forked from Archive/PX4-Autopilot
378 lines
15 KiB
Plaintext
378 lines
15 KiB
Plaintext
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README
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^^^^^^
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README file for the Microment Eagle100 NuttX port.
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References:
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^^^^^^^^^^
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Micromint: http://www.micromint.com/
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Luminary: http://www.luminarymicro.com/
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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 because the Luminary FLASH programming application was used for
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writing to FLASH and this application works only under Windows.
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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, or
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3. 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 or devkitARM GNU toolchain, you simply need to build the
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system as follows:
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make # Will build for the devkitARM toolchain
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make CROSSDEV=arm-eabi- # Will build for the devkitARM toolchain
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make CROSSDEV=arm-none-eabi- # Will build for the CodeSourcery toolchain
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make CROSSDEV=arm-elf- # Will build for the NuttX buildroot toolchain
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Of course, hard coding this CROSS_COMPILE value in Make.defs file will save
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some repetitive typing.
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NOTE: the CodeSourcery and devkitARM toolchains are Windows native toolchains.
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The NuttX buildroot toolchain is a Cygwin toolchain. 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; make CROSSDEV=arm-none-eabi-
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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 CodeSourcery toolchain.
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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. It has been reported to me that the
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devkitARM will require an lower optimization level of -O1. Currently all of the
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Make.def files have -O2 for devkitARM -- if you are using this toolchain, you may
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need to review these settings.
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CodeSourcery on Linux
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^^^^^^^^^^^^^^^^^^^^^
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If you select the CodeSourcery toolchain, the make system will assume that you
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are running a Windows version of the toolchain. If you are running under Linux,
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the the make will probably fail. The fix is to edit your Make.defs file and
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use something like:
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CROSSDEV = arm-none-eabi-
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WINTOOL = n
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MKDEP = $(TOPDIR)/tools/mkdeps.sh
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ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
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ARCHINCLUDES = -I. -isystem $(TOPDIR)/include
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ARCHXXINCLUDES = -I. -isystem $(TOPDIR)/include -isystem $(TOPDIR)/include/cxx
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ARCHSCRIPT = -T$(TOPDIR)/configs/$(CONFIG_ARCH_BOARD)/ostest/ld.script
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MAXOPTIMIZATION = -O2
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The values for TOPDIR is provided by the make system; the value for CONFIG_ARCH_BOARD
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is provided in your defconfig file. 'ostest' refers to the ostest/ configuration;
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this would be different for other configurations.
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For an example of a CodeSourcery-under-Linux Make.defs file, see
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configs/stm3210e-eval/nsh/Make.defs.
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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 eagle100/<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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Ethernet-Bootloader
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^^^^^^^^^^^^^^^^^^^
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Here are some notes about using the Luminary Ethernet boot-loader built
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into the Eagle-100 board.
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Built-In Application:
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- The board has no fixed IP address but uses DHCP to get an address.
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I used a D-link router; I can use a web browser to surf to the D-link
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web page to get the address assigned by
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- Then you can use this IP address in your browser to surf to the Eagle-100
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board. It presents several interesting pages -- the most important is
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the page called "Firmware Update". That page includes instructions on
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how to download code to the Eagle-100.
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- After you burn the first program, you lose this application. Then you
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will probably be better off connected directly to the Eagle-100 board
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or through a switch (The router caused problems for me during downloads).
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Using the Ethernet Bootloader:
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- You will need the "LM Flash Programmer application". You can get that
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program from the Luminary web site. There is a link on the LM3S6918 page.
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- Is there any documentation for using the bootloader? Yes and No: There
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is an application note covering the bootloader on the Luminary site, but
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it is not very informative. The Eagle100 User's Manual has the best
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information.
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- Are there any special things I have to do in my code, other than setting
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the origin to 0x0000:2000 (APP_START_ADDRESS)? No. The bootloader assumes
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that you have a vector table at that address . The bootloader does the
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following each time it boots (after you have downloaded the first valid
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application):
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o The bootloader sets the vector table register to the APP_START_ADDRESS,
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o It sets the stack pointer to the address at APP_START_ADDRESS, and then
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o Jumps to the address at APP_START_ADDRESS+4.
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- You can force the bootloader to skip starting the application and stay
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in the update mode. You will need to do this in order to download a new
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application. You force the update mode by holding the user button on the
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Eagle-100 board while resetting the board. The user button is GPIOA, pin 6
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(call FORCED_UPDATE_PIN in the bootloader code).
