README ====== This README file describes the port of NuttX to the SAMA4D4-EK development board. This board features the Atmel SAMA5D44 microprocessor. See http://www.atmel.com for further information. This port was actually performed on a board designated SAMA5D4-MB. This board should be equivalent to the SAMA5D4-EK. However, care should be taken when I refer to PIO, Connector, or Jumper Usage in this document. Please consult the schematic for your actual board-in-hand to verify that information. SAMA5D44 -------- ---------------------------- ------------- PARAMETER SAMA5D44 ---------------------------- ------------- CPU Cortex-A5 ARM TrustZone Yes NEON Multimedia Architecture Yes Pin Count 361 Data Cache 32KiB Instruction Cache 32KiB L2 Cache 128KiB Max. Operating Frequency 533MHz SRAM 128KiB Max I/O Pins 138 USB Transceiver 3 USB Speed Hi-Speed USB Interface Host, Device SPI 3 TWI (I2C) 4 UART 7 LIN 4 SSC 2 Ethernet 2 10/100Mbps SD / eMMC 2 Graphic LCD Yes Camera Interface Yes Video Decoder Yes Soft Modem Yes ADC channels 5 Resistive Touch Screen Yes Capacitive Touch Module Yes Crypto Engine SHA/AES/TDES TRNG Yes External Bus Interface 1 DRAM Memory DDR2/LPDDR, SDRAM/LPSDR, 32-bit NAND Interface Yes FPU Yes MPU / MMU No/Yes Timers 9 Output Compare channels 9 Input Capture Channels 9 PWM Channels 4 32kHz RTC Yes Package BGA361 ---------------------------- ------------- Contents ======== - Development Environment - GNU Toolchain Options - IDEs - NuttX EABI "buildroot" Toolchain - NXFLAT Toolchain - Loading Code into SRAM with J-Link - Writing to FLASH using SAM-BA - Creating and Using DRAMBOOT - Creating and Using AT25BOOT - Running NuttX from SDRAM - PIO Usage - Buttons and LEDs - Serial Console - Networking - AT25 Serial FLASH - HSMCI Card Slots - Auto-Mounter - USB Ports - USB High-Speed Device - USB High-Speed Host - SDRAM Support - NAND Support - I2C Tool - SAMA5 ADC Support - SAMA5 PWM Support - RTC - Watchdog Timer - TRNG and /dev/random - Audio Support - TM7000 LCD/Touchscreen - Tickless OS - SAMA4D4-EK Configuration Options - Configurations - To-Do List Development Environment ======================= Several possible development environments may be used: - Linux or OSX native - Cygwin unders Windows - MinGW + MSYS under Windows - Windows native (with GNUMake from GNUWin32). All testing has been performed using Cygwin under Windows. The source has been built only using the GNU toolchain (see below). Other toolchains will likely cause problems. GNU Toolchain Options ===================== The NuttX make system will support the several different toolchain options. All testing has been conducted using the CodeSourcery GCC toolchain. To use a different toolchain, you simply need to add change to one of the following configuration options to your .config (or defconfig) file: CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery under Windows CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux CONFIG_ARMV7A_TOOLCHAIN_ATOLLIC=y : Atollic toolchain for Windos CONFIG_ARMV7A_TOOLCHAIN_DEVKITARM=y : devkitARM under Windows CONFIG_ARMV7A_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIL=y : Generic GCC ARM EABI toolchain for Linux CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIW=y : Generic GCC ARM EABI toolchain for Windows The CodeSourcery GCC toolchain is selected with CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y and setting the PATH variable appropriately. NOTE about Windows 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 paths which do not work with the Cygwin make. MKDEP = $(TOPDIR)/tools/mknulldeps.sh IDEs ==== NuttX is built using command-line make. It can be used with an IDE, but some effort will be required to create the project. Makefile Build -------------- Under Eclipse, it is pretty easy to set up an "empty makefile project" and simply use the NuttX makefile to build the system. That is almost for free under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty makefile project in order to work with Windows (Google for "Eclipse Cygwin" - there is a lot of help on the internet). Native Build ------------ Here are a few tips before you start that effort: 1) Select the toolchain that you will be using in your .config file 2) Start the NuttX build at least one time from the Cygwin command line before trying to create your project. This is necessary to create certain auto-generated files and directories that will be needed. 3) Set up include pathes: You will need include/, arch/arm/src/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 an IDE. 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 sama5d4-ek/ 2. Download the latest buildroot package into 3. unpack the buildroot tarball. The resulting directory may have versioning information on it like buildroot-x.y.z. If so, rename /buildroot-x.y.z to /buildroot. 4. cd /buildroot 5. Copy the configuration file from the configs/ sub-directory to the top-level build directory: cp configs/cortexa8-eabi-defconfig-4.8.2 .config 6a. You may wish to modify the configuration before you build it. For example, it is recommended that you build the kconfig-frontends tools, generomfs, and the NXFLAT tools as well. You may also want to change the selected toolchain. These reconfigurations can all be done with make menuconfig 6b. If you chose to make the configuration with no changes, then you should still do the following to make certain that the build configuration is up-to-date: 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. 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 sama5d4-ek/ 2. Download the latest buildroot package into 3. unpack the buildroot tarball. The resulting directory may have versioning information on it like buildroot-x.y.z. If so, rename /buildroot-x.y.z to /buildroot. 4. cd /buildroot 5. cp configs/cortexm3-defconfig-nxflat .config 6. make oldconfig 7. make 8. Edit setenv.h, if necessary, so that the PATH variable includes the path to the newly built NXFLAT binaries. NOTE: There are some known incompatibilities with 4.6.3 EABI toolchain and 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. Loading Code into SRAM with J-Link ================================== Loading code with the Segger tools and GDB ------------------------------------------ 1) Change directories into the directory where you built NuttX. 2) Start the GDB server and wait until it is ready to accept GDB connections. 3) Then run GDB like this: $ arm-none-eabi-gdb (gdb) target remote localhost:2331 (gdb) mon reset (gdb) load nuttx (gdb) ... start debugging ... Loading code using J-Link Commander ---------------------------------- J-Link> r J-Link> loadbin
J-Link> setpc
J-Link> ... start debugging ... Writing to FLASH using SAM-BA ============================= Assumed starting configuration: 1. You have installed the J-Link CDC USB driver (Windows only, there is no need to install a driver on any regular Linux distribution), 2. You have the USB connected to DBGU port (J23) 3. Terminal configuration: 115200 8N1 Using SAM-BA to write to FLASH: 1. Exit the terminal emulation program and remove the USB cable from the DBGU port (J23) 2. Connect the USB cable to the device USB port (J6) 3. JP9 must open (BMS == 1) to boot from on-chip Boot ROM. 4. Press and maintain PB4 CS_BOOT button and power up the board. PB4 CS_BOOT button prevents booting from Nand or serial Flash by disabling Flash Chip Selects after having powered the board, you can release the PB4 BS_BOOT button. 5. On Windows you may need to wait for a device driver to be installed. 6. Start the SAM-BA application, selecting (1) the correct USB serial port, and (2) board = at91sama5d4-ek. 7. The SAM-BA menu should appear. 8. Select the FLASH bank that you want to use and the address to write to and "Execute" 9. When you are finished writing to FLASH, remove the USB cable from J6 and re-connect the serial link on USB CDC / DBGU connector (J23) and re-open the terminal emulator program. 10. Power cycle the board. Creating and Using DRAMBOOT =========================== In order to have more control of debugging code that runs out of DARM, I created the sama5d4-ek/dramboot configuration. That configuration is described below under "Configurations." Here are some general instructions on how to build an use dramboot: Building: 1. Remove any old configurations (if applicable). cd make distclean 2. Install and build the dramboot configuration. This steps will establish the dramboot configuration and setup the PATH variable in order to do the build: cd tools ./configure.sh sama5d4-ek/dramboot 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. NOTE: Be aware that the default dramboot also disables the watchdog. Since you will not be able to re-enable the watchdog later, you may need to set CONFIG_SAMA5_WDT=y in the NuttX configuration file. Then make dramboot: make This will result in an ELF binary called 'nuttx' and also HEX and binary versions called 'nuttx.hex' and 'nuttx.bin'. 3. Rename the binaries. Since you will need two versions of NuttX: this dramboot version that runs in internal SRAM and another under test in NOR FLASH, I rename the resulting binary files so that they can be distinguished: mv nuttx dramboot mv nuttx.hex dramboot.hex mv nuttx.bin dramboot.bin 4. Build the "real" DRAM configuration. This will create the nuttx.hex that you will load using dramboot. Note that you must select CONFIG_SAMA5D4EK_DRAM_BOOT=y. This controls the origin at which the code is linked and positions it correctly for the DRAMBOOT program. 5. Restart the system holding DIS_BOOT. You should see the RomBOOT prompt on the 115200 8N1 serial console (and nothing) more. Hit the ENTER key with the focus on your terminal window a few time. This will enable JTAG. 6. Then start the J-Link GDB server and GDB. In GDB, I do the following: (gdb) mon heal # Halt the CPU (gdb) load dramboot # Load dramboot into internal SRAM (gdb) mon go # Start dramboot You should see this message: Send Intel HEX file now Load your program by sending the nuttx.hex via the terminal program. Then: (gdb) mon halt # Break in (gdb) mon reg pc = 0x20000040 # Set the PC to DRAM entry point (gdb) mon go # And jump into DRAM The dramboot program can also be configured to jump directly into DRAM without requiring the final halt and go by setting CONFIG_SAMA5D4EK_DRAM_START=y in the NuttX configuration. However, since I have been debugging the early boot sequence, the above sequence has been most convenient for me since it allows me to step into the program in SDRAM. 7. An option is to use the SAM-BA tool to write the DRAMBOOT image into Serial FLASH. Then, the system will boot from Serial FLASH by copying the DRAMBOOT image in SRAM which will run, download the nuttx.hex file, and then start the image loaded into DRAM automatically. This is a very convenient usage! NOTES: (1) There is that must be closed to enable use of the AT25 Serial Flash. (2) If using SAM-BA, make sure that you load the DRAM boot program into the boot area via the pull-down menu. (3) If you don't have SAM-BA, an alternative is to use the AT25BOOT program described in the next section. STATUS: I don't have a working SAM-BA at the moment and there are issues with my AT25BOOT (see below). I currently work around these issues by putting DRAMBOOT on a microSD card (as boot.bin). The RomBOOT loader does boot that image without issue. Creating and Using AT25BOOT =========================== To work around some SAM-BA availability issues that I had at one time, I created the AT25BOOT program. AT25BOOT is a tiny program that runs in ISRAM. AT25BOOT will enable SDRAM and configure the AT25 Serial FLASH. It will prompt and then load an Intel HEX program into SDRAM over the serial console. If the program is successfully loaded in SDRAM, AT25BOOT will copy the program at the beginning of the AT26 Serial FLASH. If the jumpering is set correctly, the SAMA5D4 RomBOOT loader will then boot the program from the serial FLASH the next time that it reset. The AT25BOOT configuration is described below under "Configurations." Here are some general instructions on how to build an use AT25BOOT: Building: 1. Remove any old configurations (if applicable). cd make distclean 2. Install and build the AT25BOOT configuration. This steps will establish the AT25BOOT configuration and setup the PATH variable in order to do the build: cd tools ./configure.sh sama5d4-ek/at25boot 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. Then make AT25BOOT: make This will result in an ELF binary called 'nuttx' and also HEX and binary versions called 'nuttx.hex' and 'nuttx.bin'. 3. Rename the binaries. If you want to save this version of AT25BOOT so that it does not get clobbered later, you may want to rename the binaries: mv nuttx at25boot mv nuttx.hex at25boot.hex mv nuttx.bin at25boot.bin 4. Build the "real" DRAMBOOT configuration. This will create the dramboot.hex that you will write to the AT25 FLASH using AT25BOOT. See the section above entitled "Creating and Using AT25BOOT" for more information. 5. Restart the system holding DIS_BOOT. You should see the RomBOOT prompt on the 115200 8N1 serial console (and nothing) more. Hit the ENTER key with the focus on your terminal window a few time. This will enable JTAG. 6. Then start the J-Link GDB server and GDB. In GDB, I do the following: (gdb) mon heal # Halt the CPU (gdb) load at25boot # Load AT25BOOT into internal SRAM (gdb) mon go # Start AT25BOOT You should see this message: Send Intel HEX file now Load DRAMBOOT by sending the dramboot.hex via the terminal program. At this point you will get messages indicated whether or not the write to the AT25 FLASH was successful or not. When you reset the board, it should then boot from the AT25 Serial FLASH and you should again get the prompt: Send Intel HEX file now But now you are being prompted to load the DRAM program under test (See the section above entitled "Creating and Using AT25BOOT"). 7. An better option, if available, is to use the SAM-BA tool to write the DRAMBOOT image into Serial FLASH. NOTES: (1) There is that must be closed to enable use of the AT25 Serial Flash. (2) If using SAM-BA, make sure that you load the DRAM boot program into the boot area via the pull-down menu. STATUS: While this program works great and appears to correctly write the binary image onto the AT25 Serial FLASH, the RomBOOT loader will not boot it! I believe that is because the secure boot loader has some undocumented requirements that I am unaware of. (2014-6-28) Running NuttX from SDRAM ======================== NuttX may be executed from SDRAM. But this case means that the NuttX binary must reside on some other media (typically NAND FLASH, Serial FLASH) or transferred over some interface (perhaps a UARt or even a TFTP server). In these cases, an intermediate bootloader such as U-Boot or Barebox must be used to configure the SAMA5D4 clocks and SDRAM and then to copy the NuttX binary into SDRAM. The SRAMBOOT program is another option (see above). But this section will focus on U-Boot. - NuttX Configuration - Boot sequence - NAND FLASH Memory Map - Programming the AT91Boostrap Binary - Programming U-Boot - Load NuttX with U-Boot on AT91 boards TODO: Some drivers may require some adjustments to run from SDRAM. That is because in this case macros like BOARD_MCK_FREQUENCY are not constants but are instead function calls: The MCK clock frequency is not known in advance but instead has to be calculated from the bootloader PLL configuration. See the TODO list at the end of this file for further information. NuttX Configuration ------------------- In order to run from SDRAM, NuttX must be built at origin 0x20008000 in SDRAM (skipping over SDRAM memory used by the bootloader). The following configuration option is required: CONFIG_SAMA5_BOOT_SDRAM=y CONFIG_BOOT_RUNFROMSDRAM=y These options tell the NuttX code that it will be booting and running from SDRAM. In this case, the start-logic will do to things: (1) it will not configure the SAMA5D4 clocking. Rather, it will use the clock configuration as set up by the bootloader. And (2) it will not attempt to configure the SDRAM. Since NuttX is already running from SDRAM, it must accept the SDRAM configuration as set up by the bootloader. Boot sequence ------------- Reference: http://www.at91.com/linux4sam/bin/view/Linux4SAM/GettingStarted Several pieces of software are involved to boot a Nutt5X into SDRAM. First is the primary bootloader in ROM which is in charge to check if a valid application is present on supported media (NOR FLASH, Serial DataFlash, NAND FLASH, SD card). The boot sequence of linux4SAM is done in several steps : 1. The ROM bootloader checks if a valid application is present in FLASH and if it is the case downloads it into internal SRAM. This program is usually a second level bootloader called AT91BootStrap. 2. AT91Bootstrap is the second level bootloader. It is in charge of the hardware configuration. It downloads U-Boot / Barebox binary from FLASH to SDRAM / DDRAM and starts the third level bootloader (U-Boot / Barebox) (see http://www.at91.com/linux4sam/bin/view/Linux4SAM/AT91Bootstrap). 3. The third level bootloader is either U-Boot or Barebox. The third level bootloader is in charge of downloading NuttX binary from FLASH, network, SD card, etc. It then starts NuttX. 4. Then NuttX runs from SDRAM NAND FLASH Memory Map --------------------- Reference: http://www.at91.com/linux4sam/bin/view/Linux4SAM/GettingStarted 0x0000:0000 - 0x0003:ffff: AT91BootStrap 0x0004:0000 - 0x000b:ffff: U-Boot 0x000c:0000 - 0x000f:ffff: U-Boot environment 0x0010:0000 - 0x0017:ffff: U-Boot environement redundant 0x0018:0000 - 0x001f:ffff: Device tree (DTB) 0x0020:0000 - 0x007f:ffff: NuttX 0x0080:0000 - end: Available for use as a NAND file system Programming the AT91Boostrap Binary ----------------------------------- Reference: http://www.at91.com/linux4sam/bin/view/Linux4SAM/AT91Bootstrap This section describes how to program AT91Bootstrap binary into the boot media with SAM-BA tool using NandFlash as boot media. 