README ^^^^^^ README for NuttX port to the Olimex LPC1766-STK development board Contents ^^^^^^^^ Olimex LPC1766-STK development board Development Environment GNU Toolchain Options IDEs NuttX EABI "buildroot" Toolchain NuttX OABI "buildroot" Toolchain NXFLAT Toolchain LEDs Serial Console Using OpenOCD and GDB with an FT2232 JTAG emulator Olimex LPC1766-STK Configuration Options USB Host Configuration Configurations Olimex LPC1766-STK development board ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ GPIO Usage: ----------- GPIO PIN SIGNAL NAME -------------------------------- ---- -------------- P0[0]/RD1/TXD3/SDA1 46 RD1 P0[1]/TD1/RXD3/SCL1 47 TD1 P0[2]/TXD0/AD0[7] 98 TXD0 P0[3]/RXD0/AD0[6] 99 RXD0 P0[4]/I2SRX_CLK/RD2/CAP2[0] 81 LED2/ACC IRQ P0[5]/I2SRX_WS/TD2/CAP2[1] 80 CENTER P0[6]/I2SRX_SDA/SSEL1/MAT2[0] 79 SSEL1 P0[7]/I2STX_CLK/SCK1/MAT2[1] 78 SCK1 P0[8]/I2STX_WS/MISO1/MAT2[2] 77 MISO1 P0[9]/I2STX_SDA/MOSI1/MAT2[3] 76 MOSI1 P0[10]/TXD2/SDA2/MAT3[0] 48 SDA2 P0[11]/RXD2/SCL2/MAT3[1] 49 SCL2 P0[15]/TXD1/SCK0/SCK 62 TXD1 P0[16]/RXD1/SSEL0/SSEL 63 RXD1 P0[17]/CTS1/MISO0/MISO 61 CTS1 P0[18]/DCD1/MOSI0/MOSI 60 DCD1 P0[19]/DSR1/SDA1 59 DSR1 P0[20]/DTR1/SCL1 58 DTR1 P0[21]/RI1/RD1 57 MMC PWR P0[22]/RTS1/TD1 56 RTS1 P0[23]/AD0[0]/I2SRX_CLK/CAP3[0] 9 BUT1 P0[24]/AD0[1]/I2SRX_WS/CAP3[1] 8 TEMP P0[25]/AD0[2]/I2SRX_SDA/TXD3 7 MIC IN P0[26]/AD0[3]/AOUT/RXD3 6 AOUT P0[27]/SDA0/USB_SDA 25 USB_SDA P0[28]/SCL0/USB_SCL 24 USB_SCL P0[29]/USB_D+ 29 USB_D+ P0[30]/USB_D- 30 USB_D- P1[0]/ENET_TXD0 95 E_TXD0 P1[1]/ENET_TXD1 94 E_TXD1 P1[4]/ENET_TX_EN 93 E_TX_EN P1[8]/ENET_CRS 92 E_CRS P1[9]/ENET_RXD0 91 E_RXD0 P1[10]/ENET_RXD1 90 E_RXD1 P1[14]/ENET_RX_ER 89 E_RX_ER P1[15]/ENET_REF_CLK 88 E_REF_CLK P1[16]/ENET_MDC 87 E_MDC P1[17]/ENET_MDIO 86 E_MDIO P1[18]/USB_UP_LED/PWM1[1]/CAP1[0] 32 USB_UP_LED P1[19]/MC0A/#USB_PPWR/CAP1[1] 33 #USB_PPWR P1[20]/MCFB0/PWM1[2]/SCK0 34 SCK0 P1[21]/MCABORT/PWM1[3]/SSEL0 35 SSEL0 P1[22]/MC0B/USB_PWRD/MAT1[0] 36 USBH_PWRD P1[23]/MCFB1/PWM1[4]/MISO0 37 MISO0 P1[24]/MCFB2/PWM1[5]/MOSI0 38 MOSI0 P1[25]/MC1A/MAT1[1] 39 LED1 P1[26]/MC1B/PWM1[6]/CAP0[0] 40 CS_UEXT P1[27]/CLKOUT/#USB_OVRCR/CAP0[1] 43 #USB_OVRCR P1[28]/MC2A/PCAP1[0]/MAT0[0] 44 P1.28 P1[29]/MC2B/PCAP1[1]/MAT0[1] 45 P1.29 P1[30]/VBUS/AD0[4] 21 VBUS P1[31]/SCK1/AD0[5] 20 AIN5 P2[0]/PWM1[1]/TXD1 75 UP P2[1]/PWM1[2]/RXD1 74 DOWN P2[2]/PWM1[3]/CTS1/TRACEDATA[3] 73 TRACE_D3 P2[3]/PWM1[4]/DCD1/TRACEDATA[2] 70 TRACE_D2 P2[4]/PWM1[5]/DSR1/TRACEDATA[1] 69 TRACE_D1 P2[5]/PWM1[6]/DTR1/TRACEDATA[0] 68 TRACE_D0 P2[6]/PCAP1[0]/RI1/TRACECLK 67 TRACE_CLK P2[7]/RD2/RTS1 66 LEFT P2[8]/TD2/TXD2 65 RIGHT P2[9]/USB_CONNECT/RXD2 64 USBD_CONNECT P2[10]/#EINT0/NMI 53 ISP_E4 P2[11]/#EINT1/I2STX_CLK 52 #EINT1 P2[12]/#EINT2/I2STX_WS 51 WAKE-UP P2[13]/#EINT3/I2STX_SDA 50 BUT2 P3[25]/MAT0[0]/PWM1[2] 27 LCD_RST P3[26]/STCLK/MAT0[1]/PWM1[3] 26 LCD_BL Serial Console -------------- The LPC1766-STK board has two serial connectors. One, RS232_0, connects to the LPC1766 UART0. This is the DB-9 connector next to the power connector. The other RS232_1, connect to the LPC1766 UART1. This is he DB-9 connector next to the Ethernet connector. Simple UART1 is the more flexible UART and since the needs for a serial console are minimal, the more minimal UART0/RS232_0 is used for the NuttX system console. Of course, this can be changed by editting the NuttX configuration file as discussed below. The serial console is configured as follows (57600 8N1): BAUD: 57600 Number of Bits: 8 Parity: None Stop bits: 1 You will need to connect a monitor program (Hyperterminal, Tera Term, minicom, whatever) to UART0/RS232_0 and configure the serial port as shown above. NOTE: The ostest example works fine at 115200, but the other configurations have problems at that rate (probably because they use the interrupt driven serial driver). Other LPC17xx boards with the same clocking will run at 115200. LCD --- The LPC1766-STK has a Nokia 6100 132x132 LCD and either a Phillips PCF8833 or an Epson S1D15G10 LCD controller. The NuttX configuration may have to be adjusted depending on which controller is used with the LCD. The "LPC1766-STK development board Users Manual" states tha the board features a "LCD NOKIA 6610 128x128 x12bit color TFT with Epson LCD controller." But, referring to a different Olimex board, "Nokia 6100 LCD Display Driver," Revision 1, James P. Lynch ("Nokia 6100 LCD Display Driver.pdf") says: "The major irritant in using this display is identifying the graphics controller; there are two possibilities (Epson S1D15G00 or Philips PCF8833). The LCD display sold by the German Web Shop Jelu has a Leadis LDS176 controller but it is 100% compatible with the Philips PCF8833). So how do you tell which controller you have? Some message boards have suggested that the LCD display be disassembled and the controller chip measured with a digital caliper – well that’s getting a bit extreme. "Here’s what I know. The