forked from Archive/PX4-Autopilot
333 lines
14 KiB
Plaintext
333 lines
14 KiB
Plaintext
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Architecture-Specific Code
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^^^^^^^^^^^^^^^^^^^^^^^^^^
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Table of Contents
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^^^^^^^^^^^^^^^^^
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o Architecture-Specific Code
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o Summary of Files
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o Supported Architectures
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o Configuring NuttX
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Architecture-Specific Code
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^^^^^^^^^^^^^^^^^^^^^^^^^^
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The NuttX configuration consists of:
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o Processor architecture specific files. These are the files contained
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in the arch/<arch-name>/ directory discussed in this README.
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o Chip/SoC specific files. Each processor processor architecture
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is embedded in chip or System-on-a-Chip (SoC) architecture. The
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full chip architecture includes the processor architecture plus
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chip-specific interrupt logic, general purpose I/O (GIO) logic, and
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specialized, internal peripherals (such as UARTs, USB, etc.).
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These chip-specific files are contained within chip-specific
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sub-directories in the arch/<arch-name>/ directory and are selected
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via the CONFIG_ARCH_name selection
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o Board specific files. In order to be usable, the chip must be
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contained in a board environment. The board configuration defines
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additional properties of the board including such things as
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peripheral LEDs, external peripherals (such as network, USB, etc.).
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These board-specific configuration files can be found in the
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configs/<board-name>/ sub-directories.
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This README will address the processor architecture specific files
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that are contained in the arch/<arch-name>/ directory. The file
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include/nuttx/arch.h identifies all of the APIs that must
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be provided by this architecture specific logic. (It also includes
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arch/<arch-name>/arch.h as described below).
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Directory Structure
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^^^^^^^^^^^^^^^^^^^
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The arch directory contains architecture specific logic. The complete
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board port in is defined by the architecture-specific code in this
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directory (plus the board-specific configurations in the config/
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subdirectory). Each architecture must provide a subdirectory <arch-name>
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under arch/ with the following characteristics:
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<arch-name>/
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|-- include/
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| |--<chip-name>/
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| | `-- (chip-specific header files)
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| |--<other-chips>/
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| |-- arch.h
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| |-- irq.h
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| `-- types.h
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`-- src/
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|--<chip-name>/
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| `-- (chip-specific source files)
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|--<other-chips>/
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|-- Makefile
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`-- (architecture-specific source files)
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Summary of Files
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^^^^^^^^^^^^^^^^
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include/<chip-name>/
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This sub-directory contains chip-specific header files.
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include/arch.h
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This is a hook for any architecture specific definitions that may
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be needed by the system. It is included by include/nuttx/arch.h
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include/types.h
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This provides architecture/toolchain-specific definitions for
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standard types. This file should typedef:
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_int8_t, _uint8_t, _int16_t, _uint16_t, _int32_t, _uint32_t
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and if the architecture supports 64-bit integers.
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_int24_t, _uint24_t, int64_t, uint64_t
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NOTE that these type names have a leading underscore character. This
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file will be included(indirectly) by include/stdint.h and typedef'ed to
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the final name without the underscore character. This roundabout way of
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doings things allows the stdint.h to be removed from the include/
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directory in the event that the user prefers to use the definitions
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provided by their toolchain header files
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irqstate_t
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Must be defined to the be the size required to hold the interrupt
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enable/disable state.
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This file will be included by include/sys/types.h and be made
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available to all files.
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include/irq.h
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This file needs to define some architecture specific functions (usually
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inline if the compiler supports inlining) and structure. These include:
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- struct xcptcontext. This structures represents the saved context
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of a thread.
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- irqstate_t irqsave(void) -- Used to disable all interrupts.
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- void irqrestore(irqstate_t flags) -- Used to restore interrupt
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enables to the same state as before irqsave was called.
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This file must also define NR_IRQS, the total number of IRQs supported
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by the board.
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src/<chip-name>/
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This sub-directory contains chip-specific source files.
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src/Makefile
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This makefile will be executed to build the targets src/libup.a and
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src/up_head.o. The up_head.o file holds the entry point into the system
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(power-on reset entry point, for example). It will be used in
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the final link with libup.a and other system archives to generate the
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final executable.
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Supported Architectures
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^^^^^^^^^^^^^^^^^^^^^^^
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arch/sim - Linux/Cygwin simulation
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A user-mode port of NuttX to the x86 Linux platform is available.
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The purpose of this port is primarily to support OS feature development.
