forked from Archive/PX4-Autopilot
386 lines
14 KiB
Plaintext
386 lines
14 KiB
Plaintext
README
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^^^^^^
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README for NuttX port to the Stellaris RDK-S2E Reference Design Kit and
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the MDL-S2E Ethernet to Serial module.
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Contents
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^^^^^^^^
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Stellaris RDK-S2E Reference Design Kit
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Development Environment
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GNU Toolchain Options
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IDEs
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NuttX buildroot Toolchain
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Stellaris MDL-S2E Reference Design Configuration Options
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Configurations
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Stellaris RDK-S2E Reference Design Kit
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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The Stellaris RDK-S2E Reference Design Kit includes the following features:
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o MDL-S2E Ethernet to serial module
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o LM3S6432 in a 10 x 10 mm BGA package for reduced board size
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o 10/100 Mbit Ethernet port
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o Auto MDI/MDIX cross-over correction
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o Traffic and link indicators Serial ports
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o UART ports include RTS/CTS for flow control
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o UART0 has RS232 levels, transceiver runs at up to 230.4 Kbaud
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o UART1 has CMOS/TTL levels, can run at 1.0 Mbaud
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Features of the LM3S6432 Microcontroller
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o 32-bit RISC performance using ARM® Cortex™-M3 v7M architecture
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- 50-MHz operation
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- Hardware-division and single-cycle-multiplication
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- Integrated Nested Vectored Interrupt Controller (NVIC)
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- 42 interrupt channels with eight priority levels
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o 96 KB single-cycle flash
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o 32 KB single-cycle SRAM
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o Three general-purpose 32-bit timers
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o Integrated Ethernet MAC and PHY
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o Two fully programmable 16C550-type UARTs
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o Three 10-bit channels (inputs) when used as single-ended inputs
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o Two independent integrated analog comparators
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o One I2C module
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o One PWM generator block
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– One 16-bit counter
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– Two comparators
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– Produces two independent PWM signals
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– One dead-band generator
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o 0 to 43 GPIOs, depending on user configuration
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o On-chip low drop-out (LDO) voltage regulator
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GPIO Usage
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PIN SIGNAL Function
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--- ----------------- ---------------------------------------
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L3 PA0/U0RX UART0 receive
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M3 PA1/U0TX UART0 transmit
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E12 PB0/U0CTS UART0 CTS
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D12 PB1/U0RTS UART0 RTS
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L5 PA4/SPIRX SPI receive (pin hardwired to U1RX)
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M5 PA5/SPITX SPI transmit (pin hardwired to U1TX)
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H2 PD2/U1RX UART1 receive
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H1 PD3/U1TX UART1 transmit
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L4 PA3/U1CTS/SPICLK UART1 CTS or SPI clock
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M4 PA2/U1RTS/SPISEL UART1 RTS or SPI slave select
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J11 PF0/LED1 Ethernet LED1 (green)
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J12 PF1/LED0 Ethernet LED0 (yellow)
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C11 PB2 Transciever #INVALID
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C12 PB3 Transciever #ENABLE
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A6 PB4 Transciever ON
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B7 PB5 Transciever #OFF
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Development Environment
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^^^^^^^^^^^^^^^^^^^^^^^
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Either Linux, Mac OS X or Cygwin on Windows can be used for the development
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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 GCC on
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Mac OS X.
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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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To use a specific toolchain, you simply need to add one of the following
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configuration options to your .config (or defconfig) file:
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CONFIG_LM3S_CODESOURCERYW=y : CodeSourcery under Windows
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CONFIG_LM3S_CODESOURCERYL=y : CodeSourcery under Linux or on Mac OS X.
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CONFIG_LM3S_DEVKITARM=y : devkitARM under Windows
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CONFIG_LM3S_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
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If you are not using CONFIG_LM3S_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 Linux
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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.
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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/lm3s,
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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/lm3s/lm3s_vectors.S.
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NuttX 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/project/showfiles.php?group_id=189573).
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This GNU toolchain builds and executes in the Linux or Cygwin environment.
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This port was tested with tools built using summon-arm-toolchain; available
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from https://github.com/esden/summon-arm-toolchain, however the buildroot
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instructions should apply for other platforms.
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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 lm3s6432-s2e/<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-4.3.3 .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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detailed 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: This is an OABI toolchain.