1. Get AT91BootStrap binaries. Build instructions are available here: http://www.at91.com/linux4sam/bin/view/Linux4SAM/AT91Bootstrap#Build_AT91Bootstrap_from_sources A pre-built AT91BootStrap binary is available here: ftp://www.at91.com/pub/at91bootstrap/AT91Bootstrap3.6.1/sama5d3_xplained-nandflashboot-uboot-3.6.1.bin 2. Start the SAM-BA GUI Application: - Connect the USB Device interface to your host machine using the USB Device Cable. - Make sure that the chip can execute the SAM-BA Monitor. - Start SAM-BA GUI application. - Select the board in the drop-down menu and choose the USB connection. 3. In the SAM-BA GUI Application: - Choose the "NandFlash" tab in the SAM-BA GUI interface. - Initialize the NandFlash by choosing the "Enable NandFlash" action in the Scripts rolling menu, then press "Execute" button. - Erase the NandFlash device by choosing the "Erase All" action, then press "Execute" button. - Enable the PMECC by choosing the "Enable OS PMECC parameters" action, then press "Execute" button. PMECC Number of sectors per page: 4 Spare Size: 64 Number of ECC bits required: 4 Size of the ECC sector: 512 ECC offset: 36 - Choose "Send Boot File" action, then press Execute button to select the at91bootstrap binary file and to program the binary to the NandFlash. - Close SAM-BA, remove the USB Device cable. Programming U-Boot ------------------- Reference http://www.at91.com/linux4sam/bin/view/Linux4SAM/U-Boot 1. Get U-Boot Binaries. Build instructions are available here: http://www.at91.com/linux4sam/bin/view/Linux4SAM/U-Boot#Build_U_Boot_from_sources A pre-Built binay image is available here: ftp://www.at91.com/pub/uboot/u-boot-v2013.07/u-boot-sama5d3_xplained-v2013.07-at91-r1.bin 2. Start the SAM-BA GUI Application: - Connect the USB Device interface to your host machine using the USB Device Cable. - Make sure that the chip can execute the SAM-BA Monitor. - Start SAM-BA GUI application. - Select the board in the drop-down menu and choose the USB connection. 3. In the SAM-BA GUI Application: - Choose the NandFlash tab in the SAM-BA GUI interface. - Initialize the NandFlash by choosing the "Enable NandFlash" action in the Scripts rolling menu, then press Execute button. - Enable the PMECC by choosing the "Enable OS PMECC parameters" action, then press Execute button. PMECC Number of sectors per page: 4 Spare Size: 64 Number of ECC bits required: 4 Size of the ECC sector: 512 ECC offset: 36 - Press the "Send File Name" Browse button - Choose u-boot.bin binary file and press Open - Enter the proper address on media in the Address text field: 0x00040000 - Press the "Send File" button - Close SAM-BA, remove the USB Device cable. You should now be able to interrupt with U-Boot vie the DBGU interface. Load NuttX with U-Boot on AT91 boards ------------------------------------- Reference http://www.at91.com/linux4sam/bin/view/Linux4SAM/U-Boot Preparing NuttX image U-Boot does not support normal binary images. Instead you have to create an uImage file with the mkimage tool which encapsulates kernel image with header information, CRC32 checksum, etc. mkimage comes in source code with U-Boot distribution and it is built during U-Boot compilation (u-boot-source-dir/tools/mkimage). There are also sites where you can download pre-built mkimage binaries. For example: http://www.trimslice.com/wiki/index.php/U-Boot_images See the U-Boot README file for more information. More information is also available in the mkimage man page (for example, http://linux.die.net/man/1/mkimage). Command to generate an uncompressed uImage file (4) : mkimage -A arm -O linux -C none -T kernel -a 20008000 -e 20008000 \ -n nuttx -d nuttx.bin uImage Where: -A arm: Set architecture to ARM -O linux: Select operating system. bootm command of u-boot changes boot method by os type. -T kernel: Set image type. -C none: Set compression type. -a 20008000: Set load address. -e 20008000: Set entry point. -n nuttx: Set image name. -d nuttx.bin: Use image data from nuttx.bin. This will generate a binary called uImage. If you have the path to mkimage in your PATH variable, then you can automatically build the uImage file by adding the following to your .config file: CONFIG_RAW_BINARY=y CONFIG_UBOOT_UIMAGE=y CONFIG_UIMAGE_LOAD_ADDRESS=0x20008000 CONFIG_UIMAGE_ENTRY_POINT=0x20008040 The uImage file can them be loaded into memory from a variety of sources (serial, SD card, JFFS2 on NAND, TFTP). STATUS: 2014-4-1: So far, I am unable to get U-Boot to execute the uImage file. I get the following error messages (in this case trying to load from an SD card): U-Boot> fatload mmc 0 0x22000000 uimage reading uimage 97744 bytes read in 21 ms (4.4 MiB/s) U-Boot> bootm 0x22000000 ## Booting kernel from Legacy Image at 0x22000000 ... Image Name: nuttx Image Type: ARM Linux Kernel Image (uncompressed) Data Size: 97680 Bytes = 95.4 KiB Load Address: 20008000 Entry Point: 20008040 Verifying Checksum ... OK XIP Kernel Image ... OK FDT and ATAGS support not compiled in - hanging ### ERROR ### Please RESET the board ### This, however, appears to be a usable workaround: U-Boot> fatload mmc 0 0x20008000 nuttx.bin mci: setting clock 257812 Hz, block size 512 mci: setting clock 257812 Hz, block size 512 mci: setting clock 257812 Hz, block size 512 gen_atmel_mci: CMDR 00001048 ( 8) ARGR 000001aa (SR: 0c100025) Command Time Out mci: setting clock 257812 Hz, block size 512 mci: setting clock 22000000 Hz, block size 512 reading nuttx.bin 108076 bytes read in 23 ms (4.5 MiB/s) U-Boot> go 0x20008040 ## Starting application at 0x20008040 ... NuttShell (NSH) NuttX-7.2 nsh> Loading through network On a development system, it is useful to get the kernel and root file system through the network. U-Boot provides support for loading binaries from a remote host on the network using the TFTP protocol. To manage to use TFTP with U-Boot, you will have to configure a TFTP server on your host machine. Check your distribution manual or Internet resources to configure a Linux or Windows TFTP server on your host: - U-Boot documentation on a Linux host: http://www.denx.de/wiki/view/DULG/SystemSetup#Section_4.6. - Another TFTP configuration reference: http://www.linuxhomenetworking.com/wiki/index.php/Quick_HOWTO_:_Ch16_:_Telnet%2C_TFTP%2C_and_xinetd#TFTP On the U-Boot side, you will have to setup the networking parameters: 1. Setup an Ethernet address (MAC address) Check this U-Boot network BuildRootFAQ entry to choose a proper MAC address: http://www.denx.de/wiki/DULG/EthernetDoesNotWork setenv ethaddr 00:e0:de:ad:be:ef 2. Setup IP parameters: The board ip address setenv ipaddr 10.0.0.2 The server ip address where the TFTP server is running setenv serverip 10.0.0.1 3. saving Environment to flash saveenv 4. If Ethernet Phy has not been detected during former bootup, reset the board to reload U-Boot : the Ethernet address and Phy initialization shall be ok, now 5. Download the NuttX uImage and the root file system to a ram location using the U-Boot tftp command (Cf. U-Boot script capability chapter). 6. Launch NuttX issuing a bootm or boot command. If the board has both emac and gmac, you can use following to choose which one to use: setenv ethact macb0,gmacb0 setenv ethprime gmacb0 STATUS: 2014-3-30: These instructions were adapted from the Linux4SAM website but have not yet been used. PIO Usage ========= Rev. B. 0111A ------------------------------ ------------------- ------------------------- SAMA5D4 PIO SIGNAL USAGE ------------------------------ ------------------- ------------------------- PA0/LCDDAT0/TMS PA0 LCDDAT0, TMS PA1/LCDDAT1 PA1 LCDDAT1 PA2/LCDDAT2/G1_TXCK PA LCDDAT2, G1_TXCK PA3/LCDDAT3/G1_RXCK PA3 LCDDAT3 PA4/LCDDAT4/G1_TXEN PA4 LCDDAT4, G1_TXEN PA5/LCDDAT5/G1_TXER PA5 LCDDAT5 PA6/LCDDAT6/G1_CRS PA6 LCDDAT6 PA7/LCDDAT7 PA7 LCDDAT7 PA8/LCDDAT8/TCK PA8 LCDDAT8, TCK PA9/LCDDAT9/G1_COL PA9 LCDDAT9 PA10/LCDDAT10/G1_RXDV PA10 LCDDAT10, G1_RXDV PA11/LCDDAT11/G1_RXER PA11 LCDDAT11, G1_RXER PA12/LCDDAT12/G1_RX0 PA12 LCDDAT12, G1_RX0 PA13/LCDDAT13/G1_RX1 PA13 LCDDAT13, G1_RX1 PA14/LCDDAT14/G1_TX0 PA14 LCDDAT14, G1_TX0 PA15/LCDDAT15/G1_TX1 PA15 LCDDAT15, G1_TX1 PA16/LCDDAT16/NTRST PA16 LCDDAT16, NTRST PA17/LCDDAT17 PA17 LCDDAT17 PA18/LCDDAT18/G1_RX2 PA18 LCDDAT18 PA19/LCDDAT19/G1_RX3 PA19 LCDDAT19 PA20/LCDDAT20/G1_TX2 PA20 LCDDAT20 PA21/LCDDAT21/G1_TX3 PA21 LCDDAT21 PA22/LCDDAT22/G1_MDC PA22 LCDDAT22, G1_MDC PA23/LCDDAT23/G1_MDIO PA23 LCDDAT23, G1_MDIO PA24/LCDPWM/PCK0 PA24 LCDPWM, EXP PA25/LCDDISP/TD0 PA25 LCDDISP, EXP PA26/LCDVSYNC/PWMH0/SPI1_NPCS1 PA26 LCDVSYNC PA27/LCDHSYNC/PWML0/SPI1_NPCS2 PA27 LCDHSYNC PA28/LCDPCK/PWMH1/SPI1_NPCS3 PA28 LCDPCK PA29/LCDDEN/PWML1 PA29 LCDDEN PA30/TWD0 PA30 TWD0 PA31/TWCK0 PA31 TWCK0 ------------------------------ ------------------- ------------------------- PB0/G0_TXCK PB0 G0_TXCK, EXP PB1/G0_RXCK/SCK2/ISI_PCK ISI_PCK_PB1 ISI_PCK PB2/G0_TXEN PB2 G0_TXEN,EXP PB3/G0_TXER/CTS2/ISI_VSYNC ISI_VSYNC_PB3 ISI_VSYNC PB4/G0_CRS/RXD2/ISI_HSYNC ISI_HSYNC_PB4 ISI_HSYNC PB5/G0_COL/TXD2/PCK2 ISI_PWD_PB5 ISI_PWD PB6/G0_RXDV PB6 G0_RXDV, EXP PB7/G0_RXER PB7 G0_RXER, EXP PB8/G0_RX0 PB8 G0_RX0, EXP PB9/G0_RX1 PB9 G0_RX1, EXP PB10/G0_RX2/PCK2/PWML1 PB10 AUDIO_PCK2, EXP PB11/G0_RX3/RTS2/PWMH1 ISI_RST_PB11 ISI_RST PB12/G0_TX0 PB12 G0_TX0, EXP PB13/G0_TX1 PB13 G0_TX1, EXP PB14/G0_TX2/SPI2_NPCS1/PWMH0 ZIG_SPI2_NPCS1 ZIG_SPI2_NPCS1 PB15/G0_TX3/SPI2_NPCS2/PWML0 HDMI_RST_PB15 HDMI_RST PB16/G0_MDC PB16 G0_MDC, EXP PB17/G0_MDIO PB17 G0_MDIO, EXP PB18/SPI1_MISO/D8 LCD_SPI1_SO LCD_SPI1_SO PB19/SPI1_MOSI/D9 LCD_SPI1_SI LCD_SPI1_SI PB20/SPI1_SPCK/D10 LCD_SPI1_CLK LCD_SPI1_CLK PB21/SPI1_NPCS0/D11 EXP_PB21 EXP PB22/SPI1_NPCS1/D12 EXP_PB22 EXP PB23/SPI1_NPCS2/D13 LCD_SPI1_CS2 LCD_SPI1_NPCS2 PB24/DRXD/D14/TDI PB24 TDI, EXP PB25/DTXD/D15/TDO PB25 TDO, EXP PB26/PCK0/RK0/PWMH0 PB26 AUDIO_RK0 PB27/SPI1_NPCS3/TK0/PWML0 PB27 AUDIO, HDMI_TK0, EXP PB28/SPI2_NPCS3/TD0/PWMH1 PB28 AUDIO, HDMI_TD0, EXP PB29/TWD2/RD0/PWML1 PB29 AUDIO_RD0, ZIG_TWD2 PB30/TWCK2/RF0 PB30 AUDIO_RF, ZIG_TWCK2 PB31/TF0 PB31 AUDIO, HDMI_TF0, EXP ------------------------------ ------------------- ------------------------- PC0/SPI0_MISO/PWMH2/ISI_D8 PC0 AT25_SPI0_SO, ISI_D8 PC1/SPI0_MOSI/PWML2/ISI_D9 PC1 AT25_SPI0_SI, ISI_D9 PC2/SPI0_SPCK/PWMH3/ISI_D10 PC2 AT25_SPI0_SPCK, ISI_D10, ZIG_PWMH3_PC2 PC3/SPI0_NPCS0/PWML3/ISI_D11 PC3 AT25_SPI0_NCPS0, ISI_D11, ZIG_PWML3_PC3 (See JP6) PC4/SPI0_NPCS1/MCI0_CK/PCK1 PC4 MCI0_CK, ISI_MCK, EXP PC5/D0/MCI0_CDA PC5 MCI0_CDA, NAND_IO0 PC6/D1/MCI0_DA0 PC6 MCI0_DA0, NAND_IO1 PC7/D2/MCI0_DA1 PC7 MCI0_DA1, NAND_IO2 PC8/D3/MCI0_DA2 PC8 MCI0_DA2, NAND_IO3 PC9/D4/MCI0_DA3 PC9 MCI0_DA3, NAND_IO4 PC10/D5/MCI0_DA4 PC10 MCI0_DA4, NAND_IO5 PC11/D6/MCI0_DA5 PC11 MCI0_DA5, NAND_IO6 PC12/D7/MCI0_DA6 PC12 MCI0_DA6, NAND_IO7 PC13/NRD/NANDOE/MCI0_DA7 PC13 MCI0_DA7, NAND_RE PC14/NWE/NANDWE NAND_WEn NWE, NANDWE PC15/NCS3 NAND_NCS3 NAND_NCS3 PC16/NANDRDY NAND_RDY NANDRDY PC17/A21/NANDALE NAND_ALE NAND_ALE PC18/A22/NANDCLE NAND_CLE NAND_CLE PC19/ISI_D0/TK1 PC19 ISI_D0 PC20/ISI_D1/TF1 PC20 ISI_D1 PC21/ISI_D2/TD1 PC21 ISI_D2 PC22/ISI_D3/RF1 PC22 ISI_D3 PC23/ISI_D4/RD1 PC23 ISI_D4 PC24/ISI_D5/RK1/PCK1 PC24 ISI_D5 PC25/ISI_D6/TWD3/URXD1 PC25 AUDIO_TWD3, ISI_D6 PC26/ISI_D7/TWCK3/UTXD1 PC26 AUDIO_TWCK3, ISI_D7 PC27/AD0/SPI0_NPCS1/PWML0 AD0_XP AD0_XP PC28/AD1/SPI0_NPCS2/PWML1 AD1_XM AD1_XM PC29/AD2/SPI0_NPCS3/PWMFI0 AD2_YP AD2_YP PC30/AD3/PWMH0 AD3_YM AD3_YM PC31/AD4/PWMH1 AD4_LR AD4_LR, ADC_INPUT ------------------------------ ------------------- ------------------------- PD8/PCK0 PD8 EXP_PCK0 PD9/FIQ USB_OVCUR_PD9 USB_OVCUR_PD9 PD10/CTS0/CDETA ZIG_CTS0_PD10 ZIG_CTS0 PD11/RTS0/SPI2_MISO ZIG_SPI2_MISO_RTS0 ZIG_SPI2_MISO_RTS0 PD12/RXD0/DCENA ZIG_RXD0_PD12 ZIG_RXD0 PD13/TXD0/SPI2_MOSI ZIG_SPI2_MOSI_TXD0 ZIG_SPI2_MOSI_TXD0 PD14/CTS1/CDETB ZIG_CTS1_PD14 ZIG_CTS1 PD15/RTS1/SPI2_SPCK ZIG_SPI2_SPCK_RTS1 ZIG_SPI2_SPCK_RTS PD16/RXD1/DCENB ZIG_RXD1_PD16 ZIG_RXD1_PD16 PD17/TXD1/SPI2_NPCS0 ZIG_SPI2_NPCS0_TXD1 ZIG_SPI2_NPCS0_TXD PD18/SENSE0 SENSE0_PD18 SENSE0 PD19/SENSE1 SENSE1_PD19 SENSE1 PD20/SENSE2 SENSE2_PD20 SENSE2 PD21/SENSE3 SENSE3_PD21 SENSE3 PD22/SENSE4 SENSE4_PD22 SENSE4 PD23/SENSE5 N/C N/C PD24/SENSE6 N/C N/C PD25/SENSE7 N/C N/C PD26/SENSE8 N/C N/C PD27/SENSE9 N/C N/C PD28/SCK0 N/C PD28 PD29/SCK1 SENSE_DISCH_PD29 SENSE_DISCH PD30 EXP_PD30 EXP PD31/SPI0_NPCS2/PCK1 EXP_PD31 EXP ------------------------------ ------------------- ------------------------- PE0/A0/NBS0/MCI0_CDB/CTS4 PMIC_IRQ_PE0 PMIC_IRQ PE1/A1/MCI0_DB0 G0_IRQ_PE1 G0_IRQ PE2/A2/MCI0_DB1 G1_IRQ_PE2 G1_IRQ PE3/A3/MCI0_DB2 HDMI_IRQ_PE3 HDMI_IRQ PE4/A4/MCI0_DB3 AUDIO_IRQ_PE4 AUDIO_IRQ PE5/A5/CTS3 MCI0_CD_PE5 MCI0_CD PE6/A6/TIOA3 MCI1_CD_PE6 MCI1_CD PE7/A7/TIOB3/PWMFI1 EXP_PE7 EXP PE8/A8/TCLK3/PWML3 LED_USER_PE8 LED_USER (D10) PE9/A9/TIOA2 LED_POWER_PE9 LED_POWER (D9, Red) PE10/A10/TIOB2 USBA_EN5V_PE10 EN5V_USBA PE11/A11/TCLK2 USBB_EN5V_PE11 EN5V_USBB PE12/A12/TIOA1/PWMH2 USBC_EN5V_PE12 EN5V_USBC PE13/A13/TIOB1/PWML2 PB_USER1_PE13 PB_USER1 PE14/A14/TCLK1/PWMH3 MCI1_CD_PE14 MCI1_CD ??? PE15/A15/SCK3/TIOA0 MCI1_PWR_PE15 MCI1_PWR PE16/A16/RXD3/TIOB0 DBGU_RXD3_PE16 DBGU_RXD3 (See JP19) PE17/A17/TXD3/TCLK0 DBGU_TXD3_PE17 DBGU_TXD3 (See JP20) PE18/A18/TIOA5/MCI1_CK PE18 MCI1_CK, EXP PE19/A19/TIOB5/MCI1_CDA PE19 MCI1_CDA, EXP PE20/A20/TCLK5/MCI1_DA0 PE20 MCI1_DA0, EXP PE21/A23/TIOA4/MCI1_DA1 PE21 MCI1_DA1, EXP PE22/A24/TIOB4/MCI1_DA2 PE22 MCI1_DA2, EXP PE23/A25/TCLK4/MCI1_DA3 PE23 MCI1_DA3, EXP PE24/NCS0/RTS3 LCD_PE24 LCD_PE24 PE25/NCS1/SCK4/IRQ LCD_PE25 LCD_PE25 PE26/NCS2/RXD4/A18 RXD4_PE26 RXD4 PE27/NWR1/NBS1/TXD4 TXD4_PE27 TXD4 PE28/NWAIT/RTS4/A19 1Wire_PE28 1-WIRE ROM, LCD, D8 (green) PE29/DIBP/URXD0/TWD1 SMD_DIBP_PE29 DIBP PE30/DIBN/UTXD0/TWCK1 SMD_DIBN_PE30 DIBP PE31/ADTRG USBA_VBUS_PE31 USBA_VBUS_PE31 ------------------------------ ------------------- ------------------------- Buttons and LEDs ================ Buttons ------- A single button, PB_USER1 (PB2), is available on the SAMA5D4-EK: ------------------------------ ------------------- ------------------------- SAMA5D4 PIO SIGNAL USAGE ------------------------------ ------------------- ------------------------- PE13/A13/TIOB1/PWML2 PB_USER1_PE13 PB_USER1 ------------------------------ ------------------- ------------------------- Closing JP2 will bring PE13 to ground so 1) PE13 should have a weak pull-up, and 2) when PB2 is pressed, a low value will be senses. Support for pollable buttons is enabled with: CONFIG_ARCH_BUTTONS=y For interrupt driven buttons, add: CONFIG_ARCH_IRQBUTTONS=y Program interfaces for button access are described in nuttx/include/nuttx/arch.h There is an example that can be enabled to test button interrupts. That example is enabled like: CONFIG_EXAMPLES_BUTTONS=y CONFIG_EXAMPLES_BUTTONS_MAX=0 CONFIG_EXAMPLES_BUTTONS_MIN=0 CONFIG_EXAMPLES_BUTTONS_NAME0="PB_USER" CONFIG_EXAMPLES_IRQBUTTONS_MAX=0 CONFIG_EXAMPLES_IRQBUTTONS_MIN=0 LEDs ---- There are 3 LEDs on the SAMA5D4-EK: ------------------------------ ------------------- ------------------------- SAMA5D4 PIO SIGNAL USAGE ------------------------------ ------------------- ------------------------- PE28/NWAIT/RTS4/A19 1Wire_PE28 1-WIRE ROM, LCD, D8 (green) PE8/A8/TCLK3/PWML3 LED_USER_PE8 LED_USER (D10) PE9/A9/TIOA2 LED_POWER_PE9 LED_POWER (D9, Red) ------------------------------ ------------------- ------------------------- - D8: D8 is shared with other functions and cannot be used if the 1-Wire ROM is used. I am not sure of the LCD function, but the LED may not be available if the LCD is used either. We will avoid using D8 just for simplicity. - D10: Nothing special here. A low output illuminates. - D9: The Power ON LED. Connects to the via an IRLML2502 MOSFET. This LED will be on when power is applied but otherwise a low output value will turn it off. 