README ===== This README file describes the port of NuttX to the SAMA5D3x-EK development boards. These boards feature the Atmel SAMA5D3 microprocessors. Four different SAMA5D3x-EK kits are available - SAMA5D31-EK with the ATSAMA5D31 (http://www.atmel.com/devices/sama5d31.aspx) - SAMA5D33-EK with the ATSAMA5D33 (http://www.atmel.com/devices/sama5d33.aspx) - SAMA5D34-EK with the ATSAMA5D34 (http://www.atmel.com/devices/sama5d34.aspx) - SAMA5D35-EK with the ATSAMA5D35 (http://www.atmel.com/devices/sama5d35.aspx) The each consist of an identical base board with different plug-in modules for each CPU. I also have a 7 inch LCD for my SAMA5D3x-EK, but this is not yet generally available.. SAMA5D3 Family ATSAMA5D31 ATSAMA5D33 ATSAMA5D34 ATSAMA5D35 ------------------------- ------------- ------------- ------------- ------------- Pin Count 324 324 324 324 Max. Operating Frequency 536 536 536 536 CPU Cortex-A5 Cortex-A5 Cortex-A5 Cortex-A5 Max I/O Pins 160 160 160 160 Ext Interrupts 160 160 160 160 USB Transceiver 3 3 3 3 USB Speed Hi-Speed Hi-Speed Hi-Speed Hi-Speed USB Interface Host, Device Host, Device Host, Device Host, Device SPI 6 6 6 6 TWI (I2C) 3 3 3 3 UART 7 5 5 7 CAN - - 2 2 LIN 4 4 4 4 SSC 2 2 2 2 Ethernet 1 1 1 2 SD / eMMC 3 2 3 3 Graphic LCD Yes Yes Yes - Camera Interface Yes Yes Yes Yes ADC channels 12 12 12 12 ADC Resolution (bits) 12 12 12 12 ADC Speed (ksps) 440 440 440 440 Resistive Touch Screen Yes Yes Yes Yes Crypto Engine AES/DES/ AES/DES/ AES/DES/ AES/DES/ SHA/TRNG SHA/TRNG SHA/TRNG SHA/TRNG SRAM (Kbytes) 128 128 128 128 External Bus Interface 1 1 1 1 DRAM Memory DDR2/LPDDR, DDR2/LPDDR, DDR2/LPDDR, DDR2/LPDDR, SDRAM/LPSDR SDRAM/LPSDR DDR2/LPDDR, DDR2/LPDDR, NAND Interface Yes Yes Yes Yes Temp. Range (deg C) -40 to 85 -40 to 85 -40 to 85 -40 to 85 I/O Supply Class 1.8/3.3 1.8/3.3 1.8/3.3 1.8/3.3 Operating Voltage (Vcc) 1.08 to 1.32 1.08 to 1.32 1.08 to 1.32 1.08 to 1.32 FPU Yes Yes Yes Yes MPU / MMU No/Yes No/Yes No/Yes No/Yes Timers 5 5 5 6 Output Compare channels 6 6 6 6 Input Capture Channels 6 6 6 6 PWM Channels 4 4 4 4 32kHz RTC Yes Yes Yes Yes Packages LFBGA324_A LFBGA324_A LFBGA324_A LFBGA324_A Contents ======== - Development Environment - GNU Toolchain Options - IDEs - NuttX EABI "buildroot" Toolchain - NuttX OABI "buildroot" Toolchain - NXFLAT Toolchain - Loading Code into SRAM with J-Link - Writing to FLASH using SAM-BA - Creating and Using NORBOOT - Buttons and LEDs - Serial Consoles - Serial FLASH - HSMCI Card Slots - USB Ports - AT24 Serial EEPROM - CAN Usage - SAMA5D3x-EK Configuration Options - Configurations Development Environment ======================= Several possibile development enviorments may be use: - 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_GNU_EABIW=y and setting the PATH variable appropriately. If you are not using AtmelStudio GCC toolchain, then you may also have to modify the PATH in the setenv.h file if your make cannot find the tools. NOTE about Windows native toolchains ------------------------------------ There are several limitations to using a Windows based toolchain in a Cygwin environment. The three biggest are: 1. The Windows toolchain cannot follow Cygwin paths. Path conversions are performed automatically in the Cygwin makefiles using the 'cygpath' utility but you might easily find some new path problems. If so, check out 'cygpath -w' 2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links are used in Nuttx (e.g., include/arch). The make system works around these problems for the Windows tools by copying directories instead of linking them. But this can also cause some confusion for you: For example, you may edit a file in a "linked" directory and find that your changes had no effect. That is because you are building the copy of the file in the "fake" symbolic directory. If you use a\ Windows toolchain, you should get in the habit of making like this: make clean_context all An alias in your .bashrc file might make that less painful. 3. Dependencies are not made when using Windows versions of the GCC. This is because the dependencies are generated using Windows pathes which do not work with the Cygwin make. MKDEP = $(TOPDIR)/tools/mknulldeps.sh NOTE 1: Older CodeSourcery toolchains (2009q1) do not work with default optimization level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with -Os. NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM path or will get the wrong version of make. IDEs ==== NuttX is built using command-line make. It can be used with an IDE, but some effort will be required to create the project (There is a simple RIDE project in the RIDE subdirectory). Makefile Build -------------- Under Eclipse, it is pretty easy to set up an "empty makefile project" and simply use the NuttX makefile to build the system. That is almost for free under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty makefile project in order to work with Windows (Google for "Eclipse Cygwin" - there is a lot of help on the internet). Native Build ------------ Here are a few tips before you start that effort: 1) Select the toolchain that you will be using in your .config file 2) Start the NuttX build at least one time from the Cygwin command line before trying to create your project. This is necessary to create certain auto-generated files and directories that will be needed. 3) Set up include pathes: You will need include/, arch/arm/src/sam34, arch/arm/src/common, arch/arm/src/armv7-m, and sched/. 4) All assembly files need to have the definition option -D __ASSEMBLY__ on the command line. Startup files will probably cause you some headaches. The NuttX startup file is arch/arm/src/sam34/sam_vectors.S. You may need to build NuttX one time from the Cygwin command line in order to obtain the pre-built startup object needed by RIDE. NuttX EABI "buildroot" Toolchain ================================ A GNU GCC-based toolchain is assumed. The files */setenv.sh should be modified to point to the correct path to the Cortex-M3 GCC toolchain (if different from the default in your PATH variable). If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX SourceForge download site (https://sourceforge.net/projects/nuttx/files/buildroot/). This GNU toolchain builds and executes in the Linux or Cygwin environment. 