Merge pull request #2415 from dhalbert/4.x-robohatmm1_m4

replace robohatmm1 with robohatmm1_m4

.travis.yml

@@ -24,7 +24,7 @@ env:
   - TRAVIS_TESTS="unix docs translations website" TRAVIS_BOARDS="circuitplayground_express mini_sam_m4 grandcentral_m4_express capablerobot_usbhub pygamer pca10056 pca10059 feather_nrf52840_express makerdiary_nrf52840_mdk makerdiary_nrf52840_mdk_usb_dongle particle_boron particle_argon particle_xenon sparkfun_nrf52840_mini electronut_labs_papyr electronut_labs_blip" TRAVIS_SDK=arm:nrf
   - TRAVIS_BOARDS="metro_m0_express metro_m4_express metro_m4_airlift_lite pirkey_m0 trellis_m4_express trinket_m0 sparkfun_lumidrive sparkfun_redboard_turbo bast_pro_mini_m0 datum_distance pyruler" TRAVIS_SDK=arm
   - TRAVIS_BOARDS="feather_radiofruit_zigbee gemma_m0 hallowing_m0_express itsybitsy_m0_express itsybitsy_m4_express meowmeow sam32 uchip escornabot_makech pygamer_advance datum_imu" TRAVIS_SDK=arm
-  - TRAVIS_BOARDS="feather_m0_express_crickit feather_m0_rfm69 feather_m0_rfm9x feather_m4_express arduino_zero arduino_mkr1300 arduino_mkrzero pewpew10 kicksat-sprite ugame10 robohatmm1 datum_light hallowing_m4_express" TRAVIS_SDK=arm
+  - TRAVIS_BOARDS="feather_m0_express_crickit feather_m0_rfm69 feather_m0_rfm9x feather_m4_express arduino_zero arduino_mkr1300 arduino_mkrzero pewpew10 kicksat-sprite ugame10 robohatmm1_m4 datum_light hallowing_m4_express" TRAVIS_SDK=arm
   - TRAVIS_BOARDS="circuitplayground_express_crickit feather_m0_adalogger feather_m0_basic feather_m0_express catwan_usbstick pyportal sparkfun_samd21_mini sparkfun_samd21_dev pybadge pybadge_airlift datum_weather" TRAVIS_SDK=arm
 
 addons:

frozen/Adafruit_CircuitPython_BusDevice

@@ -1 +1 @@
-Subproject commit b9280af5142fc41639229544678e23b5cca07c3a
+Subproject commit 2000ae3a7c5d60b850c9546a16425aee279e2a36

frozen/Adafruit_CircuitPython_CircuitPlayground

@@ -1 +1 @@
-Subproject commit 154b74de020764597ba49f0d1e8cc18d55b3643b
+Subproject commit 82ba9e40dfff41fdc0541636afde4936c930d86c

frozen/Adafruit_CircuitPython_Crickit

@@ -1 +1 @@
-Subproject commit 617bb0787f2c61283d248632a62b27be80f64b29
+Subproject commit 5534662902a223ac8562e6f999d6359e4c17dab1

frozen/Adafruit_CircuitPython_DotStar

@@ -1 +1 @@
-Subproject commit 409e90902ac49720c4add985e8e1a1660bbe63a0
+Subproject commit 01e89a8437c78b62d4d655c745ded57e26dc747a

frozen/Adafruit_CircuitPython_HID

@@ -1 +1 @@
-Subproject commit 89faee0eb08a6855e14f117c514fecf2dd90769d
+Subproject commit a23b80569f23ef109667dd8c595d319e8a30d620

frozen/Adafruit_CircuitPython_IRRemote

@@ -1 +1 @@
-Subproject commit 70865ac6e09f821b26ec727e2df300a6d9ebf6b3
+Subproject commit 8b7611a2cc076a2ac1b368c70227519f69f1e3e9

frozen/Adafruit_CircuitPython_LIS3DH

@@ -1 +1 @@
-Subproject commit bd7ddc67dc86f7ad0115f58ab80d5605739c6482
+Subproject commit 53146ab2e82c318c3c37bd76bac34035a597b311

frozen/Adafruit_CircuitPython_Motor

@@ -1 +1 @@
-Subproject commit ddc74844983b35b027bd45091c7b8bb3c8d7a2d1
+Subproject commit f69fc9b47fa25ba1414eb3d5c82f05013280c0d2

frozen/Adafruit_CircuitPython_NeoPixel

@@ -1 +1 @@
-Subproject commit c0bdd8b10383725ee9293f5d88fb8d47eb1272bd
+Subproject commit ff99d55115f81899902c2c4a84fdfbea9ae83823

frozen/Adafruit_CircuitPython_Thermistor

@@ -1 +1 @@
-Subproject commit 893c5ec6a9aeef38284985074c2058e87754ad3d
+Subproject commit 2e5aedf18eb417a4120d4998ac1f387a4f600730

frozen/Adafruit_CircuitPython_seesaw

@@ -1 +1 @@
-Subproject commit f1171f94083ba64d153ff3f90eeb07500331d6e1
+Subproject commit ea5e445edd4441cacd207aa2d2bfd724b813a253

frozen/circuitpython-stage

@@ -1 +1 @@
-Subproject commit 6d1ae72916cf240ea86185c45f844d59f56d8ec3
+Subproject commit c1d8e1d645cbc83d857e12cf4ba67549b988a4e7

ports/atmel-samd/boards/circuitplayground_express/mpconfigboard.h

@@ -33,6 +33,9 @@
 // Explanation of how a user got into safe mode.
 #define BOARD_USER_SAFE_MODE_ACTION "pressing both buttons at start up"
 
