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Arduino board package for doppler (SAMD51 Cortex M4F + ICE40up5K FPGA)

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Doppler - CortexM4 meets FPGA

doppler

  • arduino compatible board
  • 120Mhz ARM Cortex M4 MCU 1MB Flash (samd51g19a) with FPU
  • FPGA 5000 LUT, 1MBit RAM, 6 DSP Cores,OSC, PLL (Lattice ice40up5k)
  • breadboard friendly (DIL48)
  • micro usb
  • power over USB or external via pin headers
  • VCC 3.5V …. 5.5V
  • all GPIO Pins are 3.3V
  • 1 led connected to samd51
  • 4 x 4 LED Matrix (connected on fpga)
  • 2 Custom Buttons (connected on fpga)
  • ARef Solder Jumper
  • I2C (need external pullup), SPI, QSPI Pins
  • 2 DAC pins, 10 ADC pins
  • full opensource toolchain
  • SWD programming pin headers
  • double press reset to enter the bootloader
  • uf2 bootloader with Firmwareupload via simple USB stick mode

Builds based on this repo: https://github.com/noscene/ArduinoCore-samd

Setup

First need install the arduino ide from

then add board URLs (comma separated):

add board urls go to boardmanager add board urls install both boards add board urls select the Doppler Board add board urls select USB Port add board urls

Board Layout and PINs

    /*          DOPPLER-Board-Layout:
     *                                                                                    ---------------- FPGA Pins ------------------
     *                                                     DAC1      SCK  MOSI DAC0      LedR LedG LedB       CT1            CP0
     * DIL Pin 48   47   46   45   44   43   42   41   40   39   38   37   36   35   34   33   32   31   30   29   28   27   26   25
     *       |--O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O---|
     * name  | VIN  5V  3.3V  A10  A9   A8   A7   A6   A5   A4   A3   A2   A1   A0   GND  R2   R1   R0   F14  F13  F12  F11  F10  F9   |
     * alt   | VIN  5V  3.3V PA11 PA10 PA09 PA08 PA07 PA06 PA05 PA04 PB09 PB08 PA02  GND  41   40   39   38   37   36   35   34   32   |
     *       |                                                                                            ö  ö  ö  ö                   |
     *      |                                                                                             ö  ö  ö  ö         |BTN:S1|  |
     *     | USB                           DOPPLER: SamD51 <- SPI -> icE40        |BTN:RESET|             ö  ö  ö  ö                   |
     *      |                                                                                             ö  ö  ö  ö         |BTN:S2|  |
     *       |                                                                                                                         |
     * alt   | GND PA13 PA12 PB11 PA14 PA15 PB10 PA31 PA30  RES PA19 PA20 PA21 PA22 3.3V  11   12   13   18   19   20   21   23   25   |
     * name  | GND   0    1    2    3    4    5                   6    7    8    9  3.3V  F0   F1   F2   F3   F4   F5   F6   F7   F8   |
     *       L--O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O----O---|
     * DIL Pin  1    2    3    4    5    6    7    8    9   10   11   12   13   14   15   16   17   18   19   20   21   22   23   24
     *             SCL  SDA   MISO           SS   SWD  SWC RES                                 CT0                      CP0
     *             -- I2C--                       --- SWD  ---   ----- Shared  -----      ---------------- FPGA Pins ------------------
     */

Examples

Blink on board LED

// the setup routine runs once when you press reset:
void setup() {                
  // initialize the digital pin as an output.
  pinMode(LED_BUILTIN, OUTPUT);     
}

// the loop routine runs over and over again forever:
void loop() {
  digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(1000);                       // wait for a second
  digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
  delay(1000);                       // wait for a second
}

fast write 2 DAC Channels on A0 and A4 (PA02+PA05)

void setup() {
  // put your setup code here, to run once:
  pinMode(PIN_DAC0,OUTPUT);
  pinMode(PIN_DAC1,OUTPUT);
  dacInit();
}

void loop() {
  // put your main code here, to run repeatedly:
  static uint16_t left = 0;
  static uint16_t right = 0;
  left+=256;
  right-=256;
  dacWrite(left,right);
}

FPGA demo set 4x4 LED Matrix

see https://github.com/noscene/Doppler_FPGA_Firmware for make bitstream from verilog

#include <ICEClass.h>

ICEClass ice40;
uint16_t leds = 1;

void setup() {
  // put your setup code here, to run once:
  ice40.upload(); // Upload BitStream Firmware to FPGA -> see variant.h
  delay(100);

  // start SPI runtime Link to FPGA
  ice40.initSPI();
}


void loop() {
    // put your main code here, to run repeatedly:
    ice40.sendSPI16(leds );
    leds = leds << 1;
    if(leds==0){
      leds=1;  
    }
    delay(100);
}

