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nuttx/configs/samv71-xult/README.txt
Gregory Nutt 4a0f89168a SAMV71-XULT: Update README
2015-08-16 10:59:35 -06:00

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README
======
This README file discusses the port of NuttX to the Atmel SAM V71 Xplained
Ultra Evaluation Kit (SAMV71-XULT). This board features the ATSAMV71Q21 Cortex-M7
microcontroller.
Additional support of provided for the (optional) maXTouch Xplained Pro LCD.
Contents
========
- Board Features
- Status/Open Issues
- Serial Console
- SD card
- Automounter
- LEDs and Buttons
- AT24MAC402 Serial EEPROM
- Networking
- USBHS Device Controller Driver
- Audio Interface
- maXTouch Xplained Pro
- MCAN1 Loopback Test
- SPI Slave
- Debugging
- Configurations
Board Features
==============
- ATSAMV71Q21 microcontroller: Cortex-M7, 300MHz, 2MiB FLASH, 384KiB SRAM,
I/D-caches
- One mechanical reset button
- One power switch button
- Two mechanical user pushbuttons
- Two yellow user LEDs
- Supercap backup
- 12.0 MHz crystal
- 32.768 kHz crystal
- 2 MB SDRAM
- 2 MB QSPI Flash
- IEEE 802.3az 10Base-T/100Base-TX Ethernet RMII PHY
- AT24MAC402 256KByte EEPROM with EUI-48 address
- WM8904 stereo audio codec
- ATA6561 CAN Transceiver
- SD Card connector with SDIO support
- Camera interface connector
- MediaLB connector
- Two Xplained Pro extension headers
- One Xplained Pro LCD header
- Coresight 20 connector for 4-bit ETM
- Arduino due compatible shield connectors
- External debugger connector
- USB interface, device and host mode
- Embedded Debugger with Data Gateway Interface and Virtual COM port (CDC)
- External power input (5-14V) or USB powered
See the Atmel website for further information about this board:
- http://www.atmel.com/tools/atsamv71-xult.aspx
Status/Open Issues
==================
I would characterize the general port as very mature and stable. However,
there are a number of issues, caveats, and unfinished drivers as detailed in
the following paragraphs.
The BASIC nsh configuration is fully function (as described below under
"Configurations"). There is also a graphics configuration (mxtxplnd), a
a configuration for network testing (netnsh), and a graphics demo (nxwm).
There are still open issues that need to be resolved. General problems are
listed below. But see the STATUS section associated with each configuration
for additional issues specific to a particular configuration.
1. HSCMI. CONFIG_MMCSD_MULTIBLOCK_DISABLE=y is set to disable multi-block
transfers only because I have not yet had a chance to verify this. The
is very low priority to me but might be important to you if you are need
very high performance SD card accesses.
2. HSMCI TX DMA is currently disabled for the SAMV7. There is some
issue with the TX DMA setup (HSMCI TX DMA the same driver works with
the SAMA5D4 which has a different DMA subsystem). This is a bug that
needs to be resolved.
DMA is enabled by these settings in the file arch/arm/src/samvy/sam_hsmci.c:
#undef HSCMI_NORXDMA /* Define to disable RX DMA */
#define HSCMI_NOTXDMA 1 /* Define to disable TX DMA */
3. There may also be some issues with removing and re-inserting SD cards
(of course with appropriate mounting and unmounting). I all not sure
of this and need to do more testing to characterize if the issue.
4. There is a port of the SAMA5D4-EK Ethernet driver to the SAMV71-XULT.
This driver appears to be 100% functional with the following caveats:
- There is a compiler optimization issue. At -O2, there is odd
behavior on pings and ARP messages. But the behavior is OK with
optimization set to -O2. This may or may not be a compiler
optimization issue (it could also be a timing issue or a need
for some additional volatile qualifiers).
- I- and D-Caches are enabled but the D-Cache must be enabled in
write-through mode. This is to work around issues with the RX and TX
descriptors with are 8-bytes in size. But the D-Cache cache line size
is 32-bytes. That means that you cannot reload, clean or invalidate a
descriptor without also effecting three neighboring descriptors.
Setting write through mode eliminates the need for cleaning the D-Cache.
If only reloading and invalidating are done, then there is no problem.
5. The USBHS device controller driver (DCD) is complete but non-functional.
At this point, work has stopped because I am stuck. The problem is that
bus events are not occurring: Nothing is detected by the USBHS when the
host is connected; no activity is seen on the bus by a USB analyzer when
the host is connected. Possibilities: (1) the pull-ups on DM and DP are
not working. This would prevent the host from detecting the presence of
the device. The DETACH bit is, however, being correctly cleared and the
USB is in the suspend sate. Or (2) some issue with clocking or
configuration of the UTMI. I see nothing wrong in this case. I have
done extensive comparison of the Atmel sample code and study of the data
sheet, but I have not found the key to
solving this.
6. The full port for audio support is code complete: WM8904 driver,
SSC/I2C driver, and CS2100-CP driver. But this code is untested. The
WM8904 interface was taken directly from the SAMA5D4-EK and may well
need modification due to differences with the physical WM8904
interface.
7. An MCAN driver as added and verified on 2015-08-08 using the loopback
test at apps/examples/can. Like the Ethernet driver, the MCAN driver
does not work if the D-Cache is configured in write-back mode; write-
through mode is required.
8. An SPI slave driver as added on 2015-08-09 but has not been verified
as of this writing. See discussion in include/nuttx/spi/slave.h and
in the section entitle "SPI Slave" below.
Serial Console
==============
The SAMV71-XULT has no on-board RS-232 drivers so it will be necessary to
use either the VCOM or an external RS-232 driver. Here are some options.
- Arduino Serial Shield: One option is to use an Arduino-compatible
serial shield. This will use the RXD and TXD signals available at pins
0 an 1, respectively, of the Arduino "Digital Low" connector. On the
SAMV71-XULT board, this corresponds to UART3:
------ ------ ------- ------- --------
Pin on SAMV71 Arduino Arduino SAMV71
J503 PIO Name Pin Function
------ ------ ------- ------- --------
1 PD28 RX0 0 URXD3
2 PD30 TX0 1 UTXD3
------ ------ ------- ------- --------
In this configuration, an external RS232 driver can also be used
instead of the shield. Simply connext as follows:
--------- -----------
Arduino RS-232
Pin Label Connection
--------- -----------
D0 (RXD) RX
D1 (TXD) TX
GND GND
5VO Vcc
--------- -----------
- Arduino Communications. Additional UART/USART connections are available
on the Arduino Communications connection J505:
------ ------ ------- ------- --------
Pin on SAMV71 Arduino Arduino SAMV71
J503 PIO Name Pin Function
------ ------ ------- ------- --------
3 PD18 RX1 0 URXD4
4 PD19 TX1 0 UTXD4
5 PD15 RX2 0 RXD2
6 PD16 TX2 0 TXD2
7 PB0 RX3 0 RXD0
8 PB1 TX3 1 TXD0
------ ------ ------- ------- --------
- SAMV7-XULT EXTn connectors. USART pins are also available the EXTn
connectors. The following are labelled in the User Guide for USART
functionality:
---- -------- ------ --------
EXT1 EXTI1 SAMV71 SAMV71
Pin Name PIO Function
---- -------- ------ --------
13 USART_RX PB00 RXD0
14 USART_TX PB01 TXD0
---- -------- ------ --------
EXT2 EXTI2 SAMV71 SAMV71
Pin Name PIO Function
---- -------- ------ --------
13 USART_RX PA21 RXD1
14 USART_TX PB04 TXD1
- VCOM. The Virtual Com Port gateway is available on USART1:
------ --------
SAMV71 SAMV71
PIO Function
------ --------
PB04 TXD1
PA21 RXD1
------ --------
Any of these options can be selected as the serial console by:
1. Enabling the UART/USART peripheral in the
"System Type -> Peripheral Selection" menu, then
2. Configuring the peripheral in the "Drivers -> Serial Configuration"
menu.
