README.txt ========== This is the README file for the port of NuttX to the Freescale Freedom-K66F develoment board. Contents ======== o Freedom K66F Features o Serial Console o LEDs and Buttons o Networking Support o SD Card Support o USB Device Controller Support o Development Environment o GNU Toolchain Options o Freedom K66F Configuration Options o Configurations o Status Kinetis Freedom K66F Features: ============================= The features of the FRDM-K66F hardware are as follows: - MK66FN2M0VMD18 MCU (180 MHz, 2MB Flash, 256KB RAM, 144MBGA package) - Dual role USB interface with micro-B USB connector - RGB LED - FXOS8700CQ - accelerometer and magnetometer - FXAS21002 - Gyroscope - Two user push buttons - Flexible power supply options – OpenSDAv2.1 USB, K66F USB, and external sources - Easy access to MCU input/output through Arduino R3TM compatible I/O connectors - Programmable OpenSDAv2.1 debug interface with multiple applications available including: o SWD debug interface over a USB HID connection providing run-control debugging and compatibility with IDE tools o Virtual serial port interface - Ethernet - Micro SD - Audio features o Digital MEMS microphone o Auxiliary input jack o Headset/Analog microphone jack o Two optional input for analogue microphone - Optional header for add-on RF module: RF24L01+ Nordic 2.4 GHz Radio - Optional header for add-on Bluetooth module: JY-MCU BT Board V1.05 BT OpenSDAv2.1 ========= The FRDM-K66F platform features OpenSDAv2.1, the NXP open-source hardware embedded serial and debug adapter running an open-source bootloader. This circuit offers several options for serial communication, flash programming and run-control debugging. The openSDAv2.1 is loaded with JLink firmware for rapid prototyping and product development, with a focus on connected Internet of Things devices. To use set raw binary output for nuttx.bin Serial Console ============== USB VCOM Console ---------------- The primary serial port interface signals are PTB16 UART0_RX and PTB17 UART0_TX. These signals are connected to the OpenSDAv2.1 VCOM circuit. Serial Shield Console --------------------- An alternative serial port might use a standard serial shield mounted on the Freedom Board. In this case, Arduino pin D1 provides UART TX and pin D0 privides UART RX. The I/O headers on the FRDM-K66F board are arranged to enable compatibility with Arduino shield. The outer rows of pins (even numbered pins) on the headers, share the same mechanical spacing and placement with the I/O headers on the Arduino Revision 3 (R3) standard. The Arduino D0 and D1 pins then correspond to pins 2 and 4 on the J1 I/O connector: Arduino Pin FRDM-K66F J1 Connector ------------------------ ----------------------- UART RX, Arduino D0 pin Pin 2, PTC3, UART1_RX UART TX, Arduino D1 pin Pin 4, PTC4, UART1_TX Default Serial Console ---------------------- By default, these configuration are setup to use the Serial Console on UART1. That, however, is easily reconfigured. LEDs and Buttons ================ RGB LED ------- An RGB LED is connected through GPIO as shown below: LED K66 ------ ------------------------------------------------------- RED PTC9/ADC1_SE5B/CMP0_IN3/FTM3_CH5/I2S0_RX_BCLK/FB_AD6/SDRAM_A14/FTM_FLT0 GREEN PTE6/LLWU_P16/SPI1_PCS3/UART3_CTS/I2S0_MCLK/FTM3_CH1/USB0_SOF_OUT BLUE PTA11/LLWU_P23/FTM2_CH1/MII0_RXCLK/I2C2_SDA/FTM2_QD_PHB/TPM2_CH1 If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board the Freedom K66. Usage of these LEDs is defined in include/board.h and src/K66_leds.c. The following definitions describe how NuttX controls the LEDs: SYMBOL Meaning LED state RED GREEN BLUE ------------------- ----------------------- ----------------- LED_STARTED NuttX has been started OFF OFF OFF LED_HEAPALLOCATE Heap has been allocated OFF OFF ON LED_IRQSENABLED Interrupts enabled OFF OFF ON LED_STACKCREATED Idle stack created OFF ON OFF LED_INIRQ In an interrupt (no change) LED_SIGNAL In a signal handler (no change) LED_ASSERTION An assertion failed (no change) LED_PANIC The system has crashed FLASH OFF OFF LED_IDLE K66 is in sleep mode (Optional, not used) Buttons ------- Two push button switches, SW2 and SW3, are available on the FRDM-K66F board. SW2 is connected to PTD11 and SW3 is connected to PTA10. Beside the general purpose IO function, both SW2 and SW3 can be used as a low-leakage wakeup (LLWU) source. Switch GPIO Function --------- --------------------------------------------------------------- SW2 PTD11/LLWU_P25/SPI2_PCS0/SDHC0_CLKIN/LPUART0_CTS/FB_A19 SW3 PTA10/LLWU_P22/FTM2_CH0/MII0_RXD2/FTM2_QD_PHA/TPM2_CH0/TRACE_D0 Networking Support ================== Ethernet MAC/KSZ8081 PHY ------------------------ ------------ ----------------- -------------------------------------------- KSZ8081 Board Signal(s) K66F Pin Pin Signal Function pinmux Name --- -------- ----------------- -------------------------------------------- 1 VDD_1V2 VDDPLL_1.2V --- --- 2 VDDA_3V3 VDDA_ENET --- --- 3 RXM ENET1_RX- --- --- 4 RXP ENET1_RX+ --- --- 5 TXM ENET1_TX- --- --- 6 TXP ENET1_TX+ --- --- 7 X0 RMII_XTAL0 --- --- 8 XI RMII_XTAL1 --- --- 9 REXT --- ---, Apparently not connected --- 10 MDIO RMII0_MDIO PTB0/RMII0_MDIO PIN_RMII0_MDIO 11 MDC RMII0_MDC PTB1/RMII0_MDC PIN_RMII0_MDC 12 RXD1 RMII0_RXD_1 PTA12/RMII0_RXD1 PIN_RMII0_RXD1 13 RXD0 RMII0_RXD_0 PTA13/RMII0_RXD0 PIN_RMII0_RXD0 14 VDDIO VDDIO_ENET --- --- 15 CRS_DIV PTA14/RMII0_CRS_DV PIN_RMII0_CRS_DV 16 REF_CLK PTE26 PTE26(Ethernet clock) PTE26/ENET_1588_CLKIN 17 RXER RMII0_RXER PTA5/RMII0_RXER PIN_RMII0_RXER 18 INTRP RMII0_INT_B, J14 Pin 2, Apparently not --- PHY_INT_1 available unless jumpered 19 TXEN RMII0_TXEN PTA15/RMII0_TXEN PIN_RMII0_TXEN 20 TXD0 RMII0_TXD_0 PTA16/RMII0_TXD0 PIN_RMII0_TXD0 21 TXD1 RMII0_TXD_1 PTA17/RMII0_TXD1 PIN_RMII0_TXD1 22 GND1 --- --- --- 24 nRST PHY_RST_B --- --- 25 GND2 --- --- --- --- -------- ----------------- -------------------------------------------- There is no external pull up on MDIO signal when MK66FN2M0VMD18 is requesting status of the Ethernet link connection. Internal pull is required when enabled in port configuration for MDIO signal. CONFIG_KINETIS_ENET_MDIOPULLUP=y Networking support can be added to NSH by selecting the following configuration options. Selecting the EMAC peripheral ----------------------------- System Type -> Kinetis Peripheral Support CONFIG_KINETIS_ENET=y : Enable the EThernet MAC peripheral System Type -> Ethernet Configuration CONFIG_KINETIS_ENETNETHIFS=1 CONFIG_KINETIS_ENETNRXBUFFERS=6 CONFIG_KINETIS_ENETNTXBUFFERS=2 CONFIG_KINETIS_ENET_MDIOPULLUP=y Networking Support CONFIG_NET=y : Enable Neworking CONFIG_NET_ETHERNET=y : Support Ethernet data link CONFIG_NET_SOCKOPTS=y : Enable socket operations CONFIG_NET_ETH_MTU=590 : Maximum packet size (MTU) 1518 is more standard CONFIG_NET_ETH_TCP_RECVWNDO=536 : Should be the same as CONFIG_NET_ETH_MTU CONFIG_NET_ARP=y : Enable ARP CONFIG_NET_ARPTAB_SIZE=16 : ARP table size CONFIG_NET_ARP_IPIN=y : Enable ARP address harvesting CONFIG_NET_ARP_SEND=y : Send ARP request before sending data CONFIG_NET_TCP=y : Enable TCP/IP networking CONFIG_NET_TCP_READAHEAD=y : Support TCP read-ahead CONFIG_NET_TCP_WRITE_BUFFERS=y : Support TCP write-buffering CONFIG_NET_TCPBACKLOG=y : Support TCP/IP backlog CONFIG_NET_MAX_LISTENPORTS=20 : CONFIG_NET_TCP_READAHEAD_BUFSIZE=536 Read-ahead buffer size CONFIG_NET_UDP=y : Enable UDP networking CONFIG_NET_BROADCAST=y : Needed for DNS name resolution CONFIG_NET_ICMP=y : Enable ICMP networking CONFIG_NET_ICMP_PING=y : Needed for NSH ping command : Defaults should be okay for other options Application Configuration -> Network Utilities CONFIG_NETDB_DNSCLIENT=y : Enable host address resolution CONFIG_NETUTILS_TELNETD=y : Enable the Telnet daemon CONFIG_NETUTILS_TFTPC=y : Enable TFTP data file transfers for get and put commands CONFIG_NETUTILS_NETLIB=y : Network library support is needed CONFIG_NETUTILS_WEBCLIENT=y : Needed for wget support : Defaults should be okay for other options Application Configuration -> NSH Library CONFIG_NSH_TELNET=y : Enable NSH session via Telnet CONFIG_NSH_IPADDR=0x0a000002 : Select a fixed IP address CONFIG_NSH_DRIPADDR=0x0a000001 : IP address of gateway/host PC