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 USER D10 POWER D9 ------------------- ----------------------- -------- -------- LED_STARTED NuttX has been started OFF ON LED_HEAPALLOCATE Heap has been allocated OFF ON LED_IRQSENABLED Interrupts enabled OFF ON LED_STACKCREATED Idle stack created ON ON 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 OFF Blinking LED_IDLE MCU is is sleep mode Not used Thus if the D0 and D9 are statically on, NuttX has successfully booted and is, apparently, running normally. If the red D9 LED is flashing at approximately 2Hz, then a fatal error has been detected and the system has halted. Serial Console ============== Two UART ports are available: Virtual COM / DBGU Port (J24). Either may be driven by USART3, depending upon the setting of JP19 and JP20: ------------------------------ ------------------- ------------------------- SAMA5D4 PIO SIGNAL USAGE ------------------------------ ------------------- ------------------------- PE16/A16/RXD3/TIOB0 DBGU_RXD3_PE16 DBGU_RXD3 (See JP19) PE17/A17/TXD3/TCLK0 DBGU_TXD3_PE17 DBGU_TXD3 (See JP20) ------------------------------ ------------------- ------------------------- In one jumper position UART3 connects to the SAM3U which will, in turn, provide the serial output over a USB virtual COM port. In other other jumper position, UART3 will connect the RS-232 port labelled DBGU (J24). I personally prefer the RS-2323 port because my terminal software does not lose the USB Virtual COM everytime I reset or power-cycle the board. USART4 TTL-Level ------------------------------ ------------------- ------------------------- SAMA5D4 PIO SIGNAL USAGE ------------------------------ ------------------- ------------------------- PE26/NCS2/RXD4/A18 RXD4_PE26 RXD4 PE27/NWR1/NBS1/TXD4 TXD4_PE27 TXD4 ------------------------------ ------------------- ------------------------- A TTL-to-RS232 converter is required to use this USART for a serial console. - RXD4/PE26 is available at Expansion Interface, J19C pin 59 - TXD4/PE27 is available at Expansion Interface, J19C pin 60 - VCC_3V3 is also available at Expansion Interface, J19B pins 21 and 22 - GND is available J19A pin 11, J19B pin 31, and J19C pin 51 By default the RS-232 DBGU port on USART3 is used as the NuttX serial console in all configurations (unless otherwise noted). USART4, however, is the also available. Networking ========== Networking support via the can be added to NSH by selecting the following configuration options. The SAMA5D44 supports two different 10/100Base-T Ethernet MAC peripherals. NOTE: See the "kludge" for EMAC that is documented in the To-Do list at the end of this README file. ------------------------------ ------------------- ------------------------- SAMA5D4 PIO SAMA5D4-MB KSZ8081RNB ------------------------------ ------------------- ------------------------- PB0/G0_TXCK G0_TXCK_PB0 RXF_CLK/B-CAST_OFF PB1/G0_RXCK/SCK2/ISI_PCK (RMII, not used) (RMII, not used) PB2/G0_TXEN G0_TXEN_PB2 TXEN PB3/G0_TXER/CTS2/ISI_VSYNC (RMII, not used) (RMII, not used) PB4/G0_CRS/RXD2/ISI_HSYNC (RMII, not used) (RMII, not used) PB5/G0_COL/TXD2/PCK2 (RMII, not used) (RMII, not used) PB6/G0_RXDV G0_RXDV_PB6 CRS_DV/CONFIG2 PB7/G0_RXER G0_RXER_PB7 RXER/ISO PB8/G0_RX0 G0_RX0_PB8 RXD0/DUPLEX PB9/G0_RX1 G0_RX1_PB9 RXD1/PHYAD2 PB10/G0_RX2/PCK2/PWML1 (RMII, not used) (RMII, not used) PB11/G0_RX3/RTS2/PWMH1 (RMII, not used) (RMII, not used) PB12/G0_TX0 G0_TX0_PB12 TXD0 PB13/G0_TX1 G0_TX1_PB13 TXD1 PB14/G0_TX2/SPI2_NPCS1/PWMH0 (RMII, not used) (RMII, not used) PB15/G0_TX3/SPI2_NPCS2/PWML0 (RMII, not used) (RMII, not used) PB16/G0_MDC G0_MDC_PB16 MDC PB17/G0_MDIO G0_MDIO_PB17 MDIO PE1/A1/MCI0_DB0 G0_IRQ_PE1 nINTRP/NAND_TREE ------------------------------ ------------------- ------------------------- PA2/LCDDAT2/G1_TXCK G1_TXCK_PA2 RXF_CLK/B-CAST_OFF PA3/LCDDAT3/G1_RXCK (RMII, not used) (RMII, not used) PA4/LCDDAT4/G1_TXEN G1_TXEN_PA4 TXEN PA5/LCDDAT5/G1_TXER (RMII, not used) (RMII, not used) PA6/LCDDAT6/G1_CRS (RMII, not used) (RMII, not used) PA9/LCDDAT9/G1_COL (RMII, not used) (RMII, not used) PA10/LCDDAT10/G1_RXDV G1_RXDV_PA10 CRS_DV/CONFIG2 PA11/LCDDAT11/G1_RXER G1_RXER_PA11 RXER/ISO PA12/LCDDAT12/G1_RX0 G1_RX0_PA12 RXD0/DUPLEX PA13/LCDDAT13/G1_RX1 G1_RX1_PA13 RXD1/PHYAD2 PA18/LCDDAT18/G1_RX2 (RMII, not used) (RMII, not used) PA19/LCDDAT19/G1_RX3 (RMII, not used) (RMII, not used) PA14/LCDDAT14/G1_TX0 G1_TX0_PA14 TXD0 PA15/LCDDAT15/G1_TX1 G1_TX1_PA15 TXD1 PA20/LCDDAT20/G1_TX2 (RMII, not used) (RMII, not used) PA21/LCDDAT21/G1_TX3 (RMII, not used) (RMII, not used) PA22/LCDDAT22/G1_MDC G1_MDC_PA22 MDC PA23/LCDDAT23/G1_MDIO G1_MDIO_PA23 MDIO PE2/A2/MCI0_DB1 G1_IRQ_PE2 nINTRP/NAND_TREE ------------------------------ ------------------- ------------------------- EMAC2 connects (directly) to a KSZ8081RNB PHY (U10) and is available at the ETH0 connector. EMAC1 connects (indirectly) to another KSZ8081RNB PHY (U7) and is available at the ETH1 connector. The ETH1 signals go through line drivers that are enabled via the board LCD_ETH1_CONFIG signal. Jumper JP2 selects either the EMAC1 or the LCD by controlling the the LCD_ETH1_CONFIG signal on the board. - JP2 open, LCD_ETH1_CONFIG pulled high: LCD_ETH1_CONFIG=1: LCD 5v enable(LCD_DETECT#=0); ETH1 disable - JP2 closed, LCD_ETH1_CONFIG grounded: LCD_ETH1_CONFIG=0: LCD 5v disable; ETH1 enable Selecting the EMAC0 peripheral ----------------------------- System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_EMAC0=y : Enable the EMAC peripheral System Type -> EMAC device driver options CONFIG_SAMA5_EMAC0_NRXBUFFERS=16 : Set aside some RS and TX buffers CONFIG_SAMA5_EMAC0_NTXBUFFERS=8 CONFIG_SAMA5_EMAC0_PHYADDR=1 : KSZ8081 PHY is at address 1 CONFIG_SAMA5_EMAC0_AUTONEG=y : Use autonegotiation CONFIG_SAMA5_EMAC0_RMII=y : The RMII interfaces is used on the board CONFIG_SAMA5_EMAC0_PHYSR=30 : Address of PHY status register on KSZ8081 CONFIG_SAMA5_EMAC0_PHYSR_ALTCONFIG=y : Needed for KSZ8081 CONFIG_SAMA5_EMAC0_PHYSR_ALTMODE=0x7 : " " " " " " CONFIG_SAMA5_EMAC0_PHYSR_10HD=0x1 : " " " " " " CONFIG_SAMA5_EMAC0_PHYSR_100HD=0x2 : " " " " " " CONFIG_SAMA5_EMAC0_PHYSR_10FD=0x5 : " " " " " " CONFIG_SAMA5_EMAC0_PHYSR_100FD=0x6 : " " " " " " PHY selection. Later in the configuration steps, you will need to select the KSZ8081 PHY for EMAC (See below) Selecting the EMAC1 peripheral ----------------------------- System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_EMAC1=y : Enable the EMAC peripheral System Type -> EMAC device driver options CONFIG_SAMA5_EMAC1_NRXBUFFERS=16 : Set aside some RS and TX buffers CONFIG_SAMA5_EMAC1_NTXBUFFERS=8 CONFIG_SAMA5_EMAC1_PHYADDR=1 : KSZ8081 PHY is at address 1 CONFIG_SAMA5_EMAC1_AUTONEG=y : Use autonegotiation CONFIG_SAMA5_EMAC1_RMII=y : The RMII interfaces is used on the board CONFIG_SAMA5_EMAC1_PHYSR=30 : Address of PHY status register on KSZ8081 CONFIG_SAMA5_EMAC1_PHYSR_ALTCONFIG=y : Needed for KSZ8081 CONFIG_SAMA5_EMAC1_PHYSR_ALTMODE=0x7 : " " " " " " CONFIG_SAMA5_EMAC1_PHYSR_10HD=0x1 : " " " " " " CONFIG_SAMA5_EMAC1_PHYSR_100HD=0x2 : " " " " " " CONFIG_SAMA5_EMAC1_PHYSR_10FD=0x5 : " " " " " " CONFIG_SAMA5_EMAC1_PHYSR_100FD=0x6 : " " " " " " PHY selection. Later in the configuration steps, you will need to select the KSZ8081 PHY for EMAC (See below) If both EMAC0 and EMAC1 are selected, you will also need: CONFIG_SAMA5_EMAC0_ISETH0=y : EMAC0 is "eth0"; EMAC1 is "eth1" PHY selection. Later in the configuration steps, you will need to select the KSZ9081 PHY for GMAC (See below) Common configuration settings ----------------------------- Networking Support CONFIG_NET=y : Enable Neworking CONFIG_NET_SOCKOPTS=y : Enable socket operations CONFIG_NET_BUFSIZE=562 : Maximum packet size (MTD) 1518 is more standard CONFIG_NET_RECEIVE_WINDOW=562 : Should be the same as CONFIG_NET_BUFSIZE CONFIG_NET_ARP=y : ARP support should be enabled CONFIG_NET_ARP_IPIN=y : IP address harvesting (optional) 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_KSZ8081=y : Select the KSZ8081 PHY used with EMAC0 and 1 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=y : Need to make up a bogus MAC address : 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-6.31 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! There is a configuration option enabled by CONFIG_NSH_NETINIT_THREAD that will do the NSH network bring-up asynchronously in parallel on a separate thread. This eliminates the (visible) networking delay altogether. This current implementation, however, has some limitations: - If no network is connected, the network bring-up will fail and the network initialization thread will simply exit. There are no retries and no mechanism to know if the network initialization was successful (it could perform a network Ioctl to see if the link is up and it now, keep trying, but it does not do that now). - Furthermore, there is currently no support for detecting loss of network connection and recovery of the connection (similarly, this thread could poll periodically for network status, but does not). AT25 Serial FLASH ================= Connections ----------- The SAMA4D4-EK board supports an options Serial DataFlash connected at MN8. The SPI connection is as follows: ------------------------------ ------------------- ------------------------- SAMA5D4 PIO SIGNAL USAGE ------------------------------ ------------------- ------------------------- PC0/SPI0_MISO/PWMH2/ISI_D8 PC0 AT25_SPI0_SO, ISI_D8 PC1/SPI0_MOSI/PWML2/ISI_D9 PC1 AT25_SPI0_SI, ISI_D9 PC2/SPI0_SPCK/PWMH3/ISI_D10 PC2 AT25_SPI0_SPCK, ISI_D10, ZIG_PWMH3_PC2 PC3/SPI0_NPCS0/PWML3/ISI_D11 PC3 AT25_SPI0_NCPS0, ISI_D11, ZIG_PWML3_PC3 (See JP6) ------------------------------ ------------------- ------------------------- Configuration ------------- System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_SPI0=y : Enable SPI0 CONFIG_SAMA5_DMAC0=y : Enable DMA controller 0 System Type -> SPI device driver options CONFIG_SAMA5_SPI_DMA=y : Use DMA for SPI transfers CONFIG_SAMA5_SPI_DMATHRESHOLD=4 : Don't DMA for small transfers Device Drivers -> SPI Driver Support CONFIG_SPI=y : Enable SPI support CONFIG_SPI_EXCHANGE=y : Support the exchange method Device Drivers -> Memory Technology Device (MTD) Support CONFIG_MTD=y : Enable MTD support CONFIG_MTD_AT25=y : Enable the AT25 driver CONFIG_AT25_SPIMODE=0 : Use SPI mode 0 CONFIG_AT25_SPIFREQUENCY=10000000 : Use SPI frequency 10MHz The AT25 is capable of higher SPI rates than this. I have not experimented a lot, but at 20MHz, the behavior is not the same with all CM modules. This lower rate gives more predictable performance. Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization Board Selection CONFIG_SAMA5D4EK_AT25_BLOCKMOUNT=y : Mounts AT25 for NSH CONFIG_SAMA5D4EK_AT25_FTL=y : Create block driver for FAT NOTE: that you must close JP6 in order to enable the AT25 FLASH chip select. You can then format the AT25 FLASH for a FAT file system and mount the file system at /mnt/at25 using these NSH commands: nsh> mkfatfs /dev/mtdblock0 nsh> mount -t vfat /dev/mtdblock0 /mnt/at25 Then you an use the FLASH as a normal FAT file system: nsh> echo "This is a test" >/mnt/at25/atest.txt nsh> ls -l /mnt/at25 /mnt/at25: -rw-rw-rw- 16 atest.txt nsh> cat /mnt/at25/atest.txt This is a test HSMCI Card Slots ================ Physical Slots -------------- The SAMA4D4-EK provides a two SD memory card slots: (1) a full size SD card slot (J10), and (2) a microSD memory card slot (J11). HSMCI0 ------ The full size SD card slot connects via HSMCI0. The card detect discrete is available on PE5 (pulled high). The write protect discrete is tied to ground and is not available to software. The slot supports 8-bit wide transfer mode, but the NuttX driver currently uses only the 4-bit wide transfer mode ------------------------------ ------------------- ------------------------- SAMA5D4 PIO SIGNAL USAGE ------------------------------ ------------------- ------------------------- PC4/SPI0_NPCS1/MCI0_CK/PCK1 PC4 MCI0_CK, ISI_MCK, EXP PC5/D0/MCI0_CDA PC5 MCI0_CDA, NAND_IO0 PC6/D1/MCI0_DA0 PC6 MCI0_DA0, NAND_IO1 PC7/D2/MCI0_DA1 PC7 MCI0_DA1, NAND_IO2 PC8/D3/MCI0_DA2 PC8 MCI0_DA2, NAND_IO3 PC9/D4/MCI0_DA3 PC9 MCI0_DA3, NAND_IO4 PC10/D5/MCI0_DA4 PC10 MCI0_DA4, NAND_IO5 PC11/D6/MCI0_DA5 PC11 MCI0_DA5, NAND_IO6 PC12/D7/MCI0_DA6 PC12 MCI0_DA6, NAND_IO7 PC13/NRD/NANDOE/MCI0_DA7 PC13 MCI0_DA7, NAND_RE PE5/A5/CTS3 MCI0_CD_PE5 MCI0_CD ------------------------------ ------------------- ------------------------- HSMCI1 ------ The microSD connects vi HSMCI1. The card detect discrete is available on PE6 (pulled high). NOTE that PE15 must be controlled to provide power to the HSMCI1 slot (the HSMCI0 slot is always powered). ------------------------------ ------------------- ------------------------- SAMA5D4 PIO SIGNAL USAGE ------------------------------ ------------------- ------------------------- PE14/A14/TCLK1/PWMH3 MCI1_CD_PE14 MCI1_CD ??? PE15/A15/SCK3/TIOA0 MCI1_PWR_PE15 MCI1_PWR PE18/A18/TIOA5/MCI1_CK PE18 MCI1_CK, EXP PE19/A19/TIOB5/MCI1_CDA PE19 MCI1_CDA, EXP PE20/A20/TCLK5/MCI1_DA0 PE20 MCI1_DA0, EXP PE21/A23/TIOA4/MCI1_DA1 PE21 MCI1_DA1, EXP PE22/A24/TIOB4/MCI1_DA2 PE22 MCI1_DA2, EXP PE23/A25/TCLK4/MCI1_DA3 PE23 MCI1_DA3, EXP PE6/A6/TIOA3 MCI1_CD_PE6 MCI1_CD ------------------------------ ------------------- ------------------------- Configuration Settings ---------------------- Enabling HSMCI support. The SAMA4D4-EK provides a two SD memory card slots: (1) a full size SD card slot (J10), and (2) a microSD memory card slot (J11). The full size SD card slot connects via HSMCI0; the microSD connects via HSMCI1. Support for both SD slots can be enabled with the following settings: System Type->ATSAMA5 Peripheral Support CONFIG_SAMA5_HSMCI0=y : To enable HSMCI0 support CONFIG_SAMA5_HSMCI1=y : To enable HSMCI1 support CONFIG_SAMA5_XDMAC0=y : XDMAC0 is needed by HSMCI0/1 : (HSMCI0 seemds to be secure by default) System Type CONFIG_SAMA5_PIO_IRQ=y : PIO interrupts needed CONFIG_SAMA5_PIOE_IRQ=y : Card detect pins are on PE5 and PE6 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 Library Routines CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization Using the SD card ----------------- 1) After booting, the HSCMI devices will appear as /dev/mmcsd0 and /dev/mmcsd1. 2) If you try mounting an SD card with nothing in the slot, the mount will fail: nsh> mount -t vfat /dev/mmcsd1 /mnt/sd1 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/mmcsd1 /mnt/sd1 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/sd1 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_SAMA5D4EK_HSMCI0_AUTOMOUNT=y CONFIG_SAMA5D4EK_HSMCI0_AUTOMOUNT_FSTYPE="vfat" CONFIG_SAMA5D4EK_HSMCI0_AUTOMOUNT_BLKDEV="/dev/mmcsd0" CONFIG_SAMA5D4EK_HSMCI0_AUTOMOUNT_MOUNTPOINT="/mnt/sdcard" CONFIG_SAMA5D4EK_HSMCI0_AUTOMOUNT_DDELAY=1000 CONFIG_SAMA5D4EK_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. USB Ports ========= The SAMA4D4-EK features three USB communication ports: * Port A Host High Speed (EHCI) and Full Speed (OHCI) multiplexed with USB Device High Speed Micro AB connector, J1 * Port B Host High Speed (EHCI) and Full Speed (OHCI) standard type A connector, J5 upper port * Port C Host Full Speed (OHCI) and Full Speed (OHCI) standard type A connector, J5 lower port The three USB host ports are equipped with 500-mA high-side power switch for self-powered and bus-powered applications. The USB device port A (J5) features a VBUS insert detection function. Port A ------ PIO Signal Name Function ---- -------------- ------------------------------------------------------- PE10 USBA_EN5V_PE10 VBus power enable (via MN2 power switch) to VBus pin of the OTG connector (host) PE31 USBA_VBUS_PE31 VBus sensing from the VBus pin of the OTG connector (device) Port B ------ PIO Signal Name Function ---- -------------- ------------------------------------------------------- PE11 USBB_EN5V_PE11 VBus power enable (via MN4 power switch). To the A1 pin of J5 Dual USB A connector Port C ------ PIO Signal Name Function ---- -------------- ------------------------------------------------------- PE12 USB_OVCUR_PD9 VBus power enable (via MN4 power switch). To the B1 pin of J5 Dual USB A connector Both Ports B and C ------------------ PIO Signal Name Function ---- ------------- ------------------------------------------------------- PD9 USB_OVCUR_PD9 Combined over-current indication from port A and B USB High-Speed Device ===================== Basic USB High-Speed Device Configuration ----------------------------------------- Support the USB high-speed device (UDPHS) driver can be enabled with these NuttX configuration settings. Device Drivers -> USB Device Driver Support CONFIG_USBDEV=y : Enable USB device support CONFIG_USBDEV_DUALSPEED=y : Device support High and Full Speed CONFIG_USBDEV_DMA=y : Device uses DMA System Type -> ATSAMA5 Peripheral Support CONFIG_SAMA5_UDPHS=y : Enable UDPHS High Speed USB device Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization Mass Storage Class ------------------ The Mass Storage Class (MSC) class driver is selected for use with UDPHS: Device Drivers -> USB Device Driver Support CONFIG_USBMSC=y : Enable the USB MSC class driver CONFIG_USBMSC_EPBULKOUT=1 : Use EP1 for the BULK OUT endpoint CONFIG_USBMSC_EPBULKIN=2 : Use EP2 for the BULK IN endpoint The following setting enables an add-on that can can be used to control the USB MSC device. It will add two new NSH commands: a. msconn will connect the USB serial device and export the AT25 to the host, and b. msdis which will disconnect the USB serial device. Application Configuration -> System Add-Ons: CONFIG_SYSTEM_USBMSC=y : Enable the USBMSC add-on CONFIG_SYSTEM_USBMSC_NLUNS=1 : One LUN CONFIG_SYSTEM_USBMSC_DEVMINOR1=0 : Minor device zero CONFIG_SYSTEM_USBMSC_DEVPATH1="/dev/mtdblock0" : Use a single, LUN: The AT25 : block driver. NOTES: a. To prevent file system corruption, make sure that the AT25 is un- mounted *before* exporting the mass storage device to the host: nsh> umount /mnt/at25 nsh> mscon The AT25 can be re-mounted after the mass storage class is disconnected: nsh> msdis nsh> mount -t vfat /dev/mtdblock0 /mnt/at25 b. If you change the value CONFIG_SYSTEM_USBMSC_DEVPATH1, then you can export other file systems: "/dev/mmcsd1" will export the HSMCI1 microSD "/dev/mmcsd0" will export the HSMCI0 full-size SD slot "/dev/ram0" could even be used to export a RAM disk. But you would first have to use mkrd to create the RAM disk and mkfatfs to put a FAT file system on it. CDC/ACM Serial Device Class --------------------------- This will select the CDC/ACM serial device. Defaults for the other options should be okay. Device Drivers -> USB Device Driver Support CONFIG_CDCACM=y : Enable the CDC/ACM device CONFIG_CDCACM_BULKIN_REQLEN=768 : Default too small for high-speed The following setting enables an example that can can be used to control the CDC/ACM device. It will add two new NSH commands: a. sercon will connect the USB serial device (creating /dev/ttyACM0), and b. serdis which will disconnect the USB serial device (destroying /dev/ttyACM0). Application Configuration -> Examples: CONFIG_SYSTEM_CDCACM=y : Enable an CDC/ACM example Debugging USB Device -------------------- There is normal console debug output available that can be enabled with CONFIG_DEBUG + CONFIG_DEBUG_USB. However, USB device operation is very time critical and enabling this debug output WILL interfere with the operation of the UDPHS. USB device tracing is a less invasive way to get debug information: If tracing is enabled, the USB device will save encoded trace output in in-memory buffer; if the USB monitor is also enabled, that trace buffer will be periodically emptied and dumped to the system logging device (the serial console in this configuration): Device Drivers -> "USB Device Driver Support: CONFIG_USBDEV_TRACE=y : Enable USB trace feature CONFIG_USBDEV_TRACE_NRECORDS=256 : Buffer 256 records in memory CONFIG_USBDEV_TRACE_STRINGS=y : (optional) Application Configuration -> NSH LIbrary: CONFIG_NSH_USBDEV_TRACE=n : No builtin tracing from NSH CONFIG_NSH_ARCHINIT=y : Automatically start the USB monitor Application Configuration -> System