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Stellaris MDL-S2E Reference Design 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=lm3s
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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_LM3S6432
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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=lm3s6432-s2e (for the Stellaris MDL-S2E Reference Design)
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_LM3S6432S2E
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CONFIG_ARCH_LOOPSPERMSEC - As supplied, calibrated for correct operation
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of delay loops assuming 50MHz CPU frequency.
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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 (SRAM in this case):
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CONFIG_DRAM_SIZE=0x00010000 (64Kb)
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CONFIG_DRAM_START - The start address of installed DRAM
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CONFIG_DRAM_START=0x20000000
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CONFIG_DRAM_END - Last address+1 of installed RAM
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CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
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CONFIG_ARCH_IRQPRIO - The LM3S6918 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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There are configurations for disabling support for interrupts GPIO ports.
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GPIOH and GPIOJ must be disabled because they do not exist on the LM3S6432.
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Additional interrupt support can be disabled if desired to reduce memory
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footprint - GPIOs C-G are not pinned out on the MDL-S2E board.
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CONFIG_LM3S_DISABLE_GPIOA_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOB_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOC_IRQS=y
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CONFIG_LM3S_DISABLE_GPIOD_IRQS=y
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CONFIG_LM3S_DISABLE_GPIOE_IRQS=y
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CONFIG_LM3S_DISABLE_GPIOF_IRQS=y
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CONFIG_LM3S_DISABLE_GPIOG_IRQS=y
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CONFIG_LM3S_DISABLE_GPIOH_IRQS=y
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CONFIG_LM3S_DISABLE_GPIOJ_IRQS=y
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LM3S6432 specific device driver settings
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CONFIG_UARTn_DISABLE
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The TX and RX pins for UART1 share I/O pins with the TX and RX pins
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for SSI0. To avoid conflicts, only one of SSI0 and UART1 should
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be enabled in a configuration.
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CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn for the
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console and ttys0 (default is UART1).
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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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CONFIG_SSI0_DISABLE - Select to disable support for SSI0
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The TX and RX pins for SSI0 share I/O pins with the TX and RX pins
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for UART1. To avoid conflicts, only one of SSI0 and UART1 should
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be enabled in a configuration.
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CONFIG_SSI1_DISABLE - Select to disable support for SSI1
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Note that the LM3S6432 only has one SSI, so SSI1 should always be
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disabled.
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CONFIG_SSI_POLLWAIT - Select to disable interrupt driven SSI support.
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Poll-waiting is recommended if the interrupt rate would be to
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high in the interrupt driven case.
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CONFIG_SSI_TXLIMIT - Write this many words to the Tx FIFO before
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emptying the Rx FIFO. If the SPI frequency is high and this
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value is large, then larger values of this setting may cause
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Rx FIFO overrun errors. Default: half of the Tx FIFO size (4).
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CONFIG_LM3S_ETHERNET - This must be set (along with CONFIG_NET)
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to build the LM3S Ethernet driver
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CONFIG_LM3S_ETHLEDS - Enable to use Ethernet LEDs on the board.
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CONFIG_LM3S_BOARDMAC - This should be set in order to use the
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MAC address configured in the flash USER registers.
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CONFIG_LM3S_ETHHDUPLEX - Set to force half duplex operation
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CONFIG_LM3S_ETHNOAUTOCRC - Set to suppress auto-CRC generation
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CONFIG_LM3S_ETHNOPAD - Set to suppress Tx padding
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CONFIG_LM3S_MULTICAST - Set to enable multicast frames
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CONFIG_LM3S_PROMISCUOUS - Set to enable promiscuous mode
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CONFIG_LM3S_BADCRC - Set to enable bad CRC rejection.
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CONFIG_LM3S_DUMPPACKET - Dump each packet received/sent to the console.
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Configurations
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^^^^^^^^^^^^^^
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Each Stellaris MDL-S2E Reference Design configuration is maintained in a
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sudirectory and can be selected as follow:
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cd tools
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./configure.sh lm3s6432-s2e/<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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nsh:
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Configures the NuttShell (nsh) located at examples/nsh. The
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Configuration enables both the serial and telnetd NSH interfaces.
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NOTE: As it is configured now, you MUST have a network connected.
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Otherwise, the NSH prompt will not come up because the Ethernet
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driver is waiting for the network to come up. That is probably
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a bug in the Ethernet driver behavior!
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ostest:
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This configuration directory, performs a simple OS test using
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examples/ostest.
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NOTE: as the configuration stands, ostest will hang during the
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semaphore test. This has not been debugged.
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