forked from Archive/PX4-Autopilot
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git-svn-id: http://svn.code.sf.net/p/nuttx/code/trunk@5519 42af7a65-404d-4744-a932-0658087f49c3 |
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| .. | ||
| hello | ||
| include | ||
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| Kconfig | ||
| README.txt | ||
README.txt
README
^^^^^
This is the README file for the port of NuttX to the Micropendous 3 board.
This board is develepmend by http://code.google.com/p/opendous/. The
Micropendous 3 is based on an Atmel AT90USB646, 647, 1286 or 1287 MCU.
NuttX was ported using the AT90USB647 version. As of this writing,
documentation for the Micropendous board is available here:
http://code.google.com/p/micropendous/wiki/Micropendous3
Contents
^^^^^^^^
o Micropendous3 Features
o Pin Usage
o Atmel AVRISP mkII Connection
o DFU Bootloader
o Serial Console
o Toolchains
o Windows Native Toolchains
o NuttX buildroot Toolchain
o avr-libc
o Micropendous3 Configuration Options
o Configurations
Micropendous3 Features
^^^^^^^^^^^^^^^^^^^^^^
o Based on the 64-pin USB AVR Microcontrollers: AT90USB646, AT90USB647,
AT90USB1286, or AT90USB1287.
o USB Full Speed (12Mbit/s)
o USB Device Mode (Host mode supported with AT90USBxx7 devices)
o 60kb (AT90USB64) or 120kb (AT90USB128) of available FLASH memory for
your programs (4kb(AT90USB64)/8kb(AT90USB128) used by USB bootloader -
stock Atmel or LUFA)
o 4 kbytes SRAM and 2 kbytes of EEPROM (AT90USB64) or 8 kbytes SRAM and 4
kbytes of EEPROM (AT90USB128)
o External SRAM is possible. Layout for CY7C1019D 1-Mbit SRAM (unpopulated)
o USB powered
o 16MHz crystal
o 48 General Purpose IO Pins (47 with external SRAM)
o Vcc=VBUS jumper selects whether USB VBUS or an external supply is used
to power the board
o RESET and HWB buttons to enable firmware loading over USB (no external
programmer required)
o HWB can be used as a user button
o USB-A Plug
o JTAG header
o Size LxWxH (including headers): 3.15" x 0.8" x 0.6" =~ 8cm x 2cm x 1.5cm
o Completely OpenHardware Design
Pin Usage
^^^^^^^^^
AT90USB90128/64 TQFP64
-- ------------------------ ---------------------------------------------
PIN SIGNAL BOARD CONNECTION
-- ------------------------ ---------------------------------------------
(left)
1 (INT.6/AIN.0) PE6 J3-25 E6, CY7C1019D ^CE (Unpopulated)
2 (INT.7/AIN.1/UVcon) PE7 J3-26 E7, CY7C1019D A16 (Unpopulated)
3 UVcc
4 D- USB DP
5 D+ USB DM
6 UGnd GND
7 UCap GND (via cap)
8 VBus USB VBUS
9 (IUID) PE3 J3-22 E3
10 (SS/PCINT0) PB0 J3-28 B0
11 (PCINT1/SCLK) PB1 J3-29 B1
12 (PDI/PCINT2/MOSI) PB2 J3-30 B2
13 (PDO/PCINT3/MISO) PB3 J3-31 B3
14 (PCINT4/OC.2A) PB4 J3-32 B4
15 (PCINT5/OC.1A) PB5 J3-33 B5
16 (PCINT6/OC.1B) PB6 J3-34 B6
(bottom)
17 (PCINT7/OC.0A/OC.1C) PB7 J3-35 B7