+// Increase stack size slightly due to CPX library import nesting
+#define CIRCUITPY_DEFAULT_STACK_SIZE  (4632) // Must be divisible by 8 or will HardFault.
+
 #define DEFAULT_I2C_BUS_SCL (&pin_PB03)
 #define DEFAULT_I2C_BUS_SDA (&pin_PB02)
 

ports/atmel-samd/boards/circuitplayground_express_crickit/mpconfigboard.h

@@ -33,6 +33,9 @@
 // Explanation of how a user got into safe mode.
 #define BOARD_USER_SAFE_MODE_ACTION "pressing both buttons at start up"
 
+// Increase stack size slightly due to CPX library import nesting
+#define CIRCUITPY_DEFAULT_STACK_SIZE  (4632) // Must be divisible by 8 or will HardFault.
+
 #define DEFAULT_I2C_BUS_SCL (&pin_PB03)
 #define DEFAULT_I2C_BUS_SDA (&pin_PB02)
 

ports/atmel-samd/boards/robohatmm1/mpconfigboard.h

@@ -1,46 +0,0 @@
-#define MICROPY_HW_BOARD_NAME "Robo HAT MM1"
-#define MICROPY_HW_MCU_NAME "samd21g18"
-
-#define MICROPY_HW_LED_STATUS   (&pin_PA21)
-
-// Salae reads 12mhz which is the limit even though we set it to the safer 8mhz.
-#define SPI_FLASH_BAUDRATE  (8000000)
-
-// On-board flash
-#define SPI_FLASH_MOSI_PIN          &pin_PA12
-#define SPI_FLASH_MISO_PIN          &pin_PA14
-#define SPI_FLASH_SCK_PIN           &pin_PA13
-#define SPI_FLASH_CS_PIN            &pin_PA15
-
-// These are pins not to reset.
-#define MICROPY_PORT_A        ( 0 ) //PORT_PA06
-#define MICROPY_PORT_B        ( 0 )
-#define MICROPY_PORT_C        ( 0 )
-
-
-// If you change this, then make sure to update the linker scripts as well to
-// make sure you don't overwrite code.
-#define CIRCUITPY_INTERNAL_NVM_SIZE 256
-
-#define BOARD_FLASH_SIZE (0x00040000 - 0x2000 - CIRCUITPY_INTERNAL_NVM_SIZE)
-
-//#define BOARD_HAS_CRYSTAL 0
-#define CALIBRATE_CRYSTALLESS 1
-
-#define DEFAULT_I2C_BUS_SCL (&pin_PA23)
-#define DEFAULT_I2C_BUS_SDA (&pin_PA22)
-
-#define DEFAULT_SPI_BUS_SCK (&pin_PB11)
-#define DEFAULT_SPI_BUS_MOSI (&pin_PB10)
-#define DEFAULT_SPI_BUS_MISO (&pin_PB08)
-
-#define DEFAULT_UART_BUS_RX (&pin_PB23)
-#define DEFAULT_UART_BUS_TX (&pin_PB22)
-
-// USB is always used internally so skip the pin objects for it.
-#define IGNORE_PIN_PA24     1
-#define IGNORE_PIN_PA25     1
-
-//#define CIRCUITPY_I2CSLAVE
-//#define CIRCUITPY_DISPLAYIO (0)
-

ports/atmel-samd/boards/robohatmm1/mpconfigboard.mk

@@ -1,33 +0,0 @@
-LD_FILE = boards/samd21x18-bootloader-external-flash-crystalless.ld
-USB_VID = 0x1209
-USB_PID = 0x4D43
-USB_PRODUCT = "Robo HAT MM1"
-USB_MANUFACTURER = "Robotics Masters"
-
-CHIP_VARIANT = SAMD21G18A
-CHIP_FAMILY = samd21
-
-# Non-Flash Edition
-#INTERNAL_FLASH_FILESYSTEM = 1
-#LONGINT_IMPL = NONE
-#SUPEROPT_GC = 0
-
-# SPI-Flash Edition
-SPI_FLASH_FILESYSTEM = 1
-EXTERNAL_FLASH_DEVICE_COUNT = 1
-EXTERNAL_FLASH_DEVICES = "W25Q64JV_IQ"
-LONGINT_IMPL = MPZ
-# Make room for frozen Libraries
-CIRCUITPY_DISPLAYIO = 0
-CIRCUITPY_FREQUENCYIO = 0
-
-CFLAGS_INLINE_LIMIT = 55
-
-# Include these Python libraries in firmware.
-FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice
-#FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_INA219
-#FROZEN_MPY_DIRS += $(TOP)/frozen/RoboticsMasters_CircuitPython_MPU9250
-FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_NeoPixel
-#FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_Crickit
-#FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_Motor
-#FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_seesaw