NSH Add-Ons: CONFIG_SYSTEM_USBMONITOR=y : Enable the USB monitor daemon CONFIG_SYSTEM_USBMONITOR_STACKSIZE=2048 : USB monitor daemon stack size CONFIG_SYSTEM_USBMONITOR_PRIORITY=50 : USB monitor daemon priority CONFIG_SYSTEM_USBMONITOR_INTERVAL=1 : Dump trace data every second CONFIG_SYSTEM_USBMONITOR_TRACEINIT=y : Enable TRACE output CONFIG_SYSTEM_USBMONITOR_TRACECLASS=y CONFIG_SYSTEM_USBMONITOR_TRACETRANSFERS=y CONFIG_SYSTEM_USBMONITOR_TRACECONTROLLER=y CONFIG_SYSTEM_USBMONITOR_TRACEINTERRUPTS=y NOTE: If USB debug output is also enabled, both outputs will appear on the serial console. However, the debug output will be asynchronous with the trace output and, hence, difficult to interpret. USB High-Speed Host =================== OHCI Only --------- Support the USB low/full-speed OHCI host driver can be enabled by changing the NuttX configuration file as follows: System Type -> ATSAMA5 Peripheral Support CONFIG_SAMA5_UHPHS=y : USB Host High Speed System Type -> USB High Speed Host driver options CONFIG_SAMA5_OHCI=y : Low/full-speed OHCI support : Defaults for values probably OK Device Drivers CONFIG_USBHOST=y : Enable USB host support Device Drivers -> USB Host Driver Support CONFIG_USBHOST_ISOC_DISABLE=y : Isochronous endpoints not used CONFIG_USBHOST_MSC=y : Enable the mass storage class driver CONFIG_USBHOST_HIDKBD=y : Enable the HID keyboard class driver Library Routines CONFIG_SCHED_WORKQUEUE=y : Worker thread support is required Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization EHCI ---- Support the USB high-speed EHCI host driver can be enabled by changing the NuttX configuration file as follows. If EHCI is enabled by itself, then only high-speed devices can be supported. If OHCI is also enabled, then all low-, full-, and high speed devices will work. System Type -> ATSAMA5 Peripheral Support CONFIG_SAMA5_UHPHS=y : USB Host High Speed System Type -> USB High Speed Host driver options CONFIG_SAMA5_EHCI=y : High-speed EHCI support CONFIG_SAMA5_OHCI=y : Low/full-speed OHCI support : Defaults for values probably OK for both CONFIG_SAMA5_UHPHS_RHPORT1=n : (Reserved for use by USB device) CONFIG_SAMA5_UHPHS_RHPORT2=y : Enable port B CONFIG_SAMA5_UHPHS_RHPORT3=y : Enable port C Device Drivers CONFIG_USBHOST=y : Enable USB host support CONFIG_USBHOST_ISOC_DISABLE=y : Isochronous endpoints not needed Device Drivers -> USB Host Driver Support CONFIG_USBHOST_ISOC_DISABLE=y : Isochronous endpoints not used CONFIG_USBHOST_MSC=y : Enable the mass storage class driver CONFIG_USBHOST_HIDKBD=y : Enable the HID keyboard class driver Library Routines CONFIG_SCHED_WORKQUEUE=y : Worker thread support is required Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization Mass Storage Device Usage ------------------------- Example Usage: NuttShell (NSH) NuttX-6.29 nsh> ls /dev /dev: console mtdblock0 null ttyS0 Here a USB FLASH stick is inserted. Nothing visible happens in the shell. But a new device will appear: nsh> ls /dev /dev: console mtdblock0 null sda ttyS0 nsh> mount -t vfat /dev/sda /mnt/sda nsh> ls -l /mnt/sda /mnt/sda: -rw-rw-rw- 8788 viminfo drw-rw-rw- 0 .Trash-1000/ -rw-rw-rw- 3378 zmodem.patch -rw-rw-rw- 1503 sz-1.log -rw-rw-rw- 613 .bashrc HID Keyboard Usage ------------------ If a (supported) USB keyboard is connected, a /dev/kbda device will appear: nsh> ls /dev /dev: console kbda mtdblock0 null ttyS0 /dev/kbda is a read-only serial device. Reading from /dev/kbda will get keyboard input as ASCII data (other encodings are possible): nsh> cat /dev/kbda Debugging USB Host ------------------ There is normal console debug output available that can be enabled with CONFIG_DEBUG + CONFIG_DEBUG_USB. However, USB host operation is very time critical and enabling this debug output might interfere with the operation of the UDPHS. USB host tracing is a less invasive way to get debug information: If tracing is enabled, the USB host will save encoded trace output in in-memory buffer; if the USB monitor is also enabled, that trace buffer will be periodically emptied and dumped to the system logging device (the serial console in this configuration): Device Drivers -> "USB Host Driver Support: CONFIG_USBHOST_TRACE=y : Enable USB host trace feature CONFIG_USBHOST_TRACE_NRECORDS=256 : Buffer 256 records in memory CONFIG_USBHOST_TRACE_VERBOSE=y : Buffer everything Application Configuration -> NSH LIbrary: CONFIG_NSH_USBDEV_TRACE=n : No builtin tracing from NSH CONFIG_NSH_ARCHINIT=y : Automatically start the USB monitor Application Configuration -> System NSH Add-Ons: CONFIG_SYSTEM_USBMONITOR=y : Enable the USB monitor daemon CONFIG_SYSTEM_USBMONITOR_STACKSIZE=2048 : USB monitor daemon stack size CONFIG_SYSTEM_USBMONITOR_PRIORITY=50 : USB monitor daemon priority CONFIG_SYSTEM_USBMONITOR_INTERVAL=1 : Dump trace data every second NOTE: If USB debug output is also enabled, both outpus will appear on the serial console. However, the debug output will be asynchronous with the trace output and, hence, difficult to interpret. SDRAM Support ============= SRAM Heap Configuration ----------------------- In these configurations, .data and .bss are retained in ISRAM. SDRAM can be initialized and included in the heap. Relevant configuration settings: System Type->ATSAMA5 Peripheral Support CONFIG_SAMA5_MPDDRC=y : Enable the DDR controller System Type->External Memory Configuration CONFIG_SAMA5_DDRCS=y : Tell the system that DRAM is at the DDR CS CONFIG_SAMA5_DDRCS_SIZE=268435456 : 2Gb DRAM -> 256MB CONFIG_SAMA5_DDRCS_LPDDR2=y : Its DDR2 CONFIG_SAMA5D4EK_MT47H128M16RT=y : This is the type of DDR2 System Type->Heap Configuration CONFIG_SAMA5_DDRCS_HEAP=y : Add the SDRAM to the heap CONFIG_SAMA5_DDRCS_HEAP_OFFSET=0 CONFIG_SAMA5_DDRCS_HEAP_SIZE=268435456 Memory Management CONFIG_MM_REGIONS=2 : Two heap memory regions: ISRAM and SDRAM RAM Test -------- Another thing you could do is to enable the RAM test built-in application. You can enable the NuttX RAM test that may be used to verify the external SDRAM. To do this, keep the SDRAM out of the heap so that it can be tested without crashing programs using the memory: System Type->Heap Configuration CONFIG_SAMA5_DDRCS_HEAP=n : Don't add the SDRAM to the heap Memory Management CONFIG_MM_REGIONS=1 : One memory regions: ISRAM Then enable the RAM test built-in application: Application Configuration->System NSH Add-Ons->Ram Test CONFIG_SYSTEM_RAMTEST=y In this configuration, the SDRAM is not added to heap and so is not accessable to the applications. So the RAM test can be freely executed against the SRAM memory beginning at address 0x2000:0000 (DDR CS): 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 256MB SRAM: nsh> ramtest -w 20000000 268435456 RAMTest: Marching ones: 20000000 268435456 RAMTest: Marching zeroes: 20000000 268435456 RAMTest: Pattern test: 20000000 268435456 55555555 aaaaaaaa RAMTest: Pattern test: 20000000 268435456 66666666 99999999 RAMTest: Pattern test: 20000000 268435456 33333333 cccccccc RAMTest: Address-in-address test: 20000000 268435456 SDRAM Data Configuration ------------------------ In these configurations, .data and .bss are retained in ISRAM by default. .data and .bss can also be retained in SDRAM using these slightly different configuration settings. In this configuration, ISRAM is used only for the Cortex-A5 page table for the IDLE thread stack. System Type->ATSAMA5 Peripheral Support CONFIG_SAMA5_MPDDRC=y : Enable the DDR controller System Type->External Memory Configuration CONFIG_SAMA5_DDRCS=y : Tell the system that DRAM is at the DDR CS CONFIG_SAMA5_DDRCS_SIZE=268435456 : 2Gb DRAM -> 256GB CONFIG_SAMA5_DDRCS_LPDDR2=y : Its DDR2 CONFIG_SAMA5D4EK_MT47H128M16RT=y : This is the type of DDR2 System Type->Heap Configuration CONFIG_SAMA5_ISRAM_HEAP=n : These do not apply in this case CONFIG_SAMA5_DCRS_HEAP=n System Type->Boot Memory Configuration CONFIG_RAM_START=0x20000000 : Physical address of SDRAM CONFIG_RAM_VSTART=0x20000000 : Virtual address of SDRAM CONFIG_RAM_SIZE=268435456 : Size of SDRAM CONFIG_BOOT_SDRAM_DATA=y : Data is in SDRAM Care must be used applied these RAM locations; graphics configurations may use SDRAM in an incompatible way to set aside LCD framebuffers. Memory Management CONFIG_MM_REGIONS=1 : One heap memory region: ISDRAM NAND Support ============ NAND support is only partial in that there is no file system that works with it properly. Lower-level NAND support has been developed and verified, but there is no way to use it in the current NuttX architecture other than through the raw MTD interface. NAND should still be considered a work in progress. You will not want to use NAND unless you are interested in investing a little effort, particularly in infrastructure. See the "STATUS SUMMARY" section below. NAND Support ------------ NAND Support can be added to the NSH configuration by modifying the NuttX configuration file as follows: Build Setup CONFIG_EXPERIMENTAL=y : NXFFS implementation is incomplete and : not yet fully functional. System Type -> SAMA5 Peripheral support CONFIG_SAMA5_HSMC=y : Make sure that the SMC is enabled Drivers -> Memory Technology Device (MTD) Support CONFIG_MTD=y : Enable MTD support CONFIG_MTD_NAND=y : Enable NAND support CONFIG_MTD_NAND_BLOCKCHECK=n : Interferes with NXFFS bad block checking CONFIG_MTD_NAND_SWECC=y : Use S/W ECC calculation Defaults for all other NAND settings should be okay System Type -> External Memory Configuration CONFIG_SAMA5_EBICS3=y : Enable External CS3 memory CONFIG_SAMA5_EBICS3_NAND=y : Select NAND memory type CONFIG_SAMA5_EBICS3_SIZE=8388608 : Use this size CONFIG_SAMA5_EBICS3_SWECC=y : Use S/W ECC calculation Defaults for ROM page table addresses should be okay Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : Use architecture-specific initialization NOTES: 1. WARNING: This will wipe out everything that you may have on the NAND FLASH! I have found that using the JTAG with no valid image on NAND or Serial FLASH is a problem: In that case, the code always ends up in the SAM-BA bootloader. My understanding is that you can enable JTAG in this case by simply entering any data on the DBG serial port. I have not tried this. Instead, I just changed to boot from Serial Flash: 2. Unfortunately, there are no appropriate NAND file system in NuttX as of this writing. The following sections discussion issues/problems with using NXFFS and FAT. PMECC ----- Hardware ECC calculation using the SAMA5D4's PMECC can be enable as follows: Drivers -> Memory Technology Device (MTD) Support CONFIG_MTD_NAND_SWECC=y : Don't use S/W ECC calculation CONFIG_MTD_NAND_HWECC=y : Use H/W ECC instead System Type -> External Memory Configuration CONFIG_SAMA5_EBICS3_SWECC=n : Don't use S/W ECC calculation CONFIG_SAMA5_HAVE_PMECC=n : Use H/W ECC instead Other PMECC-related default settings should be okay. STATUS: As of the writing, NAND transfers using PMECC appear to work correctly. However, the PMECC based systems do not work as as well with FAT or NXFFS. My belief that that the FAT/NXFFS layers are inappropriate for NAND and, as a result, happen not to work with the PMECC ECC calculation. See also the "STATUS SUMMARY" section below. DMA Support ----------- DMA support can be enabled as follows: System Type -> SAMA5 Peripheral support CONFIG_SAMA5_DMAC0=y : Use DMAC0 for memory-to-memory DMA System Type -> External Memory Configuration CONFIG_SAMA5_NAND_DMA=y : Use DMAC0 for NAND data transfers STATUS: DMA appears to be functional, but probably has not been exercised enough to claim that with any certainty. See also the "STATUS SUMMARY" section below. NXFFS ----- The NuttX FLASH File System (NXFFS) works well with NOR-like FLASH but does not work well with NAND (See comments below under STATUS) File Systems: CONFIG_FS_NXFFS=y : Enable the NXFFS file system Defaults for all other NXFFS settings should be okay. NOTE: NXFFS will require some significant buffering because of the large size of the NAND flash blocks. You will also need to enable SDRAM as described above. Board Selection CONFIG_SAMA5D4EK_NAND_BLOCKMOUNT=y : Enable FS support on NAND CONFIG_SAMA5D4EK_NAND_NXFFS=y : Use the NXFFS file system Other file systems are not recommended because only NXFFS can handle bad blocks and only NXFFS performs wear-levelling. FAT --- Another option is FAT. FAT, however, is not appropriate for use with NAND: FAT will not handle bad blocks, does not perform any wear levelling, and may not conform to writing ordering requirements of NAND. Also, there appear to be issues with FAT when PMECC is enabled (see "STATUS SUMMARY" below). File Systems: CONFIG_FS_FAT=y : Enable the FAT FS CONFIG_FAT_LCNAMES=y : With lower case name support CONFIG_FAT_LFN=y : And (patented) FAT long file name support CONFIG_FS_NXFFS=n : Don't need NXFFS Defaults for all other NXFFS settings should be okay. Board Selection CONFIG_SAMA5D4EK_NAND_BLOCKOMOUNT=y : Enable FS support on NAND CONFIG_SAMA5D4EK_NAND_FTL=y : Use an flash translation layer NOTE: FTL will require some significant buffering because of the large size of the NAND flash blocks. You will also need to enable SDRAM as described above. SMART FS -------- Another option is Smart FS. Smart FS is another small file system designed to work with FLASH. Properties: It does support some wear- leveling like NXFFS, but like FAT, cannot handle bad blocks and like NXFFS, it will try to re-write erased bits. Using NAND with NXFFS --------------------- With the options CONFIG_SAMA5D4EK_NAND_BLOCKMOUNT=y and CONFIG_SAMA5D4EK_NAND_NXFFS=y, the NAND FLASH will be mounted in the NSH start-up logic before the NSH prompt appears. There is no feedback as to whether or not the mount was successful. You can, however, see the mounted file systems using the nsh 'mount' command: nsh> mount /mnt/nand type nxffs Then NAND can be used like any other file system: nsh> echo "This is a test" >/mnt/nand/atest.txt nsh> ls -l /mnt/nand /mnt/nand: ---x--x--x 16 atest.txt nsh> cat /mnt/nand/atest.txt This is a test The NAND volume can be un-mounted with this comment: nsh> umount /mnt/nand nsh> mount And re-mounted with this command: nsh> mount -t nxffs /mnt/mystuff nsh> mount /mnt/mystuff type nxffs NOTES: 1. NXFFS can be very slow. The first time that you start the system, be prepared for a wait; NXFFS will need to format the NAND volume. I have lots of debug on so I don't yet know what the optimized wait will be. But with debug ON, software ECC, and no DMA the wait is in many tens of minutes (and substantially longer if many debug options are enabled. [I don't yet have data for the more optimal cases. It will be significantly less, but still not fast.] 2. On subsequent boots, after the NXFFS file system has been created the delay will be less. When the new file system is empty, it will be very fast. But the NAND-related boot time can become substantial when there has been a lot of usage of the NAND. This is because NXFFS needs to scan the NAND device and build the in-memory dataset needed to access NAND and there is more that must be scanned after the device has been used. You may want to create a separate thread at boot time to bring up NXFFS so that you don't delay the boot-to-prompt time excessively in these longer delay cases. 3. There is another NXFFS related performance issue: When the FLASH is fully used, NXFFS will restructure the entire FLASH, the delay to restructure the entire FLASH will probably be even larger. This solution in this case is to implement an NXFSS clean-up daemon that does the job a little-at-a-time so that there is no massive clean-up when the FLASH becomes full. 4. Bad NXFFS behavior with NAND: If you restart NuttX, the files that you wrote to NAND will be gone. Why? Because the multiple writes have corrupted the NAND ECC bits. See STATUS below. NXFFS would require a major overhaul to be usable with NAND. Using NAND with FAT ------------------- If configured for FAT, the system will create block driver at /dev/mtdblock0: NuttShell (NSH) nsh> ls /dev /dev: console mtdblock0 null ttyS0 You will not that the system comes up immediately because there is not need to scan the volume in this case.. The NSH 'mkfatfs' command can be used to format a FAT file system on NAND. nsh> mkfatfs /dev/mtdblock0 This step, on the other hand, requires quite a bit of time. And the FAT file system can be mounted like: nsh> mount -t vfat /dev/mtdblock0 /mnt/nand nsh> ls /mnt/nand /mnt/nand: nsh> echo "This is a test" > /mnt/nand/atest.txt NOTE: This will take a long time because it will require reading, modifying, and re-writing the 128KB erase page! nsh> ls -l /mnt/nand /mnt/nand: -rw-rw-rw- 16 atest.txt nsh> cat /mnt/fat/atest.txt This is a test NOTES: 1. Unlike NXFFS, FAT can work with NAND (at least with PMECC disabled). But there are some significant issues. 2. First, each NAND write access will cause a 256KB data transfer: It will read the entire 128KB erase block, modify it and write it back to memory. There is some caching logic so that this cached erase block can be re-used if possible and writes will be deferred as long as possible. 3. If you hit a bad block, then FAT is finished. There is no mechanism in place in FAT not to mark and skip over bad blocks. What is Needed -------------- What is needed to work with FAT properly would be another MTD layer between the FTL layer and the NAND FLASH layer. That layer would perform bad block detection and sparing so that FAT works transparently on top of the NAND. Another, less general, option would be support bad blocks within FAT. STATUS SUMMARY -------------- 1. PMECC appears to be working in that I can write a NAND block with its ECC and read the block back and verify that that is are no bit failures. However, when attempting to work with FAT, it does not work correctly: The MBR is written and read back correctly, but gets corrupted later for unknown reasons. 