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313 lines
11 KiB
Plaintext
README
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======
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This is a README file for the port of NuttX to the Teensy-3.1 from PJRC
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(https://www.pjrc.com/). The Teensy-3.1 features the Freescale
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MK20DX256VLH7 chip (now NXP). The MK20DX256VLH7 is a 64-pin Cortex-M4
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running at 72MHz. It has 256KiB of program FLASH memory and 64KiB of
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SRAM. For more information about the Teensy 3.1, see
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https://www.pjrc.com/teensy/teensy31.html
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https://www.pjrc.com/store/teensy31.html
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This board configuration can also be used with the older Teensy-3.0. The
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Teensy-3.0 has the same schematic (although some pins are not used on the
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Teensy-3.0). The primary difference is that the Teensy 3.0 has a
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MK20DX128VLH5 with slightly less capability. There are many difference
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between the MK20DX256VLH7 and the MK20DX128VLH5 but the basic differences
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that effect how you configure NuttX are:
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--------------- -------------- -------------- ---------------------------
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Feature Teensy 3.0 Teensy 3.1 Teensy 3.0 CONFIGURATION
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--------------- -------------- -------------- ---------------------------
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Processor
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Core MK20DX128VLH5 MK20DX256VLH7 CONFIG_ARCH_CHIP_MK20DX128VLH5=y
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Rated Speed 48 MHz 72 MHz See Note 1
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Overclockable 96 MHz 96 MHz CONFIG_TEENSY_3X_OVERCLOCK=y
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Flash Memory 128 KB 256 KB See Note 1
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SRAM 16 KB 64 KB CONFIG_RAM_SIZE=16384 and
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see Note 2
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--------------- -------------- -------------- ---------------------------
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NOTES:
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1. Settings in configs/teensy-3.x/include/board.h will automatically
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select the correct clocking based on CONFIG_ARCH_CHIP_MK20DX128VLH5=y.
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2. The linker script at configs/teensy-3.x/scripts/mk30dx128vlh5.ld will
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automatically be selected when CONFIG_ARCH_CHIP_MK20DX128VLH5=y. It
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will use the correct FLASH and SRAM sizes.
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The initial Teensy-3.1 port is largely the effort of Jakob Odersky.
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https://github.com/jodersky/nuttx/tree/teensy31-7.6 and
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https://github.com/jodersky/px4-nuttx
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Contents
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========
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o STATUS
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o Pin Configuration
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o Serial Console
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o LEDs
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o Using the Halfkey Loader
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o Debugging
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o Teensy-3.1 Configuration settings
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o Configurations
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STATUS
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======
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2015-06-11:
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After some extended tinkering with the PLL setup, the Teensy-3.1 is
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fully functional using the basic NSH configuration.
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2015-06-12:
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Fix LED (need high drive strength). Calibrate delay loop.
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Pin Configuration
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=================
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Nearly all pins are available to the user. The few port pins used on
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board are listed below:
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----- --------------------------------------
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P0RT BOARD USAGE
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----- --------------------------------------
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PTA0 MINI54TAN / Bootloader
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PTA1 MINI54TAN / Bootloader
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PTA2 MINI54TAN / Bootloader
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PTA3 MINI54TAN / Bootloader
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PTA18 16MHz XTAL (XTAL32 is not populated).
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PTA19 16MHz XTAL
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PTB1 MINI54TAN / Bootloader
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PTB2 MINI54TAN / Bootloader
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PTC5 LED
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----- --------------------------------------
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Serial Console
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==============
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The K20 has three UARTs with pin availability as follows:
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--------- ------ ----------- -------------------------
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UART PORT BOARD PJRC PINOUT DESCRIPTION
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FUNCTION LABEL
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--------- ------ ----------- -------------------------
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UART0_RX PTA1 (See above) MINI54TAN / Bootloader
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PTB16 Pin 0 RX1 / Touch
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PTD6 Pin 21 / A7 RX1 / CS / PWM
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UART0_TX PTA2 (See above) MINI54TAN / Bootloader
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PTB17 Pin 1 TX1 / Touch
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PTD7 Pin 5 TX1 / PWM
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--------- ------ ----------- -------------------------
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UART1_RX PTC3 Pin 9 RX2 / CS / PWM
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PTE1 Pad 26 (Pad on back of board)
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UART1_TX PTC4 Pin 10 TX2 / CS / PWM
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PTE0 Pad 31 (Pad on back of board)
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--------- ------ ----------- -------------------------
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UART2_RX PTD2 Pin 7 RX3 / DOUT
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UART2_TX PTD3 Pin 8 TX3 / DIN
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--------- ------ ----------- -------------------------
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The default serial console is UART0 on pins 0 (RX) and 1 (TX).
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LEDs
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====
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A single LED is available driven by PTC5. The LED is grounded
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so bringing PTC5 high will illuminate the LED.
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When CONFIG_ARCH_LEDS is defined in the NuttX configuration, NuttX will
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control the LED as follows:
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SYMBOL Meaning LED
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------------------- ----------------------- ------
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LED_STARTED NuttX has been started OFF
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LED_HEAPALLOCATE Heap has been allocated OFF
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LED_IRQSENABLED Interrupts enabled OFF
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LED_STACKCREATED Idle stack created ON
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LED_INIRQ In an interrupt N/C
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LED_SIGNAL In a signal handler N/C
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LED_ASSERTION An assertion failed N/C
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LED_PANIC The system has crashed FLASH
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Thus is LED is statically on, NuttX has successfully booted and is,
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apparently, running normally. If LED is flashing at approximately
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2Hz, then a fatal error has been detected and the system has halted.
