px4-firmware/nuttx/configs/olimex-strp711

README File for the Olimex STR-P711 NuttX Port
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

Contents
^^^^^^^^

  Olimex STR-P711
    Features
    Power Supply
    GIO Usage
    Jumpers
    External Interrupts
  Development Environment
  GNU Toolchain Options
  NuttX buildroot Toolchain
  Linux OpenOCD with Wiggler JTAG
  Windows OpenOCD will Olimex JTAG
  MMC/SD Slot
  ENC28J60 Module
  Configurations
  STR71x-Specific Configuration Settings
  
Olimex STR-P711
^^^^^^^^^^^^^^^
 Features:

 - MCU: STR711FR2T6 16/32 bit ARM7TDMI™ with 256K Bytes Program Flash,
   64K Bytes RAM, USB 2.0, RTC, 12 bit ADC, 4x UARTs, 2x I2C,2x SPI,
   5x 32bit TIMERS, 2x PWM, 2x CCR, WDT, up to 50MHz operation
 - Standard JTAG connector with ARM 2x10 pin layout for programming/debugging
   with ARM-JTAG
 - USB connector
 - Two channel RS232 interface and drivers
 - SD/MMC card connector
 - Two buttons
 - Trimpot connected to ADC
 - Two status LEDs
 - Buzzer
 - UEXT - 10 pin extension connector for Olimex addon peripherials like MP3,
   RF2.4Ghz, RFID etc. modules
 - 2x SPI connectors
 - I2C connector
 - On board voltage regulator 3.3V with up to 800mA current
 - Single power supply: 6V AC or DC required, USB port can power the board
 - Power supply LED
 - Power supply filtering capacitor
 - RESET circuit
 - RESET button
 - 4 Mhz crystal oscillator
 - 32768 Hz crystal and RTC

 Power Supply

   6V AC or DC (or powered from USB port)

 GIO with on-board connections (others available for prototyping):

   SIGNAL  DESCRIPTION           PIN
   ------- --------------------- -----
   MISO1   BSPI0 to MMC/SD       P0.4
   MOSI1   "   " "" "    "       P0.5
   SCLK1   "   " "" "    "       P0.6
   SS1     "   " "" "    "       P0.7
   U0RX    UART 0                P0.8
   U0TX    "  " "                P0.9
   U1RX    UART 1                P0.10
   U1TX    "  " "                P0.11
   BUZZ    Buzzer                P0.13
   WAKE-UP Button                P0.15
   AIN0    Potentiometer (AN_TR) P1.3
   LED1    LED 1                 P1.8
   LED2    LED 2                 P1.9
   WP      MMC/SD write protect  P1.10
   USBOP   USB                   P1.11
   USBON   " "                   P1.12
   BUT     Button                P1.13
   CP      MMC/SD card present   P1.15

 Jumpers
   STNBY   Will pull pin 23 /STDBY low

 External Interrupt (XTI) availability.

   XTI  TQFP64
   LINE PIN    SIGNAL                    * OLIMEX USAGE
   ---- ------ ------------------------- - ------------------------
    2   --     P2.8                        (Not available in TQFP64)
    3   --     P2.9                        (Not available in TQFP64)
    4   --     P2.10                       (Not available in TQFP64)
    5   25     P2.11                       (Not available in TQFP64)
    6   42     P1.11/CANRX                 USBOP (to USB connector)
    7   47     P1.13/HCLK/I0.SCL           CLK ??????????????
    8   48     P1.14/HRXD/I0.SDA           BUT button (PL open, PU closed)
    9   53     P0.1/S0.MOSI/U3.RX        * SPI0-3 MOSI0
   10   54     P0.2/S0.SCLK/I1.SCL       * SPI0-5 SCLK0
   11   61     P0.6/S1.SCLK              * SPI1-5 SCLK1 (also to MMC slot)
   12   63     P0.8/U0.RX/U0.TX            U0.TX
   13    1     P0.10/U1.RX/U1.TX/SC.DATA   U1.RX
   14    5     P0.13/U2.RX/T2.OCMPA        BUZZ (to buzzer circult)
   15   20     P0.15/WAKEUP                WAKE-UP button (PL open, PU closed)

                                         * Only these pins are available at a
                                           connector and are not dedicated to
                                           other board functions.

