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px4-firmware/nuttx/configs/kwikstik-k40/README.txt

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README.txt
==========
This is the README file for the port of NuttX to the Freescale Kinetis
KwiStick K40. Refer to the Freescale web site for further information
about this part:
http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=KWIKSTIK-K40
The Kwikstik is used with the FreeScale Tower System (mostly just to
provide a simple UART connection)
Contents
========
o Kinetis KwikStik-K40 Features
o Kinetis KwikStik-K60 Pin Configuration
- On-Board Connections
- Connections via the General Purpose Tower Plug-in (TWRPI) Socket
- Connections via the Tower Primary Connector Side A
- Connections via the Tower Primary Connector Side B
- TWR-SER Serial Board Connection
o Development Environment
o GNU Toolchain Options
o IDEs
o NuttX EABI "buildroot" Toolchain
o NuttX OABI "buildroot" Toolchain
o NXFLAT Toolchain
Kinetis KwikStik-K40 Features:
==============================
o Kinetis K40 MCU in 144 LQFP
- 100 MHz ARM Cortex-M4 core
- 256Kb program flash, 256Kb FlexMemory
- Full-speed USB 2.0 device
- Low-pwer segment LCD controller
- SPI, UART, CAN and more
o Large segment LCD display with 306 segments
o 2.3mm audio output and 2 micro USB connectors
o Omnidirectional microphone and a buzzer
o On-board Segger J-Link debugger interface
o Infrared communication port
o microSD card slot
o Capacitive touch sensing interface
o Freescale Tower System connectivity for UART, timers, CAN, SPI, I2C, and DAC
o Freescale Tower plug-in (TWRPI) socket connectivity for ADC, SPI, I2C, and GPIO
Kinetis KwikStik-K40 Pin Configuration
======================================
On-Board Connections
------------------- -------------------------- -------- -------------------
FEATURE CONNECTION PORT/PIN PIN FUNCTION
------------------- -------------------------- -------- -------------------
Audio Jack Output Audio Amp On PTE28 PTE28
Audio Output DAC1_OUT DAC1_OUT
Volume Up PTD10 PTD10
Volume Down PTD11 PTD11
Buzzer Audio Out PTA8 FTM1_CH0
Microphone Microphone input PTA7 ADC0_SE10
SD Card Slot SD Clock PTE2 SDHC0_DCLK
SD Command PTE3 SDHC0_CMD
SD Data0 PTD12 SDHC0_D4
SD Data1 PTD13 SDHC0_D5
SD Data2 PTD14 SDHC0_D6
SD Data3 PTD15 SDHC0_D7
SD Card Detect PTE27 PTE27
SD Card On PTE6 PTE6
Infrared Port IR Transmit PTE4 IR_TX
IR Receive PTA13 CMP2_IN0
Touch Pads E1 / Touch PTB0 TSI0_CH0
E2 / Touch PTA4 TSI0_CH5
E3 / Touch PTA24 PTA24
E4 / Touch PTA25 PTA25
E5 / Touch PTA26 PTA26
E6 / Touch PTA27 PTA27
Connections via the General Purpose Tower Plug-in (TWRPI) Socket
------------------- -------------------------- -------- -------------------
FEATURE CONNECTION PORT/PIN PIN FUNCTION
------------------- -------------------------- -------- -------------------
General Purpose TWRPI AN0 (J8 Pin 8) ? ADC0_DP0/ADC1_DP3
TWRPI Socket TWRPI AN1 (J8 Pin 9) ? ADC0_DM0/ADC1_DM3
TWRPI AN2 (J8 Pin 12) ? ADC1_DP0/ADC0_DP3
TWRPI ID0 (J8 Pin 17) ? ADC0_DP1
TWRPI ID1 (J8 Pin 18) ? ADC0_DM1
TWRPI I2C SCL (J9 Pin 3) PTC10 I2C1_SCL
TWRPI I2C SDA (J9 Pin 4) PTC11 I2C1_SDA
TWRPI SPI MISO (J9 Pin 9) PTB23 SPI2_SIN
TWRPI SPI MOSI (J9 Pin 10) PTB22 SPI2_SOUT
TWRPI SPI SS (J9 Pin 11) PTB20 SPI2_PCS0
TWRPI SPI CLK (J9 Pin 12) PTB21 SPI2_SCK
TWRPI GPIO0 (J9 Pin 15) PTC12 PTC12
TWRPI GPIO1 (J9 Pin 16) PTB9 PTB9
TWRPI GPIO2 (J9 Pin 17) PTB10 PTB10
TWRPI GPIO3 (J9 Pin 18) PTC5 PTC5
TWRPI GPIO4 (J9 Pin 19) PTA5 PTA5
The KwikStik features an expansion card-edge connector that interfaces to the Primary Elevator board in a Tower system (Primary side).