2. DMA works (at least with software ECC), but I have seen occasional failures. I recommend enabling DMA with caution. In NuttX, DMA will also cost two context switches (and, hence, four register state transfers). With smaller NAND page sizes (say 2KiB and below), I would expect little or no performance improvement with DMA for this reason. 3. NXFFS does not work with NAND. NAND differs from other other FLASH types several ways. For one thing, NAND requires error correction (ECC) bytes that must be set in order to work around bit failures. This affects NXFFS in two ways: a. First, write failures are not fatal. Rather, they should be tried by bad blocks and simply ignored. This is because unrecoverable bit failures will cause read failures when reading from NAND. Setting the CONFIG_EXPERIMENTAL+CONFIG_NXFFS_NANDs option will enable this behavior. b. Secondly, NXFFS will write a block many times. It tries to keep bits in the erased state and assumes that it can overwrite those bits to change them from the erased to the non-erased state. This works will with NOR-like FLASH. NAND behaves this way too. But the problem with NAND is that the ECC bits cannot be re-written in this way. So once a block has been written, it cannot be modified. This behavior has NOT been fixed in NXFFS. Currently, NXFFS will attempt to re-write the ECC bits causing the ECC to become corrupted because the ECC bits cannot be overwritten without erasing the entire block. This may prohibit NXFFS from ever being used with NAND. 4. As mentioned above, FAT does work but (1) has some performance issues on writes and (2) cannot handle bad blocks. I2C Tool ======== I2C Tool. NuttX supports an I2C tool at apps/system/i2c that can be used to peek and poke I2C devices. That tool can be enabled by setting the following: System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_TWI0=y : Enable TWI0 CONFIG_SAMA5_TWI1=y : Enable TWI1 CONFIG_SAMA5_TWI2=y : Enable TWI2 System Type -> TWI device driver options SAMA5_TWI0_FREQUENCY=100000 : Select a TWI0 frequency (default) SAMA5_TWI1_FREQUENCY=100000 : Select a TWI1 frequency (default) SAMA5_TWI2_FREQUENCY=100000 : Select a TWI2 frequency (default) Device Drivers -> I2C Driver Support CONFIG_I2C=y : Enable I2C support CONFIG_I2C_TRANSFER=y : Driver supports the transfer() method CONFIG_I2C_WRITEREAD=y : Driver supports the writeread() method Application Configuration -> NSH Library CONFIG_SYSTEM_I2CTOOL=y : Enable the I2C tool CONFIG_I2CTOOL_MINBUS=0 : TWI0 has the minimum bus number 0 CONFIG_I2CTOOL_MAXBUS=2 : TWI2 has the maximum bus number 2 CONFIG_I2CTOOL_DEFFREQ=100000 : Pick a consistent frequency The I2C tool has extensive help that can be accessed as follows: nsh> i2c help 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: 100000 Current: 100000 NOTES: 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. As an example, the I2C dev comman can be used to list all devices responding on TWI0 (the default) like this: nsh> i2c dev 0x03 0x77 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- -- 10: -- -- -- -- -- -- -- -- -- -- -- 1b -- -- -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- 4c -- -- -- 50: 50 -- -- -- -- -- -- -- -- -- -- 5b -- -- -- -- 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 70: -- -- -- -- -- -- -- -- nsh> Addresses 0x1b, 0x4c, and 0x50 are devices on the TM7000 module. 0x5b is the address of the on-board PMIC chip. SAMA5 ADC Support ================= Basic driver configuration -------------------------- ADC support can be added to the NSH configuration. However, there are no ADC input pins available to the user for ADC testing (the touchscreen ADC inputs are intended for other functionality). Because of this, there is not much motivation to enable ADC support on the SAMA4D4-EK. This paragraph is included here, however, for people using a custom SAMA5D4x board that requires ADC support. System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_ADC=y : Enable ADC driver support CONFIG_SAMA5_TC0=y : Enable the Timer/counter library need for periodic sampling Drivers CONFIG_ANALOG=y : Should be automatically selected CONFIG_ADC=y : Should be automatically selected System Type -> ADC Configuration CONFIG_SAMA5_ADC_CHAN0=y : These settings enable the sequencer to collect CONFIG_SAMA5_ADC_CHAN1=y : Samples from ADC channels 0-3 on each trigger CONFIG_SAMA5_ADC_CHAN2=y CONFIG_SAMA5_ADC_CHAN3=y CONFIG_SAMA5_ADC_SEQUENCER=y CONFIG_SAMA5_ADC_TIOA0TRIG=y : Trigger on the TC0, channel 0 output A CONFIG_SAMA5_ADC_TIOAFREQ=2 : At a frequency of 2Hz CONFIG_SAMA5_ADC_TIOA_RISING=y : Trigger on the rising edge Default ADC settings (like gain and offset) may also be set if desired. System Type -> Timer/counter Configuration CONFIG_SAMA5_TC0_TIOA0=y : Should be automatically selected Work queue supported is also needed: Library routines CONFIG_SCHED_WORKQUEUE=y ADC Test Example ---------------- For testing purposes, there is an ADC program at apps/examples/adc that will collect a specified number of samples. This test program can be enabled as follows: Application Configuration -> Examples -> ADC example CONFIG_EXAMPLES_ADC=y : Enables the example code CONFIG_EXAMPLES_ADC_DEVPATH="/dev/adc0" Other default settings for the ADC example should be okay. ADC DMA Support --------------- At 2Hz, DMA is not necessary nor desire-able. The ADC driver has support for DMA transfers of converted data (although that support has not been tested as of this writing). DMA support can be added by include the following in the configuration. System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_DMAC1=y : Enable DMAC1 support System Type -> ADC Configuration CONFIG_SAMA5_ADC_DMA=y : Enable ADC DMA transfers CONFIG_SAMA5_ADC_DMASAMPLES=2 : Collect two sets of samples per DMA Drivers -> Analog device (ADC/DAC) support CONFIG_ADC_FIFOSIZE=16 : Driver may need a large ring buffer Application Configuration -> Examples -> ADC example CONFIG_EXAMPLES_ADC_GROUPSIZE=16 : Larger buffers in the test SAMA5 PWM Support ================= Basic driver configuration -------------------------- PWM support can be added to the NSH configuration. However, there are no PWM output pins available to the user for PWM testing. Because of this, there is not much motivation to enable PWM support on the SAMA4D4-EK. This paragraph is included here, however, for people using a custom SAMA5D4x board that requires PWM support. Basic driver configuration: System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_PWM=y : Enable PWM driver support Drivers CONFIG_PWM=y : Should be automatically selected PWM Channel/Output Selection ---------------------------- In order to use the PWM, you must enable one or more PWM Channels: System Type -> PWM Configuration CONFIG_SAMA5_PWM_CHAN0=y : Enable one or more of channels 0-3 CONFIG_SAMA5_PWM_CHAN1=y CONFIG_SAMA5_PWM_CHAN2=y CONFIG_SAMA5_PWM_CHAN3=y For each channel that is enabled, you must also specify the output pins to be enabled and the clocking supplied to the PWM channel. CONFIG_SAMA5_PWM_CHANx_FAULTINPUT=n : (not used currently) CONFIG_SAMA5_PWM_CHANx_OUTPUTH=y : Enable One of both of the H and L output pins CONFIG_SAMA5_PWM_CHANx_OUTPUTL=y Where x=0..3. Care must be taken because all PWM output pins conflict with some other usage of the pin by other devices. Furthermore, many of these pins have not been brought out to an external connector: -----+---+---+----+------+---------------- PWM PIN PER PIO I/O CONFLICTS -----+---+---+----+------+---------------- PWM0 FI B PC28 J2.30 SPI1, ISI H B PB0 --- GMAC B PA20 J1.14 LCDC, ISI L B PB1 --- GMAC B PA21 J1.16 LCDC, ISI -----+---+---+----+------+---------------- PWM1 FI B PC31 J2.36 HDMI H B PB4 --- GMAC B PA22 J1.18 LCDC, ISI L B PB5 --- GMAC B PE31 J3.20 ISI, HDMI B PA23 J1.20 LCDC, ISI -----+---+---+----+------+---------------- PWM2 FI B PC29 J2.29 UART0, ISI, HDMI H C PD5 --- HSMCI0 B PB8 --- GMAC L C PD6 --- HSMCI0 B PB9 --- GMAC -----+---+---+----+------+---------------- PWM3 FI C PD16 --- SPI0, Audio H C PD7 --- HSMCI0 B PB12 J3.7 GMAC L C PD8 --- HSMCI0 B PB13 --- GMAC -----+---+---+----+-------------------- See configs/sama5d4-ek/include/board.h for all of the default PWM pin selections. I used PWM channel 0, pins PA20 and PA21 for testing. Clocking is addressed in the next paragraph. PWM Clock Configuration ----------------------- PWM Channels can be clocked from either a coarsely divided divided down MCK or from a custom frequency from PWM CLKA and/or CLKB. If you want to use CLKA or CLKB, you must enable and configure them. System Type -> PWM Configuration CONFIG_SAMA5_PWM_CLKA=y CONFIG_SAMA5_PWM_CLKA_FREQUENCY=3300 CONFIG_SAMA5_PWM_CLKB=y CONFIG_SAMA5_PWM_CLKB_FREQUENCY=3300 Then for each of the enabled, channels you must select the input clock for that channel: System Type -> PWM Configuration CONFIG_SAMA5_PWM_CHANx_CLKA=y : Pick one of MCK, CLKA, or CLKB (only) CONFIG_SAMA5_PWM_CHANx_CLKB=y CONFIG_SAMA5_PWM_CHANx_MCK=y CONFIG_SAMA5_PWM_CHANx_MCKDIV=128 : If MCK is selected, then the MCK divider must : also be provided (1,2,4,8,16,32,64,128,256,512, or 1024). PWM Test Example ---------------- For testing purposes, there is an PWM program at apps/examples/pwm that will collect a specified number of samples. This test program can be enabled as follows: Application Configuration -> Examples -> PWM example CONFIG_EXAMPLES_PWM=y : Enables the example code Other default settings for the PWM example should be okay. CONFIG_EXAMPLES_PWM_DEVPATH="/dev/pwm0" CONFIG_EXAMPLES_PWM_FREQUENCY=100 Usage of the example is straightforward: nsh> pwm -h Usage: pwm [OPTIONS] Arguments are "sticky". For example, once the PWM frequency is specified, that frequency will be re-used until it is changed. "sticky" OPTIONS include: [-p devpath] selects the PWM device. Default: /dev/pwm0 Current: /dev/pwm0 [-f frequency] selects the pulse frequency. Default: 100 Hz Current: 100 Hz [-d duty] selects the pulse duty as a percentage. Default: 50 % Current: 50 % [-t duration] is the duration of the pulse train in seconds. Default: 5 Current: 5 [-h] shows this message and exits RTC === The Real Time Clock/Calendar RTC) may be enabled with these settings: System Type: CONFIG_SAMA5_RTC=y : Enable the RTC driver Drivers (these values will be selected automatically): CONFIG_RTC=y : Use the RTC for system time CONFIG_RTC_DATETIME=y : RTC supports data/time NOTE: If you want the RTC to preserve time over power cycles, you will need to install a battery in the battery holder (J12) and close the jumper, JP13. You can set the RTC using the NSH date command: NuttShell (NSH) NuttX-7.3 nsh> help date date usage: date [-s "MMM DD HH:MM:SS YYYY"] nsh> date Jan 01 00:34:45 2012 nsh> date -s "JUN 29 7:30:00 2014" nsh> date Jun 29 07:30:01 2014 After a power cycle and reboot: NuttShell (NSH) NuttX-7.3 nsh> date Jun 29 07:30:55 2014 nsh> The RTC also supports an alarm that may be enable with the following settings. However, there is nothing in the system that currently makes use of this alarm. Drivers: CONFIG_RTC_ALARM=y : Enable the RTC alarm Library Routines CONFIG_SCHED_WORKQUEUE=y : Alarm needs work queue support Watchdog Timer ============== NSH can be configured to exercise the watchdog timer test (apps/examples/watchdog). This can be selected with the following settings in the NuttX configuration file: System Type: CONFIG_SAMA5_WDT=y : Enable the WDT peripheral : Defaults values for others settings should be OK Drivers (this will automatically be selected): CONFIG_WATCHDOG=y : Enables watchdog timer driver support Application Configuration -> Examples CONFIG_EXAMPLES_WATCHDOG=y : Enable apps/examples/watchdog The WDT timer is driven off the slow, 32768Hz clock divided by 128. As a result, the watchdog a maximum timeout value of 16 seconds. The SAMA5 WDT may also only be programmed one time; the processor must be reset before the WDT can be reprogrammed. The SAMA5 always boots with the watchdog timer enabled at its maximum timeout (16 seconds). In the normal case where no watchdog timer driver has been configured, the watchdog timer is disabled as part of the start up logic. But, since we are permitted only one opportunity to program the WDT, we cannot disable the watchdog time if CONFIG_SAMA5_WDT=y. So, be forewarned: You have only 16 seconds to run your watchdog timer test! NOTE: If you are using the dramboot program to run from DRAM as I did, beware that the default version also disables the watchdog. You will need a special version of dramboot with CONFIG_SAMA5_WDT=y. TRNG and /dev/random ==================== NSH can be configured to enable the SAMA5 TRNG peripheral so that it provides /dev/random. The following configuration will enable the TRNG, and support for /dev/random: System Type: CONFIG_SAMA5_TRNG=y : Enable the TRNG peripheral Drivers: CONFIG_DEV_RANDOM=y : Enable /dev/random A simple test of /dev/random is available at apps/examples/random and can be enabled as a NSH application via the following additional configuration settings: Applications -> Examples CONFIG_EXAMPLES_RANDOM=y : Enable apps/examples/random CONFIG_EXAMPLES_MAXSAMPLES=64 : Default settings are probably OK CONFIG_EXAMPLES_NSAMPLES=8 Audio Support ============== WM8904 CODEC ------------ The SAMA4D4-EK has two devices on-board that can be used for verification of I2S functionality: HDMI and a WM8904 audio CODEC. As of this writing, the I2S driver is present, but there are not drivers for either the HDMI or the WM8904. WM8904 Audio CODEC Interface: ---- ------------------ ---------------- ------------- --------------------------------------- PIO USAGE BOARD SIGNAL WM8904 PIN NOTE ---- ------------------ ---------------- ------------- --------------------------------------- PA30 TWD0 AUDIO_TWD0_PA30 3 SDA Pulled up, See J23 note below PA31 TWCK0 AUDIO_TWCK0_PA31 2 SCLK Pulled up PB10 AUDIO_PCK2/EXP AUDIO_PCK2_PB10 28 MCLK PB27 AUDIO/HDMI_TK0/EXP AUDIO_TK0_PB27 29 BCLK/GPIO4 Note TK0 and RK0 are mutually exclusive PB26 AUDIO_RK0 AUDIO_RK0_PB26 29 " "/" " " " " " " " " " " " " " " " PB30 AUDIO_RF/ZIG_TWCK2 AUDIO_RF0_PB30 30 LRCLK Note TF0 and RF0 are mutually exclusive PB31 AUDIO/HDMI_TF0/EXP AUDIO_TF0_PB31 30 " " " " " " " " " " " " " " " " PB29 AUDIO_RD0/ZIG_TWD2 AUDIO_RD0_PB29 31 ADCDAT PB28 AUDIO/HDMI_TD0/EXP AUDIO_TD0_PB28 32 ACDAT PE4 AUDIO_IRQ AUDIO_IRQ_PE4 1 IRQ/GPIO1 Audio interrupt ---- ------------------ ---------------- ------------- --------------------------------------- Note that jumper J23 must be closed to connect AUDIO_TWD0_PA30 WM8904 Configuration -------------------- System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_XDMAC0=y : XDMAC0 required by SSC0 CONFIG_SAMA5_TWI0=y : Enable TWI0 driver support CONFIG_SAMA5_SSCO=y : Enable SSC0 driver support System Type -> SSC0 Configuration CONFIG_SAMA5_SSC_MAXINFLIGHT=16 CONFIG_SAMA5_SSC0_DATALEN=16 Device Drivers -> I2C Driver Support CONFIG_I2C=y : Enable I2C support CONFIG_I2C_EXCHANGE=y : Support the exchange method CONFIG_I2C_RESET=n : (Maybe y, if you have bus problems) System Type -> SSC Configuration CONFIG_SAMA5_SSC_MAXINFLIGHT=16 : Up to 16 pending DMA transfers CONFIG_SAMA5_SSC0_DATALEN=16 : 16-bit data CONFIG_SAMA5_SSC0_RX=y : Support a receiver (although it is not used!) CONFIG_SAMA5_SSC0_RX_RKINPUT=y : Receiver gets clock the RK0 input CONFIG_SAMA5_SSC0_RX_FSLEN=1 : Minimal frame sync length CONFIG_SAMA5_SSC0_RX_STTDLY=1 : Start delay CONFIG_SAMA5_SSC0_TX=y : Support a transmitter CONFIG_SAMA5_SSC0_TX_RXCLK=y : Transmitter gets clock the RXCLCK CONFIG_SAMA5_SSC0_TX_FSLEN=0 : Disable frame synch generation CONFIG_SAMA5_SSC0_TX_STTDLY=1 : Start delay CONFIG_SAMA5_SSC0_TX_TKOUTPUT_NONE=y : No output Audio CONFIG_AUDIO=y : Audio support needed CONFIG_AUDIO_FORMAT_PCM=y : Only PCM files are supported CONFIG_AUDIO_NUM_BUFFERS=8 : Number of audio buffers CONFIG_AUDIO_BUFFER_NUMBYTES=8192 : Audio buffer size Drivers -> Audio CONFIG_I2S=y : General I2S support CONFIG_AUDIO_DEVICES=y : Audio device support CONFIG_AUDIO_WM8904=y : Build WM8904 driver character driver Board Selection CONFIG_SAMA5D4EK_WM8904_I2CFREQUENCY=400000 CONFIG_SAMA5D4EK_WM8904_SRCMAIN=y : WM8904 MCLK is the SAMA5D Main Clock Library Routines CONFIG_SCHED_WORKQUEUE=y : MW8904 driver needs work queue support I2S Loopback Test ----------------- The I2S driver was verified using a special I2C character driver (at nuttx/drivers/audio/i2schar.c) and a test driver at apps/examples/i2schar. The I2S driver was verified in loopback mode with no audio device. That test case has never been exercised on the SAMA454-EK. See the README.txt file at SAMA5D4-EK for information about how you might implement this test for the SAMA5D4-EK. The NxPlayer ------------ The NxPlayer is a audio library and command line application for playing audio file. The NxPlayer can be found at apps/system/nxplayer. If you would like to add the NxPlayer, here are some recommended configuration settings. First of all, the NxPlayer depends on the NuttX audio subsystem. See the "WM8904 Configuration" above for an example of how the audio subsystem is configured to use the WM8904 CODED with PCM decoding. Or, for testing purposes, here is how might want to configure NULL, do-nothing audio device: Audio Support -> CONFIG_AUDIO=y CONFIG_AUDIO_NUM_BUFFERS=4 CONFIG_AUDIO_BUFFER_NUMBYTES=8192 CONFIG_AUDIO_FORMAT_PCM=y CONFIG_AUDIO_NULL=y CONFIG_AUDIO_NULL_BUFFER_SIZE=8192 CONFIG_AUDIO_NULL_MSG_PRIO=1 CONFIG_AUDIO_NULL_WORKER_STACKSIZE=768 Then the NxPlayer can be enabled as follows: System Libraries and NSH Add-Ons -> NxPlayer media player / command line -> CONFIG_SYSTEM_NXPLAYER=y : Build the NxPlayer library CONFIG_NXPLAYER_PLAYTHREAD_STACKSIZE=1500 : Size of the audio player stack CONFIG_NXPLAYER_COMMAND_LINE=y : Build command line application CONFIG_NXPLAYER_INCLUDE_HELP=y : Includes a help command CONFIG_NXPLAYER_INCLUDE_DEVICE_SEARCH=n : (Since there is only one audio device) CONFIG_NXPLAYER_INCLUDE_PREFERRED_DEVICE=y : Only one audio device is supported CONFIG_NXPLAYER_FMT_FROM_EXT=y : (Since only PCM is supported) CONFIG_NXPLAYER_FMT_FROM_HEADER=n : (Since