README ====== This README file discusses the port of NuttX to the Atmel SAM V71 Xplained Ultra Evaluation Kit (SAMV71-XULT). This board features the ATSAMV71Q21 Cortex-M7 microcontroller. Contents ======== - Board Features - Open Issues - Serial Console - SD card - Automounter - LEDs and Buttons - AT24MAC402 Serial EEPROM - Networking - Debugging - Configurations Board Features ============== - ATSAMV71Q21 microcontroller: Cortex-M7, 300MHz, 2MiB FLASH, 384KiB SRAM, I/D-caches - One mechanical reset button - One power switch button - Two mechanical user pushbuttons - Two yellow user LEDs - Supercap backup - 12.0 MHz crystal - 32.768 kHz crystal - 2 MB SDRAM - 2 MB QSPI Flash - IEEE 802.3az 10Base-T/100Base-TX Ethernet RMII PHY - AT24MAC402 256KByte EEPROM with EUI-48 address - WM8904 stereo audio codec - ATA6561 CAN Transceiver - SD Card connector with SDIO support - Camera interface connector - MediaLB connector - Two Xplained Pro extension headers - One Xplained Pro LCD header - Coresight 20 connector for 4-bit ETM - Arduino due compatible shield connectors - External debugger connector - USB interface, device and host mode - Embedded Debugger with Data Gateway Interface and Virtual COM port (CDC) - External power input (5-14V) or USB powered See the Atmel webite for further information about this board: - http://www.atmel.com/tools/atsamv71-xult.aspx Open Issues =========== The BASIC nsh configuration is fully function (as desribed below under "Configurations"). There are still open issues that need to be resolved: 1. SDRAM support has been implemented and tested using the nsh configuration (as desribed below). Currently the memory test does not pass. I am suspecting that this is because D-Cache is enabled when SDRAM is configured? 2. HSCMI. CONFIG_MMCSD_MULTIBLOCK_DISABLE=y is set to disable multi-block transfers only because I have not yet had a chance to verify this. The is very low priority to me but might be important to you if you are need very high performance SD card accesses. 3. HSMCI TX DMA is currently disabled for the SAMV7. There is some issue with the TX DMA setup (HSMCI TX DMA the same driver works with the SAMA5D4 which has a different DMA subsystem). This is a bug that needs to be resolved. DMA is enabled by these settings in the file arch/arm/src/samvy/sam_hsmci.c: #undef HSCMI_NORXDMA /* Define to disable RX DMA */ #define HSCMI_NOTXDMA 1 /* Define to disable TX DMA */ 4. There may also be some issues with removing and re-inserting SD cards (of course with appropriate mounting and unmounting). I all not sure of this and need to do more testing to characterize if the issue. 5. There is not yet any support for the following board features: QSPI, USB, EMAC, AT24, or WM8904 nor for any non-board features). Most of these drivers will port easily from either the SAM3/4 or from the SAMA5Dx. So there is still plenty to be done. 6. There has been a quick'n'dirty port of the SAMA5D4-EK Ethernet logic for the SAMV71-XULT. There are still some cache-related issues to be verified. No testing has yet been performed and so the driver should be considered non-functional. Serial Console ============== The SAMV71-XULT has no on-board RS-232 drivers so it will be necessary to use either the VCOM or an external RS-232 driver. Here are some options. - Arduino Serial Shield: One option is to use an Arduino-compatible serial shield. This will use the RXD and TXD signals available at pins 0 an 1, respectively, of the Arduino "Digital Low" connector. On the SAMV71-XULT board, this corresponds to UART3: ------ ------ ------- ------- -------- Pin on SAMV71 Arduino Arduino SAMV71 J503 PIO Name Pin Function ------ ------ ------- ------- -------- 1 PD28 RX0 0 URXD3 2 PD30 TX0 1 UTXD3 ------ ------ ------- ------- -------- - SAMV7-XULT EXTn connectors. USART pins