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This port does not support interrupts or a real timer (and hence no
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round robin scheduler) Otherwise, it is complete.
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arch/arm - ARM-based micro-controllers
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This directory holds common ARM architectures. At present, this includes
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the following subdirectories:
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arch/arm/include and arch/arm/src/common
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Common ARM/Cortex-M3 logic.
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arch/arm/src/arm and arch/arm/include/arm
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Common ARM-specific logic
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arch/arm/src/armv7-m and arch/arm/include/armv7-m
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Common ARMv7-M logic (Cortex-M3 and Cortex-M4)
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arch/arm/include/c5471 and arch/arm/src/c5471
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TI TMS320C5471 (also called TMS320DM180 or just C5471).
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NuttX operates on the ARM7 of this dual core processor. This port
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complete, verified, and included in the NuttX release 0.1.1.
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arch/arm/include/dm320 and arch/arm/src/dm320
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TI TMS320DM320 (also called just DM320).
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NuttX operates on the ARM9EJS of this dual core processor. This port
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complete, verified, and included in the NuttX release 0.2.1.
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arch/arm/include/imx and arch/arm/src/imx
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Freescale MC9328MX1 or i.MX1. This port uses the Freescale MX1ADS
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development board with a GNU arm-elf toolchain* under either Linux or Cygwin.
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STATUS: This port has stalled because of development tool issues. Coding
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is complete on the basic port (timer, serial console, SPI).
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arch/arm/include/lm3s and arch/arm/src/lm3s
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These directories contain support for the Luminary LMS family, particularly
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for the LM3S6918. The initial, release of this port was included in NuttX version
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0.4.6. The current port includes timer, serial console, Ethernet, SSI, and microSD
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support. There are working configurations the NuttX OS test, to run the NuttShell
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(NSH), the NuttX networking test, and the uIP web server.
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arch/arm/include/lpc214x and arch/arm/src/lpc214x
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These directories provide support for NXP LPC214x family of
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ARM7TDMI processors. This port boots and passes the OS test (examples/ostest).
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The port is complete and verifed. As of NuttX 0.3.17, the port includes:
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timer interrupts, serial console, USB driver, and SPI-based MMC/SD card
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support. A verifed NuttShell (NSH) configuration is also available.
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arch/arm/include/lpc2378 and arch/arm/src/lpc2378.
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NXP LPC2378. Support is provided for the NXP LPC2378 MCU. This port was
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contributed by Rommel Marcelo is was first released in NuttX-5.3.
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STATUS: This port boots and passes the OS test (examples/ostest) and
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includes a working implementation of the NuttShell (NSH). The port is
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complete and verified. As of NuttX 5.3, the port includes only basic
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timer interrupts and serial console support.
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arch/arm/include/lpc313x and arch/arm/src/lpc313x
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These directories provide support for NXP LPC313x family of
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ARM926EJ-S processors. The port for the NXP LPC3131 was first
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released in NuttX-5.1 (but was not functional until NuttX-5.2).
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STATUS: The basic EA3131 port is complete and verified in NuttX-5.2
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This basic port includes basic boot-up, serial console, and timer
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interrupts. This port was extended in NuttX 5.3 with a USB high
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speed driver contributed by David Hewson. This port has been
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verified using the NuttX OS test, USB serial and mass storage tests
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and includes a working implementation of the NuttShell ((NSH)).
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arch/arm/include/sam3u and arch/arm/src/sam3u
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Atmel AT91SAM3U. This port is for Atmel AT91SAM3U4E MCU.
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STATUS: The basic AT91SAM3U port was released in NuttX version 5.1.
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The basic port includes boot-up logic, interrupt driven serial
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console, and system timer interrupts. That release passes the
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NuttX OS test and is proven to have a valid OS implementation. A
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onfiguration to support the NuttShell is also included.
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arch/arm/include/stm32 and arch/arm/src/stm32
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These directories contain support for the STMicro STM32 family, particularly
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for the STM32F103ZET6.
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STATUS: The basic STM32 port was released in NuttX version 0.4.12.
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The basic port includes boot-up logic, interrupt driven serial console,
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and system timer interrupts. The 0.4.13 release added support for SPI,
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serial FLASH, and USB device.; The 4.14 release added support for
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buttons and SDIO-based MMC/SD and verifed DMA support. Verified
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configurations are available for NuttX OS test, the NuttShell (NSH)
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example, the USB serial device class, and the USB mass storage device
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lass example.