SD Card
=======
Card Slot
---------
The SAM V71 Xplained Ultra has one standard SD card connector which is
connected to the High Speed Multimedia Card Interface (HSMCI) of the SAM
V71. SD card connector:
------ ----------------- ---------------------
SAMV71 SAMV71 Shared functionality
Pin Function
------ ----------------- ---------------------
PA30 MCDA0 (DAT0)
PA31 MCDA1 (DAT1)
PA26 MCDA2 (DAT2)
PA27 MCDA3 (DAT3) Camera
PA25 MCCK (CLK) Shield
PA28 MCCDA (CMD)
PD18 Card Detect (C/D) Shield
------ ----------------- ---------------------
Configuration Settings
----------------------
Enabling HSMCI support. The SAMV7-XULT provides a one, full-size SD memory card slots. The full size SD card slot connects via HSMCI0. Support for the SD slots can be enabled with the following settings:
System Type->SAMV7 Peripheral Selection
CONFIG_SAMV7_HSMCI0=y : To enable HSMCI0 support
CONFIG_SAMV7_XDMAC=y : XDMAC is needed by HSMCI0/1
System Type
CONFIG_SAMV7_PIO_IRQ=y : PIO interrupts needed
CONFIG_SAMV7_PIOD_IRQ=y : Card detect pin is on PD18
Device Drivers -> MMC/SD Driver Support
CONFIG_MMCSD=y : Enable MMC/SD support
CONFIG_MMSCD_NSLOTS=1 : One slot per driver instance
CONFIG_MMCSD_MULTIBLOCK_DISABLE=y : (REVISIT)
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
RTOS Features -> Work Queue Support
CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization, OR
CONFIG_BOARD_INITIALIZE=y
Using the SD card
-----------------
1) After booting, the HSCMI device will appear as /dev/mmcsd0.
2) If you try mounting an SD card with nothing in the slot, the mount will
fail:
nsh> mount -t vfat /dev/mmcsd0 /mnt/sd0
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/mmcsd0 /mnt/sd0
nsh> ls /mnt/sd1
/mnt/sd1:
atest.txt
nsh> cat /mnt/sd1/atest.txt
This is a test
NOTE: See the next section entitled "Auto-Mounter" for another way
to mount your SD card.
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 an SD card and makes the SD card unavailable
to the applications.
nsh> umount -t /mnt/sd0
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
these configurations.
Auto-Mounter
============
NuttX implements an auto-mounter than can make working with SD cards
easier. With the auto-mounter, the file system will be automatically
mounted when the SD card is inserted into the HSMCI slot and automatically
unmounted when the SD card is removed.
Here is a sample configuration for the auto-mounter:
File System Configuration
CONFIG_FS_AUTOMOUNTER=y
Board-Specific Options
CONFIG_SAMV71XULT_HSMCI0_AUTOMOUNT=y
CONFIG_SAMV71XULT_HSMCI0_AUTOMOUNT_FSTYPE="vfat"
CONFIG_SAMV71XULT_HSMCI0_AUTOMOUNT_BLKDEV="/dev/mmcsd0"
CONFIG_SAMV71XULT_HSMCI0_AUTOMOUNT_MOUNTPOINT="/mnt/sdcard"
CONFIG_SAMV71XULT_HSMCI0_AUTOMOUNT_DDELAY=1000
CONFIG_SAMV71XULT_HSMCI0_AUTOMOUNT_UDELAY=2000
WARNING: SD cards should never be removed without first unmounting
them. This is to avoid data and possible corruption of the file
system. Certainly this is the case if you are writing to the SD card
at the time of the removal. If you use the SD card for read-only access,
however, then I cannot think of any reason why removing the card without
mounting would be harmful.
LEDs and Buttons
================
LEDs
----
There are two yellow LED available on the SAM V71 Xplained Ultra board that
can be turned on and off. The LEDs can be activated by driving the
connected I/O line to GND.
------ ----------- ---------------------
SAMV71 Function Shared functionality
PIO
------ ----------- ---------------------
PA23 Yellow LED0 EDBG GPIO
PC09 Yellow LED1 LCD, and Shield
------ ----------- ---------------------
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_autoleds.c. The LEDs are used to encode
OS-related events as follows:
------------------- ----------------------- -------- --------
SYMBOL Meaning LED state
LED0 LED1
------------------- ----------------------- -------- --------
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 N/C Blinking
LED_IDLE MCU is is sleep mode Not used
------------------- ----------------------- -------- --------
Thus if LED0 is statically on, NuttX has successfully booted and is,
apparently, running normally. If LED1 is flashing at approximately
2Hz, then a fatal error has been detected and the system has halted.
NOTE: That LED0 is not used after completion of booting and may
be used by other board-specific logic.
Buttons
-------
SAM V71 Xplained Ultra contains three mechanical buttons. One button is the
RESET button connected to the SAM V71 reset line and the others are generic
user configurable buttons. When a button is pressed it will drive the I/O
line to GND.
------ ----------- ---------------------
SAMV71 Function Shared functionality
PIO
------ ----------- ---------------------
RESET RESET Trace, Shield, and EDBG
PA09 SW0 EDBG GPIO and Camera
PB12 SW1 EDBG SWD and Chip Erase
------ ----------- ---------------------
NOTES:
- There are no pull-up resistors connected to the generic user buttons so
it is necessary to enable the internal pull-up in the SAM V71 to use the
button.
- PB12 is set up as a system flash ERASE pin when the firmware boots. To
use the SW1, PB12 has to be configured as a normal regular I/O pin in
the MATRIX module. For more information see the SAM V71 datasheet.
AT24MAC402 Serial EEPROM
========================
Ethernet MAC Address
--------------------
The SAM V71 Xplained Ultra features one external AT24MAC402 serial EEPROM
with a EIA-48 MAC address connected to the SAM V71 through I2C. This device
contains a MAC address for use with the Ethernet interface.
