add cmake for samg55

13 files changed, 404 insertions, 120 deletions

diff --git a/.github/workflows/build_cmake.yml b/.github/workflows/build_cmake.yml
index 5140a507f..050afe48f 100644
--- a/.github/workflows/build_cmake.yml
+++ b/.github/workflows/build_cmake.yml
@@ -48,7 +48,7 @@ jobs:
           - 'nrf'
           - 'ra'
           - 'rp2040'
-          - 'samd11 samd21 saml2x samd5x_e5x'
+          - 'samd11 samd21 saml2x samd5x_e5x samg'
           - 'stm32f0'
           - 'stm32f1'
           - 'stm32f2'
diff --git a/.idea/cmake.xml b/.idea/cmake.xml
index 2cb86676c..0e2ca61e4 100644
--- a/.idea/cmake.xml
+++ b/.idea/cmake.xml
@@ -66,7 +66,7 @@
       <configuration PROFILE_NAME="metro_m0_express" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=metro_m0_express -DLOG=3 -DLOGGER=RTT -DMAX3421_HOST=1" />
       <configuration PROFILE_NAME="feather_m4_express" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=feather_m4_express -DLOG=3 -DLOGGER=RTT -DMAX3421_HOST=1" />
       <configuration PROFILE_NAME="metro_m4_express" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=metro_m4_express -DLOG=3 -DLOGGER=RTT -DMAX3421_HOST=1" />
-      <configuration PROFILE_NAME="same54_xplained" ENABLED="false" CONFIG_NAME="MinSizeRel" GENERATION_OPTIONS="-DBOARD=same54_xplained -DLOG=2 -DLOGGER=RTT" />
+      <configuration PROFILE_NAME="same54_xplained" ENABLED="false" GENERATION_OPTIONS="-DBOARD=same54_xplained -DLOG=2 -DLOGGER=RTT" />
       <configuration PROFILE_NAME="feather_nrf52840_express" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=feather_nrf52840_express -DLOG=3 -DLOGGER=RTT -DMAX3421_HOST=1" />
       <configuration PROFILE_NAME="pca10056" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=pca10056 -DLOG=3 -DLOGGER=RTT -DTRACE_ETM=1" />
       <configuration PROFILE_NAME="pca10095" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=pca10095 -DLOG=3 -DLOGGER=RTT -DTRACE_ETM=1" />
@@ -119,11 +119,13 @@
       <configuration PROFILE_NAME="lpcxpresso1549" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=lpcxpresso1549 -DLOG=2 -DLOGGER=RTT" />
       <configuration PROFILE_NAME="lpcxpresso51u68" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=lpcxpresso51u68 -DLOG=2 -DLOGGER=RTT" />
       <configuration PROFILE_NAME="msp_exp432e401y" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=msp_exp432e401y -DLOG=2" />
-      <configuration PROFILE_NAME="atsaml21_xpro" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=atsaml21_xpro" />
-      <configuration PROFILE_NAME="stm32wb55nucleo" ENABLED="false" CONFIG_NAME="Debug" GENERATION_OPTIONS="-DBOARD=stm32wb55nucleo" />
+      <configuration PROFILE_NAME="atsaml21_xpro" ENABLED="false" GENERATION_OPTIONS="-DBOARD=atsaml21_xpro" />
+      <configuration PROFILE_NAME="stm32wb55nucleo" ENABLED="false" GENERATION_OPTIONS="-DBOARD=stm32wb55nucleo" />
       <configuration PROFILE_NAME="samd11_xplained" ENABLED="false" CONFIG_NAME="MinSizeRel" GENERATION_OPTIONS="-DBOARD=samd11_xplained" />
       <configuration PROFILE_NAME="ek_tm4c123gxl" ENABLED="false" CONFIG_NAME="MinSizeRel" GENERATION_OPTIONS="-DBOARD=ek_tm4c123gxl" />
-      <configuration PROFILE_NAME="xmc4500_relax" ENABLED="true" CONFIG_NAME="MinSizeRel" GENERATION_OPTIONS="-DBOARD=xmc4500_relax -DLOG=2 -DLOGGER=RTT" />