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.

GNU Toolchain Options
^^^^^^^^^^^^^^^^^^^^^

  The NuttX make system has been modified to support the following different
  toolchain options.

  1. The NuttX buildroot Toolchain (see below).
  2. The CodeSourcery GNU toolchain,
  3. The devkitARM GNU toolchain, or

  All testing has been conducted using the NuttX buildroot toolchain.  To use
  the CodeSourcery or devkitARM GNU toolchain, you simply need to build the
  system as follows:

     make                         # Will build for the NuttX buildroot toolchain
     make CROSSDEV=arm-eabi-      # Will build for the devkitARM toolchain
     make CROSSDEV=arm-none-eabi- # Will build for the CodeSourcery toolchain
     make CROSSDEV=arm-nuttx-elf- # Will build for the NuttX buildroot toolchain

  Of course, hard coding this CROSS_COMPILE value in Make.defs file will save
  some repetitive typing.

  NOTE: the CodeSourcery and devkitARM toolchains are Windows native toolchains.
  The NuttX buildroot toolchain is a Cygwin toolchain.  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; make CROSSDEV=arm-none-eabi-

     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 CodeSourcery toolchain.
     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) may 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.

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 ARM toolchain (if
  different from the default).

  If you have no ARM toolchain, one can be downloaded from the NuttX
  SourceForge download site (https://sourceforge.net/projects/nuttx/files/buildroot/).

  1. You must have already configured Nuttx in <some-dir>nuttx.

     cd tools
     ./configure.sh olimex-strp711/<sub-dir>

  2. Download the latest buildroot package into <some-dir>

  3. unpack

  4. cd <some-dir>/buildroot

  5. cp configs/arm-defconfig .config
     or
     cp configs/arm7tdmi-defconfig-4.3.3 .config  (Last tested with this toolchain)

  6. make oldconfig

  7. make

  8. Edit setenv.h so that the PATH variable includes the path to the
     newly built binaries.

Linux OpenOCD with Wiggler JTAG
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

For a debug environment, I am using OpenOCD with a Wiggler-clone JTAG interface.  The
following steps worked for me with a 20081028 OpenOCD snapshot.

GENERAL STEPS:

1. Check out OpenOCD

    svn checkout svn://svn.berlios.de/openocd/trunk openocd

2. Build OpenOCD

  Read the INSTALL file from the files you just downloaded.  You probably just need
  to run:

    ./bootstrap

  Then configure OpenOCD using the configure script created by ./bootstrap.

    ./configure --enable-parport

  Build OpenOCD with:

    make

  Install OpenOCD.  Since we used the default configuration the code will be
  installed at /usr/local/bin/openocd. Other files will be installed at
  /usr/local/lib/openocd (configuration files, scripts, etc.) and /usr/local/share/info
  (online documentation accessable via 'info openocd').  You need root priviledges
  to do the following:

    make install.

3. Setup

  OpenOCD reads its configuration from the file openocd.cfg in the current directory
  when started.  You have two different options:

  * Create a symbolic link named openocd.cfg to one of the configuration files in
    /usr/local/lib/openocd, or

  * Use a custom configuration file specified with the ‘-f <conf.file>’ command line
    switch opeion when starting OpenOCD.

  For the STR-P711, I have included bash scripts in the scripts sub-directory.

4. Running OpenOCD

  Make sure the ARM7TDMI board is powered and the JTAG cable is connected

  Run 'src/openocd -d' (might be required to be root) and check for any errors
  reported. The '-d' option enables debugging info.