Olimex boards have both display controllers possible; if the LCD has a GE-12 sticker on it, it’s a Philips PCF8833. If it has a GE-8 sticker, it’s an Epson controller. The older Sparkfun 6100 displays were Epson, their web site indicates that the newer ones are an Epson clone. Sparkfun software examples sometimes refer to the Philips controller so the whole issue has become a bit murky. The trading companies in Honk Kong have no idea what is inside the displays they are selling. A Nokia 6100 display that I purchased from Hong Kong a couple of weeks ago had the Philips controller." The LCD connects to the LPC1766 via SPI and two GPIOs. The two GPIOs are noted above: P1.21 is the SPI chip select, and P3.25 is the LCD reset P3.26 is PWM1 output used to control the backlight intensity. MISO0 and MOSI0 are join via a 1K ohm resistor so the LCD appears to be write only. Development Environment ^^^^^^^^^^^^^^^^^^^^^^^ Either Linux or Cygwin on Windows can be used for the development environment. The source has been built only using the GNU toolchain (see below). Other toolchains will likely cause problems. Testing was performed using the Cygwin environment. GNU Toolchain Options ^^^^^^^^^^^^^^^^^^^^^ The NuttX make system has been modified to support the following different toolchain options. 1. The CodeSourcery GNU toolchain, 2. The devkitARM GNU toolchain, 3. The NuttX buildroot Toolchain (see below). All testing has been conducted using the NuttX buildroot toolchain. However, the make system is setup to default to use the devkitARM toolchain. To use the CodeSourcery or devkitARM toolchain, you simply need add one of the following configuration options to your .config (or defconfig) file: CONFIG_LPC17_CODESOURCERYW=y : CodeSourcery under Windows CONFIG_LPC17_CODESOURCERYL=y : CodeSourcery under Linux CONFIG_LPC17_DEVKITARM=y : devkitARM under Windows CONFIG_LPC17_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) If you are not using CONFIG_LPC17_BUILDROOT, then you may also have to modify the PATH in the setenv.h file if your make cannot find the tools. NOTE: the CodeSourcery (for Windows)and devkitARM are Windows native toolchains. The CodeSourcey (for Linux) and NuttX buildroot toolchains are Cygwin and/or Linux native toolchains. There are several limitations to using a Windows based toolchain in a Cygwin environment. The three biggest are: 1. The Windows toolchain cannot follow Cygwin paths. Path conversions are performed automatically in the Cygwin makefiles using the 'cygpath' utility but you might easily find some new path problems. If so, check out 'cygpath -w' 2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links are used in Nuttx (e.g., include/arch). The make system works around these problems for the Windows tools by copying directories instead of linking them. But this can also cause some confusion for you: For example, you may edit a file in a "linked" directory and find that your changes had 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/lpc17xx, 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/lpc17x/lpc17_vectors.S. 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.sh olimex-lpc1766stk/ 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. LEDs ^^^^ If CONFIG_ARCH_LEDS is defined, then support for the LPC1766-STK LEDs will be included in the build. See: - configs/olimex-lpc1766stk/include/board.h - Defines LED constants, types and prototypes the LED interface functions. - configs/olimex-lpc1766stk/src/lpc1766stk_internal.h - GPIO settings for the LEDs. - configs/olimex-lpc1766stk/src/up_leds.c - LED control logic. The LPC1766-STK has two LEDs. If CONFIG_ARCH_LEDS is defined, these LEDs will be controlled as follows for NuttX debug functionality (where NC means "No Change"). Basically, LED1: - OFF means that the OS is still initializing. Initialization is very fast so if you see this at all, it probably means that the system is hanging up somewhere in the initialization phases. - ON means that the OS completed initialization. - Glowing means that the LPC17 is running in a reduced power mode: LED1 is turned off when the processor enters sleep mode and back on when it wakesup up. LED2: - ON/OFF toggles means that various events are happening. - GLowing: LED2 is turned on and off on every interrupt so even timer interrupts should cause LED2 to glow faintly in the normal case. - Flashing. If the LED2 is flashing at about 2Hz, that means that a crash has occurred. If CONFIG_ARCH_STACKDUMP=y, you will get some diagnostic information on the console to help debug what happened. NOTE: LED2 is controlled by a jumper labeled: ACC_IRQ/LED2. That jump must be in the LED2 position in order to support LED2. LED1 LED2 Meaning ------- -------- -------------------------------------------------------------------- OFF OFF Still initializing and there is no interrupt activity. Initialization is