 / SER0-2
+
+ // spi
+ spi_tmc = spi_new(SERCOM0, &PORT->Group[0], 4, 7, 5, 6, HARDWARE_IS_APBA, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBAMASK.reg |= MCLK_APBAMASK_SERCOM0;
+ spi_init(&spi_tmc, 8, SERCOM0_GCLK_ID_CORE, 126, 0, 2);
+
+ // -> DO SPI, talk to the TMC !
+
+ while (1)
+ {
+ // spi_txchar_polled(&spitmc, 'x');
+ // find TMC registers now, try to read!
+
+ }
+}
+
+void SysTick_Handler(void){
+ pin_toggle(&stlb);
+ while(!rb_empty(up1.rbrx)){
+ uart_sendchar_buffered(&up1, rb_get(up1.rbrx));
+ }
+}
+
+void SERCOM4_0_Handler(void){
+ uart_txhandler(&up1);
+}
+
+void SERCOM4_2_Handler(void){
+ uart_rxhandler(&up1);
+}
+
+void SERCOM5_0_Handler(void){
+ uart_txhandler(&up2);
+}
+
+void SERCOM5_2_Handler(void){
+ uart_rxhandler(&up2);
+}
+```
+
+and
+
+```C
+
+void uart_sendchar_polled(uartport_t *uart, uint8_t data){
+ while(!uart->com->USART.INTFLAG.bit.DRE);
+ uart->com->USART.DATA.reg = data;
+}
+
+void uart_sendchar_buffered(uartport_t *uart, uint8_t data){
+ rb_putchar(uart->rbtx, data); // dump it in there
+ uart->com->USART.INTENSET.bit.DRE = 1; // set up the volley
+}
+
+void uart_rxhandler(uartport_t *uart){
+ uint8_t data = uart->com->USART.DATA.reg;
+ rb_putchar(uart->rbrx, data);
+}
+
+void uart_txhandler(uartport_t *uart){
+ if(!rb_empty(uart->rbtx)){
+ uart->com->USART.DATA.reg = rb_get(uart->rbtx);
+ } else {
+ uart->com->USART.INTENCLR.reg = SERCOM_USART_INTENCLR_DRE;
+ }
+}
+```
+
+## Trinamic Bit-Fiddling
+
+Next I'm going to try to get some steps to happen. I guess we're ready for this!
+
+I found [this](https://github.com/trinamic/TMC26XStepper) library.
+
+# the end of this day
+
+- dinner
+- tell anna you can't handle meeting b/c NSF
+- setup to be doing NSF only tomorrow
+- get whatever you can get done today
+- maybe kill / handle: dome ... anything else you feel is 'loose'
+ - lots of emails
+ - cleaning up
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo b/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo
new file mode 100644
index 0000000000000000000000000000000000000000..b14b68e3dd1cd02342db41b3d6c09b1e92b2ab3d
Binary files /dev/null and b/embedded/mkstepper-v011/.vs/mkstepper-v011/v14/.atsuo differ
diff --git a/embedded/mkstepper-v011/mkstepper-v011.atsln b/embedded/mkstepper-v011/mkstepper-v011.atsln
new file mode 100644
index 0000000000000000000000000000000000000000..0b9dfe8d84f64d4c1fd33db1ea082e738e70330a
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011.atsln
@@ -0,0 +1,22 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Atmel Studio Solution File, Format Version 11.00
+VisualStudioVersion = 14.0.23107.0
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{54F91283-7BC4-4236-8FF9-10F437C3AD48}") = "mkstepper-v011", "mkstepper-v011\mkstepper-v011.cproj", "{DCE6C7E3-EE26-4D79-826B-08594B9AD897}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|ARM = Debug|ARM
+ Release|ARM = Release|ARM
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Debug|ARM.ActiveCfg = Debug|ARM
+ {DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Debug|ARM.Build.0 = Debug|ARM
+ {DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Release|ARM.ActiveCfg = Release|ARM
+ {DCE6C7E3-EE26-4D79-826B-08594B9AD897}.Release|ARM.Build.0 = Release|ARM
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+EndGlobal
diff --git a/embedded/mkstepper-v011/mkstepper-v011/Debug/Makefile b/embedded/mkstepper-v011/mkstepper-v011/Debug/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..7d21dd26e9fed5522a9bceb34794fbf12d185169
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/Debug/Makefile
@@ -0,0 +1,182 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL := cmd.exe
+RM := rm -rf
+
+USER_OBJS :=
+
+LIBS :=
+PROJ :=
+
+O_SRCS :=
+C_SRCS :=
+S_SRCS :=
+S_UPPER_SRCS :=
+OBJ_SRCS :=
+ASM_SRCS :=
+PREPROCESSING_SRCS :=
+OBJS :=
+OBJS_AS_ARGS :=
+C_DEPS :=
+C_DEPS_AS_ARGS :=
+EXECUTABLES :=
+OUTPUT_FILE_PATH :=
+OUTPUT_FILE_PATH_AS_ARGS :=
+AVR_APP_PATH :=$$$AVR_APP_PATH$$$
+QUOTE := "
+ADDITIONAL_DEPENDENCIES:=
+OUTPUT_FILE_DEP:=
+LIB_DEP:=
+LINKER_SCRIPT_DEP:=
+
+# Every subdirectory with source files must be described here
+SUBDIRS := \
+../Device_Startup/
+
+
+# Add inputs and outputs from these tool invocations to the build variables
+C_SRCS += \
+../Device_Startup/startup_samd51.c \
+../Device_Startup/system_samd51.c \
+../main.c \
+../pin.c \
+../ringbuffer.c \
+../spiport.c \
+../uartport.c
+
+
+PREPROCESSING_SRCS +=
+
+
+ASM_SRCS +=
+
+
+OBJS += \
+Device_Startup/startup_samd51.o \
+Device_Startup/system_samd51.o \
+main.o \
+pin.o \
+ringbuffer.o \
+spiport.o \
+uartport.o
+
+OBJS_AS_ARGS += \
+Device_Startup/startup_samd51.o \
+Device_Startup/system_samd51.o \
+main.o \
+pin.o \
+ringbuffer.o \
+spiport.o \
+uartport.o
+
+C_DEPS += \
+Device_Startup/startup_samd51.d \
+Device_Startup/system_samd51.d \
+main.d \
+pin.d \
+ringbuffer.d \
+spiport.d \
+uartport.d
+
+C_DEPS_AS_ARGS += \
+Device_Startup/startup_samd51.d \
+Device_Startup/system_samd51.d \
+main.d \
+pin.d \
+ringbuffer.d \
+spiport.d \
+uartport.d
+
+OUTPUT_FILE_PATH +=mkstepper-v011.elf
+
+OUTPUT_FILE_PATH_AS_ARGS +=mkstepper-v011.elf
+
+ADDITIONAL_DEPENDENCIES:=
+
+OUTPUT_FILE_DEP:= ./makedep.mk
+
+LIB_DEP+=
+
+LINKER_SCRIPT_DEP+= \
+../Device_Startup/samd51j18a_flash.ld \
+../Device_Startup/samd51j18a_sram.ld
+
+
+# AVR32/GNU C Compiler
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+Device_Startup/%.o: ../Device_Startup/%.c
+ @echo Building file: $<
+ @echo Invoking: ARM/GNU C Compiler : 6.3.1
+ $(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-gcc.exe$(QUOTE) -x c -mthumb -D__SAMD51J18A__ -DDEBUG -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.0.1\CMSIS\Include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\include" -O1 -ffunction-sections -mlong-calls -g3 -Wall -mcpu=cortex-m4 -c -std=gnu99 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -o "$@" "$<"
+ @echo Finished building: $<
+
+
+./%.o: .././%.c
+ @echo Building file: $<
+ @echo Invoking: ARM/GNU C Compiler : 6.3.1
+ $(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-gcc.exe$(QUOTE) -x c -mthumb -D__SAMD51J18A__ -DDEBUG -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.0.1\CMSIS\Include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\include" -O1 -ffunction-sections -mlong-calls -g3 -Wall -mcpu=cortex-m4 -c -std=gnu99 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -o "$@" "$<"
+ @echo Finished building: $<
+
+
+
+
+# AVR32/GNU Preprocessing Assembler
+
+
+
+# AVR32/GNU Assembler
+
+
+
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(strip $(C_DEPS)),)
+-include $(C_DEPS)
+endif
+endif
+
+# Add inputs and outputs from these tool invocations to the build variables
+
+# All Target
+all: $(OUTPUT_FILE_PATH) $(ADDITIONAL_DEPENDENCIES)
+
+$(OUTPUT_FILE_PATH): $(OBJS) $(USER_OBJS) $(OUTPUT_FILE_DEP) $(LIB_DEP) $(LINKER_SCRIPT_DEP)
+ @echo Building target: $@
+ @echo Invoking: ARM/GNU Linker : 6.3.1
+ $(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-gcc.exe$(QUOTE) -o$(OUTPUT_FILE_PATH_AS_ARGS) $(OBJS_AS_ARGS) $(USER_OBJS) $(LIBS) -mthumb -Wl,-Map="mkstepper-v011.map" -Wl,--start-group -lm -Wl,--end-group -L"..\\Device_Startup" -Wl,--gc-sections -mcpu=cortex-m4 -Tsamd51j18a_flash.ld
+ @echo Finished building target: $@
+ "C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-objcopy.exe" -O binary "mkstepper-v011.elf" "mkstepper-v011.bin"
+ "C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-objcopy.exe" -O ihex -R .eeprom -R .fuse -R .lock -R .signature "mkstepper-v011.elf" "mkstepper-v011.hex"
+ "C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-objcopy.exe" -j .eeprom --set-section-flags=.eeprom=alloc,load --change-section-lma .eeprom=0 --no-change-warnings -O binary "mkstepper-v011.elf" "mkstepper-v011.eep" || exit 0
+ "C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-objdump.exe" -h -S "mkstepper-v011.elf" > "mkstepper-v011.lss"
+ "C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-objcopy.exe" -O srec -R .eeprom -R .fuse -R .lock -R .signature "mkstepper-v011.elf" "mkstepper-v011.srec"
+ "C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-size.exe" "mkstepper-v011.elf"
+
+
+
+
+
+
+
+# Other Targets
+clean:
+ -$(RM) $(OBJS_AS_ARGS) $(EXECUTABLES)
+ -$(RM) $(C_DEPS_AS_ARGS)
+ rm -rf "mkstepper-v011.elf" "mkstepper-v011.a" "mkstepper-v011.hex" "mkstepper-v011.bin" "mkstepper-v011.lss" "mkstepper-v011.eep" "mkstepper-v011.map" "mkstepper-v011.srec"
+
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/Debug/makedep.mk b/embedded/mkstepper-v011/mkstepper-v011/Debug/makedep.mk
new file mode 100644
index 0000000000000000000000000000000000000000..bd15a2469d53d98789bff4058882d0f7bb3b206d
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/Debug/makedep.mk
@@ -0,0 +1,18 @@
+################################################################################
+# Automatically-generated file. Do not edit or delete the file
+################################################################################
+
+Device_Startup\startup_samd51.c
+
+Device_Startup\system_samd51.c
+
+main.c
+
+pin.c
+
+ringbuffer.c
+
+spiport.c
+
+uartport.c
+
diff --git a/embedded/mkstepper-v011/mkstepper-v011/Debug/mkstepper-v011.eep b/embedded/mkstepper-v011/mkstepper-v011/Debug/mkstepper-v011.eep
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/samd51j18a_flash.ld b/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/samd51j18a_flash.ld
new file mode 100644
index 0000000000000000000000000000000000000000..301f100e83356376dbdd6191ac64239e551ae9c0
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/samd51j18a_flash.ld
@@ -0,0 +1,163 @@
+/**
+ * \file
+ *
+ * \brief Linker script for running in internal FLASH on the SAMD51J18A
+ *
+ * Copyright (c) 2017 Microchip Technology Inc.
+ *
+ * \asf_license_start
+ *
+ * \page License
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the Licence at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * \asf_license_stop
+ *
+ */
+
+
+OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
+OUTPUT_ARCH(arm)
+SEARCH_DIR(.)
+
+/* Memory Spaces Definitions */
+MEMORY
+{
+ rom (rx) : ORIGIN = 0x00000000, LENGTH = 0x00040000
+ ram (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00020000
+ bkupram (rwx) : ORIGIN = 0x47000000, LENGTH = 0x00002000
+ qspi (rwx) : ORIGIN = 0x04000000, LENGTH = 0x01000000
+}
+
+/* The stack size used by the application. NOTE: you need to adjust according to your application. */
+STACK_SIZE = DEFINED(STACK_SIZE) ? STACK_SIZE : DEFINED(__stack_size__) ? __stack_size__ : 0x8000;
+
+/* Section Definitions */
+SECTIONS
+{
+ .text :
+ {
+ . = ALIGN(4);
+ _sfixed = .;
+ KEEP(*(.vectors .vectors.*))
+ *(.text .text.* .gnu.linkonce.t.*)
+ *(.glue_7t) *(.glue_7)
+ *(.rodata .rodata* .gnu.linkonce.r.*)
+ *(.ARM.extab* .gnu.linkonce.armextab.*)
+
+ /* Support C constructors, and C destructors in both user code
+ and the C library. This also provides support for C++ code. */
+ . = ALIGN(4);
+ KEEP(*(.init))
+ . = ALIGN(4);
+ __preinit_array_start = .;
+ KEEP (*(.preinit_array))
+ __preinit_array_end = .;
+
+ . = ALIGN(4);
+ __init_array_start = .;
+ KEEP (*(SORT(.init_array.*)))
+ KEEP (*(.init_array))
+ __init_array_end = .;
+
+ . = ALIGN(4);
+ KEEP (*crtbegin.o(.ctors))
+ KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
+ KEEP (*(SORT(.ctors.*)))
+ KEEP (*crtend.o(.ctors))
+
+ . = ALIGN(4);
+ KEEP(*(.fini))
+
+ . = ALIGN(4);
+ __fini_array_start = .;
+ KEEP (*(.fini_array))
+ KEEP (*(SORT(.fini_array.*)))
+ __fini_array_end = .;
+
+ KEEP (*crtbegin.o(.dtors))
+ KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
+ KEEP (*(SORT(.dtors.*)))
+ KEEP (*crtend.o(.dtors))
+
+ . = ALIGN(4);
+ _efixed = .; /* End of text section */
+ } > rom
+
+ /* .ARM.exidx is sorted, so has to go in its own output section. */
+ PROVIDE_HIDDEN (__exidx_start = .);
+ .ARM.exidx :
+ {
+ *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+ } > rom
+ PROVIDE_HIDDEN (__exidx_end = .);
+
+ . = ALIGN(4);
+ _etext = .;
+
+ .relocate : AT (_etext)
+ {
+ . = ALIGN(4);
+ _srelocate = .;
+ *(.ramfunc .ramfunc.*);
+ *(.data .data.*);
+ . = ALIGN(4);
+ _erelocate = .;
+ } > ram
+
+ .bkupram (NOLOAD):
+ {
+ . = ALIGN(8);
+ _sbkupram = .;
+ *(.bkupram .bkupram.*);
+ . = ALIGN(8);
+ _ebkupram = .;
+ } > bkupram
+
+ .qspi (NOLOAD):
+ {
+ . = ALIGN(8);
+ _sqspi = .;
+ *(.qspi .qspi.*);
+ . = ALIGN(8);
+ _eqspi = .;
+ } > qspi
+
+ /* .bss section which is used for uninitialized data */
+ .bss (NOLOAD) :
+ {
+ . = ALIGN(4);
+ _sbss = . ;
+ _szero = .;
+ *(.bss .bss.*)
+ *(COMMON)
+ . = ALIGN(4);
+ _ebss = . ;
+ _ezero = .;
+ } > ram
+
+ /* stack section */
+ .stack (NOLOAD):
+ {
+ . = ALIGN(8);
+ _sstack = .;
+ . = . + STACK_SIZE;
+ . = ALIGN(8);
+ _estack = .;
+ } > ram
+
+ . = ALIGN(4);
+ _end = . ;
+}
diff --git a/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/samd51j18a_sram.ld b/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/samd51j18a_sram.ld
new file mode 100644
index 0000000000000000000000000000000000000000..0303f06c3a62e558ecfe4277dad36f8b5d5448d6
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/samd51j18a_sram.ld
@@ -0,0 +1,162 @@
+/**
+ * \file
+ *
+ * \brief Linker script for running in internal SRAM on the SAMD51J18A
+ *
+ * Copyright (c) 2017 Microchip Technology Inc.
