forked from Archive/PX4-Autopilot
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17 KiB
Plaintext
448 lines
17 KiB
Plaintext
README
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^^^^^^
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README for NuttX port to the Stellaris LMS36965 Evaluation Kit
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Contents
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^^^^^^^^
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Stellaris LMS36965 Evaluation 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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USB Device Controller Functions
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OLED
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Stellaris LM3S6965 Evaluation Kit Configuration Options
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Configurations
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Stellaris LMS36965 Evaluation Kit
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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The Stellaris LM3S6965 Evaluation Board includes the following features:
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o Stellaris LM3S6965 microcontroller with fully-integrated 10/100 embedded
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Ethernet controller
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o Simple setup; USB cable provides serial communication, debugging, and
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power
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o OLED graphics display with 128 x 96 pixel resolution
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o User LED, navigation switches, and select pushbuttons
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o Magnetic speaker
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o LM3S6965 I/O available on labeled break-out pads
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o Standard ARM® 20-pin JTAG debug connector with input and output modes
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o USB interface for debugging and power supply
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o MicroSD card slot
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Features of the LM3S6965 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 256 KB single-cycle flash
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o 64 KB single-cycle SRAM
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o Four general-purpose 32-bit timers
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o Integrated Ethernet MAC and PHY
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o Three fully programmable 16C550-type UARTs
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o Four 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 Two I2C modules
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o Three PWM generator blocks
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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 Two QEI modules with position integrator for tracking encoder position
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o 0 to 42 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 EVB Function
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--- ----------- ---------------------------------------
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26 PA0/U0RX Virtual COM port receive
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27 PA1/U0TX Virtual COM port transmit
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10 PD0/IDX0 SD card chip select
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11 PD1/PWM1 Sound
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30 PA4/SSI0RX SD card data out
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31 PA5/SSI0TX SD card and OLED display data in
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28 PA2/SSI0CLK SD card and OLED display clock
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22 PC7/PHB0 OLED display data/control select
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29 PA3/SSI0FSS OLED display chip select
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73 PE1/PWM5 Down switch
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74 PE2/PHB1 Left switch
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72 PE0/PWM4 Up switch
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75 PE3/PHA1 Right switch
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61 PF1/IDX1 Select switch
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47 PF0/PWM0 User LED
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23 PC6/CCP3 Enable +15 V
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OLED
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^^^^
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The Evaluation Kit includes an OLED graphics display. Features:
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- RiT P14201 series display
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- 128 columns by 96 rows
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- 4-bit, 16-level gray scale.
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- High-contrast (typ. 500:1)
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- Excellent brightness (120 cd/m2)
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- Fast 10 us response.
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The OLED display has a built-in controller IC with synchronous serial and
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parallel interfaces (SSD1329). Synchronous serial (SSI) is used on the EVB.
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The SSI port is shared with the microSD card slot.
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- PC7: OLED display data/control select (D/Cn)
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- PA3: OLED display chip select (CSn)
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NOTE: Newer versions of the LM3S6965 Evaluation Kit has an OSAM 128x64x4 OLED
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display. Some tweaks to drivers/lcd/p14201.c would be required to support that
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LCD.
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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, 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
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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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NOTE 3: I recently (i.e., late 2011) tried building with the CodeSourcery Windows
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toolchain. The code worked but required 40 seconds to boot (or even until the
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status LED illuminates)!! Know idea why. With the buildroot tools, boot time is
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a couple of seconds.
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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/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 lm3s6965-ek/<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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USB Device Controller Functions
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Device Overview
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An FT2232 device from Future Technology Devices International Ltd manages
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USB-to-serial conversion. The FT2232 is factory configured by Luminary
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Micro to implement a JTAG/SWD port (synchronous serial) on channel A and
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a Virtual COM Port (VCP) on channel B. This feature allows two simultaneous
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communications links between the host computer and the target device using
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a single USB cable. Separate Windows drivers for each function are provided
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on the Documentation and Software CD.
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Debugging with JTAG/SWD
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The FT2232 USB device performs JTAG/SWD serial operations under the control
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of the debugger or the Luminary Flash Programmer. It also operate as an
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In-Circuit Debugger Interface (ICDI), allowing debugging of any external
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target board. Debugging modes:
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MODE DEBUG FUNCTION USE SELECTED BY
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1 Internal ICDI Debug on-board LM3S6965 Default Mode
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microcontroller over USB
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interface.
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2 ICDI out to JTAG/SWD The EVB is used as a USB Connecting to an external
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header to SWD/JTAG interface to target and starting debug
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an external target. software. The red Debug Out
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LED will be ON.
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3 In from JTAG/SWD For users who prefer an Connecting an external
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header external debug interface debugger to the JTAG/SWD
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(ULINK, JLINK, etc.) with header.
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the EVB.
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Virtual COM Port
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The Virtual COM Port (VCP) allows Windows applications (such as HyperTerminal)
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to communicate with UART0 on the LM3S6965 over USB. Once the FT2232 VCP
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driver is installed, Windows assigns a COM port number to the VCP channel.
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Stellaris LM3S6965 Evaluation Kit 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_LM3S6965
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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=lm3s6965-ek (for the Stellaris LM3S6965 Evaluation Kit)
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_LM3S6965EK
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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 (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_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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GPIOJ must be disabled because it does not exist on the LM3S6918.
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Additional interrupt support can be disabled if desired to reduce memory
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footprint.
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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=n
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CONFIG_LM3S_DISABLE_GPIOD_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOE_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOF_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOG_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOH_IRQS=n
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CONFIG_LM3S_DISABLE_GPIOJ_IRQS=y
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LM3S6818 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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CONFIG_SSI0_DISABLE - Select to disable support for SSI0
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CONFIG_SSI1_DISABLE - Select to disable support for SSI1
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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 - If the board-specific logic can provide
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a MAC address (via lm3s_ethernetmac()), then this should be selected.
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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 LM3S6965 Evaluation Kit 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 lm3s6965-ek/<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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Network File System (NFS) support can be added by setting the
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following in your configuration file:
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CONFIG_NFS=y
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nx:
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And example using the NuttX graphics system (NX). This example
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uses the P14201 OLED driver.
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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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