+      <configuration PROFILE_NAME="xmc4500_relax" ENABLED="false" GENERATION_OPTIONS="-DBOARD=xmc4500_relax -DLOG=2 -DLOGGER=RTT" />
+      <configuration PROFILE_NAME="f1c100s" ENABLED="false" GENERATION_OPTIONS="-DBOARD=f1c100s" />
+      <configuration PROFILE_NAME="samg55_xplained" ENABLED="true" GENERATION_OPTIONS="-DBOARD=samg55_xplained" />
     </configurations>
   </component>
 </project>
\ No newline at end of file
diff --git a/hw/bsp/samg/FreeRTOSConfig/FreeRTOSConfig.h b/hw/bsp/samg/FreeRTOSConfig/FreeRTOSConfig.h
new file mode 100644
index 000000000..02223f766
--- /dev/null
+++ b/hw/bsp/samg/FreeRTOSConfig/FreeRTOSConfig.h
@@ -0,0 +1,149 @@
+/*
+ * FreeRTOS Kernel V10.0.0
+ * Copyright (C) 2017 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software. If you wish to use our Amazon
+ * FreeRTOS name, please do so in a fair use way that does not cause confusion.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html.
+ *----------------------------------------------------------*/
+
+// skip if included from IAR assembler
+#ifndef __IASMARM__
+  extern uint32_t SystemCoreClock;
+#endif
+
+/* Cortex M23/M33 port configuration. */
+#define configENABLE_MPU                        0
+#define configENABLE_FPU                        1
+#define configENABLE_TRUSTZONE                  0
+#define configMINIMAL_SECURE_STACK_SIZE         (1024)
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configCPU_CLOCK_HZ                      SystemCoreClock
+#define configTICK_RATE_HZ                      ( 1000 )
+#define configMAX_PRIORITIES                    ( 5 )
+#define configMINIMAL_STACK_SIZE                ( 128 )
+#define configTOTAL_HEAP_SIZE                   ( configSUPPORT_DYNAMIC_ALLOCATION*6*1024 )
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               4
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP   0
+
+#define configSUPPORT_STATIC_ALLOCATION         1
+#define configSUPPORT_DYNAMIC_ALLOCATION        0
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                    0
+#define configUSE_TICK_HOOK                    0
+#define configUSE_MALLOC_FAILED_HOOK           0 // cause nested extern warning
+#define configCHECK_FOR_STACK_OVERFLOW         2
+#define configCHECK_HANDLER_INSTALLATION       0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS          0
+#define configRECORD_STACK_HIGH_ADDRESS        1
+#define configUSE_TRACE_FACILITY               1 // legacy trace
+#define configUSE_STATS_FORMATTING_FUNCTIONS   0
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                  0
+#define configMAX_CO_ROUTINE_PRIORITIES        2
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                       1
+#define configTIMER_TASK_PRIORITY              (configMAX_PRIORITIES-2)
+#define configTIMER_QUEUE_LENGTH               32
+#define configTIMER_TASK_STACK_DEPTH           configMINIMAL_STACK_SIZE
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet               0
+#define INCLUDE_uxTaskPriorityGet              0
+#define INCLUDE_vTaskDelete                    0
+#define INCLUDE_vTaskSuspend                   1 // required for queue, semaphore, mutex to be blocked indefinitely with portMAX_DELAY