only PCM is supported) CONFIG_NXPLAYER_INCLUDE_MEDIADIR=y : Specify a media directory CONFIG_NXPLAYER_DEFAULT_MEDIADIR="/mnt/sdcard" : See below CONFIG_NXPLAYER_RECURSIVE_MEDIA_SEARCH=y : Search all sub-directories CONFIG_NXPLAYER_INCLUDE_SYSTEM_RESET=y : Add support for reset command You must include the full path to the location where NxPlayer can find the media files. That path is given by CONFIG_NXPLAYER_DEFAULT_MEDIADIR. Here I use the example "/mnt/scard". That is a location where you could, for example, mount an MMC/SD card driver. TM7000 LCD/Touchscreen ====================== The TM7000 LCD is available for the SAMA5D4-EK. See documentation available on the Precision Design Associates website: http://www.pdaatl.com/doc/tm7000.pdf The TM7000 features: - 7 inch LCD at 800x480 18-bit RGB resolution and white backlight - Projected Capacitive Multi-Touch Controller based on the Atmel MXT768E maXTouch™ IC - 4 Capacitive “Navigation” Keys available via an Atmel AT42QT1070 QTouch™ Button Sensor IC - 200 bytes of non-volatile serial EEPROM NOTE: It appears that my TM7000 differs slightly from the version described in the tm7000.pdf file: That document claims that the hardware interface to the LCD is 18-bit RGB666; but the one that I have is certainly 24-bit RGB888. If you have LCD issues, you may need to tweak some of the settings in configs/sama5d4-ek/include/board.h. Jumper JP2 selects either the EMAC1 or the LCD by controlling the the LCD_ETH1_CONFIG signal on the board. - JP2 open, LCD_ETH1_CONFIG pulled high: LCD_ETH1_CONFIG=1: LCD 5v enable(LCD_DETECT#=0); ETH1 disable - JP2 closed, LCD_ETH1_CONFIG grounded: LCD_ETH1_CONFIG=0: LCD 5v disable; ETH1 enable LCD Connector ------------- ------------------------- ----------------------- -------- SAMA5D4-EK TM7000 FUNCTION ------------------------- ----------------------- -------- LCD_PE24 J9 pin 5 ~MXT_CHG J4 pin 5 MXT LCD_PE25 J9 pin 6 ~QT_CHG J4 pin 6 QT LCD_TWCK0_PA31 J9 pin 7 I2C SCL J4 pin 7 MXT,QT LCD_TWD0_PA30 J9 pin 8 I2C SDA J4 pin 8 MXT,QT LCD_DAT0_PA0 J9 pin 18 LCD_DATA_0 J4 pin 18 LCD LCD_DAT1_PA1 J9 pin 19 LCD_DATA_1 J4 pin 19 LCD LCD_DAT2_PA2 J9 pin 20 LCD_DATA_2 J4 pin 20 LCD LCD_DAT3_PA3 J9 pin 21 LCD_DATA_3 J4 pin 21 LCD LCD_DAT4_PA4 J9 pin 22 LCD_DATA_4 J4 pin 22 LCD LCD_DAT3_PA5 J9 pin 23 LCD_DATA_5 J4 pin 23 LCD LCD_DAT6_PA6 J9 pin 24 LCD_DATA_6 J4 pin 24 LCD LCD_DAT7_PA7 J9 pin 25 LCD_DATA_7 J4 pin 25 LCD LCD_DAT8_PA8 J9 pin 26 LCD_DATA_8 J4 pin 26 LCD LCD_DAT9_PA9 J9 pin 27 LCD_DATA_9 J4 pin 27 LCD LCD_DAT10_PA10 J9 pin 28 LCD_DATA_10 J4 pin 28 LCD LCD_DAT11_PA11 J9 pin 29 LCD_DATA_11 J4 pin 29 LCD LCD_DAT12_PA12 J9 pin 16 LCD_DATA_12 J4 pin 16 LCD LCD_DAT13_PA13 J9 pin 12 LCD_DATA_13 J4 pin 12 LCD LCD_DAT14_PA14 J9 pin 14 LCD_DATA_14 J4 pin 14 LCD LCD_DAT15_PA15 J9 pin 10 LCD_DATA_15 J4 pin 10 LCD ------------------------- ----------------------- -------- LCD_DAT16_PA16 J10 pin 5 LCD_DATA_16 J5 pin 5 LCD LCD_DAT17_PA17 J10 pin 6 LCD_DATA_17 J5 pin 6 LCD LCD_DAT18_PA18 J10 pin 7 LCD_DATA_18 J5 pin 7 LCD LCD_DAT19_PA19 J10 pin 8 LCD_DATA_19 J5 pin 8 LCD LCD_DAT20_PA20 J10 pin 9 LCD_DATA_20 J5 pin 9 LCD LCD_DAT21_PA21 J10 pin 10 LCD_DATA_21 J5 pin 10 LCD LCD_DAT22_PA22 J10 pin 11 LCD_DATA_22 J5 pin 11 LCD LCD_DAT23_PA23 J10 pin 12 LCD_DATA_23 J5 pin 12 LCD LCD_DISP_PA25 J10 pin 15 DISP J5 pin 15 LCD (Display Enable) LCD_PWM_PA24 J10 pin 16 Backlight PWM J5 pin 16 LCD LCD_VSYNC_PA26 J10 pin 17 VSYNC J5 pin 17 LCD LCD_HSYNC_PA27 J10 pin 18 HSYNC J5 pin 18 LCD LCD_DEN_PA29 J10 pin 19 DE J5 pin 19 LCD LCD_PCK_PA28 J10 pin 20 PCLK J5 pin 20 LCD AD0_XP J10 pin 23 N/C J5 pin 23 N/A AD1_XM J10 pin 24 N/C J5 pin 24 N/A AD2_YP J10 pin 25 N/C J5 pin 25 N/A AD3_YM J10 pin 26 N/C J5 pin 26 N/A AD4_LR J10 pin 27 N/C J5 pin 27 N/A 1Wire_PE28 J10 pin 28 1-Wire J5 pin 28 EE LCD_SPI1_SO J10 pin 31 N/C J5 pin 31 N/A LCD_SPI1_SI J10 pin 32 N/C J5 pin 32 N/A LCD_SPI1_CLK J10 pin 33 N/C J5 pin 33 N/A LCD_SPI1_CS2 J10 pin 34 N/C J5 pin 34 N/A EN_PWRLCD J10 pin 35 N/C J5 pin 35 N/A LCD_DETECT# J10 pin 36 LCD Presence J5 pin 36 All RXD4_PE26 J10 pin 37 N/C J5 pin 37 N/A XD4_PE27 J10 pin 38 N/C J5 pin 38 N/A ------------------------- ----------------------- -------- LCD Configuration ----------------- Here is a configuration that enables the LCD with backlight in RGB565 color mode. Notice that this configuration sets up an LCD framebuffer of size 6,291,456 (0x0060:0000, 6MiB) at the end of DRAM. DRAM begins at address 0x2000:0000 and has size 268,435,456 (0x1000:0000); The framebuffer the begins at 0x2000:0000 + 0x1000:0000 - 0x0060:0000 = 0x2fa0:0000. System Type -> SAMA5 Peripheral Support -> CONFIG_SAMA5_LCDC=y : Enable LCDC System Type -> LCDC Configuration -> CONFIG_SAMA5_LCDC_BACKLIGHT=y : With backlight CONFIG_SAMA5_LCDC_DEFBACKLIGHT=0xc8 CONFIG_SAMA5_LCDC_BACKCOLOR=0x7b5d : Color to use when clearing the display CONFIG_SAMA5_LCDC_FB_VBASE=0x2fa00000 : Set aside the framebuffer CONFIG_SAMA5_LCDC_FB_PBASE=0x2fa00000 CONFIG_SAMA5_LCDC_FB_SIZE=6291456 CONFIG_SAMA5_LCDC_BASE_ROT0=y : No rotation CONFIG_SAMA5_LCDC_BASE_RGB565=y : RGB565 color format This framebuffer size must then be subtracted from the memory available in the heap (0x3000:0000 - 0x0058:0000 = 0x2fa8:0000): System Type -> Heap Configuration -> CONFIG_SAMA5_DDRCS_RESERVE=y : Reserve DRAM for the framebuffer CONFIG_SAMA5_DDRCS_HEAP_END=0x2fa00000 : End of DRAM heap (excludes framebuffer) There are several simple graphics examples under apps/examples/ that can be use to verify the LCD: nx, nxhello, nximage, nxlines, nxtext. See apps/examples/README.txt for information about configuring these examples. For example, these settings will enable the apps/examples/nx example. The NX example is a simple test using the NuttX graphics system (NX). This test case focuses on general window controls, movement, mouse and keyboard input. It requires no user interaction. First you need to enable NuttX graphics support: Graphics Support -> CONFIG_NX=y : Enable NX graphics CONFIG_NX_NPLANES=1 : 1 color plane CONFIG_NX_PACKEDMSFIRST=y Graphics Support -> Supported Pixel Depths -> CONFIG_NX_DISABLE_1BPP=y : Disable all resolutions except 16 bpp CONFIG_NX_DISABLE_2BPP=y CONFIG_NX_DISABLE_4BPP=y CONFIG_NX_DISABLE_8BPP=y CONFIG_NX_DISABLE_24BPP=y CONFIG_NX_DISABLE_32BPP=y Graphics Support -> Input Devices -> CONFIG_NX_XYINPUT=y : Build in mouse/touchscreen support (not used) CONFIG_NX_KBD=y : Build in keyboard support (not used) Graphics Support -> Framed Window Borders -> CONFIG_NXTK_BORDERWIDTH=4 : Framed window configuration CONFIG_NXTK_DEFAULT_BORDERCOLORS=y Graphics Support -> Font Selections -> CONFIG_NXFONTS_CHARBITS=7 : Font configuration CONFIG_NXFONT_SERIF22X28B=y Then you can enable the NX example: Application Configuration -> Examples -> NX graphics example CONFIG_EXAMPLES_NX=y : Enable the NX example CONFIG_EXAMPLES_NX_VPLANE=0 : Use color plane 0 CONFIG_EXAMPLES_NX_DEVNO=0 : Use device zero CONFIG_EXAMPLES_NX_DEFAULT_COLORS=y : Use default colors CONFIG_EXAMPLES_NX_DEFAULT_FONT=y : Use default fonts CONFIG_EXAMPLES_NX_BPP=16 : Use 16 bpp CONFIG_EXAMPLES_NX_TOOLBAR_HEIGHT=16 : Configure toolbar maXTouch -------- Both the MXT768E and the AT42QT1070 are I2C devices with interrupting PIO pins: ------------------------ ----------------- SAMA5D4-EK TM7000 ------------------------ ----------------- J9 pin 5 LCD_PE24 J4 pin 5 ~CHG_mxt J9 pin 6 LCD_PE25 J4 pin 6 ~CHG_QT J9 pin 7 LCD_TWCK0_PA31 J4 pin 7 SCL_0 J9 pin 8 LCD_TWD0_PA30 J4 pin 8 SDA_0 ------------------------ ----------------- The schematic indicates the the MXT468E address is 0x4c/0x4d. Here are the configuration settings the configuration settings that will enable the maXTouch touchscreen controller: System Type CONFIG_SAMA5_TWI0=y : Enable the TWI0 peripheral CONFIG_SAMA5_PIO_IRQ=y : Support for PIOE interrupts CONFIG_SAMA5_PIOE_IRQ=y Device Drivers CONFIG_INPUT=y : Input device support CONFIG_INPUT_MXT=y : Enable maXTouch input device Optionally, use CONFIG_ARCH_HAVE_I2CRESET=y if you have issues with other I2C devices on board locking up the I2C bus. Board Configuration CONFIG_SAMA5D4EK_MXT_DEVMINOR=0 CONFIG_SAMA5D4EK_MXT_I2CFREQUENCY=100000 There is a test at apps/examples/touchscreen that can be enabled to build in a touchscreen test: CONFIG_EXAMPLES_TOUCHSCREEN=y CONFIG_EXAMPLES_TOUCHSCREEN_ARCHINIT=y CONFIG_EXAMPLES_TOUCHSCREEN_DEVPATH="/dev/input0" CONFIG_EXAMPLES_TOUCHSCREEN_MINOR=0 Usage is like: nsh> tc [] QTouch Button Sensor -------------------- To be provided. LCD --- To be provided. Tickless OS =========== Background ---------- By default, a NuttX configuration uses a periodic timer interrupt that drives all system timing. The timer is provided by architecture-specifi code that calls into NuttX at a rate controlled by CONFIG_USEC_PER_TICK. The default value of CONFIG_USEC_PER_TICK is 10000 microseconds which corresponds to a timer interrupt rate of 100 Hz. An option is to configure NuttX to operation in a "tickless" mode. Some limitations of default system timer are, in increasing order of importance: - Overhead: Although the CPU usage of the system timer interrupt at 100Hz is really very low, it is still mostly wasted processing time. One most timer interrupts, there is really nothing that needs be done other than incrementing the counter. - Resolution: Resolution of all system timing is also determined by CONFIG_USEC_PER_TICK. So nothing that be time with resolution finer than 10 milliseconds be default. To increase this resolution, CONFIG_USEC_PER_TICK an be reduced. However, then the system timer interrupts use more of the CPU bandwidth processing useless interrupts. - Power Usage: But the biggest issue is power usage. When the system is IDLE, it enters a light, low-power mode (for ARMs, this mode is entered with the wfi or wfe instructions for example). But each interrupt awakens the system from this low power mode. Therefore, higher rates of interrupts cause greater power consumption. The so-called Tickless OS provides one solution to issue. The basic concept here is that the periodic, timer interrupt is eliminated and replaced with a one-shot, interval timer. It becomes event driven instead of polled: The default system timer is a polled design. On each interrupt, the NuttX logic checks if it needs to do anything and, if so, it does it. Using an interval timer, one can anticipate when the next interesting OS event will occur, program the interval time and wait for it to fire. When the interval time fires, then the scheduled activity is performed. Configuration ------------- The following configuration options will enable support for the Tickless OS for the SAMA5D platforms using TC0 channels 0-3 (other timers or timer channels could be used making the obvious substitutions): RTOS Features -> Clocks and Timers CONFIG_SCHED_TICKLESS=y : Configures the RTOS in tickless mode CONFIG_SCHED_TICKLESS_ALARM=n : (option not implemented) System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_TC0=y : Enable TC0 (TC channels 0-3 System Type -> Timer/counter Configuration CONFIG_SAMA5_ONESHOT=y : Enables one-shot timer wrapper CONFIG_SAMA5_FREERUN=y : Enabled free-running timer wrapper CONFIG_SAMA5_TICKLESS_ONESHOT=0 : Selects TC0 channel 0 for the one-shot CONFIG_SAMA5_TICKLESS_FREERUN=1 : Selects TC0 channel 1 for the free- : running timer NOTE: In most cases, the slow clock will be used as the timer/counter input. You should enable the 32.768KHz crystal for the slow clock by calling sam_sckc_enable(). Otherwise, you will be doing all system timing using the RC clock! UPDATE: This will now be selected by default when you configure for TICKLESS support. UPDATE: As of this writing (2014-8-11), the Tickless support is functional. However, the timing for all delays appears to be half the duration that it should be. I don't see anything wrong with the setup and I am suspecting that there may be something I don't understand about the counting frequency. SAMA5 Timer Usage ----------------- This current implementation uses two timers: A one-shot timer to provide the timed events and a free running timer to provide the current time. Since timers are a limited resource, that could be an issue on some systems. We could do the job with a single timer if we were to keep the single timer in a free-running at all times. The SAMA5 timer/counters have 32-bit counters with the capability to generate a compare interrupt when the timer matches a compare value but also to continue counting without stopping (giving another, different interrupt when the timer rolls over from 0xffffffff to zero). So we could potentially just set the compare at the number of ticks you want PLUS the current value of timer. Then you could have both with a single timer: An interval timer and a free- running counter with the same timer! In this case, you would want to to set CONFIG_SCHED_TICKLESS_ALARM in the NuttX configuration. Patches are welcome! SAMA4D4-EK 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_CORTEXA5=y CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory CONFIG_ARCH_CHIP="sama5" CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip: CONFIG_ARCH_CHIP_SAMA5=y CONFIG_ARCH_CHIP_ATSAMA5D44=y CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD="sama5d4-ek" (for the SAMA4D4-EK development board) CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_SAMA5D4_EK=y CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation of delay loops CONFIG_ENDIAN_BIG - define if big endian (default is little endian) CONFIG_RAM_SIZE - Describes the installed DRAM (SRAM in this case): CONFIG_RAM_SIZE=0x0002000 (128Kb) CONFIG_RAM_START - The physical start address of installed DRAM CONFIG_RAM_START=0x20000000 CONFIG_RAM_VSTART - The virtual start address of installed DRAM CONFIG_RAM_VSTART=0x20000000 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 calibrate 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_SAMA5_DBGU - Debug Unit CONFIG_SAMA5_PIT - Periodic Interval Timer CONFIG_SAMA5_WDT - Watchdog timer CONFIG_SAMA5_HSMC - Multi-bit ECC CONFIG_SAMA5_SMD - SMD Soft Modem CONFIG_SAMA5_USART0 - USART 0 CONFIG_SAMA5_USART1 - USART 1 CONFIG_SAMA5_USART2 - USART 2 CONFIG_SAMA5_USART3 - USART 3 CONFIG_SAMA5_UART0 - UART 0 CONFIG_SAMA5_UART1 - UART 1 CONFIG_SAMA5_TWI0 - Two-Wire Interface 0 CONFIG_SAMA5_TWI1 - Two-Wire Interface 1 CONFIG_SAMA5_TWI2 - Two-Wire Interface 2 CONFIG_SAMA5_HSMCI0 - High Speed Multimedia Card Interface 0 CONFIG_SAMA5_HSMCI1 - High Speed Multimedia Card Interface 1 CONFIG_SAMA5_SPI0 - Serial Peripheral Interface 0 CONFIG_SAMA5_SPI1 - Serial Peripheral Interface 1 CONFIG_SAMA5_TC0 - Timer Counter 0 (ch. 0, 1, 2) CONFIG_SAMA5_TC1 - Timer Counter 1 (ch. 3, 4, 5) CONFIG_SAMA5_PWM - Pulse Width Modulation Controller CONFIG_SAMA5_ADC - Touch Screen ADC Controller CONFIG_SAMA5_XDMAC0 - XDMA Controller 0 CONFIG_SAMA5_XDMAC1 - XDMA Controller 1 CONFIG_SAMA5_UHPHS - USB Host High Speed CONFIG_SAMA5_UDPHS - USB Device High Speed CONFIG_SAMA5_EMAC0 - Ethernet MAC 0 (GMAC0) CONFIG_SAMA5_EMAC1 - Ethernet MAC 1 (GMAC1) CONFIG_SAMA5_LCDC - LCD Controller CONFIG_SAMA5_ISI - Image Sensor Interface CONFIG_SAMA5_SSC0 - Synchronous Serial Controller 0 CONFIG_SAMA5_SSC1 - Synchronous Serial Controller 1 CONFIG_SAMA5_SHA - Secure Hash Algorithm CONFIG_SAMA5_AES - Advanced Encryption Standard CONFIG_SAMA5_TDES - Triple Data Encryption Standard CONFIG_SAMA5_TRNG - True Random Number Generator CONFIG_SAMA5_ARM - Performance Monitor Unit CONFIG_SAMA5_FUSE - Fuse Controller CONFIG_SAMA5_MPDDRC - MPDDR controller Some subsystems can be configured to operate in different ways. The drivers need to know how to configure the subsystem. CONFIG_SAMA5_PIOA_IRQ - Support PIOA interrupts CONFIG_SAMA5_PIOB_IRQ - Support PIOB interrupts CONFIG_SAMA5_PIOC_IRQ - Support PIOD interrupts CONFIG_SAMA5_PIOD_IRQ - Support PIOD interrupts CONFIG_SAMA5_PIOE_IRQ - Support PIOE interrupts CONFIG_USART0_ISUART - USART0 is configured as a UART CONFIG_USART1_ISUART - USART1 is configured as a UART CONFIG_USART2_ISUART - USART2 is configured as a UART CONFIG_USART3_ISUART - USART3 is configured as a UART AT91SAMA5 specific device driver settings CONFIG_SAMA5_DBGU_SERIAL_CONSOLE - selects the DBGU for the console and ttyDBGU CONFIG_SAMA5_DBGU_RXBUFSIZE - Characters are buffered as received. This specific the size of the receive buffer CONFIG_SAMA5_DBGU_TXBUFSIZE - Characters are buffered before being sent. This specific the size of the transmit buffer CONFIG_SAMA5_DBGU_BAUD - The configure BAUD of the DBGU. CONFIG_SAMA5_DBGU_PARITY - 0=no parity, 1=odd parity, 2=even parity 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 DBGU). 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_PARITY - 0=no parity, 1=odd parity, 2=even parity CONFIG_U[S]ARTn_2STOP - Two stop bits AT91SAMA5 USB Host Configuration Pre-requisites CONFIG_USBDEV - Enable USB device support CONFIG_USBHOST - Enable USB host support CONFIG_SAMA5_UHPHS - Needed CONFIG_SAMA5_OHCI - Enable the STM32 USB OTG FS block CONFIG_SCHED_WORKQUEUE - Worker thread support is required Options: CONFIG_SAMA5_OHCI_NEDS Number of endpoint descriptors CONFIG_SAMA5_OHCI_NTDS Number of transfer descriptors CONFIG_SAMA5_OHCI_TDBUFFERS Number of transfer descriptor buffers CONFIG_SAMA5_OHCI_TDBUFSIZE Size of one transfer descriptor buffer CONFIG_USBHOST_INT_DISABLE Disable interrupt endpoint support CONFIG_USBHOST_ISOC_DISABLE Disable isochronous endpoint support CONFIG_USBHOST_BULK_DISABLE Disable bulk endpoint support config SAMA5_OHCI_REGDEBUG Configurations ============== Information Common to All Configurations ---------------------------------------- Each SAMA4D4-EK configuration is maintained in a sub-directory and can be selected as follow: cd tools ./configure.sh sama5d4-ek/ 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 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 the DBGU (J23). 