are also available the EXTn connectors. The following are labelled in the User Guide for USART functionality: ---- -------- ------ -------- EXT1 EXTI1 SAMV71 SAMV71 Pin Name PIO Function ---- -------- ------ -------- 13 USART_RX PB00 RXD0 14 USART_TX PB01 TXD0 ---- -------- ------ -------- EXT2 EXTI2 SAMV71 SAMV71 Pin Name PIO Function ---- -------- ------ -------- 13 USART_RX PA21 RXD1 14 USART_TX PB04 TXD1 - VCOM. The Virtual Com Port gateway is available on USART1: ------ -------- SAMV71 SAMV71 PIO Function ------ -------- PB04 TXD1 PA21 RXD1 ------ -------- Any of these options can be selected as the serial console by: 1. Enabling the UART/USART peripheral in the "System Type -> Peripheral Selection" menu, then 2. Configuring the peripheral in the "Drivers -> Serial Configuration" menu. SD Card ======= Card Slot --------- The SAM V71 Xplained Ultra has one standard SD card connector which is connected to the High Speed Multimedia Card Interface (HSMCI) of the SAM V71. SD card connector: ------ ----------------- --------------------- SAMV71 SAMV71 Shared functionality Pin Function ------ ----------------- --------------------- PA30 MCDA0 (DAT0) PA31 MCDA1 (DAT1) PA26 MCDA2 (DAT2) PA27 MCDA3 (DAT3) Camera PA25 MCCK (CLK) Shield PA28 MCCDA (CMD) PD18 Card Detect (C/D) Shield ------ ----------------- --------------------- Configuration Settings ---------------------- Enabling HSMCI support. The SAMV7-XULT provides a one, full-size SD memory card slots. The full size SD card slot connects via HSMCI0. Support for the SD slots can be enabled with the following settings: System Type->SAMV7 Peripheral Selection CONFIG_SAMV7_HSMCI0=y : To enable HSMCI0 support CONFIG_SAMV7_XDMAC=y : XDMAC is needed by HSMCI0/1 System Type CONFIG_SAMV7_PIO_IRQ=y : PIO interrupts needed CONFIG_SAMV7_PIOD_IRQ=y : Card detect pin is on PD18 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_DMA=y : Use SDIO DMA CONFIG_SDIO_BLOCKSETUP=y : Needs to know block sizes RTOS Features -> Work Queue Support CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization, OR CONFIG_BOARD_INITIALIZE=y Using the SD card ----------------- 1) After booting, the HSCMI 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) Inserted 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 HSMCI 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_SAMV7XULT_HSMCI0_AUTOMOUNT=y CONFIG_SAMV7XULT_HSMCI0_AUTOMOUNT_FSTYPE="vfat" CONFIG_SAMV7XULT_HSMCI0_AUTOMOUNT_BLKDEV="/dev/mmcsd0" CONFIG_SAMV7XULT_HSMCI0_AUTOMOUNT_MOUNTPOINT="/mnt/sdcard" CONFIG_SAMV7XULT_HSMCI0_AUTOMOUNT_DDELAY=1000 CONFIG_SAMV7XULT_HSMCI0_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. LEDs and Buttons ================ LEDs ---- There are two yellow LED available on the SAM V71 Xplained Ultra board that can be turned on and off. The LEDs can be activated by driving the connected I/O line to GND. ------ ----------- --------------------- SAMV71 Function Shared functionality PIO ------ ----------- --------------------- PA23 Yellow LED0 EDBG GPIO PC09 Yellow LED1 LCD, and Shield ------ ----------- --------------------- These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is defined. In that case, the usage by the board port is defined in include/board.h and src/sam_autoleds.c. The LEDs are used to encode OS-related events as follows: ------------------- ----------------------- -------- -------- SYMBOL Meaning LED state LED0 LED1 ------------------- ----------------------- -------- -------- 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 No change LED_SIGNAL In a signal handler No change LED_ASSERTION An assertion failed No change LED_PANIC The system has crashed N/C Blinking LED_IDLE MCU is is sleep mode Not used ------------------- ----------------------- -------- -------- Thus if LED0 is statically on, NuttX has successfully