1. You must have already configured Nuttx in /nuttx. cd tools ./configure.sh sama5d3x-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-eabi-defconfig-4.6.3 .config 6. make oldconfig 7. make 8. Edit setenv.h, if necessary, so that the PATH variable includes the path to the newly built binaries. See the file configs/README.txt in the buildroot source tree. That has more details PLUS some special instructions that you will need to follow if you are building a Cortex-M3 toolchain for Cygwin under Windows. NOTE: Unfortunately, the 4.6.3 EABI toolchain is not compatible with the the NXFLAT tools. See the top-level TODO file (under "Binary loaders") for more information about this problem. If you plan to use NXFLAT, please do not use the GCC 4.6.3 EABI toochain; instead use the GCC 4.3.3 OABI toolchain. See instructions below. NuttX OABI "buildroot" Toolchain ================================ The older, OABI buildroot toolchain is also available. To use the OABI toolchain, use the build instructtions above, but (1) modify the cortexm3-eabi-defconfig-4.6.3 configuration to use OABI (using 'make menuconfig'), or (2) use an exising OABI configuration such as cortexm3-defconfig-4.3.3 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 sama5d3x-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. 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-Lnk 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 poort (J14) 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 (J14) 2. Connect the USB cable to the device USB port (J20) 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 = at91sama5d3x-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 J20 and re-connect the serial link on USB CDC / DBGU connector (J14) and re-open the terminal emulator program. 10. If you loaded code in NOR flash (CS0), then you will need to close JP9 (BMS == 0) to force booting out of NOR flash (see NOTE). 11. Power cycle the board. NOTES: By closing JP9 (BMS == 0), you can force the board to boot directly to NOR FLASH. Executing from other memories will require that you provide a special code header so that you code can be recognized as a boot-able image by the ROM bootloader. Creating and Using NORBOOT ========================== In order to have more control of debugging code that runs out of NOR FLASH, I created the sama5d3x-ek/norboot configuration. That configuration is described below under "Configurations." Here are some general instructions on how to build an use norboot: Building: 1. Remove any old configurations (if applicable). cd make distclean 2. Install and build the norboot configuration. This steps will establish the norboot configuration and setup the PATH variable in order to do the build: cd tools ./configure.sh sama5d3x-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. NOTE: Be aware that the default norboot 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 norboot: 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 norboot 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 norboot mv nuttx.hex norboot.hex mv nuttx.bin norboot.bin 4. Build your NOR configuration and write this into NOR FLASH. Here, for example, is how you would create the NSH NOR configuration: cd make distclean # Remove the norboot configuration cd tools ./configure.sh sama5d3x-ek/nsh # Establish the NSH configuration cd - make # Build the NSH configuration Then use SAM-BA to write the nuttx.bin binary into NOR FLASH. This will involve holding the CS_BOOT button and power cycling to start the ROM loader. The SAM-BA serial connection will be on the device USB port, not the debug USB port. Follow the SAM-BA instruction to write the nuttx.bin binary to NOR FLASH. 5. Restart the system without holding CS_BOOT to get back to the normal debug setup. 6. Then start the J-Link GDB server and GDB. In GDB, I do the following: (gdb) mon reset # Reset and halt the CPU (gdb) load norboot # Load norboot into internal SRAM (gdb) mon go # Start norboot (gdb) mon halt # Break in (gdb) mon reg pc = 0x10000040 # Set the PC to NOR flash entry point (gdb) mon go # And jump into NOR flash The norboot program can also be configured to jump directly into NOR FLASH without requiring the final halt and go by setting CONFIG_SAMA5_NOR_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 NOR. STATUS: 2013-7-30: I have been unable to execute this configuration from NOR FLASH by closing the BMS jumper (J9). As far as I can tell, this jumper does nothing on my board??? So I have been using the norboot configuration exclusively to start the program-under-test in NOR FLASH. Buttons and LEDs ================ Buttons ------- There are five push button switches on the SAMA5D3X-EK base board: 1. One Reset, board reset (BP1) 2. One Wake up, push button to bring the processor out of low power mode (BP2) 3. One User momentary Push Button 4. One Disable CS Push Button Only the momentary push button is controllable by software (labeled "PB_USER1" on the board): - PE27. Pressing the switch connect PE27 to grounded. Therefore, PE27 must be pulled high internally. When the button is pressed the SAMA5 will sense "0" is on PE27. LEDs ---- There are two LEDs on the SAMA5D3 series-CM board that can be controlled by software. A blue LED is controlled via PIO pins. A red LED normally provides an indication that power is supplied to the board but can also be controlled via software. PE25. This blue LED is pulled high and is illuminated by pulling PE25 low. PE24. The red LED is also pulled high but is driven by a transistor so that it is illuminated when power is applied even if PE24 is not configured as an output. If PE24 is configured as an output, then the LCD is illuminated by a high output. 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 Blue Red ------------------- ----------------------- -------- -------- LED_STARTED NuttX has been started OFF OFF LED_HEAPALLOCATE Heap has been allocated OFF OFF LED_IRQSENABLED Interrupts enabled OFF OFF LED_STACKCREATED Idle stack created ON OFF LED_INIRQ In an interrupt No change LED_SIGNAL In a signal handler No change LED_ASSERTION An assertion failed No change LED_PANIC The system has crashed OFF Blinking LED_IDLE MCU is is sleep mode Not used Thus if the blue LED is statically on, NuttX has successfully booted and is, apparently, running normmally. If the red is flashing at approximately 2Hz, then a fatal error has been detected and the system has halted. Serial Consoles =============== USART1 ------ By default USART1 is used as the NuttX serial console in all configurations (unless otherwise noted). USART1 is buffered with an RS-232 Transceiver (Analog Devices ADM3312EARU) and connected to the DB-9 male socket (J8). USART1 Connector J8 ------------------------------- SAMA5 FUNCTION NUTTX PIO PIO NAME CONFIGURATION ---- ---------- --------------- PB27 RTS1 PIO_USART1_RTS PB29 TXD1 PIO_USART1_TXD PB28 RXD1 PIO_USART1_RXD PB26 CTS1 PIO_USART1_CTS NOTE: Debug TX and RX pins also go to the ADM3312EARU, but I am uncertain of the functionality. ------------------------------- SAMA5 FUNCTION NUTTX PIO PIO NAME CONFIGURATION ---- ---------- --------------- PB31 DTXD PIO_DBGU_DTXD PB30 DRXD PIO_DBGU_DRXD Hardware UART via CDC --------------------- "J-Link-OB-ATSAM3U4C comes with an additional hardware UART that is accessible from a host via CDC which