forked from Archive/PX4-Autopilot
474 lines
17 KiB
Plaintext
474 lines
17 KiB
Plaintext
README
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^^^^^^
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README for NuttX port to the mbed.org LPC1768 board (http://mbed.org/)
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Contents
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^^^^^^^^
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Development Environment
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GNU Toolchain Options
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IDEs
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NuttX EABI "buildroot" Toolchain
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NuttX OABI "buildroot" Toolchain
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NXFLAT Toolchain
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USB Device Controller Functions
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mbed Configuration Options
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USB Host Configuration
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Configurations
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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.
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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,
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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 toolchain, you simply need add one of the
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following configuration options to your .config (or defconfig) file:
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CONFIG_LPC17_CODESOURCERYW=y : CodeSourcery under Windows
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CONFIG_LPC17_CODESOURCERYL=y : CodeSourcery under Linux
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CONFIG_LPC17_DEVKITARM=y : devkitARM under Windows
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CONFIG_LPC17_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
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If you are not using CONFIG_LPC17_BUILDROOT, then you may also have to modify
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the PATH in the setenv.h file if your make cannot find the tools.
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NOTE: the CodeSourcery (for Windows)and devkitARM are Windows native toolchains.
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The CodeSourcey (for Linux) and NuttX buildroot toolchains are Cygwin and/or
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Linux native toolchains. There are several limitations to using a Windows based
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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 all
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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 windows-native toolchains.
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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.
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IDEs
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^^^^
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NuttX is built using command-line make. It can be used with an IDE, but some
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effort will be required to create the project (There is a simple RIDE project
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in the RIDE subdirectory).
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Makefile Build
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--------------
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Under Eclipse, it is pretty easy to set up an "empty makefile project" and
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simply use the NuttX makefile to build the system. That is almost for free
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under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty
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makefile project in order to work with Windows (Google for "Eclipse Cygwin" -
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there is a lot of help on the internet).
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Native Build
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------------
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Here are a few tips before you start that effort:
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1) Select the toolchain that you will be using in your .config file
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2) Start the NuttX build at least one time from the Cygwin command line
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before trying to create your project. This is necessary to create
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certain auto-generated files and directories that will be needed.
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3) Set up include pathes: You will need include/, arch/arm/src/lpc17xx,
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arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
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4) All assembly files need to have the definition option -D __ASSEMBLY__
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on the command line.
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Startup files will probably cause you some headaches. The NuttX startup file
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is arch/arm/src/lpc17x/lpc17_vectors.S.
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NuttX EABI "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/projects/nuttx/files/buildroot/).
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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 mbed/<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-eabi-defconfig-4.6.3 .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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details PLUS some special instructions that you will need to follow if you
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are building a Cortex-M3 toolchain for Cygwin under Windows.
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NOTE: Unfortunately, the 4.6.3 EABI toolchain is not compatible with the
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the NXFLAT tools. See the top-level TODO file (under "Binary loaders") for
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more information about this problem. If you plan to use NXFLAT, please do not
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use the GCC 4.6.3 EABI toochain; instead use the GCC 4.3.3 OABI toolchain.
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See instructions below.
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NuttX OABI "buildroot" Toolchain
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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The older, OABI buildroot toolchain is also available. To use the OABI
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toolchain:
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1. When building the buildroot toolchain, either (1) modify the cortexm3-eabi-defconfig-4.6.3
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configuration to use EABI (using 'make menuconfig'), or (2) use an exising OABI
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configuration such as cortexm3-defconfig-4.3.3
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2. Modify the Make.defs file to use the OABI conventions:
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+CROSSDEV = arm-nuttx-elf-
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+ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft
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+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld -no-check-sections
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-CROSSDEV = arm-nuttx-eabi-
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-ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
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-NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
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NXFLAT Toolchain
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^^^^^^^^^^^^^^^^
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If you are *not* using the NuttX buildroot toolchain and you want to use
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the NXFLAT tools, then you will still have to build a portion of the buildroot
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tools -- just the NXFLAT tools. The buildroot with the NXFLAT tools can
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be downloaded from the NuttX SourceForge download site
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(https://sourceforge.net/projects/nuttx/files/).