ports/atmel-samd/boards/robohatmm1/pins.c

@@ -1,88 +0,0 @@
-#include "shared-bindings/board/__init__.h"
-
-STATIC const mp_rom_map_elem_t board_global_dict_table[] = {	
-	// SERVO Pins
-	{ MP_ROM_QSTR(MP_QSTR_SERVO1), MP_ROM_PTR(&pin_PA16) },
-	{ MP_ROM_QSTR(MP_QSTR_SERVO2), MP_ROM_PTR(&pin_PA17) },
-	{ MP_ROM_QSTR(MP_QSTR_SERVO3), MP_ROM_PTR(&pin_PA18) },
-	{ MP_ROM_QSTR(MP_QSTR_SERVO4), MP_ROM_PTR(&pin_PA19) },
-	{ MP_ROM_QSTR(MP_QSTR_SERVO5), MP_ROM_PTR(&pin_PA11) },
-	{ MP_ROM_QSTR(MP_QSTR_SERVO6), MP_ROM_PTR(&pin_PA10) },
-	{ MP_ROM_QSTR(MP_QSTR_SERVO7), MP_ROM_PTR(&pin_PA09) },
-	{ MP_ROM_QSTR(MP_QSTR_SERVO8), MP_ROM_PTR(&pin_PA08) },
-	
-	// RC_CH Pins
-	{ MP_ROM_QSTR(MP_QSTR_RCH1), MP_ROM_PTR(&pin_PA07) },
-	{ MP_ROM_QSTR(MP_QSTR_RCH2), MP_ROM_PTR(&pin_PA06) },
-	{ MP_ROM_QSTR(MP_QSTR_RCH3), MP_ROM_PTR(&pin_PA05) },
-	{ MP_ROM_QSTR(MP_QSTR_RCH4), MP_ROM_PTR(&pin_PA04) },
-	
-	// Special Function
-	{ MP_ROM_QSTR(MP_QSTR_BATTERY), MP_ROM_PTR(&pin_PA02) },
-	{ MP_ROM_QSTR(MP_QSTR_POWER_OFF), MP_ROM_PTR(&pin_PA03) },
-	{ MP_ROM_QSTR(MP_QSTR_POWER_ENABLE), MP_ROM_PTR(&pin_PA28) },
-	
-	{ MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_PA20) },
-	{ MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&pin_PA21) },
-	{ MP_ROM_QSTR(MP_QSTR_SDA), MP_ROM_PTR(&pin_PA22) },
-	{ MP_ROM_QSTR(MP_QSTR_SCL), MP_ROM_PTR(&pin_PA23) },
-	{ MP_ROM_QSTR(MP_QSTR_TX), MP_ROM_PTR(&pin_PB22) },
-	{ MP_ROM_QSTR(MP_QSTR_RX), MP_ROM_PTR(&pin_PB23) },
-
-	// UART on SERCOM0
-	{ MP_ROM_QSTR(MP_QSTR_UART_TX), MP_ROM_PTR(&pin_PA04) },
-	{ MP_ROM_QSTR(MP_QSTR_UART_RX), MP_ROM_PTR(&pin_PA05) },
-	{ MP_ROM_QSTR(MP_QSTR_UART_CTS), MP_ROM_PTR(&pin_PA06) },
-	{ MP_ROM_QSTR(MP_QSTR_UART_RTS), MP_ROM_PTR(&pin_PA07) },
-
-	// SPI Flash on SERCOM2
-	{ MP_ROM_QSTR(MP_QSTR_FLASH_SCK), MP_ROM_PTR(&pin_PA13) },
-	{ MP_ROM_QSTR(MP_QSTR_FLASH_MISO), MP_ROM_PTR(&pin_PA14) },
-	{ MP_ROM_QSTR(MP_QSTR_FLASH_MOSI), MP_ROM_PTR(&pin_PA12) },
-	{ MP_ROM_QSTR(MP_QSTR_FLASH_CS), MP_ROM_PTR(&pin_PA15) },
-
-	// I2C on SERCOM3
-	{ MP_ROM_QSTR(MP_QSTR_I2C_SDA), MP_ROM_PTR(&pin_PA00) },
-	{ MP_ROM_QSTR(MP_QSTR_I2C_SCL), MP_ROM_PTR(&pin_PA01) },
-	
-	// SPI on SERCOM4
-	{ MP_ROM_QSTR(MP_QSTR_SPI_SCK), MP_ROM_PTR(&pin_PB11) },
-	{ MP_ROM_QSTR(MP_QSTR_SPI_MISO), MP_ROM_PTR(&pin_PB08) },
-	{ MP_ROM_QSTR(MP_QSTR_SPI_MOSI), MP_ROM_PTR(&pin_PB10) },
-	{ MP_ROM_QSTR(MP_QSTR_SPI_SS), MP_ROM_PTR(&pin_PB09) },
-	
-	// GPS on SERCOM5
-	{ MP_ROM_QSTR(MP_QSTR_GPS_TX), MP_ROM_PTR(&pin_PB02) },
-	{ MP_ROM_QSTR(MP_QSTR_GPS_RX), MP_ROM_PTR(&pin_PB03) },
-	{ MP_ROM_QSTR(MP_QSTR_GPS_SDA), MP_ROM_PTR(&pin_PA00) },
-	{ MP_ROM_QSTR(MP_QSTR_GPS_SCL), MP_ROM_PTR(&pin_PA01) },
-	
-	// Raspberry Pi
-	{ MP_ROM_QSTR(MP_QSTR_PI_GP25), MP_ROM_PTR(&pin_PA30) },
-	{ MP_ROM_QSTR(MP_QSTR_PI_GP24), MP_ROM_PTR(&pin_PA31) },
-	{ MP_ROM_QSTR(MP_QSTR_PI_GP5), MP_ROM_PTR(&pin_PA27) },
-	{ MP_ROM_QSTR(MP_QSTR_PI_RX), MP_ROM_PTR(&pin_PB22) },
-	{ MP_ROM_QSTR(MP_QSTR_PI_TX), MP_ROM_PTR(&pin_PB23) },
-	
-	// SIGNAL / Digital pins (for reference)
-	{ MP_ROM_QSTR(MP_QSTR_D0), MP_ROM_PTR(&pin_PB23) },
-	{ MP_ROM_QSTR(MP_QSTR_D1), MP_ROM_PTR(&pin_PB22) },
-	{ MP_ROM_QSTR(MP_QSTR_D2), MP_ROM_PTR(&pin_PB02) },
-	{ MP_ROM_QSTR(MP_QSTR_D3), MP_ROM_PTR(&pin_PB03) },
-	{ MP_ROM_QSTR(MP_QSTR_D4), MP_ROM_PTR(&pin_PA00) },
-	{ MP_ROM_QSTR(MP_QSTR_D5), MP_ROM_PTR(&pin_PA01) },
-	{ MP_ROM_QSTR(MP_QSTR_D6), MP_ROM_PTR(&pin_PA28) },
-	{ MP_ROM_QSTR(MP_QSTR_D7), MP_ROM_PTR(&pin_PA03) },
-	{ MP_ROM_QSTR(MP_QSTR_D8), MP_ROM_PTR(&pin_PA20) },
-	{ MP_ROM_QSTR(MP_QSTR_D9), MP_ROM_PTR(&pin_PB11) },
-	{ MP_ROM_QSTR(MP_QSTR_D10), MP_ROM_PTR(&pin_PB09) },
-	{ MP_ROM_QSTR(MP_QSTR_D11), MP_ROM_PTR(&pin_PB10) },
-	{ MP_ROM_QSTR(MP_QSTR_D12), MP_ROM_PTR(&pin_PB08) },
-	{ MP_ROM_QSTR(MP_QSTR_D13), MP_ROM_PTR(&pin_PA21) },
-	{ MP_ROM_QSTR(MP_QSTR_D14), MP_ROM_PTR(&pin_PA03) },
-	
-	{ MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) },
-	{ MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj) },
-	{ MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) },
-};
-MP_DEFINE_CONST_DICT(board_module_globals, board_global_dict_table);

