README ^^^^^^ This README discusses issues unique to NuttX configurations for the Arduino DUE board featuring the Atmel ATSAM3X8E MCU running at 84 MHz. Supported Shields ----------------- - ITEAD 2.4" TFT with Touch, Arduion Shield 1.0 Contents ^^^^^^^^ - PIO Pin Usage - ITEAD 2.4" TFT with Touch - Development Environment - GNU Toolchain Options - IDEs - NuttX EABI "buildroot" Toolchain - NuttX OABI "buildroot" Toolchain - NXFLAT Toolchain - Buttons and LEDs - Serial Consoles - Loading Code - SAM4S Xplained-specific Configuration Options - Configurations PIO Pin Usage ^^^^^^^^^^^^^ PORTA PORTB PORTC ------------------------------ ------------------------------ -------------------------------- PIO SIGNAL CONN PIN PIO SIGNAL CONN PIN PIO SIGNAL CONN PIN ----- ---------- ---- -------- ----- ------------ ---- ------ ----- ----------- ---- --------- PA0 CANTX0 ADCH 8 PB0 ETX_CLK ETH 1 PC0 ERASE N/A PA1 CANRX0 ACDH 7 PB1 ETX_EN ETH 3 PC1 PIN33 XIO 14 PA2 AD7 ADCL 7 PB2 ETXD0 ETH 5 PC2 PIN34 XIO 15 PA3 AD6 ADCL 6 PB3 ETXD1 ETH 7 PC3 PIN35 XIO 16 PA4 AD5 ADCL 5 PB4 ERX_DV ETH 10 PC4 PIN36 XIO 17 PA5 EEXTINT ETH 8 PB5 ERXD0 ETH 9 PC5 PIN37 XIO 18 PA6 AD4 ADCL 4 PB6 ERXD1 ETH 11 PC6 PIN38 XIO 19 PA7 PIN31 XIO 12 PB7 ERX_ER ETH 13 PC7 PIN39 XIO 20 PA8 [U]RX PWML 1 PB8 EMDC ETH 14 PC8 PIN40 XIO 21 PA9 [U]TX PWML 2 PB9 EMDIO ETH 12 PC9 PIN41 XIO 22 PA10 RXD2 COMM 6 PB10 UOTGVBOF Vbus power PC10 N/C N/A PA11 TXD2 COMM 5 PB11 UOTGID USB1 4 PC11 N/C N/A PA12 RXD1 COMM 4 PB12 SDA0-3 COMM 7 PC12 PIN51 XIO 32 PA13 TXD1 COMM 3 PB13 SCL0-3 COMM 8 PC13 PIN50 XIO 31 PA14 PIN23 XIO 4 PB14 CANTX1/IO XIO 34 PC14 PIN49 XIO 30 PA15 PIN24 XIO 5 PB15 DAC0(CANRX1) ADCH 5 PC15 PIN48 XIO 29 PA16 AD0 ADCL 0 PB16 DAC1 ADCH 6 PC16 PIN47 XIO 28 PA17 SDA1 PWMH 9 PB17 AD8 ADCH 1 PC17 PIN46 XIO 27 PA18 SCL1 PWMH 10 PB18 AD9 ADCH 2 PC18 PIN45 XIO 26 PA19 PIN42 XIO 23 PB19 AD10 ADCH 3 PC19 PIN44 XIO 25 PA20 PIN43 XIO 24 PB20 AD11(TXD3) ADCH 4 PC20 N/C N/A PA21 TXL TX YELLOW LED PB21 AD14(RXD3) XIO 33 PC21 PWM9 PWMH 2 PA22 AD3 ADCL 3 PB22 N/C N/A PC22 PWM8 PWMH 1 PA23 AD2 ADCL 2 PB23 SS3 ??? PC23 PWM7 PWML 8 PA24 AD1 ADCL 1 PB24 N/C N/A PC24 PWM6 PWML 7 PA25 MISO SPI 1 PB25 PWM2 PWML 3 PC25 PWM5 PWML 6 PA26 MOSI SPI 4 PB26 PIN22 ??? PC26 SS1/PWM4 ??? (there are two) PA27 SPCK SPI 3 PB27 PWM13 PWMH 6 PC27 N/C N/A PA28 SS0/PWM10 (ETH) PB28 JTAG_TCK JTAG 4 PC28 PWM3 PWML 4 PA29 SS1/PWM4 (SD) PB29 JTAG_TDI JTAG 8 PC29 SS0/PWM10 ??? (there are two) PA30 N/A N/A PB30 JTAG_TDO JTAG 6 PC30 RXL RX YELLOW LED PA31 N/A N/A PB31 JTAG_TMS JTAG 2 PC31 N/A N/A ----- ---------- ---- -------- ----- ------------ ---- ------ ----- ----------- ---- --------- PORTA PORTB PORTC ------------------------------ ------------------------------ -------------------------------- PIO SIGNAL CONN PIN PIO SIGNAL CONN PIN PIO SIGNAL CONN PIN ----- ---------- ---- -------- ----- ------------ ---- ------ ----- ----------- ---- --------- PA0 PIN25 XIO 6 PE0 N/A N/A PF0 N/A N/A PD1 PIN26 XIO 7 PE1 N/A N/A PF1 N/A N/A PD2 PIN27 XIO 8 PE2 N/A N/A PF2 N/A N/A PD3 PIN28 XIO 9 PE3 N/A N/A PF3 N/A N/A PD4 TXD0 COMM 1 PE4 N/A N/A PF4 N/A N/A PD5 RXD0 COMM 2 PE5 N/A N/A PF5 N/A N/A PD6 PIN29 XIO 10 PE6 N/A N/A PF6 N/A N/A PD7 PWM11 PWMH 4 PE7 N/A N/A PF7 N/A N/A PD8 PWM12 PWMH 5 PE8 N/A N/A PF8 N/A N/A PD9 PIN30 XIO 11 PE9 N/A N/A PF9 N/A N/A PD10 PIN32 XIO 13 PE10 N/A N/A PF10 N/A N/A PD11 N/A N/A PE11 N/A N/A PF11 N/A N/A PD12 N/A N/A PE12 N/A N/A PF12 N/A N/A PD13 N/A N/A PE13 N/A N/A PF13 N/A N/A PD14 N/A N/A PE14 N/A N/A PF14 N/A N/A PD15 N/A N/A PE15 N/A N/A PF15 N/A N/A PD16 N/A N/A PE16 N/A N/A PF16 N/A N/A PD17 N/A N/A PE17 N/A N/A PF17 N/A N/A PD18 N/A N/A PE18 N/A N/A PF18 N/A