+ *
+ * \asf_license_start
+ *
+ * \page License
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the Licence at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * \asf_license_stop
+ *
+ */
+
+
+OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
+OUTPUT_ARCH(arm)
+SEARCH_DIR(.)
+
+/* Memory Spaces Definitions */
+MEMORY
+{
+ ram (rwx) : ORIGIN = 0x20000000, LENGTH = 0x00020000
+ bkupram (rwx) : ORIGIN = 0x47000000, LENGTH = 0x00002000
+ qspi (rwx) : ORIGIN = 0x04000000, LENGTH = 0x01000000
+}
+
+/* The stack size used by the application. NOTE: you need to adjust according to your application. */
+STACK_SIZE = DEFINED(STACK_SIZE) ? STACK_SIZE : DEFINED(__stack_size__) ? __stack_size__ : 0x8000;
+
+/* Section Definitions */
+SECTIONS
+{
+ .text :
+ {
+ . = ALIGN(4);
+ _sfixed = .;
+ KEEP(*(.vectors .vectors.*))
+ *(.text .text.* .gnu.linkonce.t.*)
+ *(.glue_7t) *(.glue_7)
+ *(.rodata .rodata* .gnu.linkonce.r.*)
+ *(.ARM.extab* .gnu.linkonce.armextab.*)
+
+ /* Support C constructors, and C destructors in both user code
+ and the C library. This also provides support for C++ code. */
+ . = ALIGN(4);
+ KEEP(*(.init))
+ . = ALIGN(4);
+ __preinit_array_start = .;
+ KEEP (*(.preinit_array))
+ __preinit_array_end = .;
+
+ . = ALIGN(4);
+ __init_array_start = .;
+ KEEP (*(SORT(.init_array.*)))
+ KEEP (*(.init_array))
+ __init_array_end = .;
+
+ . = ALIGN(4);
+ KEEP (*crtbegin.o(.ctors))
+ KEEP (*(EXCLUDE_FILE (*crtend.o) .ctors))
+ KEEP (*(SORT(.ctors.*)))
+ KEEP (*crtend.o(.ctors))
+
+ . = ALIGN(4);
+ KEEP(*(.fini))
+
+ . = ALIGN(4);
+ __fini_array_start = .;
+ KEEP (*(.fini_array))
+ KEEP (*(SORT(.fini_array.*)))
+ __fini_array_end = .;
+
+ KEEP (*crtbegin.o(.dtors))
+ KEEP (*(EXCLUDE_FILE (*crtend.o) .dtors))
+ KEEP (*(SORT(.dtors.*)))
+ KEEP (*crtend.o(.dtors))
+
+ . = ALIGN(4);
+ _efixed = .; /* End of text section */
+ } > ram
+
+ /* .ARM.exidx is sorted, so has to go in its own output section. */
+ PROVIDE_HIDDEN (__exidx_start = .);
+ .ARM.exidx :
+ {
+ *(.ARM.exidx* .gnu.linkonce.armexidx.*)
+ } > ram
+ PROVIDE_HIDDEN (__exidx_end = .);
+
+ . = ALIGN(4);
+ _etext = .;
+
+ .relocate : AT (_etext)
+ {
+ . = ALIGN(4);
+ _srelocate = .;
+ *(.ramfunc .ramfunc.*);
+ *(.data .data.*);
+ . = ALIGN(4);
+ _erelocate = .;
+ } > ram
+
+ .bkupram (NOLOAD):
+ {
+ . = ALIGN(8);
+ _sbkupram = .;
+ *(.bkupram .bkupram.*);
+ . = ALIGN(8);
+ _ebkupram = .;
+ } > bkupram
+
+ .qspi (NOLOAD):
+ {
+ . = ALIGN(8);
+ _sqspi = .;
+ *(.qspi .qspi.*);
+ . = ALIGN(8);
+ _eqspi = .;
+ } > qspi
+
+ /* .bss section which is used for uninitialized data */
+ .bss (NOLOAD) :
+ {
+ . = ALIGN(4);
+ _sbss = . ;
+ _szero = .;
+ *(.bss .bss.*)
+ *(COMMON)
+ . = ALIGN(4);
+ _ebss = . ;
+ _ezero = .;
+ } > ram
+
+ /* stack section */
+ .stack (NOLOAD):
+ {
+ . = ALIGN(8);
+ _sstack = .;
+ . = . + STACK_SIZE;
+ . = ALIGN(8);
+ _estack = .;
+ } > ram
+
+ . = ALIGN(4);
+ _end = . ;
+}
diff --git a/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/startup_samd51.c b/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/startup_samd51.c
new file mode 100644
index 0000000000000000000000000000000000000000..a62d02f1ca57aa2d3ef1ba50af1751639e5e316c
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/startup_samd51.c
@@ -0,0 +1,548 @@
+/**
+ * \file
+ *
+ * \brief gcc starttup file for SAMD51
+ *
+ * Copyright (c) 2017 Microchip Technology Inc.
+ *
+ * \asf_license_start
+ *
+ * \page License
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the Licence at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * \asf_license_stop
+ *
+ */
+
+#include "samd51.h"
+
+/* Initialize segments */
+extern uint32_t _sfixed;
+extern uint32_t _efixed;
+extern uint32_t _etext;
+extern uint32_t _srelocate;
+extern uint32_t _erelocate;
+extern uint32_t _szero;
+extern uint32_t _ezero;
+extern uint32_t _sstack;
+extern uint32_t _estack;
+
+/** \cond DOXYGEN_SHOULD_SKIP_THIS */
+int main(void);
+/** \endcond */
+
+void __libc_init_array(void);
+
+/* Default empty handler */
+void Dummy_Handler(void);
+
+/* Cortex-M4 core handlers */
+void NMI_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void HardFault_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void MemManage_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void BusFault_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void UsageFault_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void SVC_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void DebugMon_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void PendSV_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void SysTick_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+
+/* Peripherals handlers */
+void PM_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void MCLK_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void OSCCTRL_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* OSCCTRL_XOSCFAIL_0, OSCCTRL_XOSCRDY_0 */
+void OSCCTRL_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* OSCCTRL_XOSCFAIL_1, OSCCTRL_XOSCRDY_1 */
+void OSCCTRL_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* OSCCTRL_DFLLLOCKC, OSCCTRL_DFLLLOCKF, OSCCTRL_DFLLOOB, OSCCTRL_DFLLRCS, OSCCTRL_DFLLRDY */
+void OSCCTRL_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* OSCCTRL_DPLLLCKF_0, OSCCTRL_DPLLLCKR_0, OSCCTRL_DPLLLDRTO_0, OSCCTRL_DPLLLTO_0 */
+void OSCCTRL_4_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* OSCCTRL_DPLLLCKF_1, OSCCTRL_DPLLLCKR_1, OSCCTRL_DPLLLDRTO_1, OSCCTRL_DPLLLTO_1 */
+void OSC32KCTRL_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void SUPC_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SUPC_B12SRDY, SUPC_B33SRDY, SUPC_BOD12RDY, SUPC_BOD33RDY, SUPC_VCORERDY, SUPC_VREGRDY */
+void SUPC_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SUPC_BOD12DET, SUPC_BOD33DET */
+void WDT_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void RTC_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void EIC_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_0 */
+void EIC_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_1 */
+void EIC_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_2 */
+void EIC_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_3 */
+void EIC_4_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_4 */
+void EIC_5_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_5 */
+void EIC_6_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_6 */
+void EIC_7_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_7 */
+void EIC_8_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_8 */
+void EIC_9_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_9 */
+void EIC_10_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_10 */
+void EIC_11_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_11 */
+void EIC_12_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_12 */
+void EIC_13_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_13 */
+void EIC_14_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_14 */
+void EIC_15_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EIC_EXTINT_15 */
+void FREQM_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void NVMCTRL_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* NVMCTRL_0, NVMCTRL_1, NVMCTRL_2, NVMCTRL_3, NVMCTRL_4, NVMCTRL_5, NVMCTRL_6, NVMCTRL_7 */
+void NVMCTRL_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* NVMCTRL_10, NVMCTRL_8, NVMCTRL_9 */
+void DMAC_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DMAC_SUSP_0, DMAC_TCMPL_0, DMAC_TERR_0 */
+void DMAC_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DMAC_SUSP_1, DMAC_TCMPL_1, DMAC_TERR_1 */
+void DMAC_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DMAC_SUSP_2, DMAC_TCMPL_2, DMAC_TERR_2 */
+void DMAC_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DMAC_SUSP_3, DMAC_TCMPL_3, DMAC_TERR_3 */
+void DMAC_4_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DMAC_SUSP_10, DMAC_SUSP_11, DMAC_SUSP_12, DMAC_SUSP_13, DMAC_SUSP_14, DMAC_SUSP_15, DMAC_SUSP_16, DMAC_SUSP_17, DMAC_SUSP_18, DMAC_SUSP_19, DMAC_SUSP_20, DMAC_SUSP_21, DMAC_SUSP_22, DMAC_SUSP_23, DMAC_SUSP_24, DMAC_SUSP_25, DMAC_SUSP_26, DMAC_SUSP_27, DMAC_SUSP_28, DMAC_SUSP_29, DMAC_SUSP_30, DMAC_SUSP_31, DMAC_SUSP_4, DMAC_SUSP_5, DMAC_SUSP_6, DMAC_SUSP_7, DMAC_SUSP_8, DMAC_SUSP_9, DMAC_TCMPL_10, DMAC_TCMPL_11, DMAC_TCMPL_12, DMAC_TCMPL_13, DMAC_TCMPL_14, DMAC_TCMPL_15, DMAC_TCMPL_16, DMAC_TCMPL_17, DMAC_TCMPL_18, DMAC_TCMPL_19, DMAC_TCMPL_20, DMAC_TCMPL_21, DMAC_TCMPL_22, DMAC_TCMPL_23, DMAC_TCMPL_24, DMAC_TCMPL_25, DMAC_TCMPL_26, DMAC_TCMPL_27, DMAC_TCMPL_28, DMAC_TCMPL_29, DMAC_TCMPL_30, DMAC_TCMPL_31, DMAC_TCMPL_4, DMAC_TCMPL_5, DMAC_TCMPL_6, DMAC_TCMPL_7, DMAC_TCMPL_8, DMAC_TCMPL_9, DMAC_TERR_10, DMAC_TERR_11, DMAC_TERR_12, DMAC_TERR_13, DMAC_TERR_14, DMAC_TERR_15, DMAC_TERR_16, DMAC_TERR_17, DMAC_TERR_18, DMAC_TERR_19, DMAC_TERR_20, DMAC_TERR_21, DMAC_TERR_22, DMAC_TERR_23, DMAC_TERR_24, DMAC_TERR_25, DMAC_TERR_26, DMAC_TERR_27, DMAC_TERR_28, DMAC_TERR_29, DMAC_TERR_30, DMAC_TERR_31, DMAC_TERR_4, DMAC_TERR_5, DMAC_TERR_6, DMAC_TERR_7, DMAC_TERR_8, DMAC_TERR_9 */
+void EVSYS_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EVSYS_EVD_0, EVSYS_OVR_0 */
+void EVSYS_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EVSYS_EVD_1, EVSYS_OVR_1 */
+void EVSYS_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EVSYS_EVD_2, EVSYS_OVR_2 */
+void EVSYS_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EVSYS_EVD_3, EVSYS_OVR_3 */
+void EVSYS_4_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* EVSYS_EVD_10, EVSYS_EVD_11, EVSYS_EVD_4, EVSYS_EVD_5, EVSYS_EVD_6, EVSYS_EVD_7, EVSYS_EVD_8, EVSYS_EVD_9, EVSYS_OVR_10, EVSYS_OVR_11, EVSYS_OVR_4, EVSYS_OVR_5, EVSYS_OVR_6, EVSYS_OVR_7, EVSYS_OVR_8, EVSYS_OVR_9 */
