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boards/seeedstudio-xiao-nrf52840-sense: add initial support
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‎boards/seeedstudio-xiao-nrf52840-sense/Kconfig‎

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# Copyright (c) 2024 TU Dresden
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#
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# This file is subject to the terms and conditions of the GNU Lesser
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# General Public License v2.1. See the file LICENSE in the top level
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# directory for more details.
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config BOARD
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default "seeedstudio-xiao-nrf52840-sense" if BOARD_XIAO_NRF52840_SENSE
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config BOARD_XIAO_NRF52840_SENSE
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bool
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default y
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select BOARD_COMMON_NRF52
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select CPU_MODEL_NRF52840XXAA
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source "$(RIOTBOARD)/common/nrf52/Kconfig"

‎boards/seeedstudio-xiao-nrf52840-sense/Makefile‎

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MODULE = board
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include $(RIOTBASE)/Makefile.base

‎boards/seeedstudio-xiao-nrf52840-sense/Makefile.dep‎

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ifneq (,$(filter saul_default,$(USEMODULE)))
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USEMODULE += saul_gpio
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endif
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ifneq (,$(filter mtd,$(USEMODULE)))
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USEMODULE += mtd_spi_nor
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endif
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# default to using littlefs2 on the external flash
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ifneq (,$(filter vfs_default,$(USEMODULE)))
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USEPKG += littlefs2
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USEMODULE += mtd
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endif
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# Use the NRFX package for the board initialization
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USEPKG += nrfx
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USEMODULE += boards_common_adafruit-nrf52-bootloader
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# include common nrf52 dependencies
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include $(RIOTBOARD)/common/nrf52/Makefile.dep

‎boards/seeedstudio-xiao-nrf52840-sense/Makefile.features‎

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CPU_MODEL = nrf52840xxaa
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# Put defined MCU peripherals here (in alphabetical order)
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FEATURES_PROVIDED += periph_i2c
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FEATURES_PROVIDED += periph_spi
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FEATURES_PROVIDED += periph_uart
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FEATURES_PROVIDED += periph_usbdev
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# Various other features (if any)
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FEATURES_PROVIDED += arduino_analog
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FEATURES_PROVIDED += arduino_i2c
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FEATURES_PROVIDED += arduino_pins
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FEATURES_PROVIDED += arduino_spi
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FEATURES_PROVIDED += arduino_uart
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FEATURES_PROVIDED += highlevel_stdio
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FEATURES_PROVIDED += xiao_shield
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include $(RIOTBOARD)/common/nrf52/Makefile.features

‎boards/seeedstudio-xiao-nrf52840-sense/Makefile.include‎

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UF2_SOFTDEV ?= SD730

‎boards/seeedstudio-xiao-nrf52840-sense/board.c‎

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/*
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* Copyright (C) 2025 Technische Universität Hamburg
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup boards_seeedstudio-xiao-nrf52840-sense
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* @{
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*
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* @file board.c
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* @brief Board specific implementations for the Seeedstudio Xiao
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* nRF52840 Sense board
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*
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*
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* @author Christopher Büchse <[email protected]>
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*
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* @}
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*/
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#include <stdio.h>
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#include "board.h"
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#include "periph/gpio.h"
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#include "hal/nrf_gpio.h"
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void board_init(void)
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{
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/* The IMU is supplied through a GPIO Pin (P1.08), so it has to be set
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* to high power mode. */
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NRF_P1->PIN_CNF[8] = ((uint32_t)NRF_GPIO_PIN_DIR_OUTPUT << GPIO_PIN_CNF_DIR_Pos)
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| ((uint32_t)NRF_GPIO_PIN_INPUT_DISCONNECT << GPIO_PIN_CNF_INPUT_Pos)
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| ((uint32_t)NRF_GPIO_PIN_NOPULL << GPIO_PIN_CNF_PULL_Pos)
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| ((uint32_t)NRF_GPIO_PIN_H0H1 << GPIO_PIN_CNF_DRIVE_Pos)
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| ((uint32_t)NRF_GPIO_PIN_NOSENSE << GPIO_PIN_CNF_SENSE_Pos);
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gpio_set(LSM6DS3_PWR_PIN);
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}

