README ====== This is the README file for the port of NuttX to the Mikroe Clicker2 STM32 board based on the STMicro STM32F407VGT6 MCU. Reference: https://shop.mikroe.com/development-boards/starter/clicker-2/stm32f4 Contents ======== o Serial Console o LEDs o Buttons o Using JTAG o Configurations Serial Console ============== The are no RS-232 drivers on-board. An RS-232 Click board is available: https://shop.mikroe.com/click/interface/rs232 or you can cannot an off- board TTL-to-RS-232 converter as follows: USART2: mikroBUS1 PD6/RX and PD5/TX USART3: mikroBUS2 PD9/RX and PD8TX GND, 3.3V, and 5V. Are also available By default, USART3 on mikroBUS2 is used as the serial console in each configuration unless stated otherwise in the description of the configuration. LEDs ==== The Mikroe Clicker2 STM32 has two user controllable LEDs: LD1/PE12, Active high output illuminates LD2/PE15, Active high output illuminates If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way. If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board the Clicker2 for STM32. The following definitions describe how NuttX controls the LEDs: SYMBOL Meaning LED state LD1 LD2 ------------------- ----------------------- -------- -------- LED_STARTED NuttX has been started OFF OFF LED_HEAPALLOCATE Heap has been allocated OFF OFF LED_IRQSENABLED Interrupts enabled OFF OFF LED_STACKCREATED Idle stack created ON OFF LED_INIRQ In an interrupt N/C ON LED_SIGNAL In a signal handler No change LED_ASSERTION An assertion failed No change LED_PANIC The system has crashed OFF Blinking LED_IDLE STM32 is is sleep mode Not used Thus is LD1 is illuminated, the Clicker2 has completed boot-up. IF LD2 is glowly softly, then interrupts are being taken; the level of illumination depends amount of time processing interupts. If LD1 is off and LD2 is blinking at about 2Hz, then the system has crashed. Buttons ======= The Mikroe Clicker2 STM32 has two buttons available to software: T2/E0, Low sensed when pressed T3/PA10, Low sensed when pressed Using JTAG ========== The Clicker2 comes with the mikroBootloader installed. That bootloader has not been used and is possibly incompatible with the Clicker2-STM32 linker script at configs/clicker2-stm32/scripts/flash.ld. Often code must be built to execute at an offset in to FLASH when a bootloader is used. Certainly that is the case for the ST-Micro DFU bootloader but I am not aware of the requirements for use with the mikroBootloader. JTAG has been used in the development of this board support. The Clicker2-STM32 board offers a 2x5 JTAG connector. You may use Dupont jumpers to connect this port to JTAG as described here: https://www.mikroe.com/how-to-use-st-link-v2-with-clicker-2-for-stm32-a-detailed-walkthrough/ http://www.playembedded.org/blog/en/2016/02/06/mikroe-clicker-2-for-stm32-and-stlink-v2/ NOTE that the FLASH probably has read protection enabled locked. You may need to follow the instructions at the second link to unlock it. You can also use the STM32 ST-Link CLI tool on Windows to remove the read protection using the -OB command: $ ./ST-LINK_CLI.exe -c SN=53FF6F064966545035320387 SWD LPM STM32 ST-LINK CLI v2.3.0 STM32 ST-LINK Command Line Interface ST-LINK SN : 53FF6F064966545035320387 ST-LINK Firmware version : V2J24S4 Connected via SWD. SWD Frequency = 4000K. Target voltage = 3.2 V. Connection mode : Normal. Debug in Low Power mode enabled. Device ID:0x413 Device family :STM32F40xx/F41xx $ ./ST-LINK_CLI.exe -OB RDP=0 STM32 ST-LINK CLI v2.3.0 STM32 ST-LINK Command Line Interface ST-LINK SN : 53FF6F064966545035320387 ST-LINK Firmware version : V2J24S4 Connected via SWD. SWD Frequency = 4000K. Target voltage = 3.2 V. Connection mode : Normal. Device ID:0x413 Device family :STM32F40xx/F41xx Updating option bytes... Option bytes updated successfully. NOTE: 1. You can get the ST-Link Utilies here: http://www.st.com/en/embedded-software/stsw-link004.html 2. The ST-LINK Utility command line interface is located at: [Install_Directory]\STM32 ST-LINK Utility\ST-LINK Utility\ST-LINK_CLI.exe 3. You can get a summary of all of the command options by running ST-LINK_CLI.exe with no arguments. 4. You can get the serial number of the ST-Link when from the information window if you connect via the ST-Link Utility: 11:04:28 : ST-LINK SN : 53FF6F064966545035320387 11:04:28 : ST-LINK Firmware version : V2J24S4 11:04:28 : Connected via SWD. 11:04:28 : SWD Frequency = 100 KHz. 11:04:28 : Connection mode : Normal. 