very fast so if you see this, it probably means that the system is hung up somewhere in the initialization phases. OFF Glowing Still initializing (see above) but taking interrupts. OFF ON This would mean that (1) initialization did not complete but the software is hung, perhaps in an infinite loop, somewhere inside of an interrupt handler. OFF Flashing Ooops! We crashed before finishing initialization (or, perhaps after initialization, during an interrupt while the LPC17xx was sleeping -- see below). ON OFF The system has completed initialization, but is apparently not taking any interrupts. ON Glowing The OS successfully initialized and is taking interrupts (but, for some reason, is never entering a reduced power mode -- perhaps the CPU is very busy?). ON ON This would mean that (1) the OS complete initialization, but (2) the software is hung, perhaps in an infinite loop, somewhere inside of a signal or interrupt handler. Glowing Glowing This is also a normal healthy state: The OS successfully initialized, is running in reduced power mode, but taking interrupts. The glow is very faint and you may have to dim the lights to see that LEDs are active at all! See note below. ON Flashing Ooops! We crashed sometime after initialization. NOTE: In glowing/glowing case, you get some good subjective information about the behavior of your system by looking at the level of the LED glow (or better, by connecting O-Scope and calculating the actual duty): 1. The intensity of the glow is determined by the duty of LED on/off toggle -- as the ON period becomes larger with respect the OFF period, the LED will glow more brightly. 2. LED2 is turned ON when entering an interrupt and turned OFF when returning from the interrupt. A brighter LED2 means that the system is spending more time in interrupt handling. 3. LED1 is turned OFF just before the processor goes to sleep. The processor sleeps until awakened by an interrupt. LED1 is turned back ON after the processor is re-awakened -- actually after returning from the interrupt that cause the processor to re-awaken (LED1 will be off during the execution of that interrupt). So a brighter LED1 means that the processor is spending less time sleeping. When my LPC1766 sits IDLE -- doing absolutely nothing but processing timer interrupts -- I see the following: 1. LED1 glows dimly due to the timer interrupts. 2. But LED2 is even more dim! The LED ON time excludes the time processing the interrupt that re-awakens the processing. So this tells me that the LPC1766 is spending more time processing timer interrupts than doing any other kind of processing. That, of course, makes sense if the system is truly idle and only processing timer interrupts. Serial Console ^^^^^^^^^^^^^^ By default, all of these configurations use UART0 for the NuttX serial console. UART0 corresponds to the DB-9 connector labelled "RS232_0". This is a female connector and will require a normal male-to-female RS232 cable to connect to a PC. An alternate is UART1 which connects to the other DB-9 connector labeled "RS232_1". UART1 is not enabled by default unless specifically noted otherwise in the configuration description. A normal serial cable must be used with the port as well. By default serial console is configured for 57600 baud, 8-bit, 1 stop bit, and no parity. Higher rates will probably require minor modification of the UART initialization logic to use the fractional dividers. Using OpenOCD and GDB with an FT2232 JTAG emulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ Downloading OpenOCD You can get information about OpenOCD here: http://openocd.berlios.de/web/ and you can download it from here. http://sourceforge.net/projects/openocd/files/. To get the latest OpenOCD with more mature lpc17xx, you have to download from the GIT archive. git clone git://openocd.git.sourceforge.net/gitroot/openocd/openocd At present, there is only the older, frozen 0.4.0 version. These, of course, may have changed since I wrote this. Building OpenOCD under Cygwin: You can build OpenOCD for Windows using the Cygwin tools. Below are a few notes that worked as of November 7, 2010. Things may have changed by the time you read this, but perhaps the following will be helpful to you: 1. Install Cygwin (http://www.cygwin.com/). My recommendation is to install everything. There are many tools you will need and it is best just to waste a little disk space and have everthing you need. Everything will require a couple of gigbytes of disk space. 2. Create a directory /home/OpenOCD. 3. Get the FT2232 drivr from http://www.ftdichip.com/Drivers/D2XX.htm and extract it into /home/OpenOCD/ftd2xx $ pwd /home/OpenOCD $ ls CDM20802 WHQL Certified.zip $ mkdir ftd2xx $ cd ftd2xx $ unzip ..CDM20802\ WHQL\ Certified.zip Archive: CDM20802 WHQL Certified.zip ... 