+void PAC_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void TAL_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TAL_BRK */
+void TAL_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TAL_IPS_0, TAL_IPS_1 */
+void RAMECC_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void SERCOM0_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM0_0 */
+void SERCOM0_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM0_1 */
+void SERCOM0_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM0_2 */
+void SERCOM0_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM0_3, SERCOM0_4, SERCOM0_5, SERCOM0_6 */
+void SERCOM1_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM1_0 */
+void SERCOM1_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM1_1 */
+void SERCOM1_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM1_2 */
+void SERCOM1_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM1_3, SERCOM1_4, SERCOM1_5, SERCOM1_6 */
+void SERCOM2_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM2_0 */
+void SERCOM2_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM2_1 */
+void SERCOM2_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM2_2 */
+void SERCOM2_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM2_3, SERCOM2_4, SERCOM2_5, SERCOM2_6 */
+void SERCOM3_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM3_0 */
+void SERCOM3_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM3_1 */
+void SERCOM3_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM3_2 */
+void SERCOM3_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM3_3, SERCOM3_4, SERCOM3_5, SERCOM3_6 */
+#ifdef ID_SERCOM4
+void SERCOM4_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM4_0 */
+void SERCOM4_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM4_1 */
+void SERCOM4_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM4_2 */
+void SERCOM4_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM4_3, SERCOM4_4, SERCOM4_5, SERCOM4_6 */
+#endif
+#ifdef ID_SERCOM5
+void SERCOM5_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM5_0 */
+void SERCOM5_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM5_1 */
+void SERCOM5_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM5_2 */
+void SERCOM5_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM5_3, SERCOM5_4, SERCOM5_5, SERCOM5_6 */
+#endif
+#ifdef ID_SERCOM6
+void SERCOM6_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM6_0 */
+void SERCOM6_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM6_1 */
+void SERCOM6_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM6_2 */
+void SERCOM6_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM6_3, SERCOM6_4, SERCOM6_5, SERCOM6_6 */
+#endif
+#ifdef ID_SERCOM7
+void SERCOM7_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM7_0 */
+void SERCOM7_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM7_1 */
+void SERCOM7_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM7_2 */
+void SERCOM7_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* SERCOM7_3, SERCOM7_4, SERCOM7_5, SERCOM7_6 */
+#endif
+#ifdef ID_CAN0
+void CAN0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+#ifdef ID_CAN1
+void CAN1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+#ifdef ID_USB
+void USB_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* USB_EORSM_DNRSM, USB_EORST_RST, USB_LPMSUSP_DDISC, USB_LPM_DCONN, USB_MSOF, USB_RAMACER, USB_RXSTP_TXSTP_0, USB_RXSTP_TXSTP_1, USB_RXSTP_TXSTP_2, USB_RXSTP_TXSTP_3, USB_RXSTP_TXSTP_4, USB_RXSTP_TXSTP_5, USB_RXSTP_TXSTP_6, USB_RXSTP_TXSTP_7, USB_STALL0_STALL_0, USB_STALL0_STALL_1, USB_STALL0_STALL_2, USB_STALL0_STALL_3, USB_STALL0_STALL_4, USB_STALL0_STALL_5, USB_STALL0_STALL_6, USB_STALL0_STALL_7, USB_STALL1_0, USB_STALL1_1, USB_STALL1_2, USB_STALL1_3, USB_STALL1_4, USB_STALL1_5, USB_STALL1_6, USB_STALL1_7, USB_SUSPEND, USB_TRFAIL0_TRFAIL_0, USB_TRFAIL0_TRFAIL_1, USB_TRFAIL0_TRFAIL_2, USB_TRFAIL0_TRFAIL_3, USB_TRFAIL0_TRFAIL_4, USB_TRFAIL0_TRFAIL_5, USB_TRFAIL0_TRFAIL_6, USB_TRFAIL0_TRFAIL_7, USB_TRFAIL1_PERR_0, USB_TRFAIL1_PERR_1, USB_TRFAIL1_PERR_2, USB_TRFAIL1_PERR_3, USB_TRFAIL1_PERR_4, USB_TRFAIL1_PERR_5, USB_TRFAIL1_PERR_6, USB_TRFAIL1_PERR_7, USB_UPRSM, USB_WAKEUP */
+void USB_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* USB_SOF_HSOF */
+void USB_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* USB_TRCPT0_0, USB_TRCPT0_1, USB_TRCPT0_2, USB_TRCPT0_3, USB_TRCPT0_4, USB_TRCPT0_5, USB_TRCPT0_6, USB_TRCPT0_7 */
+void USB_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* USB_TRCPT1_0, USB_TRCPT1_1, USB_TRCPT1_2, USB_TRCPT1_3, USB_TRCPT1_4, USB_TRCPT1_5, USB_TRCPT1_6, USB_TRCPT1_7 */
+#endif
+#ifdef ID_GMAC
+void GMAC_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+void TCC0_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC0_CNT_A, TCC0_DFS_A, TCC0_ERR_A, TCC0_FAULT0_A, TCC0_FAULT1_A, TCC0_FAULTA_A, TCC0_FAULTB_A, TCC0_OVF, TCC0_TRG, TCC0_UFS_A */
+void TCC0_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC0_MC_0 */
+void TCC0_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC0_MC_1 */
+void TCC0_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC0_MC_2 */
+void TCC0_4_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC0_MC_3 */
+void TCC0_5_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC0_MC_4 */
+void TCC0_6_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC0_MC_5 */
+void TCC1_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC1_CNT_A, TCC1_DFS_A, TCC1_ERR_A, TCC1_FAULT0_A, TCC1_FAULT1_A, TCC1_FAULTA_A, TCC1_FAULTB_A, TCC1_OVF, TCC1_TRG, TCC1_UFS_A */
+void TCC1_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC1_MC_0 */
+void TCC1_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC1_MC_1 */
+void TCC1_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC1_MC_2 */
+void TCC1_4_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC1_MC_3 */
+void TCC2_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC2_CNT_A, TCC2_DFS_A, TCC2_ERR_A, TCC2_FAULT0_A, TCC2_FAULT1_A, TCC2_FAULTA_A, TCC2_FAULTB_A, TCC2_OVF, TCC2_TRG, TCC2_UFS_A */
+void TCC2_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC2_MC_0 */
+void TCC2_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC2_MC_1 */
+void TCC2_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC2_MC_2 */
+#ifdef ID_TCC3
+void TCC3_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC3_CNT_A, TCC3_DFS_A, TCC3_ERR_A, TCC3_FAULT0_A, TCC3_FAULT1_A, TCC3_FAULTA_A, TCC3_FAULTB_A, TCC3_OVF, TCC3_TRG, TCC3_UFS_A */
+void TCC3_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC3_MC_0 */
+void TCC3_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC3_MC_1 */
+#endif
+#ifdef ID_TCC4
+void TCC4_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC4_CNT_A, TCC4_DFS_A, TCC4_ERR_A, TCC4_FAULT0_A, TCC4_FAULT1_A, TCC4_FAULTA_A, TCC4_FAULTB_A, TCC4_OVF, TCC4_TRG, TCC4_UFS_A */
+void TCC4_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC4_MC_0 */
+void TCC4_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* TCC4_MC_1 */
+#endif
+void TC0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void TC1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void TC2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void TC3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#ifdef ID_TC4
+void TC4_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+#ifdef ID_TC5
+void TC5_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+#ifdef ID_TC6
+void TC6_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+#ifdef ID_TC7
+void TC7_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+void PDEC_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* PDEC_DIR_A, PDEC_ERR_A, PDEC_OVF, PDEC_VLC_A */
+void PDEC_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* PDEC_MC_0 */
+void PDEC_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* PDEC_MC_1 */
+void ADC0_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* ADC0_OVERRUN, ADC0_WINMON */
+void ADC0_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* ADC0_RESRDY */
+void ADC1_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* ADC1_OVERRUN, ADC1_WINMON */
+void ADC1_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* ADC1_RESRDY */
+void AC_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void DAC_0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DAC_OVERRUN_A_0, DAC_OVERRUN_A_1, DAC_UNDERRUN_A_0, DAC_UNDERRUN_A_1 */
+void DAC_1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DAC_EMPTY_0 */
+void DAC_2_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DAC_EMPTY_1 */
+void DAC_3_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DAC_RESRDY_0 */
+void DAC_4_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler"))); /* DAC_RESRDY_1 */
+#ifdef ID_I2S
+void I2S_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+void PCC_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void AES_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+void TRNG_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#ifdef ID_ICM
+void ICM_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+#ifdef ID_PUKCC
+void PUKCC_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+void QSPI_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#ifdef ID_SDHC0
+void SDHC0_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+#ifdef ID_SDHC1
+void SDHC1_Handler ( void ) __attribute__ ((weak, alias("Dummy_Handler")));
+#endif
+
+/* Exception Table */
+__attribute__ ((section(".vectors")))
+const DeviceVectors exception_table = {
+
+ /* Configure Initial Stack Pointer, using linker-generated symbols */