11:04:28 : Debug in Low Power mode enabled. 11:04:30 : Device ID:0x413 11:04:30 : Device family :STM32F40xx/F41xx 11:04:30 : Can not read memory! Disable Read Out Protection and retry. You can avoid the mess of jumpers using the mikroProg to ST-Link v2 adapter along with a 2x5, 10-wire ribbon cable connector: https://shop.mikroe.com/add-on-boards/adapter/mikroprog-st-link-v2-adapter Then you can use the ST-Link Utility or other debugger software to write the NuttX binary to FLASH. OpenOCD can be used with the ST-Link to provide a debug environment. The debug adaptor is NOT compatible with other JTAG debuggers such as the Segger J-Link. Configurations ============== Information Common to All Configurations ---------------------------------------- Each Clicker2 configuration is maintained in a sub-directory and can be selected as follow: cd tools ./configure.sh clicker2-stm32/ cd - Before building, make sure the PATH environment variable includes the correct path to the directory than holds your toolchain binaries. And then build NuttX by simply typing the following. At the conclusion of the make, the nuttx binary will reside in an ELF file called, simply, nuttx. make oldconfig make The that is provided above as an argument to the tools/configure.sh must be is one of the following. NOTES: 1. These configurations use the mconf-based configuration tool. To change any of these configurations using that tool, you should: a. Build and install the kconfig-mconf tool. See nuttx/README.txt see additional README.txt files in the NuttX tools repository. b. Execute 'make menuconfig' in nuttx/ in order to start the reconfiguration process. 2. Unless stated otherwise, all configurations generate console output on USART3, channel 0) as described above under "Serial Console". The relevant configuration settings are listed below: CONFIG_STM32_USART3=y CONFIG_STM32_USART3_SERIALDRIVER=y CONFIG_STM32_USART=y CONFIG_USART3_SERIALDRIVER=y CONFIG_USART3_SERIAL_CONSOLE=y CONFIG_USART3_RXBUFSIZE=256 CONFIG_USART3_TXBUFSIZE=256 CONFIG_USART3_BAUD=115200 CONFIG_USART3_BITS=8 CONFIG_USART3_PARITY=0 CONFIG_USART3_2STOP=0 3. All of these configurations are set up to build under Linux using the "GNU Tools for ARM Embedded Processors" that is maintained by ARM (unless stated otherwise in the description of the configuration). https://launchpad.net/gcc-arm-embedded That toolchain selection can easily be reconfigured using 'make menuconfig'. Here are the relevant current settings: Build Setup: CONFIG_HOST_LINUX =y : Linux environment System Type -> Toolchain: CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y : GNU ARM EABI toolchain Configuration sub-directories ----------------------------- knsh: This is identical to the nsh configuration below except that NuttX is built as a protected mode, monolithic module and the user applications are built separately. It is recommends to use a special make command; not just 'make' but make with the following two arguments: make pass1 pass2 In the normal case (just 'make'), make will attempt to build both user- and kernel-mode blobs more or less interleaved. This actual works! However, for me it is very confusing so I prefer the above make command: Make the user-space binaries first (pass1), then make the kernel-space binaries (pass2) NOTES: 1. At the end of the build, there will be several files in the top-level NuttX build directory: PASS1: nuttx_user.elf - The pass1 user-space ELF file nuttx_user.hex - The pass1 Intel HEX format file (selected in defconfig) User.map - Symbols in the user-space ELF file PASS2: nuttx - The pass2 kernel-space ELF file nuttx.hex - The pass2 Intel HEX file (selected in defconfig) System.map - Symbols in the kernel-space ELF file The J-Link programmer will accept files in .hex, .mot, .srec, and .bin formats. The St-Link programmer will accept files in hex and .bin formats. 