README ^^^^^ This is the README file for the port of NuttX to the Amber Web Server from SoC Robotics (http://www.soc-robotics.com/index.htm). The Amber Web Server is based on an Atmel ATMega128. As of this writing, documentation for the Amber Web Server board is available here: http://www.soc-robotics.com/product/Amber_Specs/Amber_Processor.html and http://www.soc-robotics.com/pdfs/Amber%201-5a%20Hardware%20Reference%20Guide.pdf Contents ^^^^^^^^ o Amber Web Server Features o Pin Connections o Atmel AVRISP mkII Connection o Toolchains o Windows Native Toolchains o NuttX buildroot Toolchain o avr-libc o Amber Web Server Configuration Options o Configurations Amber Web Server Features ^^^^^^^^^^^^^^^^^^^^^^^^^ o 17.56MHz ATmega128 Atmel 8bit AVR RISC Processor o 128Kbyte Flash o 64Kbyte RAM o 10BaseT Ethernet Port o High Speed Serial Port o 8Ch 10bit Analog Input port o 16 Digital IO ports o Expansion bus for daughter cards o LED status indicators o ISP Programming port o 7-14VDC input o Power via Ethernet port Pin Connections (PCB Rev 1.5a) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -------------------- ----------------------------- ATMega128 Pinout Amber board connection -------------------- ----------------------------- (left) 1 PEN Pulled-up 2 PE0 (RXD0/PDI) MAX202ECWED T1IN or J7-1, ISP-PDI (via 74HC5053), J5-26 3 PE1 (TXD0/PDO) MAX202ECWED A1OUT or J7-9, ISP-PDO (via 74HC5053), J5-25 4 PE2 (XCK0/AIN0) MAX202ECWED T2IN, J5-24 5 PE3 (OC3A/AIN1) MAX202ECWED A2OUT, J5-23 6 PE4 (OC3B/INT4) J5-22 7 PE5 (OC3C/INT5) J5-21, RTL8019AS INT 0, TP5 PE5 8 PE6 (T3/INT6) J5-20 9 PE7 (ICP3/INT7) J5-19 10 PB0 (SS) Pull up of SS SPI master 11 PB1 (SCK) J7-7, ISP_SCK (via 74HC4053) and AT45D011 SCK, J5-17 12 PB2 (MOSI) AT45D011 SI. J5-16 13 PB3 (MISO) AT45D011 SO, J5-15 14 PB4 (OC0) AT45D011 CS\, J5-14 15 PB5 (OC1A) J5-13 16 PB6 (OC1B) J5-12 (bottom) 17 PB7 (OC2/OC1C) J5-11 18 PG3/TOSC2 32.768KHz XTAL 19 PG4/TOSC1 32.768KHz XTAL 20 RESET RESET 21 VCC 22 GND GND 23 XTAL2 14.7456MHz XTAL 24 XTAL1 14.7456MHz XTAL 25 PD0 (SCL/INT0) J5-10 26 PD1 (SDA/INT1) J5-9 27 PD2 (RXD1/INT2) J5-8, MAX488CSA RO (RS-485) 28 PD3 (TXD1/INT3) J5-7, MAX488CSA DI (RS-485) 29 PD4 (ICP1) J5-6 30 PD5 (XCK1) J5-5 31 PD6 (T1) J5-4 32 PD7 (T2) J5-3 (left) 48 PA3 (AD3) J5-?, 74HC5730, 62246DLP-7, RTL8019AS 47 PA4 (AD4) J5-?, 74HC5730, 62246DLP-7, RTL8019AS 46 PA5 (AD5) J5-?, 74HC5730, 62246DLP-7, RTL8019AS 45 PA6 (AD6) J5-?, 74HC5730, 62246DLP-7, RTL8019AS 44 PA7 (AD7) J5-?, 74HC5730, 62246DLP-7, RTL8019AS 43 PG2 (ALE) J5-1, 74HC5730, 62246DLP-7, RTL8019AS 42 PC7 (A15) TP4 A15, J5-27, 74HC5730 41 PC6 (A14) J5-28, 74HC5730, 62246DLP-7, RTL8019AS 40 PC5 (A13) J5-29, 74HC5730, 62246DLP-7, RTL8019AS 39 PC4 (A12) J5-30, 74HC5730, 62246DLP-7, RTL8019AS 38 PC3 (A11) J5-31, 74HC5730, 62246DLP-7, RTL8019AS 37 PC2 (A10) J5-32, 74HC5730, 62246DLP-7, RTL8019AS 36 PC1 (A9) J5-33, 74HC5730, 62246DLP-7, RTL8019AS 35 PC0 (A8) J5-34, 74HC5730, 62246DLP-7, RTL8019AS 34 PG1 (RD) TP2 RD\, J5-52, 62246DLP-7, RTL8019AS 33 PG0 (WR) TP3 WR\, J5-51, 62246DLP-7, RTL8019AS (top) 64 AVCC 63 GND GND 62 AREF (analog supply) 61 PF0 (ADC0) J6-5, PDV-P9 Light Sensor 60 PF1 (ADC1) J6-7, Thermister 59 PF2 (ADC2) J6-9, MXA2500GL Dual Axis Accesserometer, AOUTX 58 PF3 (ADC3) J6-11, MXA2500GL Dual Axis Accesserometer, AOUTY 57 PF4 (ADC4/TCK) J6-13, MXA2500GL Dual Axis Accesserometer, TOUT 56 PF5 (ADC5/TMS) J6-15 55 PF6 (ADC6/TDO) J6-17 54 PF7 (ADC7/TDI) J6-19 53 GND GND 52 VCC 51 PA0 (AD0) J5-?, 74HC5730, 62246DLP-7, RTL8019AS 50 PA1 (AD1) J5-?, 74HC5730, 62246DLP-7, RTL8019AS 49 PA2 (AD2) J5-?, 74HC5730, 62246DLP-7, RTL8019AS Switches and Jumpers ^^^^^^^^^^^^^^^^^^^^ ISP/UART0 JP1 - DTE/DCE selection JP2 - JP5 - J11 - STK500 Enable ADC JP8 - JP9 - Networking JP10 - RS-485 J8 - J9 - J10 - Atmel AVRISP mkII Connection ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ISP6PIN Header -------------- 1 2 MISO o o VCC SCK o o MOSI RESET\ o o GND (ISP10PIN Connector) ------------------- ------------------------- 1 2 MOSI o o Vcc - ISP-PDI: PE0/PDI/RX0 via 74HC5053 LED o o GND - ISP-PROG: J11/GND, to 74HC5053 and LED RESET\ o o GND - to 74HC505 SCK o o GND - ISP_SCK: SCK, PB0/SS\ MISO o o GND - ISP-PDO: PE1/PD0/TX0 via 74HC5053 Board Orientation | | +-----+ | + O O | | + O O | | + O O | + O O | | + O x | PIN 1 | +-----+ | AVRISP mkII Connection to 10-pin Header ------------------------------------------- 10PIN Header 6PIN Header --------------------- --------------------- Pin 1 MOSI Pin 4 MOSI Pin 2 Vcc Pin 2 Vcc Pin 3 LED Controlled via J11 Pin 4 GND Pin 6 GND Pin 5 RESET\ Pin 5 RESET\ Pin 6 GND N/C Pin 7 SCK Pin 3 SCK Pin 8 GND N/C Pin 9 MISO Pin 1 MISO Pin 10 GND N/C Toolchains ^^^^^^^^^^ Buildroot: There is a DIY buildroot version for the AVR boards here: http://sourceforge.net/projects/nuttx/files/buildroot/. See the following section for details on building this toolchain. It is assumed in some places that buildroot toolchain is available at ../misc/buildroot/build_avr. Edit the setenv.sh file if this is not the case. After configuring NuttX, make sure that CONFIG_AVR_BUILDROOT=y is set in your .config file. WinAVR: For Cygwin development environment on Windows machines, you can use WinAVR: http://sourceforge.net/projects/winavr/files/ It is assumed in some places that WinAVR is installed at C:/WinAVR. Edit the setenv.sh file if this is not the case. After configuring NuttX, make sure that CONFIG_AVR_WINAVR=y is set in your .config file. WARNING: There is an incompatible version of cygwin.dll in the WinAVR/bin directory! Make sure that the path to the correct cygwin.dll file precedes the path to the WinAVR binaries! Linux: For Linux, there are widely available avr-gcc packages. On Ubuntu, use: sudo apt-get install gcc-avr gdb-avr avr-libc After configuring NuttX, make sure that CONFIG_AVR_LINUXGCC=y is set in your .config file. Windows Native Toolchains ^^^^^^^^^^^^^^^^^^^^^^^^^ The WinAVR toolchain is a Windows native toolchain. There are several limitations to using a Windows native toolchain in a Cygwin environment. The three biggest are: 1. The Windows toolchain cannot follow Cygwin paths. Path conversions are performed automatically in the Cygwin makefiles using the 'cygpath' utility but you might easily find some new path problems. If so, check out 'cygpath -w' 2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links are used in Nuttx (e.g., include/arch). The make system works around these problems for the Windows tools by copying directories instead of linking them. But this can also cause some confusion for you: For example, you may edit a file in a "linked" directory and find that your changes had no effect. That is because you are building the copy of the file in the "fake" symbolic directory. If you use a Windows toolchain, you should get in the habit of making like this: make clean_context all An alias in your .bashrc file might make that less painful. 