booted and is, apparently, running normally. If LED1 is flashing at approximately 2Hz, then a fatal error has been detected and the system has halted. NOTE: That LED0 is not used after completion of booting and may be used by other board-specific logic. Buttons ------- SAM V71 Xplained Ultra contains three mechanical buttons. One button is the RESET button connected to the SAM V71 reset line and the others are generic user configurable buttons. When a button is pressed it will drive the I/O line to GND. ------ ----------- --------------------- SAMV71 Function Shared functionality PIO ------ ----------- --------------------- RESET RESET Trace, Shield, and EDBG PA09 SW0 EDBG GPIO and Camera PB12 SW1 EDBG SWD and Chip Erase ------ ----------- --------------------- NOTES: - There are no pull-up resistors connected to the generic user buttons so it is necessary to enable the internal pull-up in the SAM V71 to use the button. - PB12 is set up as a system flash ERASE pin when the firmware boots. To use the SW1, PB12 has to be configured as a normal regular I/O pin in the MATRIX module. For more information see the SAM V71 datasheet. AT24MAC402 Serial EEPROM ======================== Ethernet MAC Address -------------------- The SAM V71 Xplained Ultra features one external AT24MAC402 serial EEPROM with a EIA-48 MAC address connected to the SAM V71 through I2C. This device contains a MAC address for use with the Ethernet interface. Connectivity: ------ -------- -------- ------------------------------------------ SAMV71 SAMV71 I2C Shared Pin Function Function Functionality ------ -------- -------- ------------------------------------------ PA03 TWID0 SDA EXT1, EXT2, EDBG I2C, LCD, Camera, Audio, MediaLB, and Shield PA04 TWICK0 SCL EXT1, EXT2, EDBG I2C, LCD, Camera, Audio, MediaLB, and Shield ------ -------- -------- ------------------------------------------ I2C address: The 7-bit addresses of the AT24 part are 0b1010AAA for the normal 2Kbit memory and 0b1011aaa for the "extended memory" where aaa is the state of the A0, A1, and A3 pins on the part. On the SAMV71-XULT board, these are all pulled high so the full, 7-bit address is 0x5f. Configuration ------------- System Type -> SAMV7 Peripheral Support CONFIG_SAMV7_TWIHS0=y : Used to access the EEPROM CONFIG_SAMV7_TWIHS0_FREQUENCY=100000 Device drivers -> Memory Technology Devices CONFIG_MTD_AT24XX=y : Enable the AT24 device driver CONFIG_AT24XX_SIZE=2 : Normal EEPROM is 2Kbit (256b) CONFIG_AT24XX_ADDR=0x57 : Normal EEPROM address */ CONFIG_AT24XX_EXTENDED=y : Supports an extended memory region CONFIG_AT24XX_EXTSIZE=160 : Extended address up to 0x9f MTD Configuration Data ---------------------- The AT24 EEPROM can also be used to storage of up to 256 bytes of configuration data: Device drivers -> Memory Technology Devices The configuration data device will appear at /dev/config. Networking ========== KSZ8061RNBVA Connections ------------------------ ------ --------- --------- -------------------------- SAMV71 SAMV71 Ethernet Shared functionality Pin Function Function ------ --------- --------- -------------------------- PD00 GTXCK REF_CLK Shield PD01 GTXEN TXEN PD02 GTX0 TXD0 PD03 GTX1 TXD1 PD04 GRXDV CRS_DV Trace PD05 GRX0 RXD0 Trace PD06 GRX1 RXD1 Trace PD07 GRXER RXER Trace PD08 GMDC MDC Trace PD09 GMDIO MDIO PA19 GPIO INTERRUPT EXT1, Shield PA29 GPIO SIGDET PC10 GPIO RESET ------ --------- --------- -------------------------- Selecting the GMAC peripheral ----------------------------- System Type -> SAMV7 Peripheral Support CONFIG_SAMV7_EMAC0=y : Enable the GMAC peripheral (aka, EMAC0) CONFIG_SAMV7_TWIHS0=y : We will get the MAC address from the AT24 EEPROM CONFIG_SAMV7_TWIHS0_FREQUENCY=100000 System Type -> EMAC device driver options CONFIG_SAMV7_EMAC0_NRXBUFFERS=16 : Set aside some RS and TX buffers