414 lines
15 KiB
Plaintext
414 lines
15 KiB
Plaintext
README
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^^^^^^
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This README file discusses the port of NuttX to the Embedded Artists
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EA3152 board.
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Contents
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^^^^^^^^
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o Development Environment
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o GNU Toolchain Options
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o IDEs
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o NuttX buildroot Toolchain
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o Boot Sequence
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o Image Format
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o Image Download to ISRAM
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o Using OpenOCD and GDB
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o ARM/EA3152-specific Configuration Options
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o Configurations
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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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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 devkitARM GNU toolchain,
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3. Raisonance GNU toolchain,
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4. The NuttX buildroot Toolchain (see below), or
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5. Any generic arm-none-eabi GNU toolchain.
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All testing has been conducted using the NuttX buildroot toolchain. However,
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the make system is setup to default to use the devkitARM toolchain. To use
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the CodeSourcery, devkitARM or Raisonance GNU toolchain, you simply need to
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add one of the following configuration options to your .config (or defconfig)
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file:
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CONFIG_ARM_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery under Windows
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CONFIG_ARM_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux
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CONFIG_ARM_TOOLCHAIN_DEVKITARM=y : devkitARM under Windows
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CONFIG_ARM_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
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CONFIG_ARM_TOOLCHAIN_GNU_EABIL : Generic arm-none-eabi toolchain
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You may also have to modify the PATH environment variable if your make cannot
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find the tools.
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The toolchain may also be set using the kconfig-mconf utility (make menuconfig)
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or by passing CONFIG_ARM_TOOLCHAIN=<toolchain> to make, where <toolchain> is one
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of CODESOURCERYW, CODESOURCERYL, DEVKITARM, BUILDROOT or GNU_EABI as described
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above.
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NOTE: the CodeSourcery (for Windows), devkitARM, and Raisonance toolchains are
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Windows native toolchains. The CodeSourcey (for Linux) and NuttX buildroot
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toolchains are Cygwin and/or Linux native toolchains. There are several limitations
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to using a Windows based toolchain in a 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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make clean_context all
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An alias in your .bashrc file might make that less painful.
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NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization
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level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with
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-Os.
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NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that
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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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Generic arm-none-eabi GNU Toolchain
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-----------------------------------
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There are a number of toolchain projects providing support for ARMv4/v5
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class processors, including:
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GCC ARM Embedded
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https://launchpad.net/gcc-arm-embedded
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Summon ARM Toolchain
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https://github.com/esden/summon-arm-toolchain
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Yagarto
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http://www.yagarto.de
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Others exist for various Linux distributions, MacPorts, etc. Any version
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based on GCC 4.6.3 or later should work.
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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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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/lpc31xx,
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arch/arm/src/common, arch/arm/src/arm, 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/lpc31xx/lpc31_vectors.S. You may 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 an IDE.
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NuttX 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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cd tools
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./configure.sh ea3152/<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 configs/arm926t-defconfig-4.2.4 .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 configs/README.txt in the buildroot source tree. That has more
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detailed 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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Boot Sequence
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^^^^^^^^^^^^^
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LPC315x has on chip bootrom which loads properly formatted images from multiple
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sources into SRAM. These sources include including SPI Flash, NOR Flash, UART,
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USB, SD Card, and NAND Flash.
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In all configurations, NuttX is loaded directly into ISRAM. NuttX is linked
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to execute from ISRAM, regardless of the boot source.
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Image Format
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^^^^^^^^^^^^
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In order to use the bootrom bootloader, a special header must be added to the
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beginning of the binary image that includes information about the binary (things
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like the entry point, the size, and CRC's to verify the image.
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NXP provides a Windows program to append such a header to the binary image.
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However, (1) that program won't run under Linux, and (2) when I try it under
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WinXP, Symantec immediately claims that the program is misbehaving and deletes
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it!
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To work around both of these issues, I have created a small program under
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configs/ea3152/tools to add the header. This program can be built under
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either Linux or Cygwin (and probably other tool environments as well). That
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tool can be built as follows:
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- cd configs/ea3152/tools
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- make
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Then, to build the NuttX binary ready to load with the bootloader, just
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following these steps:
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- cd tools/ # Configure Nuttx
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- ./configure.sh ea3152/ostest # (using the ostest configuration for this example)
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- cd .. # Set up environment
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- make # Make NuttX. This will produce nuttx.bin
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- mklpc.sh # Make the bootloader binary (nuttx.lpc)
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NOTES:
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1. You will need to set your PATH variable appropriately or use the full path
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to mklpc.sh in the final step.
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2. You can instruct Symantec to ignore the errors and it will stop quarantining
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the NXP program.
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3. The CRC32 logic in configs/ea3152/tools doesn't seem to work. As a result,
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the CRC is currently disabled in the header:
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RCS file: /cvsroot/nuttx/nuttx/configs/ea3152/tools/lpchdr.c,v
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retrieving revision 1.2
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diff -r1.2 lpchdr.c
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264c264
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< g_hdr.imageType = 0x0000000b;
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---
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> g_hdr.imageType = 0x0000000a;
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Image Download to ISRAM
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^^^^^^^^^^^^^^^^^^^^^^^
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Assuming that you already have the FTDI driver installed*, then here is the
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are the steps that I use for loading new code into the EA3152:
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- Create the bootloader binary, nuttx.lpc, as described above.
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- Connected the EA3152 using the FTDI USB port (not the lpc3152 USB port)
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This will power up the EA3152 and start the bootloader.
