forked from Archive/PX4-Autopilot
369 lines
13 KiB
Plaintext
369 lines
13 KiB
Plaintext
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README
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^^^^^^
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This README discusses issues unique to NuttX configurations for the
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Atmel SAM3U-EK development board.
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Contents
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^^^^^^^^
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- Development Environment
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- GNU Toolchain Options
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- IDEs
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- NuttX buildroot Toolchain
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- LEDs
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- SAM3U-EK-specific Configuration Options
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- Configurations
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Development Environment
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^^^^^^^^^^^^^^^^^^^^^^^
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Either Linux or Cygwin on Windows can be used for the development environment.
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The source has been built only using the GNU toolchain (see below). Other
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toolchains will likely cause problems. Testing was performed using the Cygwin
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environment.
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GNU Toolchain Options
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^^^^^^^^^^^^^^^^^^^^^
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The NuttX make system has been modified to support the following different
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toolchain options.
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1. The CodeSourcery GNU toolchain,
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2. The devkitARM GNU toolchain, ok
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4. The NuttX buildroot Toolchain (see below).
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All testing has been conducted using the NuttX buildroot toolchain. However,
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the make system is setup to default to use the devkitARM toolchain. To use
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the CodeSourcery, devkitARM or Raisonance GNU toolchain, you simply need to
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add one of the following configuration options to your .config (or defconfig)
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file:
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CONFIG_SAM3U_CODESOURCERYW=y : CodeSourcery under Windows
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CONFIG_SAM3U_CODESOURCERYL=y : CodeSourcery under Linux
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CONFIG_SAM3U_DEVKITARM=y : devkitARM under Windows
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CONFIG_SAM3U_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
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If you are not using CONFIG_SAM3U_BUILDROOT, then you may also have to modify
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the PATH in the setenv.h file if your make cannot find the tools.
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NOTE: the CodeSourcery (for Windows), devkitARM, and Raisonance toolchains are
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Windows native toolchains. The CodeSourcey (for Linux) and NuttX buildroot
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toolchains are Cygwin and/or Linux native toolchains. There are several limitations
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to using a Windows based toolchain in a Cygwin environment. The three biggest are:
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1. The Windows toolchain cannot follow Cygwin paths. Path conversions are
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performed automatically in the Cygwin makefiles using the 'cygpath' utility
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but you might easily find some new path problems. If so, check out 'cygpath -w'
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2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links
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are used in Nuttx (e.g., include/arch). The make system works around these
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problems for the Windows tools by copying directories instead of linking them.
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But this can also cause some confusion for you: For example, you may edit
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a file in a "linked" directory and find that your changes had no effect.
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That is because you are building the copy of the file in the "fake" symbolic
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directory. If you use a Windows toolchain, you should get in the habit of
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making like this:
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make clean_context all
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An alias in your .bashrc file might make that less painful.
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3. Dependencies are not made when using Windows versions of the GCC. This is
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because the dependencies are generated using Windows pathes which do not
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work with the Cygwin make.
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Support has been added for making dependencies with the windows-native toolchains.
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That support can be enabled by modifying your Make.defs file as follows:
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- MKDEP = $(TOPDIR)/tools/mknulldeps.sh
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+ MKDEP = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)"
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If you have problems with the dependency build (for example, if you are not
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building on C:), then you may need to modify tools/mkdeps.sh
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NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization
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level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with
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-Os.
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NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that
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the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM
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path or will get the wrong version of make.
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IDEs
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^^^^
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NuttX is built using command-line make. It can be used with an IDE, but some
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effort will be required to create the project (There is a simple RIDE project
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in the RIDE subdirectory).
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Makefile Build
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--------------
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Under Eclipse, it is pretty easy to set up an "empty makefile project" and
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simply use the NuttX makefile to build the system. That is almost for free
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under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty
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makefile project in order to work with Windows (Google for "Eclipse Cygwin" -
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there is a lot of help on the internet).
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Native Build
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------------
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Here are a few tips before you start that effort:
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1) Select the toolchain that you will be using in your .config file
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2) Start the NuttX build at least one time from the Cygwin command line
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before trying to create your project. This is necessary to create
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certain auto-generated files and directories that will be needed.