CONFIG_SAMV7_EMAC0_NTXBUFFERS=8 CONFIG_SAMV7_EMAC0_RMII=y : The RMII interfaces is used on the board CONFIG_SAMV7_EMAC0_AUTONEG=y : Use autonegotiation CONFIG_SAMV7_EMAC0_PHYADDR=1 : KSZ8061 PHY is at address 1 CONFIG_SAMV7_EMAC0_PHYSR=30 : Address of PHY status register on KSZ8061 CONFIG_SAMV7_EMAC0_PHYSR_ALTCONFIG=y : Needed for KSZ8061 CONFIG_SAMV7_EMAC0_PHYSR_ALTMODE=0x7 : " " " " " " CONFIG_SAMV7_EMAC0_PHYSR_10HD=0x1 : " " " " " " CONFIG_SAMV7_EMAC0_PHYSR_100HD=0x2 : " " " " " " CONFIG_SAMV7_EMAC0_PHYSR_10FD=0x5 : " " " " " " CONFIG_SAMV7_EMAC0_PHYSR_100FD=0x6 : " " " " " " PHY selection. Later in the configuration steps, you will need to select the KSZ8061 PHY for EMAC (See below) Networking Support CONFIG_NET=y : Enable Neworking CONFIG_NET_SOCKOPTS=y : Enable socket operations CONFIG_NET_ETH_MTU=562 : Maximum packet size (MTU) 1518 is more standard CONFIG_NET_ETH_TCP_RECVWNDO=562 : Should be the same as CONFIG_NET_ETH_MTU CONFIG_NET_ARP=y : ARP support should be enabled CONFIG_NET_ARP_SEND=y : Use ARP to get peer address before sending CONFIG_NET_TCP=y : Enable TCP/IP networking CONFIG_NET_TCPBACKLOG=y : Support TCP/IP backlog CONFIG_NET_TCP_READAHEAD=y : Enable TCP read-ahead buffering CONFIG_NET_TCP_WRITE_BUFFERS=y : Enable TCP write buffering CONFIG_NET_UDP=y : Enable UDP networking CONFIG_NET_BROADCAST=y : Support UDP broadcase packets CONFIG_NET_ICMP=y : Enable ICMP networking CONFIG_NET_ICMP_PING=y : Needed for NSH ping command : Defaults should be okay for other options Device drivers -> Network Device/PHY Support CONFIG_NETDEVICES=y : Enabled PHY selection CONFIG_ETH0_PHY_KSZ8061=y : Select the KSZ8061 PHY used with EMAC0 Device drivers -> Memory Technology Devices CONFIG_MTD_AT24XX=y : Enable the AT24 device driver CONFIG_AT24XX_SIZE=2 : Normal EEPROM is 2Kbit (256b) CONFIG_AT24XX_ADDR=0x57 : Normal EEPROM address */ CONFIG_AT24XX_EXTENDED=y : Supports an extended memory region CONFIG_AT24XX_EXTSIZE=160 : Extended address up to 0x9f Application Configuration -> Network Utilities CONFIG_NETUTILS_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 an IP address CONFIG_NSH_DRIPADDR=0x0a000001 : IP address of gateway/host PC CONFIG_NSH_NETMASK=0xffffff00 : Netmask CONFIG_NSH_NOMAC=n : We will get the IP address from EEPROM : Defaults should be okay for other options 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 SAMA4D4-EK 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 SAMA4D4-EK: $ 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-7.9 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 feature, you experience a delay on booting. 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 a minute! You will probably think that NuttX has crashed! And then, when it finally does come up, the network will not be available. 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 networking initialization feature by itself 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. - Furthermore, there is no support for detecting loss of the network connection and recovery of networking when the connection is restored. Both of these shortcomings can 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. - 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 SAMV7 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. In most architectures, the PHY interrupt is not associated with the Ethernet driver at all. Rather, the PHY interrupt is provided via some board-specific GPIO and the board-specific logic must provide support for that GPIO 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(). This logic can be found at nuttx/configs/sama5d4-ek/src/sam_ethernet.c. - 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. Networking Support -> Networking Device Support CONFIG_NETDEV_PHY_IOCTL=y : Enable PHY ioctl support 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 