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px4-firmware/nuttx/configs/nucleus2g/README.txt

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README
^^^^^^
README for NuttX port to the Nucleus 2G LPC1768 board from 2G Engineering
(http://www.2g-eng.com/)
Contents
^^^^^^^^
2G-Engineering Nucleus Board
Development Environment
GNU Toolchain Options
IDEs
NuttX buildroot Toolchain
LEDs
Nucleus 2G Configuration Options
Configurations
Nucleus 2G Board
^^^^^^^^^^^^^^^^
GPIO Usage
P0[0]/RD1/TXD3/SDA1 P0[0]/CAN_RX1
P0[1]/TD1/RXD3/SCL P0[1]/CAN_TX1
P0[2]/TXD0/AD0[7] TX0
P0[3]/RXD0/AD0[6] RX0
P0[4] P0[4]/CAN1_STB
P0[5] P0[5]/CAN2_STB
P0[6]/I2SRX_SDA/SSEL1/MAT2[0] GPI/O_CS1
P0[7]/I2STX_CLK/SCK1/MAT2[1] SCLK1
P0[8]/I2STX_WS/MISO1/MAT2[2] MISO1
P0[9]/I2STX_SDA/MOSI1/MAT2[3] MOSI1
P0[10] P0[10]/CAN1_TERM
P0[11] P0[11]/CAN2_TERM
P0[15]/TXD1/SCK0/SCK MMC_CLK
P0[16]/RXD1/SSEL0/SSEL MMC_CD
P0[17]/CTS1/MISO0/MISO MMC_DATA0
P0[18]/DCD1/MOSI0/MOSI MMC_MISO
P0[19]/DSR1/SDA1 GPI/O_CS2
P0[20]/DTR1/SCL1 GPI/O_CS3
P0[21]/RI1/MCIPWR/RD1 P0[21]
P0[22]/RTS1/TD1 P0[22]
P0[23]/AD0[0]/I2SRX_CLK/CAP3[0] AD0
P0[24]/AD0[1]/I2SRX_WS/CAP3[1] AD1
P0[25]/AD0[2]/I2SRX_SDA/TXD3 AD2
P0[26]/AD0[3]/AOUT/RXD3 AD3
P0[27]/SDA0/USB_SDA SDA
P0[28]/SCL0 SCL
P0[29]/USB_D+ USB+
P0[30]/USB_D- USB-
P1[0] - P1[17] Not connected
P1[18]/USB_UP_LED/PWM1[1]/CAP1[0] USB_LINK
P1[19]-P[29] P[19]-P[29]
P1[30]/VBUS/AD0[4] USB_+5
P1[31]/SCK1/AD0[5] AD5
P2[0] P2[0]/LED1_A
P2[1] P2[1]/LED1_B
P2[2] P2[2]/LED2_A
P2[3] P2[3]/LED2_B
P2[4] P2[4]
P2[5]/PWM1[6]/DTR1/TRACEDATA[0] 232_POWERAVE
P2[6]/PCAP1[0]/RI1/TRACECLK 232_VALID
P2[7]/RD2/RTS1 P2[7]/CAN_RX2
P2[8]/TD2/TXD2 P2[8]/CAN_TX2
P2[9]/USB_CONNECT/RXD2 USB_CONNECT
P2[10]/EINT0/NMI BOOTLOADER
P2[11]/EINT1/I2STX_CLK HEARTBEAT
P2[12]/EINT2/I2STX_WS EXTRA_LED
P2[13]/EINT3/I2STX_SDA 5V_ENABLE
P3[25]-P3[26] Not connected
P4[28]-P4[29] P4[28]-P4[29]
Development Environment
^^^^^^^^^^^^^^^^^^^^^^^
Either Linux or Cygwin on Windows can be used for the development environment.
The source has been built only using the GNU toolchain (see below). Other
toolchains will likely cause problems. Testing was performed using the Cygwin
environment.
GNU Toolchain Options
^^^^^^^^^^^^^^^^^^^^^
The NuttX make system has been modified to support the following different
toolchain options.