5. Telnet interface

  telnet into port 4444 to get a command interface: 'telnet localhost 4444'

6. GDB

  start arm-nuttx-elf-gdb
  type 'file <executable.elf>' to load the executable
  type 'set debug remote 1' to enable tracing of gdb protocol (if required)
  type 'target remote localhost:3333' to connect to the target
  The same commands from the telnet interface can now be accessed through the
  'monitor' command, e.g. 'monitor help'

Windows OpenOCD will Olimex JTAG
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

  I have been using the Olimex ARM-USB-OCD JTAG debugger with the STR-P711
  (http://www.olimex.com).  The OpenOCD configuration file is here:
  scripts/oocd_ft2xx.cfg.  There is also a script on the scripts/ directory that
  I used to start the OpenOCD daemon on my system called oocd.sh.  That
  script would probably require some modifications to work in another
  environment:
  
    - possibly the value of OPENOCD_PATH
    - If you are working under Linux you will need to change any
      occurances of `cygpath -w blablabla` to just blablabla

  The setenv.sh file includes some environment varialble settings
  that are needed by oocd.sh.  If you have $PATH and other environment
  variables set up, then you should be able to start the OpenOCD daemon like:

    oocd.sh

  To use the Windows Olimex USB JTAG (or 'oocd.sh pp' to use the Wriggler
  JTAG) where it is assumed that you are executing oocd.sh from the top level
  level NuttX directory.

  Once the OpenOCD daemon has been started, you can connect to it via
  GDB using the following GDB command:

   arm-nuttx-elf-gdb
   (gdb) target remote localhost:3333

  And you can load the NuttX ELF file into FLASH:

   (gdb) load nuttx

  (There are also some files in the scripts/ directory that I used to
  get OpenOCD working with a Wriggler clone... I never got that stuff
  working).

MMC/SD Slot
^^^^^^^^^^^

  STR-P711 PIN MMC/SD USAGE     PIN CONFIGURATION
  ------------ ---------------- -----------------------
  P0.7/S1.SS   1     CD/DAT3/CS P.07 output
  P0.5/S1.MOSI 2     CMD/DI     MOSI1
  ---          3     VSS1       ---
  ---          4     VDD        ---
  P0.6/S1.SCLK 5     CLK/SCLK   SLCK1
  ---          6     VSS2       ---
  P0.4/S1.MISO 7     DAT0/D0    MISO1
  ---          8     DAT1/RES   (Pulled up)
  ---          9     DAT2/RES   (Pulled up)
             
  P1.10/USBCLK 10/14 WP         P1.10 input
  P1.15/HTXD   13/15 CP         P1.15 input

  Use of SPI1 doesn't conflict with anything.  WP conflicts USB; CP conflicts
  with NTXD. 

ENC28J60 Module
^^^^^^^^^^^^^^^

  The ENC28J60 module does not come on the Olimex-STR-P711, but this describes
  how I have connected it.  NOTE that the ENC28J60 requires an external interrupt
  (XTI) pin.  The only easily accessible XTI pins are on SPI0/1 so you can't have
  both SPI0 and 1 together with this configuration.

  Module CON5     QFN ENC2860 Description
  --------------- -------------------------------------------------------
  1  J8-1 NET CS   5  ~CS    Chip select input pin for SPI interface (active low)
  2     2 SCK      4  SCK    Clock in pin for SPI interface
  3     3 MOSI     3  SI     Data in pin for SPI interface
  4     4 MISO     2  SO     Data out pin for SPI interface
  5     5 GND      -- ---    ---
  10 J9-1 3V3      -- ---    ---
  9     2 WOL      1  ~WOL   Unicast WOL filter
  8     3 NET INT  28 ~INT   Interrupt output pin (active low)
  7     4 CLKOUT   27 CLKOUT Programmable clock output pin
  6     5 NET RST  6  ~RESET Active-low device Reset input

  For the Olimex STR-P711, the ENC28J60 module is placed on SPI0 and uses
  P0.3 for CS, P0.6 for an interrupt, and P0.4 as a reset:

