README ^^^^^^ README for NuttX port to the Stellaris LMS36965 Evaluation Kit Contents ^^^^^^^^ Stellaris LMS36965 Evaluation Kit Development Environment GNU Toolchain Options IDEs NuttX buildroot Toolchain USB Device Controller Functions OLED Stellaris LM3S6965 Evaluation Kit Configuration Options Configurations Stellaris LMS36965 Evaluation Kit ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ The Stellaris LM3S6965 Evaluation Board includes the following features: o Stellaris LM3S6965 microcontroller with fully-integrated 10/100 embedded Ethernet controller o Simple setup; USB cable provides serial communication, debugging, and power o OLED graphics display with 128 x 96 pixel resolution o User LED, navigation switches, and select pushbuttons o Magnetic speaker o LM3S6965 I/O available on labeled break-out pads o Standard ARM® 20-pin JTAG debug connector with input and output modes o USB interface for debugging and power supply o MicroSD card slot Features of the LM3S6965 Microcontroller o 32-bit RISC performance using ARM® Cortex™-M3 v7M architecture – 50-MHz operation – Hardware-division and single-cycle-multiplication – Integrated Nested Vectored Interrupt Controller (NVIC) – 42 interrupt channels with eight priority levels o 256 KB single-cycle flash o 64 KB single-cycle SRAM o Four general-purpose 32-bit timers o Integrated Ethernet MAC and PHY o Three fully programmable 16C550-type UARTs o Four 10-bit channels (inputs) when used as single-ended inputs o Two independent integrated analog comparators o Two I2C modules o Three PWM generator blocks – One 16-bit counter – Two comparators – Produces two independent PWM signals – One dead-band generator o Two QEI modules with position integrator for tracking encoder position o 0 to 42 GPIOs, depending on user configuration o On-chip low drop-out (LDO) voltage regulator GPIO Usage PIN SIGNAL EVB Function --- ----------- --------------------------------------- 26 PA0/U0RX Virtual COM port receive 27 PA1/U0TX Virtual COM port transmit 10 PD0/IDX0 SD card chip select 11 PD1/PWM1 Sound 30 PA4/SSI0RX SD card data out 31 PA5/SSI0TX SD card and OLED display data in 28 PA2/SSI0CLK SD card and OLED display clock 22 PC7/PHB0 OLED display data/control select 29 PA3/SSI0FSS OLED display chip select 73 PE1/PWM5 Down switch 74 PE2/PHB1 Left switch 72 PE0/PWM4 Up switch 75 PE3/PHA1 Right switch 61 PF1/IDX1 Select switch 47 PF0/PWM0 User LED 23 PC6/CCP3 Enable +15 V OLED ^^^^ The Evaluation Kit includes an OLED graphics display. Features: - RiT P14201 series display - 128 columns by 96 rows - 4-bit, 16-level gray scale. - High-contrast (typ. 500:1) - Excellent brightness (120 cd/m2) - Fast 10 us response. The OLED display has a built-in controller IC with synchronous serial and parallel interfaces (SSD1329). Synchronous serial (SSI) is used on the EVB. The SSI port is shared with the microSD card slot. - PC7: OLED display data/control select (D/Cn) - PA3: OLED display chip select (CSn) NOTE: Newer versions of the LM3S6965 Evaluation Kit has an OSAM 128x64x4 OLED display. Some tweaks to drivers/lcd/p14201.c would be required to support that LCD. Development Environment ^^^^^^^^^^^^^^^^^^^^^^^ Either Linux or Cygwin on Windows can be used for the development environment. The source has been built only using the GNU toolchain (see below). Other toolchains will likely cause problems. Testing was performed using the Cygwin environment. GNU Toolchain Options ^^^^^^^^^^^^^^^^^^^^^ The NuttX make system has been modified to support the following different toolchain options. 1. The CodeSourcery GNU toolchain, 2. The devkitARM GNU toolchain, 3. The NuttX buildroot Toolchain (see below). All testing has been conducted using the NuttX buildroot toolchain. However, the make system is setup to default to use the devkitARM toolchain. To use the CodeSourcery or devkitARM, you simply need to add one of the following configuration options to your .config (or defconfig) file: CONFIG_LM3S_CODESOURCERYW=y : CodeSourcery under Windows CONFIG_LM3S_CODESOURCERYL=y : CodeSourcery under Linux CONFIG_LM3S_DEVKITARM=y : devkitARM under Windows CONFIG_LM3S_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) If you are not using CONFIG_LM3S_BUILDROOT, then you may also have to modify the PATH in the