+ .pvStack = (void*) (&_estack),
+
+ .pfnReset_Handler = (void*) Reset_Handler,
+ .pfnNMI_Handler = (void*) NMI_Handler,
+ .pfnHardFault_Handler = (void*) HardFault_Handler,
+ .pfnMemManage_Handler = (void*) MemManage_Handler,
+ .pfnBusFault_Handler = (void*) BusFault_Handler,
+ .pfnUsageFault_Handler = (void*) UsageFault_Handler,
+ .pvReservedM9 = (void*) (0UL), /* Reserved */
+ .pvReservedM8 = (void*) (0UL), /* Reserved */
+ .pvReservedM7 = (void*) (0UL), /* Reserved */
+ .pvReservedM6 = (void*) (0UL), /* Reserved */
+ .pfnSVC_Handler = (void*) SVC_Handler,
+ .pfnDebugMon_Handler = (void*) DebugMon_Handler,
+ .pvReservedM3 = (void*) (0UL), /* Reserved */
+ .pfnPendSV_Handler = (void*) PendSV_Handler,
+ .pfnSysTick_Handler = (void*) SysTick_Handler,
+
+ /* Configurable interrupts */
+ .pfnPM_Handler = (void*) PM_Handler, /* 0 Power Manager */
+ .pfnMCLK_Handler = (void*) MCLK_Handler, /* 1 Main Clock */
+ .pfnOSCCTRL_0_Handler = (void*) OSCCTRL_0_Handler, /* 2 OSCCTRL_XOSCFAIL_0, OSCCTRL_XOSCRDY_0 */
+ .pfnOSCCTRL_1_Handler = (void*) OSCCTRL_1_Handler, /* 3 OSCCTRL_XOSCFAIL_1, OSCCTRL_XOSCRDY_1 */
+ .pfnOSCCTRL_2_Handler = (void*) OSCCTRL_2_Handler, /* 4 OSCCTRL_DFLLLOCKC, OSCCTRL_DFLLLOCKF, OSCCTRL_DFLLOOB, OSCCTRL_DFLLRCS, OSCCTRL_DFLLRDY */
+ .pfnOSCCTRL_3_Handler = (void*) OSCCTRL_3_Handler, /* 5 OSCCTRL_DPLLLCKF_0, OSCCTRL_DPLLLCKR_0, OSCCTRL_DPLLLDRTO_0, OSCCTRL_DPLLLTO_0 */
+ .pfnOSCCTRL_4_Handler = (void*) OSCCTRL_4_Handler, /* 6 OSCCTRL_DPLLLCKF_1, OSCCTRL_DPLLLCKR_1, OSCCTRL_DPLLLDRTO_1, OSCCTRL_DPLLLTO_1 */
+ .pfnOSC32KCTRL_Handler = (void*) OSC32KCTRL_Handler, /* 7 32kHz Oscillators Control */
+ .pfnSUPC_0_Handler = (void*) SUPC_0_Handler, /* 8 SUPC_B12SRDY, SUPC_B33SRDY, SUPC_BOD12RDY, SUPC_BOD33RDY, SUPC_VCORERDY, SUPC_VREGRDY */
+ .pfnSUPC_1_Handler = (void*) SUPC_1_Handler, /* 9 SUPC_BOD12DET, SUPC_BOD33DET */
+ .pfnWDT_Handler = (void*) WDT_Handler, /* 10 Watchdog Timer */
+ .pfnRTC_Handler = (void*) RTC_Handler, /* 11 Real-Time Counter */
+ .pfnEIC_0_Handler = (void*) EIC_0_Handler, /* 12 EIC_EXTINT_0 */
+ .pfnEIC_1_Handler = (void*) EIC_1_Handler, /* 13 EIC_EXTINT_1 */
+ .pfnEIC_2_Handler = (void*) EIC_2_Handler, /* 14 EIC_EXTINT_2 */
+ .pfnEIC_3_Handler = (void*) EIC_3_Handler, /* 15 EIC_EXTINT_3 */
+ .pfnEIC_4_Handler = (void*) EIC_4_Handler, /* 16 EIC_EXTINT_4 */
+ .pfnEIC_5_Handler = (void*) EIC_5_Handler, /* 17 EIC_EXTINT_5 */
+ .pfnEIC_6_Handler = (void*) EIC_6_Handler, /* 18 EIC_EXTINT_6 */
+ .pfnEIC_7_Handler = (void*) EIC_7_Handler, /* 19 EIC_EXTINT_7 */
+ .pfnEIC_8_Handler = (void*) EIC_8_Handler, /* 20 EIC_EXTINT_8 */
+ .pfnEIC_9_Handler = (void*) EIC_9_Handler, /* 21 EIC_EXTINT_9 */
+ .pfnEIC_10_Handler = (void*) EIC_10_Handler, /* 22 EIC_EXTINT_10 */
+ .pfnEIC_11_Handler = (void*) EIC_11_Handler, /* 23 EIC_EXTINT_11 */
+ .pfnEIC_12_Handler = (void*) EIC_12_Handler, /* 24 EIC_EXTINT_12 */
+ .pfnEIC_13_Handler = (void*) EIC_13_Handler, /* 25 EIC_EXTINT_13 */
+ .pfnEIC_14_Handler = (void*) EIC_14_Handler, /* 26 EIC_EXTINT_14 */
+ .pfnEIC_15_Handler = (void*) EIC_15_Handler, /* 27 EIC_EXTINT_15 */
+ .pfnFREQM_Handler = (void*) FREQM_Handler, /* 28 Frequency Meter */
+ .pfnNVMCTRL_0_Handler = (void*) NVMCTRL_0_Handler, /* 29 NVMCTRL_0, NVMCTRL_1, NVMCTRL_2, NVMCTRL_3, NVMCTRL_4, NVMCTRL_5, NVMCTRL_6, NVMCTRL_7 */
+ .pfnNVMCTRL_1_Handler = (void*) NVMCTRL_1_Handler, /* 30 NVMCTRL_10, NVMCTRL_8, NVMCTRL_9 */
+ .pfnDMAC_0_Handler = (void*) DMAC_0_Handler, /* 31 DMAC_SUSP_0, DMAC_TCMPL_0, DMAC_TERR_0 */
+ .pfnDMAC_1_Handler = (void*) DMAC_1_Handler, /* 32 DMAC_SUSP_1, DMAC_TCMPL_1, DMAC_TERR_1 */
+ .pfnDMAC_2_Handler = (void*) DMAC_2_Handler, /* 33 DMAC_SUSP_2, DMAC_TCMPL_2, DMAC_TERR_2 */
+ .pfnDMAC_3_Handler = (void*) DMAC_3_Handler, /* 34 DMAC_SUSP_3, DMAC_TCMPL_3, DMAC_TERR_3 */
+ .pfnDMAC_4_Handler = (void*) DMAC_4_Handler, /* 35 DMAC_SUSP_10, DMAC_SUSP_11, DMAC_SUSP_12, DMAC_SUSP_13, DMAC_SUSP_14, DMAC_SUSP_15, DMAC_SUSP_16, DMAC_SUSP_17, DMAC_SUSP_18, DMAC_SUSP_19, DMAC_SUSP_20, DMAC_SUSP_21, DMAC_SUSP_22, DMAC_SUSP_23, DMAC_SUSP_24, DMAC_SUSP_25, DMAC_SUSP_26, DMAC_SUSP_27, DMAC_SUSP_28, DMAC_SUSP_29, DMAC_SUSP_30, DMAC_SUSP_31, DMAC_SUSP_4, DMAC_SUSP_5, DMAC_SUSP_6, DMAC_SUSP_7, DMAC_SUSP_8, DMAC_SUSP_9, DMAC_TCMPL_10, DMAC_TCMPL_11, DMAC_TCMPL_12, DMAC_TCMPL_13, DMAC_TCMPL_14, DMAC_TCMPL_15, DMAC_TCMPL_16, DMAC_TCMPL_17, DMAC_TCMPL_18, DMAC_TCMPL_19, DMAC_TCMPL_20, DMAC_TCMPL_21, DMAC_TCMPL_22, DMAC_TCMPL_23, DMAC_TCMPL_24, DMAC_TCMPL_25, DMAC_TCMPL_26, DMAC_TCMPL_27, DMAC_TCMPL_28, DMAC_TCMPL_29, DMAC_TCMPL_30, DMAC_TCMPL_31, DMAC_TCMPL_4, DMAC_TCMPL_5, DMAC_TCMPL_6, DMAC_TCMPL_7, DMAC_TCMPL_8, DMAC_TCMPL_9, DMAC_TERR_10, DMAC_TERR_11, DMAC_TERR_12, DMAC_TERR_13, DMAC_TERR_14, DMAC_TERR_15, DMAC_TERR_16, DMAC_TERR_17, DMAC_TERR_18, DMAC_TERR_19, DMAC_TERR_20, DMAC_TERR_21, DMAC_TERR_22, DMAC_TERR_23, DMAC_TERR_24, DMAC_TERR_25, DMAC_TERR_26, DMAC_TERR_27, DMAC_TERR_28, DMAC_TERR_29, DMAC_TERR_30, DMAC_TERR_31, DMAC_TERR_4, DMAC_TERR_5, DMAC_TERR_6, DMAC_TERR_7, DMAC_TERR_8, DMAC_TERR_9 */
+ .pfnEVSYS_0_Handler = (void*) EVSYS_0_Handler, /* 36 EVSYS_EVD_0, EVSYS_OVR_0 */
+ .pfnEVSYS_1_Handler = (void*) EVSYS_1_Handler, /* 37 EVSYS_EVD_1, EVSYS_OVR_1 */
+ .pfnEVSYS_2_Handler = (void*) EVSYS_2_Handler, /* 38 EVSYS_EVD_2, EVSYS_OVR_2 */
+ .pfnEVSYS_3_Handler = (void*) EVSYS_3_Handler, /* 39 EVSYS_EVD_3, EVSYS_OVR_3 */
+ .pfnEVSYS_4_Handler = (void*) EVSYS_4_Handler, /* 40 EVSYS_EVD_10, EVSYS_EVD_11, EVSYS_EVD_4, EVSYS_EVD_5, EVSYS_EVD_6, EVSYS_EVD_7, EVSYS_EVD_8, EVSYS_EVD_9, EVSYS_OVR_10, EVSYS_OVR_11, EVSYS_OVR_4, EVSYS_OVR_5, EVSYS_OVR_6, EVSYS_OVR_7, EVSYS_OVR_8, EVSYS_OVR_9 */
+ .pfnPAC_Handler = (void*) PAC_Handler, /* 41 Peripheral Access Controller */
+ .pfnTAL_0_Handler = (void*) TAL_0_Handler, /* 42 TAL_BRK */
+ .pfnTAL_1_Handler = (void*) TAL_1_Handler, /* 43 TAL_IPS_0, TAL_IPS_1 */
+ .pvReserved44 = (void*) (0UL), /* 44 Reserved */
+ .pfnRAMECC_Handler = (void*) RAMECC_Handler, /* 45 RAM ECC */
+ .pfnSERCOM0_0_Handler = (void*) SERCOM0_0_Handler, /* 46 SERCOM0_0 */
+ .pfnSERCOM0_1_Handler = (void*) SERCOM0_1_Handler, /* 47 SERCOM0_1 */
+ .pfnSERCOM0_2_Handler = (void*) SERCOM0_2_Handler, /* 48 SERCOM0_2 */
+ .pfnSERCOM0_3_Handler = (void*) SERCOM0_3_Handler, /* 49 SERCOM0_3, SERCOM0_4, SERCOM0_5, SERCOM0_6 */
+ .pfnSERCOM1_0_Handler = (void*) SERCOM1_0_Handler, /* 50 SERCOM1_0 */
+ .pfnSERCOM1_1_Handler = (void*) SERCOM1_1_Handler, /* 51 SERCOM1_1 */
+ .pfnSERCOM1_2_Handler = (void*) SERCOM1_2_Handler, /* 52 SERCOM1_2 */
+ .pfnSERCOM1_3_Handler = (void*) SERCOM1_3_Handler, /* 53 SERCOM1_3, SERCOM1_4, SERCOM1_5, SERCOM1_6 */
+ .pfnSERCOM2_0_Handler = (void*) SERCOM2_0_Handler, /* 54 SERCOM2_0 */
+ .pfnSERCOM2_1_Handler = (void*) SERCOM2_1_Handler, /* 55 SERCOM2_1 */
+ .pfnSERCOM2_2_Handler = (void*) SERCOM2_2_Handler, /* 56 SERCOM2_2 */
+ .pfnSERCOM2_3_Handler = (void*) SERCOM2_3_Handler, /* 57 SERCOM2_3, SERCOM2_4, SERCOM2_5, SERCOM2_6 */
+ .pfnSERCOM3_0_Handler = (void*) SERCOM3_0_Handler, /* 58 SERCOM3_0 */
+ .pfnSERCOM3_1_Handler = (void*) SERCOM3_1_Handler, /* 59 SERCOM3_1 */
+ .pfnSERCOM3_2_Handler = (void*) SERCOM3_2_Handler, /* 60 SERCOM3_2 */
+ .pfnSERCOM3_3_Handler = (void*) SERCOM3_3_Handler, /* 61 SERCOM3_3, SERCOM3_4, SERCOM3_5, SERCOM3_6 */
+#ifdef ID_SERCOM4
+ .pfnSERCOM4_0_Handler = (void*) SERCOM4_0_Handler, /* 62 SERCOM4_0 */
+ .pfnSERCOM4_1_Handler = (void*) SERCOM4_1_Handler, /* 63 SERCOM4_1 */
+ .pfnSERCOM4_2_Handler = (void*) SERCOM4_2_Handler, /* 64 SERCOM4_2 */
+ .pfnSERCOM4_3_Handler = (void*) SERCOM4_3_Handler, /* 65 SERCOM4_3, SERCOM4_4, SERCOM4_5, SERCOM4_6 */
+#else
+ .pvReserved62 = (void*) (0UL), /* 62 Reserved */
+ .pvReserved63 = (void*) (0UL), /* 63 Reserved */
+ .pvReserved64 = (void*) (0UL), /* 64 Reserved */
+ .pvReserved65 = (void*) (0UL), /* 65 Reserved */
+#endif
+#ifdef ID_SERCOM5
+ .pfnSERCOM5_0_Handler = (void*) SERCOM5_0_Handler, /* 66 SERCOM5_0 */
+ .pfnSERCOM5_1_Handler = (void*) SERCOM5_1_Handler, /* 67 SERCOM5_1 */
+ .pfnSERCOM5_2_Handler = (void*) SERCOM5_2_Handler, /* 68 SERCOM5_2 */
+ .pfnSERCOM5_3_Handler = (void*) SERCOM5_3_Handler, /* 69 SERCOM5_3, SERCOM5_4, SERCOM5_5, SERCOM5_6 */
+#else
+ .pvReserved66 = (void*) (0UL), /* 66 Reserved */
+ .pvReserved67 = (void*) (0UL), /* 67 Reserved */
+ .pvReserved68 = (void*) (0UL), /* 68 Reserved */
+ .pvReserved69 = (void*) (0UL), /* 69 Reserved */
+#endif
+#ifdef ID_SERCOM6
+ .pfnSERCOM6_0_Handler = (void*) SERCOM6_0_Handler, /* 70 SERCOM6_0 */
+ .pfnSERCOM6_1_Handler = (void*) SERCOM6_1_Handler, /* 71 SERCOM6_1 */
+ .pfnSERCOM6_2_Handler = (void*) SERCOM6_2_Handler, /* 72 SERCOM6_2 */
+ .pfnSERCOM6_3_Handler = (void*) SERCOM6_3_Handler, /* 73 SERCOM6_3, SERCOM6_4, SERCOM6_5, SERCOM6_6 */
+#else
+ .pvReserved70 = (void*) (0UL), /* 70 Reserved */
+ .pvReserved71 = (void*) (0UL), /* 71 Reserved */
+ .pvReserved72 = (void*) (0UL), /* 72 Reserved */
+ .pvReserved73 = (void*) (0UL), /* 73 Reserved */
+#endif
+#ifdef ID_SERCOM7
+ .pfnSERCOM7_0_Handler = (void*) SERCOM7_0_Handler, /* 74 SERCOM7_0 */
+ .pfnSERCOM7_1_Handler = (void*) SERCOM7_1_Handler, /* 75 SERCOM7_1 */
+ .pfnSERCOM7_2_Handler = (void*) SERCOM7_2_Handler, /* 76 SERCOM7_2 */
+ .pfnSERCOM7_3_Handler = (void*) SERCOM7_3_Handler, /* 77 SERCOM7_3, SERCOM7_4, SERCOM7_5, SERCOM7_6 */
+#else
+ .pvReserved74 = (void*) (0UL), /* 74 Reserved */
+ .pvReserved75 = (void*) (0UL), /* 75 Reserved */
+ .pvReserved76 = (void*) (0UL), /* 76 Reserved */
+ .pvReserved77 = (void*) (0UL), /* 77 Reserved */
+#endif
+#ifdef ID_CAN0
+ .pfnCAN0_Handler = (void*) CAN0_Handler, /* 78 Control Area Network 0 */
+#else
+ .pvReserved78 = (void*) (0UL), /* 78 Reserved */
+#endif
+#ifdef ID_CAN1