CONFIG_NSH_NETMASK=0xffffff00 : Netmask CONFIG_NSH_NOMAC=y : Need to make up a bogus MAC address : Defaults should be okay for other options You can also enable enable the DHCPC client for networks that use dynamically assigned address: Application Configuration -> Network Utilities CONFIG_NETUTILS_DHCPC=y : Enables the DHCP client Networking Support CONFIG_NET_UDP=y : Depends on broadcast UDP Application Configuration -> NSH Library CONFIG_NET_BROADCAST=y CONFIG_NSH_DHCPC=y : Tells NSH to use DHCPC, not : the fixed addresses Using the network with NSH -------------------------- So what can you do with this networking support? First you see that NSH has several new network related commands: ifconfig, ifdown, ifup: Commands to help manage your network get and put: TFTP file transfers wget: HTML file transfers ping: Check for access to peers on the network Telnet console: You can access the NSH remotely via telnet. You can also enable other add on features like full FTP or a Web Server or XML RPC and others. There are also other features that you can enable like DHCP client (or server) or network name resolution. By default, the IP address of the FRDM-K66F will be 10.0.0.2 and it will assume that your host is the gateway and has the IP address 10.0.0.1. nsh> ifconfig eth0 HWaddr 00:e0:de:ad:be:ef at UP IPaddr:10.0.0.2 DRaddr:10.0.0.1 Mask:255.255.255.0 You can use ping to test for connectivity to the host (Careful, Window firewalls usually block ping-related ICMP traffic). On the target side, you can: nsh> ping 10.0.0.1 PING 10.0.0.1 56 bytes of data 56 bytes from 10.0.0.1: icmp_seq=1 time=0 ms 56 bytes from 10.0.0.1: icmp_seq=2 time=0 ms 56 bytes from 10.0.0.1: icmp_seq=3 time=0 ms 56 bytes from 10.0.0.1: icmp_seq=4 time=0 ms 56 bytes from 10.0.0.1: icmp_seq=5 time=0 ms 56 bytes from 10.0.0.1: icmp_seq=6 time=0 ms 56 bytes from 10.0.0.1: icmp_seq=7 time=0 ms 56 bytes from 10.0.0.1: icmp_seq=8 time=0 ms 56 bytes from 10.0.0.1: icmp_seq=9 time=0 ms 56 bytes from 10.0.0.1: icmp_seq=10 time=0 ms 10 packets transmitted, 10 received, 0% packet loss, time 10100 ms NOTE: In this configuration is is normal to have packet loss > 0% the first time you ping due to the default handling of the ARP table. On the host side, you should also be able to ping the FRDM-K66F: $ ping 10.0.0.2 You can also log into the NSH from the host PC like this: $ telnet 10.0.0.2 Trying 10.0.0.2... Connected to 10.0.0.2. Escape character is '^]'. sh_telnetmain: Session [3] Started NuttShell (NSH) NuttX-7.19 nsh> help help usage: help [-v] [] [ echo ifconfig mkdir mw sleep ? exec ifdown mkfatfs ping test cat exit ifup mkfifo ps umount cp free kill mkrd put usleep cmp get losetup mh rm wget dd help ls mount rmdir xd df hexdump mb mv sh Builtin Apps: nsh> NOTE: If you enable this networking as described above, you will experience a delay on booting NSH. That is because the start-up logic waits for the network connection to be established before starting NuttX. In a real application, you would probably want to do the network bringup on a separate thread so that access to the NSH prompt is not delayed. This delay will be especially long if the board is not connected to a network. On the order of minutes! You will probably think that NuttX has crashed! And then, when it finally does come up after numerous timeouts and retries, the network will not be available -- even if the network cable is plugged in later. The long delays can be eliminated by using a separate the network initialization thread discussed below. Recovering after the network becomes available requires the network monitor feature, also discussed below. Network Initialization Thread ----------------------------- There is a configuration option enabled by CONFIG_NSH_NETINIT_THREAD that will do the NSH network bring-up asynchronously in parallel on a separate thread. This eliminates the (visible) networking delay altogether. This current implementation, however, has some limitations: - If no network is connected, the network bring-up will fail and the network initialization thread will simply exit. There are