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

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README
^^^^^
This is the README file for the port of NuttX to the PJRC Teensy++ 2.0 board.
This board is developed by http://pjrc.com/teensy/. The Teensy++ 2.0 is based
on an Atmel AT90USB1286 MCU.
Contents
^^^^^^^^
o Teensy++ 2.0 Features
o Pin Usage
o Halfkey Bootloader
o Serial Console
o SD Connection
o Toolchains
o Windows Native Toolchains
o NuttX buildroot Toolchain
o avr-libc
o Teensy++ Configuration Options
o Configurations
Teensy++ 2.0 Features
^^^^^^^^^^^^^^^^^^^^^
o Based on the 64-pin USB AVR Microcontroller AT90USB1286.
o USB Full Speed (12Mbit/s)
o USB Device Mode
o 120kbof available FLASH memory for programs.
o 8 kbytes SRAM and 4 kbytes of EEPROM
o USB powered
o 16MHz crystal
o 48 General Purpose IO Pins
Pin Usage
^^^^^^^^^
AT90USB1286 TQFP64
-- ------------------------ ---------------------------------------------
PIN SIGNAL BOARD CONNECTION
-- ------------------------ ---------------------------------------------
(left)
1 (INT.6/AIN.0) PE6 Pad E6
2 (INT.7/AIN.1/UVcon) PE7 Pad E7
3 UVcc (Voltage circutry)
4 D- USB DP
5 D+ USB DM
6 UGnd GND
7 UCap GND (via cap)
8 VBus USB VBUS
9 (IUID) PE3 N/C
10 (SS/PCINT0) PB0 Pad B0
11 (PCINT1/SCLK) PB1 Pad B1
12 (PDI/PCINT2/MOSI) PB2 Pad B2
13 (PDO/PCINT3/MISO) PB3 Pad B3
14 (PCINT4/OC.2A) PB4 Pad B4
15 (PCINT5/OC.1A) PB5 Pad B5
16 (PCINT6/OC.1B) PB6 Pad B6
(bottom)
17 (PCINT7/OC.0A/OC.1C) PB7 Pad B7
18 (INT4/TOSC1) PE4 Pad E4
19 (INT.5/TOSC2) PE5 Pad E5
20 RESET Switch pulls to ground
21 VCC VCC
22 GND GND
23 XTAL2 XTAL (16MHz)
24 XTAL1 XTAL (16MHz)
25 (OC0B/SCL/INT0) PD0 Pad D0
26 (OC2B/SDA/INT1) PD1 Pad D1
27 (RXD1/INT2) PD2 Pad D2
28 (TXD1/INT3) PD3 Pad D3
29 (ICP1) PD4 Pad D4
30 (XCK1) PD5 Pad D5
31 (T1) PD6 Pad D6, LED
32 (T0) PD7 Pad D7
(right)
48 PA3 (AD3) Pad A3
47 PA4 (AD4) Pad A4
46 PA5 (AD5) Pad A5
45 PA6 (AD6) Pad A6
44 PA7 (AD7) Pad A7
43 PE2 (ALE/HWB) Pad ALE (Pulled down)
42 PC7 (A15/IC.3/CLKO) Pad C7
41 PC6 (A14/OC.3A) Pad C6
40 PC5 (A13/OC.3B) Pad C5
39 PC4 (A12/OC.3C) Pad C4
38 PC3 (A11/T.3) Pad C3
37 PC2 (A10) Pad C2
36 PC1 (A9) Pad C1
35 PC0 (A8) Pad C0
34 PE1 (RD) Pad E1
33 PE0 (WR) Pad E0
(top)
64 AVCC VCC
63 GND GND
62 AREF Pad Ref (Capacitor to ground)
61 PF0 (ADC0) Pad F0
60 PF1 (ADC1) Pad F1
59 PF2 (ADC2) Pad F2
58 PF3 (ADC3) Pad F3
57 PF4 (ADC4/TCK) Pad F4
56 PF5 (ADC5/TMS) Pad F5
55 PF6 (ADC6/TDO) Pad F6
54 PF7 (ADC7/TDI) Pad F7
53 GND GND
52 VCC VCC
51 PA0 (AD0) Pad A0
50 PA1 (AD1) Pad A1
49 PA2 (AD2) Pad A2
Halfkey Bootloader
^^^^^^^^^^^^^^^^^^
o Download the Teensy application from http://pjrc.com/teensy/loader.html
o Instructions are available for your OS at that places as well.