+#define INCLUDE_xResumeFromISR                 0
+#define INCLUDE_vTaskDelayUntil                1
+#define INCLUDE_vTaskDelay                     1
+#define INCLUDE_xTaskGetSchedulerState         0
+#define INCLUDE_xTaskGetCurrentTaskHandle      1
+#define INCLUDE_uxTaskGetStackHighWaterMark    0
+#define INCLUDE_xTaskGetIdleTaskHandle         0
+#define INCLUDE_xTimerGetTimerDaemonTaskHandle 0
+#define INCLUDE_pcTaskGetTaskName              0
+#define INCLUDE_eTaskGetState                  0
+#define INCLUDE_xEventGroupSetBitFromISR       0
+#define INCLUDE_xTimerPendFunctionCall         0
+
+/* FreeRTOS hooks to NVIC vectors */
+#define xPortPendSVHandler    PendSV_Handler
+#define xPortSysTickHandler   SysTick_Handler
+#define vPortSVCHandler       SVC_Handler
+
+//--------------------------------------------------------------------+
+// Interrupt nesting behavior configuration.
+//--------------------------------------------------------------------+
+
+// For Cortex-M specific: __NVIC_PRIO_BITS is defined in mcu header
+#define configPRIO_BITS       4
+
+/* The lowest interrupt priority that can be used in a call to a "set priority" function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			  ((1<<configPRIO_BITS) - 1)
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	2
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		          ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	        ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+#endif
diff --git a/hw/bsp/samg/boards/samg55_xplained/board.cmake b/hw/bsp/samg/boards/samg55_xplained/board.cmake
new file mode 100644
index 000000000..2635987dc
--- /dev/null
+++ b/hw/bsp/samg/boards/samg55_xplained/board.cmake
@@ -0,0 +1,8 @@
+set(JLINK_DEVICE ATSAMG55J19)
+set(LD_FILE_GNU ${CMAKE_CURRENT_LIST_DIR}/samg55j19_flash.ld)
+
+function(update_board TARGET)
+  target_compile_definitions(${TARGET} PUBLIC
+    __SAMG55J19__
+    )
+endfunction()
diff --git a/hw/bsp/samg/boards/samg55_xplained/board.h b/hw/bsp/samg/boards/samg55_xplained/board.h
new file mode 100644
index 000000000..c94cda198
--- /dev/null
+++ b/hw/bsp/samg/boards/samg55_xplained/board.h
@@ -0,0 +1,12 @@
+#ifndef BOARD_H
+#define BOARD_H
+
+#define LED_PIN               GPIO(GPIO_PORTA, 6)
+
+#define BUTTON_PIN            GPIO(GPIO_PORTA, 2)
+#define BUTTON_STATE_ACTIVE   0
+
+#define UART_TX_PIN           GPIO(GPIO_PORTA, 28)
+#define UART_RX_PIN           GPIO(GPIO_PORTA, 27)
+
+#endif
diff --git a/hw/bsp/samg/boards/samg55_xplained/board.mk b/hw/bsp/samg/boards/samg55_xplained/board.mk
new file mode 100644
index 000000000..4481cbaf7
--- /dev/null
+++ b/hw/bsp/samg/boards/samg55_xplained/board.mk
@@ -0,0 +1,6 @@
+CFLAGS += -D__SAMG55J19__
+
+JLINK_DEVICE = ATSAMG55J19
+
+# All source paths should be relative to the top level.
+LD_FILE = $(BOARD_PATH)/samg55j19_flash.ld
diff --git a/hw/bsp/samg55xplained/samg55j19_flash.ld b/hw/bsp/samg/boards/samg55_xplained/samg55j19_flash.ld
index a222b919b..954248114 100644
--- a/hw/bsp/samg55xplained/samg55j19_flash.ld
+++ b/hw/bsp/samg/boards/samg55_xplained/samg55j19_flash.ld
@@ -32,6 +32,8 @@
 OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
 OUTPUT_ARCH(arm)
 