allows terminal communication with the target device. This feature is enabled only if a certain port (CDC disabled, PA25, pin 24 on J-Link-OB-ATSAM3U4C) is NOT connected to ground (open). - Jumper JP16 not fitted: CDC is enabled - Jumper JP16 fitted : CDC is disabled" Serial FLASH ============ Both the Ronetix and Embest versions of the SAMAD3x CPU modules include an Atmel AT25DF321A, 32-megabit, 2.7-volt SPI serial flash. The SPI connection is as follows: AT25DF321A SAMA5 --------------- ----------------------------------------------- SI PD11 SPI0_MOSI SO PD10 SPI0_MIS0 SCK PD12 SPI0_SPCK /CS PD13 via NL17SZ126 if JP1 is closed (See below) JP1 and JP2 seem to related to /CS on the Ronetix board, but the usage is less clear. For the Embest module, JP1 must be closed to connect /CS to PD13; on the Ronetix schematic, JP11 seems only to bypass a resistor (may not be populated?). I think closing JP1 is correct in either case. HSMCI Card Slots ================ The SAMA5D3x-EK provides a two SD memory card slots: (1) a full size SD card slot (J7 labeled MCI0), and (2) a microSD memory card slot (J6 labeled MCI1). The full size SD card slot connects via HSMCI0. The card detect discrete is available on PB17 (pulled high). The write protect descrete is tied to ground (via PP6) and 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 PD17 MCI0_CD PD1 MCI0_DA0 PD2 MCI0_DA1 PD3 MCI0_DA2 PD4 MCI0_DA3 PD5 MCI0_DA4 PD6 MCI0_DA5 PD7 MCI0_DA6 PD8 MCI0_DA7 PD9 MCI0_CK PD0 MCI0_CDA The microSD connects vi HSMCI1. The card detect discrete is available on PB18 (pulled high): PD18 MCI1_CD PB20 MCI1_DA0 PB21 MCI1_DA1 PB22 MCI1_DA2 PB23 MCI1_DA3 PB24 MCI1_CK PB19 MCI1_CDA USB Ports ========= The SAMA5D3 series-MB features three USB communication ports: * Port A Host High Speed (EHCI) and Full Speed (OHCI) multiplexed with USB Device High Speed Micro AB connector, J20 * Port B Host High Speed (EHCI) and Full Speed (OHCI) standard type A connector, J19 upper port * Port C Host Full Speed (OHCI) only standard type A connector, J19 lower port All three USB host ports are equipped with 500 mA high-side power switch for self-powered and buspowered applications. The USB device port feature VBUS inserts detection function. Port A ------ PIO Signal Name Function ---- ----------- ------------------------------------------------------- PD29 VBUS_SENSE VBus detection PD25 EN5V_USBA VBus power enable (via MN15 AIC1526 Dual USB High-Side Power Switch. The other channel of the switch is for the LCD) Port B ------ PIO Signal Name Function ---- ----------- ------------------------------------------------------- PD26 EN5V_USBB VBus power enable (via MN14 AIC1526 Dual USB High-Side Power Switch). To the A1 pin of J19 Dual USB A connector Port C ------ PIO Signal Name Function ---- ----------- ------------------------------------------------------- PD27 EN5V_USBC VBus power enable (via MN14 AIC1526 Dual USB High-Side Power Switch). To the B1 pin of J19 Dual USB A connector Both Ports B and C ------------------ PIO Signal Name Function ---- ----------- ------------------------------------------------------- PD28 OVCUR_USB Combined overrcurrent indication from port A and B AT24 Serial EEPROM ================== A AT24C512 Serial EEPPROM was used for tested I2C. There are other I2C/TWI devices on-board, but the serial EEPROM is the simplest test. There is, however, no AT24 EEPROM on board the SAMA5D3x-EK: The Serial EEPROM was mounted on an external adaptor board and connected to the SAMA5D3x-EK thusly: - VCC -- VCC - GND -- GND - TWCK0(PA31) -- SCL - TWD0(PA30) -- SDA By default, PA30 and PA31 are SWJ-DP pins, it can be used as a pin for TWI peripheral in the end application. CAN Usage ========= CAN Configuration ----------------- The following steps illustrate how to enable CAN0 and/or CAN1 in the NuttX configuration: System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_CAN0=y : Select CAN0 and/or CAN1 CONFIG_SAMA5_CAN1=y Device Drivers -> CAN Driver Support CONFIG_CAN=y : (Automatically selected) CONFIG_CAN_EXTID=y : For extended, 29-bit CAN IDs System Type -> CAN Drive Support CONFIG_SAMA5_CAN0_BAUD=250000 : Select some BAUD for CAN0 (if enabled) CONFIG_SAMA5_CAN0_NRECVMB=1 : Select number of receive mailboxes (see below) CONFIG_SAMA5_CAN1_BAUD=250000 : Select some BAUD for CAN1 (if enabled) CONFIG_SAMA5_CAN1_NRECVMB=1 : Select number of receive mailboxes (see below) Receive Mailboxes and Address Filtering --------------------------------------- The SAMA5 CAN0 peripheral supports 8 mailboxes that can be used for sending and receiving messages. Note that the number of dedicated receive mailboxes (CONFIG_SAMA5_CANn_NRECVMB) was set to one in the above configuration. This could be set to any value from 1 to 3 (the upper limit of 3 is purely arbrary and can be increased with some minor code enhancement). The remainder can be configured dynamically to send CAN messages. Why would you want to use more than one receive mailbox? There are two reasons. Multiple receive mailboxes might needed to either (1) receive bursts of messages, or (2) to support multiple groups of messages filtered on message ID. You must also specify the address filtering for each dedicated receive mailbox: System Type -> CAN Drive Support CONFIG_SAMA5_CAN0_ADDR0 and CONFIG_SAMA5_CAN0_MASK0 : If CONFIG_SAMA5_CAN0_NRECVMB >= 1 CONFIG_SAMA5_CAN0_ADDR1 and CONFIG_SAMA5_CAN0_MASK1 : If CONFIG_SAMA5_CAN0_NRECVMB >= 2 CONFIG_SAMA5_CAN0_ADDR2 and CONFIG_SAMA5_CAN0_MASK2 : If CONFIG_SAMA5_CAN0_NRECVMB >= 3 CONFIG_SAMA5_CAN1_ADDR0 and CONFIG_SAMA5_CAN1_MASK0 : If CONFIG_SAMA5_CAN1_NRECVMB >= 1 CONFIG_SAMA5_CAN1_ADDR1 and CONFIG_SAMA5_CAN1_MASK1 : If CONFIG_SAMA5_CAN1_NRECVMB >= 2 CONFIG_SAMA5_CAN1_ADDR2 and CONFIG_SAMA5_CAN1_MASK2 : If CONFIG_SAMA5_CAN1_NRECVMB >= 3 Only messages that have IDs that match the CONFIG_SAMA5_CANn_ADDRn when both the received and the configured address are masked by CONFIG_SAMA5_CANn_MASKn will be accepted. For eacmple, if the mask is all ones, then only messasges with exact address matches will be accepted; if the mask is all zeroes than any address will be accepted. CAN connectors -------------- CAN1 and CAN2 are available via RJ-11 connectors on the SAMA5Dx-EK. Each is wired as follows. Also shown below is the matching pins if you want connect the CAN to a device that uses an DB-9 connector. Both connector types are common. +----------+ RJ-11 DB-9 | O | ----------- -------------- +------------+ | | Pin 1 3v3 Pin 1 N/C | +--+ | | o5 | Pin 2 5v Pin 2 CANL | | | | | o9 | Pin 3 N/C Pin 3 GND | +-+ +-+ | | o4 | Pin 4 CANL Pin 4 N/C | | | | | o8 | Pin 5 CANH Pin 5 N/C | |654321| | | o3 | Pin 6 N/C Pin 6 N/C | |oooooo| | | o7 | Pin 7 CANH | +------+ | | o2 | Pin 8 N/C +------------+ | o6 | Pin 9 N/C RJ-11 Female | x1 | | | | O | +----------+ DB-9 Male