Connectivity:
------ -------- -------- ------------------------------------------
SAMV71 SAMV71 I2C Shared
Pin Function Function Functionality
------ -------- -------- ------------------------------------------
PA03 TWID0 SDA EXT1, EXT2, EDBG I2C, LCD, Camera, Audio,
MediaLB, and Shield
PA04 TWICK0 SCL EXT1, EXT2, EDBG I2C, LCD, Camera, Audio,
MediaLB, and Shield
------ -------- -------- ------------------------------------------
I2C address:
The 7-bit addresses of the AT24 part are 0b1010AAA for the normal 2Kbit
memory and 0b1011aaa for the "extended memory" where aaa is the state of
the A0, A1, and A3 pins on the part. On the SAMV71-XULT board, these
are all pulled high so the full, 7-bit address is 0x5f.
Configuration
-------------
System Type -> SAMV7 Peripheral Support
CONFIG_SAMV7_TWIHS0=y : Used to access the EEPROM
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
Device drivers -> Memory Technology Devices
CONFIG_MTD_AT24XX=y : Enable the AT24 device driver
CONFIG_AT24XX_SIZE=2 : Normal EEPROM is 2Kbit (256b)
CONFIG_AT24XX_ADDR=0x57 : Normal EEPROM address */
CONFIG_AT24XX_EXTENDED=y : Supports an extended memory region
CONFIG_AT24XX_EXTSIZE=160 : Extended address up to 0x9f
MTD Configuration Data
----------------------
The AT24 EEPROM can also be used to storage of up to 256 bytes of
configuration data:
Device drivers -> Memory Technology Devices
The configuration data device will appear at /dev/config.
Networking
==========
KSZ8061RNBVA Connections
------------------------
------ --------- --------- --------------------------
SAMV71 SAMV71 Ethernet Shared functionality
Pin Function Function
------ --------- --------- --------------------------
PD00 GTXCK REF_CLK Shield
PD01 GTXEN TXEN
PD02 GTX0 TXD0
PD03 GTX1 TXD1
PD04 GRXDV CRS_DV Trace
PD05 GRX0 RXD0 Trace
PD06 GRX1 RXD1 Trace
PD07 GRXER RXER Trace
PD08 GMDC MDC Trace
PD09 GMDIO MDIO
PA19 GPIO INTERRUPT EXT1, Shield
PA29 GPIO SIGDET
PC10 GPIO RESET
------ --------- --------- --------------------------
Selecting the GMAC peripheral
-----------------------------
System Type -> SAMV7 Peripheral Support
CONFIG_SAMV7_EMAC0=y : Enable the GMAC peripheral (aka, EMAC0)
CONFIG_SAMV7_TWIHS0=y : We will get the MAC address from the AT24 EEPROM
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
System Type -> EMAC device driver options
CONFIG_SAMV7_EMAC0_NRXBUFFERS=16 : Set aside some RS and TX buffers
CONFIG_SAMV7_EMAC0_NTXBUFFERS=8
CONFIG_SAMV7_EMAC0_RMII=y : The RMII interfaces is used on the board
CONFIG_SAMV7_EMAC0_AUTONEG=y : Use autonegotiation
CONFIG_SAMV7_EMAC0_PHYADDR=1 : KSZ8061 PHY is at address 1
CONFIG_SAMV7_EMAC0_PHYSR=30 : Address of PHY status register on KSZ8061
CONFIG_SAMV7_EMAC0_PHYSR_ALTCONFIG=y : Needed for KSZ8061
CONFIG_SAMV7_EMAC0_PHYSR_ALTMODE=0x7 : " " " " " "
CONFIG_SAMV7_EMAC0_PHYSR_10HD=0x1 : " " " " " "
CONFIG_SAMV7_EMAC0_PHYSR_100HD=0x2 : " " " " " "
CONFIG_SAMV7_EMAC0_PHYSR_10FD=0x5 : " " " " " "
CONFIG_SAMV7_EMAC0_PHYSR_100FD=0x6 : " " " " " "
PHY selection. Later in the configuration steps, you will need to select
the KSZ8061 PHY for EMAC (See below)
Networking Support
CONFIG_NET=y : Enable Neworking
CONFIG_NET_NOINTS=y : Use the work queue, not interrupts for processing
CONFIG_NET_SOCKOPTS=y : Enable socket operations
CONFIG_NET_ETH_MTU=562 : Maximum packet size (MTU) 1518 is more standard
CONFIG_NET_ETH_TCP_RECVWNDO=562 : Should be the same as CONFIG_NET_ETH_MTU
CONFIG_NET_ARP=y : ARP support should be enabled
CONFIG_NET_ARP_SEND=y : Use ARP to get peer address before sending
CONFIG_NET_TCP=y : Enable TCP/IP networking
CONFIG_NET_TCPBACKLOG=y : Support TCP/IP backlog
CONFIG_NET_TCP_READAHEAD=y : Enable TCP read-ahead buffering
CONFIG_NET_TCP_WRITE_BUFFERS=y : Enable TCP write buffering
CONFIG_NET_UDP=y : Enable UDP networking
CONFIG_NET_BROADCAST=y : Support UDP broadcase packets
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_KSZ8061=y : Select the KSZ8061 PHY used with EMAC0
Device drivers -> Memory Technology Devices
CONFIG_MTD_AT24XX=y : Enable the AT24 device driver
CONFIG_AT24XX_SIZE=2 : Normal EEPROM is 2Kbit (256b)
CONFIG_AT24XX_ADDR=0x57 : Normal EEPROM address */
CONFIG_AT24XX_EXTENDED=y : Supports an extended memory region
CONFIG_AT24XX_EXTSIZE=160 : Extended address up to 0x9f
RTOS Features ->Work Queue Support
CONFIG_SCHED_WORKQUEUE=y : Work queue support is needed
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKSTACKSIZE=2048 : Might need to be increased
Application Configuration -> Network Utilities
CONFIG_NETDB_DNSCLIENT=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_NETLIB=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=n : We will get the IP address from EEPROM
: Defaults should be okay for other options
Cache-Related Issues
--------------------
I- and D-Caches can be enabled but the D-Cache must be enabled in write-
through mode. This is to work around issues with the RX and TX descriptors
with are 8-bytes in size. But the D-Cache cache line size is 32-bytes.
That means that you cannot reload, clean or invalidate a descriptor without
also effecting three neighboring descriptors. Setting write through mode
eliminates the need for cleaning the D-Cache. If only reloading and
invalidating are done, then there is no problem.
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 SAMA4D4-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 SAMA4D4-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-7.9
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. On the order of a minute! You will probably think that
NuttX has crashed! And then, when it finally does come up, the
network will not be available.
Network Initialization Thread
-----------------------------
There is a configuration option enabled by CONFIG_NSH_NETINIT_THREAD
that will do the NSH network bring-up asynchronously in parallel on
a separate thread. This eliminates the (visible) networking delay
altogether. This networking initialization feature by itself has
some limitations:
- If no network is connected, the network bring-up will fail and
the network initialization thread will simply exit. There are no
retries and no mechanism to know if the network initialization was
successful.
