a8de37fbec
by this command: git ls-files -z | while IFS= read -rd '' f; do tail -c1 < "$f" | read -r _ || echo >> "$f"; done
549 lines
19 KiB
Plaintext
549 lines
19 KiB
Plaintext
README
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======
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This README discusses issues unique to NuttX configurations for the ST
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Nucleo-l432kc board from ST Micro. See
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http://www.st.com/nucleo-l432kc
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NucleoL432KC:
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Microprocessor: 32-bit ARM Cortex M4 at 80MHz STM32L432KCU6
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Memory: 256 KB Flash and 64 KB SRAM
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ADC: 1×12-bit, 5 MSPS A/D converter: up to 10 channels
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DMA: 16-stream DMA controllers with FIFOs and burst support
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Timers: Up to 11 timers: up to five 16-bit, one 32-bit, two low-power
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16 bit timers, two watchdog timers, and a SysTick timer
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GPIO: Up to 26 I/O ports with interrupt capability, most 5v tolerant
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I2C: Up to 2 × I2C interfaces
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USARTs: Up to 3 USARTs, 2 UARTs, 1 LPUART
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SPIs: Up to 2 SPIs
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SAIs: 1 dual-channel audio interface
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CAN interface
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QSPI interface
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USB: USB 2.0 full-speed device/host/OTG controller with on-chip PHY
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CRC calculation unit
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RTC
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Board features:
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Peripherals: 1 led
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Debug: Serial wire debug and JTAG interfaces via on-board micro-usb stlink v2.1
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Expansion I/F Arduino Nano Headers
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Uses a STM32F103 to provide a ST-Link for programming, debug similar to the
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OpenOcd FTDI function - USB to JTAG front-end.
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See http://mbed.org/platforms/ST-Nucleo-L432KC for more
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information about these boards.
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Contents
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========
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- Nucleo-32 Boards
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- Development Environment
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- GNU Toolchain Options
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- IDEs
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- NuttX EABI "buildroot" Toolchain
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- NXFLAT Toolchain
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- Hardware
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- Button
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- LED
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- USARTs and Serial Consoles
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- QFN32
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- mbed
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- SPI Flash support
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- Configurations
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Nucleo-32 Boards
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================
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The Nucleo-L432KC is a member of the Nucleo-64 board family. The Nucleo-64
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is a standard board for use with several STM32 parts in the LQFP64 package.
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Variants include
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Order code Targeted STM32
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------------- --------------
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NUCLEO-F031K6 STM32F031K6T6
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NUCLEO-F042K6 STM32F042K6T6
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NUCLEO-F303K8 STM32F303K8T6
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NUCLEO-L011K4 STM32L011K4T6
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NUCLEO-L031K6 STM32L031K6T6
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NUCLEO-L432KC STM32L432KCU6
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Development Environment
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=======================
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Either Linux or Cygwin on Windows can be used for the development environment.
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The source has been built only using the GNU toolchain (see below). Other
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toolchains will likely cause problems.
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GNU Toolchain Options
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=====================
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Toolchain Configurations
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------------------------
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The NuttX make system has been modified to support the following different
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toolchain options.
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1. The CodeSourcery GNU toolchain,
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2. The Atollic Toolchain,
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3. The devkitARM GNU toolchain,
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4. Raisonance GNU toolchain, or
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5. The NuttX buildroot Toolchain (see below).
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All testing has been conducted using the CodeSourcery toolchain for Linux.
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To use the Atollic, devkitARM, Raisonance GNU, or NuttX buildroot toolchain,
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you simply need to add one of the following configuration options to your
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.config (or defconfig) file:
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CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=n : CodeSourcery under Windows
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CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux
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CONFIG_ARMV7M_TOOLCHAIN_ATOLLIC=y : The Atollic toolchain under Windows
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CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM=n : devkitARM under Windows
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CONFIG_ARMV7M_TOOLCHAIN_RAISONANCE=y : Raisonance RIDE7 under Windows
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CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=n : NuttX buildroot under Linux or Cygwin (default)
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If you change the default toolchain, then you may also have to modify the
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PATH environment variable to include the path to the toolchain binaries.