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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 lpcxpresso-lpc1768/<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-nxflat .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 builtNXFLAT binaries.
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mbed 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=lpc17xx
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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_LPC1768=y
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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=mbed (for the mbed.org board)
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_MBED=y
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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 (CPU SRAM in this case):
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CONFIG_DRAM_SIZE=(32*1024) (32Kb)
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There is an additional 32Kb of SRAM in AHB SRAM banks 0 and 1.
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CONFIG_DRAM_START - The start address of installed DRAM
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CONFIG_DRAM_START=0x10000000
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CONFIG_ARCH_IRQPRIO - The LPC17xx 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_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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Individual subsystems can be enabled:
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CONFIG_LPC17_MAINOSC=y
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CONFIG_LPC17_PLL0=y
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CONFIG_LPC17_PLL1=n
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CONFIG_LPC17_ETHERNET=n
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CONFIG_LPC17_USBHOST=n
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CONFIG_LPC17_USBOTG=n
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CONFIG_LPC17_USBDEV=n
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CONFIG_LPC17_UART0=y
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CONFIG_LPC17_UART1=n
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CONFIG_LPC17_UART2=n
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CONFIG_LPC17_UART3=n
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CONFIG_LPC17_CAN1=n
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CONFIG_LPC17_CAN2=n
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CONFIG_LPC17_SPI=n
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CONFIG_LPC17_SSP0=n
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CONFIG_LPC17_SSP1=n
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CONFIG_LPC17_I2C0=n
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CONFIG_LPC17_I2C1=n
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CONFIG_LPC17_I2S=n
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CONFIG_LPC17_TMR0=n
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CONFIG_LPC17_TMR1=n
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CONFIG_LPC17_TMR2=n
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CONFIG_LPC17_TMR3=n
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CONFIG_LPC17_RIT=n
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CONFIG_LPC17_PWM=n
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CONFIG_LPC17_MCPWM=n
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CONFIG_LPC17_QEI=n
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CONFIG_LPC17_RTC=n
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CONFIG_LPC17_WDT=n
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CONFIG_LPC17_ADC=n
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CONFIG_LPC17_DAC=n
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CONFIG_LPC17_GPDMA=n
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CONFIG_LPC17_FLASH=n
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LPC17xx 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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LPC17xx specific CAN device driver settings. These settings all
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require CONFIG_CAN:
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CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default
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Standard 11-bit IDs.
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CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined.
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CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined.
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CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number.
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(the CCLK frequency is divided by this number to get the CAN clock).
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Options = {1,2,4,6}. Default: 4.
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CONFIG_CAN2_DIVISOR - CAN2 is clocked at CCLK divided by this number.
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(the CCLK frequency is divided by this number to get the CAN clock).
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Options = {1,2,4,6}. Default: 4.
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CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6
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CONFIG_CAN_TSEG2 = the number of CAN time quanta in segment 2. Default: 7
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LPC17xx specific PHY/Ethernet device driver settings. These setting
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also require CONFIG_NET and CONFIG_LPC17_ETHERNET.
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CONFIG_PHY_KS8721 - Selects Micrel KS8721 PHY
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CONFIG_PHY_AUTONEG - Enable auto-negotion
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CONFIG_PHY_SPEED100 - Select 100Mbit vs. 10Mbit speed.
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CONFIG_PHY_FDUPLEX - Select full (vs. half) duplex
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CONFIG_NET_EMACRAM_SIZE - Size of EMAC RAM. Default: 16Kb
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CONFIG_NET_NTXDESC - Configured number of Tx descriptors. Default: 18
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CONFIG_NET_NRXDESC - Configured number of Rx descriptors. Default: 18
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CONFIG_NET_PRIORITY - Ethernet interrupt priority. The is default is
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the higest priority.
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CONFIG_NET_WOL - Enable Wake-up on Lan (not fully implemented).