‎boards/seeedstudio-xiao-nrf52840-sense/doc.md‎

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@defgroup boards_seeedstudio-xiao-nrf52840-sense Seeed Studio XIAO nRF52840 Sense
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@ingroup boards
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@brief Support for the Seeed Studio XIAO nRF52840 Sense
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### General information
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The [XIAO nRF52840 Sense][seeedstudio-xiao-nrf52840-sense]
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is a development board from Seeed Studio's XIAO board family.
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It provides native USB support, Bluetooth
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Low Energy and IEEE 802.15.4 support via the nRF52840 MCU.
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Compared to the [XIAO nRF52840](@ref boards_seeedstudio-xiao-nrf52840) it
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features an ST LSM6DS3TR-C IMU and a PDM Microphone (not supported yet).
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<img src="https://files.seeedstudio.com/wiki/XIAO-BLE/pinout2.png"
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alt="top-down view on seeedstudio-xiao-nrf52840" width="50%"/>
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[seeedstudio-xiao-nrf52840-sense]: https://wiki.seeedstudio.com/XIAO_BLE/
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### Using the LSM6DS3TR-C IMU
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You can test the built-in IMU with the test provided in `tests/drivers/lsm6dsxx`:
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```shell
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make BOARD=seeedstudio-xiao-nrf52840-sense -C tests/drivers/lsm6dsxx flash term
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```
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### Flashing, Bootloader, and Terminal
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Refer to the [Feather nRF52840 Express
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documentation](https://doc.riot-os.org/group__boards__feather-nrf52840.html) for further details.
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Both use the same flasher, bootloader, and terminal settings.
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Example with `hello-world` application:
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```shell
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make BOARD=seeedstudio-xiao-nrf52840-sense -C examples/basic/hello-world flash term
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```

‎boards/seeedstudio-xiao-nrf52840-sense/include/arduino_iomap.h‎

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/*
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* Copyright (C) 2024 TU Dresden
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup boards_seeedstudio-xiao-nrf52840-sense
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* @{
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*
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* @file
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* @brief Mapping from MCU pins to Arduino pins
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*
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* You can use the defines in this file for simplified interaction with the
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* Arduino specific pin numbers.
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*
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* @author Mikolai Gütschow <[email protected]>
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*/
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#ifndef ARDUINO_IOMAP_H
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#define ARDUINO_IOMAP_H
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#include "periph/gpio.h"
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#include "periph/adc.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name XIAO's UART devices
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* @{
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* @brief Arduino's Serial uses USB-CDC-ACM stdio by default
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*/
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#define ARDUINO_UART_DEV UART_UNDEF
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/** @} */
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/**
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* @name XIAO's SPI buses
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* @{
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*/
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#define ARDUINO_SPI_DEV SPI_DEV(0)
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/** @} */
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/**
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* @name XIAO's I2C buses
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* @{
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*/
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#define ARDUINO_I2C_DEV I2C_DEV(0)
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/** @} */
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/**
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* @name XIAO's on-board LED (LED_BUILTIN)
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* @{
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*/
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#define ARDUINO_LED (11)
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/** @} */
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/**
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* @name Mapping of MCU pins to Arduino pins
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* @{
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*/
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/* Left pins */
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#define ARDUINO_PIN_0 GPIO_PIN(0, 2)
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#define ARDUINO_PIN_1 GPIO_PIN(0, 3)
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#define ARDUINO_PIN_2 GPIO_PIN(0, 28)
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#define ARDUINO_PIN_3 GPIO_PIN(0, 29)
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#define ARDUINO_PIN_4 GPIO_PIN(0, 4)
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#define ARDUINO_PIN_5 GPIO_PIN(0, 5)
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#define ARDUINO_PIN_6 GPIO_PIN(1, 11)
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/* Right side */
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#define ARDUINO_PIN_7 GPIO_PIN(1, 12)
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#define ARDUINO_PIN_8 GPIO_PIN(1, 13)
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#define ARDUINO_PIN_9 GPIO_PIN(1, 14)
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#define ARDUINO_PIN_10 GPIO_PIN(1, 15)
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/* Internal (LEDs) */
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#define ARDUINO_PIN_11 GPIO_PIN(0, 26)
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#define ARDUINO_PIN_12 GPIO_PIN(0, 6)
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#define ARDUINO_PIN_13 GPIO_PIN(0, 30)
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#define ARDUINO_PIN_LAST 13
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/** @} */
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/**
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* @name Aliases for analog pins
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* @{
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*/
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#define ARDUINO_PIN_A0 ARDUINO_PIN_0
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#define ARDUINO_PIN_A1 ARDUINO_PIN_1
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#define ARDUINO_PIN_A2 ARDUINO_PIN_2
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#define ARDUINO_PIN_A3 ARDUINO_PIN_3
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#define ARDUINO_PIN_A4 ARDUINO_PIN_4
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#define ARDUINO_PIN_A5 ARDUINO_PIN_5
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/** @} */
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/**
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* @name Mapping of Arduino analog pins to RIOT ADC lines
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* @{
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*/
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/* The Seeed Studio XIAO nRF52840 has a fixed ADC to GPIO mapping:
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*
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* nRF | MCU pin | Exposed as Arduino pin
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* -----|-----------|-----------------------
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* AIN0 | P0.02 | A0 (D0)
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* AIN1 | P0.03 | A1 (D1)
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* AIN2 | P0.04 | A4 (D4)
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* AIN3 | P0.05 | A5 (D5)
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* AIN4 | P0.28 | A2 (D2)
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* AIN5 | P0.29 | A3 (D3)
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* AIN6 | P0.30 | - (D13)
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* AIN7 | P0.31 | - (-)
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*/
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#define ARDUINO_A0 ADC_LINE(0)
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#define ARDUINO_A1 ADC_LINE(1)
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#define ARDUINO_A2 ADC_LINE(4)
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#define ARDUINO_A3 ADC_LINE(5)
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#define ARDUINO_A4 ADC_LINE(2)
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#define ARDUINO_A5 ADC_LINE(3)
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#define ARDUINO_ANALOG_PIN_LAST 5
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/** @} */
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#ifdef __cplusplus
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}
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#endif
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#endif /* ARDUINO_IOMAP_H */
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/** @} */

