forked from Archive/PX4-Autopilot
372 lines
13 KiB
Plaintext
372 lines
13 KiB
Plaintext
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README
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^^^^^^
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This is the README file for the port of NuttX to the Neuros OSD.
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CONTENTS
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^^^^^^^^
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- Dev vs. Production Neuros OSD v1.0 boards
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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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- ARM/DM320-specific Configuration Options
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- Configurations
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- Configuration Options
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Dev vs. Production Neuros OSD v1.0 boards
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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This port supports both the original Neuros OSD v1.0 Dev Board.
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This port has recently been extended to V1.0 Production board (and
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that is now the default configuration). References:
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http://www.neurostechnology.com/neuros-developer-community
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http://wiki.neurostechnology.com/index.php/OSD_1.0_Developer_Home
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http://wiki.neurostechnology.com/index.php/DM320_Platform_development
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There are some differences between the Dev Board and the currently
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available commercial v1.0 Boards, most notably in the amount of memory:
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8Mb FLASH and 32Mb RAM vs. 16Mb and 64Mb as in the production board.
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See the following for more information:
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http://wiki.neurostechnology.com/index.php/OSD_Developer_Board_v1
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NuttX operates on the ARM9EJS of this dual core processor. The DSP
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is available and unused.
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STATUS: This port is code complete, verified, and included in the
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NuttX 0.2.1 release.
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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.
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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,
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3. Raisonance GNU toolchain, or
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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_DM320_CODESOURCERYW=y : CodeSourcery under Windows
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CONFIG_DM320_CODESOURCERYL=y : CodeSourcery under Linux
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CONFIG_DM320_DEVKITARM=y : devkitARM under Windows
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CONFIG_DM320_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
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If you are not using CONFIG_DM320_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/dm320,
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arch/arm/src/common, arch/arm/src/arm, 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/arm/up_head.S. You may have to build the 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 the IDE.
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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 ARM926 GCC toolchain (if
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different from the default).
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If you have no ARM 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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1. You must have already configured Nuttx in <some-dir>nuttx.
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cd tools
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./configure.sh ntosd-dm320/<sub-dir>
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2. Download the latest buildroot package into <some-dir>
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3. unpack
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4. cd <some-dir>/buildroot
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5. cp configs/arm-defconfig .config OR
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cp configs/arm926t_defconfig-4.2.4 .config
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6. make oldconfig
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7. make
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8. Edit setenv.h so that the PATH variable includes the path to the
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newly built binaries.
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ARM/DM320-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_ARM926EJS=y
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CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
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CONFIG_ARCH_CHIP=dm320
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CONFIG_ARCH_CHIP_name - For use in C code
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CONFIG_ARCH_CHIP_DM320
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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=ntosd-dm320
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_NTOSD_DM320 (for the Spectrum Digital C5471 EVM)
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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.
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CONFIG_DRAM_START - The start address of installed DRAM
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CONFIG_DRAM_VSTART - The startaddress of DRAM (virtual)
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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_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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DM320 specific device driver settings
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CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn for the
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console and ttys0 (default is the UART0).
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CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received.
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This specific the size of the receive buffer
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CONFIG_UARTn_TXBUFSIZE - Characters are buffered before
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being sent. This specific the size of the transmit buffer
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CONFIG_UARTn_BAUD - The configure BAUD of the UART. Must be
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CONFIG_UARTn_BITS - The number of bits. Must be either 7 or 8.
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CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
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CONFIG_UARTn_2STOP - Two stop bits
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DM320 USB Configuration
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CONFIG_DM320_GIO_USBATTACH
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GIO that detects USB attach/detach events
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CONFIG_DM320_GIO_USBDPPULLUP
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GIO
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CONFIG_DMA320_USBDEV_DMA
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Enable DM320-specific DMA support
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CONFIG_DM320_GIO_USBATTACH=6
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Configurations
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^^^^^^^^^^^^^^
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Each Neuros OSD 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 ntosd-dm320/<subdir>
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cd -
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. ./setenv.sh
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Where <subdir> is one of the following:
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nettest
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^^^^^^^
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This alternative configuration directory may be used to
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enable networking using the OSDs DM9000A Ethernet interface.
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It uses examples/nettest to excercise the TCP/IP network.
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nsh
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^^^
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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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ostest
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^^^^^^
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This configuration directory, performs a simple OS test using
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examples/ostest.
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poll
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^^^^
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This configuration exercises the poll()/select() text at
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examples/poll
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thttpd
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^^^^^^
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This builds the THTTPD web server example using the THTTPD and
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the examples/thttpd application.
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udp
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^^^
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This alternative configuration directory is similar to nettest
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except that is use examples/upd to exercise UDP.
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uip
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^^^
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This configuration file demonstrates the tiny webserver
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at examples/uip.
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Configuration Options
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^^^^^^^^^^^^^^^^^^^^^
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In additional to the common configuration options listed in the
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file configs/README.txt, there are other configuration options
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specific to the DM320:
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CONFIG_ARCH - identifies the arch subdirectory and, hence, the
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processor architecture.
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CONFIG_ARCH_name - for use in C code. This identifies the
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particular chip or SoC that the architecture is implemented
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in.
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CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
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CONFIG_ARCH_CHIP_name - For use in C code
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CONFIG_ARCH_BOARD - identifies the configs subdirectory and, hence,
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the board that supports the particular chip or SoC.
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CONFIG_ENDIAN_BIG - define if big endian (default is little endian)
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CONFIG_ARCH_BOARD_name - for use in C code
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CONFIG_BOARD_LOOPSPERMSEC - for delay loops
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CONFIG_ARCH_LEDS - Use LEDs to show state.
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CONFIG_DRAM_SIZE - Describes the internal DRAM.
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CONFIG_DRAM_START - The start address of internal DRAM
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CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
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DM320 specific device driver settings
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CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn for the
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console and ttys0 (default is the UART0).
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CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received.
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This specific the size of the receive buffer
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CONFIG_UARTn_TXBUFSIZE - Characters are buffered before
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being sent. This specific the size of the transmit buffer
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CONFIG_UARTn_BAUD - The configure BAUD of the UART. Must be
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CONFIG_UARTn_BITS - The number of bits. Must be either 7 or 8.
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CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
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CONFIG_UARTn_2STOP - Two stop bits
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DM320 USB Configuration
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CONFIG_DM320_GIO_USBATTACH
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GIO that detects USB attach/detach events
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CONFIG_DM320_GIO_USBDPPULLUP
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GIO connected to D+. Support software connect/disconnect.
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CONFIG_DMA320_USBDEV_DMA
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Enable DM320-specific DMA support
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Neuros OSD Configuration Options
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CONFIG_ARCH_NTOSD_DEVBOARD - Selects the old NTOSD development board.
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The default is the production OSD board which differs in
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several ways.
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