- Furthermore, there is no support for detecting loss of the network
connection and recovery of networking when the connection is restored.
Both of these shortcomings can be eliminated by enabling the network
monitor:
Network Monitor
---------------
By default the network initialization thread will bring-up the network
then exit, freeing all of the resources that it required. This is a
good behavior for systems with limited memory.
If the CONFIG_NSH_NETINIT_MONITOR option is selected, however, then the
network initialization thread will persist forever; it will monitor the
network status. In the event that the network goes down (for example, if
a cable is removed), then the thread will monitor the link status and
attempt to bring the network back up. In this case the resources
required for network initialization are never released.
Pre-requisites:
- CONFIG_NSH_NETINIT_THREAD as described above.
- CONFIG_NETDEV_PHY_IOCTL. Enable PHY IOCTL commands in the Ethernet
device driver. Special IOCTL commands must be provided by the Ethernet
driver to support certain PHY operations that will be needed for link
management. There operations are not complex and are implemented for
the Atmel SAMV7 family.
- CONFIG_ARCH_PHY_INTERRUPT. This is not a user selectable option.
Rather, it is set when you select a board that supports PHY interrupts.
In most architectures, the PHY interrupt is not associated with the
Ethernet driver at all. Rather, the PHY interrupt is provided via some
board-specific GPIO and the board-specific logic must provide support
for that GPIO interrupt. To do this, the board logic must do two things:
(1) It must provide the function arch_phy_irq() as described and
prototyped in the nuttx/include/nuttx/arch.h, and (2) it must select
CONFIG_ARCH_PHY_INTERRUPT in the board configuration file to advertise
that it supports arch_phy_irq(). This logic can be found at
nuttx/configs/sama5d4-ek/src/sam_ethernet.c.
- And a few other things: UDP support is required (CONFIG_NET_UDP) and
signals must not be disabled (CONFIG_DISABLE_SIGNALS).
Given those prerequisites, the network monitor can be selected with these
additional settings.
Networking Support -> Networking Device Support
CONFIG_NETDEV_PHY_IOCTL=y : Enable PHY ioctl support
Application Configuration -> NSH Library -> Networking Configuration
CONFIG_NSH_NETINIT_THREAD : Enable the network initialization thread
CONFIG_NSH_NETINIT_MONITOR=y : Enable the network monitor
CONFIG_NSH_NETINIT_RETRYMSEC=2000 : Configure the network monitor as you like
CONFIG_NSH_NETINIT_SIGNO=18
USBHS Device Controller Driver
==============================
The USBHS device controller driver is enabled with he following configuration
settings:
Device Drivers -> USB Device Driver Support
CONFIG_USBDEV=y : Enable USB device support
CONFIG_USBDEV_DUALSPEED=y : Enable High speed support
CONFIG_USBDEV_DMA=y : Enable DMA methods
CONFIG_USBDEV_MAXPOWER=100 : Maximum power consumption
CONFIG_USBDEV_SELFPOWERED=y : Self-powered device
System Type -> SAMV7 Peripheral Selection
CONFIG_SAMV7_USBDEVHS=y
System Type -> SAMV7 USB High Sppeed Device Controller (DCD options
CONFIG_SAMV7_USBHS_NDTDS=8 : Number of DMA transfer descriptors
CONFIG_SAMV7_USBHS_PREALLOCATE=y : Pre-allocate descriptors
In order to be usable, you must all enabled some class driver(s) for the
USBHS device controller. Here, for example, is how to configure the CDC/ACM
serial device class:
Device Drivers -> USB Device Driver Support
CONFIG_CDCACM=y : USB Modem (CDC ACM) support
CONFIG_CDCACM_EP0MAXPACKET=64 : Enpoint 0 packet size
CONFIG_CDCACM_EPINTIN=1 : Interrupt IN endpoint number
CONFIG_CDCACM_EPINTIN_FSSIZE=64 : Full speed packet size
CONFIG_CDCACM_EPINTIN_HSSIZE=64 : High speed packet size
CONFIG_CDCACM_EPBULKOUT=3 : Bulk OUT endpoint number
CONFIG_CDCACM_EPBULKOUT_FSSIZE=64 : Full speed packet size
CONFIG_CDCACM_EPBULKOUT_HSSIZE=512 : High speed packet size
CONFIG_CDCACM_EPBULKIN=2 : Bulk IN endpoint number
CONFIG_CDCACM_EPBULKIN_FSSIZE=64 : Full speed packet size
CONFIG_CDCACM_EPBULKIN_HSSIZE=512 : High speed packet size
CONFIG_CDCACM_NRDREQS=4 : Number of read requests
CONFIG_CDCACM_NWRREQS=4 : Number of write requests
CONFIG_CDCACM_BULKIN_REQLEN=768 : Size of write request buffer
CONFIG_CDCACM_RXBUFSIZE=256 : Serial read buffer size
CONFIG_CDCACM_TXBUFSIZE=256 : Serial transmit buffer size
CONFIG_CDCACM_VENDORID=0x0525 : Vendor ID
CONFIG_CDCACM_PRODUCTID=0xa4a7 : Product ID
CONFIG_CDCACM_VENDORSTR="NuttX" : Vendor string
CONFIG_CDCACM_PRODUCTSTR="CDC/ACM Serial" : Product string
Device Drivers -> Serial Driver Support
CONFIG_SERIAL_REMOVABLE=y : Support for removable serial device
The CDC/ACM application provides commands to connect and disconnect the
CDC/ACM serial device:
CONFIG_SYSTEM_CDCACM=y : Enable connect/disconnect support
CONFIG_SYSTEM_CDCACM_DEVMINOR=0 : Use device /dev/ttyACM0
If you include this CDC/ACM application, then you can connect the CDC/ACM
serial device to the host by entering the command 'sercon' and you detach
the serial device with the command 'serdis'. If you do no use this
application, they you will have to write logic in your board initialization
code to initialize and attach the USB device.
Audio Interface
===============
WM8904 Audio Codec
------------------
SAMV71 Interface WM8904 Interface
---- ------------ ------- ----------------------------------
PIO Usage Pin Function
---- ------------ ------- ----------------------------------
PA3 TWD0 SDA I2C control interface, data line
PA4 TWCK0 SCLK I2C control interface, clock line
PA10 RD ADCDAT Digital audio output (microphone)
PB18 PCK2 MCLK Master clock
PB0 TF LRCLK Left/right data alignment clock
PB1 TK BCLK Bit clock, for synchronization
PD11 GPIO IRQ Audio interrupt
PD24 RF LRCLK Left/right data alignment clock
PD26 TD DACDAT Digital audio input (headphone)
---- ------------ ------- ----------------------------------
CP2100-CP Fractional-N Clock Multiplier
--------------------------------------
SAMV71 Interface CP2100-CP Interface
---- ------------ ------- ----------------------------------
PIO Usage Pin Function
---- ------------ ------- ----------------------------------
PA3 TWD0 SDA I2C control interface, data line
PA4 TWCK0 SCLK I2C control interface, clock line
PD21 TIOA11 CLK_IN PLL input
- - XTI/XTO 12.0MHz crystal
PA22 RK CLK_OUT PLL output
- - AUX_OUT N/C
---- ------------ ------- ----------------------------------
maXTouch Xplained Pro
=====================
Testing has also been performed using the maXTouch Xplained Pro LCD
(ATMXT-XPRO).