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3) Set up include pathes: You will need include/, arch/arm/src/sam3u,
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arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
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4) All assembly files need to have the definition option -D __ASSEMBLY__
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on the command line.
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Startup files will probably cause you some headaches. The NuttX startup file
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is arch/arm/src/sam3u/sam3u_vectors.S. You may need to build NuttX
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one time from the Cygwin command line in order to obtain the pre-built
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startup object needed by RIDE.
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NuttX buildroot Toolchain
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^^^^^^^^^^^^^^^^^^^^^^^^^
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A GNU GCC-based toolchain is assumed. The files */setenv.sh should
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be modified to point to the correct path to the Cortex-M3 GCC toolchain (if
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different from the default in your PATH variable).
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If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX
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SourceForge download site (https://sourceforge.net/project/showfiles.php?group_id=189573).
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This GNU toolchain builds and executes in the Linux or Cygwin environment.
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1. You must have already configured Nuttx in <some-dir>/nuttx.
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cd tools
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./configure.sh sam3u-ek/<sub-dir>
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2. Download the latest buildroot package into <some-dir>
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3. unpack the buildroot tarball. The resulting directory may
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have versioning information on it like buildroot-x.y.z. If so,
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rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
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4. cd <some-dir>/buildroot
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5. cp configs/cortexm3-defconfig-4.3.3 .config
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6. make oldconfig
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7. make
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8. Edit setenv.h, if necessary, so that the PATH variable includes
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the path to the newly built binaries.
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See the file configs/README.txt in the buildroot source tree. That has more
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detailed PLUS some special instructions that you will need to follow if you are
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building a Cortex-M3 toolchain for Cygwin under Windows.
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LEDs
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^^^^
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The SAM3U-EK board has four LEDs labeled LD1, LD2, LD3 and LD4 on the
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the board. Usage of these LEDs is defined in include/board.h and src/up_leds.c.
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They are encoded as follows:
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SYMBOL Meaning LED0* LED1 LED2
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------------------- ----------------------- ------- ------- -------
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LED_STARTED NuttX has been started OFF OFF OFF
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LED_HEAPALLOCATE Heap has been allocated OFF OFF ON
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LED_IRQSENABLED Interrupts enabled OFF ON OFF
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LED_STACKCREATED Idle stack created OFF ON ON
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LED_INIRQ In an interrupt** N/C FLASH N/C
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LED_SIGNAL In a signal handler*** N/C N/C FLASH
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LED_ASSERTION An assertion failed FLASH N/C N/C
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LED_PANIC The system has crashed FLASH N/C N/C
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* If LED1 and LED2 are statically on, then NuttX probably failed to boot
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and these LEDs will give you some indication of where the failure was
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** The normal state is LED0=OFF, LED2=ON and LED1 faintly glowing. This faint
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glow is because of timer interupts that result in the LED being illuminated
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on a small proportion of the time.
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*** LED2 may also flicker normally if signals are processed.
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SAM3U-EK-specific Configuration Options
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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CONFIG_ARCH - Identifies the arch/ subdirectory. This should
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be set to:
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CONFIG_ARCH=arm
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CONFIG_ARCH_family - For use in C code:
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CONFIG_ARCH_ARM=y
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CONFIG_ARCH_architecture - For use in C code:
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CONFIG_ARCH_CORTEXM3=y
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CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
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CONFIG_ARCH_CHIP=sam3u
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CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
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chip:
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CONFIG_ARCH_CHIP_AT91SAM3U4
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CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
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hence, the board that supports the particular chip or SoC.
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CONFIG_ARCH_BOARD=sam3u_ek (for the SAM3U-EK development board)
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_SAM3UEK=y
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CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation
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of delay loops
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CONFIG_ENDIAN_BIG - define if big endian (default is little
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endian)
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CONFIG_DRAM_SIZE - Describes the installed DRAM (SRAM in this case):
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CONFIG_DRAM_SIZE=0x0000c000 (48Kb)
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CONFIG_DRAM_START - The start address of installed DRAM
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CONFIG_DRAM_START=0x20000000
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CONFIG_ARCH_IRQPRIO - The SAM3UF103Z supports interrupt prioritization
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CONFIG_ARCH_IRQPRIO=y
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CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that
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have LEDs
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CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
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stack. If defined, this symbol is the size of the interrupt
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stack in bytes. If not defined, the user task stacks will be
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used during interrupt handling.