ports/atmel-samd/boards/robohatmm1_m4/board.c

@@ -25,9 +25,10 @@
  */
 
 #include "boards/board.h"
+#include "mpconfigboard.h"
+#include "hal/include/hal_gpio.h"
 
-void board_init(void)
-{
+void board_init(void) {
 }
 
 bool board_requests_safe_mode(void) {

ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.h

@@ -0,0 +1,44 @@
+#define MICROPY_HW_BOARD_NAME "Robo HAT MM1 M4"
+#define MICROPY_HW_MCU_NAME "samd51g19"
+
+#define CIRCUITPY_MCU_FAMILY samd51
+
+#define MICROPY_HW_LED_STATUS   (&pin_PB22)
+
+// Salae reads 12mhz which is the limit even though we set it to the safer 8mhz.
+#define SPI_FLASH_BAUDRATE  (8000000)
+
+// On-board flash
+#define SPI_FLASH_MOSI_PIN          &pin_PA12
+#define SPI_FLASH_MISO_PIN          &pin_PA14
+#define SPI_FLASH_SCK_PIN           &pin_PA13
+#define SPI_FLASH_CS_PIN            &pin_PA15
+
+// These are pins not to reset.
+// SPI Data pins
+#define MICROPY_PORT_A (0)
+#define MICROPY_PORT_B (0)
+#define MICROPY_PORT_C (0)
+#define MICROPY_PORT_D (0)
+
+#define AUTORESET_DELAY_MS 500
+
+// If you change this, then make sure to update the linker scripts as well to
+// make sure you don't overwrite code
+#define CIRCUITPY_INTERNAL_NVM_SIZE 8192
+
+#define BOARD_FLASH_SIZE (FLASH_SIZE - 0x4000 - CIRCUITPY_INTERNAL_NVM_SIZE)
+
+#define DEFAULT_I2C_BUS_SCL (&pin_PA23)
+#define DEFAULT_I2C_BUS_SDA (&pin_PA22)
+
+#define DEFAULT_SPI_BUS_SCK (&pin_PB09)
+#define DEFAULT_SPI_BUS_MOSI (&pin_PB08)
+#define DEFAULT_SPI_BUS_MISO (&pin_PB11)
+
+//#define DEFAULT_UART_BUS_RX (&pin_PB03)
+//#define DEFAULT_UART_BUS_TX (&pin_PB02)
+
+// USB is always used internally so skip the pin objects for it.
+#define IGNORE_PIN_PA24     1
+#define IGNORE_PIN_PA25     1

ports/atmel-samd/boards/robohatmm1_m4/mpconfigboard.mk

@@ -0,0 +1,28 @@
+LD_FILE = boards/samd51x19-bootloader-external-flash.ld
+USB_VID = 0x1209
+USB_PID = 0x4D43
+USB_PRODUCT = "Robo HAT MM1 M4"
+USB_MANUFACTURER = "Robotics Masters"
+
+CHIP_VARIANT = SAMD51G19A
+CHIP_FAMILY = samd51
+
+#QSPI_FLASH_FILESYSTEM = 0
+
+SPI_FLASH_FILESYSTEM = 1
+EXTERNAL_FLASH_DEVICE_COUNT = 1
+EXTERNAL_FLASH_DEVICES = "W25Q64JV_IQ"
+LONGINT_IMPL = MPZ
+
+CIRCUITPY_PS2IO = 1
+# No I2S on SAMD51G
+CIRCUITPY_AUDIOBUSIO = 0
+# Make room for more stuff
+CIRCUITPY_DISPLAYIO = 0
+CIRCUITPY_FREQUENCYIO = 0
+
+# Include these Python libraries in firmware.
+#FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_BusDevice
+FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_NeoPixel
+#FROZEN_MPY_DIRS += $(TOP)/frozen/Adafruit_CircuitPython_INA219
+#FROZEN_MPY_DIRS += $(TOP)/frozen/RoboticsMasters_CircuitPython_MPU9250