3. Dependencies are not made when using Windows versions of the GCC. This is because the dependencies are generated using Windows pathes which do not work with the Cygwin make. Support has been added for making dependencies with the windows-native toolchains. That support can be enabled by modifying your Make.defs file as follows: - MKDEP = $(TOPDIR)/tools/mknulldeps.sh + MKDEP = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)" If you have problems with the dependency build (for example, if you are not building on C:), then you may need to modify tools/mkdeps.sh An additional issue with the WinAVR toolchain, in particular, is that it contains an incompatible version of the Cygwin DLL in its bin/ directory. You must take care that the correct Cygwin DLL is used. NuttX buildroot Toolchain ^^^^^^^^^^^^^^^^^^^^^^^^^ If NuttX buildroot toolchain source tarball cne can be downloaded from the NuttX SourceForge download site (https://sourceforge.net/projects/nuttx/files/). This GNU toolchain builds and executes in the Linux or Cygwin environment. 1. You must have already configured Nuttx in /nuttx. cd tools ./configure.sh amber/ NOTE: you also must copy avr-libc header files into the NuttX include directory with command perhaps like: cp -a /cygdrive/c/WinAVR/include/avr include/. 2. Download the latest buildroot package into 3. unpack the buildroot tarball. The resulting directory may have versioning information on it like buildroot-x.y.z. If so, rename /buildroot-x.y.z to /buildroot. 4. cd /buildroot 5. cp configs/avr-defconfig-4.5.2 .config 6. make oldconfig 7. make 8. Edit setenv.h, if necessary, so that the PATH variable includes the path to the newly built binaries. See the file configs/README.txt in the buildroot source tree. That has more detailed PLUS some special instructions that you will need to follow if you are building a toolchain for Cygwin under Windows. avr-libc ^^^^^^^^ Header Files In any case, header files from avr-libc are required: http://www.nongnu.org/avr-libc/. A snapshot of avr-lib is included in the WinAVR installation. For Linux development platforms, avr-libc package is readily available (and would be installed in the apt-get command shown above). But if you are using the NuttX buildroot configuration on Cygwin, then you will have to build get avr-libc from binaries. Header File Installation The NuttX build will required that the AVR header files be available via the NuttX include directory. This can be accomplished by either copying the avr-libc header files into the NuttX include directory: cp -a /include/avr /include/. Or simply using a symbolic link: ln -s /include/avr /include/. Build Notes: It may not necessary to have a built version of avr-lib; only header files are required. Bu if you choose to use the optimized libraru functions of the flowing point library, then you may have to build avr-lib from sources. Below are instructions for building avr-lib from fresh sources: 1. Download the avr-libc package from: http://savannah.nongnu.org/projects/avr-libc/ I am using avr-lib-1.7.1.tar.bz2 2. Upack the tarball and cd into the tar jxf avr-lib-1.7.1.tar.bz2 cd avr-lib-1.7.1 3. Configure avr-lib. Assuming that WinAVR is installed at the following loction: export PATH=/cygdrive/c/WinAVR/bin:$PATH ./configure --build=`./config.guess` --host=avr This takes a *long* time. 4. Make avr-lib. make This also takes a long time because it generates variants for nearly all AVR chips. 