1. The CodeSourcery GNU toolchain,
2. The devkitARM GNU toolchain,
3. The NuttX buildroot Toolchain (see below).
All testing has been conducted using the NuttX buildroot toolchain. However,
the make system is setup to default to use the devkitARM toolchain. To use
the CodeSourcery or devkitARM toolchain, you simply need add one of the
following configuration options to your .config (or defconfig) file:
CONFIG_LPC17_CODESOURCERYW=y : CodeSourcery under Windows
CONFIG_LPC17_CODESOURCERYL=y : CodeSourcery under Linux
CONFIG_LPC17_DEVKITARM=y : devkitARM under Windows
CONFIG_LPC17_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
If you are not using CONFIG_LPC17_BUILDROOT, then you may also have to modify
the PATH in the setenv.h file if your make cannot find the tools.
NOTE: the CodeSourcery (for Windows)and devkitARM are Windows native toolchains.
The CodeSourcey (for Linux) and NuttX buildroot toolchains are Cygwin and/or
Linux native toolchains. There are several limitations to using a Windows based
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
NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization
level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with
-Os.
NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that
the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM
path or will get the wrong version of make.
IDEs
^^^^
NuttX is built using command-line make. It can be used with an IDE, but some
effort will be required to create the project (There is a simple RIDE project
in the RIDE subdirectory).
Makefile Build
--------------
Under Eclipse, it is pretty easy to set up an "empty makefile project" and
simply use the NuttX makefile to build the system. That is almost for free
under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty
makefile project in order to work with Windows (Google for "Eclipse Cygwin" -
there is a lot of help on the internet).
Native Build
------------
Here are a few tips before you start that effort:
1) Select the toolchain that you will be using in your .config file
2) Start the NuttX build at least one time from the Cygwin command line
before trying to create your project. This is necessary to create
certain auto-generated files and directories that will be needed.
3) Set up include pathes: You will need include/, arch/arm/src/lpc17xx,
arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
4) All assembly files need to have the definition option -D __ASSEMBLY__
on the command line.
Startup files will probably cause you some headaches. The NuttX startup file
is arch/arm/src/lpc17x/lpc17_vectors.S.
NuttX buildroot Toolchain
^^^^^^^^^^^^^^^^^^^^^^^^^
A GNU GCC-based toolchain is assumed. The files */setenv.sh should
be modified to point to the correct path to the Cortex-M3 GCC toolchain (if
different from the default in your PATH variable).
If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX
SourceForge download site (https://sourceforge.net/project/showfiles.php?group_id=189573).
This GNU toolchain builds and executes in the Linux or Cygwin environment.
1. You must have already configured Nuttx in <some-dir>/nuttx.
cd tools
./configure.sh nucleus2g/<sub-dir>
2. Download the latest buildroot package into <some-dir>
3. unpack the buildroot tarball. The resulting directory may
have versioning information on it like buildroot-x.y.z. If so,
rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
4. cd <some-dir>/buildroot
5. cp configs/cortexm3-defconfig-4.3.3 .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 Cortex-M3 toolchain for Cygwin under Windows.
NOTE: This is an OABI toolchain.
LEDs
^^^^
If CONFIG_ARCH_LEDS is defined, then support for the Nucleus-2G LEDs will be
included in the build. See:
- configs/nucleus2g/include/board.h - Defines LED constants, types and
prototypes the LED interface functions.
- configs/nucleus2g/src/nucleus2g_internal.h - GPIO settings for the LEDs.
- configs/nucleus2g/src/up_leds.c - LED control logic.
The Nucleus2G has 3 LEDs... two on the Babel CAN board and a "heartbeat" LED."
The LEDs on the Babel CAN board are capabl of OFF/GREEN/RED/AMBER status.
In normal usage, the two LEDs on the Babel CAN board would show CAN status, but if
CONFIG_ARCH_LEDS is defined, these LEDs will be controlled as follows for NuttX
debug functionality (where NC means "No Change").
During the boot phases. LED1 and LED2 will show boot status.