SAMA5D3x-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 and one of: CONFIG_ARCH_CHIP_ATSAMA5D31=y CONFIG_ARCH_CHIP_ATSAMA5D33=y CONFIG_ARCH_CHIP_ATSAMA5D34=y CONFIG_ARCH_CHIP_ATSAMA5D35=y CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD="sama5d3x-ek" (for the SAMA5D3x-EK development board) CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_SAMA5D3X_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 virutal start address of installed DRAM CONFIG_RAM_VSTART=0x20000000 CONFIG_ARCH_IRQPRIO - The SAM3UF103Z supports interrupt prioritization CONFIG_ARCH_IRQPRIO=y CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that have LEDs CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt stack. If defined, this symbol is the size of the interrupt stack in bytes. If not defined, the user task stacks will be used during interrupt handling. CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture. CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that cause a 100 second delay during boot-up. This 100 second delay serves no purpose other than it allows you to calibratre CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until the delay actually is 100 seconds. Individual subsystems can be enabled: CONFIG_SAMA5_DBGU - Debug Unit Interrupt CONFIG_SAMA5_PIT - Periodic Interval Timer Interrupt CONFIG_SAMA5_WDT - Watchdog timer Interrupt CONFIG_SAMA5_HSMC - Multi-bit ECC Interrupt 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_HSMCI2 - High Speed Multimedia Card Interface 2 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_DMAC0 - DMA Controller 0 CONFIG_SAMA5_DMAC1 - DMA Controller 1 CONFIG_SAMA5_UHPHS - USB Host High Speed CONFIG_SAMA5_UDPHS - USB Device High Speed CONFIG_SAMA5_GMAC - Gigabit Ethernet MAC CONFIG_SAMA5_EMAC - Ethernet MAC 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_CAN0 - CAN controller 0 CONFIG_SAMA5_CAN1 - CAN 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 ST91SAMA5 specific device driver settings CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=0,1,2,3) or UART m (m=4,5) for the console and ttys0 (default is the USART1). CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received. This specific the size of the receive buffer CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before being sent. This specific the size of the transmit buffer CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART. Must be CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8. CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity CONFIG_U[S]ARTn_2STOP - Two stop bits 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 SAM3U-EK configuration is maintained in a sub-directory and can be selected as follow: cd tools ./configure.sh sama5d3x-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 UART0 (J3). 3. Unless otherwise stated, the configurations are setup for Linux (or any other POSIX environment like Cygwin under Windows): Build Setup: CONFIG_HOST_LINUX=y : Linux or other POSIX environment 4. 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_WINDOS=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. Configuration sub-directories ----------------------------- Summary: Some of the descriptions below are long and wordy. Here is the concise summary of the available SAMA5D3x-EK configurations: demo: This is an NSH configuration that supports as much functionality as possible. That is why it gets its name: It attempts to show as much as possible hello: The tiniest configuration possible (almost). It just says "Hello, World!" On the serial console. It is so tiny that it is able to run entirely out of internal SRAM (all of the other configurations except norboot use NOR FLASH for .text and internal SRAM for .data and .bass). This configuration is only useful for bring-up. norboot: This is a little program to help debug of code in NOR flash. I wrote it because I don't yet understand how to get the SAMA5 to boot from NOR FLASH. See the description below and the section above entitled "Creating and Using NORBOOT" for more information nsh: This is another NSH configuration, not too different from the demo configuration. The nsh configuration is, however, bare bones. It is the simplest possible NSH configuration and is useful as a platform for debugging and integrating new features in isolation. nx: A simple test using the NuttX graphics system (NX) that has been used to verify the SAMA5D3x-EK TFT LCD. This test case focuses on general window controls, movement, mouse and keyboard input. It requires no user interaction. 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. ostest: This is another configuration that is only useful for bring-up. It executes an exhaustive OS test to verify a correct port of NuttX to the SAMA5D3-EK. Since it now passes that test, the configuration has little further use other than for reference. There may be issues with some of these configurations. See the details before of the status of individual configurations. Now for the gory details: demo: This configuration directory provide the NuttShell (NSH). There are two NSH configurations: nsh and demo. The difference is that nsh is intended to be a very simple NSH configuration upon which you can build further functionality. The demo configuration, on the other hand, is intended to be a rich configuration that shows many features all working together. See also the NOTES associated with the nsh configuration for other hints about features that can be included with this configuration. NOTES: 1. This configuration uses the default USART1 serial console. 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 3. This configuration executes out of CS0 NOR flash and can only be loaded via SAM-BA. These are the relevant configuration options the define the NOR FLASH configuration: CONFIG_SAMA5_BOOT_CS0FLASH=y : Boot from FLASH on CS0 CONFIG_BOOT_RUNFROMFLASH=y : Run in place on FLASH (vs copying to RAM) CONFIG_SAMA5_EBICS0=y : Enable CS0 external memory CONFIG_SAMA5_EBICS0_SIZE=134217728 : Memory size is 128KB CONFIG_SAMA5_EBICS0_NOR=y : Memory type is NOR FLASH CONFIG_FLASH_START=0x10000000 : Physical FLASH start address CONFIG_FLASH_VSTART=0x10000000 : Virtual FLASH start address CONFIG_FLASH_SIZE=134217728 : FLASH size (again) CONFIG_RAM_START=0x00300400 : Data stored after page table CONFIG_RAM_VSTART=0x00300400 CONFIG_RAM_SIZE=114688 : Available size of 128KB - 16KB for page table NOTE: In order to boot in this configuration, you need to close the BMS jumper. The following features are pre-enabled in the demo configuration, but not in the nsh configuration: 4. SDRAM is supported. .data and .bss is still retained in ISRAM, but SDRAM is intialized and the SDRAM memory is 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 -> 256GB CONFIG_SAMA5_DDRCS_LPDDR2=y : Its DDR2 CONFIG_SAMA5_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 5. The Real Time Clock/Calendar RTC) is enabled. These are the relevant 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 6. The Embest or Ronetix CPU module includes an Atmel AT25DF321A, 32-megabit, 2.7-volt SPI serial flash. Support for that serial FLASH can is enabled in this configuration. These are the relevant configuration settings: 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_SAMA5_AT25_AUTOMOUNT=y : Mounts AT25 for NSH CONFIG_SAMA5_AT25_FTL=y : Create block driver for FAT NOTE that you must close JP1 on the Embest/Ronetix board 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 NOTE: It appears that if Linux runs out of NAND, it will destroy the contents of the AT25. 