‎boards/seeedstudio-xiao-nrf52840-sense/include/board.h‎

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/*
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* Copyright (C) 2024 TU Dresden
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup boards_seeedstudio-xiao-nrf52840-sense
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* @{
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*
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* @file
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* @brief Board specific configuration for the Seeed Studio XIAO
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* nRF52840 Sense
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*
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* @author Mikolai Gütschow <[email protected]>
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*/
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#ifndef BOARD_H
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#define BOARD_H
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#include "cpu.h"
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#include "board_common.h"
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#include "periph/gpio.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name LED pin configuration
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* @{
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*/
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#define LED0_PIN GPIO_PIN(0, 26)
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#define LED1_PIN GPIO_PIN(0, 30)
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#define LED2_PIN GPIO_PIN(0, 6)
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#define LED_PORT (NRF_P0)
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#define LED0_MASK (1 << 26)
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#define LED1_MASK (1 << 30)
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#define LED2_MASK (1 << 6)
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#define LED_MASK (LED0_MASK | LED1_MASK | LED2_MASK)
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#define LED0_ON (LED_PORT->OUTCLR = LED0_MASK)
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#define LED0_OFF (LED_PORT->OUTSET = LED0_MASK)
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#define LED0_TOGGLE (LED_PORT->OUT ^= LED0_MASK)
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#define LED1_ON (LED_PORT->OUTCLR = LED1_MASK)
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#define LED1_OFF (LED_PORT->OUTSET = LED1_MASK)
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#define LED1_TOGGLE (LED_PORT->OUT ^= LED1_MASK)
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#define LED2_ON (LED_PORT->OUTCLR = LED2_MASK)
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#define LED2_OFF (LED_PORT->OUTSET = LED2_MASK)
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#define LED2_TOGGLE (LED_PORT->OUT ^= LED2_MASK)
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/** @} */
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/**
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* @name SPI NOR flash hardware configuration
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*
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* A 2MB P25Q16H flash is present on the board.
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*
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* @see https://files.seeedstudio.com/wiki/github_weiruanexample/Flash_P25Q16H-UXH-IR_Datasheet.pdf
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*
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* @{
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*/
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#define XIAO_NRF52840_NOR_PAGE_SIZE (256)
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#define XIAO_NRF52840_NOR_PAGES_PER_SECTOR (16)
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#define XIAO_NRF52840_NOR_SECTOR_COUNT (512)
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#define XIAO_NRF52840_NOR_FLAGS \
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(SPI_NOR_F_SECT_4K | SPI_NOR_F_SECT_32K | SPI_NOR_F_SECT_64K)
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#define XIAO_NRF52840_NOR_SPI_DEV SPI_DEV(1)
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#define XIAO_NRF52840_NOR_SPI_CLK SPI_CLK_10MHZ
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#define XIAO_NRF52840_NOR_SPI_CS GPIO_PIN(0, 25)
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#define XIAO_NRF52840_NOR_SPI_WP GPIO_PIN(0, 22)
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#define XIAO_NRF52840_NOR_SPI_HOLD GPIO_PIN(0, 23)
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#define XIAO_NRF52840_NOR_SPI_MODE SPI_MODE_0
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/** @} */
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/** Default MTD device */
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#define MTD_0 mtd_dev_get(0)
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/**
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* @name LSM6DS3TR-C IMU sensor configuration
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* @{
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*/
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#define LSM6DSXX_PARAM_I2C I2C_DEV(1) /**< I2C device of the IMU */
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#define LSM6DSXX_PARAM_ADDR (0x6A) /**< I2C address of the IMU */
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#define LSM6DS3_PWR_PIN GPIO_PIN(1, 8) /**< The IMU is directly supplied by P1.08 */
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/** @} */
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/**
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* @name ztimer configuration values
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* @{
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*/
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#define CONFIG_ZTIMER_USEC_ADJUST_SET 7
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#define CONFIG_ZTIMER_USEC_ADJUST_SLEEP 22
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/** @} */
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#ifdef __cplusplus
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}
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#endif
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#endif /* BOARD_H */
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/** @} */

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