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- Start a terminal emulator (such as TeraTerm) at 115200 8NI.
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- Reset the EA3152 and you should see:
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LPC31xx READY FOR PLAIN IMAGE>
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- Send the nuttx.lpc file and you should see:
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Download finished
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That will load the NuttX binary into ISRAM and attempt to execute it.
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*See the LPC315x documentation if you do not have the FTDI driver installed.
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Using OpenOCD and GDB
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^^^^^^^^^^^^^^^^^^^^^
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I have been using the Olimex ARM-USB-OCD JTAG debugger with the EA3152
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(http://www.olimex.com). The OpenOCD configuration file is here:
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tools/armusbocb.cfg. There is also a script on the tools directory that
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I used to start the OpenOCD daemon on my system called oocd.sh. That
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script would probably require some modifications to work in another
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environment:
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- possibly the value of OPENOCD_PATH
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- If you are working under Linux you will need to change any
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occurances of `cygpath -w blablabla` to just blablabla
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Then you should be able to start the OpenOCD daemon like:
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configs/ea3152/tools/oocd.sh $PWD
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Where it is assumed that you are executing oocd.sh from the top level
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directory where NuttX is installed.
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Once the OpenOCD daemon has been started, you can connect to it via
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GDB using the following GDB command:
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arm-nuttx-elf-gdb
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(gdb) target remote localhost:3333
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And you can load the NuttX ELF file:
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(gdb) symbol-file nuttx
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(gdb) load nuttx
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ARM/EA3152-specific Configuration Options
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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_ARM926EJS=y
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CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
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CONFIG_ARCH_CHIP=lpc31xx
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CONFIG_ARCH_CHIP_name - For use in C code
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CONFIG_ARCH_CHIP_LPC3152
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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=ea3152
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_EA3152
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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 - For most ARM9 architectures, this describes the
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size of installed DRAM. For the LPC315X, it is used only to
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deterimine how to map the executable regions. It is SDRAM size
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only if you are executing out of the external SDRAM; or it could
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be NOR FLASH size, external SRAM size, or internal SRAM size.
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CONFIG_RAM_START - The start address of installed DRAM (physical)
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CONFIG_RAM_VSTART - The startaddress of DRAM (virtual)
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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_LEDS - Use LEDs to show state. Unique to board architecture.
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CONFIG_ARCH_BUTTONS - Enable support for buttons. Unique to board architecture.
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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 calibratre
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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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CONFIG_ARCH_DMA - Support DMA initialization
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CONFIG_ARCH_LOWVECTORS - define if vectors reside at address 0x0000:00000
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Undefine if vectors reside at address 0xffff:0000
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CONFIG_ARCH_ROMPGTABLE - A pre-initialized, read-only page table is available.
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If defined, then board-specific logic must also define PGTABLE_BASE_PADDR,
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PGTABLE_BASE_VADDR, and all memory section mapping in a file named
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board_memorymap.h.
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Individual subsystems can be enabled:
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CONFIG_LPC31_MCI, CONFIG_LPC31_SPI, CONFIG_LPC31_UART
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External memory available on the board (see also CONFIG_MM_REGIONS)
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CONFIG_LPC31_EXTSRAM0 - Select if external SRAM0 is present
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CONFIG_LPC31_EXTSRAM0HEAP - Select if external SRAM0 should be
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configured as part of the NuttX heap.
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CONFIG_LPC31_EXTSRAM0SIZE - Size (in bytes) of the installed
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external SRAM0 memory
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CONFIG_LPC31_EXTSRAM1 - Select if external SRAM1 is present
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CONFIG_LPC31_EXTSRAM1HEAP - Select if external SRAM1 should be
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configured as part of the NuttX heap.
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CONFIG_LPC31_EXTSRAM1SIZE - Size (in bytes) of the installed
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external SRAM1 memory
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CONFIG_LPC31_EXTDRAM - Select if external SDRAM is present
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CONFIG_LPC31_EXTDRAMHEAP - Select if external SDRAM should be
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configured as part of the NuttX heap.
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CONFIG_LPC31_EXTDRAMSIZE - Size (in bytes) of the installed
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external SDRAM memory
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CONFIG_LPC31_EXTNAND - Select if external NAND is present
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CONFIG_LPC31_EXTNANDSIZE - Size (in bytes) of the installed
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external NAND memory
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LPC315X specific device driver settings
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CONFIG_UART_SERIAL_CONSOLE - selects the UART for the
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console and ttys0
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CONFIG_UART_RXBUFSIZE - Characters are buffered as received.
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This specific the size of the receive buffer
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CONFIG_UART_TXBUFSIZE - Characters are buffered before
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being sent. This specific the size of the transmit buffer
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CONFIG_UART_BAUD - The configure BAUD of the UART. Must be
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CONFIG_UART_BITS - The number of bits. Must be either 7 or 8.
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CONFIG_UART_PARTIY - 0=no parity, 1=odd parity, 2=even parity
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CONFIG_UART_2STOP - Two stop bits
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Configurations
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^^^^^^^^^^^^^^
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Each EA3152 configuration is maintained in a sub-directory and can be
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selected as follow:
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cd tools
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./configure.sh ea3152/<subdir>
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cd -
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Where <subdir> is one of the following:
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ostest:
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This configuration directory, performs a simple OS test using
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examples/ostest. By default, this project assumes that you are
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using the DFU bootloader.
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