**************************************************************************
* WARNING: *
* The maXTouch chip was not configured on all of the maXTouch Xplained *
* Pro boards that I have used (which is two). The maXTouch is *
* completely non-functional with no configuration in its NV memory! *
* *
* My understanding is that this configuration can be set on Linux *
* using the mxp-app program which is available on GitHub. There is an *
* (awkward) way to do this with NuttX too. In order to set the *
* maXTouch configuration with Nuttx you need to do these things: *
* *
* - Copy the function atmxt_config() from the file *
* configs/samv71-xult/src/atmxt_config.c into the file *
* drivers/input/mxt.c *
* - Add a call to atmxt_config() in drivers/input/mxt.c in the *
* function mxt_register() just before the touchscreen device is *
* registered (i.e, the call to register_driver()). *
* - Run the code one time. Your maXTouch is configured and should *
* now work. *
* - Don't forget to remove atmxt_config() from drivers/input/mxt.c and *
* restore driver as it was. *
* *
**************************************************************************
maXTouch Xplained Pro Standard Extension Header
-----------------------------------------------
The LCD could be connected either via EXT1 or EXT2 using the 2x10 20-pin
cable and the maXTouch Xplained Pro standard extension header. Access would
then be performed in SPI mode.
NOTE: There is currently no support for use of the LCD in SPI mode. See
the next paragraph where the LCD/EXT4 connection is discussion.
NOTE the 3 switch mode selector on the back of the maXtouch. All switches
should be in the ON position to select 4-wire SPI mode.
---- -------- ---- ----------- ---- ----------- ------------------------------------------
SAMV71-XULT maxTouch Xplained Pro
PIN FUNCTION EXT1 FUNC EXT2 FUNC Description
---- -------- ---- ----------- ---- ----------- ------------------------------------------
1 ID - - - - Communication line to ID chip
2 GND - - - - Ground
3 N/C PC31 - PD30 -
4 N/C PA19 - PC13 -
5 GPIO PB3 GPIO PA6 GPIO Command/Data Select
6 N/C PB2 - PD11 -
7 PWM PA0 PWMC0_PWMH0 PC19 PWMC0_PMWH2 Backlight control
8 N/C PC30 - PD26 -
9 GPIO/IRQ PD28 GPIO PA2 GPIO IRQ from maXTouch controller
10 GPIO PA5 GPIO PA24 GPIO RESET signal for maXTouch and LCD controller
11 I2C SDA PA3 TWID0 PA3 TWID0 I2C Data line for maXTouch controller
12 I2C SCL PA4 TWICK0 PA4 TWICK0 I2C Clock line for maXTouch controller
13 N/C PB0 - PA21 -
14 N/C PB1 - PB4 -
15 CS PD25 GPIO PD27 GPIO CS line for LCD controller
16 SPI MOSI PD21 SPI0_MOSI PD21 SPI0_MOSI SPI Data to LCD controller
17 SPI MISO PD20 SPI0_MISO PD20 SPI0_MISO SPI Data from LCD controller
18 SPI SCK PD22 SPI0_SPCK PD22 SPI0_SPCK SPI Clock line
19 GND - - - - Ground
20 VCC - - - - Target supply voltage
---- -------- ---- ----------- ---- ----------- ------------------------------------------
NOTE: Use of EXT1 conflicts with the Arduino RXD pin (PD28). You cannot
put the maXTouch Xplained in EXT1 and also use the Arduino RXD/TXD pins
as your serial console.
maXTouch Xplained Pro Xplained Pro LCD Connector
------------------------------------------------
It is also possible to connect the LCD via the flat cable to the EXT4 LCD
connector. In this case, you would use the SMC/EBI to communicate with the
LCD.
NOTE: (1) Only the parallel interface is supported by the SAMV71-XULT and (2)
the 3 switch mode selector on the back of the maXtouch. These switches should
be in the OFF-ON-OFF positions to select 16-bit color mode.
----------------- ------------- -----------------------------------------------------------
LCD SAMV71 Description
Pin Function Pin Function
---- ------------ ---- -------- -----------------------------------------------------------
1 ID - - Communication line to ID chip on extension board
2 GND - GND Ground
3 D0 PC0 D0 Data line
4 D1 PC1 D1 Data line
5 D2 PC2 D2 Data line
6 D3 PC3 D3 Data line
7 GND - GND Ground
8 D4 PC4 D4 Data line
9 D5 PC5 D5 Data line
10 D6 PC6 D6 Data line
11 D7 PC7 D7 Data line
12 GND - GND Ground
13 D8 PE0 D8 Data line
14 D9 PE1 D9 Data line
15 D10 PE2 D10 Data line
16 D11 PE3 D11 Data line
17 GND - GND Ground
18 D12 PE4 D12 Data line
19 D13 PE5 D13 Data line
20 D14 PA15 D14 Data line
21 D15 PA16 D15 Data line
22 GND - GND Ground
23 D16 - - Data line
24 D17 - - Data line
25 N/C - -
26 N/C - -
27 GND - GND Ground
28 N/C - -
29 N/C - -
30 N/C - -
31 N/C - -
32 GND - GND Ground
33 PCLK/ PC30 GPIO SMC: Pixel clock Display RAM select.
CMD_DATA_SEL SPI: One address line of the MCU for displays where it
is possible to select either the register or the
data interface
34 VSYNC/CS PD19 NCS3 SMC: Vertical synchronization.
SPI: Chip select
35 HSYNC/WE PC8 NWE SMC: Horizontal synchronization
SPI: Write enable signal
36 DATA ENABLE/ PC11 NRD SMC: Data enable signal
RE SPI: Read enable signal
37 SPI SCK - - SPI: Clock for SPI
38 SPI MOSI - - SPI: Master out slave in line of SPI
39 SPI MISO - - SPI: Master in slave out line of SPI
40 SPI SS - - SPI: Slave select for SPI
41 N/C - -
42 TWI SDA PA3 TWD0 I2C data line (maXTouch®)
43 TWI SCL PA4 TWCK0 I2C clock line (maXTouch)
44 IRQ1 PD28 WKUP5 maXTouch interrupt line
45 N/C PA2 WKUP2
46 PWM PC9 TIOB7 Backlight control
47 RESET PC13 GPIO Reset for both display and maxTouch
48 VCC - - 3.3V power supply for extension board
49 VCC - - 3.3V power supply for extension board
50 GND - - Ground
---- ------------ ---- -------- -----------------------------------------------------------
NOTE: Use of LCD/EXT4 conflicts with the Arduino RXD pin (PD28). You cannot
put the maXTouch Xplained in LCD/EXT4 and also use the Arduino RXD/TXD pins
as your serial console.
