Seeeduino XIAO (SAMD21G18 Cortex-M0+)

[courtens]

Is this library compatible with my Seeeduino XIAO? It is a SAMD21G18 Cortex-M0+ chip.

This is what I get trying to run UsageExample.ino:

WARNING: library FastAccelStepper claims to run on avr, esp32 architecture(s) and may be incompatible with your current board which runs on samd architecture(s).
In file included from c:\Users\Nathaniel\Documents\Arduino\libraries\FastAccelStepper\src/FastAccelStepper.h:10:0,
                 from c:\Users\Nathaniel\Documents\Arduino\FilmFix\FilmFix.ino:52:
c:\users\nathaniel\documents\arduino\libraries\fastaccelstepper\tests\pc_based\stubs.h:5:0: warning: "pgm_read_byte_near" redefined
 #define pgm_read_byte_near(x) (*(x))
 
In file included from C:\Users\Nathaniel\AppData\Local\Arduino15\packages\Seeeduino\hardware\samd\1.8.1\cores\arduino/Arduino.h:36:0,
                 from C:\Users\NATHAN~1\AppData\Local\Temp\arduino-sketch-4B354A760F649884E833B790D5F4E104\sketch\FilmFix.ino.cpp:1:
C:\Users\Nathaniel\AppData\Local\Arduino15\packages\Seeeduino\hardware\samd\1.8.1\cores\arduino/avr/pgmspace.h:110:0: note: this is the location of the previous definition
 #define pgm_read_byte_near(addr) pgm_read_byte(addr)
 
In file included from c:\Users\Nathaniel\Documents\Arduino\libraries\FastAccelStepper\src/FastAccelStepper.h:10:0,
                 from c:\Users\Nathaniel\Documents\Arduino\FilmFix\FilmFix.ino:52:
c:\users\nathaniel\documents\arduino\libraries\fastaccelstepper\tests\pc_based\stubs.h:19:0: warning: "abs" redefined
 #define abs(x) ((x) > 0 ? (x) : -(x))
 
In file included from C:\Users\NATHAN~1\AppData\Local\Temp\arduino-sketch-4B354A760F649884E833B790D5F4E104\sketch\FilmFix.ino.cpp:1:0:
C:\Users\Nathaniel\AppData\Local\Arduino15\packages\Seeeduino\hardware\samd\1.8.1\cores\arduino/Arduino.h:135:0: note: this is the location of the previous definition
 #define abs(x) ((x)>0?(x):-(x))
 
C:\Users\NATHAN~1\AppData\Local\Temp\arduino-sketch-4B354A760F649884E833B790D5F4E104\libraries\FastAccelStepper\FastAccelStepper.cpp.o: In function `FastAccelStepperEngine::stepperConnectToPin(unsigned char)':
c:\Users\Nathaniel\Documents\Arduino\libraries\FastAccelStepper\src/FastAccelStepper.cpp:82: undefined reference to `StepperQueue::isValidStepPin(unsigned char)'
c:\Users\Nathaniel\Documents\Arduino\libraries\FastAccelStepper\src/FastAccelStepper.cpp:116: undefined reference to `StepperQueue::queueNumForStepPin(unsigned char)'
C:\Users\NATHAN~1\AppData\Local\Temp\arduino-sketch-4B354A760F649884E833B790D5F4E104\libraries\FastAccelStepper\FastAccelStepper.cpp.o: In function `FastAccelStepper::setDirectionPin(unsigned char, bool)':
c:\Users\Nathaniel\Documents\Arduino\libraries\FastAccelStepper\src/FastAccelStepper.cpp:476: undefined reference to `fas_queue'
C:\Users\NATHAN~1\AppData\Local\Temp\arduino-sketch-4B354A760F649884E833B790D5F4E104\libraries\FastAccelStepper\FastAccelStepper.cpp.o: In function `FastAccelStepper::move(long)':
c:\Users\Nathaniel\Documents\Arduino\libraries\FastAccelStepper\src/FastAccelStepper.cpp:545: undefined reference to `fas_queue'
C:\Users\NATHAN~1\AppData\Local\Temp\arduino-sketch-4B354A760F649884E833B790D5F4E104\libraries\FastAccelStepper\RampGenerator.cpp.o: In function `RampGenerator::_startMove(long, long)':
c:\Users\Nathaniel\Documents\Arduino\libraries\FastAccelStepper\src/RampGenerator.cpp:139: undefined reference to `noInterrupts()'
c:\Users\Nathaniel\Documents\Arduino\libraries\FastAccelStepper\src/RampGenerator.cpp:147: undefined reference to `interrupts()'
collect2.exe: error: ld returned 1 exit status
Compilation error: Error: 2 UNKNOWN: exit status 1

[courtens]

I replaced defined(ARDUINO_ARCH_AVR) with defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAMD) .