7. Support for HSMCI car slots. The SAMA5D3x-EK provides a two SD memory card slots: (1) a full size SD card slot (J7 labeled MCI0), and (2) a microSD memory card slot (J6 labeled MCI1). The full size SD card slot connects via HSMCI0; the microSD connects vi HSMCI1. Relevant configuration settings include: System Type->ATSAMA5 Peripheral Support CONFIG_SAMA5_HSMCI0=y : Enable HSMCI0 support CONFIG_SAMA5_HSMCI1=y : Enable HSMCI1 support CONFIG_SAMA5_DMAC0=y : DMAC0 is needed by HSMCI0 CONFIG_SAMA5_DMAC1=y : DMAC1 is needed by HSMCI1 System Type CONFIG_SAMA5_PIO_IRQ=y : PIO interrupts needed CONFIG_SAMA5_PIOD_IRQ=y : Card detect pins are on PIOD Device Drivers -> MMC/SD Driver Support CONFIG_MMCSD=y : Enable MMC/SD support CONFIG_MMSCD_NSLOTS=1 : One slot per driver instance 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 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 the 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 this configuration. 8. Support the USB high-speed device (UDPHS) driver is enabled. These are the relevant 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 The Mass Storage Class (MSC) class driver is seleced 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 CDC/ACM 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. 9. The USB high-speed EHCI and the low-/full- OHCI host drivers are supported in this configuration. Here are the relevant configuration options that enable EHCI support: 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 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 keybaord class driver : Defaults for values probably OK for both Library Routines CONFIG_SCHED_WORKQUEUE=y : Worker thread support is required Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization 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 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 Or, 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 10. Support SAMA5D3 TRNG peripheral is enabled so that it provides /dev/random. The following configuration settings are relevant: System Type: CONFIG_SAMA5_TRNG=y : Enable the TRNG peripheral Drivers (automatically selected): CONFIG_DEV_RANDOM=y : Enable /dev/random The following features are *not* enabled in the demo configuration but might be of some use to you: 10. The RTC 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 11. Debugging USB. There is normal console debug output available that can be enabled with CONFIG_DEBUG + CONFIG_DEBUG_USB. However, USB operation is very time critical and enabling this debug output WILL interfere with some operation. USB tracing is a less invasive way to get debug information: If tracing is enabled, the USB driver(s) will save encoded trace output in in-memory buffers; if the USB monitor is also enabled, those trace buffers will be periodically emptied and dumped to the system logging device (the serial console in this configuration): Either or both USB device or host controller driver tracing can be enabled: Device Drivers -> "USB Device Driver Support: CONFIG_USBDEV_TRACE=y : Enable USB device trace feature CONFIG_USBDEV_TRACE_NRECORDS=256 : Buffer 256 records in memory CONFIG_USBDEV_TRACE_STRINGS=y : (optional) 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 These settings will configure the USB monitor thread which will dump the buffered USB debug data once every second: Application Configuration -> NSH LIbrary: CONFIG_NSH_USBDEV_TRACE=n : No builtin tracing from NSH (USB device only) 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 (USB device tracing only) 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 outpus will appear on the serial console. However, the debug output will be asynchronous with the trace output and, hence, difficult to interpret. STATUS: AT25 2013-9-6: I have not confirmed this, but it appears that the AT25 does not retain its formatting across power cycles. I think that the contents of the AT25 are destroyed (i.e., reformatted for different use) by Linux when it runs out of NAND. OHCI WITH EHCI 2013-9-19: OHCI works correctly with EHCI. EHCI will handle high-speed device connections; full- and low-speed device connections will be handed-off to the OHCI HCD. UDPHS 2013-9-23: The exports AT25 (or RAM disk) works fine with Linux but does not bring up Windows Explorer with Windows. No idea why yet. hello: This configuration directory, performs the (almost) simplest of all possible examples: examples/hello. This just comes up, says hello on the serial console and terminates. This configuration is of value during bring-up because it is small and can run entirely out of internal SRAM. NOTES: 1. This configuration uses the default USART1 serial console. 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 3. This configuration executes out of internal SRAM and can only be loaded via JTAG. CONFIG_SAMA5_BOOT_ISRAM=y : Boot into internal SRAM CONFIG_BOOT_RUNFROMISRAM=y : Run from internal SRAM STATUS: 2013-7-19: This configuration (as do the others) run at 396MHz. The SAMA5D3 can run at 536MHz. I still need to figure out the PLL settings to get that speed. 2013-7-28: This configuration was verified functional. 2013-7-31: Delay loop calibrated. norboot: This is a little program to help debug of code in NOR flash. It does the following: - It enables and configures NOR FLASH, then - Waits for you to break in with GDB. At that point, you can set the PC and begin executing from NOR FLASH under debug control. NOTES: 1. This program derives from the hello configuration. All of the notes there apply to this configuration as well. 2. The default norboot program initializes the NOR memory, displays a message and halts. The norboot program can also be configured to jump directly into NOR FLASH without requiring the final halt and go by setting CONFIG_SAMA5_NOR_START=y in the NuttX configuration. 3. Be aware that the default norboot 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. STATUS: 2013-7-19: This configuration (as do the others) run at 396MHz. The SAMA5D3 can run at 536MHz. I still need to figure out the PLL settings to get that speed. 