2. Combining .hex files. If you plan to use the .hex files with your debugger or FLASH utility, then you may need to combine the two hex files into a single .hex file. Here is how you can do that. a. The 'tail' of the nuttx.hex file should look something like this (with my comments added): $ tail nuttx.hex # 00, data records ... :10 9DC0 00 01000000000800006400020100001F0004 :10 9DD0 00 3B005A0078009700B500D400F300110151 :08 9DE0 00 30014E016D0100008D # 05, Start Linear Address Record :04 0000 05 0800 0419 D2 # 01, End Of File record :00 0000 01 FF Use an editor such as vi to remove the 05 and 01 records. b. The 'head' of the nuttx_user.hex file should look something like this (again with my comments added): $ head nuttx_user.hex # 04, Extended Linear Address Record :02 0000 04 0801 F1 # 00, data records :10 8000 00 BD89 01084C800108C8110208D01102087E :10 8010 00 0010 00201C1000201C1000203C16002026 :10 8020 00 4D80 01085D80010869800108ED83010829 ... Nothing needs to be done here. The nuttx_user.hex file should be fine. c. Combine the edited nuttx.hex and un-edited nuttx_user.hex file to produce a single combined hex file: $ cat nuttx.hex nuttx_user.hex >combined.hex Then use the combined.hex file with the to write the FLASH image. If you do this a lot, you will probably want to invest a little time to develop a tool to automate these steps. mrf24j40-radio This is a version of nsh that was used for testing the MRF24J40 be as a character device. The most important configuration differences are summarized below: 1. Support for the BEE click and SPI are in enabled in the mikroBUS1 slot: CONFIG_CLICKER2_STM32_MB1_BEE=y CONFIG_CLICKER2_STM32_MB1_SPI=y 2. SPI support and STM32 SPI3, in particular, are enabled: CONFIG_SPI=y CONFIG_SPI_EXCHANGE=y CONFIG_STM32_SPI=y CONFIG_STM32_SPI3=y 4. Support for the IEEE802.15.4 "upper half" character driver is enabled: CONFIG_WIRELESS=y CONFIG_WIRELESS_IEEE802154=y CONFIG_IEEE802154_DEV=y 5. Support for the lower half MRF24J40 character driver is enabled CONFIG_DRIVERS_WIRELESS=y CONFIG_DRIVERS_IEEE802154=y CONFIG_IEEE802154_MRF24J40=y 6. Support for the test program at apps/ieee802154 is enabled: CONFIG_IEEE802154_COMMON=y CONFIG_IEEE802154_COORD=y CONFIG_IEEE802154_I8SAK=y 7. Initialization hooks are provided to enable the MRF24J40 and to register the radio character driver. CONFIG_NSH_ARCHINIT=y nsh: Configures the NuttShell (nsh) located at examples/nsh. This configuration is focused on low level, command-line driver testing. It has no network. NOTES: 1. Support for NSH built-in applications is provided: Binary Formats: CONFIG_BUILTIN=y : Enable support for built-in programs Application Configuration: CONFIG_NSH_BUILTIN_APPS=y : Enable starting apps from NSH command line No built applications are enabled in the base configuration, however. 2. C++ support for applications is enabled: CONFIG_HAVE_CXX=y CONFIG_HAVE_CXXINITIALIZE=y CONFIG_EXAMPLES_NSH_CXXINITIALIZE=y usbnsh: ------- This is another NSH example. If differs from other 'nsh' configurations in that this configurations uses a USB serial device for console I/O. Such a configuration is useful on the Clicker2 STM32 which has no builtin RS-232 drivers. NOTES: 1. This configuration does have USART3 output enabled and set up as the system logging device: CONFIG_SYSLOG_CHAR=y : Use a character device for system logging CONFIG_SYSLOG_DEVPATH="/dev/ttyS0" : USART3 will be /dev/ttyS0 However, there is nothing to generate SYLOG output in the default configuration so nothing should appear on USART3 unless you enable some debug output or enable the USB monitor. 2. Enabling USB monitor SYSLOG output. If tracing is enabled, the USB device will save encoded trace output in in-memory buffer; if the USB monitor is enabled, that trace buffer will be periodically emptied and dumped to the system logging device (USART3 in this configuration): CONFIG_USBDEV_TRACE=y : Enable USB trace feature CONFIG_USBDEV_TRACE_NRECORDS=128 : Buffer 128 records in memory CONFIG_NSH_USBDEV_TRACE=n : No builtin tracing from NSH CONFIG_NSH_ARCHINIT=y : Automatically start the USB monitor CONFIG_USBMONITOR=y : Enable the USB monitor daemon CONFIG_USBMONITOR_STACKSIZE=2048 : USB monitor daemon stack size CONFIG_USBMONITOR_PRIORITY=50 : USB monitor daemon priority CONFIG_USBMONITOR_INTERVAL=2 : Dump trace data every 2 seconds CONFIG_USBMONITOR_TRACEINIT=y : Enable TRACE output CONFIG_USBMONITOR_TRACECLASS=y CONFIG_USBMONITOR_TRACETRANSFERS=y CONFIG_USBMONITOR_TRACECONTROLLER=y CONFIG_USBMONITOR_TRACEINTERRUPTS=y Using the Prolifics PL2303 Emulation ------------------------------------ You could also use the non-standard PL2303 serial device instead of the standard CDC/ACM serial device by changing: CONFIG_CDCACM=n : Disable the CDC/ACM serial device class CONFIG_CDCACM_CONSOLE=n : The CDC/ACM serial device is NOT the console CONFIG_PL2303=y : The Prolifics PL2303 emulation is enabled CONFIG_PL2303_CONSOLE=y : The PL2303 serial device is the console