3. Get the latest OpenOCD source $ pwd /home/OpenOCD $ git clone git://openocd.git.sourceforge.net/gitroot/openocd/openocd You will then have the source code in /home/OpenOCD/openocd 4. Build OpenOCD for the FT22322 interface $ pwd /home/OpenOCD/openocd $ ./bootstrap Jim is a tiny version of the Tcl scripting language. It is needed by more recent versions of OpenOCD. Build libjim.a using the following instructions: $ git submodule init $ git submodule update $ cd jimtcl $ ./configure --with-jim-ext=nvp $ make $ make install Configure OpenOCD: $ ./configure --enable-maintainer-mode --disable-werror --disable-shared \ --enable-ft2232_ftd2xx --with-ftd2xx-win32-zipdir=/home/OpenOCD/ftd2xx \ LDFLAGS="-L/home/OpenOCD/openocd/jimtcl" Then build OpenOCD and its HTML documentation: $ make $ make html The result of the first make will be the "openocd.exe" will be created in the folder /home/openocd/src. The following command will install OpenOCD to a standard location (/usr/local/bin) using using this command: $ make install Helper Scripts. I have been using the Olimex ARM-USB-OCD JTAG debugger with the LPC1766-STK (http://www.olimex.com). OpenOCD requires a configuration file. I keep the one I used last here: configs/olimex-lpc1766stk/tools/olimex.cfg However, the "correct" configuration script to use with OpenOCD may change as the features of OpenOCD evolve. So you should at least compare that olimex.cfg file with configuration files in /usr/local/share/openocd/scripts/target (or /home/OpenOCD/openocd/tcl/target). As of this writing, there is no script for the lpc1766, but the lpc1768 configurtion can be used after changing the flash size to 256Kb. That is, change: flash bank $_FLASHNAME lpc2000 0x0 0x80000 0 0 $_TARGETNAME ... To: flash bank $_FLASHNAME lpc2000 0x0 0x40000 0 0 $_TARGETNAME ... There is also a script on the tools/ directory that I use to start the OpenOCD daemon on my system called oocd.sh. That script will probably require some modifications to work in another environment: - Possibly the value of OPENOCD_PATH and TARGET_PATH - It assumes that the correct script to use is the one at configs/olimex-lpc1766stk/tools/olimex.cfg Starting OpenOCD Then you should be able to start the OpenOCD daemon like: configs/olimex-lpc1766stk/tools/oocd.sh $PWD If you use the setenv.sh file, that the path to oocd.sh will be added to your PATH environment variabl. So, in that case, the command simplifies to just: oocd.sh $PWD Where it is assumed that you are executing oocd.sh from the top-level directory where NuttX is installed. $PWD will be the path to the top-level NuttX directory. Connecting GDB Once the OpenOCD daemon has been started, you can connect to it via GDB using the following GDB command: arm-nuttx-elf-gdb (gdb) target remote localhost:3333 NOTE: The name of your GDB program may differ. For example, with the CodeSourcery toolchain, the ARM GDB would be called arm-none-eabi-gdb. After starting GDB, you can load the NuttX ELF file: (gdb) symbol-file nuttx (gdb) load nuttx NOTES: 1. Loading the symbol-file is only useful if you have built NuttX to include debug symbols (by setting CONFIG_DEBUG_SYMBOLS=y in the .config file). 2. I usually have to reset, halt, and 'load nuttx' a second time. For some reason, the first time apparently does not fully program the FLASH. 3. The MCU must be halted prior to loading code using 'mon reset' as described below. OpenOCD will support several special 'monitor' commands. These GDB commands will send comments to the OpenOCD monitor. Here are a couple that you will need to use: (gdb) monitor reset (gdb) monitor halt NOTES: 1. The MCU must be halted using 'mon halt' prior to loading code. 2. Reset will restart the processor after loading code. 3. The 'monitor' command can be abbreviated as just 'mon'. Olimex LPC1766-STK 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=lpc17xx CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip: CONFIG_ARCH_CHIP_LPC1766=y CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD=olimex-lpc1766stk (for the Olimex LPC1766-STK) CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_LPC1766STK=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 (CPU SRAM in this case): CONFIG_RAM_SIZE=(32*1024) (32Kb) There is an additional 32Kb of SRAM in AHB SRAM banks 0 and 1. CONFIG_RAM_START - The start address of installed DRAM CONFIG_RAM_START=0x10000000 CONFIG_ARCH_IRQPRIO - The LPC17xx 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_LPC17_MAINOSC=y CONFIG_LPC17_PLL0=y CONFIG_LPC17_PLL1=n CONFIG_LPC17_ETHERNET=n CONFIG_LPC17_USBHOST=n CONFIG_LPC17_USBOTG=n CONFIG_LPC17_USBDEV=n CONFIG_LPC17_UART0=y CONFIG_LPC17_UART1=n CONFIG_LPC17_UART2=n CONFIG_LPC17_UART3=n CONFIG_LPC17_CAN1=n CONFIG_LPC17_CAN2=n CONFIG_LPC17_SPI=n CONFIG_LPC17_SSP0=n CONFIG_LPC17_SSP1=n CONFIG_LPC17_I2C0=n CONFIG_LPC17_I2C1=n CONFIG_LPC17_I2S=n CONFIG_LPC17_TMR0=n CONFIG_LPC17_TMR1=n CONFIG_LPC17_TMR2=n CONFIG_LPC17_TMR3=n CONFIG_LPC17_RIT=n CONFIG_LPC17_PWM0=n CONFIG_LPC17_MCPWM=n