+ENTRY(Reset_Handler)
+
 /* Memory Spaces Definitions */
 MEMORY
 {
@@ -43,7 +45,7 @@ MEMORY
 STACK_SIZE = DEFINED(__stack_size__) ? __stack_size__ : 0x0400;
 
 /* The heapsize used by the application. NOTE: you need to adjust according to your application. */
-HEAP_SIZE = DEFINED(HEAP_SIZE) ? HEAP_SIZE : DEFINED(__heap_size__) ? __heap_size__ : 0x0200;
+HEAP_SIZE = DEFINED(__heap_size__) ? __heap_size__ : 0x0200;
 
 /* Section Definitions */
 SECTIONS
diff --git a/hw/bsp/samg55xplained/samg55xplained.c b/hw/bsp/samg/family.c
index 2ac0c0a29..63db5739d 100644
--- a/hw/bsp/samg55xplained/samg55xplained.c
+++ b/hw/bsp/samg/family.c
@@ -24,7 +24,13 @@
  */
 
 #include "sam.h"
-#include "bsp/board_api.h"
+
+// Suppress warning caused by mcu driver
+#ifdef __GNUC__
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wcast-qual"
+#pragma GCC diagnostic ignored "-Wredundant-decls"
+#endif
 
 #include "peripheral_clk_config.h"
 #include "hal/include/hal_init.h"
@@ -32,54 +38,53 @@
 #include "hpl/pmc/hpl_pmc.h"
 #include "hal/include/hal_gpio.h"
 
+#ifdef __GNUC__
+#pragma GCC diagnostic pop
+#endif
+
+#include "bsp/board_api.h"
+#include "board.h"
+
 
 //--------------------------------------------------------------------+
 // MACRO TYPEDEF CONSTANT ENUM DECLARATION
 //--------------------------------------------------------------------+
-
-#define LED_PIN               GPIO(GPIO_PORTA, 6)
-
-#define BUTTON_PIN            GPIO(GPIO_PORTA, 2)
-#define BUTTON_STATE_ACTIVE   0
-
-#define UART_TX_PIN           GPIO(GPIO_PORTA, 28)
-#define UART_RX_PIN           GPIO(GPIO_PORTA, 27)
-
 struct _usart_sync_device edbg_com;
 
 //------------- IMPLEMENTATION -------------//
-void board_init(void)
-{
-	init_mcu();
+void board_init(void) {
+  init_mcu();
 
-	_pmc_enable_periph_clock(ID_PIOA);
+  _pmc_enable_periph_clock(ID_PIOA);
 
-	/* Disable Watchdog */
-	hri_wdt_set_MR_WDDIS_bit(WDT);
+  /* Disable Watchdog */
+  hri_wdt_set_MR_WDDIS_bit(WDT);
 
-	// LED
-	gpio_set_pin_level(LED_PIN, false);
-	gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
-	gpio_set_pin_function(LED_PIN, GPIO_PIN_FUNCTION_OFF);
+  // LED
+  gpio_set_pin_level(LED_PIN, false);
+  gpio_set_pin_direction(LED_PIN, GPIO_DIRECTION_OUT);
+  gpio_set_pin_function(LED_PIN, GPIO_PIN_FUNCTION_OFF);
 
-	// Button
-	gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
-	gpio_set_pin_pull_mode(BUTTON_PIN, GPIO_PULL_UP);
-	gpio_set_pin_function(BUTTON_PIN, GPIO_PIN_FUNCTION_OFF);
+  // Button
+  gpio_set_pin_direction(BUTTON_PIN, GPIO_DIRECTION_IN);
+  gpio_set_pin_pull_mode(BUTTON_PIN, GPIO_PULL_UP);
+  gpio_set_pin_function(BUTTON_PIN, GPIO_PIN_FUNCTION_OFF);
 
-	// Uart via EDBG Com
-	_pmc_enable_periph_clock(ID_FLEXCOM7);
-	gpio_set_pin_function(UART_RX_PIN, MUX_PA27B_FLEXCOM7_RXD);
-	gpio_set_pin_function(UART_TX_PIN, MUX_PA28B_FLEXCOM7_TXD);
+  // Uart via EDBG Com
+  _pmc_enable_periph_clock(ID_FLEXCOM7);
+  gpio_set_pin_function(UART_RX_PIN, MUX_PA27B_FLEXCOM7_RXD);
+  gpio_set_pin_function(UART_TX_PIN, MUX_PA28B_FLEXCOM7_TXD);
 