Show hex chars on 4x4 matrix

#include <ICEClass.h>
ICEClass ice40;
uint16_t hexmapFont[16] = { 0xF99F,0xF22F,0xF42F,0xF17F,0x1F99,0x7F8F,0xF9F8,0x111F,
                            0x7DBE,0x1F9F,0x9F9F,0xADAC,0xF88F,0xE99E,0xF8EF,0x8E8F };
void setup() { // put your setup code here, to run once:
  ice40.upload(); // Upload BitStream Firmware to FPGA -> see variant.h
  delay(100);
  ice40.initSPI();  // start SPI runtime Link to FPGA
}

void loop() {  // put your main code here, to run repeatedly:
  for(int i = 0 ; i < 16 ; i++){
      ice40.sendSPI16(hexmapFont[i] );  
      delay(800);
  }
}

Create second I2C Bus as Wire1 on pins A7+A8 and scan the bus

see https://learn.adafruit.com/using-atsamd21-sercom-to-add-more-spi-i2c-serial-ports/creating-a-new-wire how to handle sercoms

#include <Wire.h>
#include "wiring_private.h" // pinPeripheral() function
TwoWire Wire1(&sercom0, A7, A8);  // create new Wire Port

void setup() {
  // put your setup code here, to run once:
  Wire1.begin();  // set pinPeripheral after this line!!!
  pinPeripheral(A7, PIO_SERCOM);    // assign SDA
  pinPeripheral(A8, PIO_SERCOM);    // assign SDC
  
  Serial.begin(9600);
  Serial.println("\nI2C Scanner");
}

void loop() {
  // put your main code here, to run repeatedly:
  byte error, address;
  int nDevices;
  Serial.println("Scanning...");
  nDevices = 0;
  for(address = 1; address < 127; address++ )   {
    // The i2c_scanner uses the return value of
    // the Write.endTransmisstion to see if
    // a device did acknowledge to the address.
    Wire1.beginTransmission(address);
    error = Wire1.endTransmission();
    Wire1.requestFrom(address,2);
    
    if (error == 0) {
      Serial.print("I2C device found at address 0x");
      if (address<16) 
        Serial.print("0");
      Serial.print(address,HEX);
      Serial.println("  !");
      nDevices++;
    } else if (error==4)  {
      Serial.print("Unknow error at address 0x");
      if (address<16) 
        Serial.print("0");
      Serial.println(address,HEX);
    }    
  }
  if (nDevices == 0)
    Serial.println("No I2C devices found\n");
  else
    Serial.println("done, if find on each addr -> check pullups! \n");
  delay(5000);           // wait 5 seconds for next scan
}

Create UART RX,TX Serial2 on pins A7+A8

see https://learn.adafruit.com/using-atsamd21-sercom-to-add-more-spi-i2c-serial-ports/creating-a-new-serial how to handle sercoms

// Create Serial2 instance
#include "wiring_private.h" // pinPeripheral() function
Uart Serial2 (&sercom0, A7, A8, SERCOM_RX_PAD_1, UART_TX_PAD_0);
void SERCOM0_0_Handler() { Serial2.IrqHandler(); }
void SERCOM0_1_Handler() { Serial2.IrqHandler(); }
void SERCOM0_2_Handler() { Serial2.IrqHandler(); }
void SERCOM0_3_Handler() { Serial2.IrqHandler(); }

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  Serial2.begin(9600);
  pinPeripheral(A7, PIO_SERCOM);  // TX
  pinPeripheral(A8, PIO_SERCOM);  // RX
}

uint8_t i=0;
void loop() {
  Serial.print(i);
  Serial2.write(i++);
  if (Serial2.available()) {
    Serial.print(" -> 0x"); Serial.print(Serial2.read(), HEX);
  }
  Serial.println();
  delay(500);
}

Performance

Classic ArduinoStyle vs direct Register Access

void setup() {
  pinMode(0,OUTPUT);  // PA13
  digitalWrite(0,true);
}


// direct SAMD51 register access PA13
void loop() {
  while(1){
    PORT->Group[PORTA].OUTCLR.reg = 1ul << 13;  // this part generate 30Mhz so it looks like this part need 2 cpu cycles for each pin change
    PORT->Group[PORTA].OUTSET.reg = 1ul << 13;  // this part generate 30Mhz
  }
}

// classic way but not realy fast
void loop_not_very_fast() {
  digitalWrite(0,true);   // this part generate 0.5 Mhz
  digitalWrite(0,false);  // this part generate 0.5 Mhz
}

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Arduino board package for doppler (SAMD51 Cortex M4F + ICE40up5K FPGA)

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