Summary:
1. Start Teensy
2. Press button on the Teensy board
3. Select a HEX file (File menu)
4. Select "program" (Operations menu)
5. Reboot (Operations menu).
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 Pad D2
28 (TXD1/INT3) PD3 Pad D3
Plus power and ground. There are numerous ground points and both USB 5V
and Vcc are available.
SD Connection
^^^^^^^^^^^^^
I have the SD-ADP SD/MMC Card Adaptor from www.gravitech.com
(http://www.gravitech.us/sdcaad.html). Features:
o On-board 3.3V regulator
o Connect directly to 3.3V or 5.0V microcontroller
o Card detect LED
o Includes 11-pin male header
o Board dimension: 2.0<EFBFBD>x1.3<EFBFBD>
SD-ADP Pinout / SD Connection
-- ---- ----------- -------------------------------------------------------
J2 NAME SD CARD DESCRIPTION
-- ---- ----------- -------------------------------------------------------
1 VIN (reguator) Input power to the SD card (3.3V to 6.0V)
2 GND 3,6,12,13 Common (Connects to the housing of the SD socket)
3 3V3 4 3.3V Output voltage from the on-board 3.3V regulator (250mA)
4 NC 9 NC Connect to pin 9 on the SD card (not used in SPI mode)
5 CS 1 DAT3/CS Chip select *
6 DI 2 CMD/DI Serial input data *
7 SCK 5 SCK Serial clock *
8 DO 7 DAT0/DO Serial output data
9 IRQ 8 DAT1/IRQ Interrupt request, connect to pin 8 on the SD card (not used in SPI mode)
10 CD 10 CD Card detect (active low)
11 WP 11 WP Write protect
-- ---- ----------- -------------------------------------------------------
* Via a 74LCX245 level translator / buff
Teensy SPI Connection
-- ---- -- ------------------------- -------
J2 NAME PIN NAME PAD
-- ---- -- ------------------------- -------
1 VIN -- Connected to USB +5V
2 GND -- Connected to USB GND
3 3V3 -- Not used ---
4 NC -- Not used
5 CS 10 (SS/PCINT0) PB0 Pad B0
6 DI 12 (PDI/PCINT2/MOSI) PB2 Pad B2
7 SCK 11 (PCINT1/SCLK) PB1 Pad B1
8 DO 13 (PDO/PCINT3/MISO) PB3 Pad B3
9 IRQ -- Not used ---
10 CD 14 (PCINT4/OC.2A) PB4 Pad B4
11 WP 15 (PCINT5/OC.1A) PB5 Pad B5
-- ---- -- ------------------------- -------
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:
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 <some-dir>/nuttx.
cd tools
./configure.sh Teensy++/<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
Teensy++ 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.
CONFIG_ARCH_CHIP_AT90USB1286=y
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=teensy
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_TEENSY=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 DRAM
CONFIG_DRAM_START=0x800100
CONFIG_DRAM_END - Last address+1 of installed RAM
CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
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
AT90USB specific USB device configuration
CONFIG_USB_DISABLE_PADREGULATOR
CONFIG_USB_LOWSPEED
CONFIG_USB_NOISYVBUS
Configurations
^^^^^^^^^^^^^^
Each Teensy++ configuration is maintained in a sudirectory and can
be selected as follow:
cd tools
./configure.sh teensy/<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.
ostest:
This configuration directory, performs a simple OS test using
apps/examples/ostest. NOTE: The OS test is quite large. In order
to get it to fit within AVR memory constraints, it will probably be
necessary to disable some OS features.
usbstorage:
This configuration directory exercises the USB mass storage
class driver at apps/examples/usbstorage. See apps/examples/README.txt
for more information. NOTE: THIS CONFIGURATION HAS NOT YET BEEN
DEBUGGED AND DOES NOT WORK!!! ISSUES: (1) THE SPI DRIVER IS UNTESTED,
(2) THE USB DRIVER IS UNTESTED, AND (3) THE RAM USAGE MIGHT BE EXCESSIVE.
Update 7/11: (1) The SPI/SD driver has been verified, however, (2) I
believe that the current teensy/usbstorage configuration uses too
much SRAM for the system to behave sanely. A lower memory footprint
version of the mass storage driver will be required before this can
be debugged
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