-	_usart_sync_init(&edbg_com, FLEXCOM7);
-	_usart_sync_set_baud_rate(&edbg_com, CFG_BOARD_UART_BAUDRATE);
-	_usart_sync_set_mode(&edbg_com, USART_MODE_ASYNCHRONOUS);
-	_usart_sync_enable(&edbg_com);
+  _usart_sync_init(&edbg_com, FLEXCOM7);
+  _usart_sync_set_baud_rate(&edbg_com, CFG_BOARD_UART_BAUDRATE);
+  _usart_sync_set_mode(&edbg_com, USART_MODE_ASYNCHRONOUS);
+  _usart_sync_enable(&edbg_com);
 
-#if CFG_TUSB_OS  == OPT_OS_NONE
+#if CFG_TUSB_OS == OPT_OS_NONE
   // 1ms tick timer (samd SystemCoreClock may not correct)
   SysTick_Config(CONF_CPU_FREQUENCY / 1000);
+#elif CFG_TUSB_OS == OPT_OS_FREERTOS
+  NVIC_SetPriority(UDP_IRQn, configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY);
 #endif
 
   // USB Pin, Clock init
@@ -90,17 +95,16 @@ void board_init(void)
   // Enable clock
   _pmc_enable_periph_clock(ID_UDP);
 
-	/* USB Device mode & Transceiver active */
-	hri_matrix_write_CCFG_USBMR_reg(MATRIX, CCFG_USBMR_USBMODE);
+  /* USB Device mode & Transceiver active */
+  hri_matrix_write_CCFG_USBMR_reg(MATRIX, CCFG_USBMR_USBMODE);
 }
 
 //--------------------------------------------------------------------+
 // USB Interrupt Handler
 //--------------------------------------------------------------------+
-void UDP_Handler(void)
-{
+void UDP_Handler(void) {
   #if CFG_TUD_ENABLED
-    tud_int_handler(0);
+  tud_int_handler(0);
   #endif
 }
 
@@ -108,50 +112,44 @@ void UDP_Handler(void)
 // Board porting API
 //--------------------------------------------------------------------+
 
-void board_led_write(bool state)
-{
+void board_led_write(bool state) {
   gpio_set_pin_level(LED_PIN, state);
 }
 
-uint32_t board_button_read(void)
-{
+uint32_t board_button_read(void) {
   return BUTTON_STATE_ACTIVE == gpio_get_pin_level(BUTTON_PIN);
 }
 
-int board_uart_read(uint8_t* buf, int len)
-{
-  (void) buf; (void) len;
+int board_uart_read(uint8_t* buf, int len) {
+  (void) buf;
+  (void) len;
   return 0;
 }
 
-int board_uart_write(void const * buf, int len)
-{
-  uint8_t const * buf8 = (uint8_t const *) buf;
-  for(int i=0; i<len; i++)
-  {
-    while ( !_usart_sync_is_ready_to_send(&edbg_com) ) {}
+int board_uart_write(void const* buf, int len) {
+  uint8_t const* buf8 = (uint8_t const*) buf;
+  for (int i = 0; i < len; i++) {
+    while (!_usart_sync_is_ready_to_send(&edbg_com)) {}
     _usart_sync_write_byte(&edbg_com, buf8[i]);
   }
   return len;
 }
 
-#if CFG_TUSB_OS  == OPT_OS_NONE
+#if CFG_TUSB_OS == OPT_OS_NONE
 volatile uint32_t system_ticks = 0;
 
-void SysTick_Handler (void)
-{
+void SysTick_Handler(void) {
   system_ticks++;
 }
 
-uint32_t board_millis(void)
-{
+uint32_t board_millis(void) {
   return system_ticks;
 }
+
 #endif
 
 // Required by __libc_init_array in startup code if we are compiling using
 // -nostdlib/-nostartfiles.
-void _init(void)
-{
+void _init(void) {
 