no retries and no mechanism to know if the network initialization was successful (it could perform a network Ioctl to see if the link is up and it now, keep trying, but it does not do that now). - Furthermore, there is currently no support for detecting loss of network connection and recovery of the connection (similarly, this thread could poll periodically for network status, but does not). Both of these shortcomings could be eliminated by enabling the network monitor: Network Monitor --------------- By default the network initialization thread will bring-up the network then exit, freeing all of the resources that it required. This is a good behavior for systems with limited memory. If the CONFIG_NSH_NETINIT_MONITOR option is selected, however, then the network initialization thread will persist forever; it will monitor the network status. In the event that the network goes down (for example, if a cable is removed), then the thread will monitor the link status and attempt to bring the network back up. In this case the resources required for network initialization are never released. Pre-requisites: - CONFIG_NSH_NETINIT_THREAD as described above. - The K66F EMAC block does not support PHY interrupts. The KSZ8081 PHY interrupt line is brought to a jumper block and it should be possible to connect that some some interrupt port pin. You would need to provide some custom logic in the Freedcom K66F configuration to set up that PHY interrupt. - In addtion to the PHY interrupt, the Network Monitor also requires the following setting: CONFIG_NETDEV_PHY_IOCTL. Enable PHY IOCTL commands in the Ethernet device driver. Special IOCTL commands must be provided by the Ethernet driver to support certain PHY operations that will be needed for link management. There operations are not complex and are implemented for the Atmel SAMA5 family. CONFIG_ARCH_PHY_INTERRUPT. This is not a user selectable option. Rather, it is set when you select a board that supports PHY interrupts. For the K66F, like most other architectures, the PHY interrupt must be provided via some board-specific GPIO. In any event, the board-specific logic must provide support for the PHY interrupt. To do this, the board logic must do two things: (1) It must provide the function arch_phy_irq() as described and prototyped in the nuttx/include/nuttx/arch.h, and (2) it must select CONFIG_ARCH_PHY_INTERRUPT in the board configuration file to advertise that it supports arch_phy_irq(). And a few other things: UDP support is required (CONFIG_NET_UDP) and signals must not be disabled (CONFIG_DISABLE_SIGNALS). Given those prerequisites, the network monitor can be selected with these additional settings. System Type -> Kinetis Ethernet Configuration CONFIG_ARCH_PHY_INTERRUPT=y : (auto-selected) CONFIG_NETDEV_PHY_IOCTL=y : (auto-selected) Application Configuration -> NSH Library -> Networking Configuration CONFIG_NSH_NETINIT_THREAD : Enable the network initialization thread CONFIG_NSH_NETINIT_MONITOR=y : Enable the network monitor CONFIG_NSH_NETINIT_RETRYMSEC=2000 : Configure the network monitor as you like CONFIG_NSH_NETINIT_SIGNO=18 SD Card Support =============== Card Slot --------- A micro Secure Digital (SD) card slot is available on the FRDM-K66F connected to the SD Host Controller (SDHC) signals of the MCU. This slot will accept micro format SD memory cards. The SD card detect pin (PTD10) is an open switch that shorts with VDD when card is inserted. ------------ ------------- -------- SD Card Slot Board Signal K66F Pin ------------ ------------- -------- DAT0 SDHC0_D0 PTE1 DAT1 SDHC0_D1 PTE0 DAT2 SDHC0_D2 PTE5 CD/DAT3 SDHC0_D3 PTE4 CMD SDHC0_CMD PTE3 CLK SDHC0_DCLK PTE2 SWITCH D_CARD_DETECT PTD10 ------------ ------------- -------- There is no Write Protect pin available to the K66F. Configuration Settings ---------------------- Enabling SDHC support. The Freedom K66F provides one microSD memory card slot. Support for the SD slots can be enabled with the following settings: System Type->Kinetic Peripheral Selection CONFIG_KINETIS_SDHC=y : To enable SDHC0 support CONFIG_KINETIS_SDHC_DMA=y : Use SDIO DMA System Type CONFIG_KINETIS_GPIOIRQ=y : GPIO interrupts needed CONFIG_KINETIS_PORTEINTS=y : Card detect pin is on PTE6 Device Drivers -> MMC/SD Driver Support CONFIG_MMCSD=y : Enable MMC/SD support CONFIG_MMSCD_NSLOTS=1 : One slot per driver instance CONFIG_MMCSD_MULTIBLOCK_DISABLE=y : (REVISIT) CONFIG_MMCSD_HAVECARDDETECT=y : Supports card-detect PIOs CONFIG_MMCSD_MMCSUPPORT=n : Interferes with some SD cards CONFIG_MMCSD_SPI=n : No SPI-based MMC/SD support CONFIG_MMCSD_SDIO=y : SDIO-based MMC/SD support CONFIG_SDIO_BLOCKSETUP=y : Needs to know block sizes RTOS Features -> Work Queue Support CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support CONFIG_SCHED_HPWORK=y Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization, and CONFIG_LIB_BOARDCTL=y : Or CONFIG_BOARD_INITIALIZE=y Using the SD card ----------------- 1. After booting, the SDHC device will appear as /dev/mmcsd0. 2. If you try mounting an SD card with nothing in the slot, the mount will fail: nsh> mount -t vfat /dev/mmcsd0 /mnt/sd0 nsh: mount: mount failed: 19 NSH can be configured to provide errors as strings instead of numbers. But in this case, only the error number is reported. The error numbers can be found in nuttx/include/errno.h: #define ENODEV 19 #define ENODEV_STR "No such device" So the mount command is saying that there is no device or, more correctly, that there is no card in the SD card slot. 3. Insert the SD card. Then the mount should succeed. nsh> mount -t vfat /dev/mmcsd0 /mnt/sd0 nsh> ls /mnt/sd1 /mnt/sd1: atest.txt nsh> cat /mnt/sd1/atest.txt This is a test NOTE: See the next section entitled "Auto-Mounter" for another way to mount your SD card. 4. Before removing the card, you must umount the file system. This is equivalent to "ejecting" or "safely removing" the card on Windows: It flushes any cached data to an SD card and makes the SD card unavailable to the applications. nsh> umount -t /mnt/sd0 It is now safe to remove the card. NuttX provides into callbacks that can be used by an application to automatically unmount the volume when it is removed. But those callbacks are not used in these configurations. Auto-Mounter ------------ NuttX implements an auto-mounter than can make working with SD cards easier. With the auto-mounter, the file system will be automatically mounted when the SD card is inserted into the SDHC slot and automatically unmounted when the SD card is removed. Here is a sample configuration for the auto-mounter: File System Configuration CONFIG_FS_AUTOMOUNTER=y Board-Specific Options CONFIG_FRDMK66F_SDHC_AUTOMOUNT=y CONFIG_FRDMK66F_SDHC_AUTOMOUNT_FSTYPE="vfat" CONFIG_FRDMK66F_SDHC_AUTOMOUNT_BLKDEV="/dev/mmcsd0" CONFIG_FRDMK66F_SDHC_AUTOMOUNT_MOUNTPOINT="/mnt/sdcard" CONFIG_FRDMK66F_SDHC_AUTOMOUNT_DDELAY=1000 CONFIG_FRDMK66F_SDHC_AUTOMOUNT_UDELAY=2000 WARNING: SD cards should never be removed without first unmounting them. This is to avoid data and possible corruption of the file system. Certainly this is the case if you are writing to the SD card at the time of the removal. If you use the SD card for read-only access, however, then I cannot think of any reason why removing the card without mounting would be harmful. USB Device Controller Support ============================== USB Device Controller Support ----------------------------- The USBHS device controller driver is enabled with he following configurationsettings: Device Drivers -> USB Device Driver Support CONFIG_USBDEV=y : Enable USB device support For full-speed/low-power mode: CONFIG_USBDEV_DUALSPEED=n : Disable High speed support For high-speed/normal mode: CONFIG_USBDEV_DUALSPEED=y : Enable High speed support CONFIG_USBDEV_DMA=y : Enable DMA methods CONFIG_USBDEV_MAXPOWER=100 : Maximum power consumption CONFIG_USBDEV_SELFPOWERED=y : Self-powered device System Type -> Kinetis Peripheral Selection CONFIG_KINETIS_USBOTG=y CDC/ACM Device Class -------------------- In order to be usable, you must all enabled some class driver(s) for the USBHS device controller. Here, for example, is how to configure the CDC/ACM serial device class: Device Drivers -> USB Device Driver Support CONFIG_CDCACM=y : USB Modem (CDC ACM) support CONFIG_CDCACM_EP0MAXPACKET=64 : Enpoint 0 packet size CONFIG_CDCACM_EPINTIN=1 : Interrupt IN endpoint number CONFIG_CDCACM_EPINTIN_FSSIZE=64 : Full speed packet size CONFIG_CDCACM_EPINTIN_HSSIZE=64 : High speed packet size CONFIG_CDCACM_EPBULKOUT=3 : Bulk OUT endpoint number CONFIG_CDCACM_EPBULKOUT_FSSIZE=64 : Full speed packet size CONFIG_CDCACM_EPBULKOUT_HSSIZE=512 : High speed packet size CONFIG_CDCACM_EPBULKIN=2 : Bulk IN endpoint number CONFIG_CDCACM_EPBULKIN_FSSIZE=64 : Full speed packet size CONFIG_CDCACM_EPBULKIN_HSSIZE=512 : High speed packet size CONFIG_CDCACM_NWRREQS=4 : Number of write requests CONFIG_CDCACM_NRDREQS=8 : Number of read requests CONFIG_CDCACM_BULKIN_REQLEN=96 : Size of write request buffer (for full speed) CONFIG_CDCACM_BULKIN_REQLEN=768 : Size of write request buffer (for high speed) CONFIG_CDCACM_RXBUFSIZE=257 : Serial read buffer size CONFIG_CDCACM_TXBUFSIZE=193 : Serial transmit buffer size (for full speed) CONFIG_CDCACM_TXBUFSIZE=769 : Serial transmit buffer size (for high speed) CONFIG_CDCACM_VENDORID=0x0525 : Vendor ID CONFIG_CDCACM_PRODUCTID=0xa4a7 : Product ID CONFIG_CDCACM_VENDORSTR="NuttX" : Vendor string CONFIG_CDCACM_PRODUCTSTR="CDC/ACM Serial" : Product string Device Drivers -> Serial Driver Support CONFIG_SERIAL_REMOVABLE=y : Support for removable serial device The CDC/ACM application provides commands to connect and disconnect the CDC/ACM serial device: CONFIG_SYSTEM_CDCACM=y : Enable connect/disconnect support CONFIG_SYSTEM_CDCACM_DEVMINOR=0 : Use device /dev/ttyACM0 CONFIG_CDCACM_RXBUFSIZE=??? : A large RX may be needed If you include this CDC/ACM application, then you can connect the CDC/ACM serial device to the host by entering the command 'sercon' and you detach the serial device with the command 'serdis'. If you do no use this application, they you will have to write logic in your board initialization code to initialize and attach the USB device. 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 supports several GNU-based toolchains under Linux, Cygwin under Windows, and Windoes native. To select a toolchain: 1. Use 'make menuconfig' and select the toolchain that you are using under the System Type menu. 2. The default toolchain is the NuttX buildroot under Linux or Cygwin: CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y If you are not using CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT, then you may also have to modify the PATH in the setenv.h file if your make cannot find the tools. NOTE: Using native Windows toolchains under Cygwin has some limitations. This incuudes the CodeSourcery (for Windows) and devkitARM toolchains are Windows native toolchains. The biggest limitations 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 no 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. Freedom K66F Configuration Options ================================== CONFIG_ARCH - Identifies the arch/ subdirectory. This sould 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_CORTEXM4=y CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory CONFIG_ARCH_CHIP=kinetis CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip: CONFIG_ARCH_CHIP_MK66FN2M0VMD18 CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD="freedom-K66F" (for the Freedom K66F development board) CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_FREEDOM_K66F=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_RAM_SIZE - Describes the installed DRAM (SRAM in this case): CONFIG_RAM_SIZE=0x00040000 (256Kb) CONFIG_RAM_START - The start address of installed DRAM CONFIG_RAM_START=0x1fff0000 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: CONFIG_KINETIS_TRACE -- Enable trace clocking on power up. CONFIG_KINETIS_FLEXBUS -- Enable flexbus clocking on power up. CONFIG_KINETIS_UART0 -- Support UART0 CONFIG_KINETIS_UART1 -- Support UART1 CONFIG_KINETIS_UART2 -- Support UART2 CONFIG_KINETIS_UART3 -- Support UART3 CONFIG_KINETIS_UART4 -- Support UART4 CONFIG_KINETIS_UART5 -- Support UART5 CONFIG_KINETIS_ENET -- Support