CONFIG_LPC17_QEI=n CONFIG_LPC17_RTC=n CONFIG_LPC17_WDT=n CONFIG_LPC17_ADC=n CONFIG_LPC17_DAC=n CONFIG_LPC17_GPDMA=n CONFIG_LPC17_FLASH=n LPC17xx specific device driver settings CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn for the console and ttys0 (default is the UART0). CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received. This specific the size of the receive buffer CONFIG_UARTn_TXBUFSIZE - Characters are buffered before being sent. This specific the size of the transmit buffer CONFIG_UARTn_BAUD - The configure BAUD of the UART. Must be CONFIG_UARTn_BITS - The number of bits. Must be either 7 or 8. CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity CONFIG_UARTn_2STOP - Two stop bits LPC17xx specific CAN device driver settings. These settings all require CONFIG_CAN: CONFIG_CAN_EXTID - Enables support for the 29-bit extended ID. Default Standard 11-bit IDs. CONFIG_CAN1_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN1 is defined. CONFIG_CAN2_BAUD - CAN1 BAUD rate. Required if CONFIG_LPC17_CAN2 is defined. CONFIG_CAN1_DIVISOR - CAN1 is clocked at CCLK divided by this number. (the CCLK frequency is divided by this number to get the CAN clock). Options = {1,2,4,6}. Default: 4. CONFIG_CAN2_DIVISOR - CAN2 is clocked at CCLK divided by this number. (the CCLK frequency is divided by this number to get the CAN clock). Options = {1,2,4,6}. Default: 4. CONFIG_CAN_TSEG1 - The number of CAN time quanta in segment 1. Default: 6 CONFIG_CAN_TSEG2 - the number of CAN time quanta in segment 2. Default: 7 LPC17xx specific PHY/Ethernet device driver settings. These setting also require CONFIG_NET and CONFIG_LPC17_ETHERNET. CONFIG_PHY_KS8721 - Selects Micrel KS8721 PHY CONFIG_PHY_AUTONEG - Enable auto-negotion CONFIG_PHY_SPEED100 - Select 100Mbit vs. 10Mbit speed. CONFIG_PHY_FDUPLEX - Select full (vs. half) duplex CONFIG_NET_EMACRAM_SIZE - Size of EMAC RAM. Default: 16Kb CONFIG_NET_NTXDESC - Configured number of Tx descriptors. Default: 18 CONFIG_NET_NRXDESC - Configured number of Rx descriptors. Default: 18 CONFIG_NET_PRIORITY - Ethernet interrupt priority. The is default is the higest priority. CONFIG_NET_WOL - Enable Wake-up on Lan (not fully implemented). CONFIG_NET_REGDEBUG - Enabled low level register debug. Also needs CONFIG_DEBUG. CONFIG_NET_DUMPPACKET - Dump all received and transmitted packets. Also needs CONFIG_DEBUG. CONFIG_NET_HASH - Enable receipt of near-perfect match frames. CONFIG_NET_MULTICAST - Enable receipt of multicast (and unicast) frames. Automatically set if CONFIG_NET_IGMP is selected. LPC17xx USB Device Configuration CONFIG_LPC17_USBDEV_FRAME_INTERRUPT Handle USB Start-Of-Frame events. Enable reading SOF from interrupt handler vs. simply reading on demand. Probably a bad idea... Unless there is some issue with sampling the SOF from hardware asynchronously. CONFIG_LPC17_USBDEV_EPFAST_INTERRUPT Enable high priority interrupts. I have no idea why you might want to do that CONFIG_LPC17_USBDEV_NDMADESCRIPTORS Number of DMA descriptors to allocate in SRAM. CONFIG_LPC17_USBDEV_DMA Enable lpc17xx-specific DMA support CONFIG_LPC17_USBDEV_NOVBUS Define if the hardware implementation does not support the VBUS signal CONFIG_LPC17_USBDEV_NOLED Define if the hardware implementation does not support the LED output LPC17xx USB Host Configuration CONFIG_USBHOST_OHCIRAM_SIZE Total size of OHCI RAM (in AHB SRAM Bank 1) CONFIG_USBHOST_NEDS Number of endpoint descriptors CONFIG_USBHOST_NTDS Number of transfer descriptors CONFIG_USBHOST_TDBUFFERS Number of transfer descriptor buffers CONFIG_USBHOST_TDBUFSIZE Size of one transfer descriptor buffer CONFIG_USBHOST_IOBUFSIZE Size of one end-user I/O buffer. This can be zero if the application can guarantee that all end-user I/O buffers reside in AHB SRAM. USB Host Configuration ^^^^^^^^^^^^^^^^^^^^^^ The NuttShell (NSH) Nucleus 2G can be modified in order to support USB host operations. To make these modifications, do the following: 1. First configure to build the NSH configuration from the top-level NuttX directory: cd tools ./configure nucleus2g/nsh cd .. 2. Then edit the top-level .config file to enable USB host. Make the following changes: CONFIG_LPC17_USBHOST=y CONFIG_USBHOST=y CONFIG_SCHED_WORKQUEUE=y When this change is made, NSH should be extended to support USB flash devices. When a FLASH device is inserted, you should see a device appear in the /dev (pseudo) directory. The device name should be like /dev/sda, /dev/sdb, etc. The USB mass storage device, is present it can be mounted from the NSH command line like: ls /dev mount -t vfat /dev/sda /mnt/flash Files on the connect USB flash device should then be accessible under the mountpoint /mnt/flash. Configurations ^^^^^^^^^^^^^^ Each Olimex LPC1766-STK configuration is maintained in a sub-directory and can be selected as follow: cd tools ./configure.sh olimex-lpc1766stk/ cd - . ./setenv.sh