N/A PD19 N/A N/A PE19 N/A N/A PF19 N/A N/A PD20 N/A N/A PE20 N/A N/A PF20 N/A N/A PD21 N/A N/A PE21 N/A N/A PF21 N/A N/A PD22 N/A N/A PE22 N/A N/A PF22 N/A N/A PD23 N/A N/A PE23 N/A N/A PF23 N/A N/A PD24 N/A N/A PE24 N/A N/A PF24 N/A N/A PD25 N/A N/A PE25 N/A N/A PF25 N/A N/A PD26 N/A N/A PE26 N/A N/A PF26 N/A N/A PD27 N/A N/A PE27 N/A N/A PF27 N/A N/A PD28 N/A N/A PE28 N/A N/A PF28 N/A N/A PD29 N/A N/A PE29 N/A N/A PF29 N/A N/A PD30 N/A N/A PE30 N/A N/A PF30 N/A N/A PD31 N/A5 N/A PE31 N/A N/A PF31 N/A N/A ----- ---------- ---- -------- ----- ------------ ---- ------ ----- ----------- ---- --------- ITEAD 2.4" TFT with Touch ^^^^^^^^^^^^^^^^^^^^^^^^^ The Arduino 2.4" TFT Touch Shield is designed for all the Arduino compatible boards. It works in 3.3V voltage level. It can be directly plugged on the Arduino and other compatible boards. It will offer display, touch and storage functions for the Arduino board Features: 1. Compatible with 3.3/5V operation voltage level 2. Compatible with UTFT library 3. With SD Card Socket The Arduino 2.4" TFT Touch shield uses the S6D1121 controller , it supports 8-bit data interface. The touch IC is TSC2046. ---------- --------------------------- ----------- ----- ---------- ------------------ Arduino ATSAM3X Due ITHEAD Due PIN GPIO FUNCTION SIGNAL PIN SIGNAL NOTES ---------- ---- ---------------------- ----------- ----- ---------- ------------------ PWMH 10 SCL1 PA18 TWCK0/A20/WKUP9 SCL1 --- --- SCL not available 9 SDA1 PA17 TWD0SPCK0 SDA1 --- --- SDA not available 8 Aref --- --- AREF Vref --- --- 7 GND --- --- GND GND --- --- 6 PWM13 PB27 SPI0_SPCK/A20/WKUP10 PWM13 D13 SD_SCK SCK, also LED "L", Pulled low on-board 5 PWM12 PD8 A21/NANDALE/TIOB8 PWM12 D12 SD_MISO MISO not available 4 PWM11 PD7 A17/BA1/TIOA8 PWM11 D11 SD_MOSI MOSI not available, Pulled low on-board 3 PWM10 ??? ??? SS0/PWM10 D10 SD_CS Pulled low on-board 2 PWM9 PC21 A0/NBS0/PWML4 PWM9 D9 Touch_Dout --- 1 PWM8 PC22 A1/PWML5 PWM8 D8 Touch_IRQ --- PWML 8 PWM7 PC23 A2/PWML6 PWM7 D7 DB15 --- 7 PWM6 PC24 A3/PWML7 PWM6 D6 DB14 --- 6 PWM5 PC25 A4/TIOA6 PWM5 D5 DB13 --- 5 PWM4 PC26 A5/TIOB6 SS1/PWM4 D4 DB12 --- 4 PWM3 PC28 A7/TIOA7 PWM3 D3 DB11 --- 3 PWM2 PB25 RTS0/TIOA0 PWM2 D2 DB10 --- 2 PWM1 PA9 UTXD/PWMH3 TX D1 DB9 UART0 TX 1 PWM0 PA8 URXD/PWMH0/WKUP4 RX D0 DB8 UART0 RX ---------- ---- ---------------------- ----------- ----- ---------- ------------------ POWER 1 --- --- --- --- --- --- --- 2 IOref --- --- IOREF +3V3 --- --- --- 3 RESET --- --- MASTER_RESET RST --- --- 4 3.3V --- --- +3V3 5V --- --- 5 5V --- --- +5V 3.3V --- --- 6 GND --- --- GND GND --- --- 7 GND --- --- GND GND --- --- 8 Vin --- --- VIN Vin --- --- ADCL 1 A0 PA16 SPCK1/TD/AD7 AD0 A0 Touch_Din --- 2 A1 PA24 MCDA3/PCK1/AD6 AD1 A1 Touch_CLK --- 3 A2 PA23 MCDA2/TCLK4/AD5 AD2 A2 --- --- 4 A3 PA22 MCDA1/TCLK3/AD4 AD3 A3 TFT_CS --- 5 A4 PA6 TIOB2/NCS0/AD3 AD4 A4 TFT_WR --- 6 A5 PA4 TCLK1/NWAIT/AD2 AD5 A5 TFT_RS --- 7 A6 PA3 TIOB1/PWMFI1/AD1/WKUP1 AD6 --- --- --- 8 A7 PA2 TIOA1/NANDRDY/AD0 AD7 --- --- --- ---------- ---- ---------------------- ----------- ----- ---------- ------------------ NOTES: 1. It is not possible to use any of the SPI devices on the Shield unless a bit-bang SPI interface is used. This includes the touch controller and the SD card. 2. UART0 cannot be used. USARTs on the COMM connector should be available. 3. Parallel data is not contiguous in the PIO register 4. 3.3V and 5V are reversed. 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, ok 4. 