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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
- 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 <some-dir>/nuttx.
cd tools
./configure.sh sama5d3x-ek/<sub-dir>
2. Download the latest buildroot package into <some-dir>
3. unpack the buildroot tarball. The resulting directory may
have versioning information on it like buildroot-x.y.z. If so,
rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
4. cd <some-dir>/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 <some-dir>/nuttx.
cd tools
./configure.sh sama5d3x-ek/<sub-dir>
2. Download the latest buildroot package into <some-dir>
3. unpack the buildroot tarball. The resulting directory may
have versioning information on it like buildroot-x.y.z. If so,
rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
4. cd <some-dir>/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 <file> <address>
J-Link> setpc <address of __start>
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 <nuttx>
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/<subdir>
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 <nuttx>
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.
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/<subdir>
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 <subdir> 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
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: <noname> [-w|h|b] <hex-address> <decimal-size>
Where:
<hex-address> starting address of the test.
<decimal-size> 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 <cmd> [arguments]
Where <cmd> is one of:
Show help : ?
List busses : bus
List devices : dev [OPTIONS] <first> <last>
Read register : get [OPTIONS] [<repititions>]
Show help : help
Write register: set [OPTIONS] <value> [<repititions>]
Verify access : verf [OPTIONS] [<value>] [<repititions>]
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] [<cmd>]
[ 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.
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