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NOTE: There are several limitations to using a Windows based toolchain in a
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Cygwin environment. The three biggest are:
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1. The Windows toolchain cannot follow Cygwin paths. Path conversions are
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performed automatically in the Cygwin makefiles using the 'cygpath' utility
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but you might easily find some new path problems. If so, check out 'cygpath -w'
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2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links
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are used in Nuttx (e.g., include/arch). The make system works around these
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problems for the Windows tools by copying directories instead of linking them.
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But this can also cause some confusion for you: For example, you may edit
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a file in a "linked" directory and find that your changes had no effect.
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That is because you are building the copy of the file in the "fake" symbolic
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directory. If you use a Windows toolchain, you should get in the habit of
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making like this:
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V=1 make clean_context all 2>&1 |tee mout
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An alias in your .bashrc file might make that less painful.
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3. Dependencies are not made when using Windows versions of the GCC. This is
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because the dependencies are generated using Windows pathes which do not
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work with the Cygwin make.
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MKDEP = $(TOPDIR)/tools/mknulldeps.sh
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The Atollic "Pro" and "Lite" Toolchain
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--------------------------------------
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One problem that I had with the Atollic toolchains is that the provide a gcc.exe
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and g++.exe in the same bin/ file as their ARM binaries. If the Atollic bin/ path
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appears in your PATH variable before /usr/bin, then you will get the wrong gcc
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when you try to build host executables. This will cause to strange, uninterpretable
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errors build some host binaries in tools/ when you first make.
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Also, the Atollic toolchains are the only toolchains that have built-in support for
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the FPU in these configurations. If you plan to use the Cortex-M4 FPU, you will
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need to use the Atollic toolchain for now. See the FPU section below for more
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information.
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The Atollic "Lite" Toolchain
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----------------------------
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The free, "Lite" version of the Atollic toolchain does not support C++ nor
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does it support ar, nm, objdump, or objdcopy. If you use the Atollic "Lite"
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toolchain, you will have to set:
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CONFIG_HAVE_CXX=n
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In order to compile successfully. Otherwise, you will get errors like:
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"C++ Compiler only available in TrueSTUDIO Professional"
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The make may then fail in some of the post link processing because of some of
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the other missing tools. The Make.defs file replaces the ar and nm with
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the default system x86 tool versions and these seem to work okay. Disable all
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of the following to avoid using objcopy:
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CONFIG_INTELHEX_BINARY=n
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CONFIG_MOTOROLA_SREC=n
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CONFIG_RAW_BINARY=n
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devkitARM
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---------
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The devkitARM toolchain includes a version of MSYS make. Make sure that the
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the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM
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path or will get the wrong version of make.
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IDEs
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====
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NuttX is built using command-line make. It can be used with an IDE, but some
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effort will be required to create the project.
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Makefile Build
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--------------
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Under Eclipse, it is pretty easy to set up an "empty makefile project" and
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simply use the NuttX makefile to build the system. That is almost for free
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under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty
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makefile project in order to work with Windows (Google for "Eclipse Cygwin" -
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there is a lot of help on the internet).
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Using Sourcery CodeBench from http://www.mentor.com/embedded-software/sourcery-tools/sourcery-codebench/overview
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Download and install the latest version (as of this writting it was
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sourceryg++-2013.05-64-arm-none-eabi)
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Import the project from git.
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File->import->Git-URI, then import a Exiting code as a Makefile progject
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from the working directory the git clone was done to.
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Select the Sourcery CodeBench for ARM EABI. N.B. You must do one command line
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build, before the make will work in CodeBench.
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Native Build
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------------
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Here are a few tips before you start that effort:
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1) Select the toolchain that you will be using in your .config file
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2) Start the NuttX build at least one time from the Cygwin command line
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before trying to create your project. This is necessary to create
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certain auto-generated files and directories that will be needed.
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3) Set up include pathes: You will need include/, arch/arm/src/stm32,
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arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
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4) All assembly files need to have the definition option -D __ASSEMBLY__
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on the command line.