Connecting the flat cable. I was embarrassed to say that I did not know how
the connectors worked. Let me share this so that, perhaps, I can save you
the same embarrassment:
- The maXTouch Xplained Pro has an Omron XF2M-5015-1A connector. There is a
black bar at back (toward the baord). Raise that bar and insert the cable
with the contacts away from the board. Lower that bar to lock the cable
in place.
- The SAMV71-Xult has a TE Connectivity 5-1734839-0 FPC connector that works
differently. On each size of the connector are two small white tabs. Pull
these out and away from the board. Insert the ribbon with the contacts
toward the board. Lock the cable in place by pushing the tabs back in
place.
MXT Configuration Options
-------------------------
System Type -> SAMV7 Peripheral Support
CONFIG_SAMV7_TWIHS0=y : Needed by the MaXTouch controller
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
Board Selection ->
CONFIG_SAMV71XULT_MXTXPLND=y : MaXTouch Xplained is connected
CONFIG_SAMV71XULT_MXTXPLND_EXT1=y : Connected on EXT1, or
CONFIG_SAMV71XULT_MXTXPLND_EXT2=y : Connected on EXT2, or
CONFIG_SAMV71XULT_MXTXPLND_LCD=y : Connected on LCD
CONFIG_SAMV71XULT_MXT_DEVMINOR=0 : Register as /dev/input0
CONFIG_SAMV71XULT_MXT_I2CFREQUENCY=400000
NOTE: When selecting EXT1 or EXT2, be conscious of possible pin conflicts.
EXT1, for example, will conflict with the use of the Arduino TXD and RXD
pins for the serial console
Device Drivers -> Input Devices
CONFIG_INPUT=y : Enable support for human input devices
CONFIG_INPUT_MXT=y : Enable support for the maXTouch controller
The following enables a small built-in application that can be used to
test the touchscreen:
Application Configuration -> Examples -> Touchscreen example
CONFIG_EXAMPLES_TOUCHSCREEN=y : Enables the example
CONFIG_EXAMPLES_TOUCHSCREEN_ARCHINIT=y : Have board-specific intialization
CONFIG_EXAMPLES_TOUCHSCREEN_DEVPATH="/dev/input0"
CONFIG_EXAMPLES_TOUCHSCREEN_MINOR=0
ILI9488 Configuration Options
-----------------------------
Currently only the parallel mode is supported. This means that the LCD can
only be used in connected in the LCD (EXT4) connection.
System Type -> SAMV7 Peripheral Support
CONFIG_SAMV7_SMC=y : Needed by the ILI9466 driver controller
CONFIG_SAMV7_XDMAC=y : Needed by the ILI9466 driver
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
Board Selection ->
CONFIG_SAMV71XULT_MXTXPLND=y : MaXTouch Xplained is connected
CONFIG_SAMV71XULT_MXTXPLND_LCD=y : Must be connected on LCD
NOTE: When selecting EXT1 or EXT2, be conscious of possible pin conflicts.
EXT1, for example, will conflict with the use of the Arduino TXD and RXD
pins for the serial console
Device Drivers -> LCD drivers
CONFIG_LCD=y : Enable support for LCDs
Graphics
CONFIG_NX=y : Enable Graphics supported
CONFIG_NX_LCDDRIVER=y : Enable LCD driver support
CONFIG_NX_DISABLE_*BPP=y : When * is {1,2,4,8,24, and 32}
CONFIG_NXFONTS_CHARBITS=7
CONFIG_NXFONT_SANS23X27=y : One font must be enabled
There are several graphics examples that can be enabled under apps/examples.
nxlines is one of these and can be enabled as follows. See
apps/examples/README.txt for information about configuring other graphics
examples.
The following enables a small built-in application that can be used to
test the touchscreen:
Application Configuration -> Examples -> NX lines example
CONFIG_EXAMPLES_NXLINES=y : Enables the nxlines example
CONFIG_EXAMPLES_NXLINES_VPLANE=0
CONFIG_EXAMPLES_NXLINES_DEVNO=0
MCAN1 Loopback Test
===================
MCAN1
-----
SAM V71 Xplained Ultra has two MCAN modules that performs communication according
to ISO11898-1 (Bosch CAN specification 2.0 part A,B) and Bosch CAN FD
specification V1.0. MCAN1 is connected to an on-board ATA6561 CAN physical-layer
transceiver.
------- -------- -------- -------------
SAM V71 FUNCTION ATA6561 SHARED
PIN FUNCTION FUNCTIONALITY
------- -------- -------- -------------
PC14 CANTX1 TXD Shield
PC12 CANRX1 RXD Shield
------- -------- -------- -------------
Enabling MCAN1
--------------
These modifications may be applied to the samv71-xult/nsh configuration in order
to enable MCAN1:
Device Drivers -> CAN Driver support
CONFIG_CAN=y # Enable the upper-half CAN driver
CONFIG_CAN_FIFOSIZE=8
CONFIG_CAN_NPENDINGRTR=4
System Type -> SAMV7 Peripheral Selections
CONFIG_SAMV7_MCAN1=y # Enable MCAN1 as the lower-half
System Type -> MCAN device driver options
CONFIG_SAMV7_MCAN_CLKSRC_MAIN=y # Use the MAIN clock as the source
CONFIG_SAMV7_MCAN_CLKSRC_PRESCALER=1
System Type ->MCAN device driver options -> MCAN1 device driver options
CONFIG_SAMV7_MCAN1_ISO11899_1=y # Loopback test only support ISO11899-1
CONFIG_SAMV7_MCAN1_LOOPBACK=y # Needed for loopback test
CONFIG_SAMV7_MCAN1_BITRATE=500000 # Not critical for loopback test
CONFIG_SAMV7_MCAN1_PROPSEG=2 # Bit timing setup
CONFIG_SAMV7_MCAN1_PHASESEG1=11 # " " " " " "
CONFIG_SAMV7_MCAN1_PHASESEG2=11 # " " " " " "
CONFIG_SAMV7_MCAN1_FSJW=4 # " " " " " "
CONFIG_SAMV7_MCAN1_FBITRATE=2000000 # CAN_FD BTW mode is not used
CONFIG_SAMV7_MCAN1_FPROPSEG=2 # " " " " " " "" " " " "
CONFIG_SAMV7_MCAN1_FPHASESEG1=4 # " " " " " " "" " " " "
CONFIG_SAMV7_MCAN1_FPHASESEG2=4 # " " " " " " "" " " " "
CONFIG_SAMV7_MCAN1_FFSJW=2 # " " " " " " "" " " " "
CONFIG_SAMV7_MCAN1_NSTDFILTERS=0 # Filters are not used in the loopback test
CONFIG_SAMV7_MCAN1_NEXTFILTERS=0 # " " " " " " " " "" " " " " " "
CONFIG_SAMV7_MCAN1_RXFIFO0_32BYTES=y # Each RX FIFO0 element is 32 bytes
CONFIG_SAMV7_MCAN1_RXFIFO0_SIZE=8 # There are 8 queue elements
CONFIG_SAMV7_MCAN1_RXFIFO0_32BYTES=y # Each RX FIFO1 element is 32 bytes
CONFIG_SAMV7_MCAN1_RXFIFO0_SIZE=8 # There are 8 queue elements
CONFIG_SAMV7_MCAN1_RXBUFFER_32BYTES=y # Each RX BUFFER is 32 bytes
CONFIG_SAMV7_MCAN1_TXBUFFER_32BYTES=y # Each TX BUFFER is 32 bytes
CONFIG_SAMV7_MCAN1_TXFIFOQ_SIZE=8 # There are 8 queue elements
CONFIG_SAMV7_MCAN1_TXEVENTFIFO_SIZE=0 # The event FIFO is not used
Enabling the CAN Loopback Test
------------------------------
Application Configuration -> Examples -> CAN Example
CONFIG_EXAMPLES_CAN=y # Enables the CAN test
Enabling CAN Debug Output
-------------------------
Build Setup -> Debug Options
CONFIG_DEBUG=y # Enables general debug features
CONFIG_DEBUG_VERBOSE=y # Enables verbose output
CONFIG_DEBUG_CAN=y # Enables debug output from CAN
CONFIG_STACK_COLORATION=y # Monitor stack usage