ports/atmel-samd/boards/robohatmm1_m4/pins.c

@@ -0,0 +1,91 @@
+#include "shared-bindings/board/__init__.h"
+// Version 2.4
+STATIC const mp_rom_map_elem_t board_global_dict_table[] = {
+	// SERVO Pins
+	{ MP_ROM_QSTR(MP_QSTR_SERVO1), MP_ROM_PTR(&pin_PA18) },
+	{ MP_ROM_QSTR(MP_QSTR_SERVO2), MP_ROM_PTR(&pin_PA19) },
+	{ MP_ROM_QSTR(MP_QSTR_SERVO3), MP_ROM_PTR(&pin_PA20) },
+	{ MP_ROM_QSTR(MP_QSTR_SERVO4), MP_ROM_PTR(&pin_PA21) },
+	{ MP_ROM_QSTR(MP_QSTR_SERVO5), MP_ROM_PTR(&pin_PA11) },
+	{ MP_ROM_QSTR(MP_QSTR_SERVO6), MP_ROM_PTR(&pin_PA10) },
+	{ MP_ROM_QSTR(MP_QSTR_SERVO7), MP_ROM_PTR(&pin_PA09) },
+	{ MP_ROM_QSTR(MP_QSTR_SERVO8), MP_ROM_PTR(&pin_PA08) },
+
+	// RCC Pins
+	{ MP_ROM_QSTR(MP_QSTR_RCC1), MP_ROM_PTR(&pin_PA07) },
+	{ MP_ROM_QSTR(MP_QSTR_RCC2), MP_ROM_PTR(&pin_PA06) },
+	{ MP_ROM_QSTR(MP_QSTR_RCC3), MP_ROM_PTR(&pin_PA05) },
+	{ MP_ROM_QSTR(MP_QSTR_RCC4), MP_ROM_PTR(&pin_PA04) },
+
+	// Special Function
+	{ MP_ROM_QSTR(MP_QSTR_VOLTAGE_MONITOR), MP_ROM_PTR(&pin_PA02) },
+	{ MP_ROM_QSTR(MP_QSTR_BATTERY), MP_ROM_PTR(&pin_PA02) },
+	{ MP_ROM_QSTR(MP_QSTR_POWER_OFF), MP_ROM_PTR(&pin_PA03) },
+	{ MP_ROM_QSTR(MP_QSTR_POWER_DISABLE), MP_ROM_PTR(&pin_PA03) },
+	{ MP_ROM_QSTR(MP_QSTR_POWER_ON), MP_ROM_PTR(&pin_PA27) },
+	{ MP_ROM_QSTR(MP_QSTR_POWER_ENABLE), MP_ROM_PTR(&pin_PA27) },
+	{ MP_ROM_QSTR(MP_QSTR_BUTTON), MP_ROM_PTR(&pin_PA27) },
+
+	{ MP_ROM_QSTR(MP_QSTR_NEOPIXEL), MP_ROM_PTR(&pin_PB23) },
+	{ MP_ROM_QSTR(MP_QSTR_LED), MP_ROM_PTR(&pin_PB22) },
+
+
+	// GROVE on SERCOM0
+	{ MP_ROM_QSTR(MP_QSTR_GROVE_SCL), MP_ROM_PTR(&pin_PA09) },
+	{ MP_ROM_QSTR(MP_QSTR_GROVE_SDA), MP_ROM_PTR(&pin_PA08) },
+	{ MP_ROM_QSTR(MP_QSTR_GROVE_RX), MP_ROM_PTR(&pin_PA09) },
+	{ MP_ROM_QSTR(MP_QSTR_GROVE_TX), MP_ROM_PTR(&pin_PA08) },
+	{ MP_ROM_QSTR(MP_QSTR_GROVE_D1), MP_ROM_PTR(&pin_PA09) },
+	{ MP_ROM_QSTR(MP_QSTR_GROVE_D0), MP_ROM_PTR(&pin_PA08) },
+	{ MP_ROM_QSTR(MP_QSTR_GROVE_A1), MP_ROM_PTR(&pin_PA09) },
+	{ MP_ROM_QSTR(MP_QSTR_GROVE_A0), MP_ROM_PTR(&pin_PA08) },
+
+	// UART on SERCOM0
+	{ MP_ROM_QSTR(MP_QSTR_UART_TX), MP_ROM_PTR(&pin_PA04) },
+	{ MP_ROM_QSTR(MP_QSTR_UART_RX), MP_ROM_PTR(&pin_PA05) },
+	{ MP_ROM_QSTR(MP_QSTR_UART_CTS), MP_ROM_PTR(&pin_PA06) },
+	{ MP_ROM_QSTR(MP_QSTR_UART_RTS), MP_ROM_PTR(&pin_PA07) },
+
+	// UART on SERCOM1 (Raspberry Pi)
+	{ MP_ROM_QSTR(MP_QSTR_TX1), MP_ROM_PTR(&pin_PA16) },
+	{ MP_ROM_QSTR(MP_QSTR_RX1), MP_ROM_PTR(&pin_PA17) },
+	{ MP_ROM_QSTR(MP_QSTR_PI_TX), MP_ROM_PTR(&pin_PA16) },
+	{ MP_ROM_QSTR(MP_QSTR_PI_RX), MP_ROM_PTR(&pin_PA17) },
+
+	// I2C on SERCOM1 (External Connector)
+	{ MP_ROM_QSTR(MP_QSTR_SDA1), MP_ROM_PTR(&pin_PA00) },
+	{ MP_ROM_QSTR(MP_QSTR_SCL1), MP_ROM_PTR(&pin_PA01) },
+
+	// SPI Flash on SERCOM2
+	{ MP_ROM_QSTR(MP_QSTR_FLASH_SCK), MP_ROM_PTR(&pin_PA13) },
+	{ MP_ROM_QSTR(MP_QSTR_FLASH_MISO), MP_ROM_PTR(&pin_PA14) },
+	{ MP_ROM_QSTR(MP_QSTR_FLASH_MOSI), MP_ROM_PTR(&pin_PA12) },
+	{ MP_ROM_QSTR(MP_QSTR_FLASH_CS), MP_ROM_PTR(&pin_PA15) },
+
+	// I2C on SERCOM3 (RPi & Internal)
+	{ MP_ROM_QSTR(MP_QSTR_SDA), MP_ROM_PTR(&pin_PA22) },
+	{ MP_ROM_QSTR(MP_QSTR_SCL), MP_ROM_PTR(&pin_PA23) },
+	{ MP_ROM_QSTR(MP_QSTR_PI_SDA), MP_ROM_PTR(&pin_PA22) },
+	{ MP_ROM_QSTR(MP_QSTR_PI_SCL), MP_ROM_PTR(&pin_PA23) },
+
+	// SPI on SERCOM4
+	{ MP_ROM_QSTR(MP_QSTR_MOSI), MP_ROM_PTR(&pin_PB08) },
+	{ MP_ROM_QSTR(MP_QSTR_SCK), MP_ROM_PTR(&pin_PB09) },
+	{ MP_ROM_QSTR(MP_QSTR_SS), MP_ROM_PTR(&pin_PB10) },
+	{ MP_ROM_QSTR(MP_QSTR_MISO), MP_ROM_PTR(&pin_PB11) },
+
+	// GPS on SERCOM5
+	{ MP_ROM_QSTR(MP_QSTR_GPS_TX), MP_ROM_PTR(&pin_PB02) },
+	{ MP_ROM_QSTR(MP_QSTR_GPS_RX), MP_ROM_PTR(&pin_PB03) },
+
+	// Raspberry Pi
+	{ MP_ROM_QSTR(MP_QSTR_PI_GP25), MP_ROM_PTR(&pin_PA30) },
+	{ MP_ROM_QSTR(MP_QSTR_SWCLK), MP_ROM_PTR(&pin_PA30) },
+	{ MP_ROM_QSTR(MP_QSTR_PI_GP24), MP_ROM_PTR(&pin_PA31) },
+	{ MP_ROM_QSTR(MP_QSTR_SWDIO), MP_ROM_PTR(&pin_PA31) },
+	
+	{ MP_ROM_QSTR(MP_QSTR_I2C), MP_ROM_PTR(&board_i2c_obj) },
+	{ MP_ROM_QSTR(MP_QSTR_SPI), MP_ROM_PTR(&board_spi_obj) },
+	//{ MP_ROM_QSTR(MP_QSTR_UART), MP_ROM_PTR(&board_uart_obj) },
+};
+MP_DEFINE_CONST_DICT(board_module_globals, board_global_dict_table);