  Module CON5     Olimex STR-P711 Connection
  --------------- -------------------------------------------------------
  1  J8-1 NET CS   SPI0-2     P0.3 output P0.3/S0.SS/I1.SDA
  2     2 SCK      SPI0-5     SCLK0       P0.2/S0.SCLK/I1.SCL
  3     3 MOSI     SPI0-3     MOSI0       P0.0/S0.MOSI/U3.RX
  4     4 MISO     SPI0-4     MISO0       P0.1/S0.MISO/U3.TX
  5     5 GND      SPI0-1     GND
  10 J9-1 3V3      SPI0-6     3.3V
  9     2 WOL      NC
  8     3 NET INT  SPI1-5     P0.6 XTI 11 P0.6/S1.SCLK
  7     4 CLKOUT   NC
  6     5 NET RST  SPI1-4     P0.4 output P0.4/S1.MISO

  UART3, I2C cannot be used with SPI0.  The GPIOs selected for the ENC28J60
  interrupt conflict with TIM1.

  NOTE:  As of this writing, the ENC28J60 does not function on the board.
  The board just locks up when the ENC29J60 is powered.  Most likely,
  in sufficient current is provided via USB to power both the board and
  the ENC28J60 (And I don't have the correct wall wart to power the
  the board).

Configurations:
---------------

  nettest:
    This configuration directory may be used to enable networking using the
    an Microchip ENC28J60 SPI ethernet module (see above for connection to
    STR-P711.

  nsh:
    Configures the NuttShell (nsh) located at examples/nsh.  The
    Configuration enables both the serial and telnetd NSH interfaces.

  ostest:
    This configuration directory, performs a simple OS test using
    examples/ostest.

STR71x-Specific Configuration Settings
--------------------------------------

  CONFIG_STR71X_I2C0, CONFIG_STR71X_I2C1, CONFIG_STR71X_UART0, CONFIG_STR71X_UART1,
  CONFIG_STR71X_UART2, CONFIG_STR71X_UART3, CONFIG_STR71X_USB, CONFIG_STR71X_CAN,
  CONFIG_STR71X_BSPI0, CONFIG_STR71X_BSPI1, CONFIG_STR71X_HDLC, CONFIG_STR71X_XTI, 
  CONFIG_STR71X_GPIO0, CONFIG_STR71X_GPIO1, CONFIG_STR71X_GPIO2, CONFIG_STR71X_ADC12, 
  CONFIG_STR71X_CKOUT, CONFIG_STR71X_TIM1, CONFIG_STR71X_TIM2, CONFIG_STR71X_TIM3, and
  CONFIG_STR71X_RTC
    Select peripherals to initialize (Timer0 and EIC are always initialized)
  CONFIG_UART_PRI, STR71X_BSPI_PRI, CONFIG_TIM_PRI, CONFIG_USB_PRI
    Can be defined to set the priority of NuttX managed devices.  Default is 1.
  CONFIG_STR71X_BANK0, CONFIG_STR71X_BANK1, CONFIG_STR71X_BANK2, and CONFIG_STR71X_BANK3
    Enable initialize of external memory banks 0-3.
  CONFIG_STR71X_BANK0_SIZE, CONFIG_STR71X_BANK1_SIZE, CONFIG_STR71X_BANK2_SIZE, and
  CONFIG_STR71X_BANK3_SIZE
    If a particular external memory bank is configured, then its width must be provided.
    8 and 16 (bits) are the only valid options.
  CONFIG_STR71X_BANK0_WAITSTATES, CONFIG_STR71X_BANK1_WAITSTATES,
  CONFIG_STR71X_BANK2_WAITSTATES, and CONFIG_STR71X_BANK3_WAITSTATES
    If a particular external memory bank is configured, then the number of waistates
    for the bank must also be provided.  Valid options are {0, .., 15}
  CONFIG_STR71X_BIGEXTMEM
    The default is to provide 20 bits of address for all external memory regions.  If
    any memory region is larger than 1Mb, then this option should be selected.  In this
    case, 24 bits of addressing will be used

  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, 3=mark 1, 4=space 0
  CONFIG_UARTn_2STOP - Two stop bits