Ethernet (K5x, K6x, and K7x only) CONFIG_KINETIS_RNGB -- Support the random number generator(K6x only) CONFIG_KINETIS_FLEXCAN0 -- Support FlexCAN0 CONFIG_KINETIS_FLEXCAN1 -- Support FlexCAN1 CONFIG_KINETIS_SPI0 -- Support SPI0 CONFIG_KINETIS_SPI1 -- Support SPI1 CONFIG_KINETIS_SPI2 -- Support SPI2 CONFIG_KINETIS_I2C0 -- Support I2C0 CONFIG_KINETIS_I2C1 -- Support I2C1 CONFIG_KINETIS_I2C2 -- Support I2C2 CONFIG_KINETIS_I2C3 -- Support I2C3 CONFIG_KINETIS_I2S -- Support I2S CONFIG_KINETIS_DAC0 -- Support DAC0 CONFIG_KINETIS_DAC1 -- Support DAC1 CONFIG_KINETIS_ADC0 -- Support ADC0 CONFIG_KINETIS_ADC1 -- Support ADC1 CONFIG_KINETIS_CMP -- Support CMP CONFIG_KINETIS_VREF -- Support VREF CONFIG_KINETIS_SDHC -- Support SD host controller CONFIG_KINETIS_FTM0 -- Support FlexTimer 0 CONFIG_KINETIS_FTM1 -- Support FlexTimer 1 CONFIG_KINETIS_FTM2 -- Support FlexTimer 2 CONFIG_KINETIS_FTM3 -- Support FlexTimer 3 CONFIG_KINETIS_LPTIMER -- Support the low power timer CONFIG_KINETIS_RTC -- Support RTC CONFIG_KINETIS_SLCD -- Support the segment LCD (K3x, K4x, and K5x only) CONFIG_KINETIS_EWM -- Support the external watchdog CONFIG_KINETIS_CMT -- Support Carrier Modulator Transmitter CONFIG_KINETIS_USBOTG -- Support USB OTG (see also CONFIG_USBHOST and CONFIG_USBDEV) CONFIG_KINETIS_USBDCD -- Support the USB Device Charger Detection module CONFIG_KINETIS_LLWU -- Support the Low Leakage Wake-Up Unit CONFIG_KINETIS_TSI -- Support the touch screeen interface CONFIG_KINETIS_FTFL -- Support FLASH CONFIG_KINETIS_DMA -- Support DMA CONFIG_KINETIS_CRC -- Support CRC CONFIG_KINETIS_PDB -- Support the Programmable Delay Block CONFIG_KINETIS_PIT -- Support Programmable Interval Timers CONFIG_ARM_MPU -- Support the MPU CONFIG_ARM_CAU -- Support the Cryptographic Acceleration Unit Kinetis interrupt priorities (Default is the mid priority). These should not be set because they can cause unhandled, nested interrupts. All interrupts need to be at the default priority in the current design. CONFIG_KINETIS_UART0PRIO CONFIG_KINETIS_UART1PRIO CONFIG_KINETIS_UART2PRIO CONFIG_KINETIS_UART3PRIO CONFIG_KINETIS_UART4PRIO CONFIG_KINETIS_UART5PRIO CONFIG_KINETIS_EMACTMR_PRIO CONFIG_KINETIS_EMACTX_PRIO CONFIG_KINETIS_EMACRX_PRIO CONFIG_KINETIS_EMACMISC_PRIO CONFIG_KINETIS_SDHC_PRIO PIN Interrupt Support CONFIG_KINETIS_GPIOIRQ -- Enable pin interrupt support. Also needs one or more of the following: CONFIG_KINETIS_PORTAINTS -- Support 32 Port A interrupts CONFIG_KINETIS_PORTBINTS -- Support 32 Port B interrupts CONFIG_KINETIS_PORTCINTS -- Support 32 Port C interrupts CONFIG_KINETIS_PORTDINTS -- Support 32 Port D interrupts CONFIG_KINETIS_PORTEINTS -- Support 32 Port E interrupts Kinetis K66 specific device driver settings CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn (n=0..5) for the console and ttys0 (default is the UART1). 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. CONFIG_UARTn_BITS - The number of bits. Must be either 8 or 8. CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity Kenetis ethernet controller settings CONFIG_ENET_NRXBUFFERS - Number of RX buffers. The size of one buffer is determined by CONFIG_NET_ETH_MTU. Default: 6 CONFIG_ENET_NTXBUFFERS - Number of TX buffers. The size of one buffer is determined by CONFIG_NET_ETH_MTU. Default: 2 CONFIG_ENET_USEMII - Use MII mode. Default: RMII mode. CONFIG_ENET_PHYADDR - PHY address Configurations ============== Each Freedom K66F configuration is maintained in a sub-directory and can be selected as follow: cd tools ./configure.sh freedom-K66F/ cd - . ./setenv.sh Where is one of the following: netnsh: ------ This configuration is identical to the nsh configuration described below except that networking support is enabled. NOTES: 1. This configuration uses the mconf-based configuration tool. To change this configuration 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. Default platform/toolchain: CONFIG_HOST_WINDOWS=y : Cygwin under Windows CONFIG_WINDOWS_CYGWIN=y CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : ARM/mbed toolcahin (arm-none-elf-gcc) CONFIG_INTELHEX_BINARY=y : Output formats: Intel hex binary 3. The Serial Console is provided on UART1 with the correct pin configuration for use with an Arduino Serial Shield. 