Connections via the Tower Primary Connector Side A
--- -------------------- --------------------------------
PIN NAME USAGE
--- -------------------- --------------------------------
A9 GPIO9 / CTS1 PTE10/UART_CTS
A43 RXD1 PTE9/UART_RX
A44 TXD1 PTE8/UART_TX
A63 RSTOUT_b PTA9/FTM1_CH1
Connections via the Tower Primary Connector Side B
--- -------------------- --------------------------------
PIN NAME USAGE
--- -------------------- --------------------------------
B21 GPIO1 / RTS1 PTE7/UART_RTS
B37 PWM7 PTA8/FTM1_CH0
B38 PWM6 PTA9/FTM1_CH1
B41 CANRX0 PTE25/CAN1_RX
B42 CANTX0 PTE24/CAN1_TX
B44 SPI0_MISO PTA17/SPI0_SIN
B45 SPI0_MOSI PTA16/SPI0_SOUT
B46 SPI0_CS0_b PTA14/SPI0_PCS0
B48 SPI0_CLK PTA15/SPI0_SCK
B50 SCL1 PTE1/I2C1_SCL
B51 SDA1 PTE0/I2C1_SDA
B52 GPIO5 / SD_CARD_DET PTA16
TWR-SER Serial Board Connection
===============================
The serial board connects into the tower and then maps to the tower pins to
yet other functions (see TWR-SER.pdf).
For the serial port, the following jumpers are required:
J15: 1-2 (default)
J17: 1-2 (default)
J18: 1-2 (default)
J19: 1-2 (default)
The two connections map as follows:
A41 RXD0 - Not connected
A42 TXD0 - Not connected
A43 RXD1 - ELE_RXD (connects indirectory to DB-9 connector J8)
A44 TXD1 - ELE_TXD (connects indirectory to DB-9 connector J8)
Finally, we can conclude that
UART5 (PTE8/9) is associated with the DB9 connector
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 CodeSourcery Windows toolchain. To
use the devkitARM or the NuttX GNU toolchain, you simply need to change the
the following configuration options to your .config (or defconfig) file:
CONFIG_KINETIS_CODESOURCERYW=y : CodeSourcery under Windows
CONFIG_KINETIS_CODESOURCERYL=y : CodeSourcery under Linux
CONFIG_KINETIS_DEVKITARM=y : devkitARM under Windows
CONFIG_KINETIS_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
If you are not using CONFIG_KINETIS_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 toolchains 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.
MKDEP = $(TOPDIR)/tools/mknulldeps.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.
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/k40,
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/kinetis/k40_vectors.S.
NuttX EABI "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-M4 GCC toolchain (if
different from the default in your PATH variable).
If you have no Cortex-M4 toolchain, one can be downloaded from the NuttX
SourceForge download site (https://sourceforge.net/projects/nuttx/files/buildroot/).
This GNU toolchain builds and executes in the Linux or Cygwin environment.
NOTE: The NuttX toolchain may not include optimizations for Cortex-M4 (ARMv7E-M).