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- Note 1: I had to remove my D-Link router from the configuration in order
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to use the LM Flash Programmer (the Bootloader issues BOOTP requests to
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communicate with the LM Flash Programmer, my router was responding to
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these BOOTP requests and hosing the download). It is safer to connect
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via a switch or via an Ethernet switch.
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- Note 2: You don't need the router's DHCPD server in the download
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configuration; the Luminary Flash Programmer has the capability of
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temporarily assigning the IP address to the Eagle-100 via BOOTP.
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Eagle100-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=lm3s
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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_LM3S6918
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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=eagle100 (for the MicroMint Eagle-100 development board)
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_EAGLE100
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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=0x00010000 (64Kb)
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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_DRAM_END - Last address+1 of installed RAM
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CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
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CONFIG_ARCH_IRQPRIO - The LM3S6918 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_BOOTLOADER - Configure to use the MicroMint Eagle-100
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Ethernet bootloader.
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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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There are configurations for disabling support for interrupts GPIO ports.
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GPIOH and GPIOJ must be disabled because they do not exist on the LM3S6918.
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Additional interrupt support can be disabled if desired to reduce memory
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footprint.
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CONFIG_LM3S_DISABLE_GPIOA_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOB_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOC_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOD_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOE_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOF_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOG_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOH_IRQS=y
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CONFIG_LM3S_DISABLE_GPIOJ_IRQS=y
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LM3S6818 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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CONFIG_SSI0_DISABLE - Select to disable support for SSI0
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CONFIG_SSI1_DISABLE - Select to disable support for SSI1
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CONFIG_SSI_POLLWAIT - Select to disable interrupt driven SSI support.
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Poll-waiting is recommended if the interrupt rate would be to
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high in the interrupt driven case.
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CONFIG_SSI_TXLIMIT - Write this many words to the Tx FIFO before
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emptying the Rx FIFO. If the SPI frequency is high and this
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value is large, then larger values of this setting may cause
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Rx FIFO overrun errors. Default: half of the Tx FIFO size (4).
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CONFIG_LM3S_ETHERNET - This must be set (along with CONFIG_NET)
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to build the LM3S Ethernet driver
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CONFIG_LM3S_ETHLEDS - Enable to use Ethernet LEDs on the board.
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CONFIG_LM3S_BOARDMAC - If the board-specific logic can provide
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a MAC address (via lm3s_ethernetmac()), then this should be selected.
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CONFIG_LM3S_ETHHDUPLEX - Set to force half duplex operation
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CONFIG_LM3S_ETHNOAUTOCRC - Set to suppress auto-CRC generation
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CONFIG_LM3S_ETHNOPAD - Set to suppress Tx padding
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CONFIG_LM3S_MULTICAST - Set to enable multicast frames
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CONFIG_LM3S_PROMISCUOUS - Set to enable promiscuous mode
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CONFIG_LM3S_BADCRC - Set to enable bad CRC rejection.
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CONFIG_LM3S_DUMPPACKET - Dump each packet received/sent to the console.
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Configurations
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^^^^^^^^^^^^^^
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Each Eagle-100 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 eagle100/<subdir>
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cd -
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. ./setenv.sh
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Where <subdir> is one of the following:
|
||
|
|
|
||
|
|
nettest:
|
||
|
|
This configuration directory may be used to enable networking using the
|
||
|
|
LM3S6918's Ethernet controller. It uses examples/nettest to excercise the
|
||
|
|
TCP/IP network.
|
||
|
|
|
||
|
|
httpd:
|
||
|
|
This builds the uIP web server example using the examples/uip application
|
||
|
|
(for execution from FLASH). See examples/README.txt for information
|
||
|
|
about ostest.
|
||
|
|
|
||
|
|
nsh:
|
||
|
|
Configures the NuttShell (nsh) located at examples/nsh. The
|
||
|
|
Configuration enables only the serial NSH interfaces (the telnet
|
||
|
|
interface should also be functional, but is not enabled in this
|
||
|
|
configuration).
|
||
|
|
|
||
|
|
ostest:
|
||
|
|
This configuration directory, performs a simple OS test using
|
||
|
|
examples/ostest.
|
||
|
|
|
||
|
|
thttpd:
|
||
|
|
This builds the THTTPD web server example using the THTTPD and
|
||
|
|
the examples/thttpd application.
|
||
|
|
|
||
|
|
By default, all of these examples are built to be used with the Luminary
|
||
|
|
Ethernet Bootloader (you can change the ld.script file in any of these
|
||
|
|
sub-directories to change that configuration).
|
||
|
|
|
||
|
|
|