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Startup files will probably cause you some headaches. The NuttX startup file
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is arch/arm/src/stm32/stm32_vectors.S. With RIDE, I have to build NuttX
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one time from the Cygwin command line in order to obtain the pre-built
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startup object needed by RIDE.
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NuttX EABI "buildroot" Toolchain
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================================
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A GNU GCC-based toolchain is assumed. The PATH environment variable should
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be modified to point to the correct path to the Cortex-M3 GCC toolchain (if
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different from the default in your PATH variable).
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If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX
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Bitbucket download site (https://bitbucket.org/nuttx/buildroot/downloads/).
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This GNU toolchain builds and executes in the Linux or Cygwin environment.
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1. You must have already configured Nuttx in <some-dir>/nuttx.
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$ tools/configure.sh nucleo-l432kc:nsh
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$ make qconfig
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$ V=1 make context all 2>&1 | tee mout
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2. Download the latest buildroot package into <some-dir>
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3. unpack the buildroot tarball. The resulting directory may
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have versioning information on it like buildroot-x.y.z. If so,
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rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
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4. cd <some-dir>/buildroot
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5. cp boards/cortexm3-eabi-defconfig-4.6.3 .config
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6. make oldconfig
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7. make
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8. Make sure that the PATH variable includes the path to the newly built
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binaries.
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See the file boards/README.txt in the buildroot source tree. That has more
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details PLUS some special instructions that you will need to follow if you are
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building a Cortex-M3 toolchain for Cygwin under Windows.
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NOTE: Unfortunately, the 4.6.3 EABI toolchain is not compatible with the
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the NXFLAT tools. See the top-level TODO file (under "Binary loaders") for
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more information about this problem. If you plan to use NXFLAT, please do not
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use the GCC 4.6.3 EABI toolchain; instead use the GCC 4.3.3 EABI toolchain.
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NXFLAT Toolchain
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================
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If you are *not* using the NuttX buildroot toolchain and you want to use
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the NXFLAT tools, then you will still have to build a portion of the buildroot
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tools -- just the NXFLAT tools. The buildroot with the NXFLAT tools can
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be downloaded from the NuttX Bitbucket download site
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(https://bitbucket.org/nuttx/nuttx/downloads/).
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This GNU toolchain builds and executes in the Linux or Cygwin environment.
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1. You must have already configured Nuttx in <some-dir>/nuttx.
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tools/configure.sh lpcxpresso-lpc1768:<sub-dir>
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2. Download the latest buildroot package into <some-dir>
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3. unpack the buildroot tarball. The resulting directory may
|
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have versioning information on it like buildroot-x.y.z. If so,
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rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
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4. cd <some-dir>/buildroot
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5. cp boards/cortexm3-defconfig-nxflat .config
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6. make oldconfig
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7. make
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8. Make sure that the PATH variable includes the path to the newly built
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NXFLAT binaries.
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mbed
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====
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The Nucleo-L432KC includes boot loader from mbed:
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https://mbed.org/handbook/Homepage
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Using the mbed loader:
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1. Connect the Nucleo-L432kc to the host PC using the USB connector.
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2. A new file system will appear called NUCLEO; open it with Windows
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Explorer (assuming that you are using Windows).
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3. Drag and drop nuttx.bin into the MBED window. This will load the
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nuttx.bin binary into the Nucleo-L432kc. The NUCLEO window will
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close then re-open and the Nucleo-L432KC will be running the new code.
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Hardware
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========
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LEDs
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----
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The Nucleo L432KC provides a single user LED, LD3. LD3
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is the green LED connected to Arduino signal D13 corresponding to MCU I/O
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PB3 (pin 26).
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- When the I/O is HIGH value, the LED is on.
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- When the I/O is LOW, the LED is off.
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These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
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defined. In that case, the usage by the board port is defined in
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include/board.h and src/sam_leds.c. The LEDs are used to encode OS-related
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events as follows when the LED is available:
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SYMBOL Meaning LD3
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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 No change
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LED_SIGNAL In a signal handler No change
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LED_ASSERTION An assertion failed No change
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LED_PANIC The system has crashed Blinking
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LED_IDLE MCU is is sleep mode Not used
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Thus if LD3, NuttX has successfully booted and is, apparently, running
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normally. If LD3 is flashing at approximately 2Hz, then a fatal error
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has been detected and the system has halted.