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CONFIG_NET_REGDEBUG - Enabled low level register debug. Also needs
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CONFIG_DEBUG.
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CONFIG_NET_DUMPPACKET - Dump all received and transmitted packets.
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Also needs CONFIG_DEBUG.
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CONFIG_NET_HASH - Enable receipt of near-perfect match frames.
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CONFIG_NET_MULTICAST - Enable receipt of multicast (and unicast) frames.
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Automatically set if CONFIG_NET_IGMP is selected.
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LPC17xx USB Device Configuration
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CONFIG_LPC17_USBDEV_FRAME_INTERRUPT
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Handle USB Start-Of-Frame events.
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Enable reading SOF from interrupt handler vs. simply reading on demand.
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Probably a bad idea... Unless there is some issue with sampling the SOF
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from hardware asynchronously.
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CONFIG_LPC17_USBDEV_EPFAST_INTERRUPT
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Enable high priority interrupts. I have no idea why you might want to
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do that
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CONFIG_LPC17_USBDEV_NDMADESCRIPTORS
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Number of DMA descriptors to allocate in SRAM.
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CONFIG_LPC17_USBDEV_DMA
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Enable lpc17xx-specific DMA support
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CONFIG_LPC17_USBDEV_NOVBUS
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Define if the hardware implementation does not support the VBUS signal
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CONFIG_LPC17_USBDEV_NOLED
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Define if the hardware implementation does not support the LED output
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LPC17xx USB Host Configuration
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CONFIG_USBHOST_OHCIRAM_SIZE
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Total size of OHCI RAM (in AHB SRAM Bank 1)
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CONFIG_USBHOST_NEDS
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Number of endpoint descriptors
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CONFIG_USBHOST_NTDS
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Number of transfer descriptors
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CONFIG_USBHOST_TDBUFFERS
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Number of transfer descriptor buffers
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CONFIG_USBHOST_TDBUFSIZE
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Size of one transfer descriptor buffer
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CONFIG_USBHOST_IOBUFSIZE
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Size of one end-user I/O buffer. This can be zero if the
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application can guarantee that all end-user I/O buffers
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reside in AHB SRAM.
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USB Host Configuration
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^^^^^^^^^^^^^^^^^^^^^^
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The mbed board can be easily modified to support a USB host interface
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(Remember to add 2 resistors of 15K to D+ and D- pins). The hidkbd
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configuration assumes that this change has been made.
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The NuttShell (NSH) mbed can also be modified in order to support USB
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host operations. To make these modifications, do the following:
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1. First configure to build the NSH configuration from the top-level
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NuttX directory:
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cd tools
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./configure mbed/nsh
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cd ..
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2. Then edit the top-level .config file to enable USB host. Make the
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following changes:
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CONFIG_LPC17_USBHOST=y
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CONFIG_USBHOST=y
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CONFIG_SCHED_WORKQUEUE=y
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When this change is made, NSH should be extended to support USB flash
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devices. When a FLASH device is inserted, you should see a device
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appear in the /dev (pseudo) directory. The device name should be
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like /dev/sda, /dev/sdb, etc. The USB mass storage device, is present
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it can be mounted from the NSH command line like:
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ls /dev
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mount -t vfat /dev/sda /mnt/flash
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Files on the connect USB flash device should then be accessible under
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the mountpoint /mnt/flash.
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Configurations
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^^^^^^^^^^^^^^
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Each mbed configuration is maintained in a sudirectory and can be selected
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as follow:
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cd tools
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./configure.sh mbed/<subdir>
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cd -
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. ./setenv.sh
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Where <subdir> is one of the following:
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hidkbd:
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This configuration directory, performs a simple test of the USB host
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HID keyboard class driver using the test logic in examples/hidkbd.
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This configuration assumes that you have modified your mbed for USB
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host support.
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nsh:
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Configures the NuttShell (nsh) located at examples/nsh. The
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Configuration enables only the serial NSH interfaces. See notes
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above for enabling USB host support in this configuration.
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