ports/atmel-samd/mpconfigport.h

@@ -34,7 +34,6 @@
 #define CIRCUITPY_MCU_FAMILY                        samd21
 #define MICROPY_PY_SYS_PLATFORM                     "Atmel SAMD21"
 #define SPI_FLASH_MAX_BAUDRATE 8000000
-#define CIRCUITPY_DEFAULT_STACK_SIZE                4096
 #define MICROPY_PY_BUILTINS_NOTIMPLEMENTED          (0)
 #define MICROPY_PY_COLLECTIONS_ORDEREDDICT          (0)
 #define MICROPY_PY_FUNCTION_ATTRS                   (0)
@@ -69,6 +68,7 @@
 #define MICROPY_PY_UJSON                            (1)
 #define MICROPY_PY_REVERSE_SPECIAL_METHODS          (1)
 //      MICROPY_PY_UERRNO_LIST - Use the default
+
 #endif
 
 // Turning off audioio, audiobusio, and touchio as necessary
@@ -78,6 +78,19 @@
 
 #include "py/circuitpy_mpconfig.h"
 
+
+#ifdef SAMD21
+#ifndef CIRCUITPY_DEFAULT_STACK_SIZE
+#define CIRCUITPY_DEFAULT_STACK_SIZE                4096
+#endif
+#endif
+
+#ifdef SAMD51
+#ifndef CIRCUITPY_DEFAULT_STACK_SIZE
+#define CIRCUITPY_DEFAULT_STACK_SIZE                (24*1024)
+#endif
+#endif
+
 #define MICROPY_PORT_ROOT_POINTERS \
     CIRCUITPY_COMMON_ROOT_POINTERS \
     mp_obj_t playing_audio[AUDIO_DMA_CHANNEL_COUNT];

ports/nrf/common-hal/pulseio/PWMOut.c

@@ -233,6 +233,9 @@ void common_hal_pulseio_pwmout_deinit(pulseio_pwmout_obj_t* self) {
     // Disconnect pin from channel.
     pwm->PSEL.OUT[self->channel] = 0xFFFFFFFF;
 
+    reset_pin_number(self->pin_number);
+    self->pin_number = NO_PIN;
+
     for(int i=0; i < CHANNELS_PER_PWM; i++) {
         if (self->pwm->PSEL.OUT[i] != 0xFFFFFFFF) {
             // Some channel is still being used, so don't disable.