setenv.h file if your make cannot find the tools. NOTE: the CodeSourcery (for Windows) and devkitARM are Windows native toolchains. The CodeSourcey (for Linux) and NuttX buildroot toolchains are Cygwin and/or Linux native toolchains. There are several limitations to using a Windows based toolchain in a Cygwin environment. The three biggest are: 1. The Windows toolchain cannot follow Cygwin paths. Path conversions are performed automatically in the Cygwin makefiles using the 'cygpath' utility but you might easily find some new path problems. If so, check out 'cygpath -w' 2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links are used in Nuttx (e.g., include/arch). The make system works around these problems for the Windows tools by copying directories instead of linking them. But this can also cause some confusion for you: For example, you may edit a file in a "linked" directory and find that your changes had not effect. That is because you are building the copy of the file in the "fake" symbolic directory. If you use a Windows toolchain, you should get in the habit of making like this: make clean_context all An alias in your .bashrc file might make that less painful. 3. Dependencies are not made when using Windows versions of the GCC. This is because the dependencies are generated using Windows pathes which do not work with the Cygwin make. Support has been added for making dependencies with the windows-native toolchains. That support can be enabled by modifying your Make.defs file as follows: - MKDEP = $(TOPDIR)/tools/mknulldeps.sh + MKDEP = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)" 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 NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with -Os. NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM path or will get the wrong version of make. IDEs ^^^^ NuttX is built using command-line make. It can be used with an IDE, but some effort will be required to create the project. Makefile Build -------------- Under Eclipse, it is pretty easy to set up an "empty makefile project" and simply use the NuttX makefile to build the system. That is almost for free under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty makefile project in order to work with Windows (Google for "Eclipse Cygwin" - there is a lot of help on the internet). Native Build ------------ Here are a few tips before you start that effort: 1) Select the toolchain that you will be using in your .config file 2) Start the NuttX build at least one time from the Cygwin command line before trying to create your project. This is necessary to create certain auto-generated files and directories that will be needed. 3) Set up include pathes: You will need include/, arch/arm/src/lm3s, arch/arm/src/common, arch/arm/src/cortexm3, 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/lm3s/lm3s_vectors.S. 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 /nuttx. cd tools ./configure.sh lm3s6965-ek/ 2. Download the latest buildroot package into 3. unpack the buildroot tarball. The resulting directory may have versioning information on it like buildroot-x.y.z. If so, rename /buildroot-x.y.z to /buildroot. 4. cd /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. NOTE: This is an OABI toolchain. USB Device Controller Functions ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Device Overview An FT2232 device from Future Technology Devices International Ltd manages USB-to-serial conversion. The FT2232 is factory configured by Luminary Micro to implement a JTAG/SWD port (synchronous serial) on channel A and a Virtual COM Port (VCP) on channel B. This feature allows two simultaneous communications links between the host computer and the target device using a single USB cable. Separate Windows drivers for each function are provided on the Documentation and Software CD. Debugging with JTAG/SWD The FT2232 USB device performs JTAG/SWD serial operations under the control of the debugger or the Luminary Flash Programmer. It also operate as an In-Circuit Debugger Interface (ICDI), allowing debugging of any external target board. Debugging modes: MODE DEBUG FUNCTION USE SELECTED BY 1 Internal ICDI Debug on-board LM3S6965 Default Mode microcontroller over USB interface. 