3. All of these configurations use the Code Sourcery for Windows toolchain (unless stated otherwise in the description of the configuration). That toolchain selection can easily be reconfigured using 'make menuconfig'. Here are the relevant current settings: Build Setup: CONFIG_HOST_WINDOWS=y : Microsoft Windows CONFIG_WINDOWS_CYGWIN=y : Using Cygwin or other POSIX environment System Type -> Toolchain: CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIW=y : GNU EABI toolchain for windows That same configuration will work with Atmel GCC toolchain. The only change required to use the Atmel GCC toolchain is to change the PATH variable so that those tools are selected instead of the CodeSourcery tools. Try 'which arm-none-eabi-gcc' to make sure that you are selecting the right tool. The setenv.sh file is available for you to use to set the 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. !!!WARNING!!! The first time that you type 'make', the system will configure itself based on the settings in the .config file. One of these settings can cause a lot of confusion if you configure the build in the wrong state: If you are running on Linux, make *certain* that you have CONFIG_HOST_LINUX=y *before* the first make or you will create a very corrupt configuration that may not be easy to recover from. 4. The SAMA5Dx is running at 528MHz by default in these configurations. Board Selection -> CPU Frequency CONFIG_SAMA5D4EK_528MHZ=y : Enable 528MHz operation CONFIG_BOARD_LOOPSPERMSEC=65775 : Calibrated on SAMA5D3-Xplained at : 528MHz running from SDRAM Configuration Sub-directories ----------------------------- Summary: Some of the descriptions below are long and wordy. Here is the concise summary of the available SAMA4D4-EK configurations: at25boot: This is a little program to write a boot loader into the AT25 serial FLASH (in particular, dramboot). See the description below and the section above entitled "Creating and Using AT25BOOT" for more information dramboot: This is a little program to help debug of code in DRAM. See the description below and the section above entitled "Creating and Using DRAMBOOT" for more information nsh: This is an NuttShell (NSH) configuration that supports extensive functionality as possible (unlike the minimal ramtest configuration). See the detailed description below for a summary of the feature set supported by this configuration. You may want to disable some of these features if you plan to use the NSH as a platform for debugging and integrating new features. nxwm: This is a special configuration setup for the NxWM window manager UnitTest. It integrates support for both the SAMA5 LCDC and the SAMA5 ADC touchscreen controller and provides a more advance graphics demo. It provides an interactive windowing experience. ramtest: This is a stripped down version of NSH that runs out of internal SRAM. It configures SDRAM and supports only the RAM test at apps/examples/ramtest. This configuration is useful for bringing up SDRAM. There may be issues with some of these configurations. See the details before of the status of individual configurations. Now for the gory details: at25boot: To work around some SAM-BA availability issues that I had at one time, I created the at25boot program. at25boot is a tiny program that runs in ISRAM. at25boot will enable SDRAM and configure the AT25 Serial FLASH. It will prompt and then load an Intel HEX program into SDRAM over the serial console. If the program is successfully loaded in SDRAM, at25boot will copy the program at the beginning of the AT26 Serial FLASH. If the jumpering is set correctly, the SAMA5D4 RomBOOT loader will then boot the program from the serial FLASH the next time that it reset. The usage is different, otherwise I believe the notes for the dramboot configuration should all apply. STATUS: While this program works great and appears to correctly write the binary image onto the AT25 Serial FLASH, the RomBOOT loader will not boot it! I believe that is because the secure boot loader has some undocumented requirements that I am unaware of. (2014-6-28) dramboot: This is a little program to help debug of code in DRAM. It does the following: - Sets the clocking so that the SAMA5 is running at 528MHz. - Configures DRAM, - Loads and Intel HEX file into DRAM over the terminal port, - Waits for you to break in with GDB (or optionally starts the newly loaded program). At that point, you can set the PC and begin executing from SDRAM under debug control. See the section entitled "Creating and Using DRAMBOOT" above. NOTES: 1. This configuration uses the the USART3 for the serial console which is available at the "DBGU" RS-232 connector (J24). That is easily changed by reconfiguring to (1) enable a different serial peripheral, and (2) selecting that serial peripheral as the console device. 2. By default, this configuration is set up to build on Windows under either a Cygwin or MSYS environment using a recent, Windows- native, generic ARM EABI GCC toolchain (such as the CodeSourcery toolchain). Both the build environment and the toolchain selection can easily be changed by reconfiguring: CONFIG_HOST_WINDOWS=y : Windows operating system CONFIG_WINDOWS_CYGWIN=y : POSIX environment under windows CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows If you are running on Linux, make *certain* that you have CONFIG_HOST_LINUX=y *before* the first make or you will create a corrupt configuration that may not be easy to recover from. See the warning in the section "Information Common to All Configurations" for further information. 3. This configuration executes out of internal SRAM flash and is loaded into SRAM by the boot RomBoot from NAND, Serial DataFlash, SD card or from a TFTPC sever via the Boot ROM. Data also is positioned in SRAM. 2. The default dramboot program initializes the DRAM memory, displays a message, loads an Intel HEX program into DRAM over the serial console and halts. The dramboot program can also be configured to jump directly into DRAM without requiring the final halt and go by setting CONFIG_SAMA5D4EK_DRAM_START=y in the NuttX configuration. 3. Be aware that the default dramboot also disables the watchdog. Since you will not be able to re-enable the watchdog later, you may need to set CONFIG_SAMA5_WDT=y in the NuttX configuration file. 4. If you put dramboot on the Serial FLASH, you can automatically boot to SDRAM on reset. See the section "Creating and Using DRAMBOOT" above. 5. Here are the steps that I use to execute this program in SRAM using only the ROM Bootloader: a) Hold the DIS_BOOT button and b) With the DIS_BOOT button pressed, power cycle the board. A reset does not seem to be sufficient. c) The serial should show RomBOOT in a terminal window (at 115200 8N1) and nothing more. d) Press ENTER in the terminal window a few times to enable JTAG. e) Start the Segger GDB server. It should successfully connect to the board via JTAG (if JTAG was correctly enabled in step d)). f) Start GDB, connect, to the GDB server, load NuttX, and debug. gdb> target remote localhost:2331 gdb> mon halt (don't do mon reset) gdb> load nuttx gdb> mon reg pc (make sure that the PC is 0x200040 gdb> ... and debug ... STATUS: I don't have a working SAM-BA at the moment and there are issues with my AT25BOOT (see above). I currently work around these issues by putting DRAMBOOT on a microSD card (as boot.bin). The RomBOOT loader does boot that image without issue. nsh: This configuration directory provide the NuttShell (NSH). This is a very simple NSH configuration upon which you can build further functionality. NOTES: 1. This configuration uses the the USART3 for the serial console which is available at the "DBGU" RS-232 connector (J24). That is easily changed by reconfiguring to (1) enable a different serial peripheral, and (2) selecting that serial peripheral as the console device. 2. This configuration was verified using the SAMA5D4-MB, Rev C. board. There may be some differences in released SAMA5D4-EK board. Also, this configuration assumes that you have the TM7000 LCD/Touchscreen attached. If you do not, you should disable the LCD and touchscreen drivers as described above under "TM7000 LCD/Touchscreen" and also below. 3. By default, this configuration is set up to build on Windows under either a Cygwin or MSYS environment using a recent, Windows- native, generic ARM EABI GCC toolchain (such as the CodeSourcery toolchain). Both the build environment and the toolchain selection can easily be changed by reconfiguring: CONFIG_HOST_WINDOWS=y : Windows operating system CONFIG_WINDOWS_CYGWIN=y : POSIX environment under windows CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows If you are running on Linux, make *certain* that you have CONFIG_HOST_LINUX=y *before* the first make or you will create a corrupt configuration that may not be easy to recover from. See the warning in the section "Information Common to All Configurations" for further information. 4. This configuration supports logging of debug output to a circular buffer in RAM. This feature is discussed fully in this Wiki page: http://nuttx.org/doku.php?id=wiki:howtos:syslog . Relevant configuration settings are summarized below: File System: CONFIG_SYSLOG_ENABLE=n : (Output debug info unconditionally) CONFIG_SYSLOG=y : Enables the System Logging feature. Device Drivers: CONFIG_RAMLOG=y : Enable the RAM-based logging feature. CONFIG_RAMLOG_CONSOLE=n : (We don't use the RAMLOG console) CONFIG_RAMLOG_SYSLOG=y : This enables the RAM-based logger as the system logger. CONFIG_RAMLOG_NONBLOCKING=y : Needs to be non-blocking for dmesg CONFIG_RAMLOG_BUFSIZE=16384 : Buffer size is 16KiB NOTE: This RAMLOG feature is really only of value if debug output is enabled. But, by default, no debug output is disabled in this configuration. Therefore, there is no logic that will add anything to the RAM buffer. This feature is configured and in place only to support any future debugging needs that you may have. If you don't plan on using the debug features, then by all means disable this feature and save 16KiB of RAM! NOTE: There is an issue with capturing data in the RAMLOG: If the system crashes, all of the crash dump information will into the RAMLOG and you will be unable to access it! You can tell that the system has crashed because (a) it will be unresponsive and (b) the RED LED will be blinking at about 2Hz. That is another good reason to disable the RAMLOG! 5. This configuration executes out of SDRAM flash and is loaded into SDRAM from NAND, Serial DataFlash, SD card or from a TFTPC sever via U-Boot, BareBox, or the DRAMBOOT configuration described above. Data also is positioned in SDRAM. The load address is different for the DRAMBOOT program and the Linux bootloaders. This can easily be reconfigured, however: CONFIG_SAMA5D4EK_DRAM_BOOT=y See the section above entitled "Creating and Using DRAMBOOT" above for more information. Here is a summary of the steps that I used to boot the NSH configuration: a. Create the DRAMBOOT program as described above. It should be configured with CONFIG_SAMA5D4EK_DRAM_START=y so that DRAMBOOT will immediately start the program. You may not want to do this is your prefer to break in with GDB. b. Write the DRAMBOOT program binary (nuttx.bin) to a microSD card as "boot.bin". Insert the microSD card into the boar; The ROM Booloader should now boot DRAMBOOT on reset and you should see this message: Send Intel HEX file now c. Build the NSH version of NuttX. Send the Intel HEX of NSH at the prompt. After the file is received, NSH should start automatically. At times the past, have have tested with nuttx.bin on an SD card and booting with U-Boot. These are the commands that I used to boot NuttX from the SD card: U-Boot> fatload mmc 0 0x20008000 nuttx.bin U-Boot> go 0x20008040 6. Board LEDs and buttons are supported as described under "Buttons and LEDs". The interrupt button test is also enabled as an NSH built-in commands. To run this test, you simply inter the command: nsh>buttons [npresses] The interrupt button test will log button press information to the syslog. Since the RAMLOG is enabled, the SYSLOG output will be captured to a circular buffer in ram and may be examined using the NSH dmesg command: nsh> buttons 2 nsh> dmesg maxbuttons: 2 Attached handler at 200106f0 to button 0 [PB_USER], oldhandler:0 IRQ:81 Button 0:PB_USER SET:01: PB_USER depressed IRQ:81 Button 0:PB_USER SET:00: PB_USER released IRQ:81 Button 0:PB_USER SET:01: PB_USER depressed IRQ:81 Button 0:PB_USER SET:00: PB_USER released 7. This configuration supports /dev/null, /dev/zero, and /dev/random. CONFIG_DEV_NULL=y : Enables /dev/null CONFIG_DEV_ZERO=y : Enabled /dev/zero Support for /dev/random is implemented using the SAMA5D4's True Random Number Generator (TRNG). See the section above entitled "TRNG and /dev/random" for information about configuring /dev/random. CONFIG_SAMA5_TRNG=y : Enables the TRNG peripheral CONFIG_DEV_RANDOM=y : Enables /dev/random 8. This configuration has support for NSH built-in applications enabled. Two built-in applications are included by default: a. The I2C Tool. See the section above entitled "I2C Tool" and the note with regard to I2C below. b. The interrupting button test as described above in these notes. c. The touchscreen test program as described above under "TM7000 LCD/Touchscreen" and also below in this notes. d. An LCD/graphics test program. See the section above entitle "TM7000 LCD/Touchscreen" and also below in this notes. e. The NxPlayer command line media player. This is a work in progress see the "Audio Support" section above and additional notes below. 9. This configuration has support for the FAT, ROMFS, and PROCFS file systems built in. The FAT file system includes long file name support. Please be aware that Microsoft claims patents against the long file name support (see more discussion in the top-level COPYING file). CONFIG_FS_FAT=y : Enables the FAT file system CONFIG_FAT_LCNAMES=y : Enable lower case 8.3 file names CONFIG_FAT_LFN=y : Enables long file name support CONFIG_FAT_MAXFNAME=32 : Arbitrarily limits the size of a path segment name to 32 bytes The ROMFS file system is enabled simply with: CONFIG_FS_ROMFS=y : Enable ROMFS file system The ROMFS file system is enabled simply with: CONFIG_FS_PROCFS=y : Enable PROCFS file system 10. An NSH start-up script is provided by the ROMFS file system. The ROMFS file system is mounted at /etc and provides: |- dev/ | |- ... | `- ram0 : ROMFS block driver `- etc/ `- init.d/ `- rcS : Start-up script (There will, of course, be other devices under /dev including /dev/console, /dev/null, /dev/zero, /dev/random, etc.). Relevant configuration options include: CONFIG_NSH_ROMFSETC=y : Enable mounting at of startup file system CONFIG_NSH_ROMFSMOUNTPT="/etc" : Mount at /etc CONFIG_NSH_ROMFSDEVNO=0 : Device is /dev/ram0 CONFIG_NSH_ARCHROMFS=y : ROMFS image is at configs/sama5d4-ek/include/nsh_romfsimg.h The content of /etc/init.d/rcS can be see in the file rcS.template that can be found at: configs/sama5d4-ek/include/rcS.template: # Mount the procfs file system at /proc mount -f procfs /proc echo "rcS: Mounted /proc" # Create a RAMDISK at /dev/ram1, size 0.5MiB, format it with a FAT # file system and mount it at /tmp mkrd -m 1 -s 512 1024 mkfatfs /dev/ram1 mount -t vfat /dev/ram1 /tmp echo "rcS: Mounted /tmp" The above commands will mount the procfs file system at /proc and a RAM disk at /tmp. The second group of commands will: (1) Create a RAM disk block device at /dev/ram1 (mkrd). The RAM disk will take 0.4MiB of memory (512 x 1024). Then it will then: (2) create a FAT file system on the ram disk (mkfatfs) and (3) mount it at /tmp (mount). So after NSH starts and runs the rcS script, we will have: |- dev/ | |- ... | `- ram0 : ROMFS block driver | `- ram1 : RAM disk block driver |- etc/ | `- init.d/ | `- rcS : Start-up script |- proc/ | |- 0/ : Information about Task ID 0 | | |- cmdline : Command line used to start the task | | |- stack : Stack allocation | | |- status : Current task status | | `- group/ : Information about the task group | | |- fd : File descriptors open in the group | | `- status : Status of the group | |- 1/ : Information about Task ID 1 | | `- ... : Same psuedo-directories as for Task ID 0 | |- ... : ... | |- n/ : Information about Task ID n | | `- ... : Same psuedo-directories as for Task ID 0 | |- uptime : Processor uptime `- tmp/ The /tmp directory can them be used for and scratch purpose. The pseudo-files in the proc/ directory can be used to query properties of NuttX. As examples: nsh> cat /proc/1/stack StackBase: 0x2003b1e8 StackSize: 2044 nsh> cat /proc/uptime 31.89 nsh> cat /proc/1/status Name: work Type: Kernel thread State: Signal wait Priority: 192 Scheduler: SCHED_FIFO SigMask: 00000000 nsh> cat /proc/1/cmdline work nsh> cat /proc/1/group/status Flags: 0x00 Members: 1 nsh> cat /proc/1/group/fd FD POS OFLAGS 0 0 0003 1 0 0003 2 0 0003 SD RF TYP FLAGS 11. The Real Time Clock/Calendar (RTC) is enabled in this configuration. See the section entitled "RTC" above for detailed configuration settings. The RTC alarm is not enabled by default since there is nothing in this configuration that uses it. The alarm can easily be enabled, however, as described in the "RTC" section. The time value from the RTC will be used as the NuttX system time in all timestamp operations. You may use the NSH 'date' command to set or view the RTC as described above in the "RTC" section. NOTE: If you want the RTC to preserve time over power cycles, you will need to install a battery in the battery holder (J12) and close the jumper, JP13. 12. Support for HSMCI0 is built-in by default. The SAMA4D4-EK provides two SD memory card slots: (1) a full size SD card slot (J10), and (2) a microSD memory card slot (J11). The full size SD card slot connects via HSMCI0; the microSD connects vi HSMCI1. Support for the microSD slot could also be enabled with the settings provided in the paragraph entitled "HSMCI Card Slots" above. NOTE: For now I am boot off the microSD slot so, unless are booting in a different manner, this HSMCI1 slot may not be useful to you anyway. The auto-mounter is also enabled. See the section above entitled "Auto-Mounter". 