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, devkitARM or Raisonance GNU toolchain, you simply need to add one of the following configuration options to your .config (or defconfig) file: CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery under Windows CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux CONFIG_ARMV7M_TOOLCHAIN_ATOLLIC=y : Atollic toolchain for Windos CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM=y : devkitARM under Windows CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y : Generic GCC ARM EABI toolchain for Linux CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : Generic GCC ARM EABI toolchain for Windows 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 about Windows native toolchains ------------------------------------ The CodeSourcery (for Windows), Atollic, and devkitARM toolchains are Windows native toolchains. The CodeSourcery (for Linux), NuttX buildroot, and, perhaps, the generic GCC 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 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. 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. MKDEP = $(TOPDIR)/tools/mknulldeps.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 (There is a simple RIDE project in the RIDE subdirectory). Makefile Build -------------- Under Eclipse, it is pretty easy to set up an "empty makefile project" and simply use the NuttX makefile to build the system. That is almost for free under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty makefile project in order to work with Windows (Google for "Eclipse Cygwin" - there is a lot of help on the internet). Native Build ------------ Here are a few tips before you start that effort: 1) Select the toolchain that you will be using in your .config file 2) Start the NuttX build at least one time from the Cygwin command line before trying to create your project. This is necessary to create certain auto-generated files and directories that will be needed. 3) Set up include pathes: You will need include/, arch/arm/src/sam34, arch/arm/src/common, arch/arm/src/armv7-m, and sched/. 4) All assembly files need to have the definition option -D __ASSEMBLY__ on the command line. Startup files will probably cause you some headaches. The NuttX startup file is arch/arm/src/sam34/sam_vectors.S. You may need to build NuttX one time from the Cygwin command line in order to obtain the pre-built startup object needed by RIDE. NuttX EABI "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/projects/nuttx/files/buildroot/). This GNU toolchain builds and executes in the Linux or Cygwin environment. 1. You must have already configured Nuttx in /nuttx. cd tools ./configure.shsam4s-xplained/ 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-eabi-defconfig-4.6.3 .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 details PLUS some special instructions that you will need to follow if you are building a Cortex-M3 toolchain for Cygwin under Windows. NOTE: Unfortunately, the 4.6.3 EABI toolchain is not compatible with the the NXFLAT tools. See the top-level TODO file (under "Binary loaders") for more information about this problem. If you plan to use NXFLAT, please do not use the GCC 4.6.3 EABI toochain; instead use the GCC 4.3.3 OABI toolchain. See instructions below. NuttX OABI "buildroot" Toolchain ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ The older, OABI buildroot toolchain is also available. To use the OABI toolchain: 1. When building the buildroot toolchain, either (1) modify the cortexm3-eabi-defconfig-4.6.3 configuration to use EABI (using 'make menuconfig'), or (2) use an exising OABI configuration such as cortexm3-defconfig-4.3.3 2. Modify the Make.defs file to use the OABI conventions: +CROSSDEV = arm-nuttx-elf- +ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld -no-check-sections -CROSSDEV = arm-nuttx-eabi- -ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft -NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections NXFLAT Toolchain ^^^^^^^^^^^^^^^^ If you are *not* using the NuttX buildroot toolchain and you want to use the NXFLAT tools, then you will still have to build a portion of the buildroot tools -- just the NXFLAT tools. The buildroot with the NXFLAT tools can be downloaded from the NuttX SourceForge download site (https://sourceforge.net/projects/nuttx/files/). 