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Serial Consoles
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===============
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USART1
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------
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Pins and Connectors:
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RXD: PA11 CN10 pin 14
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PB7 CN7 pin 21
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TXD: PA10 CN9 pin 3, CN10 pin 33
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PB6 CN5 pin 3, CN10 pin 17
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NOTE: You may need to edit the include/board.h to select different USART1
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pin selections.
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TTL to RS-232 converter connection:
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Nucleo CN10 STM32L432KC
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----------- ------------
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Pin 21 PA9 USART1_RX *Warning you make need to reverse RX/TX on
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Pin 33 PA10 USART1_TX some RS-232 converters
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Pin 20 GND
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Pin 8 U5V
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To configure USART1 as the console:
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CONFIG_STM32_USART1=y
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CONFIG_USART1_SERIALDRIVER=y
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CONFIG_USART1_SERIAL_CONSOLE=y
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CONFIG_USART1_RXBUFSIZE=256
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CONFIG_USART1_TXBUFSIZE=256
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CONFIG_USART1_BAUD=115200
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CONFIG_USART1_BITS=8
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CONFIG_USART1_PARITY=0
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CONFIG_USART1_2STOP=0
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USART2
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-----
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Pins and Connectors:
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RXD: PA3 CN9 pin 1 (See SB13, 14, 62, 63). CN10 pin 37
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PD6
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TXD: PA2 CN9 pin 2(See SB13, 14, 62, 63). CN10 pin 35
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PD5
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UART2 is the default in all of these configurations.
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TTL to RS-232 converter connection:
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Nucleo CN9 STM32L432KC
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----------- ------------
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Pin 1 PA3 USART2_RX *Warning you make need to reverse RX/TX on
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Pin 2 PA2 USART2_TX some RS-232 converters
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Solder Bridges. This configuration requires:
|
||
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- SB62 and SB63 Closed: PA2 and PA3 on STM32 MCU are connected to D1 and D0
|
||
(pin 7 and pin 8) on Arduino connector CN9 and ST Morpho connector CN10
|
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as USART signals. Thus SB13 and SB14 should be OFF.
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||
- SB13 and SB14 Open: PA2 and PA3 on STM32F103C8T6 (ST-LINK MCU) are
|
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disconnected to PA3 and PA2 on STM32 MCU.
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||
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To configure USART2 as the console:
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||
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CONFIG_STM32_USART2=y
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CONFIG_USART2_SERIALDRIVER=y
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CONFIG_USART2_SERIAL_CONSOLE=y
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CONFIG_USART2_RXBUFSIZE=256
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CONFIG_USART2_TXBUFSIZE=256
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CONFIG_USART2_BAUD=115200
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CONFIG_USART2_BITS=8
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CONFIG_USART2_PARITY=0
|
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CONFIG_USART2_2STOP=0
|
||
|
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Virtual COM Port
|
||
----------------
|
||
Yet another option is to use UART2 and the USB virtual COM port. This
|
||
option may be more convenient for long term development, but is painful
|
||
to use during board bring-up.
|
||
|
||
Solder Bridges. This configuration requires:
|
||
|
||
- SB62 and SB63 Open: PA2 and PA3 on STM32 MCU are disconnected to D1
|
||
and D0 (pin 7 and pin 8) on Arduino connector CN9 and ST Morpho
|
||
connector CN10.
|
||
|
||
- SB13 and SB14 Closed: PA2 and PA3 on STM32F103C8T6 (ST-LINK MCU) are
|
||
connected to PA3 and PA2 on STM32 MCU to have USART communication
|
||
between them. Thus SB61, SB62 and SB63 should be OFF.
|
||
|
||
Configuring USART2 is the same as given above.
|
||
|
||
Question: What BAUD should be configure to interface with the Virtual
|
||
COM port? 115200 8N1?
|
||
|
||
Default
|
||
-------
|
||
As shipped, SB62 and SB63 are open and SB13 and SB14 closed, so the
|
||
virtual COM port is enabled.