13. Networking is supported via EMAC0. See the "Networking" section above for detailed configuration settings. DHCP is not used in this configuration; rather, a hard-coded IP address of 10.0.0.2 is used with a netmask of 255.255.255.0. The host is assumed to be 10.0.0.1 in places. You can reconfigure to enabled DHCPC or to change these addresses as you see fit. See also the "kludge" for EMAC that is documented in the To-Do list at the end of this README file. The configuration option CONFIG_NSH_NETINIT_THREAD is enabled so that NSH network bring-up asynchronously and in parallel on a separate thread. This eliminates the (visible) networking bring-up delay. This current implementation, however, has some limitations: - If no network is connected, the network bring-up will fail and the network initialization thread will simply exit. There are no retries and no mechanism to know if the network initialization was successful (it could perform a network Ioctl to see if the link is up and it now, keep trying, but it does not do that now). - Furthermore, there is currently no support for detecting loss of network connection and recovery of the connection (similarly, this thread could poll periodically for network status, but does not). 14. I2C Tool. This configuration enables TWI0 (only) as an I2C master device. This configuration also supports the I2C tool at apps/system/i2c that can be used to peek and poke I2C devices on the TIW0 bus. See the discussion above under "I2C Tool" for detailed configuration settings. 15. Support the USB low-, high- and full-speed OHCI host driver is enabled enabled with the NuttX configuration file as described in the section above entitled "USB High-Speed Host". Only port B and port C, the larger "Type A" connectors, are enabled; port A (the smaller OTG connector) is reserved for future use with USB device (but could also be configured as a USB host port if desired). Support for Mass Storage Class and USB (Boot) Keyboard class is also enabled. The keyboard class was useful for verifying that low-speed devices can connect successfully, but is otherwise not used by this configuration. Feel free to disable it if you like: CONFIG_USBHOST_HIDKBD=n You could also replace the NSH stdin device to take input from a USB keyboard with: CONFIG_NSH_USBKBD=y CONFIG_NSH_USBKBD_DEVNAME="/dev/kbda" The keyboard is currently configured to poll at 80 MSec intervals. This is controlled by: CONFIG_HIDKBD_POLLUSEC=80000 which can be reduced if better keyboard response is required. NOTE: You will not have access to the RAMLOG via the NSH dmseg command if the USB keyboard is selected. You can still access NSH via Telnet or you may want to disable the RAMLOG so that debug information comes out on the console. 16. Support the USB high-speed USB device driver (UDPHS) is not enabled by default but could be enabled by changing the NuttX configuration file as described above in the section entitled "USB High-Speed Device." 17. Support for the maXTouch MXT768E touchscreen driver on the TM7000 LCD/Touchscreen module is enabled by default. See the section above entitled "TM7000 LCD/Touchscreen" for detailed configuration information. You will probably want to disable this option if you are not using the TM7000 LCD/Touchscreen. The Touchscreen test program is also built in. This test program can be found in the source tree at apps/examples/touchscreen. Usage is like: nsh> tc [] 18. Support for the TM7000 LCD is enabled by default. See the section above entitled "TM7000 LCD/Touchscreen" for detailed configuration information. You will probably want to disable this option if you are not using the TM7000 LCD. There are several LCD test programs available. One is built into this configuration: apps/examples/nx. The NX example is a simple test using the NuttX graphics system (NX). This test case focuses on general window controls, movement, mouse and keyboard input. It requires no user interaction. The test is executed by simply typing: nsh> nx There are several simple graphics examples under apps/examples/ that could be configured to verify LCD/graphics operation: a. nxhello. Just displays "Hello, World!" at the center of the display. b. nximage. Displays the NuttX logo in the center of the display. c. nxlines. Shows many fat lines. This generally looks like a "clock" with a cicle and a rotating line in the center. d. nxtext. This demonstrates scrolling text with pop-up windows on top of the test. The pop-up windows come and go without corrupting the scrolling text. See apps/examples/README.txt for information about configuring these examples. 19. NxPlayer This configuration has the command line NxPlayer enabled. At present, the the WM8904 driver is not included in the configuration. Instead the "NULL" audio device in built in to support higher level testing (there are also some unresolved I2C communication issues the the current WM8904 driver). This configuration depends on media files in the default mountpoint at /mnt/sdard. You will need to mount the media before running NxPlayer, Here are the general steps to play a file: a. You will need an (full size) SD card containing the .WAV files that you want to play (.WAV is only format supported as of this writing). That SD card should be inserted in the HSMCI0 media slot A (best done before powering up). b. If the NuttX auto-mounter is enabled and properly configured, then the FAT file system appear at /mnt/sdcard. If the auto- mounter is not enabled, then here are the steps to manually mount the FAT file system: Then from NSH prompt, you need to mount the media volume like: nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard NOTE: The auto-mounter is enabled by default in this configuration. c. Then you can run the media player like: nsh> nxplayer nxplayer> device pcm0 nxplayer> play 20. The SAMA5D4-EK includes for an AT25 serial DataFlash. That support is NOT enabled in this configuration. Support for that serial FLASH could be enabled by modifying the NuttX configuration as described above in the paragraph entitled "AT25 Serial FLASH". 21. This example can be configured to exercise the watchdog timer test (apps/examples/watchdog). See the detailed configuration settings in the section entitled "Watchdog Timer" above. STATUS: See the To-Do list below nxwm: This is a special configuration setup for the NxWM window manager UnitTest. It integrates support for both the SAMA5 LCDC and the SAMA5 ADC touchscreen controller and provides a more advance graphics demo. It provides an interactive windowing experience. NOTES: 1. The NxWM window manager is a tiny window manager tailored for use with smaller LCDs but which is show here on the larger, SAMA5D4-EK TM7000 LCD. It supports a toolchain, a start window, and multiple application windows. However, to make the best use of the visible LCD space, only one application window is visible at at time. The NxWM window manager can be found here: nuttx-git/NxWidgets/nxwm The NxWM unit test can be found at: nuttx-git/NxWidgets/UnitTests/nxwm Documentation for installing the NxWM unit test can be found here: nuttx-git/NxWidgets/UnitTests/README.txt 2. This configuration is set up generally like the nsh configuration except that: - It boots into a graphic, window manage environment instead of the serial console command line. - The console command line is still available within NxConsole windows. - Obviously, the nx and touchscreen built in applications cannot be supported. Refer to the NOTES for the nsh configuration. Those also apply for the nxwm configuration (other than the differences noted above). 3. Here is the quick summary of the build steps. These steps assume that you have the entire NuttX GIT in some directory ~/nuttx-git. You may have these components installed elsewhere. In that case, you will need to adjust all of the paths in the following accordingly: a. Install the nxwm configuration $ cd ~/nuttx-git/nuttx/tools $ ./configure.sh sama5d4-ek/nxwm b. Make the build context (only) $ cd .. $ . ./setenv.sh $ make context ... NOTE: the use of the setenv.sh file is optional. All that it will do is to adjust your PATH variable so that the build system can find your tools. If you use it, you will most likely need to modify the script so that it has the correct path to your tool binary directory. c. Install the nxwm unit test $ cd ~/nuttx-git/NxWidgets $ tools/install.sh ~/nuttx-git/apps nxwm Creating symbolic link - To ~/nuttx-git/NxWidgets/UnitTests/nxwm - At ~/nuttx-git/apps/external d. Build the NxWidgets library $ cd ~/nuttx-git/NxWidgets/libnxwidgets $ make TOPDIR=~/nuttx-git/nuttx ... e. Build the NxWM library $ cd ~/nuttx-git/NxWidgets/nxwm $ make TOPDIR=~/nuttx-git/nuttx ... f. Built NuttX with the installed unit test as the application $ cd ~/nuttx-git/nuttx $ make 4. NSH Console Access. This configuration boots directly into a graphic, window manage environment. There is no serial console. Some initial stdout information will go to the USART3 serial output, but otherwise the serial port will be silent. Access to the NSH console is available in two ways: a. The NxWM provides a graphics-based terminals (called NxConsoles); The console command line is still available within NxConsole windows once NxWM is up and running. The console input (stdin) is provided via a USB HID keyboard, but console output will go to the NxConsole terminal. See below for more information about the USB HID keyboard input, | b. Telnet NSH sessions are still supported and this is, in general, the convenient way to access the shell (and RAMLOG). As with the NSH configuration, debug output will still go to the circular RAMLOG buffer but cannot be accessed from a serial console. Instead, you will need use the dmesg command from an NxConsole or from a Telnet session to see the debug output 5. USB HID Keyboard Input USB keyboard support is enabled in the default configuration, but can be disabled: CONFIG_USBHOST_HIDKBD=y Not all keyboards may be supported; only "boot" keyboards will be recognized. The USB keyboard is configured to replace the NSH stdin device some that NSH will take input from the USB keyboard. This has to be done a little differently for the case of NxWM::CNxConsoles than in the standard NSH configuration. Here the relevant configuration options are: CONFIG_NXWM_KEYBOARD_USBHOST=y CONFIG_NXWM_KEYBOARD_DEVPATH="/dev/kbda" NSH will then automatically start when the NxConsole is started: NuttShell (NSH) NuttX-7.3 nsh> When the NxConsole comes up, it will attempt to use /dev/kbda device for input. Obviously, you cannot enter text if there is no keyboard but otherwise you will not see any indication whether a keyboard is connected or not. If the keyboard is detached, you not be able to enter text until the keyboard is reconnected. Again, there is no other special indication of the keyboard state. The keyboard is currently configured to poll at 80 MSec intervals. That might not be fast enough for you if you are a fast typist. This polling rate is controlled by: CONFIG_HIDKBD_POLLUSEC=80000 which can be reduced if better keyboard response is required. 6. Media Player This configuration has the media player application enabled. That player is still a work in progress and is only partially integrated with the NxPlayer as of this writing. At present, the the WM8904 driver is not included in the configuration. Instead the "NULL" audio device in built in to support higher level testing (there are also some unresolved I2C communication issues the the current WM8904 driver). This configuration depends on media files in the default mountpoint at /mnt/sdard (configurable). If you see the message "Media volume not mounted" in the media player text box, then you will need to mount the media volume: a. You will need an (full size) SD card containing the .WAV files that you want to play (.WAV is only format supported as of this writing). That SD card should be inserted in the HSMCI0 media slot A (best done before powering up). b. If the NuttX auto-mounter is enabled and properly configured, then the FAT file system appear at /mnt/sdcard. If the auto- mounter is not enabled, then you need to perform the following steps to manually mount the FAT file system: Then from NSH prompt, you need to mount the media volume like: nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard I usually do this via Telnet from the host PC. Here is a complete host Telnet session: $ telnet 10.0.0.2 Trying 10.0.0.2... Connected to 10.0.0.2. Escape character is '^]'. NuttShell (NSH) NuttX-7.3 nsh> mount -t vfat /dev/mmcsd0 /mnt/sdcard nsh> exit Connection closed by foreign host. NOTE: The auto-mounter is enabled by default in this configuration. c. Then if you close the old media player window and bring up a new one, you should see the .WAV files on the SD card in the lis box. Things still to do: a. Currently the list box is not scrollable. So you will be limited to the number .WAV files that will fit in the existing list box (a scrollable list box class exists, but has not been integrated into the media play demo). b. Although the lower level NxPlayer does support them, there are no controls at the GUI for balance or tone/equalization. c. There is no visual indication of play status or end of playing. STATUS: See the To-Do list below ramtest: This is a stripped down version of NSH that runs out of internal SRAM. It configures SDRAM and supports only the RAM test at apps/examples/ramtest. This configuration is useful for bringing up SDRAM. NOTES: 1. This configuration uses the the USART3 for the serial console which is available at the "DBGU" RS-232 connector (J24). That is easily changed by reconfiguring to (1) enable a different serial peripheral, and (2) selecting that serial peripheral as the console device. 2. By default, this configuration is set up to build on Windows under either a Cygwin or MSYS environment using a recent, Windows- native, generic ARM EABI GCC toolchain (such as the CodeSourcery toolchain). Both the build environment and the toolchain selection can easily be changed by reconfiguring: CONFIG_HOST_WINDOWS=y : Windows operating system CONFIG_WINDOWS_CYGWIN=y : POSIX environment under windows CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows If you are running on Linux, make *certain* that you have CONFIG_HOST_LINUX=y *before* the first make or you will create a corrupt configuration that may not be easy to recover from. See the warning in the section "Information Common to All Configurations" for further information. 3. This configuration executes out of internal SRAM flash and is loaded into SRAM by the boot ROM SDRAM from NAND, Serial DataFlash, SD card or from a TFTPC sever via the Boot ROM. Data also is positioned in SRAM. Here are the steps that I use to execute this program in SRAM using only the ROM Bootloader: a) Hold the DIS_BOOT button and b) With the DIS_BOOT button pressed, power cycle the board. A reset does not seem to be sufficient. c) The serial should show RomBOOT in a terminal window (at 115200 8N1) and nothing more. d) Press ENTER in the terminal window a few times to enable JTAG. e) Start the Segger GDB server. It should successfully connect to the board via JTAG (if JTAG was correctly enabled in step d)). f) Start GDB, connect, to the GDB server, load NuttX, and debug. gdb> target remote localhost:2331 gdb> mon halt (don't do mon reset) gdb> load nuttx gdb> mon reg pc (make sure that the PC is 0x200040 gdb> ... and debug ... To-Do List ========== 1) Neither USB OHCI nor EHCI support Isochronous endpoints. Interrupt endpoint support in the EHCI driver is untested (but works in similar EHCI drivers). 2) HSCMI. CONFIG_MMCSD_MULTIBLOCK_DISABLE=y is set to disable multi-block transfers because of some issues that I saw during testing. The is very low priority to me but might be important to you if you are need very high performance SD card accesses. 3) There is a kludge in place in the Ethernet code to work around a problem that I see. The problem that I see is as follows: a. To send packets, the software keeps a queue of TX descriptors in memory. b. When a packet is ready to be sent, the software clears bit 31 of a status word in the descriptor meaning that the descriptor now "belongs" to the hardware. c. The hardware sets bit 31 in memory when the transfer completes. The problem that I see is that: d. Occasionally bit 31 of the status word is not cleared even though the Ethernet packet was successfully sent. Since the software does not see bit 31 set, it seems like the transfer did not complete and the Ethernet locks up. The workaround/kludge that is in place makes this assumption: If an Ethernet transfer complete interrupt is received, then at least one packet must have completed. In this case, the software ignores checking the USED bit for one packet. With this kludge in place, the driver appears to work fine. However, there is a danger to what I have done: If a spurious interrupt occurs, than the USED bit would not be set and the transfer would be lost. 4) Some drivers may require some adjustments if you intend to run from SDRAM. That is because in this case macros like BOARD_MCK_FREQUENCY are not constants but are instead function calls: The MCK clock frequency is not known in advance but instead has to be calculated from the bootloader PLL configuration. As of this writing, all drivers have been converted to run from SDRAM except for the PWM and the Timer/Counter drivers. These drivers use the BOARD_MCK_FREQUENCY definition in more complex ways and will require some minor redesign and re-testing before they can be available. 5) Board-related I2C issues have prevented integration of the WM8904 audio decoder. So the NxPlayer and NxWM Media Player demo cannot produce sounds.