2013-7-31: Delay loop calibrated. nsh: This configuration directory provide the NuttShell (NSH). There are two NSH configurations: nsh and demo. The difference is that nsh is intended to be a very simple NSH configuration upon which you can build further functionality. The demo configuration, on the other hand, is intended to be a rich configuration that shows many features all working together. NOTES: 1. This configuration uses the default USART1 serial console. 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 3. This configuration executes out of CS0 NOR flash and can only be loaded via SAM-BA. These are the relevant configuration options the define the NOR FLASH configuration: CONFIG_SAMA5_BOOT_CS0FLASH=y : Boot from FLASH on CS0 CONFIG_BOOT_RUNFROMFLASH=y : Run in place on FLASH (vs copying to RAM) CONFIG_SAMA5_EBICS0=y : Enable CS0 external memory CONFIG_SAMA5_EBICS0_SIZE=134217728 : Memory size is 128KB CONFIG_SAMA5_EBICS0_NOR=y : Memory type is NOR FLASH CONFIG_FLASH_START=0x10000000 : Physical FLASH start address CONFIG_FLASH_VSTART=0x10000000 : Virtual FLASH start address CONFIG_FLASH_SIZE=134217728 : FLASH size (again) CONFIG_RAM_START=0x00300400 : Data stored after page table CONFIG_RAM_VSTART=0x00300400 CONFIG_RAM_SIZE=114688 : Available size of 128KB - 16KB for page table NOTE: In order to boot in this configuration, you need to close the BMS jumper. 4. This configuration has support for NSH built-in applications enabled. However, no built-in applications are selected in the base configuration. 5. This configuration has support for the FAT file system built in. However, by default, there are no block drivers intialized. The FAT file system can still be used to create RAM disks. 6. SDRAM support can be enabled by adding the following to your NuttX configuration file: 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_SAMA5_MT47H128M16RT=y : This is the type of DDR2 Now that you have SDRAM enabled, what are you going to do with it? One thing you can is add it to the heap 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 memory regions: ISRAM and SDRAM Another thing you could do is to enable the RAM test built-in application: 7. You can enable the NuttX RAM test that may be used to verify the external SDAM. 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 excessible 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 8. The Embest or Ronetix CPU module includes an Atmel AT25DF321A, 32-megabit, 2.7-volt SPI serial flash. Support for that serial FLASH can be enabled by modifying the NuttX configuration as follows: System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_SPI0=y : Enable SPI0 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_SAMA5_AT25_AUTOMOUNT=y : Mounts AT25 for NSH CONFIG_SAMA5_AT25_FTL=y : Create block driver for FAT The SPI driver can be built to do polled or DMA SPI data transfers. The following additional changes will enable SPI DMA: System Type -> SAMA5 Peripheral Support 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 NOTE that you must close JP1 on the Embest/Ronetix board 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 9. Enabling HSMCI support. The SAMA5D3x-EK provides a two SD memory card slots: (1) a full size SD card slot (J7 labeled MCI0), and (2) a microSD memory card slot (J6 labeled MCI1). The full size SD card slot connects via HSMCI0; the microSD connects vi HSMCI1. Support for both SD slots can be enabled with the following settings: System Type->ATSAMA5 Peripheral Support CONFIG_SAMA5_HSMCI0=y : Enable HSMCI0 support CONFIG_SAMA5_HSMCI1=y : Enable HSMCI1 support CONFIG_SAMA5_DMAC0=y : DMAC0 is needed by HSMCI0 CONFIG_SAMA5_DMAC1=y : DMAC1 is needed by HSMCI1 System Type CONFIG_SAMA5_PIO_IRQ=y : PIO interrupts needed CONFIG_SAMA5_PIOD_IRQ=y : Card detect pins are on PIOD Device Drivers -> MMC/SD Driver Support CONFIG_MMCSD=y : Enable MMC/SD support CONFIG_MMSCD_NSLOTS=1 : One slot per driver instance 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 3) 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 the 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 this configuration. 10. 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 Library Routines CONFIG_SCHED_WORKQUEUE=y : Worker thread support is required Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization NOTE: When OHCI is selected, the SAMA5 will operate at 384MHz instead of 396MHz. This is so that the PLL generates a frequency which is a multiple of the 48MHz needed for OHCI. The delay loop calibration values that are used will be off slightly because of this. 11. 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 Device Drivers CONFIG_USBHOST=y : Enable USB host support CONFIG_USBHOST_INT_DISABLE=y : Interrupt endpoints not needed 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 Library Routines CONFIG_SCHED_WORKQUEUE=y : Worker thread support is required Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization 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. 12. Support the USB high-speed USB device driver (UDPHS) can be enabled by changing the NuttX configuration file as follows: Device Drivers -> USB Device Driver Support CONFIG_USBDEV=y : Enable USB device support CONFIG_USBDEV_DMA=y : Device uses DMA CONFIG_USBDEV_DUALSPEED=y : Device support High and Full Speed 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 You also need to select a device-side class driver for the USB device, 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: (1) sercon will connect the USB serial device (creating /dev/ttyACM0), and (2) 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 outpus will appear on the serial console. However, the debug output will be asynchronous with the trace output and, hence, difficult to interpret. 