18 (INT4/TOSC1) PE4 J3-23 E4
19 (INT.5/TOSC2) PE5 J3-24 E5
20 RESET SW1
21 VCC VCC
22 GND GND
23 XTAL2 X1
24 XTAL1 X1
25 (OC0B/SCL/INT0) PD0 J3-36 D0
26 (OC2B/SDA/INT1) PD1 J3-37 D1
27 (RXD1/INT2) PD2 J3-38 D2
28 (TXD1/INT3) PD3 J3-39 D3
29 (ICP1) PD4 J3-40 D4
30 (XCK1) PD5 J3-41 D5
31 (T1) PD6 J3-42 D6
32 (T0) PD7 J3-43 D7
(right)
48 PA3 (AD3) J3-14 A3, 74AHC573 D3, CY7C1019D |O3 (Unpopulated)
47 PA4 (AD4) J3-15 A4, 74AHC573 D4, CY7C1019D |O4 (Unpopulated)
46 PA5 (AD5) J3-16 A5, 74AHC573 D5, CY7C1019D |O5 (Unpopulated)
45 PA6 (AD6) J3-17 A6, 74AHC573 D6, CY7C1019D |O6 (Unpopulated)
44 PA7 (AD7) J3-18 A7, 74AHC573 D7, CY7C1019D |O7 (Unpopulated)
43 PE2 (ALE/HWB) SW-2 (pulled-up), J3-21 E2, 74AHC573 Cp
42 PC7 (A15/IC.3/CLKO) J3-51 C7, CY7C1019D A15 (Unpopulated)
41 PC6 (A14/OC.3A) J3-50 C6, CY7C1019D A14 (Unpopulated)
40 PC5 (A13/OC.3B) J3-49 C5, CY7C1019D A13 (Unpopulated)
39 PC4 (A12/OC.3C) J3-48 C4, CY7C1019D A12 (Unpopulated)
38 PC3 (A11/T.3) J3-47 C3, CY7C1019D A11 (Unpopulated)
37 PC2 (A10) J3-46 C2, CY7C1019D A10 (Unpopulated)
36 PC1 (A9) J3-45 C1, CY7C1019D A9 (Unpopulated)
35 PC0 (A8) J3-44 C0, CY7C1019D A8 (Unpopulated)
34 PE1 (RD) J3-20 E1, CY7C1019D ^OE (Unpopulated)
33 PE0 (WR) J3-19 E0, CY7C1019D ^WE (Unpopulated)
(top)
64 AVCC (Power circuitry)
63 GND GND
62 AREF J3-2 AREF, (Power circuitry)
61 PF0 (ADC0) J3-3 F0
60 PF1 (ADC1) J3-4 F1
59 PF2 (ADC2) J3-5 F2
58 PF3 (ADC3) J3-6 F3
57 PF4 (ADC4/TCK) J3-7 F4, JTAG TCK
56 PF5 (ADC5/TMS) J3-8 F5, JTAG TMS
55 PF6 (ADC6/TDO) J3-9 F6, JTAG TD0
54 PF7 (ADC7/TDI) J3-20 F7, JTAG TDI
53 GND GND
52 VCC VCC
51 PA0 (AD0) J3-11 A0, 74AHC573 D0, CY7C1019D |O0 (Unpopulated)
50 PA1 (AD1) J3-12 A1, 74AHC573 D1, CY7C1019D |O1 (Unpopulated)
49 PA2 (AD2) J3-13 A2, 74AHC573 D2, CY7C1019D |O2 (Unpopulated)
Atmel AVRISP mkII Connection
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ISP6PIN Header
--------------
1 2
MISO o o VCC
SCK o o MOSI
RESET o o GND
Micropendous 3 JTAG (JTAG10PIN Connector)
------------------- ---------------------
1 2 1 2
TCK o o GND TCK o o GND
TDO o o VCC TDO o o VTref
TMS o o RESET TMS o o nSRST
VCC o o N/C o o (nTRST)
TDI o o GND TDI o o GND
JTAGICE mkII Connection to 10-pin Header
------------------------------------------
10PIN Header 6PIN Header
-------------------- ---------------------
Pin 1 TCK Pin 3 SCK
Pin 2 GND Pin 6 GND
Pin 3 TDO Pin 1 MISO
Pin 4 VTref Pin 2 Vcc
Pin 6 nSRT Pin 5 Reset
Pin 9 TDI Pin 4 MOSI
DFU Bootloader
^^^^^^^^^^^^^^
There is also an DFU bootloader that resides in the upper 8Kb of FLASH
(unless you ERASE the flash with with ICE). You can enter this bootloader
(if it is in FLASH) by:
Holding both the SW1 (RESET) and SW2, then releasing SW1 while continuing
to hold SW2. SW2 connects to the PE2/HWB signal and causes a reset into
the bootloader memory region.