1. You must have already configured Nuttx in <some-dir>/nuttx.
cd tools
./configure.sh kwikstik-k40/<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-eabi-defconfig-4.6.3 .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
details PLUS some special instructions that you will need to follow if you are
building a Cortex-M4 toolchain for Cygwin under Windows.
NOTE: Unfortunately, the 4.6.3 EABI toolchain is not compatible with the
the NXFLAT tools. See the top-level TODO file (under "Binary loaders") for
more information about this problem. If you plan to use NXFLAT, please do not
use the GCC 4.6.3 EABI toochain; instead use the GCC 4.3.3 OABI toolchain.
See instructions below.
NuttX OABI "buildroot" Toolchain
================================
The older, OABI buildroot toolchain is also available. To use the OABI
toolchain:
1. When building the buildroot toolchain, either (1) modify the cortexm3-eabi-defconfig-4.6.3
configuration to use EABI (using 'make menuconfig'), or (2) use an exising OABI
configuration such as cortexm3-defconfig-4.3.3
2. Modify the Make.defs file to use the OABI conventions:
+CROSSDEV = arm-nuttx-elf-
+ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld -no-check-sections
-CROSSDEV = arm-nuttx-eabi-
-ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft
-NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections
NXFLAT Toolchain
================
If you are *not* using the NuttX buildroot toolchain and you want to use
the NXFLAT tools, then you will still have to build a portion of the buildroot
tools -- just the NXFLAT tools. The buildroot with the NXFLAT tools 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 lpcxpresso-lpc1768/<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-nxflat .config
6. make oldconfig
7. make
8. Edit setenv.h, if necessary, so that the PATH variable includes
the path to the newly builtNXFLAT binaries.
KwikStik-K40-specific Configuration Options
============================================
CONFIG_ARCH - Identifies the arch/ subdirectory. This sould
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_CORTEXM4=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP=k40
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_MK40X256VLQ100
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=kwikstik-k40 (for the KwikStik-K40 development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_KWIKSTIK_K40=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 (SRAM in this case):
CONFIG_DRAM_SIZE=0x00010000 (64Kb)
CONFIG_DRAM_START - The start address of installed DRAM
CONFIG_DRAM_START=0x20000000
CONFIG_ARCH_IRQPRIO - The Kinetis K40 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_KINETIS_TRACE -- Enable trace clocking on power up.
CONFIG_KINETIS_FLEXBUS -- Enable flexbus clocking on power up.
CONFIG_KINETIS_UART0 -- Support UART0
CONFIG_KINETIS_UART1 -- Support UART1
CONFIG_KINETIS_UART2 -- Support UART2
CONFIG_KINETIS_UART3 -- Support UART3
CONFIG_KINETIS_UART4 -- Support UART4
CONFIG_KINETIS_UART5 -- Support UART5
CONFIG_KINETIS_ENET -- Support Ethernet (K60 only)
CONFIG_KINETIS_RNGB -- Support the random number generator(K60 only)
CONFIG_KINETIS_FLEXCAN0 -- Support FlexCAN0
CONFIG_KINETIS_FLEXCAN1 -- Support FlexCAN1
CONFIG_KINETIS_SPI0 -- Support SPI0
CONFIG_KINETIS_SPI1 -- Support SPI1
CONFIG_KINETIS_SPI2 -- Support SPI2
CONFIG_KINETIS_I2C0 -- Support I2C0
CONFIG_KINETIS_I2C1 -- Support I2C1
CONFIG_KINETIS_I2S -- Support I2S