py/makeqstrdata.py

@@ -103,14 +103,10 @@ def compute_huffman_coding(translations, qstrs, compression_filename):
     # go through each qstr and print it out
     for _, _, qstr in qstrs.values():
         all_strings.append(qstr)
-    all_strings_concat = "".join(all_strings).encode("utf-8")
+    all_strings_concat = "".join(all_strings)
     counts = collections.Counter(all_strings_concat)
-    # add other values
-    for i in range(256):
-        if i not in counts:
-            counts[i] = 0
     cb = huffman.codebook(counts.items())
-    values = bytearray()
+    values = []
     length_count = {}
     renumbered = 0
     last_l = None
@@ -124,26 +120,27 @@ def compute_huffman_coding(translations, qstrs, compression_filename):
         if last_l:
             renumbered <<= (l - last_l)
         canonical[ch] = '{0:0{width}b}'.format(renumbered, width=l)
-        if chr(ch) in C_ESCAPES:
-            s = C_ESCAPES[chr(ch)]
-        else:
-            s = chr(ch)
-        print("//", ch, s, counts[ch], canonical[ch], renumbered)
+        s = C_ESCAPES.get(ch, ch)
+        print("//", ord(ch), s, counts[ch], canonical[ch], renumbered)
         renumbered += 1
         last_l = l
     lengths = bytearray()
-    for i in range(1, max(length_count) + 1):
+    print("// length count", length_count)
+    for i in range(1, max(length_count) + 2):
         lengths.append(length_count.get(i, 0))
+    print("// values", values, "lengths", len(lengths), lengths)
+    print("// estimated total memory size", len(lengths) + 2*len(values) + sum(len(cb[u]) for u in all_strings_concat))
     print("//", values, lengths)
+    values_type = "uint16_t" if max(ord(u) for u in values) > 255 else "uint8_t"
     with open(compression_filename, "w") as f:
         f.write("const uint8_t lengths[] = {{ {} }};\n".format(", ".join(map(str, lengths))))
-        f.write("const uint8_t values[256] = {{ {} }};\n".format(", ".join(map(str, values))))
+        f.write("const {} values[] = {{ {} }};\n".format(values_type, ", ".join(str(ord(u)) for u in values)))
     return values, lengths
 
 def decompress(encoding_table, length, encoded):
     values, lengths = encoding_table
     #print(l, encoded)
-    dec = bytearray(length)
+    dec = []
     this_byte = 0
     this_bit = 7
     b = encoded[this_byte]
@@ -173,14 +170,14 @@ def decompress(encoding_table, length, encoded):
             searched_length += lengths[bit_length]
 
         v = values[searched_length + bits - max_code]
-        dec[i] = v
-    return dec
+        dec.append(v)
+    return ''.join(dec)
 
 def compress(encoding_table, decompressed):
-    if not isinstance(decompressed, bytes):
+    if not isinstance(decompressed, str):
         raise TypeError()
     values, lengths = encoding_table
-    enc = bytearray(len(decompressed))
+    enc = bytearray(len(decompressed) * 3)
     #print(decompressed)
     #print(lengths)
     current_bit = 7
@@ -227,6 +224,8 @@ def compress(encoding_table, decompressed):
                 current_bit -= 1
     if current_bit != 7:
         current_byte += 1
+    if current_byte > len(decompressed):
+        print("Note: compression increased length", repr(decompressed), len(decompressed), current_byte, file=sys.stderr)
     return enc[:current_byte]
 
 def qstr_escape(qst):
@@ -345,9 +344,9 @@ def print_qstr_data(encoding_table, qcfgs, qstrs, i18ns):
     total_text_compressed_size = 0
     for original, translation in i18ns:
         translation_encoded = translation.encode("utf-8")
-        compressed = compress(encoding_table, translation_encoded)
+        compressed = compress(encoding_table, translation)
         total_text_compressed_size += len(compressed)
-        decompressed = decompress(encoding_table, len(translation_encoded), compressed).decode("utf-8")
+        decompressed = decompress(encoding_table, len(translation_encoded), compressed)
         for c in C_ESCAPES:
             decompressed = decompressed.replace(c, C_ESCAPES[c])
         print("TRANSLATION(\"{}\", {}, {{ {} }}) // {}".format(original, len(translation_encoded)+1, ", ".join(["0x{:02x}".format(x) for x in compressed]), decompressed))

supervisor/shared/rgb_led_status.c

@@ -39,7 +39,10 @@ static digitalio_digitalinout_obj_t status_neopixel;
 
 #if defined(MICROPY_HW_APA102_MOSI) && defined(MICROPY_HW_APA102_SCK)
 uint8_t rgb_status_brightness = 255;
-static uint8_t status_apa102_color[12] = {0, 0, 0, 0, 0xff, 0, 0, 0};
+
+#define APA102_BUFFER_LENGTH 12
+static uint8_t status_apa102_color[APA102_BUFFER_LENGTH] = {0, 0, 0, 0, 0xff, 0, 0, 0, 0xff, 0xff, 0xff, 0xff};
+
 #ifdef CIRCUITPY_BITBANG_APA102
 #include "shared-bindings/bitbangio/SPI.h"
 #include "shared-module/bitbangio/types.h"
@@ -104,10 +107,12 @@ void rgb_led_status_init() {
         apa102_sck_in_use = false;
         #ifdef CIRCUITPY_BITBANG_APA102
         shared_module_bitbangio_spi_try_lock(&status_apa102);
-        shared_module_bitbangio_spi_configure(&status_apa102, 100000, 0, 1, 8);
+        // Use 1MHz for clock rate. Some APA102's are spec'd 800kHz-1200kHz,
+        // though many can run much faster. bitbang will probably run slower.
+        shared_module_bitbangio_spi_configure(&status_apa102, 1000000, 0, 0, 8);
         #else
         common_hal_busio_spi_try_lock(&status_apa102);
-        common_hal_busio_spi_configure(&status_apa102, 100000, 0, 1, 8);
+        common_hal_busio_spi_configure(&status_apa102, 1000000, 0, 0, 8);
         #endif
     #endif
 
