Add feather_m4_can board, add mcan example

- the new `feather_m4_can` board is added as a clone
  of `feather_m4` with the chip changed ATSAM(D->E)51J

- apply changes in board layout from `Feather M4`
  - adapt pinmux: alternate function pins for CAN1 connecting
    to TCAN1051 transceiver (RX, TX, S) and BOOST_EN
  - add aref pin on PA03
  - move battery pin from PB01 to PB00
  - Neopixel: update data to be on PB02, add enable pin PB03

- add neopixel rainbow example
- adapt `mcan` example from `xplain` board replacing
  button triggering by a periodic task

README.md

@@ -21,7 +21,7 @@ In addition to the PACs and HAL, there numerous **B**oard **S**upport **P**ackag
 | [atsame51n](https://docs.rs/atsame51n/) | [![Crates.io](https://img.shields.io/crates/v/atsame51n.svg)](https://crates.io/crates/atsame51n) |  |
 | [atsamd51p](https://docs.rs/atsamd51p/) | [![Crates.io](https://img.shields.io/crates/v/atsamd51p.svg)](https://crates.io/crates/atsamd51p) | [Grand Central M4 Express][grand_central_m4], [Wio Terminal][wio_terminal] |
 | [atsame51g](https://docs.rs/atsame51g/) | [![Crates.io](https://img.shields.io/crates/v/atsame51g.svg)](https://crates.io/crates/atsame51g) |  |
-| [atsame51j](https://docs.rs/atsame51j/) | [![Crates.io](https://img.shields.io/crates/v/atsame51j.svg)](https://crates.io/crates/atsame51j) |  |
+| [atsame51j](https://docs.rs/atsame51j/) | [![Crates.io](https://img.shields.io/crates/v/atsame51j.svg)](https://crates.io/crates/atsame51j) | [Feather M4 CAN][feather_m4_can] |
 | [atsame51n](https://docs.rs/atsame51n/) | [![Crates.io](https://img.shields.io/crates/v/atsame51n.svg)](https://crates.io/crates/atsame51n) |  |
 | [atsame53j](https://docs.rs/atsame53j/) | [![Crates.io](https://img.shields.io/crates/v/atsame53j.svg)](https://crates.io/crates/atsame53j) |  |
 | [atsame53n](https://docs.rs/atsame53n/) | [![Crates.io](https://img.shields.io/crates/v/atsame53n.svg)](https://crates.io/crates/atsame53n) |  |
@@ -38,6 +38,7 @@ In addition to the PACs and HAL, there numerous **B**oard **S**upport **P**ackag
 [edgebadge]: https://github.com/atsamd-rs/atsamd/tree/master/boards/edgebadge
 [feather_m0]: https://github.com/atsamd-rs/atsamd/tree/master/boards/feather_m0/
 [feather_m4]: https://github.com/atsamd-rs/atsamd/tree/master/boards/feather_m4/
+[feather_m4_can]: https://github.com/atsamd-rs/atsamd/tree/master/boards/feather_m4_can/
 [gemma_m0]: https://github.com/atsamd-rs/atsamd/tree/master/boards/gemma_m0/
 [grand_central_m4]: https://github.com/atsamd-rs/atsamd/tree/master/boards/grand_central_m4/
 [itsybitsy_m0]: https://github.com/atsamd-rs/atsamd/tree/master/boards/itsybitsy_m0/

boards/feather_m4_can/.cargo/config

@@ -0,0 +1,14 @@
+# vim:ft=toml:
+[target.thumbv7em-none-eabihf]
+runner = 'arm-none-eabi-gdb'
+
+[build]
+target = "thumbv7em-none-eabihf"
+rustflags = [
+
+   # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+   # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+   "-C", "link-arg=--nmagic",
+
+   "-C", "link-arg=-Tlink.x",
+]

boards/feather_m4_can/CHANGELOG.md

@@ -0,0 +1,9 @@
+# v0.1.0
+
+- The board is added as a clone of `feather_m4`  with chip changed ATSAM(D->E)51J
+- Adapt pinmux: alternate function pins for CAN1 connecting to TCAN1051 transceiver
+- Clone `mcan` example from `atsame54_xpro` board (using periodic task instead of button)
+
+---
+
+Changelog tracking started at v0.1.0