Where is one of the following: ftpc: This is a simple FTP client shell used to exercise the capabilities of the FTPC library (apps/netutils/ftpc). This example is configured to that it will only work as a "built-in" program that can be run from NSH when CONFIG_NSH_BUILTIN_APPS is defined. From NSH, the startup command sequence is then: nsh> mount -t vfat /dev/mmcsd0 /tmp # Mount the SD card at /tmp nsh> cd /tmp # cd into the /tmp directory nsh> ftpc xx.xx.xx.xx[:pp] # Start the FTP client nfc> login # Log into the FTP server nfc> help # See a list of FTP commands where xx.xx.xx.xx is the IP address of the FTP server and pp is an optional port number (default is the standard FTP port number 21). NOTES: 1. Support for FAT long file names is built-in but can easily be removed if you are concerned about Microsoft patent issues (see the section "FAT Long File Names" in the top-level COPYING file). CONFIG_FS_FAT=y CONFIG_FAT_LCNAMES=y <-- Long file name support CONFIG_FAT_LFN=y CONFIG_FAT_MAXFNAME=32 CONFIG_FS_NXFFS=n CONFIG_FS_ROMFS=n 2. You may also want to define the following in your configuration file. Otherwise, you will have not feedback about what is going on: CONFIG_DEBUG=y CONFIG_DEBUG_VERBOSE=y CONFIG_DEBUG_FTPC=y hidkbd: This configuration directory, performs a simple test of the USB host HID keyboard class driver using the test logic in apps/examples/hidkbd. 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 and misc/tools/ b. Execute 'make menuconfig' in nuttx/ in order to start the reconfiguration process. 2. Default platform/toolchain: This is how the build is configured by be default. These options can easily be re-confured, however. CONFIG_HOST_WINDOWS=y : Windows CONFIG_WINDOWS_CYGWIN=y : Cygwin environment on Windows CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery under Windows nettest: This configuration directory may be used to enable networking using the LPC17xx's Ethernet controller. It uses apps/examples/nettest to excercise the TCP/IP network. nsh: Configures the NuttShell (nsh) located at apps/examples/nsh. The Configuration enables both the serial and telnet NSH interfaces. Support for the board's SPI-based MicroSD card is included. NOTE: If you start the program with no SD card inserted, there will be a substantial delay. This is because there is no hardware support to sense whether or not an SD card is inserted. As a result, the driver has to go through many retries and timeouts before it finally decides that there is not SD card in the slot. Configuration Notes: 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 and misc/tools/ b. Execute 'make menuconfig' in nuttx/ in order to start the reconfiguration process. 2. Uses the older, OABI, buildroot toolchain. But that is easily reconfigured: CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y : Buildroot toolchain CONFIG_ARMV7M_OABI_TOOLCHAIN=y : Older, OABI toolchain 3. This configuration supports a network. You may have to change these settings for your network: CONFIG_NSH_IPADDR=0x0a000002 : IP address: 10.0.0.2 CONFIG_NSH_DRIPADDR=0x0a000001 : Gateway: 10.0.0.1 CONFIG_NSH_NETMASK=0xffffff00 : Netmask: 255.255.255.0 4. This configuration supports the SPI-based MMC/SD card slot. FAT file system support for FAT long file names is built-in but can easily be removed if you are concerned about Microsoft patent issues (see the section "FAT Long File Names" in the top-level COPYING file). CONFIG_FAT_LFN=y : Enables long file name support nx: An example using the NuttX graphics system (NX). This example uses the Nokia 6100 LCD driver. NOTE: The Nokia 6100 driver does not work on this board as of this writing. ostest: This configuration directory, performs a simple OS test using apps/examples/ostest. slip-httpd: This configuration is identical to the thttpd configuration except that it uses the SLIP data link layer via a serial driver instead of the Ethernet data link layer. The Ethernet driver is disabled; SLIP IP packets are exchanged on UART1; UART0 is still the serial console. 1. Configure and build the slip-httpd configuration. 2. Connect to a Linux box (assuming /dev/ttyS0) 3. Reset on the target side and attach SLIP on the Linux side: $ modprobe slip $ slattach -L -p slip -s 57600 /dev/ttyS0 & This should create an interface with a name like sl0, or sl1, etc. Add -d to get debug output. This will show the interface name. NOTE: The -L option is included to suppress use of hardware flow control. This is necessary because I haven't figured out how to use the UART1 hardware flow control yet. NOTE: The Linux slip module hard-codes its MTU size to 296. So you might as well set CONFIG_NET_BUFSIZE to 296 as well. 4. After turning over the line to the SLIP driver, you must configure the network interface. Again, you do this using the standard ifconfig and route commands. Assume that we have connected to a host PC with address 192.168.0.101 from your target with address 10.0.0.2. On the Linux PC you would execute the following as root: $ ifconfig sl0 10.0.0.1 pointopoint 10.0.0.2 up $ route add 10.0.0.2 dev sl0 Assuming the SLIP is attached to device sl0. 