CONFIG_DEBUG_SYMBOLS=y # Needed only for use with a debugger
CONFIG_DEBUG_NOOPT=y # Disables optimization
System Type -> MCAN device driver options
CONFIG_SAMV7_MCAN_REGDEBUG=y # Super low level register debug output
SPI Slave
=========
An interrutp driven SPI slave driver as added on 2015-08-09 but has not
been verified as of this writing. See discussion in include/nuttx/spi/slave.h
and below.
I do not yet have a design that supports SPI slave DMA. And, under
certain, very limited conditions, I think it can be done. Those
certain conditions are:
a) The master does not tie the chip select to ground. The master must
raise chip select at the end of the transfer. Then I do not need to
know the length of the transfer; I can cancel the DMA when the chip
is de-selected.
b) The protocol includes a dummy read after sending the command. This
is very common in SPI device and should not be an issue if it is
specified. This dummy read time provides time to set up the DMA.
So the protocol would be:
i) Master drops the chip select.
ii) Master sends the command which will indicate whether the master
is reading, writing, or exchanging data. The master discards
the garbage return value.
iii) Slave is interrupted when the command word is received. The
SPI device then decodes the command word and setups up the
subsequent DMA.
iv) Master sends a dummy word and discards the return value.
During the bit times to shift the dummy word, the slave has time
to set up the DMA.
v) Master then reads or writes (or exchanges) the data If the DMA
is in place, the transfer should continue normally.
vi) At the end of the data transfer the master raises the chip
select.
c) There are limitations in the word time, i.e., the time between the
interrupt for each word shifted in from the master.
The controller driver will get events after the receipt of each word in
ii), iv), and v). The time between each word will be:
word-time = nbits * bit time + inter-word-gap
So for an 8 bit interface at 20MHz, the words will be received from the
master a 8 * 50nsec = 400 nsec + inter-word-gap. That is the time
during which the dummy word would be shifted and during which we
receive the interrupt for the command word, interpret the command word,
and to set up the DMA for the remaining word transfer. I don't think
that is possible, at least not at 20 MHz.
That is far too fast even for the interrupt driven solution that I have
in place now. It could not work at 20MHz. If we suppose that interrupt
processing is around 1 usec, then an 8 bit interface could not have bit
times more than 125 nsec or 8 KHz. Interrupt handling should be faster
than 1 usec, but not a lot faster. I have not benchmarked it. NuttX
also supports special, zero latency interrupts that could bring the
interrupt time down even more.
Note that we would also have a little more processing time if you used
16-bit SPI word size.
Note also that the interrupt driven approach would have this same basic
performance limitation with the additional disadvantage that:
a) The driver will receive two interrupts per word exchanged:
i) One interrupt will be received when the word is shifted in from
the master (at the end of 8-bit times). This is a data received
interrupt.
ii) And another interrupt when the next words moved to the shift-out
register, freeing up the transmit holding register. This is the
data sent interrupt.
The ii) event should be very soon after the i) event.
Without DMA, the only way to reduce the interrupt rate would be to add
interrupt-level polling to detect the when transmit holding register
is available. That is not really a good idea.
b) It will hog all of the CPU for the duration of the transfer).
Debugging
=========
The on-board EDBG appears to work only with Atmel Studio. You can however,
simply connect a SAM-ICE or J-Link to the JTAG/SWD connector on the board
and that works great. The only tricky thing is getting the correct
orientation of the JTAG connection.
I have been using Atmel Studio to write code to flash then I use the Segger
J-Link GDB server to debug. I have been using the 'Device Programming' I
available under the Atmel Studio 'Tool' menu. I have to disconnect the
SAM-ICE while programming with the EDBG. I am sure that you could come up
with a GDB server-only solution if you wanted.
I run GDB like this from the directory containing the NuttX ELF file:
arm-none-eabi-gdb
(gdb) target remote localhost:2331
(gdb) mon reset
(gdb) file nuttx
(gdb) ... start debugging ...
Configurations
==============
Information Common to All Configurations
----------------------------------------
Each SAMV71-XULT configuration is maintained in a sub-directory and
can be selected as follow:
cd tools
./configure.sh samv71-xult/<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 oldconfig
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
see additional README.txt files in the NuttX tools repository.
b. Execute 'make menuconfig' in nuttx/ in order to start the
reconfiguration process.
2. Unless stated otherwise, all configurations generate console
output on UART3 (i.e., for the Arduino serial shield).
3. All of these configurations are set up to build under Windows using the
"GNU Tools for ARM Embedded Processors" that is maintained by ARM
(unless stated otherwise in the description of the configuration).
https://launchpad.net/gcc-arm-embedded
As of this writing (2015-03-11), full support is difficult to find
for the Cortex-M7, but is supported by at least this realeasse of
the ARM GNU tools:
https://launchpadlibrarian.net/192228215/release.txt
Current (2105-07-31) setenv.sh file are configured to use this
release:
https://launchpadlibrarian.net/209776344/release.txt
That toolchain selection can easily be reconfigured using
'make menuconfig'. Here are the relevant current settings:
Build Setup:
CONFIG_HOST_WINDOWS=y : Window environment
CONFIG_WINDOWS_CYGWIN=y : Cywin under Windows
System Type -> Toolchain:
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : GNU ARM EABI toolchain
NOTE: As of this writing, there are issues with using this tool at
the -Os level of optimization. This has not been proven to be a
compiler issue (as least not one that might not be fixed with a
well placed volatile qualifier). However, in any event, it is
recommend that you use not more that -O2 optimization.