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 lpcxpresso-lpc1768/ 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-nxflat .config 6. make oldconfig 7. make 8. Edit setenv.h, if necessary, so that the PATH variable includes the path to the newly builtNXFLAT binaries. Buttons and LEDs ^^^^^^^^^^^^^^^^ Buttons ------- There are no buttons on the Arduino Due board. LEDs ---- There are three user-controllable LEDs on board the Arduino Due board: LED GPIO ---------------- ----- L Amber LED PB27 TX Yellow LED PA21 RX Yellow LED PC30 LED L is connected to ground and can be illuminated by driving the PB27 output high. The TX and RX LEDs are pulled high and can be illuminated by driving the corresponding GPIO output to low. 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_leds.c. The LEDs are used to encode OS-related events as follows: SYMBOL MEANING LED STATE L TX RX ------------------- ----------------------- -------- -------- -------- LED_STARTED NuttX has been started OFF OFF OFF LED_HEAPALLOCATE Heap has been allocated OFF OFF OFF LED_IRQSENABLED Interrupts enabled OFF OFF OFF LED_STACKCREATED Idle stack created ON OFF OFF LED_INIRQ In an interrupt N/C GLOW OFF LED_SIGNAL In a signal handler N/C GLOW OFF LED_ASSERTION An assertion failed N/C GLOW OFF LED_PANIC The system has crashed N/C N/C Blinking LED_IDLE MCU is is sleep mode ------ Not used -------- Thus if LED L is statically on, NuttX has successfully booted and is, apparently, running normmally. If LED RX is glowing, then NuttX is handling interupts (and also signals and assertions). If TX is flashing at approximately 2Hz, then a fatal error has been detected and the system has halted. Serial Consoles ^^^^^^^^^^^^^^^ The SAM3X has a UART and 4 USARTS. The Programming port uses a USB-to- serial chip connected to the first UART0 of the MCU (RX0 and TX0). The output from that port is visible using the Arduino tool. Any of UART and USART0-3 may be used as a serial console. By default, the UART is used as the serial console in all configurations. But that is easily changed by modifying the configuration as described under "Configurations" below. Here are the UART signals available on pins. Under signal name, the first column is the name on the schematic associated with the GPIO, the second comes from: http://arduino.cc/en/Hacking/PinMappingSAM3X, and the third is the name of the multiplexed SAM3X UART function from the data sheet. This is more than a little confusing. ------------------------------------------------------------------ PIO SIGNAL NAME CONNECTOR PIN DUE SCHEM. PIN MAPPING SAM3X DUE SCHEM. BOARD LABEL ----- ---------- -------------- ----------- ---------- ----------- PA8 [U]RX RX0 UART0 URXD PWML 1 RX0<-0 PA9 [U]TX TX0 UART0 UTXD PWML 2 TX0->1 PD5 RXD0 RX3 USART3 RXD3 COMM 2 RX3 PD4 TXD0 TX3 USART3 TXD3 COMM 1 TX3 PA12 RXD1 RX2 USART1 RXD1 COMM 4 TX2 PA13 TXD1 TX2 USART1 TXD1 COMM 3 RX2 PA10 RXD2 RX1 USART0 RXD0 COMM 6 RX1 PA11 TXD2 TX1 USART0 TXD0 COMM 5 TX1 PB21 AD14(RXD3) Digital Pin 52 USART2 RXD2 XIO 33 33 PB20 AD11(TXD3) Analog In 11 USART2 TXD2 ADCH 4 A11 The outputs from these pins is 3.3V. You will