5. For monitoring/debugging traffic: $ tcpdump -n -nn -i sl0 -x -X -s 1500 NOTE: Only UART1 supports the hardware handshake. If hardware handshake is not available, then you might try the slattach option -L which is supposed to enable "3-wire operation." NOTE: This configurat only works with VERBOSE debug disabled. For some reason, certain debug statements hang(?). NOTE: This example does not use UART1's hardware flow control. UART1 hardware flow control is partially implemented but does not behave as expected. It needs a little more work. thttpd: This builds the THTTPD web server example using the THTTPD and the apps/examples/thttpd application. NOTE: See note above with regard to the EABI/OABI buildroot toolchains. This example can only be built using the older OABI toolchain. usbserial: This configuration directory exercises the USB serial class driver at apps/examples/usbserial. See apps/examples/README.txt for more information. usbstorage: This configuration directory exercises the USB mass storage class driver at apps/examples/usbstorage. See apps/examples/README.txt for more information. zmodem: This is an alternative NSH configuration that was used to test Zmodem file transfers. It is similar to the standard NSH configuration but has the following differences: 1. UART0 is still the NuttX serial console as with most of the other configurations here. However, UART1 is also enabled for performing the Zmodem transfers. CONFIG_LPC17XX_UART1=y CONFIG_UART1_ISUART=y CONFIG_UART1_RXBUFSIZE=1024 CONFIG_UART1_TXBUFSIZE=256 CONFIG_UART1_BAUD=2400 CONFIG_UART1_BITS=8 CONFIG_UART1_PARITY=0 CONFIG_UART1_2STOP=0 2. Hardware Flow Control In principle, Zmodem transfers could be performed on the any serial device, including the console device. However, only the LPC17xx UART1 supports hardware flow control which is required for Zmodem trasnfers. Also, this configuration permits debug output on the serial console while the transfer is in progress without interfering with the file transfer. In additional, a very low BAUD is selected to avoid other sources of data overrun. This should be unnecessary if buffering and hardware flow control are set up correctly. However, in the LPC17xx serial driver, hardware flow control only protects the hardware RX FIFO: Data will not be lost in the hardware FIFO but can still be lost when it is taken from the FIFO. We can still overflow the serial driver's RX buffer even with hardware flow control enabled! That is probably a bug. But the workaround solution that I have used is to use lower data rates and a large serial driver RX buffer. Those measures should be unnecessary if buffering and hardware flow control are set up and working correctly. 3. Buffering Notes: RX Buffer Size -------------- The Zmodem protocol supports a message that informs the file sender of the maximum size of dat that you can buffer (ZRINIT). However, my experience is that the Linux sz ignores this setting and always sends file data at the maximum size (1024) no matter what size of buffer you report. That is unfortunate because that, combined with the possibilities of data overrun mean that you must use quite large buffering for Zmodem file receipt to be reliable (none of these issues effect sending of files). Buffer Recommendations ---------------------- Based on the limitations of NuttX hardware flow control and of the Linux sz behavior, I have been testing with the following configuration (assuming UART1 is the Zmodem device): a) This setting determines that maximum size of a data packet frame: CONFIG_SYSTEM_ZMODEM_PKTBUFSIZE=1024 b) Input Buffering. If the input buffering is set to a full frame, then data overflow is less likely. CONFIG_UART1_RXBUFSIZE=1024 c) With a larger driver input buffer, the Zmodem receive I/O buffer can be smaller: CONFIG_SYSTEM_ZMODEM_RCVBUFSIZE=256 d) Output buffering. Overrun cannot occur on output (on the NuttX side) so there is no need to be so careful: CONFIG_SYSTEM_ZMODEM_SNDBUFSIZE=512 CONFIG_UART1_TXBUFSIZE=256 4. Support is included for the NuttX sz and rz commands. In order to use these commands, you will need to mount the SD card so that you will have a file system to transfer files in and out of: nsh> mount -t vfat /dev/mmcds0 /mnt/sdcard NOTE: You must use the mountpoint /mnt/sdcard because that is the Zmodem sandbox specified in the configuration: All files received from the remote host will be stored at /mnt/sdcard because of: CONFIG_SYSTEM_ZMODEM_MOUNTPOINT="/mnt/sdcard" Hmmm.. I probably should set up an NSH script to just mount /dev/mmcsd0 at /mnt/sdcard each time the board boots. 