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arch/arm/include/str71x and arch/arm/src/str71x
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These directories provide support for the STMicro STR71x processors.
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Coding is complete on the basic port (boot logic, system time, serial console),
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but no testing has been performed due to some problems I am having with my
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JTAG wiggler and OpenOCD on Linux.
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arch/avr
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This directory is dedicated to ports to the Atmel AVR (8-bit) and AVR32 (32-bit)
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MCU families. STATUS: Under development.
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arch/avr/include/avr and arch/avr/src/avr
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Common support for all 8-bit VR MCUs
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arch/avr/include/atmega and arch/avr/src/atmega
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Support specifically for the AVR ATMega family (specifically only for
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the ATMega128 at the moment).
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arch/avr/include/at90usb and arch/avr/src/at90usb
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Support specifically for the AVR AT90USB646, 647, 1286, and 1287 family.
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arch/avr/include/avr32 and arch/avr/src/avr32
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Common support for all AVR32 MCUs
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arch/avr/include/at32uc3 and arch/avr/src/at32uc3
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Support specifically for the AT32UC3Bxxx family (specifically only for
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the AT32UC3B0256 at the moment).
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arch/hc
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This directory is dedicated to ports to the Freescale HC family.
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arch/arm/include/m9s12 and arch/arm/src/m9s12
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These directories provide support for the Freescale mc9s12x family.
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STATUS: Fragments of this port were first released in nuttx-5.0 and
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the port was "code-complete" as nuttx-5.18. However, the final
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verification effort has been stalled because of higher priority tasks.
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arch/m68322
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A work in progress.
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STATUS: Stalled for the time being.
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arch/mips
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This directory is dedicated to ports to the MIPS family.
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arch/mips/include/mips32 and arch/mips/src/mips32
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Common support for all MIPS32 architectures
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arch/mips/include/pic32mx and arch/mips/src/pic32mx
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Support for all MicroChip PIC32MX architectures
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arch/rgmp
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RGMP stands for RTOS and GPOS on Multi-Processor. RGMP is a project
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for running GPOS and RTOS simultaneously on multi-processor platforms.
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You can port your favorite RTOS to RGMP together with an unmodified
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Linux to form a hybrid operating system. This makes your application
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able to use both RTOS and GPOS features.
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See http://rgmp.sourceforge.net/wiki/index.php/Main_Page for further
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information about RGMP.
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arch/sh - SuperH and related Hitachi/Renesas microcontrollers
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arch/sh/include and arch/sh/src/common
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Common SuperH logic.
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arch/sh/include/shs and arch/sh/src/sh1
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Support for the SH-1 processor.
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arch/8051 - 8051/52 microcontrollers
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8051 Microcontroller. This port is not quite ready for prime time.
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arch/x86 - Intel x86 architectures
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This directory holds related, 32- and 64-bit architectures from Intel.
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At present, this includes the following subdirectories:
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arch/x86/include and arch/x86/src/common
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Common x86 logic.
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arch/x86/include/i486 and arch/x86/src/i486
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These directories hold definitions and logic appropriate for any
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instantiation of the 32-bit i486 architecture.
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arch/x86/include/qemu and arch/x86/src/qemu
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This is the implementation of NuttX on the QEMU x86 simulation.
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arch/z16 - ZiLOG 16-bit processors
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This directory holds related, 16-bit architectures from ZiLOG. At
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present, this includes the following subdirectories:
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arch/z16/include and arch/z16/src/common
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Common microcontroller logic.
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arch/z16/include/z16f and arch/z16/src/z16f
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ZiLOG z16f Microcontroller.
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STATUS: Released in nuttx-0.3.7. Fully functional other than issues
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addressed in ${TOPDIR}/TODO.
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arch/z80 - ZiLOG 8-bit microcontrollers
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This directory holds related, 8-bit architectures from ZiLOG. At
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present, this includes the following subdirectories:
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arch/z80/include and arch/z80/src/common
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Common microcontroller logic.
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arch/z80/include/z80 and arch/z80/src/z80
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Classic ZiLOG z80 Microcontroller.
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STATUS: Functional with no known defects. There are still several
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OS features that have not yet been tested (e.g., networking).
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arch/z80/include/z8 and arch/z80/src/z8
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ZiLOG Z8Encore! Microcontroller
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arch/z80/include/ez80 and arch/z80/src/ez80
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ZiLOG ez80 Acclaim! Microcontroller
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