Now I am getting:

error: 'MAX_STEPPER' was not declared in this scope
   FastAccelStepper* _stepper[MAX_STEPPER];

MAX_STEPPER is defined in FastAccelStepper\src\RampGenerator.h as:

#if defined(TEST)
#define MAX_STEPPER 2
#define TICKS_PER_S 16000000L
#elif defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAMD) 
#if defined(__AVR_ATmega328P__)
#define MAX_STEPPER 2
#elif defined(__AVR_ATmega2560__)
#define MAX_STEPPER 3
#endif
#define TICKS_PER_S F_CPU
#elif defined(ARDUINO_ARCH_ESP32)
#define MAX_STEPPER 6
#define TICKS_PER_S 16000000L
#else
#define MAX_STEPPER 6
#define TICKS_PER_S 16000000L
#endif

so I also I replaced defined(__AVR_ATmega2560__) with defined(__AVR_ATmega2560__) || defined(ARDUINO_ARCH_SAMD) .
and also tried defined(__AVR_ATmega328P__) with defined(__AVR_ATmega328P__) || defined(ARDUINO_ARCH_SAMD) instead --- but got stuck. I don't know enough about Timers.

The Seeeduino runs at 48MHz

[gin66]

From the datasheet the Seeduino Xiao could drive three steppers:

Three 24-bit Timer/Counters for Control (TCC), with extended functions:
• Up to four compare channels with optional complementary output
• Generation of synchronized pulse width modulation (PWM) pattern across port pins

But it is quite an effort to implement. If there are a couple of comments wanting this chip to be supported, then I will look into it. So I keep it open, for others to register their wish. A patch (MIT licensed) would be welcomed, too

[courtens]

Thank you -- very much appreciated!

I would need to drive just one stepper (... if that helps.)

I am still new to the github concept and I am not sure what this would entail: "A patch (MIT licensed) would be welcomed, too"; I plan on using it privately, and found FlexyStepper to do the job for now. It would be nice if I could run it faster so I can use 1/8 or 1/16 steps.

[clazarowitz]

You are in so much luck....I'm not sure what the seeduino xiao is, (duh, its in your title) but I'm still not sure how much it is like the DUE/SAM8x3e. Might have to change the ifdefs a bit to exclude certain ARDUINO_ARCH_SAM boards..., but I'm pretty close to forking/committing/pull-requesting Due support. You're addition of ARDUINO_ARCH_SAM makes me wonder.

I didn't look too closely at the full line. My code is using the PWM generator peripheral, not synchronous, to generate up to 8 channels...but not all pins are easily accessible, and some share functions with other pins you're likely to want. I arbitrarily capped it at 6. gin66 is correct, this was a non-trivial effort. It probably would have been easier for him, and I suspect he will need to "fix" some of my code (or tell me what to fix).

I chose NOT to use the timers because I need them to read servo PWM signals. It looks like those timers have a rise time capture, as well as a fall time capture, so no ISR delay on pulses that are synchronous and end within a few microseconds of one another. I'm working pretty hard to get this committed tonight....as evident by the fact I just registered a github account (I havent had need/want to contribute/collaborate until very recently). Anyhow, off to fork...

[clazarowitz]

You can give my fork a shot and see if it works...I didn't look at the datasheet for the SAMD21G18, so I honestly have no idea.
https://github.com/clazarowitz/FastAccelStepper

[clazarowitz]

So, I did just have a look at the data sheet for the SAMD21G18. Sorry, my fork will definatly not work. The M0 and M3 from atmel are just too different. Looks like my #defines will need to be updated. ARDUINO_ARCH_SAM is far too broad.