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CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
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CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture.
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CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
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cause a 100 second delay during boot-up. This 100 second delay
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serves no purpose other than it allows you to calibratre
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CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure
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the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until
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the delay actually is 100 seconds.
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Individual subsystems can be enabled:
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CONFIG_SAM3U_DMA
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CONFIG_SAM3U_HSMCI
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CONFIG_SAM3U_NAND
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CONFIG_SAM3U_SPI
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CONFIG_SAM3U_UART
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CONFIG_SAM3U_USART0
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CONFIG_SAM3U_USART1
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CONFIG_SAM3U_USART2
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CONFIG_SAM3U_USART3
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Some subsystems can be configured to operate in different ways. The drivers
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need to know how to configure the subsystem.
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CONFIG_GPIOA_IRQ
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CONFIG_GPIOB_IRQ
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CONFIG_GPIOC_IRQ
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CONFIG_USART0_ISUART
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CONFIG_USART1_ISUART
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CONFIG_USART2_ISUART
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CONFIG_USART3_ISUART
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AT91SAM3U specific device driver settings
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CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=0,1,2,3) or UART
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m (m=4,5) for the console and ttys0 (default is the USART1).
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CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received.
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This specific the size of the receive buffer
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CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before
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being sent. This specific the size of the transmit buffer
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CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART. Must be
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CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8.
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CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
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CONFIG_U[S]ARTn_2STOP - Two stop bits
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LCD Options. Other than the standard LCD configuration options
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(see configs/README.txt), the SAM3U-EK driver also supports:
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CONFIG_LCD_PORTRAIT - Present the display in the standard 240x320
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"Portrait" orientation. Default: The display is rotated to
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support a 320x240 "Landscape" orientation.
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Configurations
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^^^^^^^^^^^^^^
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Each SAM3U-EK configuration is maintained in a sudirectory and
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can be selected as follow:
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cd tools
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./configure.sh sam3u-ek/<subdir>
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cd -
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. ./setenv.sh
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Before sourcing the setenv.sh file above, you should examine it and perform
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edits as necessary so that BUILDROOT_BIN is the correct path to the directory
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than holds your toolchain binaries.
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And then build NuttX by simply typing the following. At the conclusion of
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the make, the nuttx binary will reside in an ELF file called, simply, nuttx.
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make
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The <subdir> that is provided above as an argument to the tools/configure.sh
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must be is one of the following:
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knsh:
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This is identical to the nsh configuration below except that NuttX
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is built as a kernel-mode, monolithic module and the user applications
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are built separately. This build requires a special make command; not
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just 'make' but make with the following two arguments:
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make pass1 pass2
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This is required because in the normal case (just 'make'), make will
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create all dependencies then execute the pass1 and pass2 targets. But
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this example, pass2 depends on auto-generatd files produced during pass1.
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This specall make command ('make pass1 pass2') will make the dependencies
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separately for each pass.
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At there end of the build, there four files will top-level build
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directory:
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nuttx_user.elf - The pass1 ELF file
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nuttx - The pass2 ELF file
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nuttx_user.hex - The pass1 Intel HEX format file
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nuttx.hex - The pass2 Intel HEX file
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The J-Link program will except files in .hex, .mot, .srec, and .bin
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formats.
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nsh:
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Configures the NuttShell (nsh) located at examples/nsh. The
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Configuration enables both the serial and telnetd NSH interfaces.
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nx:
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Configures to use examples/nx using the HX834x LCD hardwar on
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the SAM3U-EK development board.
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ostest:
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This configuration directory, performs a simple OS test using
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examples/ostest. By default, this project assumes that you are
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using the DFU bootloader.
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touchscreen:
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This configuration implements an NSH configuratin with several
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built-in applications. The configuration is called touchscreen
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because we intend to use this configuration to develop the
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SAM3U-EK touchscreen. However, there is no touchscreen driver
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in place as of this writing.
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