CONFIG_KINETIS_DAC0 -- Support DAC0
CONFIG_KINETIS_DAC1 -- Support DAC1
CONFIG_KINETIS_ADC0 -- Support ADC0
CONFIG_KINETIS_ADC1 -- Support ADC1
CONFIG_KINETIS_CMP -- Support CMP
CONFIG_KINETIS_VREF -- Support VREF
CONFIG_KINETIS_SDHC -- Support SD host controller
CONFIG_KINETIS_FTM0 -- Support FlexTimer 0
CONFIG_KINETIS_FTM1 -- Support FlexTimer 1
CONFIG_KINETIS_FTM2 -- Support FlexTimer 2
CONFIG_KINETIS_LPTIMER -- Support the low power timer
CONFIG_KINETIS_RTC -- Support RTC
CONFIG_KINETIS_SLCD -- Support the segment LCD (K40 only)
CONFIG_KINETIS_EWM -- Support the external watchdog
CONFIG_KINETIS_CMT -- Support Carrier Modulator Transmitter
CONFIG_KINETIS_USBOTG -- Support USB OTG (see also CONFIG_USBHOST and CONFIG_USBDEV)
CONFIG_KINETIS_USBDCD -- Support the USB Device Charger Detection module
CONFIG_KINETIS_LLWU -- Support the Low Leakage Wake-Up Unit
CONFIG_KINETIS_TSI -- Support the touch screeen interface
CONFIG_KINETIS_FTFL -- Support FLASH
CONFIG_KINETIS_DMA -- Support DMA
CONFIG_KINETIS_CRC -- Support CRC
CONFIG_KINETIS_PDB -- Support the Programmable Delay Block
CONFIG_KINETIS_PIT -- Support Programmable Interval Timers
CONFIG_ARMV7M_MPU -- Support the MPU
Kinetis interrupt priorities (Default is the mid priority)
CONFIG_KINETIS_UART0PRIO
CONFIG_KINETIS_UART1PRIO
CONFIG_KINETIS_UART2PRIO
CONFIG_KINETIS_UART3PRIO
CONFIG_KINETIS_UART4PRIO
CONFIG_KINETIS_UART5PRIO
CONFIG_KINETIS_SDHC_PRIO
PIN Interrupt Support
CONFIG_GPIO_IRQ -- Enable pin interrtup support. Also needs
one or more of the following:
CONFIG_KINETIS_PORTAINTS -- Support 32 Port A interrupts
CONFIG_KINETIS_PORTBINTS -- Support 32 Port B interrupts
CONFIG_KINETIS_PORTCINTS -- Support 32 Port C interrupts
CONFIG_KINETIS_PORTDINTS -- Support 32 Port D interrupts
CONFIG_KINETIS_PORTEINTS -- Support 32 Port E interrupts
Kinetis K40 specific device driver settings
CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn (n=0..5) 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.
CONFIG_UARTn_BITS - The number of bits. Must be either 8 or 8.
CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
KwikStik-K40 LCD Hardware Configuration
CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape"
support. Default is this 320x240 "landscape" orientation
(this setting is informative only... not used).
CONFIG_LCD_PORTRAIT - Define for 240x320 display "portrait"
orientation support. In this orientation, the KwikStik-K40's
LCD ribbon cable is at the bottom of the display. Default is
320x240 "landscape" orientation.
CONFIG_LCD_RPORTRAIT - Define for 240x320 display "reverse
portrait" orientation support. In this orientation, the
KwikStik-K40's LCD ribbon cable is at the top of the display.
Default is 320x240 "landscape" orientation.
CONFIG_LCD_BACKLIGHT - Define to support an adjustable backlight
using timer 1. The granularity of the settings is determined
by CONFIG_LCD_MAXPOWER. Requires CONFIG_KINETIS_TIM1.
Configurations
==============
Each KwikStik-K40 configuration is maintained in a sudirectory and
can be selected as follow:
cd tools
./configure.sh kwikstik-k40/<subdir>
cd -
. ./setenv.sh
Where <subdir> is one of the following:
ostest:
------
This configuration directory, performs a simple OS test using
examples/ostest. By default, this project assumes that you are
using the DFU bootloader.
CONFIG_KINETIS_BUILDROOT=y : NuttX buildroot under Linux or Cygwin
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