 }
diff --git a/hw/bsp/samg/family.cmake b/hw/bsp/samg/family.cmake
new file mode 100644
index 000000000..b88097858
--- /dev/null
+++ b/hw/bsp/samg/family.cmake
@@ -0,0 +1,114 @@
+include_guard()
+
+set(SAM_FAMILY samg55)
+set(SDK_DIR ${TOP}/hw/mcu/microchip/samg55)
+
+# include board specific
+include(${CMAKE_CURRENT_LIST_DIR}/boards/${BOARD}/board.cmake)
+
+# toolchain set up
+set(CMAKE_SYSTEM_PROCESSOR cortex-m4 CACHE INTERNAL "System Processor")
+set(CMAKE_TOOLCHAIN_FILE ${TOP}/examples/build_system/cmake/toolchain/arm_${TOOLCHAIN}.cmake)
+
+set(FAMILY_MCUS SAMG CACHE INTERNAL "")
+set(OPENOCD_OPTION "-f interface/cmsis-dap.cfg -c \"transport select swd\" -f target/at91samdXX.cfg")
+
+#------------------------------------
+# BOARD_TARGET
+#------------------------------------
+# only need to be built ONCE for all examples
+function(add_board_target BOARD_TARGET)
+  if (TARGET ${BOARD_TARGET})
+    return()
+  endif ()
+
+  set(LD_FILE_Clang ${LD_FILE_GNU})
+  if (NOT DEFINED LD_FILE_${CMAKE_C_COMPILER_ID})
+    message(FATAL_ERROR "LD_FILE_${CMAKE_C_COMPILER_ID} not defined")
+  endif ()
+
+  set(STARTUP_FILE_GNU ${SDK_DIR}/${SAM_FAMILY}/gcc/gcc/startup_${SAM_FAMILY}.c)
+  set(STARTUP_FILE_Clang ${STARTUP_FILE_GNU})
+
+  add_library(${BOARD_TARGET} STATIC
+    ${SDK_DIR}/${SAM_FAMILY}/gcc/system_${SAM_FAMILY}.c
+    ${SDK_DIR}/hal/src/hal_atomic.c
+    ${SDK_DIR}/hpl/core/hpl_init.c
+    ${SDK_DIR}/hpl/usart/hpl_usart.c
+    ${SDK_DIR}/hpl/pmc/hpl_pmc.c
+    ${STARTUP_FILE_${CMAKE_C_COMPILER_ID}}
+    )
+  target_include_directories(${BOARD_TARGET} PUBLIC
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
+    ${SDK_DIR}
+    ${SDK_DIR}/config
+    ${SDK_DIR}/samg55/include
+    ${SDK_DIR}/hal/include
+    ${SDK_DIR}/hal/utils/include
+    ${SDK_DIR}/hpl/core
+    ${SDK_DIR}/hpl/pio
+    ${SDK_DIR}/hpl/pmc
+    ${SDK_DIR}/hri
+    ${SDK_DIR}/CMSIS/Core/Include
+    )
+  target_compile_definitions(${BOARD_TARGET} PUBLIC
+    )
+
+  update_board(${BOARD_TARGET})
+
+  if (CMAKE_C_COMPILER_ID STREQUAL "GNU")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--script=${LD_FILE_GNU}"
+      -nostartfiles
+      --specs=nosys.specs --specs=nano.specs
+      )
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "Clang")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--script=${LD_FILE_Clang}"
+      )
+  elseif (CMAKE_C_COMPILER_ID STREQUAL "IAR")
+    target_link_options(${BOARD_TARGET} PUBLIC
+      "LINKER:--config=${LD_FILE_IAR}"
+      )
+  endif ()
+endfunction()
+
+
+#------------------------------------
+# Functions
+#------------------------------------
+function(family_configure_example TARGET RTOS)
+  family_configure_common(${TARGET} ${RTOS})
+
+  # Board target
+  add_board_target(board_${BOARD})
+
+  #---------- Port Specific ----------
+  # These files are built for each example since it depends on example's tusb_config.h
+  target_sources(${TARGET} PUBLIC