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Using the Halfkey Loader
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========================
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See https://www.pjrc.com/teensy/first_use.html
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https://www.pjrc.com/teensy/loader_cli.html
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Debugging
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=========
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And, at this point, I don't know how to debug the board. There is no
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way to connect a JTAG SWD debuggger, at least not without cutting leads
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to the MINI54TAN device:
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See: http://mcuoneclipse.com/2014/08/09/hacking-the-teensy-v3-1-for-swd-debugging/
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Teensy-3.1 Configuration settings
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=================================
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CONFIG_ARCH - Identifies the arch/ subdirectory. This should
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be set to:
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CONFIG_ARCH=arm
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CONFIG_ARCH_family - For use in C code:
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CONFIG_ARCH_ARM=y
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CONFIG_ARCH_architecture - For use in C code:
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CONFIG_ARCH_CORTEXM4=y
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CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
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CONFIG_ARCH_CHIP="kinetis"
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CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
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chip:
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CONFIG_ARCH_CHIP_MK20DX256VLH7=y
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CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
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hence, the board that supports the particular chip or SoC.
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CONFIG_ARCH_BOARD="teensy-3.x"
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_TEENSY_3X=y
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CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation
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of delay loops
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CONFIG_ENDIAN_BIG - define if big endian (default is little
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endian)
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CONFIG_RAM_SIZE - Describes the installed DRAM (SRAM in this case):
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CONFIG_RAM_SIZE=0x00008000 (32Kb)
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CONFIG_RAM_START - The start address of installed DRAM
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CONFIG_RAM_START=0x20000000
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CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that
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have LEDs
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CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
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stack. If defined, this symbol is the size of the interrupt
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stack in bytes. If not defined, the user task stacks will be
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used during interrupt handling.
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CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
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CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
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cause a 100 second delay during boot-up. This 100 second delay
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serves no purpose other than it allows you to calibrate
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CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure
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the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until
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the delay actually is 100 seconds.
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Individual subsystems can be enabled:
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To be provided
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Configurations
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==============
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Common Configuration Information
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--------------------------------
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Each Teensy-3.x configurations are maintained in sub-directories and
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can be selected as follow:
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tools/configure.sh teensy-3.x/<subdir>
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make oldconfig
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Before building, make sure that your PATH environment variable includes
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the correct path to the directory than holds your toolchain binaries.
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If this is a Windows native build, then configure.bat should be used
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instead of configure.sh:
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configure.bat teensy-3.x\<subdir>
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And then build NuttX by simply typing the following. At the conclusion of
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the make, the nuttx binary will reside in an ELF file called, simply,
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nuttx.
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make oldconfig
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make
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The <subdir> that is provided above as an argument to the
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tools/configure.sh must be is one of the directories listed below.
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NOTES:
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1. These configurations use the mconf-based configuration tool. To
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change any of these configurations using that tool, you should:
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a. Build and install the kconfig-mconf tool. See nuttx/README.txt
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see additional README.txt files in the NuttX tools repository.
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b. Execute 'make menuconfig' in nuttx/ in order to start the
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reconfiguration process.
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2. Unless stated otherwise, all configurations generate console
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output on [To be provided].
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3. All of these configurations are set up to build under Windows using the
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"GNU Tools for ARM Embedded Processors" that is maintained by ARM
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(unless stated otherwise in the description of the configuration).
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https://developer.arm.com/open-source/gnu-toolchain/gnu-rm
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That toolchain selection can easily be reconfigured using
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'make menuconfig'. Here are the relevant current settings:
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Build Setup:
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CONFIG_HOST_WINDOWS=y : Window environment
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CONFIG_WINDOWS_CYGWIN=y : Cywin under Windows
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System Type -> Toolchain:
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CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : GNU ARM EABI toolchain
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NOTE: As of this writing, there are issues with using this tool at
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the -Os level of optimization. This has not been proven to be a
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compiler issue (as least not one that might not be fixed with a
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well placed volatile qualifier). However, in any event, it is
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recommend that you use not more that -O2 optimization.
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Configuration sub-directories
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-----------------------------
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nsh:
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Configures the NuttShell (nsh) located at apps/examples/nsh.
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NOTES:
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1. This configuration uses the mconf-based configuration tool. To
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change this configuration using that tool, you should:
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a. Build and install the kconfig-mconf tool. See nuttx/README.txt
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see additional README.txt files in the NuttX tools repository.
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b. Execute 'make menuconfig' in nuttx/ in order to start the
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reconfiguration process.
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2. By default, this configuration uses the CodeSourcery toolchain
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for Windows and builds under Cygwin (or probably MSYS). That
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can easily be reconfigured, of course.
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CONFIG_HOST_WINDOWS=y : Builds under Windows
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CONFIG_WINDOWS_CYGWIN=y : Using Cygwin
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CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows
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Support
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for builtin applications is enabled, but in the base configuration
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no builtin applications are selected (see NOTES below).
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