13. AT24 Serial EEPROM. A AT24C512 Serial EEPPROM was used for tested I2C. There are other I2C/TWI devices on-board, but the serial EEPROM is the simplest test. There is, however, no AT24 EEPROM on board the SAMA5D3x-EK: The serial EEPROM was mounted on an external adaptor board and connected to the SAMA5D3x-EK thusly: - VCC -- VCC - GND -- GND - TWCK0(PA31) -- SCL - TWD0(PA30) -- SDA By default, PA30 and PA31 are SWJ-DP pins, it can be used as a pin for TWI peripheral in the end application. The following configuration settings were used: System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_TWI0=y : Enable TWI0 System Type -> TWI device driver options SAMA5_TWI0_FREQUENCY=100000 : Select a TWI frequency 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 Device Drivers -> Memory Technology Device (MTD) Support CONFIG_MTD=y : Enable MTD support CONFIG_MTD_AT24XX=y : Enable the AT24 driver CONFIG_AT24XX_SIZE=512 : Specifies the AT 24C512 part CONFIG_AT24XX_ADDR=0x53 : AT24 I2C address Application Configuration -> NSH Library CONFIG_NSH_ARCHINIT=y : NSH board-initialization File systems CONFIG_NXFFS=y : Enables the NXFFS file system CONFIG_NXFFS_PREALLOCATED=y : Required : Other defaults are probably OK Board Selection CONFIG_SAMA5_AT24_AUTOMOUNT=y : Mounts AT24 for NSH CONFIG_SAMA5_AT24_NXFFS=y : Mount the AT24 using NXFFS You can then format the AT25 FLASH for a FAT file system and mount the file system at /mnt/at24 using these NSH commands: nsh> mkfatfs /dev/mtdblock0 nsh> mount -t vfat /dev/mtdblock0 /mnt/at24 Then you an use the FLASH as a normal FAT file system: nsh> echo "This is a test" >/mnt/at24/atest.txt nsh> ls -l /mnt/at24 /mnt/at24: -rw-rw-rw- 16 atest.txt nsh> cat /mnt/at24/atest.txt This is a test 14. I2C Tool. NuttX supports an I2C tool at apps/system/i2c that can be used to peek and poke I2C devices. That tool cal 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 SAMA5_TWI1_FREQUENCY=100000 : Select a TWI1 frequency SAMA5_TWI2_FREQUENCY=100000 : Select a TWI2 frequency 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 eample, 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: -- -- -- -- -- -- -- -- -- -- 1a -- -- -- -- -- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 30: -- -- -- -- -- -- -- -- -- 39 -- -- -- 3d -- -- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- 70: -- -- -- -- -- -- -- -- nsh> Address 0x1a is the WM8904. Address 0x39 is the SIL9022A. I am not sure what is at address 0x3d and 0x60 15. Networking support via the can be added to NSH be selecting the following configuration options. The SAMA5D3x supports two different Ethernet MAC peripherals: (1) The 10/100Base-T EMAC peripheral and and (2) the 10/100/1000Base-T GMAC peripheral. Only the SAMA5D31 and SAMAD35 support the EMAC peripheral; Only the SAMA5D33, SAMA5D34, and SAMA5D35 support the GMAC perpheral! NOTE that the SAMA5D35 supports both! a) Selecting the EMAC peripheral: System Type CONFIG_ARCH_CHIP_ATSAMA5D31=y : SAMA5D31 or SAMAD35 support EMAC CONFIG_ARCH_CHIP_ATSAMA5D35=y : (others do not) System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_EMAC=y : Enable the EMAC peripheral System Type -> EMAC device driver options CONFIG_SAMA5_EMAC_NRXBUFFERS=16 : Set aside some RS and TX buffers CONFIG_SAMA5_EMAC_NTXBUFFERS=4 CONFIG_SAMA5_EMAC_PHYADDR=1 : KSZ8051 PHY is at address 1 CONFIG_SAMA5_EMAC_AUTONEG=y : Use autonegotiation CONFIG_SAMA5_EMAC_RMII=y : Either MII or RMII interface should work CONFIG_SAMA5_EMAC_PHYSR=30 : Address of PHY status register on KSZ8051 CONFIG_SAMA5_EMAC_PHYSR_ALTCONFIG=y : Needed for KSZ8051 CONFIG_SAMA5_EMAC_PHYSR_ALTMODE=0x7 : " " " " " " CONFIG_SAMA5_EMAC_PHYSR_10HD=0x1 : " " " " " " CONFIG_SAMA5_EMAC_PHYSR_100HD=0x2 : " " " " " " CONFIG_SAMA5_EMAC_PHYSR_10FD=0x5 : " " " " " " CONFIG_SAMA5_EMAC_PHYSR_100FD=0x6 : " " " " " " PHY selection. Later in the configuration steps, you will need to select the KSZ8051 PHY for EMAC (See below) b) Selecting the GMAC peripheral: System Type CONFIG_ARCH_CHIP_ATSAMA5D33=y : SAMA5D31, SAMA5D33 and SAMAD35 CONFIG_ARCH_CHIP_ATSAMA5D34=y : support GMAC (others do not) CONFIG_ARCH_CHIP_ATSAMA5D35=y : System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_GMAC=y : Enable the GMAC peripheral System Type -> GMAC device driver options CONFIG_SAMA5_GMAC_NRXBUFFERS=16 : Set aside some RS and TX buffers CONFIG_SAMA5_GMAC_NTXBUFFERS=4 CONFIG_SAMA5_GMAC_PHYADDR=1 : KSZ8051 PHY is at address 1 CONFIG_SAMA5_GMAC_AUTONEG=y : Use autonegotiation If both EMAC and GMAC are selected, you will also need: CONFIG_SAMA5_GMAC_ISETH0=y : GMAC is "eth0"; EMAC is "eth1" PHY selection. Later in the configuration steps, you will need to select the KSZ9021/31 PHY for GMAC (See below) c) 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_TCP=y : Enable TCP/IP networking CONFIG_NET_TCPBACKLOG=y : Support TCP/IP backlog CONFIG_NET_TCP_READAHEAD_BUFSIZE=562 Read-ahead buffer size CONFIG_NET_UDP=y : Enable UDP networking 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_KSZ8051=y : Select the KSZ8051 PHY (for EMAC), OR CONFIG_ETH0_PHY_KSZ90x1=y : Select teh KSZ9021/31 PHY (for GMAC) Application Configuration -> Network Utilities CONFIG_NETUTILS_RESOLV=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_UIPLIB=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 d) 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 SAMA5D3x-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 SAMA5D3-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. 16. You can enable the touchscreen by modifying the configuration in the following ways: System Type: CONFIG_SAMA5_ADC=y : ADC support is required CONFIG_SAMA5_TSD=y : Enabled touchcreen device support SAMA5_TSD_4WIRE=y : 4-Wire interface with pressure You might want to tinker with the SWAPXY and THRESHX and THRESHY settings to get the result that you want. Drivers: CONFIG_INPUT=y : (automatically selected) Board Selection: CONFIG_SAMA5_TSD_DEVMINOR=0 : Register as /dev/input0 Library Support: CONFIG_SCHED_WORKQUEUE=y : Work queue support required These options may also be applied to enable a built-in touchscreen test application: Applicaton Configuration: CONFIG_EXAMPLES_TOUCHSCREEN=y : Enable the touchscreen built-int test CONFIG_EXAMPLES_TOUCHSCREEN_MINOR=0 : To match the board selection CONFIG_EXAMPLES_TOUCHSCREEN_DEVPATH="/dev/input0" Defaults should be okay for all related settings. 17. 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 The RTC 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 18. This example 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 in "RTC Configuration" should be OK Drivers (this will automatically be selected): CONFIG_WATCHDOG=y : Enables watchdog timer driver support Application Configuration -> Eamples 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 norboot program to run from FLASH as I did, beware that the default version also disables the watchdog. You will need a special version of norboot with CONFIG_SAMA5_WDT=y. 19. This example can be configured to enable the SAMA5 TRNG peripheral so that it provides /dev/random. The following configuration will enable the TRNG, /dev/random, and the simple test of /dev/random at apps/examples/ranadom: System Type: CONFIG_SAMA5_TRNG=y : Enable the TRNG peripheral Drivers (automatically selected): CONFIG_DEV_RANDOM=y : Enable /dev/random Applications -> Examples CONFIG_EXAMPLES_RANDOM=y : Enable apps/examples/random CONFIG_EXAMPLES_MAXSAMPLES=64 : Default settings are probably OK CONFIG_EXAMPLES_NSAMPLES=8 STATUS: PCK FREQUENCY 2013-7-19: This configuration (as do the others) run at 396MHz. The SAMA5D3 can run at 536MHz. I still need to figure out the PLL settings to get that speed. If the CPU speed changes, then so must the NOR and SDRAM initialization! BOOT FROM NOT FLASH 2013-7-31: I have been unable to execute this configuration from NOR FLASH by closing the BMS jumper (J9). As far as I can tell, this jumper does nothing on my board??? I have been using the norboot configuration to start the program in NOR FLASH (see just above). See "Creating and Using NORBOOT" above. 