@@ -186,9 +191,9 @@ void new_status_color(uint32_t rgb) {
         status_apa102_color[7] = (rgb_adjusted >> 16) & 0xff;
 
         #ifdef CIRCUITPY_BITBANG_APA102
-        shared_module_bitbangio_spi_write(&status_apa102, status_apa102_color, 8);
+        shared_module_bitbangio_spi_write(&status_apa102, status_apa102_color, APA102_BUFFER_LENGTH);
         #else
-        common_hal_busio_spi_write(&status_apa102, status_apa102_color, 8);
+        common_hal_busio_spi_write(&status_apa102, status_apa102_color, APA102_BUFFER_LENGTH);
         #endif
     #endif
 
@@ -229,11 +234,11 @@ void temp_status_color(uint32_t rgb) {
         if (apa102_mosi_in_use || apa102_sck_in_use) {
             return;
         }
-        uint8_t colors[12] = {0, 0, 0, 0, 0xff, rgb_adjusted & 0xff, (rgb_adjusted >> 8) & 0xff, (rgb_adjusted >> 16) & 0xff, 0x0, 0x0, 0x0, 0x0};
+        uint8_t colors[APA102_BUFFER_LENGTH] = {0, 0, 0, 0, 0xff, rgb_adjusted & 0xff, (rgb_adjusted >> 8) & 0xff, (rgb_adjusted >> 16) & 0xff, 0xff, 0xff, 0xff, 0xff};
         #ifdef CIRCUITPY_BITBANG_APA102
-        shared_module_bitbangio_spi_write(&status_apa102, colors, 12);
+        shared_module_bitbangio_spi_write(&status_apa102, colors, APA102_BUFFER_LENGTH);
         #else
-        common_hal_busio_spi_write(&status_apa102, colors, 12);
+        common_hal_busio_spi_write(&status_apa102, colors, APA102_BUFFER_LENGTH);
         #endif
     #endif
     #if defined(CP_RGB_STATUS_LED)
@@ -265,9 +270,9 @@ void clear_temp_status() {
     #endif
     #if defined(MICROPY_HW_APA102_MOSI) && defined(MICROPY_HW_APA102_SCK)
         #ifdef CIRCUITPY_BITBANG_APA102
-        shared_module_bitbangio_spi_write(&status_apa102, status_apa102_color, 8);
+        shared_module_bitbangio_spi_write(&status_apa102, status_apa102_color, APA102_BUFFER_LENGTH);
         #else
-        common_hal_busio_spi_write(&status_apa102, status_apa102_color, 8);
+        common_hal_busio_spi_write(&status_apa102, status_apa102_color, APA102_BUFFER_LENGTH);
         #endif
     #endif
     #if defined(CP_RGB_STATUS_LED)

supervisor/shared/translate.c

@@ -42,12 +42,28 @@ void serial_write_compressed(const compressed_string_t* compressed) {
     serial_write(decompressed);
 }
 
+STATIC int put_utf8(char *buf, int u) {
+    if(u <= 0x7f) {
+        *buf = u;
+        return 1;
+    } else if(u <= 0x07ff) {
+        *buf++ = 0b11000000 | (u >> 6);
+        *buf   = 0b10000000 | (u & 0b00111111);
+        return 2;
+    } else { // u <= 0xffff)
+        *buf++ = 0b11000000 | (u >> 12);
+        *buf   = 0b10000000 | ((u >> 6) & 0b00111111);
+        *buf   = 0b10000000 | (u & 0b00111111);
+        return 3;
+    }
+}
+
 char* decompress(const compressed_string_t* compressed, char* decompressed) {
     uint8_t this_byte = 0;
     uint8_t this_bit = 7;
     uint8_t b = compressed->data[this_byte];
     // Stop one early because the last byte is always NULL.
-    for (uint16_t i = 0; i < compressed->length - 1; i++) {
+    for (uint16_t i = 0; i < compressed->length - 1;) {
         uint32_t bits = 0;
         uint8_t bit_length = 0;
         uint32_t max_code = lengths[0];
@@ -72,7 +88,7 @@ char* decompress(const compressed_string_t* compressed, char* decompressed) {
             max_code = (max_code << 1) + lengths[bit_length];
             searched_length += lengths[bit_length];
         }
-        decompressed[i] = values[searched_length + bits - max_code];
+        i += put_utf8(decompressed + i, values[searched_length + bits - max_code]);
     }
 
     decompressed[compressed->length-1] = '\0';

tools/build_memory_info.py

@@ -61,10 +61,11 @@ for region in regions:
     space = M_PATTERN.sub(M_REPLACE, space)
     regions[region] = eval(space)
 
+ram_region = regions["RAM"]
 free_flash = regions["FLASH"] - text - data
 free_ram = regions["RAM"] - data - bss
 print(free_flash, "bytes free in flash out of", regions["FLASH"], "bytes (", regions["FLASH"] / 1024, "kb ).")
-print(free_ram, "bytes free in ram for stack out of", regions["RAM"], "bytes (", regions["RAM"] / 1024, "kb ).")
+print("{} bytes free in ram for stack and heap out of {} bytes ({}kB).".format(free_ram, ram_region, ram_region / 1024))
 print()
 
 # Check that we have free flash space. GCC doesn't fail when the text + data

tools/preprocess_frozen_modules.py

@@ -34,6 +34,7 @@ def copy_and_process(in_dir, out_dir):
 
         # Skip library examples directories.
         if Path(root).name in ['examples', 'docs', 'tests']:
+            del subdirs[:]
             continue
 
         for file in files: