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
The CodeSourcery Toolchain (2009q1)
-----------------------------------
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.
The Atollic "Pro" and "Lite" Toolchain
--------------------------------------
One problem that I had with the Atollic toolchains is that the provide a gcc.exe
and g++.exe in the same bin/ file as their ARM binaries. If the Atollic bin/ path
appears in your PATH variable before /usr/bin, then you will get the wrong gcc
when you try to build host executables. This will cause to strange, uninterpretable
errors build some host binaries in tools/ when you first make.
The Atollic "Lite" Toolchain
----------------------------
The free, "Lite" version of the Atollic toolchain does not support C++ nor
does it support ar, nm, objdump, or objdcopy. If you use the Atollic "Lite"
toolchain, you will have to set:
CONFIG_HAVE_CXX=n
In order to compile successfully. Otherwise, you will get errors like:
"C++ Compiler only available in TrueSTUDIO Professional"
The make may then fail in some of the post link processing because of some of
the other missing tools. The Make.defs file replaces the ar and nm with
the default system x86 tool versions and these seem to work okay. Disable all
of the following to avoid using objcopy:
CONFIG_RRLOAD_BINARY=n
CONFIG_INTELHEX_BINARY=n
CONFIG_MOTOROLA_SREC=n
CONFIG_RAW_BINARY=n
devkitARM
---------
The devkitARM toolchain includes a version of MSYS make. Make sure that the
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 (There is a simple RIDE project
in the RIDE subdirectory).
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/stm32,
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/stm32/stm32_vectors.S. With RIDE, I have to build NuttX
one time from the Cygwin command line in order to obtain the pre-built
startup object needed by RIDE.
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 Cortex-M3 GCC toolchain (if
different from the default in your PATH variable).
If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX
SourceForge download site (https://sourceforge.net/project/showfiles.php?group_id=189573).
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 fire-stm32v2/<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-4.3.3 .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
detailed PLUS some special instructions that you will need to follow if you are
building a Cortex-M3 toolchain for Cygwin under Windows.
DFU and JTAG
============
Enbling Support for the DFU Bootloader
--------------------------------------
The linker files in these projects can be configured to indicate that you
will be loading code using STMicro built-in USB Device Firmware Upgrade (DFU)
loader or via some JTAG emulator. You can specify the DFU bootloader by
adding the following line:
CONFIG_STM32_DFU=y
to your .config file. Most of the configurations in this directory are set
up to use the DFU loader.
If CONFIG_STM32_DFU is defined, the code will not be positioned at the beginning
of FLASH (0x08000000) but will be offset to 0x08003000. This offset is needed
to make space for the DFU loader and 0x08003000 is where the DFU loader expects
to find new applications at boot time. If you need to change that origin for some
other bootloader, you will need to edit the file(s) ld.script.dfu for the
configuration.
The DFU SE PC-based software is available from the STMicro website,
http://www.st.com. General usage instructions:
1. Convert the NuttX Intel Hex file (nuttx.hex) into a special DFU
file (nuttx.dfu)... see below for details.
2. Connect the M3 Wildfire board to your computer using a USB
cable.
3. Start the DFU loader on the M3 Wildfire board. You do this by
resetting the board while holding the "Key" button. Windows should
recognize that the DFU loader has been installed.
3. Run the DFU SE program to load nuttx.dfu into FLASH.
What if the DFU loader is not in FLASH? The loader code is available
inside of the Demo dirctory of the USBLib ZIP file that can be downloaded
from the STMicro Website. You can build it using RIDE (or other toolchains);
you will need a JTAG emulator to burn it into FLASH the first time.
In order to use STMicro's built-in DFU loader, you will have to get
the NuttX binary into a special format with a .dfu extension. The
DFU SE PC_based software installation includes a file "DFU File Manager"
conversion program that a file in Intel Hex format to the special DFU
format. When you successfully build NuttX, you will find a file called
nutt.hex in the top-level directory. That is the file that you should
provide to the DFU File Manager. You will end up with a file called
nuttx.dfu that you can use with the STMicro DFU SE program.
Enabling JTAG
-------------
If you are not using the DFU, then you will probably also need to enable
JTAG support. By default, all JTAG support is disabled but there NuttX
configuration options to enable JTAG in various different ways.
These configurations effect the setting of the SWJ_CFG[2:0] bits in the AFIO
MAPR register. These bits are used to configure the SWJ and trace alternate function I/Os. The SWJ (SerialWire JTAG) supports JTAG or SWD access to the
Cortex debug port. The default state in this port is for all JTAG support
to be disable.
CONFIG_STM32_JTAG_FULL_ENABLE - sets SWJ_CFG[2:0] to 000 which enables full
SWJ (JTAG-DP + SW-DP)
CONFIG_STM32_JTAG_NOJNTRST_ENABLE - sets SWJ_CFG[2:0] to 001 which enable
full SWJ (JTAG-DP + SW-DP) but without JNTRST.
CONFIG_STM32_JTAG_SW_ENABLE - sets SWJ_CFG[2:0] to 010 which would set JTAG-DP
disabled and SW-DP enabled
The default setting (none of the above defined) is SWJ_CFG[2:0] set to 100
which disable JTAG-DP and SW-DP.
OpenOCD
=======
I have also used OpenOCD with the M3 Wildfire. In this case, I used
the Olimex USB ARM OCD. See the script in configs/fire-stm32v2/tools/oocd.sh
for more information. Using the script:
1) Start the OpenOCD GDB server
cd <nuttx-build-directory>
configs/fire-stm32v2/tools/oocd.sh $PWD
2) Load Nuttx
cd <nuttx-built-directory>
arm-none-eabi-gdb nuttx
gdb> target remote localhost:3333
gdb> mon reset
gdb> mon halt
gdb> load nuttx
3) Running NuttX
gdb> mon reset
gdb> c
LEDs
====
The M3 Wildfire has 3 LEDs labeled LED1, LED2 and LED3. These LEDs are not
used by the NuttX port unless CONFIG_ARCH_LEDS is defined. In that case, the
usage by the board port is defined in include/board.h and src/up_autoleds.c.
The LEDs are used to encode OS-related events as follows:
/* LED1 LED2 LED3 */
#define LED_STARTED 0 /* OFF OFF OFF */
#define LED_HEAPALLOCATE 1 /* ON OFF OFF */
#define LED_IRQSENABLED 2 /* OFF ON OFF */
#define LED_STACKCREATED 3 /* OFF OFF OFF */
#define LED_INIRQ 4 /* NC NC ON (momentary) */
#define LED_SIGNAL 5 /* NC NC ON (momentary) */
#define LED_ASSERTION 6 /* NC NC ON (momentary) */
#define LED_PANIC 7 /* NC NC ON (2Hz flashing) */
#undef LED_IDLE /* Sleep mode indication not supported */
RTC
===
The STM32 RTC may configured using the following settings.
CONFIG_RTC - Enables general support for a hardware RTC. Specific
architectures may require other specific settings.
CONFIG_RTC_HIRES - The typical RTC keeps time to resolution of 1
second, usually supporting a 32-bit time_t value. In this case,
the RTC is used to "seed" the normal NuttX timer and the
NuttX timer provides for higher resoution time. If CONFIG_RTC_HIRES
is enabled in the NuttX configuration, then the RTC provides higher
resolution time and completely replaces the system timer for purpose of
date and time.
CONFIG_RTC_FREQUENCY - If CONFIG_RTC_HIRES is defined, then the
frequency of the high resolution RTC must be provided. If CONFIG_RTC_HIRES
is not defined, CONFIG_RTC_FREQUENCY is assumed to be one.
CONFIG_RTC_ALARM - Enable if the RTC hardware supports setting of an alarm.
A callback function will be executed when the alarm goes off
In hi-res mode, the STM32 RTC operates only at 16384Hz. Overflow interrupts
are handled when the 32-bit RTC counter overflows every 3 days and 43 minutes.
A BKP register is incremented on each overflow interrupt creating, effectively,
a 48-bit RTC counter.
In the lo-res mode, the RTC operates at 1Hz. Overflow interrupts are not handled
(because the next overflow is not expected until the year 2106.
WARNING: Overflow interrupts are lost whenever the STM32 is powered down. The
overflow interrupt may be lost even if the STM32 is powered down only momentarily.
Therefore hi-res solution is only useful in systems where the power is always on.
M3 Wildfire-specific Configuration Options
============================================
CONFIG_ARCH - Identifies the arch/ subdirectory. This should
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_CORTEXM3=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP=stm32
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_STM32
CONFIG_ARCH_CHIP_STM32F103VET6
CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG - Enables special STM32 clock
configuration features.
CONFIG_ARCH_BOARD_STM32_CUSTOM_CLOCKCONFIG=n
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=fire-stm32v2 (for the M3 Wildfire development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_FIRE_STM32V2=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 STM32F103Z 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:
AHB
---
CONFIG_STM32_DMA1
CONFIG_STM32_DMA2
CONFIG_STM32_CRC
CONFIG_STM32_FSMC
CONFIG_STM32_SDIO
APB1
----
CONFIG_STM32_TIM2
CONFIG_STM32_TIM3
CONFIG_STM32_TIM4
CONFIG_STM32_TIM5
CONFIG_STM32_TIM6
CONFIG_STM32_TIM7
CONFIG_STM32_WWDG
CONFIG_STM32_IWDG
CONFIG_STM32_SPI2
CONFIG_STM32_SPI4
CONFIG_STM32_USART2
CONFIG_STM32_USART3
CONFIG_STM32_UART4
CONFIG_STM32_UART5
CONFIG_STM32_I2C1
CONFIG_STM32_I2C2
CONFIG_STM32_USB
CONFIG_STM32_CAN1
CONFIG_STM32_BKP
CONFIG_STM32_PWR
CONFIG_STM32_DAC1
CONFIG_STM32_DAC2
CONFIG_STM32_USB
APB2
----
CONFIG_STM32_ADC1
CONFIG_STM32_ADC2
CONFIG_STM32_TIM1
CONFIG_STM32_SPI1
CONFIG_STM32_TIM8
CONFIG_STM32_USART1
CONFIG_STM32_ADC3
Timer and I2C devices may need to the following to force power to be applied
unconditionally at power up. (Otherwise, the device is powered when it is
initialized).
CONFIG_STM32_FORCEPOWER
Timer devices may be used for different purposes. One special purpose is
to generate modulated outputs for such things as motor control. If CONFIG_STM32_TIMn
is defined (as above) then the following may also be defined to indicate that
the timer is intended to be used for pulsed output modulation, ADC conversion,
or DAC conversion. Note that ADC/DAC require two definition: Not only do you have
to assign the timer (n) for used by the ADC or DAC, but then you also have to
configure which ADC or DAC (m) it is assigned to.
CONFIG_STM32_TIMn_PWM Reserve timer n for use by PWM, n=1,..,8
CONFIG_STM32_TIMn_ADC Reserve timer n for use by ADC, n=1,..,8
CONFIG_STM32_TIMn_ADCm Reserve timer n to trigger ADCm, n=1,..,8, m=1,..,3
CONFIG_STM32_TIMn_DAC Reserve timer n for use by DAC, n=1,..,8
CONFIG_STM32_TIMn_DACm Reserve timer n to trigger DACm, n=1,..,8, m=1,..,2
For each timer that is enabled for PWM usage, we need the following additional
configuration settings:
CONFIG_STM32_TIMx_CHANNEL - Specifies the timer output channel {1,..,4}
NOTE: The STM32 timers are each capable of generating different signals on
each of the four channels with different duty cycles. That capability is
not supported by this driver: Only one output channel per timer.
Alternate pin mappings. The M3 Wildfire board requires only CAN1 remapping
On the M3 Wildfire board pin PB9 is wired as TX and pin PB8 is wired as RX.
Which then makes the proper connection through the CAN transiver SN65HVD230
out to the CAN D-type 9-pn male connector where pin 2 is CANL and pin 7 is CANH.
CONFIG_STM32_TIM1_FULL_REMAP
CONFIG_STM32_TIM1_PARTIAL_REMAP
CONFIG_STM32_TIM2_FULL_REMAP
CONFIG_STM32_TIM2_PARTIAL_REMAP_1
CONFIG_STM32_TIM2_PARTIAL_REMAP_2
CONFIG_STM32_TIM3_FULL_REMAP
CONFIG_STM32_TIM3_PARTIAL_REMAP
CONFIG_STM32_TIM4_REMAP
CONFIG_STM32_USART1_REMAP
CONFIG_STM32_USART2_REMAP
CONFIG_STM32_USART3_FULL_REMAP
CONFIG_STM32_USART3_PARTIAL_REMAP
CONFIG_STM32_SPI1_REMAP
CONFIG_STM32_SPI3_REMAP
CONFIG_STM32_I2C1_REMAP
CONFIG_STM32_CAN1_REMAP1
CONFIG_STM32_CAN1_REMAP2
CONFIG_STM32_CAN2_REMAP
JTAG Enable settings (by default JTAG-DP and SW-DP are disabled):
CONFIG_STM32_JTAG_FULL_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
CONFIG_STM32_JTAG_NOJNTRST_ENABLE - Enables full SWJ (JTAG-DP + SW-DP)
but without JNTRST.
CONFIG_STM32_JTAG_SW_ENABLE - Set JTAG-DP disabled and SW-DP enabled
STM32F103Z specific device driver settings
CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=1,2,3) or UART
m (m=4,5) for the console and ttys0 (default is the USART1).
CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART. Must be
CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8.