+    # BSP
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/family.c
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../board.c
+    )
+  target_include_directories(${TARGET} PUBLIC
+    # family, hw, board
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/../../
+    ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/boards/${BOARD}
+    )
+
+  # Add TinyUSB target and port source
+  family_add_tinyusb(${TARGET} OPT_MCU_SAMG ${RTOS})
+  target_sources(${TARGET}-tinyusb PUBLIC
+    ${TOP}/src/portable/microchip/samg/dcd_samg.c
+    )
+  target_link_libraries(${TARGET}-tinyusb PUBLIC board_${BOARD})
+
+  # Link dependencies
+  target_link_libraries(${TARGET} PUBLIC board_${BOARD} ${TARGET}-tinyusb)
+
+  # Flashing
+  family_add_bin_hex(${TARGET})
+  family_flash_jlink(${TARGET})
+  #family_flash_openocd(${TARGET} ${OPENOCD_OPTION})
+endfunction()
diff --git a/hw/bsp/samg/family.mk b/hw/bsp/samg/family.mk
new file mode 100644
index 000000000..39b4bc19f
--- /dev/null
+++ b/hw/bsp/samg/family.mk
@@ -0,0 +1,45 @@
+include $(TOP)/$(BOARD_PATH)/board.mk
+CPU_CORE ?= cortex-m4
+
+SDK_DIR = hw/mcu/microchip/samg55
+
+CFLAGS += \
+  -flto \
+  -DCFG_TUSB_MCU=OPT_MCU_SAMG
+
+# suppress following warnings from mcu driver
+CFLAGS += -Wno-error=undef -Wno-error=null-dereference -Wno-error=redundant-decls
+
+# SAM driver is flooded with -Wcast-qual which slow down complication significantly
+CFLAGS_SKIP += -Wcast-qual
+
+LDFLAGS_GCC += \
+  -nostdlib -nostartfiles \
+  --specs=nosys.specs --specs=nano.specs \
+
+SRC_C += \
+	src/portable/microchip/samg/dcd_samg.c \
+	${SDK_DIR}/samg55/gcc/gcc/startup_samg55.c \
+	${SDK_DIR}/samg55/gcc/system_samg55.c \
+	${SDK_DIR}/hal/src/hal_atomic.c \
+	${SDK_DIR}/hpl/core/hpl_init.c \
+	${SDK_DIR}/hpl/usart/hpl_usart.c \
+	${SDK_DIR}/hpl/pmc/hpl_pmc.c \
+
+INC += \
+  $(TOP)/$(FAMILY_PATH) \
+  $(TOP)/$(BOARD_PATH) \
+	$(TOP)/${SDK_DIR} \
+	$(TOP)/${SDK_DIR}/config \
+	$(TOP)/${SDK_DIR}/samg55/include \
+	$(TOP)/${SDK_DIR}/hal/include \
+	$(TOP)/${SDK_DIR}/hal/utils/include \
+	$(TOP)/${SDK_DIR}/hpl/core \
+	$(TOP)/${SDK_DIR}/hpl/pio \
+	$(TOP)/${SDK_DIR}/hpl/pmc \
+	$(TOP)/${SDK_DIR}/hri \
+	$(TOP)/${SDK_DIR}/CMSIS/Core/Include
+
+# flash using edbg from https://github.com/ataradov/edbg
+flash: $(BUILD)/$(PROJECT).bin
+	edbg --verbose -t samg55 -pv -f $<
diff --git a/hw/bsp/samg55xplained/hpl_usart_config.h b/hw/bsp/samg/hpl_usart_config.h
index 4f2837d2e..4f2837d2e 100644
--- a/hw/bsp/samg55xplained/hpl_usart_config.h
+++ b/hw/bsp/samg/hpl_usart_config.h
diff --git a/hw/bsp/samg55xplained/peripheral_clk_config.h b/hw/bsp/samg/peripheral_clk_config.h
index 6d390f388..2fd817e89 100644
--- a/hw/bsp/samg55xplained/peripheral_clk_config.h
+++ b/hw/bsp/samg/peripheral_clk_config.h
@@ -32,13 +32,17 @@
  * \def CONF_SLCK_FREQUENCY
  * \brief Slow Clock frequency
  */
+#ifndef CONF_SLCK_FREQUENCY
 #define CONF_SLCK_FREQUENCY 32768
+#endif
 