|
||
|
||
SPI Flash support:
|
||
=====================
|
||
|
||
We can use an external SPI Serial Flash with nucleo-l432kc board. In this
|
||
case we tested with AT45DB081D (8Mbit = 1MiB).
|
||
|
||
You can connect the AT45DB081D memory in the nucleo-l432kc board this way:
|
||
|
||
--------------------------------
|
||
| Memory nucleo-l432kc |
|
||
|------------------------------|
|
||
| SI ---> D11 (PB5) |
|
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| SCK ---> D13 (PB3) |
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||
| /RESET ---> 3V3 |
|
||
| /CS ---> D10 (PA11) |
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| /WP ---> 3V3 |
|
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| VCC ---> 3V3 |
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| GND ---> GND |
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| SO ---> D12 (PB4) |
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||
--------------------------------
|
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|
||
You can start with default "nucleo-l432kc/nsh" configuration option and
|
||
enable/disable these options using "make menuconfig" :
|
||
|
||
System Type --->
|
||
STM32L4 Peripheral Support --->
|
||
[*] SPI1
|
||
|
||
Device Drivers --->
|
||
-*- Memory Technology Device (MTD) Support --->
|
||
-*- SPI-based AT45DB flash
|
||
(1000000) AT45DB Frequency
|
||
|
||
File Systems --->
|
||
[*] NXFFS file system
|
||
|
||
|
||
Then after compiling and flashing the file nuttx.bin you can test the flash
|
||
this way:
|
||
|
||
nsh> ls /mnt
|
||
/mnt:
|
||
at45db/
|
||
|
||
nsh> echo "Testing" > /mnt/at45db/file.txt
|
||
|
||
nsh> ls /mnt/at45db
|
||
/mnt/at45db:
|
||
file.txt
|
||
|
||
nsh> cat /mnt/at45db/file.txt
|
||
Testing
|
||
|
||
nsh>
|
||
|
||
Configurations
|
||
==============
|
||
|
||
nsh:
|
||
---------
|
||
Configures the NuttShell (nsh) located at apps/examples/nsh for the
|
||
Nucleo-L432KC board. The Configuration enables the serial interfaces
|
||
on UART2. Support for builtin applications is enabled, but in the base
|
||
configuration no builtin applications are selected (see NOTES below).
|
||
|
||
NOTES:
|
||
|
||
1. This configuration uses the mconf-based configuration tool. To
|
||
change this configuration using that tool, you should:
|
||
|
||
a. Build and install the kconfig-mconf tool. See nuttx/README.txt
|
||
see additional README.txt files in the NuttX tools repository.
|
||
|
||
b. Execute 'make menuconfig' in nuttx/ in order to start the
|
||
reconfiguration process.
|
||
|
||
2. By default, this configuration uses the CodeSourcery toolchain
|
||
for Linux. That can easily be reconfigured, of course.
|
||
|
||
CONFIG_HOST_LINUX=y : Builds under Linux
|
||
CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery for Linux
|
||
|
||
3. Although the default console is USART2 (which would correspond to
|
||
the Virtual COM port) I have done all testing with the console
|
||
device configured for USART1 (see instruction above under "Serial
|
||
Consoles). I have been using a TTL-to-RS-232 converter connected
|
||
as shown below:
|
||
|
||
Nucleo CN10 STM32L432KC
|
||
----------- ------------
|
||
Pin 21 PA9 USART1_RX *Warning you make need to reverse RX/TX on
|
||
Pin 33 PA10 USART1_TX some RS-232 converters
|
||
Pin 20 GND
|
||
Pin 8 U5V
|
||
|
||
spwm
|
||
----
|
||
|
||
Configures the sinusoidal PWM (SPWM) example which presents a simple use case
|
||
of the STM32L4 PWM lower-half driver without generic upper-half PWM logic.
|
||
|
||
It uses TIM1 to generate PWM and TIM6 to change waveform samples
|
||
|
||
At the moment, the waveform parameters are hardcoded, but it should be easy to
|
||
modify this example and make it more functional.
|