need to connect RS232 transceiver to get the signals to RS232 levels (or connect to the USB virual COM port in the case of UART0). Loading Code ^^^^^^^^^^^^ Installing the Arduino USB Driver under Windows: ------------------------------------------------ 1. Download the Windows version of the Arduino software, not the 1.0.x release but the latest 1.5.x that supports the Due. When the download finishes, unzip the downloaded file. 2. Connect the Due to your computer with a USB cable via the Programming port. 3. The Windows driver installation should fail. 4. Open the Device Manger 5. Look for the listing named "Ports (COM & LPT)". You should see an open port named "Arduino Due Prog. Port". 6 Select the "Browse my computer for Driver software" option. 7. Right click on the "Arduino Due Prog. Port" and choose "Update Driver Software". 8. Navigate to the folder with the Arduino IDE you downloaded and unzipped earlier. Locate and select the "Drivers" folder in the main Arduino folder (not the "FTDI USB Drivers" sub-directory). Uploading NuttX to the Due Using Bossa: --------------------------------------- I don't think this can be done because the Arduino software is so dedicated to "sketches". However, Arduino uses BOSSA under the hood to load code and you can use BOSSA outside of Arduino. Uploading NuttX to the Due Using Bossa: --------------------------------------- Where do you get it? Generic BOSSA installation files are avaialable here: http://sourceforge.net/projects/b-o-s-s-a/?source=dlp However, DUE uses a patched version of BOSSA available as source code here: https://github.com/shumatech/BOSSA/tree/arduino But, fortunately, since you already installed Arduino, you already have BOSSA installed. In my installation, it is here: C:\Program Files (x86)\Arduino\arduino-1.5.2\hardware\tools\bossac.exe General Procedure ----------------- 1) Erase the FLASH and put the Due in bootloader mode 2) Write the file to FLASH 3) Configure to boot from FLASH 4) Reset the DUE Erase FLASH and Put the Due in Bootloader Mode ---------------------------------------------- This is accomplished by simply configuring the programming port in 1200 baud and sending something on the programming port. Here is some sample output from a Windows CMD.exe shell. NOTE that my Arduino programming port shows up as COM26. It may be different on yoursystem. To enter boot mode, set the baud to 1200 and send anything to the programming port: C:\Program Files (x86)\Arduino\arduino-1.5.2\hardware\tools>mode com26:1200,n,8,1 Status for device COM26: ------------------------ Baud: 1200 Parity: None Data Bits: 8 Stop Bits: 1 Timeout: ON XON/XOFF: OFF CTS handshaking: OFF DSR handshaking: OFF DSR sensitivity: OFF DTR circuit: ON RTS circuit: ON C:\Program Files (x86)\Arduino\arduino-1.5.2\hardware\tools>bossac.exe --port=COM26 -U false -i Device : ATSAM3X8 Chip ID : 285e0a60 Version : v1.1 Dec 15 2010 19:25:04 Address : 524288 Pages : 2048 Page Size : 256 bytes Total Size : 512KB Planes : 2 Lock Regions : 32 Locked : none Security : false Boot Flash : false Writing FLASH and Setting FLASH Boot Mode ----------------------------------------- In a Cygwin BaSH shell: export PATH="/cygdrive/c/Program Files (x86)/Arduino/arduino-1.5.2/hardware/tools":$PATH Erasing, writing, and verifying FLASH with bossac: $ bossac.exe --port=COM26 -U false -e -w -v -b nuttx.bin -R Erase flash Write 86588 bytes to flash [==============================] 100% (339/339 pages) Verify 86588 bytes of flash [==============================] 100% (339/339 pages) Verify successful Set boot flash true CPU reset. Some things that can go wrong: $ bossac.exe --port=COM26 -U false -e -w -v -b nuttx.bin -R No device found on COM26 This error means that there is code running on the Due already so the bootloader cannot connect. Pressing reset and trying again $ bossac.exe --port=COM26 -U false -e -w -v -b nuttx.bin -R No device found on COM26 Sill No connection because Duo does not jump to bootloader after reset. Press ERASE button and try again $ bossac.exe --port=COM26 -U false -e -w -v -b nuttx.bin -R Erase flash Write 86588 bytes to flash [==============================] 100% (339/339 pages) Verify 86588 bytes of flash [==============================] 100% (339/339 pages) Verify successful Set boot flash true CPU reset. Other useful bossac things operations. ------------------------------------- a) Write code to FLASH don't change boot mode and don't reset. This lets you examine the FLASH contents that you just loaded while the bootloader is still active. $ bossac.exe --port=COM26 -U false -e -w -v --boot=0 nuttx.bin Write 64628 bytes to flash [==============================] 100% (253/253 pages) Verify 64628 bytes of flash [==============================] 100% (253/253 pages) Verify successful b) Verify the FLASH contents (the bootloader must be running) $ bossac.exe --port=COM26 -U false -v nuttx.bin Verify 64628 bytes of flash [==============================] 100% (253/253 pages) Verify successful c) Read from FLASH to a file (the bootloader must be running): $ bossac.exe --port=COM26 -U false --read=4096 nuttx.dump Read 4096 bytes from flash [==============================] 100% (16/16 pages) d) Change to boot from FLASH $ bossac.exe --port=COM26 -U false --boot=1 Set boot flash true Uploading NuttX to the Due Using JTAG: ------------------------------------- The JTAG/SWD signals are brought out to a 10-pin header JTAG connector: PIN SIGNAL JTAG STANDARD NOTES --- -------------- ----------------- -------------------------------- 1 3.3V VTref 2 JTAG_TMS SWDIO/TMS SAM3X pin 31, Pulled up on board 3 GND GND 4 JTAG_TCK SWDCLK/TCK SAM3X pin 28, Pulled up on board 5 GND GND 6 JTAG_TDO SWO/EXta/TRACECTL SAM3X pin 30, ulled up on board 7 N/C Key 8 JTAG_TDI NC/EXTb/TDI SAM3X pin 29, Pulled up on board 9 GND GNDDetect 10 MASTER-RESET nReset You should be able to use a 10- to 20-pin adaptr to connect a SAM-ICE debugger to the Arduino Due. I have this Olimex adapter: https://www.olimex.com/Products/ARM/JTAG/ARM-JTAG-20-10/ . But so far I have been unable to get the get the SAM-ICE to communicate with the Due. Arduino DUE-specific Configuration Options ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ CONFIG_ARCH - Identifies the arch/ subdirectory. This should be set to: CONFIG_ARCH=arm CONFIG_ARCH_family - For use in C code: CONFIG_ARCH_ARM=y CONFIG_ARCH_architecture - For use in C code: CONFIG_ARCH_CORTEXM3=y CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory CONFIG_ARCH_CHIP="sam34" CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip: CONFIG_ARCH_CHIP_SAM34 CONFIG_ARCH_CHIP_SAM3X CONFIG_ARCH_CHIP_ATSAM3X8E CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD=arduino-due (for the Arduino Due development board) CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_ARDUINO_DUE=y CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation of delay loops CONFIG_ENDIAN_BIG - define if big endian (default is little endian) CONFIG_DRAM_SIZE - Describes the installed DRAM (SRAM in this case): CONFIG_DRAM_SIZE=0x00008000 (32Kb) CONFIG_DRAM_START - The start address of installed DRAM CONFIG_DRAM_START=0x20000000 CONFIG_ARCH_IRQPRIO - The SAM3UF103Z supports interrupt prioritization CONFIG_ARCH_IRQPRIO=y CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that have LEDs CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt stack. If defined, this symbol is the size of the interrupt stack in bytes. If not defined, the user task stacks will be used during interrupt handling. CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture. CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that cause a 100 second delay during boot-up. This 100 second delay serves no purpose other than it allows you to calibratre CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until the delay actually is 100 seconds. Individual subsystems can be enabled: CONFIG_SAM34_RTC - Real Time Clock CONFIG_SAM34_RTT - Real Time Timer CONFIG_SAM34_WDT - Watchdog Timer CONFIG_SAM34_UART0 - UART 0 CONFIG_SAM34_SMC - Static Memory Controller CONFIG_SAM34_SDRAMC - SDRAM Controller CONFIG_SAM34_USART0 - USART 0 CONFIG_SAM34_USART1 - USART 1 CONFIG_SAM34_USART2 - USART 2 CONFIG_SAM34_USART3 - USART 3 CONFIG_SAM34_HSMCI - High Speed Multimedia Card Interface CONFIG_SAM34_TWI0 - Two-Wire Interface 0 (master/slave) CONFIG_SAM34_TWI1 - Two-Wire Interface 1 (master/slave) CONFIG_SAM34_SPI0 - Serial Peripheral Interface 0 CONFIG_SAM34_SPI1 - Serial Peripheral Interface 1 CONFIG_SAM34_SSC - Synchronous Serial Controller CONFIG_SAM34_TC0 - Timer Counter 0 CONFIG_SAM34_TC1 - Timer Counter 1 CONFIG_SAM34_TC2 - Timer Counter 2 CONFIG_SAM34_TC3 - Timer Counter 3 CONFIG_SAM34_TC4 - Timer Counter 4 CONFIG_SAM34_TC5 - Timer Counter 5 CONFIG_SAM34_TC6 - Timer Counter 6 CONFIG_SAM34_TC7 - Timer Counter 7 CONFIG_SAM34_TC8 - Timer Counter 8 CONFIG_SAM34_PWM - Pulse Width Modulation CONFIG_SAM34_ADC12B - 12-bit Analog To Digital Converter CONFIG_SAM34_DACC - Digital To Analog Converter CONFIG_SAM34_DMA - DMA Controller CONFIG_SAM34_UOTGHS - USB OTG High Speed CONFIG_SAM34_TRNG - True Random Number Generator CONFIG_SAM34_EMAC - Ethernet MAC CONFIG_SAM34_CAN0 - CAN Controller 0 CONFIG_SAM34_CAN1 - CAN Controller 1 Some subsystems can be configured to operate in different ways. The drivers need to know how to configure the subsystem. CONFIG_GPIOA_IRQ CONFIG_GPIOB_IRQ CONFIG_GPIOC_IRQ CONFIG_GPIOD_IRQ CONFIG_GPIOE_IRQ CONFIG_GPIOF_IRQ CONFIG_USART0_ISUART CONFIG_USART1_ISUART CONFIG_USART2_ISUART CONFIG_USART3_ISUART ST91SAM4S specific device driver settings CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=0,1,2,3) or UART m (m=4,5) for the console and ttys0 (default is the USART1). CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received. This specific the size of the receive buffer CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before being sent. This specific the size of the transmit buffer CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART. Must be CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8. CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity CONFIG_U[S]ARTn_2STOP - Two stop bits Configurations ^^^^^^^^^^^^^^ Each SAM4S Xplained configuration is maintained in a sub-directory and can be selected as follow: cd tools ./configure.sh arduino-due/ cd - . ./setenv.sh Before sourcing the setenv.sh file above, you should examine it and perform edits as necessary so that BUILDROOT_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 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 UART1 which is available on J1 or J4 (see the section "Serial Consoles" above). USART1 or the virtual COM port on UART0 are options. The virtual COM port could be used, for example, by reconfiguring to use UART0 like: System Type -> AT91SAM3/4 Peripheral Support CONFIG_SAM_UART0=y CONFIG_SAM_UART1=n Device Drivers -> Serial Driver Support -> Serial Console CONFIG_UART0_SERIAL_CONSOLE=y Device Drivers -> Serial Driver Support -> UART0 Configuration CONFIG_UART0_2STOP=0 CONFIG_UART0_BAUD=115200 CONFIG_UART0_BITS=8 CONFIG_UART0_PARITY=0 CONFIG_UART0_RXBUFSIZE=256 CONFIG_UART0_TXBUFSIZE=256 3. Unless otherwise stated, the configurations are setup for Linux (or any other POSIX environment like Cygwin under Windows): Build Setup: CONFIG_HOST_LINUX=y : Linux or other POSIX environment 4. These configurations use the older, OABI, buildroot toolchain. But that is easily reconfigured: System Type -> Toolchain: CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y : Buildroot toolchain CONFIG_ARMV7M_OABI_TOOLCHAIN=y : Older, OABI toolchain If you want to use the Atmel GCC toolchain, here are the steps to do so: Build Setup: CONFIG_HOST_WINDOWS=y : Windows CONFIG_HOST_CYGWIN=y : Using Cygwin or other POSIX environment System Type -> Toolchain: CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : General GCC EABI toolchain under windows This re-configuration should be done before making NuttX or else the subsequent 'make' will fail. If you have already attempted building NuttX then you will have to 1) 'make distclean' to remove the old configuration, 2) 'cd tools; ./configure.sh sam3u-ek/ksnh' to start with a fresh configuration, and 3) perform the configuration changes above. Also, make sure that your PATH variable has the new path to your Atmel tools. Try 'which arm-none-eabi-gcc' to make sure that you are selecting the right tool. setenv.sh is available for you to use to set or PATH variable. The path in the that file may not, however, be correct for your installation. See also the "NOTE about Windows native toolchains" in the section call "GNU Toolchain Options" above. Configuration sub-directories ----------------------------- ostest: This configuration directory performs a simple OS test using examples/ostest. See NOTES above. nsh: This configuration directory will built the NuttShell. See NOTES above. NOTES: 1. The configuration configuration can be modified to include support for the on-board SRAM (1MB). System Type -> External Memory Configuration CONFIG_ARCH_EXTSRAM0=y : Select SRAM on CS0 CONFIG_ARCH_EXTSRAM0SIZE=1048576 : Size=1MB Now what are you going to do with the SRAM. There are two choices: a) To enable the NuttX RAM test that may be used to verify the external SRAM: System Type -> External Memory Configuration CONFIG_ARCH_EXTSRAM0HEAP=n : Don't add to heap Application Configuration -> System NSH Add-Ons CONFIG_SYSTEM_RAMTEST=y : Enable the RAM test built-in In this configuration, the SDRAM is not added to heap and so is not excessible to the applications. So the RAM test can be freely executed against the SRAM memory beginning at address 0x6000:0000 (CS0). nsh> ramtest -h Usage: [-w|h|b] Where: starting address of the test. number of memory locations (in bytes). -w Sets the width of a memory location to 32-bits. -h Sets the width of a memory location to 16-bits (default). -b Sets the width of a memory location to 8-bits. To test the entire external SRAM: nsh> ramtest 60000000 1048576 RAMTest: Marching ones: 60000000 1048576 RAMTest: Marching zeroes: 60000000 1048576 RAMTest: Pattern test: 60000000 1048576 55555555 aaaaaaaa RAMTest: Pattern test: 60000000 1048576 66666666 99999999 RAMTest: Pattern test: 60000000 1048576 33333333 cccccccc RAMTest: Address-in-address test: 60000000 1048576 b) To add this RAM to the NuttX heap, you would need to change the configuration as follows: System Type -> External Memory Configuration CONFIG_ARCH_EXTSRAM0HEAP=y : Add external RAM to heap Memory Management -CONFIG_MM_REGIONS=1 : Only the internal SRAM +CONFIG_MM_REGIONS=2 : Also include external SRAM