Debugging ========= The on-board EDBG appears to work only with Atmel Studio. You can however, simply connect a SAM-ICE or J-Link to the JTAG/SWD connector on the board and that works great. The only tricky thing is getting the correct orientation of the JTAG connection. I have been using Atmel Studio to write code to flash then I use the Segger J-Link GDB server to debug. I have been using the 'Device Programming' I available under the Atmel Studio 'Tool' menu. I have to disconnect the SAM-ICE while programming with the EDBG. I am sure that you could come up with a GDB server-only solution if you wanted. I run GDB like this from the directory containing the NuttX ELF file: arm-none-eabi-gdb (gdb) target remote localhost:2331 (gdb) mon reset (gdb) file nuttx (gdb) ... start debugging ... Configurations ============== Information Common to All Configurations ---------------------------------------- Each SAMV71-XULT configuration is maintained in a sub-directory and can be selected as follow: cd tools ./configure.sh samv71-xult/ cd - . ./setenv.sh Before sourcing the setenv.sh file above, you should examine it and perform edits as necessary so that TOOLCHAIN_BIN is 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 and misc/tools/ b. Execute 'make menuconfig' in nuttx/ in order to start the reconfiguration process. 2. Unless stated otherwise, all configurations generate console output on USART3 (i.e., for the Arduino serial shield). 3. All of these configurations are set up to build under Windows 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 As of this writing (2015-03-11), full support is difficult to find for the Cortex-M&, but is supported by at least this realeasse of the ARM GNU tools: https://launchpadlibrarian.net/192228215/release.txt That toolchain selection can easily be reconfigured using 'make menuconfig'. Here are the relevant current settings: Build Setup: CONFIG_HOST_WINDOWS=y : Window environment CONFIG_WINDOWS_CYGWIN=y : Cywin under Windows System Type -> Toolchain: CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : GNU ARM EABI toolchain Configuration sub-directories ----------------------------- nsh: Configures the NuttShell (nsh) located at examples/nsh. NOTES: 1. The serial console is configured by default for use with and Arduino serial shield (UART3). You will need to reconfigure if you will to use a different U[S]ART. 2. Default stack sizes are large and should really be tuned to reduce the RAM footprint: CONFIG_ARCH_INTERRUPTSTACK=2048 CONFIG_IDLETHREAD_STACKSIZE=1024 CONFIG_USERMAIN_STACKSIZE=2048 CONFIG_PTHREAD_STACK_DEFAULT=2048 ... and others ... 3. NSH built-in applications are supported. 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 4. SDRAM is not enabled in this configuration. I have enabled SDRAM and the apps/examples RAM test using this configuration settings: System Type CONFIG_SAMV7_SDRAMC=y CONFIG_SAMV7_SDRAMSIZE=2097152 Application Configuration: CONFIG_SYSTEM_RAMTEST=y The RAM test can be executed as follows: nsh> ramtest -w 70000000 209152 STATUS: As of this writing, SDRAM does not pass the RAM test. This is the sympton: nsh> mw 70000000 70000000 = 0x00000000 nsh> mw 70000000=55555555 70000000 = 0x00000000 -> 0x55555555 nsh> mw 70000000 70000000 = 0x55555555 nsh> mw 70100000 70100000 = 0x00000000 nsh> mw 70100000=aaaaaaaa 70100000 = 0x00000000 -> 0xaaaaaaaa nsh> mw 70100000 70100000 = 0xaaaaaaaa nsh> mw 70000000 70000000 = 0x00000000 <<< Lost RAM content 5. The button test at apps/examples/buttons is included in the configuration. This configuration illustrates (1) use of the buttons on the evaluation board, and (2) the use of PIO interrupts. Example usage: NuttShell (NSH) NuttX-7.8 nsh> help help usage: help [-v] [] ... Builtin Apps: buttons nsh> buttons 3 maxbuttons: 3 