Then you can use FLIP to load code into FLASH (available at the Atmel Web
Site). The DFU USB driver for the DFU bootload is available in the usb
subdirectory in the FLIP installation location.
Serial Console
^^^^^^^^^^^^^^
A serial console is supported on an external MAX232/MAX3232 Connected
on PD2 and PD3:
Port D, Bit 2: RXD1, Receive Data (Data input pin for the USART1). When
the USART1 receiver is enabled this pin is configured as an input
regardless of the value of DDD2. When the USART forces this pin to
be an input, the pull-up can still be controlled by the PORTD2 bit.
Port D, Bit 3: TXD1, Transmit Data (Data output pin for the USART1).
When the USART1 Transmitter is enabled, this pin is configured as
an output regardless of the value of DDD3.
AT90USB90128/64 TQFP64
-- ------------------------ ---------------------------------------------
PIN SIGNAL BOARD CONNECTION
-- ------------------------ ---------------------------------------------
27 (RXD1/INT2) PD2 J3-38 D2
28 (TXD1/INT3) PD3 J3-39 D3
Toolchains
^^^^^^^^^^
There are several toolchain options. However, testing has been performed
using *only* the NuttX buildroot toolchain described below. Therefore,
the NuttX buildroot toolchain is the recommended choice.
The toolchain may be selected using the kconfig-mconf tool (via 'make menuconfig'),
by editing the existing configuration file (defconfig), or by overriding
the toolchain on the make commandline with CONFIG_AVR_TOOLCHAIN=<toolchain>.
The valid values for <toolchain> are BUILDROOT, CROSSPACK, LINUXGCC and WINAVR.
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.
Mac OS X:
For Mac OS X, the CrossPack for AVR toolchain is available from:
http://www.obdev.at/products/crosspack/index.html
This toolchain is functionally equivalent to the Linux GCC toolchain.
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.
MKDEP = $(TOPDIR)/tools/mknulldeps.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 <some-dir>/nuttx.
cd tools
./configure.sh micropendous3/<sub-dir>
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 <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/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 <avr-libc-path>/include/avr <nuttx-path>/include/.
Or simply using a symbolic link:
ln -s <avr-libc-path>/include/avr <nuttx-path>/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
location:
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
Micropendous3 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_AT90USB=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP=at90usb
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip. This should be exactly one of
CONFIG_ARCH_CHIP_AT90USB646=y
CONFIG_ARCH_CHIP_AT90USB647=y
CONFIG_ARCH_CHIP_AT90USB1286=y
CONFIG_ARCH_CHIP_AT90USB1287=y
Depending on which Micropendous3 version you have.
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=micropendous3
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_MICROPENOUS3=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=(4*1024) - (4Kb)
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_USBHOST=n
CONFIG_AVR_USBDEV=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_USART1=y
CONFIG_AVR_ANACOMP=n
CONFIG_AVR_ADC=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
AT90USB specific device driver settings
CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
console and ttys0 (default is no serial console).
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 Micropendous3 configuration is maintained in a sudirectory and can
be selected as follow:
cd tools
./configure.sh micropendous3/<subdir>
cd -
. ./setenv.sh
NOTE: You must also copy avr-libc header files, perhaps like:
cp -a /cygdrive/c/WinAVR/include/avr include/.
Where <subdir> is one of the following:
hello:
The simple apps/examples/hello "Hello, World!" example.
FLASH/SRAM Requirements (as of 6/16/2011):
$ avr-nuttx-elf-size nuttx
text data bss dec hex filename
24816 978 308 26102 65f6 nuttx
Strings are in SRAM.