4. SDHC support is not enabled in this configuration. Refer to the configuration settings listed above under "SD Card Support". 5. Support for NSH built-in applications is enabled, but no built-in applications have been configured in. 6. No external pullup is available on MDIO signal when MK66FN1M0VLL12 MCU is requests status of the Ethernet link connection. Internal pullup is required when port configuration for MDIO signal is enabled: CONFIG_KINETIS_ENET_MDIOPULLUP=y 7. Configured to use a fixed IPv4 address: CONFIG_NSH_IPADDR=0x0a000002 CONFIG_NSH_DRIPADDR=0x0a000001 CONFIG_NSH_NETMASK=0xffffff00 And a bogus MAC address: CONFIG_NSH_NOMAC=y CONFIG_NSH_SWMAC=y CONFIG_NSH_MACADDR=0x00e0deadbeef nsh: --- Configures the NuttShell (nsh) located at apps/examples/nsh using a serial console on UART1. NOTES: 1. This configuration uses the mconf-based configuration tool. To change this configuration 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. Default platform/toolchain: CONFIG_HOST_WINDOWS=y : Cygwin under Windows CONFIG_WINDOWS_CYGWIN=y CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : ARM/mbed toolcahin (arm-none-elf-gcc) CONFIG_INTELHEX_BINARY=y : Output formats: Intel hex binary 3. The Serial Console is provided on UART1 with the correct pin configuration to use a RS-232 shield. This can be switched to UART0 for use with the OpenSDAv2.1 VCOM by reconfiguring the serial console. +CONFIG_KINETIS_UART0=y -CONFIG_KINETIS_UART1=y +CONFIG_UART0_SERIALDRIVER=y -CONFIG_UART1_SERIALDRIVER=y +CONFIG_UART0_SERIAL_CONSOLE=y -CONFIG_UART1_SERIAL_CONSOLE=y +CONFIG_UART0_RXBUFSIZE=256 -CONFIG_UART1_RXBUFSIZE=256 +CONFIG_UART0_TXBUFSIZE=256 -CONFIG_UART1_TXBUFSIZE=256 +CONFIG_UART0_BAUD=115200 1CONFIG_UART1_BAUD=115200 +CONFIG_UART0_BITS=8 -CONFIG_UART1_BITS=8 +CONFIG_UART0_PARITY=0 -CONFIG_UART1_PARITY=0 +CONFIG_UART0_2STOP=0 -CONFIG_UART1_2STOP=0 NOTE: On my Windows 10 / Cygwin64 system, the OpenSDAv2.1 VCOM is not recognized. I probably need to install a driver? There is a serial USB driver on the mbed web site. However, this driver would not install on Windows 10 for me. I understand that it installs OK on Windows 7. 4. Support for NSH built-in applications is enabled, but no built-in applications have been configured in. 5. An SDHC driver is enabled in this configuration but does not yet work. The basic problem seems to be that it does not sense the presence of the SD card on PTD10. No interrupts are generated when the SD card is inserted or removed. You might want to disable SDHC and MMC/SD if you are using this configuration. Refer to the configuration settings listed above under "SD Card Support". TODO:Verify Claim Status ====== 2016-07-12: Added support for the KSZ8081 PHY and added the netnsh configuration. The network is basically functional. More testing is needed, but I have not seen any obvious network failures. In testing, I notice a strange thing. If I run at full optimization the code runs (albeit with bugs-to-be-solved). But with no optimization or even at -O1, the system fails to boot. This seems to be related to the watchdog timer - this is due to the fact that in-lined get/putreg are not inlined and the delay allows for the WD to timeout. 2016-07-13: Add SD automounter logic; broke out SDHC logic into a separate file. The nsh configuration now has SDHC enabled be default. Does not yet work. The basic problem seems to be that it does not sense the presence of the SD card on PTE6. No interrupts are generated when the SD card is inserted or removed. You might want to disable SDHC and MMC/SD if you are using this configuration. The nsh configuration now builds successfully with USB device enabled. USB device, however, has not yet been tested. I have not yet looked into 48MHz clocking requirements. 2017-02-14: nsh: SDHC DMA is not working yet. Buttons and SDIO with automounter is working. netnsh:Is building but Ehternet is not working yet. TX is called but not IRQ is issued.