+ .pfnCAN1_Handler = (void*) CAN1_Handler, /* 79 Control Area Network 1 */
+#else
+ .pvReserved79 = (void*) (0UL), /* 79 Reserved */
+#endif
+#ifdef ID_USB
+ .pfnUSB_0_Handler = (void*) USB_0_Handler, /* 80 USB_EORSM_DNRSM, USB_EORST_RST, USB_LPMSUSP_DDISC, USB_LPM_DCONN, USB_MSOF, USB_RAMACER, USB_RXSTP_TXSTP_0, USB_RXSTP_TXSTP_1, USB_RXSTP_TXSTP_2, USB_RXSTP_TXSTP_3, USB_RXSTP_TXSTP_4, USB_RXSTP_TXSTP_5, USB_RXSTP_TXSTP_6, USB_RXSTP_TXSTP_7, USB_STALL0_STALL_0, USB_STALL0_STALL_1, USB_STALL0_STALL_2, USB_STALL0_STALL_3, USB_STALL0_STALL_4, USB_STALL0_STALL_5, USB_STALL0_STALL_6, USB_STALL0_STALL_7, USB_STALL1_0, USB_STALL1_1, USB_STALL1_2, USB_STALL1_3, USB_STALL1_4, USB_STALL1_5, USB_STALL1_6, USB_STALL1_7, USB_SUSPEND, USB_TRFAIL0_TRFAIL_0, USB_TRFAIL0_TRFAIL_1, USB_TRFAIL0_TRFAIL_2, USB_TRFAIL0_TRFAIL_3, USB_TRFAIL0_TRFAIL_4, USB_TRFAIL0_TRFAIL_5, USB_TRFAIL0_TRFAIL_6, USB_TRFAIL0_TRFAIL_7, USB_TRFAIL1_PERR_0, USB_TRFAIL1_PERR_1, USB_TRFAIL1_PERR_2, USB_TRFAIL1_PERR_3, USB_TRFAIL1_PERR_4, USB_TRFAIL1_PERR_5, USB_TRFAIL1_PERR_6, USB_TRFAIL1_PERR_7, USB_UPRSM, USB_WAKEUP */
+ .pfnUSB_1_Handler = (void*) USB_1_Handler, /* 81 USB_SOF_HSOF */
+ .pfnUSB_2_Handler = (void*) USB_2_Handler, /* 82 USB_TRCPT0_0, USB_TRCPT0_1, USB_TRCPT0_2, USB_TRCPT0_3, USB_TRCPT0_4, USB_TRCPT0_5, USB_TRCPT0_6, USB_TRCPT0_7 */
+ .pfnUSB_3_Handler = (void*) USB_3_Handler, /* 83 USB_TRCPT1_0, USB_TRCPT1_1, USB_TRCPT1_2, USB_TRCPT1_3, USB_TRCPT1_4, USB_TRCPT1_5, USB_TRCPT1_6, USB_TRCPT1_7 */
+#else
+ .pvReserved80 = (void*) (0UL), /* 80 Reserved */
+ .pvReserved81 = (void*) (0UL), /* 81 Reserved */
+ .pvReserved82 = (void*) (0UL), /* 82 Reserved */
+ .pvReserved83 = (void*) (0UL), /* 83 Reserved */
+#endif
+#ifdef ID_GMAC
+ .pfnGMAC_Handler = (void*) GMAC_Handler, /* 84 Ethernet MAC */
+#else
+ .pvReserved84 = (void*) (0UL), /* 84 Reserved */
+#endif
+ .pfnTCC0_0_Handler = (void*) TCC0_0_Handler, /* 85 TCC0_CNT_A, TCC0_DFS_A, TCC0_ERR_A, TCC0_FAULT0_A, TCC0_FAULT1_A, TCC0_FAULTA_A, TCC0_FAULTB_A, TCC0_OVF, TCC0_TRG, TCC0_UFS_A */
+ .pfnTCC0_1_Handler = (void*) TCC0_1_Handler, /* 86 TCC0_MC_0 */
+ .pfnTCC0_2_Handler = (void*) TCC0_2_Handler, /* 87 TCC0_MC_1 */
+ .pfnTCC0_3_Handler = (void*) TCC0_3_Handler, /* 88 TCC0_MC_2 */
+ .pfnTCC0_4_Handler = (void*) TCC0_4_Handler, /* 89 TCC0_MC_3 */
+ .pfnTCC0_5_Handler = (void*) TCC0_5_Handler, /* 90 TCC0_MC_4 */
+ .pfnTCC0_6_Handler = (void*) TCC0_6_Handler, /* 91 TCC0_MC_5 */
+ .pfnTCC1_0_Handler = (void*) TCC1_0_Handler, /* 92 TCC1_CNT_A, TCC1_DFS_A, TCC1_ERR_A, TCC1_FAULT0_A, TCC1_FAULT1_A, TCC1_FAULTA_A, TCC1_FAULTB_A, TCC1_OVF, TCC1_TRG, TCC1_UFS_A */
+ .pfnTCC1_1_Handler = (void*) TCC1_1_Handler, /* 93 TCC1_MC_0 */
+ .pfnTCC1_2_Handler = (void*) TCC1_2_Handler, /* 94 TCC1_MC_1 */
+ .pfnTCC1_3_Handler = (void*) TCC1_3_Handler, /* 95 TCC1_MC_2 */
+ .pfnTCC1_4_Handler = (void*) TCC1_4_Handler, /* 96 TCC1_MC_3 */
+ .pfnTCC2_0_Handler = (void*) TCC2_0_Handler, /* 97 TCC2_CNT_A, TCC2_DFS_A, TCC2_ERR_A, TCC2_FAULT0_A, TCC2_FAULT1_A, TCC2_FAULTA_A, TCC2_FAULTB_A, TCC2_OVF, TCC2_TRG, TCC2_UFS_A */
+ .pfnTCC2_1_Handler = (void*) TCC2_1_Handler, /* 98 TCC2_MC_0 */
+ .pfnTCC2_2_Handler = (void*) TCC2_2_Handler, /* 99 TCC2_MC_1 */
+ .pfnTCC2_3_Handler = (void*) TCC2_3_Handler, /* 100 TCC2_MC_2 */
+#ifdef ID_TCC3
+ .pfnTCC3_0_Handler = (void*) TCC3_0_Handler, /* 101 TCC3_CNT_A, TCC3_DFS_A, TCC3_ERR_A, TCC3_FAULT0_A, TCC3_FAULT1_A, TCC3_FAULTA_A, TCC3_FAULTB_A, TCC3_OVF, TCC3_TRG, TCC3_UFS_A */
+ .pfnTCC3_1_Handler = (void*) TCC3_1_Handler, /* 102 TCC3_MC_0 */
+ .pfnTCC3_2_Handler = (void*) TCC3_2_Handler, /* 103 TCC3_MC_1 */
+#else
+ .pvReserved101 = (void*) (0UL), /* 101 Reserved */
+ .pvReserved102 = (void*) (0UL), /* 102 Reserved */
+ .pvReserved103 = (void*) (0UL), /* 103 Reserved */
+#endif
+#ifdef ID_TCC4
+ .pfnTCC4_0_Handler = (void*) TCC4_0_Handler, /* 104 TCC4_CNT_A, TCC4_DFS_A, TCC4_ERR_A, TCC4_FAULT0_A, TCC4_FAULT1_A, TCC4_FAULTA_A, TCC4_FAULTB_A, TCC4_OVF, TCC4_TRG, TCC4_UFS_A */
+ .pfnTCC4_1_Handler = (void*) TCC4_1_Handler, /* 105 TCC4_MC_0 */
+ .pfnTCC4_2_Handler = (void*) TCC4_2_Handler, /* 106 TCC4_MC_1 */
+#else
+ .pvReserved104 = (void*) (0UL), /* 104 Reserved */
+ .pvReserved105 = (void*) (0UL), /* 105 Reserved */
+ .pvReserved106 = (void*) (0UL), /* 106 Reserved */
+#endif
+ .pfnTC0_Handler = (void*) TC0_Handler, /* 107 Basic Timer Counter 0 */
+ .pfnTC1_Handler = (void*) TC1_Handler, /* 108 Basic Timer Counter 1 */
+ .pfnTC2_Handler = (void*) TC2_Handler, /* 109 Basic Timer Counter 2 */
+ .pfnTC3_Handler = (void*) TC3_Handler, /* 110 Basic Timer Counter 3 */
+#ifdef ID_TC4
+ .pfnTC4_Handler = (void*) TC4_Handler, /* 111 Basic Timer Counter 4 */
+#else
+ .pvReserved111 = (void*) (0UL), /* 111 Reserved */
+#endif
+#ifdef ID_TC5
+ .pfnTC5_Handler = (void*) TC5_Handler, /* 112 Basic Timer Counter 5 */
+#else
+ .pvReserved112 = (void*) (0UL), /* 112 Reserved */
+#endif
+#ifdef ID_TC6
+ .pfnTC6_Handler = (void*) TC6_Handler, /* 113 Basic Timer Counter 6 */
+#else
+ .pvReserved113 = (void*) (0UL), /* 113 Reserved */
+#endif
+#ifdef ID_TC7
+ .pfnTC7_Handler = (void*) TC7_Handler, /* 114 Basic Timer Counter 7 */
+#else
+ .pvReserved114 = (void*) (0UL), /* 114 Reserved */
+#endif
+ .pfnPDEC_0_Handler = (void*) PDEC_0_Handler, /* 115 PDEC_DIR_A, PDEC_ERR_A, PDEC_OVF, PDEC_VLC_A */
+ .pfnPDEC_1_Handler = (void*) PDEC_1_Handler, /* 116 PDEC_MC_0 */
+ .pfnPDEC_2_Handler = (void*) PDEC_2_Handler, /* 117 PDEC_MC_1 */
+ .pfnADC0_0_Handler = (void*) ADC0_0_Handler, /* 118 ADC0_OVERRUN, ADC0_WINMON */
+ .pfnADC0_1_Handler = (void*) ADC0_1_Handler, /* 119 ADC0_RESRDY */
+ .pfnADC1_0_Handler = (void*) ADC1_0_Handler, /* 120 ADC1_OVERRUN, ADC1_WINMON */
+ .pfnADC1_1_Handler = (void*) ADC1_1_Handler, /* 121 ADC1_RESRDY */
+ .pfnAC_Handler = (void*) AC_Handler, /* 122 Analog Comparators */
+ .pfnDAC_0_Handler = (void*) DAC_0_Handler, /* 123 DAC_OVERRUN_A_0, DAC_OVERRUN_A_1, DAC_UNDERRUN_A_0, DAC_UNDERRUN_A_1 */
+ .pfnDAC_1_Handler = (void*) DAC_1_Handler, /* 124 DAC_EMPTY_0 */
+ .pfnDAC_2_Handler = (void*) DAC_2_Handler, /* 125 DAC_EMPTY_1 */
+ .pfnDAC_3_Handler = (void*) DAC_3_Handler, /* 126 DAC_RESRDY_0 */
+ .pfnDAC_4_Handler = (void*) DAC_4_Handler, /* 127 DAC_RESRDY_1 */
+#ifdef ID_I2S
+ .pfnI2S_Handler = (void*) I2S_Handler, /* 128 Inter-IC Sound Interface */
+#else
+ .pvReserved128 = (void*) (0UL), /* 128 Reserved */
+#endif
+ .pfnPCC_Handler = (void*) PCC_Handler, /* 129 Parallel Capture Controller */
+ .pfnAES_Handler = (void*) AES_Handler, /* 130 Advanced Encryption Standard */
+ .pfnTRNG_Handler = (void*) TRNG_Handler, /* 131 True Random Generator */
+#ifdef ID_ICM
+ .pfnICM_Handler = (void*) ICM_Handler, /* 132 Integrity Check Monitor */
+#else
+ .pvReserved132 = (void*) (0UL), /* 132 Reserved */
+#endif
+#ifdef ID_PUKCC
+ .pfnPUKCC_Handler = (void*) PUKCC_Handler, /* 133 PUblic-Key Cryptography Controller */
+#else
+ .pvReserved133 = (void*) (0UL), /* 133 Reserved */
+#endif
+ .pfnQSPI_Handler = (void*) QSPI_Handler, /* 134 Quad SPI interface */
+#ifdef ID_SDHC0
+ .pfnSDHC0_Handler = (void*) SDHC0_Handler, /* 135 SD/MMC Host Controller 0 */
+#else
+ .pvReserved135 = (void*) (0UL), /* 135 Reserved */
+#endif
+#ifdef ID_SDHC1
+ .pfnSDHC1_Handler = (void*) SDHC1_Handler /* 136 SD/MMC Host Controller 1 */
+#else
+ .pvReserved136 = (void*) (0UL) /* 136 Reserved */
+#endif
+};
+
+/**
+ * \brief This is the code that gets called on processor reset.
+ * To initialize the device, and call the main() routine.
+ */
+void Reset_Handler(void)
+{
+ uint32_t *pSrc, *pDest;
+
+ /* Initialize the relocate segment */
+ pSrc = &_etext;
+ pDest = &_srelocate;
+
+ if (pSrc != pDest) {
+ for (; pDest < &_erelocate;) {
+ *pDest++ = *pSrc++;
+ }
+ }
+
+ /* Clear the zero segment */
+ for (pDest = &_szero; pDest < &_ezero;) {
+ *pDest++ = 0;
+ }
+
+ /* Set the vector table base address */
+ pSrc = (uint32_t *) & _sfixed;
+ SCB->VTOR = ((uint32_t) pSrc & SCB_VTOR_TBLOFF_Msk);
+
+#if __FPU_USED
+ /* Enable FPU */
+ SCB->CPACR |= (0xFu << 20);
+ __DSB();
+ __ISB();
+#endif
+
+ /* Initialize the C library */
+ __libc_init_array();
+
+ /* Branch to main function */
+ main();
+
+ /* Infinite loop */
+ while (1);
+}
+
+/**
+ * \brief Default interrupt handler for unused IRQs.
+ */
+void Dummy_Handler(void)
+{
+ while (1) {
+ }
+}
diff --git a/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/system_samd51.c b/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/system_samd51.c
new file mode 100644
index 0000000000000000000000000000000000000000..2df9920d50003b9db866e08fb232caf0e721145c
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/Device_Startup/system_samd51.c
@@ -0,0 +1,64 @@
+/**
+ * \file
+ *
+ * \brief Low-level initialization functions called upon chip startup.
+ *
+ * Copyright (c) 2017 Microchip Technology Inc.
+ *
+ * \asf_license_start
+ *
+ * \page License
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the Licence at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * \asf_license_stop
+ *
+ */
+
+#include "samd51.h"
+
+/**
+ * Initial system clock frequency. The System RC Oscillator (RCSYS) provides
+ * the source for the main clock at chip startup.
+ */
+#define __SYSTEM_CLOCK (48000000)
+
+uint32_t SystemCoreClock = __SYSTEM_CLOCK;/*!< System Clock Frequency (Core Clock)*/
+
+/**
+ * Initialize the system
+ *
+ * @brief Setup the microcontroller system.
+ * Initialize the System and update the SystemCoreClock variable.
+ */
+void SystemInit(void)
+{
+ // Keep the default device state after reset
+ SystemCoreClock = __SYSTEM_CLOCK;
+ return;
+}
+
+/**
+ * Update SystemCoreClock variable
+ *
+ * @brief Updates the SystemCoreClock with current core Clock
+ * retrieved from cpu registers.