2 ICDI out to JTAG/SWD The EVB is used as a USB Connecting to an external header to SWD/JTAG interface to target and starting debug an external target. software. The red Debug Out LED will be ON. 3 In from JTAG/SWD For users who prefer an Connecting an external header external debug interface debugger to the JTAG/SWD (ULINK, JLINK, etc.) with header. the EVB. Virtual COM Port The Virtual COM Port (VCP) allows Windows applications (such as HyperTerminal) to communicate with UART0 on the LM3S6965 over USB. Once the FT2232 VCP driver is installed, Windows assigns a COM port number to the VCP channel. Stellaris LM3S6965 Evaluation Kit 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=lm3s CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip: CONFIG_ARCH_CHIP_LM3S6965 CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD=lm3s6965-ek (for the Stellaris LM3S6965 Evaluation Kit) CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_LM3S6965EK 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_DRAM_END - Last address+1 of installed RAM CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE) CONFIG_ARCH_IRQPRIO - The LM3S6918 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. There are configurations for disabling support for interrupts GPIO ports. GPIOJ must be disabled because it does not exist on the LM3S6918. Additional interrupt support can be disabled if desired to reduce memory footprint. CONFIG_LM3S_DISABLE_GPIOA_IRQS=n CONFIG_LM3S_DISABLE_GPIOB_IRQS=n CONFIG_LM3S_DISABLE_GPIOC_IRQS=n CONFIG_LM3S_DISABLE_GPIOD_IRQS=n CONFIG_LM3S_DISABLE_GPIOE_IRQS=n CONFIG_LM3S_DISABLE_GPIOF_IRQS=n CONFIG_LM3S_DISABLE_GPIOG_IRQS=n CONFIG_LM3S_DISABLE_GPIOH_IRQS=n CONFIG_LM3S_DISABLE_GPIOJ_IRQS=y LM3S6818 specific device driver settings CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn for the console and ttys0 (default is the UART0). CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received. This specific the size of the receive buffer CONFIG_UARTn_TXBUFSIZE - Characters are buffered before being sent. This specific the size of the transmit buffer CONFIG_UARTn_BAUD - The configure BAUD of the UART. Must be CONFIG_UARTn_BITS - The number of bits. Must be either 7 or 8. CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity CONFIG_UARTn_2STOP - Two stop bits CONFIG_SSI0_DISABLE - Select to disable support for SSI0 CONFIG_SSI1_DISABLE - Select to disable support for SSI1 CONFIG_SSI_POLLWAIT - Select to disable interrupt driven SSI support. Poll-waiting is recommended if the interrupt rate would be to high in the interrupt driven case. CONFIG_SSI_TXLIMIT - Write this many words to the Tx FIFO before emptying the Rx FIFO. If the SPI frequency is high and this value is large, then larger values of this setting may cause Rx FIFO overrun errors. Default: half of the Tx FIFO size (4). CONFIG_LM3S_ETHERNET - This must be set (along with CONFIG_NET) to build the LM3S Ethernet driver CONFIG_LM3S_ETHLEDS - Enable to use Ethernet LEDs on the board. CONFIG_LM3S_BOARDMAC - If the board-specific logic can provide a MAC address (via lm3s_ethernetmac()), then this should be selected. CONFIG_LM3S_ETHHDUPLEX - Set to force half duplex operation CONFIG_LM3S_ETHNOAUTOCRC - Set to suppress auto-CRC generation CONFIG_LM3S_ETHNOPAD - Set to suppress Tx padding CONFIG_LM3S_MULTICAST - Set to enable multicast frames CONFIG_LM3S_PROMISCUOUS - Set to enable promiscuous mode CONFIG_LM3S_BADCRC - Set to enable bad CRC rejection. CONFIG_LM3S_DUMPPACKET - Dump each packet received/sent to the console. Configurations ^^^^^^^^^^^^^^ Each Stellaris LM3S6965 Evaluation Kit configuration is maintained in a sudirectory and can be selected as follow: cd tools ./configure.sh lm3s6965-ek/ cd - . ./setenv.sh Where is one of the following: nsh: Configures the NuttShell (nsh) located at examples/nsh. The Configuration enables both the serial and telnetd NSH interfaces. NOTE: As it is configured now, you MUST have a network connected. Otherwise, the NSH prompt will not come up because the Ethernet driver is waiting for the network to come up. That is probably a bug in the Ethernet driver behavior! nx: And example using the NuttX graphics system (NX). This example uses the P14201 OLED driver. ostest: This configuration directory, performs a simple OS test using examples/ostest.