2013-7-31: The basic NSH configuration appears to be fully functional. CALIBRATION 2013-7-31: Using delay loop calibration from the hello configuration. That configuration runs out of internal SRAM and, as a result, this configuration should be recalibrated. SDRAM 2013-8-3: SDRAM configuration and RAM test usage have been verified and are functional. I note some issues; occassionally, SDRAM is not functional on initial boot or is initially not functional but improves with accesses. Clearly, more work needs to be done. AT25 SERIAL FLASH 2013-8-5: The AT25 configuration has been verified to be functional. 2013-8-9: The AT25 configuration has been verified with DMA enabled. 2013-9-11: Basic HSCMI0/1 functionality (with DMA) has been verified. OHCI 2013-8-16: The OCHI configuration is functional. Testing is not yet extensive, however: a) I have tested only control and bulk endpoints. I still need to test interrupt endpoints. EHCI 2013-8-28: EHCI is functional. 2013-9-19: OHCI works correctly with EHCI. EHCI will handle high-speed device connections; full- and low-speed device connections will be handed-off to the OHCI HCD. UDPHS 2013-9-5: The UDPHS driver is functional. I2C 2013-9-12: I have been unusuccessful getting the external serial AT24 EEPROM to work. I am pretty sure that this is a problem with my external AT24 board (the TWI0 bus hangs when the AT24 is plugged in). I will skip the AT24 integration since it is not on the critical path at the moment. 2013-9-12: The I2C tool, however, seems to work well. It succesfully enumerates the devices on the bus and successfully exchanges a few commands. The real test of the come later when a real I2C device is integrated. EMAC: 2013-9-17: Driver created and (subsequently) integrated. nx: A simple test using the NuttX graphics system (NX) that has been used to verify the SAMA5D3x-EK TFT LCD. This test case focuses on general window controls, movement, mouse and keyboard input. It requires no user interaction. 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. The NxWM window manager is a tiny window manager tailored for use with smaller LCDs. 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 visiable 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 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: 1. Intall the nxwm configuration $ cd ~/nuttx-git/nuttx/tools $ ./configure.sh sama5d3x-ek/nxwm 2. 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 binaries directory. 3. 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 4. Build the NxWidgets library $ cd ~/nuttx-git/NxWidgets/libnxwidgets $ make TOPDIR=~/nuttx-git/nuttx ... 5. Build the NxWM library $ cd ~/nuttx-git/NxWidgets/nxwm $ make TOPDIR=~/nuttx-git/nuttx ... 6. Built NuttX with the installed unit test as the application $ cd ~/nuttx-git/nuttx $ make STATUS: 2013-10-18. This example kind of works, but there are still far too many outstanding issues: a) It runs of the SAMA5D31 and SAMA5D34, but not on the SAMA5D33. This board is from a different manufacturer and there may be some SDRAM- related issues? b) There appears to be an SDRAM noise issue on the SAMA5D31 and SAMA5D34. I suspect that the SDRAM setup is non-optimal. The symptom is that writing into frame buffer (in SDRAM) occasionally corrupts the DMA descriptors (also in SDRAM) When the bad DMA descriptors are fetched, the channel shuts down and the display goes black. This problem could also be cause by a bad write outside of the framebuffer, but was not the case in the few examples that I studied. c) There are some occasional start up issues. It appears that the LCDC is programed incorrectly and groups of pixels in the images are reversed (producing an odd serrated look to the images). d) I think that there may be more issues if GRAPHICS and INPUT debug is off. I have not tested with DEBUG off. e) The biggest problem is the touchscreen accuracy. The touchscreen seems stable during calibration, but the first thing that this example requires is a touch in the far, far, upper left corner of the display. In that region, I cannot get reliable touch measurements and so I cannot get past the opening display. f) The NxWM example was designed tiny displays. On this large 800x480 display, the icons are too tiny to be usable. I have created a large 320x320 logo for the opening screen and added image scaling to expand the images in the taskbar. The expanded images are not great. If I ever get past the opening screen, the same problems will exist in the application toolbar and in the start winow. These icons are not yet scaled. Bottom line: Not ready for prime time. ostest: This configuration directory, performs a simple OS test using examples/ostest. NOTES: 1. This configuration uses the default USART1 serial console. 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 3. This configuration executes out of CS0 NOR flash and can only be loaded via SAM-BA. These are the relevant configuration options the define the NOR FLASH configuration: CONFIG_SAMA5_BOOT_CS0FLASH=y : Boot from FLASH on CS0 CONFIG_BOOT_RUNFROMFLASH=y : Run in place on FLASH (vs copying to RAM) CONFIG_SAMA5_EBICS0=y : Enable CS0 external memory CONFIG_SAMA5_EBICS0_SIZE=134217728 : Memory size is 128KB CONFIG_SAMA5_EBICS0_NOR=y : Memory type is NOR FLASH CONFIG_FLASH_START=0x10000000 : Physical FLASH start address CONFIG_FLASH_VSTART=0x10000000 : Virtual FLASH start address CONFIG_FLASH_SIZE=134217728 : FLASH size (again) CONFIG_RAM_START=0x00300400 : Data stored after page table CONFIG_RAM_VSTART=0x00300400 CONFIG_RAM_SIZE=114688 : Available size of 128KB - 16KB for page table NOTE: In order to boot in this configuration, you need to close the BMS jumper. STATUS: 2013-7-19: This configuration (as do the others) run at 396MHz. The SAMA5D3 can run at 536MHz. I still need to figure out the PLL settings to get that speed. If the CPU speed changes, then so must the NOR and SDRAM initialization! 2013-7-30: I have been unable to execute this configuration from NOR FLASH by closing the BMS jumper (J9). As far as I can tell, this jumper does nothing on my board??? I have been using the norboot configuration to start the program in NOR FLASH (see just above). See "Creating and Using NORBOOT" above. 2013-7-31: The OS test configuration is functional. 2013-7-31: Using delay loop calibration from the hello configuration. That configuration runs out of internal SRAM and, as a result, this configuration needs to be recalibrated.