+ */
+void SystemCoreClockUpdate(void)
+{
+ // Not implemented
+ SystemCoreClock = __SYSTEM_CLOCK;
+ return;
+}
diff --git a/embedded/mkstepper-v011/mkstepper-v011/hardware.h b/embedded/mkstepper-v011/mkstepper-v011/hardware.h
new file mode 100644
index 0000000000000000000000000000000000000000..ad2481e0014308b57205b60a8d89f920d20738cd
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/hardware.h
@@ -0,0 +1,30 @@
+/*
+ * hardware.h
+ *
+ * Created: 2/5/2018 11:50:30 PM
+ * Author: Jake
+ */
+
+
+#ifndef HARDWARE_H_
+#define HARDWARE_H_
+
+#include "pin.h"
+#include "uartport.h"
+#include "spiport.h"
+#include "ringbuffer.h"
+
+pin_t stlr;
+pin_t stlb;
+
+ringbuffer_t up1_rbrx;
+ringbuffer_t up1_rbtx;
+ringbuffer_t up2_rbrx;
+ringbuffer_t up2_rbtx;
+
+uartport_t up1;
+uartport_t up2;
+
+spiport_t spi_tmc;
+
+#endif /* HARDWARE_H_ */
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/main.c b/embedded/mkstepper-v011/mkstepper-v011/main.c
new file mode 100644
index 0000000000000000000000000000000000000000..c68636a84cc8906fb0da2de391f466458b1702fc
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/main.c
@@ -0,0 +1,161 @@
+/*
+ * mkstepper-v011.c
+ *
+ * Created: 2/5/2018 12:00:35 PM
+ * Author : Jake
+ */
+
+
+#include "sam.h"
+#include "pin.h"
+#include "uartport.h"
+#include "spiport.h"
+
+#include "hardware.h"
+
+/* PINS
+
+STLR PB13
+STLB PB14
+
+NP1RX PA12 / SER4-1
+NP1TX PA13 / SER4-0
+
+NP2RX PB03 / SER5-1
+NP2TX PB02 / SER5-0
+
+TMC_SG PB08
+TMC_EN PB07
+STEP PB08
+DIR PB09
+
+TMC_MOSI PA07 / SER0-3
+TMC_MISO PA04 / SER0-0
+TMC_SCK PA05 / SER0-1
+TMC_CSN PA06 / SER0-2
+
+AS_MOSI PA11 / SER2-3
+AS_MISO PA08 / SER2-1
+AS_SCK PA09 / SER2-0
+AS_CSN PA10 / SER2-2
+
+*/
+
+void clock_init(void){
+
+ // on Reset, the DFLL48< source clock is on and running at 48MHz
+ // GCLK0 uses DFLL48M as a source and generates GCLK_MAIN
+ // we want to use OSCCTRL to (1) set the DFLL48M to run on a reference clock, in closed-loop mode
+ // (20 then to prescale the DFLL48M such that it runs at 120MHz
+
+ // generic clock channel 0 is the reference for the DFLL - we'll try to set that up first
+
+ OSCCTRL->DFLLMUL.reg = OSCCTRL_DFLLMUL_MUL(20) | OSCCTRL_DFLLMUL_CSTEP(12) | OSCCTRL_DFLLMUL_FSTEP(5);
+ while(OSCCTRL->DFLLSYNC.reg & OSCCTRL_DFLLSYNC_DFLLMUL){
+ // wait
+ }
+
+ OSCCTRL->DFLLCTRLA.reg = OSCCTRL_DFLLCTRLA_ENABLE | OSCCTRL_DFLLCTRLA_RUNSTDBY;
+ while(OSCCTRL->DFLLSYNC.reg & OSCCTRL_DFLLSYNC_ENABLE){
+ // wait
+ }
+
+ OSCCTRL->DFLLVAL.reg = OSCCTRL_DFLLVAL_COARSE(12) | OSCCTRL_DFLLVAL_FINE(12);
+ while(OSCCTRL->DFLLSYNC.reg & OSCCTRL_DFLLSYNC_DFLLVAL){
+ // wait
+ }
+
+ OSCCTRL->DFLLCTRLB.reg = OSCCTRL_DFLLCTRLB_MODE | OSCCTRL_DFLLCTRLB_WAITLOCK;
+ while(OSCCTRL->DFLLSYNC.reg & OSCCTRL_DFLLSYNC_DFLLCTRLB){
+ // wait
+ }
+
+ while(!OSCCTRL->STATUS.bit.DFLLRDY);
+
+ MCLK->CPUDIV.reg = MCLK_CPUDIV_DIV_DIV1;
+}
+
+int main(void)
+{
+ /* Initialize the SAM system */
+ SystemInit();
+ SysTick_Config(5000000);
+
+ //clock_init();
+
+ // lights
+
+ stlb = pin_new(&PORT->Group[1], 14);
+ pin_output(&stlb);
+ pin_set(&stlb);
+ stlr = pin_new(&PORT->Group[1], 13);
+ pin_output(&stlr);
+ pin_set(&stlr);
+
+ // ready interrupt system
+ __enable_irq();
+ NVIC_EnableIRQ(SERCOM4_0_IRQn); //up1tx
+ NVIC_EnableIRQ(SERCOM4_2_IRQn); //up1rx
+ NVIC_EnableIRQ(SERCOM5_0_IRQn);
+ NVIC_EnableIRQ(SERCOM5_2_IRQn);
+
+ // ringbuffers (for uart ports)
+ rb_init(&up1_rbrx);
+ rb_init(&up1_rbtx);
+ rb_init(&up2_rbrx);
+ rb_init(&up2_rbtx);
+
+ // uarts (ports)
+ // TODO: have used PMUXO and PMUXE incorrectly: only set one of these, based on whether / not pin is even / odd !
+
+ up1 = uart_new(SERCOM4, &PORT->Group[0], &up1_rbrx, &up1_rbtx, 12, 13, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM4;
+ uart_init(&up1, 6, SERCOM4_GCLK_ID_CORE, 63018); // baud: 45402 for 921600, 63018 for 115200
+ up2 = uart_new(SERCOM5, &PORT->Group[1], &up2_rbrx, &up2_rbtx, 3, 2, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
+ uart_init(&up2, 7, SERCOM5_GCLK_ID_CORE, 63018);
+
+
+ // SPI
+ // TMC_MOSI PA07 / SER0-3
+ // TMC_MISO PA04 / SER0-0
+ // TMC_SCK PA05 / SER0-1
+ // TMC_CSN PA06 / SER0-2
+
+ // spi
+ spi_tmc = spi_new(SERCOM0, &PORT->Group[0], 4, 7, 5, 6, HARDWARE_IS_APBA, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBAMASK.reg |= MCLK_APBAMASK_SERCOM0;
+ spi_init(&spi_tmc, 8, SERCOM0_GCLK_ID_CORE, 126, 0, 2);
+
+ // -> DO SPI, talk to the TMC !
+
+ while (1)
+ {
+ // spi_txchar_polled(&spitmc, 'x');
+ // find TMC registers now, try to read!
+
+ }
+}
+
+void SysTick_Handler(void){
+ pin_toggle(&stlb);
+ while(!rb_empty(up1.rbrx)){
+ uart_sendchar_buffered(&up1, rb_get(up1.rbrx));
+ }
+}
+
+void SERCOM4_0_Handler(void){
+ uart_txhandler(&up1);
+}
+
+void SERCOM4_2_Handler(void){
+ uart_rxhandler(&up1);
+}
+
+void SERCOM5_0_Handler(void){
+ uart_txhandler(&up2);
+}
+
+void SERCOM5_2_Handler(void){
+ uart_rxhandler(&up2);
+}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.componentinfo.xml b/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.componentinfo.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4c98a9531734e0eb51472ba69b7e1fd2ceb317d2
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.componentinfo.xml
@@ -0,0 +1,169 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Store xmlns:i="http://www.w3.org/2001/XMLSchema-instance" xmlns="AtmelPackComponentManagement">
+ <ProjectComponents>
+ <ProjectComponent z:Id="i1" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/">
+ <CApiVersion></CApiVersion>
+ <CBundle></CBundle>
+ <CClass>CMSIS</CClass>
+ <CGroup>CORE</CGroup>
+ <CSub></CSub>
+ <CVariant></CVariant>
+ <CVendor>ARM</CVendor>
+ <CVersion>5.0.1</CVersion>
+ <DefaultRepoPath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs</DefaultRepoPath>
+ <DependentComponents xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays" />
+ <Description></Description>
+ <Files xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.0.1\CMSIS\Documentation\Core\html\index.html</AbsolutePath>
+ <Attribute></Attribute>
+ <Category>doc</Category>
+ <Condition></Condition>
+ <FileContentHash>Cq3aNYyqgx20hdPs+CNSlQ==</FileContentHash>
+ <FileVersion></FileVersion>
+ <Name>CMSIS/Documentation/Core/html/index.html</Name>
+ <SelectString></SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.0.1\CMSIS\Include\</AbsolutePath>
+ <Attribute></Attribute>
+ <Category>include</Category>
+ <Condition></Condition>
+ <FileContentHash i:nil="true" />
+ <FileVersion></FileVersion>
+ <Name>CMSIS/Include/</Name>
+ <SelectString></SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ </Files>
+ <PackName>CMSIS</PackName>
+ <PackPath>C:/Program Files (x86)/Atmel/Studio/7.0/Packs/arm/CMSIS/5.0.1/ARM.CMSIS.pdsc</PackPath>
+ <PackVersion>5.0.1</PackVersion>
+ <PresentInProject>true</PresentInProject>
+ <ReferenceConditionId>ARMv6_7_8-M Device</ReferenceConditionId>
+ <RteComponents xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+ <d4p1:string></d4p1:string>
+ </RteComponents>
+ <Status>Resolved</Status>
+ <VersionMode>Fixed</VersionMode>
+ <IsComponentInAtProject>true</IsComponentInAtProject>
+ </ProjectComponent>
+ <ProjectComponent z:Id="i2" xmlns:z="http://schemas.microsoft.com/2003/10/Serialization/">
+ <CApiVersion></CApiVersion>
+ <CBundle></CBundle>
+ <CClass>Device</CClass>
+ <CGroup>Startup</CGroup>
+ <CSub></CSub>
+ <CVariant></CVariant>
+ <CVendor>Atmel</CVendor>
+ <CVersion>1.0.0</CVersion>
+ <DefaultRepoPath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs</DefaultRepoPath>
+ <DependentComponents xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+ <d4p1:anyType z:Ref="i1" />
+ </DependentComponents>
+ <Description></Description>
+ <Files xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\include</AbsolutePath>
+ <Attribute></Attribute>
+ <Category>include</Category>
+ <Condition>C</Condition>
+ <FileContentHash i:nil="true" />
+ <FileVersion></FileVersion>
+ <Name>include</Name>
+ <SelectString></SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\include\sam.h</AbsolutePath>
+ <Attribute></Attribute>
+ <Category>header</Category>
+ <Condition>C</Condition>
+ <FileContentHash>vyFU01H27yMwm8jt09KCJw==</FileContentHash>
+ <FileVersion></FileVersion>
+ <Name>include/sam.h</Name>
+ <SelectString></SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\templates\main.c</AbsolutePath>
+ <Attribute>template</Attribute>
+ <Category>source</Category>
+ <Condition>C Exe</Condition>
+ <FileContentHash>AkDwjED0tMpIjyJPo6itfg==</FileContentHash>
+ <FileVersion></FileVersion>
+ <Name>templates/main.c</Name>
+ <SelectString>Main file (.c)</SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\templates\main.cpp</AbsolutePath>
+ <Attribute>template</Attribute>
+ <Category>source</Category>
+ <Condition>C Exe</Condition>
+ <FileContentHash>nU+WlKcYaWh0AWBBS+WVpA==</FileContentHash>
+ <FileVersion></FileVersion>
+ <Name>templates/main.cpp</Name>
+ <SelectString>Main file (.cpp)</SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\gcc\system_samd51.c</AbsolutePath>
+ <Attribute>config</Attribute>
+ <Category>source</Category>
+ <Condition>GCC Exe</Condition>
+ <FileContentHash>48bRDDtXyAiZjWlKI3+D+A==</FileContentHash>
+ <FileVersion></FileVersion>
+ <Name>gcc/system_samd51.c</Name>
+ <SelectString></SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\gcc\gcc\startup_samd51.c</AbsolutePath>
+ <Attribute>config</Attribute>
+ <Category>source</Category>
+ <Condition>GCC Exe</Condition>
+ <FileContentHash>R2AbfQpzs4ooHNhxYaFLYA==</FileContentHash>
+ <FileVersion></FileVersion>
+ <Name>gcc/gcc/startup_samd51.c</Name>
+ <SelectString></SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\gcc\gcc\samd51j18a_flash.ld</AbsolutePath>
+ <Attribute>config</Attribute>
+ <Category>linkerScript</Category>
+ <Condition>GCC Exe</Condition>
+ <FileContentHash>CF4FN7Jc1GGlwWZRgaNJqA==</FileContentHash>
+ <FileVersion></FileVersion>
+ <Name>gcc/gcc/samd51j18a_flash.ld</Name>
+ <SelectString></SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ <d4p1:anyType i:type="FileInfo">
+ <AbsolutePath>C:/Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAMD51_DFP\1.0.70\gcc\gcc\samd51j18a_sram.ld</AbsolutePath>
+ <Attribute>config</Attribute>
+ <Category>other</Category>
+ <Condition>GCC Exe</Condition>
+ <FileContentHash>UCVgCIkMhtRrpTXgb0K8mg==</FileContentHash>
+ <FileVersion></FileVersion>
+ <Name>gcc/gcc/samd51j18a_sram.ld</Name>
+ <SelectString></SelectString>
+ <SourcePath></SourcePath>
+ </d4p1:anyType>
+ </Files>
+ <PackName>SAMD51_DFP</PackName>
+ <PackPath>C:/Program Files (x86)/Atmel/Studio/7.0/Packs/atmel/SAMD51_DFP/1.0.70/Atmel.SAMD51_DFP.pdsc</PackPath>
+ <PackVersion>1.0.70</PackVersion>
+ <PresentInProject>true</PresentInProject>
+ <ReferenceConditionId>ATSAMD51J18A</ReferenceConditionId>
+ <RteComponents xmlns:d4p1="http://schemas.microsoft.com/2003/10/Serialization/Arrays">
+ <d4p1:string></d4p1:string>
+ </RteComponents>
+ <Status>Resolved</Status>
+ <VersionMode>Fixed</VersionMode>
+ <IsComponentInAtProject>true</IsComponentInAtProject>
+ </ProjectComponent>
+ </ProjectComponents>
+</Store>
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.cproj b/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.cproj
new file mode 100644
index 0000000000000000000000000000000000000000..0f4e9d1b7a328cf1558fde1d1588409ef956d570
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/mkstepper-v011.cproj
@@ -0,0 +1,212 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003" ToolsVersion="14.0">
+ <PropertyGroup>
+ <SchemaVersion>2.0</SchemaVersion>
+ <ProjectVersion>7.0</ProjectVersion>
+ <ToolchainName>com.Atmel.ARMGCC.C</ToolchainName>
+ <ProjectGuid>dce6c7e3-ee26-4d79-826b-08594b9ad897</ProjectGuid>
+ <avrdevice>ATSAMD51J18A</avrdevice>
+ <avrdeviceseries>none</avrdeviceseries>
+ <OutputType>Executable</OutputType>
+ <Language>C</Language>
+ <OutputFileName>$(MSBuildProjectName)</OutputFileName>
+ <OutputFileExtension>.elf</OutputFileExtension>
+ <OutputDirectory>$(MSBuildProjectDirectory)\$(Configuration)</OutputDirectory>
+ <AssemblyName>mkstepper-v011</AssemblyName>
+ <Name>mkstepper-v011</Name>
+ <RootNamespace>mkstepper-v011</RootNamespace>
+ <ToolchainFlavour>Native</ToolchainFlavour>
+ <KeepTimersRunning>true</KeepTimersRunning>
+ <OverrideVtor>false</OverrideVtor>
+ <CacheFlash>true</CacheFlash>
+ <ProgFlashFromRam>true</ProgFlashFromRam>
+ <RamSnippetAddress>0x20000000</RamSnippetAddress>
+ <UncachedRange />
+ <preserveEEPROM>true</preserveEEPROM>
+ <OverrideVtorValue>exception_table</OverrideVtorValue>
+ <BootSegment>2</BootSegment>
+ <ResetRule>0</ResetRule>
+ <eraseonlaunchrule>0</eraseonlaunchrule>
+ <EraseKey />
+ <AsfFrameworkConfig>
+ <framework-data xmlns="">
+ <options />
+ <configurations />
+ <files />
+ <documentation help="" />
+ <offline-documentation help="" />
+ <dependencies>
+ <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.36.2" />
+ </dependencies>
+ </framework-data>
+ </AsfFrameworkConfig>
+ <avrtool>com.atmel.avrdbg.tool.atmelice</avrtool>
+ <avrtoolserialnumber>J41800087098</avrtoolserialnumber>
+ <avrdeviceexpectedsignature>0x60060006</avrdeviceexpectedsignature>
+ <avrtoolinterface>SWD</avrtoolinterface>
+ <com_atmel_avrdbg_tool_atmelice>
+ <ToolOptions>
+ <InterfaceProperties>
+ <SwdClock>2000000</SwdClock>
+ </InterfaceProperties>
+ <InterfaceName>SWD</InterfaceName>
+ </ToolOptions>
+ <ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
+ <ToolNumber>J41800087098</ToolNumber>
+ <ToolName>Atmel-ICE</ToolName>
+ </com_atmel_avrdbg_tool_atmelice>
+ <avrtoolinterfaceclock>2000000</avrtoolinterfaceclock>
+ </PropertyGroup>
+ <PropertyGroup Condition=" '$(Configuration)' == 'Release' ">
+ <ToolchainSettings>
+ <ArmGcc>
+ <armgcc.common.outputfiles.hex>True</armgcc.common.outputfiles.hex>
+ <armgcc.common.outputfiles.lss>True</armgcc.common.outputfiles.lss>
+ <armgcc.common.outputfiles.eep>True</armgcc.common.outputfiles.eep>
+ <armgcc.common.outputfiles.bin>True</armgcc.common.outputfiles.bin>
+ <armgcc.common.outputfiles.srec>True</armgcc.common.outputfiles.srec>
+ <armgcc.compiler.symbols.DefSymbols>
+ <ListValues>
+ <Value>NDEBUG</Value>
+ </ListValues>
+ </armgcc.compiler.symbols.DefSymbols>
+ <armgcc.compiler.directories.IncludePaths>
+ <ListValues>
+ <Value>%24(PackRepoDir)\arm\CMSIS\5.0.1\CMSIS\Include\</Value>
+ <Value>%24(PackRepoDir)\atmel\SAMD51_DFP\1.0.70\include</Value>
+ </ListValues>
+ </armgcc.compiler.directories.IncludePaths>
+ <armgcc.compiler.optimization.level>Optimize for size (-Os)</armgcc.compiler.optimization.level>
+ <armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>True</armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>
+ <armgcc.compiler.warnings.AllWarnings>True</armgcc.compiler.warnings.AllWarnings>
+ <armgcc.linker.libraries.Libraries>
+ <ListValues>
+ <Value>libm</Value>
+ </ListValues>
+ </armgcc.linker.libraries.Libraries>
+ <armgcc.linker.libraries.LibrarySearchPaths>
+ <ListValues>
+ <Value>%24(ProjectDir)\Device_Startup</Value>
+ </ListValues>
+ </armgcc.linker.libraries.LibrarySearchPaths>
+ <armgcc.linker.optimization.GarbageCollectUnusedSections>True</armgcc.linker.optimization.GarbageCollectUnusedSections>
+ <armgcc.linker.miscellaneous.LinkerFlags>-Tsamd51j18a_flash.ld</armgcc.linker.miscellaneous.LinkerFlags>
+ <armgcc.assembler.general.IncludePaths>
+ <ListValues>
+ <Value>%24(PackRepoDir)\arm\CMSIS\5.0.1\CMSIS\Include\</Value>
+ <Value>%24(PackRepoDir)\atmel\SAMD51_DFP\1.0.70\include</Value>
+ </ListValues>
+ </armgcc.assembler.general.IncludePaths>
+ <armgcc.preprocessingassembler.general.IncludePaths>
+ <ListValues>
+ <Value>%24(PackRepoDir)\arm\CMSIS\5.0.1\CMSIS\Include\</Value>
+ <Value>%24(PackRepoDir)\atmel\SAMD51_DFP\1.0.70\include</Value>
+ </ListValues>
+ </armgcc.preprocessingassembler.general.IncludePaths>
+</ArmGcc>
+ </ToolchainSettings>
+ </PropertyGroup>
+ <PropertyGroup Condition=" '$(Configuration)' == 'Debug' ">
+ <ToolchainSettings>
+ <ArmGcc>
+ <armgcc.common.outputfiles.hex>True</armgcc.common.outputfiles.hex>
+ <armgcc.common.outputfiles.lss>True</armgcc.common.outputfiles.lss>
+ <armgcc.common.outputfiles.eep>True</armgcc.common.outputfiles.eep>
+ <armgcc.common.outputfiles.bin>True</armgcc.common.outputfiles.bin>
+ <armgcc.common.outputfiles.srec>True</armgcc.common.outputfiles.srec>
+ <armgcc.compiler.symbols.DefSymbols>
+ <ListValues>
+ <Value>DEBUG</Value>
+ </ListValues>
+ </armgcc.compiler.symbols.DefSymbols>
+ <armgcc.compiler.directories.IncludePaths>
+ <ListValues>
+ <Value>%24(PackRepoDir)\arm\CMSIS\5.0.1\CMSIS\Include\</Value>
+ <Value>%24(PackRepoDir)\atmel\SAMD51_DFP\1.0.70\include</Value>
+ </ListValues>
+ </armgcc.compiler.directories.IncludePaths>
+ <armgcc.compiler.optimization.level>Optimize (-O1)</armgcc.compiler.optimization.level>
+ <armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>True</armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>
+ <armgcc.compiler.optimization.DebugLevel>Maximum (-g3)</armgcc.compiler.optimization.DebugLevel>
+ <armgcc.compiler.warnings.AllWarnings>True</armgcc.compiler.warnings.AllWarnings>
+ <armgcc.linker.libraries.Libraries>
+ <ListValues>
+ <Value>libm</Value>
+ </ListValues>
+ </armgcc.linker.libraries.Libraries>
+ <armgcc.linker.libraries.LibrarySearchPaths>
+ <ListValues>
+ <Value>%24(ProjectDir)\Device_Startup</Value>
+ </ListValues>
+ </armgcc.linker.libraries.LibrarySearchPaths>
+ <armgcc.linker.optimization.GarbageCollectUnusedSections>True</armgcc.linker.optimization.GarbageCollectUnusedSections>
+ <armgcc.linker.memorysettings.ExternalRAM />
+ <armgcc.linker.miscellaneous.LinkerFlags>-Tsamd51j18a_flash.ld</armgcc.linker.miscellaneous.LinkerFlags>
+ <armgcc.assembler.general.IncludePaths>
+ <ListValues>
+ <Value>%24(PackRepoDir)\arm\CMSIS\5.0.1\CMSIS\Include\</Value>
+ <Value>%24(PackRepoDir)\atmel\SAMD51_DFP\1.0.70\include</Value>
+ </ListValues>
+ </armgcc.assembler.general.IncludePaths>
+ <armgcc.assembler.debugging.DebugLevel>Default (-g)</armgcc.assembler.debugging.DebugLevel>
+ <armgcc.preprocessingassembler.general.IncludePaths>
+ <ListValues>
+ <Value>%24(PackRepoDir)\arm\CMSIS\5.0.1\CMSIS\Include\</Value>
+ <Value>%24(PackRepoDir)\atmel\SAMD51_DFP\1.0.70\include</Value>
+ </ListValues>
+ </armgcc.preprocessingassembler.general.IncludePaths>
+ <armgcc.preprocessingassembler.debugging.DebugLevel>Default (-Wa,-g)</armgcc.preprocessingassembler.debugging.DebugLevel>
+</ArmGcc>
+ </ToolchainSettings>
+ </PropertyGroup>
+ <ItemGroup>
+ <Compile Include="Device_Startup\startup_samd51.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="Device_Startup\system_samd51.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="hardware.h">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="main.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="pin.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="pin.h">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="ringbuffer.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="ringbuffer.h">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="spiport.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="spiport.h">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="uartport.c">
+ <SubType>compile</SubType>
+ </Compile>
+ <Compile Include="uartport.h">
+ <SubType>compile</SubType>
+ </Compile>
+ </ItemGroup>
+ <ItemGroup>
+ <Folder Include="Device_Startup\" />
+ </ItemGroup>
+ <ItemGroup>
+ <None Include="Device_Startup\samd51j18a_flash.ld">
+ <SubType>compile</SubType>
+ </None>
+ <None Include="Device_Startup\samd51j18a_sram.ld">
+ <SubType>compile</SubType>
+ </None>
+ </ItemGroup>
+ <Import Project="$(AVRSTUDIO_EXE_PATH)\\Vs\\Compiler.targets" />
+</Project>
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/pin.c b/embedded/mkstepper-v011/mkstepper-v011/pin.c
new file mode 100644
index 0000000000000000000000000000000000000000..6bf2a5e55b0893e0b4b4052a31436964ebcbce3a
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/pin.c
@@ -0,0 +1,42 @@
+/*
+ * pin.c
+ *
+ * Created: 2/5/2018 11:21:37 PM
+ * Author: Jake
+ */
+
+#include "pin.h"
+#include "sam.h"
+
+pin_t pin_new(PortGroup *port, uint32_t pin_number){
+ pin_t pin;
+ pin.port = port;
+ pin.bm = (uint32_t)(1 << pin_number);
+ return pin;
+}
+
+
+void pin_output(pin_t *pin){
+ pin->port->DIRSET.reg = pin->bm;
+ pin->port->OUTCLR.reg = pin->bm;
+}
+
+void pin_input(pin_t *pin){
+ pin->port->DIRCLR.reg = pin->bm;
+}
+
+void pin_set(pin_t *pin){
+ pin->port->OUTSET.reg = pin->bm;
+}
+
+void pin_clear(pin_t *pin){
+ pin->port->OUTCLR.reg = pin->bm;
+}
+
+void pin_toggle(pin_t *pin){
+ pin->port->OUTTGL.reg = pin->bm;
+}
+
+int pin_read(pin_t *pin){
+ return pin->port->IN.reg & pin->bm;
+}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/pin.h b/embedded/mkstepper-v011/mkstepper-v011/pin.h
new file mode 100644
index 0000000000000000000000000000000000000000..8ea143d44285a299ca78e49da22ffc154f0b4a7f
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/pin.h
@@ -0,0 +1,30 @@
+/*
+ * pin.h
+ *
+ * Created: 2/5/2018 11:21:47 PM
+ * Author: Jake
+ */
+
+
+#ifndef PIN_H_
+#define PIN_H_
+
+#include "sam.h"
+
+typedef struct {
+ PortGroup *port;
+ uint32_t bm; // bitmask
+} pin_t;
+
+pin_t pin_new(PortGroup *port, uint32_t pin);
+
+void pin_output(pin_t *pin);
+void pin_input(pin_t *pin);
+
+void pin_set(pin_t *pin);
+void pin_clear(pin_t *pin);
+void pin_toggle(pin_t *pin);
+
+int pin_read(pin_t *pin);
+
+#endif /* PIN_H_ */
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.c b/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.c
new file mode 100644
index 0000000000000000000000000000000000000000..c7743e4151b8c09e04da186905fde4e0ca427aea
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.c
@@ -0,0 +1,67 @@
+/*
+ * ringbuffer.c
+ *
+ * Created: 2/7/2018 11:39:44 AM
+ * Author: Jake
+ */
+
+#include "ringbuffer.h"
+
+uint8_t rb_init(ringbuffer_t *rb){
+ rb->size = RINGBUFFER_SIZE; // stuck with this, due to not having malloc, wall of skill
+ //rb->buffer = malloc(size);
+ rb_reset(rb);
+ return 1;
+}
+
+uint8_t rb_reset(ringbuffer_t *rb){
+ if(rb){
+ rb->head = 0;
+ rb->tail = 0;
+ return 1;
+ } else {
+ return 0;
+ }
+}
+
+uint8_t rb_empty(ringbuffer_t *rb){
+ return (rb->head == rb->tail);
+}
+
+uint8_t rb_full(ringbuffer_t *rb){
+ return ((rb->head + 1) % rb->size) == rb->tail;
+}
+
+uint8_t rb_freespace(ringbuffer_t *rb){
+ if(rb->head >= rb->tail){
+ return rb->size - (rb->head - rb->tail);
+ } else {
+ return rb->tail - rb->head - 1;
+ }
+}
+
+uint8_t rb_putchar(ringbuffer_t *rb, uint8_t data){
+ rb->buffer[rb->head] = data;
+ rb->head = (rb->head + 1) % rb->size; // increment and loop about
+ return 1;
+}
+
+uint8_t rb_putdata(ringbuffer_t *rb, uint8_t *data, uint8_t size){
+ if(rb_freespace(rb) <= size){
+ return 0;
+ } else {
+ uint8_t i = 0;
+ while(i < size){
+ rb_putchar(rb, data[i]);
+ i ++;
+ }
+ return 1;
+ }
+}
+
+uint8_t rb_get(ringbuffer_t *rb){