boards/feather_m4_can/Cargo.toml

@@ -0,0 +1,107 @@
+[package]
+name = "feather_m4_can"
+version = "0.1.0"
+edition = "2021"
+authors = ["Theodore DeRego <[email protected]>"]
+description = "Board Support crate for the Adafruit Feather M4 CAN"
+keywords = ["no-std", "arm", "cortex-m", "embedded-hal", "can"]
+categories = ["embedded", "hardware-support", "no-std"]
+license = "MIT OR Apache-2.0"
+repository = "https://github.com/atsamd-rs/atsamd"
+readme = "README.md"
+documentation = "https://atsamd-rs.github.io/atsamd/atsamd51j/feather_m4_can/"
+
+# for cargo flash
+[package.metadata]
+chip = "ATSAME51J19A"
+
+[dependencies.cortex-m-rt]
+version = "0.7"
+optional = true
+
+[dependencies.atsamd-hal]
+path = "../../hal"
+version = "0.15.1"
+default-features = false
+
+[dependencies.usb-device]
+version = "0.2"
+optional = true
+
+[dev-dependencies]
+mcan = "0.2"
+dwt-systick-monotonic = "1.1"
+panic-rtt-target = { version = "0.1", features = ["cortex-m"] }
+rtt-target = { version = "0.3", features = ["cortex-m"] }
+cortex-m = "0.7"
+usbd-serial = "0.1"
+cortex-m-rtic = "1.1"
+panic-halt = "0.2"
+panic-semihosting = "0.5"
+smart-leds = "0.3"
+ws2812-timer-delay = "0.3"
+heapless = "0.7"
+
+[features]
+# ask the HAL to enable atsame51j support
+default = ["rt", "atsamd-hal/same51j", "atsamd-hal/same51"]
+rt = ["cortex-m-rt", "atsamd-hal/same51j-rt"]
+unproven = ["atsamd-hal/unproven"]
+usb = ["atsamd-hal/usb", "usb-device"]
+can = ["atsamd-hal/can"]
+dma = ["atsamd-hal/dma", "unproven"]
+max-channels = ["dma", "atsamd-hal/dma"]
+
+
+[profile.dev]
+incremental = false
+codegen-units = 1
+debug = true
+lto = true
+
+[profile.release]
+debug = true
+lto = true
+opt-level = "s"
+
+[[example]]
+name = "blinky_basic"
+
+[[example]]
+name = "pwm"
+required-features = ["unproven"]
+
+[[example]]
+name = "neopixel_rainbow"
+
+[[example]]
+name = "usb_echo"
+required-features = ["usb"]
+
+[[example]]
+name = "dmac"
+required-features = ["dma"]
+
+[[example]]
+name = "uart"
+required-features = ["dma"]
+
+[[example]]
+name = "pukcc_test"
+required-features = ["unproven", "usb"]
+
+[[example]]
+name = "nvm_dsu"
+required-features = ["unproven", "usb"]
+
+[[example]]
+name = "smart_eeprom"
+required-features = ["unproven", "usb"]
+
+[[example]]
+name = "i2c"
+required-features = ["atsamd-hal/dma"]
+
+[[example]]
+name = "mcan"
+required-features = ["can"]

boards/feather_m4_can/README.md

@@ -0,0 +1,26 @@
+# Adafruit Feather M4 Board Support Crate
+
+This crate provides a type-safe API for working with the [Adafruit Feather M4
+board](https://www.adafruit.com/product/3857).
+
+## Prerequisites
+* Install the cross compile toolchain `rustup target add thumbv7em-none-eabihf`
+* Install [cargo-hf2 the hf2 bootloader flasher tool](https://crates.io/crates/cargo-hf2) however your platform requires
+
+## Uploading an example
+Check out the repository for examples:
+
+https://github.com/atsamd-rs/atsamd/tree/master/boards/feather_m4_can/examples
+
+* Be in this directory `cd boards/feather_m4_can`
+* Put your device in bootloader mode usually by hitting the reset button twice.
+* Build and upload in one step
+```
+$ cargo hf2 --release --example blinky_basic
+    Finished release [optimized + debuginfo] target(s) in 0.19s
+    Searching for a connected device with known vid/pid pair.
+    Trying  Ok(Some("Adafruit Industries")) Ok(Some("PyBadge"))
+    Flashing "/Users/User/atsamd/boards/feather_m4_can/target/thumbv7em-none-eabihf/release/examples/blinky_basic"
+    Finished in 0.079s
+$
+```

boards/feather_m4_can/build.rs

@@ -0,0 +1,16 @@
+use std::env;
+use std::fs::File;
+use std::io::Write;
+use std::path::PathBuf;
+fn main() {
+    if env::var_os("CARGO_FEATURE_RT").is_some() {
+        let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
+        File::create(out.join("memory.x"))
+            .unwrap()
+            .write_all(include_bytes!("memory.x"))
+            .unwrap();
+        println!("cargo:rustc-link-search={}", out.display());
+        println!("cargo:rerun-if-changed=memory.x");
+    }
+    println!("cargo:rerun-if-changed=build.rs");
+}

boards/feather_m4_can/examples/blinky_basic.rs

@@ -0,0 +1,37 @@
+#![no_std]
+#![no_main]
+
+use feather_m4_can as bsp;
+#[cfg(not(feature = "use_semihosting"))]
+use panic_halt as _;
+#[cfg(feature = "use_semihosting")]
+use panic_semihosting as _;
+
+use bsp::entry;
+use bsp::hal;
+use hal::clock::GenericClockController;
+use hal::delay::Delay;
+use hal::pac::{CorePeripherals, Peripherals};
+use hal::prelude::*;
+
+#[entry]
+fn main() -> ! {
+    let mut peripherals = Peripherals::take().unwrap();
+    let core = CorePeripherals::take().unwrap();
+    let mut clocks = GenericClockController::with_external_32kosc(
+        peripherals.GCLK,
+        &mut peripherals.MCLK,
+        &mut peripherals.OSC32KCTRL,
+        &mut peripherals.OSCCTRL,
+        &mut peripherals.NVMCTRL,
+    );
+    let pins = bsp::Pins::new(peripherals.PORT);
+    let mut red_led = pins.d13.into_push_pull_output();
+    let mut delay = Delay::new(core.SYST, &mut clocks);
+    loop {
+        delay.delay_ms(2000u16);
+        red_led.set_high().unwrap();
+        delay.delay_ms(2000u16);
+        red_led.set_low().unwrap();
+    }
+}