Attached handler at 4078f7 to button 0 [SW0], oldhandler:0 Attached handler at 4078e9 to button 1 [SW1], oldhandler:0 IRQ:125 Button 1:SW1 SET:00: SW1 released IRQ:125 Button 1:SW1 SET:02: SW1 depressed IRQ:125 Button 1:SW1 SET:00: SW1 released IRQ:90 Button 0:SW0 SET:01: SW0 depressed IRQ:90 Button 0:SW0 SET:00: SW0 released IRQ:125 Button 1:SW1 SET:02: SW1 depressed nsh> 6. TWI/I2C TWIHS0 is enabled in this configuration. The SAM V71 Xplained Ultra supports two devices on the one on-board I2C device on the TWIHS0 bus: (1) The AT24MAC402 serial EEPROM described above and (2) the Wolfson WM8904 audio CODEC. This device contains a MAC address for use with the Ethernet interface. In this configuration, the I2C tool at apps/system/i2ctool is enabled. This tools supports interactive access to I2C devices on the enabled TWIHS bus. Relevant configuration settings: CONFIG_SAMV7_TWIHS0=y CONFIG_SAMV7_TWIHS0_FREQUENCY=100000 CONFIG_I2C=y CONFIG_I2C_TRANSFER=y CONFIG_SYSTEM_I2CTOOL=y CONFIG_I2CTOOL_MINBUS=0 CONFIG_I2CTOOL_MAXBUS=0 CONFIG_I2CTOOL_MINADDR=0x03 CONFIG_I2CTOOL_MAXADDR=0x77 CONFIG_I2CTOOL_MAXREGADDR=0xff CONFIG_I2CTOOL_DEFFREQ=400000 Example usage: nsh> i2c Usage: i2c [arguments] Where is one of: Show help : ? List busses : bus List devices : dev [OPTIONS] Read register : get [OPTIONS] [] Show help : help Write register: set [OPTIONS] [] Verify access : verf [OPTIONS] [] [] Where common "sticky" OPTIONS include: [-a addr] is the I2C device address (hex). Default: 03 Current: 03 [-b bus] is the I2C bus number (decimal). Default: 0 Current: 0 [-r regaddr] is the I2C device register address (hex). Default: 00 Current: 00 [-w width] is the data width (8 or 16 decimal). Default: 8 Current: 8 [-s|n], send/don't send start between command and data. Default: -n Current: -n [-i|j], Auto increment|don't increment regaddr on repititions. Default: NO Current: NO [-f freq] I2C frequency. Default: 400000 Current: 400000 NOTES: o An environment variable like $PATH may be used for any argument. o Arguments are "sticky". For example, once the I2C address is specified, that address will be re-used until it is changed. WARNING: o The I2C dev command may have bad side effects on your I2C devices. Use only at your own risk. nsh> i2c bus BUS EXISTS? Bus 0: YES nsh> i2c dev 3 77 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- 1a -- -- -- -- -- 20: -- -- -- -- -- -- -- -- 28 -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- 37 -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- 4e -- 50: -- -- -- -- -- -- -- 57 -- -- -- -- -- -- -- 5f 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 70: -- -- -- -- -- -- -- -- nsh> Where 0x1a us the address of the WM8904 Audio CODEC, 0x28 is the address of TWI interface to the EDBG, 0x4e is the address of the CP2100CP programmable PLL, and 0x57 and 0x5f are the addresses of the AT2 EEPROM (I am not sure what the other address, 0x37, is are as this writing). 7. TWIHS0 is also used to support 256 byte non-volatile storage for configuration data using the MTD configuration as described above under the heading, "MTD Configuration Data". 8. Support for HSMCI is built-in by default. The SAMV71-XULT provides one full-size SD memory card slot. Refer to the section entitled "SD card" for configuration-related information. See "Open Issues" above for issues related to HSMCI. The auto-mounter is not enabled. See the section above entitled "Auto-Mounter". 9. Performance-related Configuration settings: CONFIG_ARMV7M_ICACHE=y : Instruction cache is enabled CONFIG_ARMV7M_DCACHE=y : Data cache is enabled CONFIG_ARCH_FPU=y : H/W floating point support is enabled CONFIG_ARCH_DPFPU=y : 64-bit H/W floating point support is enabled # CONFIG_ARMV7M_ITCM is not set : Support not yet in place # CONFIG_ARMV7M_DTCM is not set : Support not yet in place