 /**
  * \def CONF_MCK_FREQUENCY
  * \brief Master Clock frequency
  */
+#ifndef CONF_MCK_FREQUENCY
 #define CONF_MCK_FREQUENCY 8000000
+#endif
 
 // <o> USB Clock Source
 // <0=> USB Clock Controller (USB_48M)
diff --git a/hw/bsp/samg55xplained/board.mk b/hw/bsp/samg55xplained/board.mk
deleted file mode 100644
index a9328be11..000000000
--- a/hw/bsp/samg55xplained/board.mk
+++ /dev/null
@@ -1,56 +0,0 @@
-DEPS_SUBMODULES += hw/mcu/microchip
-ASF_DIR = hw/mcu/microchip/samg55
-
-CFLAGS += \
-  -flto \
-  -mthumb \
-  -mabi=aapcs \
-  -mcpu=cortex-m4 \
-  -mfloat-abi=hard \
-  -mfpu=fpv4-sp-d16 \
-  -nostdlib -nostartfiles \
-  -D__SAMG55J19__ \
-  -DCFG_TUSB_MCU=OPT_MCU_SAMG
-
-# suppress following warnings from mcu driver
-CFLAGS += -Wno-error=undef -Wno-error=null-dereference -Wno-error=redundant-decls
-
-# SAM driver is flooded with -Wcast-qual which slow down complication significantly
-CFLAGS_SKIP += -Wcast-qual
-
-LDFLAGS_GCC += -specs=nosys.specs -specs=nano.specs
-
-# All source paths should be relative to the top level.
-LD_FILE = hw/bsp/$(BOARD)/samg55j19_flash.ld
-
-SRC_C += \
-	src/portable/microchip/samg/dcd_samg.c \
-	$(ASF_DIR)/samg55/gcc/gcc/startup_samg55.c \
-	$(ASF_DIR)/samg55/gcc/system_samg55.c \
-	$(ASF_DIR)/hpl/core/hpl_init.c \
-	$(ASF_DIR)/hpl/usart/hpl_usart.c \
-	$(ASF_DIR)/hpl/pmc/hpl_pmc.c \
-	$(ASF_DIR)/hal/src/hal_atomic.c
-
-INC += \
-  $(TOP)/hw/bsp/$(BOARD) \
-	$(TOP)/$(ASF_DIR) \
-	$(TOP)/$(ASF_DIR)/config \
-	$(TOP)/$(ASF_DIR)/samg55/include \
-	$(TOP)/$(ASF_DIR)/hal/include \
-	$(TOP)/$(ASF_DIR)/hal/utils/include \
-	$(TOP)/$(ASF_DIR)/hpl/core \
-	$(TOP)/$(ASF_DIR)/hpl/pio \
-	$(TOP)/$(ASF_DIR)/hpl/pmc \
-	$(TOP)/$(ASF_DIR)/hri \
-	$(TOP)/$(ASF_DIR)/CMSIS/Core/Include
-
-# For freeRTOS port source
-FREERTOS_PORTABLE_SRC = $(FREERTOS_PORTABLE_PATH)/ARM_CM4F
-
-# For flash-jlink target
-JLINK_DEVICE = ATSAMG55J19
-
-# flash using edbg from https://github.com/ataradov/edbg
-flash: $(BUILD)/$(PROJECT).bin
-	edbg --verbose -t samg55 -pv -f $<