+ uint8_t data = rb->buffer[rb->tail];
+ rb->tail = (rb->tail + 1) % rb->size;
+ return data;
+}
+
diff --git a/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.h b/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.h
new file mode 100644
index 0000000000000000000000000000000000000000..889caf979a5507fdc801c147712e75a3f6279000
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/ringbuffer.h
@@ -0,0 +1,44 @@
+/*
+ * ringbuffer.h
+ *
+ * Created: 2/7/2018 11:39:54 AM
+ * Author: Jake
+ */
+
+#ifndef RINGBUFFER_H_
+#define RINGBUFFER_H_
+
+/*
+a ringbuffer,
+s/o https://github.com/dhess/c-ringbuf
+s/o https://embeddedartistry.com/blog/2017/4/6/circular-buffers-in-cc
+s/o https://www.downtowndougbrown.com/2013/01/microcontrollers-interrupt-safe-ring-buffers/
+*/
+
+#include "sam.h"
+
+#include <stdlib.h> // for size_t
+
+#define RINGBUFFER_SIZE 256
+
+typedef struct{
+ uint8_t buffer[256]; // static! big enough
+ size_t head;
+ size_t tail;
+ size_t size;
+} ringbuffer_t;
+
+uint8_t rb_init(ringbuffer_t *rb);
+
+uint8_t rb_reset(ringbuffer_t *rb);
+
+uint8_t rb_empty(ringbuffer_t *rb);
+uint8_t rb_full(ringbuffer_t *rb);
+uint8_t rb_freespace(ringbuffer_t *rb);
+
+uint8_t rb_putchar(ringbuffer_t *rb, uint8_t data);
+uint8_t rb_putdata(ringbuffer_t *rb, uint8_t *data, uint8_t size);
+
+uint8_t rb_get(ringbuffer_t *rb);
+
+#endif /* RINGBUFFER_H_ */
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/spiport.c b/embedded/mkstepper-v011/mkstepper-v011/spiport.c
new file mode 100644
index 0000000000000000000000000000000000000000..8fe8b5615f2cc94ccaeb6af2793ee4b98a2f1078
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/spiport.c
@@ -0,0 +1,95 @@
+/*
+ * spiport.c
+ *
+ * Created: 2/7/2018 10:51:42 AM
+ * Author: Jake
+ */
+
+#include "spiport.h"
+
+spiport_t spi_new(Sercom *com, PortGroup *port, uint32_t miso_pin, uint32_t mosi_pin, uint32_t sck_pin, uint32_t csn_pin, uint32_t apbx, uint32_t peripheral){
+ spiport_t spi;
+
+ spi.com = com;
+ spi.port = port;
+
+ spi.miso_pin = miso_pin;
+ spi.miso_bm = (uint32_t)(1 << miso_pin);
+ spi.mosi_pin = mosi_pin;
+ spi.mosi_bm = (uint32_t)(1 << mosi_pin);
+ spi.sck_pin = sck_pin;
+ spi.sck_bm = (uint32_t)(1 << sck_pin);
+ spi.csn_pin = csn_pin;
+ spi.csn_bm = (uint32_t)(1 << csn_pin);
+
+ spi.apbx = apbx;
+ spi.peripheral = peripheral;
+
+ return spi;
+}
+
+void spi_init(spiport_t *spi, uint32_t gclknum, uint32_t gclkidcore, uint8_t baud, uint32_t dipo, uint32_t dopo){
+ // clk is unmasked (external to this lib)
+ // do pin configs
+ spi->port->DIRCLR.reg |= spi->miso_bm;
+ spi->port->PINCFG[spi->miso_pin].bit.PMUXEN = 1;
+ spi->port->DIRSET.reg |= spi->mosi_bm | spi->sck_bm | spi->csn_bm;
+ spi->port->PINCFG[spi->mosi_pin].bit.PMUXEN = 1;
+ spi->port->PINCFG[spi->sck_pin].bit.PMUXEN = 1;
+ spi->port->PINCFG[spi->csn_pin].bit.PMUXEN = 1;
+
+ if(spi->miso_pin % 2){ // yes if odd
+ spi->port->PMUX[spi->miso_pin >> 1].reg |= PORT_PMUX_PMUXO(spi->peripheral);
+ } else {
+ spi->port->PMUX[spi->miso_pin >> 1].reg |= PORT_PMUX_PMUXE(spi->peripheral);
+ }
+
+ if(spi->mosi_pin % 2){ // yes if odd
+ spi->port->PMUX[spi->mosi_pin >> 1].reg |= PORT_PMUX_PMUXO(spi->peripheral);
+ } else {
+ spi->port->PMUX[spi->mosi_pin >> 1].reg |= PORT_PMUX_PMUXE(spi->peripheral);
+ }
+
+ if(spi->sck_pin % 2){ // yes if odd
+ spi->port->PMUX[spi->sck_pin >> 1].reg |= PORT_PMUX_PMUXO(spi->peripheral);
+ } else {
+ spi->port->PMUX[spi->sck_pin >> 1].reg |= PORT_PMUX_PMUXE(spi->peripheral);
+ }
+
+ if(spi->csn_pin % 2){ // yes if odd
+ spi->port->PMUX[spi->csn_pin >> 1].reg |= PORT_PMUX_PMUXO(spi->peripheral);
+ } else {
+ spi->port->PMUX[spi->csn_pin >> 1].reg |= PORT_PMUX_PMUXE(spi->peripheral);
+ }
+
+ // build a clock for
+ GCLK->GENCTRL[gclknum].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
+ while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(gclknum));
+ GCLK->PCHCTRL[gclkidcore].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(gclknum);
+
+ // now some SERCOM
+ spi->com->SPI.CTRLA.bit.ENABLE = 0;
+ // master, data in pinout, data out pinout
+ spi->com->SPI.CTRLA.reg |= SERCOM_SPI_CTRLA_MODE(0x03);
+ //SERCOM0->SPI.CTRLA.reg |= SERCOM_SPI_CTRLA_CPHA | SERCOM_SPI_CTRLA_CPOL;
+ spi->com->SPI.CTRLA.reg |= SERCOM_SPI_CTRLA_DIPO(dipo) | SERCOM_SPI_CTRLA_DOPO(dopo);
+ // these to defaults, but here for show
+ //SERCOM0->SPI.CTRLA.reg |= SERCOM_SPI_CTRLA_DORD; // 0 MSB, 1 LSB
+ //SERCOM0->SPI.CTRLB.reg |= SERCOM_SPI_CTRLB_CHSIZE(0x0); // 8 bits character - 0x0, so no need to set
+ // BAUD
+ // f_baud = f_ref / (2 * (BAUD +1)) so BAUD = f_ref / (2 * f_baud) - 1
+ spi->com->SPI.BAUD.reg |= SERCOM_SPI_BAUD_BAUD(baud);
+ // use hardware slave select, enable receiver
+ spi->com->SPI.CTRLB.reg |= SERCOM_SPI_CTRLB_MSSEN | SERCOM_SPI_CTRLB_RXEN;
+ // turnt it up
+ spi->com->SPI.CTRLA.bit.ENABLE = 1;
+}
+
+void spi_txchar_polled(spiport_t *spi, uint8_t data){
+ while(!(spi->com->SPI.INTFLAG.bit.DRE));
+ spi->com->SPI.DATA.reg = SERCOM_SPI_DATA_DATA(data);
+}
+
+void spi_txrxchar_polled(spiport_t *spi, uint8_t data, uint8_t *rxdata){
+ // how to read?
+}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/spiport.h b/embedded/mkstepper-v011/mkstepper-v011/spiport.h
new file mode 100644
index 0000000000000000000000000000000000000000..c433d455c67762125889c83fa82d3700d0326642
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/spiport.h
@@ -0,0 +1,38 @@
+/*
+ * spiport.h
+ *
+ * Created: 2/7/2018 10:51:52 AM
+ * Author: Jake
+ */
+
+
+#ifndef SPIPORT_H_
+#define SPIPORT_H_
+
+#include "sam.h"
+
+typedef struct{
+ Sercom *com;
+ PortGroup *port;
+
+ uint32_t miso_pin;
+ uint32_t miso_bm;
+ uint32_t mosi_pin;
+ uint32_t mosi_bm;
+ uint32_t sck_pin;
+ uint32_t sck_bm;
+ uint32_t csn_pin;
+ uint32_t csn_bm;
+
+ uint32_t apbx;
+ uint32_t peripheral;
+ uint32_t baud;
+}spiport_t;
+
+spiport_t spi_new(Sercom *com, PortGroup *port, uint32_t miso_pin, uint32_t mosi_pin, uint32_t sck_pin, uint32_t csn_pin, uint32_t apbx, uint32_t peripheral);
+
+void spi_init(spiport_t *spi, uint32_t gclknum, uint32_t gclkidcore, uint8_t baud, uint32_t dipo, uint32_t dopo);
+void spi_txchar_polled(spiport_t *spi, uint8_t data);
+void spi_txrxchar_polled(spiport_t *spi, uint8_t data, uint8_t *rxdata);
+
+#endif /* SPIPORT_H_ */
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/uartport.c b/embedded/mkstepper-v011/mkstepper-v011/uartport.c
new file mode 100644
index 0000000000000000000000000000000000000000..3ecefebe78928c4cc38579d3f2258b7a99f0b4ea
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/uartport.c
@@ -0,0 +1,97 @@
+/*
+ * uartport.c
+ *
+ * Created: 2/6/2018 10:48:26 AM
+ * Author: Jake
+ */
+
+#include "uartport.h"
+
+uartport_t uart_new(Sercom *com, PortGroup *port, ringbuffer_t *rbrx, ringbuffer_t *rbtx, uint32_t rx_pin, uint32_t tx_pin, uint32_t apbx, uint32_t peripheral){
+ uartport_t uart;
+
+ uart.com = com;
+ uart.port = port;
+
+ uart.rbrx = rbrx;
+ uart.rbtx = rbtx;
+
+ uart.rx_pin = rx_pin;
+ uart.rx_bm = (uint32_t)(1 << rx_pin);
+ uart.tx_pin = tx_pin;
+ uart.tx_bm = (uint32_t)(1 << tx_pin);
+ uart.apbx = apbx;
+ uart.peripheral = peripheral;
+ // add ringbuffers
+ return uart;
+}
+
+void uart_init(uartport_t *uart, uint32_t gclknum, uint32_t gclkidcore, uint16_t baud){
+ // rx pin setups
+ uart->port->DIRCLR.reg = uart->rx_bm;
+ uart->port->PINCFG[uart->rx_pin].bit.PMUXEN = 1;
+ if(uart->rx_pin % 2){ // yes if odd
+ uart->port->PMUX[uart->rx_pin >> 1].reg |= PORT_PMUX_PMUXO(uart->peripheral);
+ } else {
+ uart->port->PMUX[uart->rx_pin >> 1].reg |= PORT_PMUX_PMUXE(uart->peripheral);
+ }
+ // tx pin setups
+ uart->port->DIRSET.reg = uart->tx_bm;
+ uart->port->PINCFG[uart->tx_pin].bit.PMUXEN = 1;
+ if(uart->tx_pin % 2){ // yes if odd
+ uart->port->PMUX[uart->tx_pin >> 1].reg |= PORT_PMUX_PMUXO(uart->peripheral);
+ } else {
+ uart->port->PMUX[uart->tx_pin >> 1].reg |= PORT_PMUX_PMUXE(uart->peripheral);
+ }
+
+ // unmask the clock
+ // -> have to do this manually b/c unfavourable api
+ GCLK->GENCTRL[gclknum].reg = GCLK_GENCTRL_SRC(GCLK_GENCTRL_SRC_DFLL) | GCLK_GENCTRL_GENEN;
+ while(GCLK->SYNCBUSY.reg & GCLK_SYNCBUSY_GENCTRL(gclknum));
+ GCLK->PCHCTRL[gclkidcore].reg = GCLK_PCHCTRL_CHEN | GCLK_PCHCTRL_GEN(gclknum);
+ // now the sercom
+ while(uart->com->USART.SYNCBUSY.bit.ENABLE);
+ uart->com->USART.CTRLA.bit.ENABLE = 0;
+ while(uart->com->USART.SYNCBUSY.bit.SWRST);
+ uart->com->USART.CTRLA.bit.SWRST = 1;
+ while(uart->com->USART.SYNCBUSY.bit.SWRST);
+ while(uart->com->USART.SYNCBUSY.bit.SWRST || SERCOM5->USART.SYNCBUSY.bit.ENABLE);
+
+ uart->com->USART.CTRLA.reg = SERCOM_USART_CTRLA_MODE(1) | SERCOM_USART_CTRLA_DORD | SERCOM_USART_CTRLA_RXPO(1) | SERCOM_USART_CTRLA_TXPO(0);
+ while(uart->com->USART.SYNCBUSY.bit.CTRLB);
+ uart->com->USART.CTRLB.reg = SERCOM_USART_CTRLB_RXEN | SERCOM_USART_CTRLB_TXEN | SERCOM_USART_CTRLB_CHSIZE(0);
+ /*
+ BAUD = 65536*(1-S*(fBAUD/fref))
+ where S is samples per bit, 16 for async uart
+ where fBAUD is the rate that you want
+ where fref is the peripheral clock from GCLK, in this case (and most) 48MHz
+ */
+ uart->com->USART.BAUD.reg = baud;
+ while(uart->com->USART.SYNCBUSY.bit.ENABLE);
+ uart->com->USART.CTRLA.bit.ENABLE = 1;
+
+ uart->com->USART.INTENSET.bit.RXC = 1; // set receive interrupt on, see 34.6.4.2
+}
+
+void uart_sendchar_polled(uartport_t *uart, uint8_t data){
+ while(!uart->com->USART.INTFLAG.bit.DRE);
+ uart->com->USART.DATA.reg = data;
+}
+
+void uart_sendchar_buffered(uartport_t *uart, uint8_t data){
+ rb_putchar(uart->rbtx, data); // dump it in there
+ uart->com->USART.INTENSET.bit.DRE = 1; // set up the volley
+}
+
+void uart_rxhandler(uartport_t *uart){
+ uint8_t data = uart->com->USART.DATA.reg;
+ rb_putchar(uart->rbrx, data);
+}
+
+void uart_txhandler(uartport_t *uart){
+ if(!rb_empty(uart->rbtx)){
+ uart->com->USART.DATA.reg = rb_get(uart->rbtx);
+ } else {
+ uart->com->USART.INTENCLR.reg = SERCOM_USART_INTENCLR_DRE;
+ }
+}
\ No newline at end of file
diff --git a/embedded/mkstepper-v011/mkstepper-v011/uartport.h b/embedded/mkstepper-v011/mkstepper-v011/uartport.h
new file mode 100644
index 0000000000000000000000000000000000000000..9551ce38016404eb19e17b6ab0a6715e0191e139
--- /dev/null
+++ b/embedded/mkstepper-v011/mkstepper-v011/uartport.h
@@ -0,0 +1,51 @@
+/*
+ * uartport.h
+ *
+ * Created: 2/6/2018 10:47:56 AM
+ * Author: Jake
+ */
+
+#ifndef UARTPORT_H_
+#define UARTPORT_H_
+
+#include "sam.h"
+#include "ringbuffer.h"
+
+#define HARDWARE_IS_APBA 0
+#define HARDWARE_IS_APBB 1
+#define HARDWARE_IS_APBC 2
+#define HARDWARE_IS_APBD 3
+
+#define HARDWARE_ON_PERIPHERAL_A 0x0
+#define HARDWARE_ON_PERIPHERAL_B 0x1
+#define HARDWARE_ON_PERIPHERAL_C 0x2
+#define HARDWARE_ON_PERIPHERAL_D 0x3
+
+typedef struct{
+ Sercom *com;
+ PortGroup *port;
+
+ ringbuffer_t *rbrx;
+ ringbuffer_t *rbtx;
+
+ uint32_t rx_pin;
+ uint32_t rx_bm;
+ uint32_t tx_pin;
+ uint32_t tx_bm;
+
+ uint32_t apbx;
+ uint32_t peripheral;
+ uint16_t baud;
+}uartport_t;
+
+uartport_t uart_new(Sercom *com, PortGroup *port, ringbuffer_t *rbrx, ringbuffer_t *rbtx, uint32_t rx_pin, uint32_t tx_pin, uint32_t apbx, uint32_t peripheral);
+
+void uart_init(uartport_t *uart, uint32_t gclknum, uint32_t gclkidcore, uint16_t baud);
+
+void uart_sendchar_polled(uartport_t *uart, uint8_t data);
+void uart_sendchar_buffered(uartport_t *uart, uint8_t data);
+
+void uart_rxhandler(uartport_t *uart);
+void uart_txhandler(uartport_t *uart);
+
+#endif /* UARTPORT_H_ */
\ No newline at end of file