/* LED1 LED2 HEARTBEAT */
#define LED_STARTED 0 /* OFF OFF OFF */
#define LED_HEAPALLOCATE 1 /* GREEN OFF OFF */
#define LED_IRQSENABLED 2 /* OFF GREEN OFF */
#define LED_STACKCREATED 3 /* OFF OFF OFF */
#define LED_INIRQ 4 /* NC NC ON (momentary) */
#define LED_SIGNAL 5 /* NC NC ON (momentary) */
#define LED_ASSERTION 6 /* NC NC ON (momentary) */
#define LED_PANIC 7 /* NC NC ON (2Hz flashing) */
#undef LED_IDLE /* Sleep mode indication not supported */
After the system is booted, this logic will no longer use LEDs 1 and 2. They
are then available for use the application software using lpc17_led1() and
lpc17_led2():
enum lpc17_ledstate_e
{
LPC17_LEDSTATE_OFF = 0,
LPC17_LEDSTATE_GREEN = 1,
LPC17_LEDSTATE_RED = 2,
LPC17_LEDSTATE_AMBER = (LPC17_LEDSTATE_GREEN|LPC17_LEDSTATE_RED),
};
EXTERN void lpc17_led1(enum lpc17_ledstate_e state);
EXTERN void lpc17_led2(enum lpc17_ledstate_e state);
The heartbeat LED is illuminated during all interrupt and signal procressing.
Normally, it will glow dimly to inicate that the LPC17xx is taking interrupts.
On an assertion PANIC, it will flash at 2Hz.
Nucleus 2G Configuration Options
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
CONFIG_ARCH - Identifies the arch/ subdirectory. This should
be set to:
CONFIG_ARCH=arm
CONFIG_ARCH_family - For use in C code:
CONFIG_ARCH_ARM=y
CONFIG_ARCH_architecture - For use in C code:
CONFIG_ARCH_CORTEXM3=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP=lpc17xx
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_LPC1768=y
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=nucleus2g (for the Nucleus 2G)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_NUCLEUS2G=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 (CPU SRAM in this case):
CONFIG_DRAM_SIZE=(32*1024) (32Kb)
There is an additional 32Kb of SRAM in AHB SRAM banks 0 and 1.
CONFIG_DRAM_START - The start address of installed DRAM
CONFIG_DRAM_START=0x10000000
CONFIG_DRAM_END - Last address+1 of installed RAM
CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
CONFIG_ARCH_IRQPRIO - The LPC17xx supports interrupt prioritization
CONFIG_ARCH_IRQPRIO=y
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_LPC17_MAINOSC=y
CONFIG_LPC17_PLL0=y
CONFIG_LPC17_PLL1=n
CONFIG_LPC17_ETHERNET=n
CONFIG_LPC17_USBHOST=n
CONFIG_LPC17_USBOTG=n
CONFIG_LPC17_USBDEV=n
CONFIG_LPC17_UART0=y
CONFIG_LPC17_UART1=n
CONFIG_LPC17_UART2=n
CONFIG_LPC17_UART3=n
CONFIG_LPC17_CAN1=n
CONFIG_LPC17_CAN2=n
CONFIG_LPC17_SPI=n
CONFIG_LPC17_SSP0=n
CONFIG_LPC17_SSP1=n
CONFIG_LPC17_I2C0=n
CONFIG_LPC17_I2C1=n
CONFIG_LPC17_I2S=n
CONFIG_LPC17_TMR0=n
CONFIG_LPC17_TMR1=n
CONFIG_LPC17_TMR2=n
CONFIG_LPC17_TMR3=n
CONFIG_LPC17_RIT=n
CONFIG_LPC17_PWM=n
CONFIG_LPC17_MCPWM=n
CONFIG_LPC17_QEI=n
CONFIG_LPC17_RTC=n
CONFIG_LPC17_WDT=n
CONFIG_LPC17_ADC=n
CONFIG_LPC17_DAC=n
CONFIG_LPC17_GPDMA=n
CONFIG_LPC17_FLASH=n
LPC17xx specific device driver settings
CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn for the
console and ttys0 (default is the UART0).
CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_UARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_UARTn_BAUD - The configure BAUD of the UART. Must be
CONFIG_UARTn_BITS - The number of bits. Must be either 7 or 8.
CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_UARTn_2STOP - Two stop bits
LPC17xx specific CAN device driver settings. These settings all
require CONFIG_CAN:
CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
Standard 11-bit IDs.
CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined.
CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined.
CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.
(the CCLK frequency is divided by this number to get the CAN clock).
Options = {1,2,4,6}. Default: 4.
CONFIG_CAN2_DIVISOR - CAN2 is clocked at CCLK divided by this number.
(the CCLK frequency is divided by this number to get the CAN clock).
Options = {1,2,4,6}. Default: 4.
CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6
CONFIG_CAN_TSEG2 = the number of CAN time quanta in segment 2. Default: 7
LPC17xx specific PHY/Ethernet device driver settings. These setting
also require CONFIG_NET and CONFIG_LPC17_ETHERNET.
CONFIG_PHY_KS8721 - Selects Micrel KS8721 PHY
CONFIG_PHY_AUTONEG - Enable auto-negotion
CONFIG_PHY_SPEED100 - Select 100Mbit vs. 10Mbit speed.
CONFIG_PHY_FDUPLEX - Select full (vs. half) duplex
CONFIG_NET_EMACRAM_SIZE - Size of EMAC RAM. Default: 16Kb
CONFIG_NET_NTXDESC - Configured number of Tx descriptors. Default: 18
CONFIG_NET_NRXDESC - Configured number of Rx descriptors. Default: 18
CONFIG_NET_PRIORITY - Ethernet interrupt priority. The is default is
the higest priority.
CONFIG_NET_WOL - Enable Wake-up on Lan (not fully implemented).
CONFIG_NET_REGDEBUG - Enabled low level register debug. Also needs
CONFIG_DEBUG.
CONFIG_NET_DUMPPACKET - Dump all received and transmitted packets.
Also needs CONFIG_DEBUG.
CONFIG_NET_HASH - Enable receipt of near-perfect match frames.
CONFIG_NET_MULTICAST - Enable receipt of multicast (and unicast) frames.
Automatically set if CONFIG_NET_IGMP is selected.
LPC17xx USB Device Configuration
CONFIG_LPC17_USBDEV_FRAME_INTERRUPT
Handle USB Start-Of-Frame events.
Enable reading SOF from interrupt handler vs. simply reading on demand.
Probably a bad idea... Unless there is some issue with sampling the SOF
from hardware asynchronously.
CONFIG_LPC17_USBDEV_EPFAST_INTERRUPT
Enable high priority interrupts. I have no idea why you might want to
do that
CONFIG_LPC17_USBDEV_NDMADESCRIPTORS
Number of DMA descriptors to allocate in SRAM.
CONFIG_LPC17_USBDEV_DMA
Enable lpc17xx-specific DMA support
CONFIG_LPC17_USBDEV_NOVBUS
Define if the hardware implementation does not support the VBUS signal
CONFIG_LPC17_USBDEV_NOLED
Define if the hardware implementation does not support the LED output
LPC17xx USB Host Configuration (the Nucleus2G does not support USB Host)
CONFIG_USBHOST_OHCIRAM_SIZE
Total size of OHCI RAM (in AHB SRAM Bank 1)
CONFIG_USBHOST_NEDS
Number of endpoint descriptors
CONFIG_USBHOST_NTDS
Number of transfer descriptors
CONFIG_USBHOST_TDBUFFERS
Number of transfer descriptor buffers
CONFIG_USBHOST_TDBUFSIZE
Size of one transfer descriptor buffer
CONFIG_USBHOST_IOBUFSIZE
Size of one end-user I/O buffer. This can be zero if the
application can guarantee that all end-user I/O buffers
reside in AHB SRAM.
Configurations
^^^^^^^^^^^^^^
Each Nucleus 2G configuration is maintained in a
sudirectory and can be selected as follow:
cd tools
./configure.sh nucleus2g/<subdir>
cd -
. ./setenv.sh
Where <subdir> is one of the following:
nsh:
Configures the NuttShell (nsh) located at examples/nsh. The
Configuration enables only the serial NSH interfaces.
ostest:
This configuration directory, performs a simple OS test using
examples/ostest.
usbserial:
This configuration directory exercises the USB serial class
driver at examples/usbserial. See examples/README.txt for
more information.
usbstorage:
This configuration directory exercises the USB mass storage
class driver at examples/usbstorage. See examples/README.txt for
more information.
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