5. Install avr-lib. make install Amber Web Server Configuration Options ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ CONFIG_ARCH - Identifies the arch/ subdirectory. This should be set to: CONFIG_ARCH=avr CONFIG_ARCH_family - For use in C code: CONFIG_ARCH_AVR=y CONFIG_ARCH_architecture - For use in C code: CONFIG_ARCH_ATMEGA=y CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory CONFIG_ARCH_CHIP=atmega CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip: CONFIG_ARCH_CHIP_ATMEGA128=y CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD=amber CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_AMBER=y CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation of delay loops CONFIG_ENDIAN_BIG - define if big endian (default is little endian) CONFIG_DRAM_SIZE - Describes the installed DRAM. One of: CONFIG_DRAM_SIZE=(8*1024) - (8Kb) CONFIG_DRAM_START - The start address of installed SRAM CONFIG_DRAM_START=0x800100 CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that have LEDs CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt stack. If defined, this symbol is the size of the interrupt stack in bytes. If not defined, the user task stacks will be used during interrupt handling. CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture. CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that cause a 100 second delay during boot-up. This 100 second delay serves no purpose other than it allows you to calibratre CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until the delay actually is 100 seconds. Individual subsystems can be enabled: CONFIG_AVR_INT0=n CONFIG_AVR_INT1=n CONFIG_AVR_INT2=n CONFIG_AVR_INT3=n CONFIG_AVR_INT4=n CONFIG_AVR_INT5=n CONFIG_AVR_INT6=n CONFIG_AVR_INT7=n CONFIG_AVR_WDT=n CONFIG_AVR_TIMER0=n CONFIG_AVR_TIMER1=n CONFIG_AVR_TIMER2=n CONFIG_AVR_TIMER3=n CONFIG_AVR_SPI=n CONFIG_AVR_USART0=y CONFIG_AVR_USART1=n CONFIG_AVR_ADC=n CONFIG_AVR_ANACOMP=n CONFIG_AVR_TWI=n If the watchdog is enabled, this specifies the initial timeout. Default is maximum supported value. CONFIG_WDTO_15MS CONFIG_WDTO_30MS CONFIG_WDTO_60MS CONFIG_WDTO_120MS CONFIG_WDTO_1250MS CONFIG_WDTO_500MS CONFIG_WDTO_1S CONFIG_WDTO_2S CONFIG_WDTO_4S CONFIG_WDTO_8S ATMEGA specific device driver settings CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the console and ttys0 (default is the USART0). CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received. This specific the size of the receive buffer CONFIG_USARTn_TXBUFSIZE - Characters are buffered before being sent. This specific the size of the transmit buffer CONFIG_USARTn_BAUD - The configure BAUD of the USART. Must be CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8. CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity CONFIG_USARTn_2STOP - Two stop bits Configurations ^^^^^^^^^^^^^^ Each Amber Web Server configuration is maintained in a sudirectory and can be selected as follow: cd tools ./configure.sh amber/ cd - . ./setenv.sh NOTE: You must also copy avr-libc header files, perhaps like: cp -a /cygdrive/c/WinAVR/include/avr include/. Where is one of the following: hello: The simple apps/examples/hello "Hello, World!" example.