4. Sending Files from the Target to the Linux Host PC This program has been verified against the rzsz programs running on a Linux PC. To send a file to the PC, first make sure that the serial port is configured to work with the board: $ sudo stty -F /dev/ttyS0 2400 # Select 2400 BAUD $ sudo stty -F /dev/ttyS0 crtscts # Enables CTS/RTS handshaking * $ sudo stty -F /dev/ttyS0 # Show the TTY configuration * Only is hardware flow control is enabled. It is *not* in this default configuration. Start rz on the Linux host: $ sudo rz /dev/ttyS0 You can add the rz -v option multiple times, each increases the level of debug output. NOTE: The NuttX Zmodem does sends rz\n when it starts in compliance with the Zmodem specification. On Linux this, however, seems to start some other, incompatible version of rz. You need to start rz manually to make sure that the correct version is selected. You can tell when this evil rz/sz has inserted itself because you will see the '^' (0x5e) character replacing the standard Zmodem ZDLE character (0x19) in the binary data stream. If you don't have the rz command on your Linux box, the package to install rzsz (or possibily lrzsz). Then on the target: > sz -d /dev/ttyS1 Where filename is the full path to the file to send (i.e., it begins with the '/' character). /dev/ttyS1 is configured to support Hardware flow control in order to throttle therates of data transfer to fit within the allocated buffers. Other devices may be used but if they do not support hardware flow control, the transfers will fail 5. Receiving Files on the Target from the Linux Host PC NOTE: There are issues with using the Linux sz command with the NuttX rz command. See "STATUS" below. It is recommended that you use the NuttX sz command on Linux as described in the next paragraph. To send a file to the target, first make sure that the serial port on the host is configured to work with the board: $ sudo stty -F /dev/ttyS0 2400 # Select 2400 BAUD $ sudo stty -F /dev/ttyS0 crtscts # Enables CTS/RTS handshaking * $ sudo stty -F /dev/ttyS0 # Show the TTY configuration * Only is hardware flow control is enabled. It is *not* in this default configuration. Start rz on the on the target: nsh> rz -d /dev/ttyS1 /dev/ttyS1 is configured to support Hardware flow control in order to throttle therates of data transfer to fit within the allocated buffers. Other devices may be used but if they do not support hardware flow control, the transfers will fail Then use the sz command on Linux to send the file to the target: $ sudo sz t /dev/ttyS0 Where is the file that you want to send. The resulting file will be found where you have configured the Zmodem "sandbox" via CONFIG_SYSTEM_ZMODEM_MOUNTPOINT, in this case at /mnt/sdcard. You can add the az -v option multiple times, each increases the level of debug output. If you want to capture the Linux rz output, then re-direct stderr to a log file by adding 2>az.log to the end of the rz command. If you don't have the az command on your Linux box, the package to install rzsz (or possibily lrzsz). STATUS 2013-7-15: Testing against the Linux rz/sz commands. I have been able to send large and small files with the target sz command. I have been able to receive small files, but there are problems receiving large files using the Linux sz command: The Linux SZ does not obey the buffering limits and continues to send data while rz is writing the previously received data to the file and the serial driver's RX buffer is overrun by a few bytes while the write is in progress. As a result, when it reads the next buffer of data, a few bytes may be missing. The symptom of this missing data is a CRC check failure. Either (1) we need a more courteous host application, or (2) we need to greatly improve the target side buffering capability! We might get better behavior if we use the NuttX rz/sz commands on the host side (see apps/system/zmodem/README.txt). 2013-7-16: More Testing against the Linux rz/sz commands. I have verified that with debug off and at lower serial BAUD (2400), the transfers of large files succeed without errors. I do not consider this a "solution" to the problem. I also found that the LPC17xx hardware flow control causes strange hangs; Zmodem works much better with hardware flow control disabled. At this lower BAUD, RX buffer sizes could probably be reduced; Or perhaps the BAUD coud be increased. My thought, however, is that tuning in such an unhealthy situation is not the approach: The best thing to do would be to use the matching NuttX sz on the Linux host side. 2013-7-16. More Testing against the NuttX rz/sz on Both Ends. The NuttX sz/rz commands have been modified so that they can be built and executed under Linux. In this case, there are no transfer problems at all in either direction and with large or small files. This configuration could probably run at much higher serial speeds and with much smaller buffers (although that has not been verified as of this writing).