Configuration sub-directories
-----------------------------
mxtxplnd:
Configures the NuttShell (nsh) located at examples/nsh. There are three
very similar NSH configurations:
- nsh. This configuration is focused on low level, command-line
driver testing. It has no network.
- netnsh. This configuration is focused on network testing and
has only limited command support.
- mxtxplnd. This configuration is identical to the nsh configuration
but assumes that you have a maXTouch Xplained Pro LCD attached
and includes extra tests for the touchscreen and LCD.
NOTES:
1. See the notes associated with the nsh configuration below. Only
differences from that configuration will be addressed here.
2. Basic touchscreen/LCD configuration settings are discussed above in
the paragraph entitled, "maXTouch Xplained Pro".
3. Unlike the nsh configuration, this configuration has the serial console
setup to USART0 which is available on EXT1:
----------- --- ------- -----
Connector PIO Arduino SAMV7
----------- --- ------- -----
EXT1 pin 13 PB0 RX3 RXD0
EXT1 pin 14 PB1 TX3 TXD0
----------- --- ------- -----
and also on the Arduino Communications connector (J505):
----------- --- ------- -----
Connector PIO Arduino SAMV7
----------- --- ------- -----
J505 pin 7 PB0 RX3 RXD0
J505 pin 8 PB1 TX3 TXD0
----------- --- ------- -----
Use of either the EXT1 or the LCD/EXT4 connectors conflict with the
Arduino RXD pin (UART3, PD28). You cannot put the maXTouch Xplained
in EXT1 or LCD/EXT4 and also use the Arduino RXD/TXD pins as your
serial console.
The LCD (EXT4) is configured by default because only the parallel LCD
interface is currently supported and that is only available on that
connector.
If you plan to use EXT2 for some reason, you may re-configure the
serial console to use UART3, the standard Arduino RXD/TXD. You
would also, of course, have to disable the LCD.
NOTE that the USART0 pins PB0 and PB1 conflict with SSC TF and TK
pins as connected to the WM8904 audio CODEC. So, unless yet a
different U[S]ART option is selected, Audio cannot be used with
this configuration.
4. SDRAM is NOT enabled in this configuration.
5. Support for the ILI8488 LCD is enabled. Only the parallel mode is
supported at present. As a consequence, the maXTouch Xplained Pro
must be connected at the LCD (EXT4) connector. This mode requires:
CONFIG_SAMV71XULT_MXTXPLND_LCD=y : Must be connect in LCD (EXT4)
CONFIG_SAMV7_SMC=y : SMC/EBI support
CONFIG_SAMV7_XDMAC=y : XDMAC support
6. The appx/examples/nxlines is enabled as a built-in application.
This is a test that displays some simple graphis and can be
executed from the NSH command line like:
nsh> nxlines
7. When the maXTouch Xplained is connected (in any position), a new I2C
address appears at address 0x4a:
nsh> i2c dev 3 77
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- 1a -- -- -- -- --
20: -- -- -- -- -- -- -- -- 28 -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- 37 -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- 4a -- -- -- 4e --
50: -- -- -- -- -- -- -- 57 -- -- -- -- -- -- -- 5f
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
This is the I2C address of the maXTouch touchscreen controller.
(0x1a is the address of the WM8904 Audio CODEC, 0x28 is the
address of TWI interface to the EDBG, 0x4e is the address of the
CP2100CP programmable PLL, and 0x57 and 0x5f are the addresses of
the AT2 EEPROM. I am not sure what the other address, 0x37, is).
8. Support for the touchscreen test is enabled (see apps/examples/touchscreen),
however, the maXTouch is not yet working (see STATUS below).
STATUS:
2015-04-05: Partial support for the maXTouch Xplained Pro LCD is in
place. The ILI9488-based LCD is working well with a SMC DMA-based
interface. Very nice performance.
2015-05-12: After some difficulties, the maXTouch touchscreen
controller is now fully functional as well.
netnsh:
Configures the NuttShell (nsh) located at examples/nsh. There are three
very similar NSH configurations:
- nsh. This configuration is focused on low level, command-line
driver testing. It has no network.
- netnsh. This configuration is focused on network testing and
has only limited command support.
- mxtxplnd. This configuration is identical to the nsh configuration
but assumes that you have a maXTouch Xplained Pro LCD attached
and includes extra tests for the touchscreen and LCD.
NOTES:
1. The serial console is configured by default for use with and Arduino
serial shield (UART3). You will need to reconfigure if you will
to use a different U[S]ART.
2. Default stack sizes are large and should really be tuned to reduce
the RAM footprint:
CONFIG_SCHED_HPWORKSTACKSIZE=2048
CONFIG_IDLETHREAD_STACKSIZE=1024
CONFIG_USERMAIN_STACKSIZE=2048
CONFIG_PTHREAD_STACK_MIN=256
CONFIG_PTHREAD_STACK_DEFAULT=2048
CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=1024
CONFIG_TASK_SPAWN_DEFAULT_STACKSIZE=2048
CONFIG_BUILTIN_PROXY_STACKSIZE=1024
CONFIG_NSH_TELNETD_DAEMONSTACKSIZE=2048
CONFIG_NSH_TELNETD_CLIENTSTACKSIZE=2048
3. NSH built-in applications are supported. There are, however, not
enabled built-in applications.
Binary Formats:
CONFIG_BUILTIN=y : Enable support for built-in programs
Application Configuration:
CONFIG_NSH_BUILTIN_APPS=y : Enable starting apps from NSH command line
4. The network initialization thread is NOT enabled in this configuration.
As a result, networking initialization is performed serially with
NSH bring-up. The time from reset to the NSH prompt will be determined
primarily by this network initialization time. And can be especially
long, perhaps minutes, if the network cable is not connected!
If fast boot times are required, you need to perform asynchronous
network initialization as described under "Network Initialization Thread"
5. SDRAM is NOT enabled in this configuration.
6. TWI/I2C
TWIHS0 is enabled in this configuration. The SAM V71 Xplained Ultra
supports two devices on the one on-board I2C device on the TWIHS0 bus:
(1) The AT24MAC402 serial EEPROM described above and (2) the Wolfson
WM8904 audio CODEC. This device contains a MAC address for use with
the Ethernet interface.
Relevant configuration settings:
CONFIG_SAMV7_TWIHS0=y
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
CONFIG_I2C=y
CONFIG_I2C_TRANSFER=y
7. TWIHS0 is used to support 256 byte non-volatile storage. This EEPROM
holds the assigned MAC address which is necessary for networking. The
EEPROM is also available for storage of configuration data using the
MTD configuration as described above under the heading, "MTD
Configuration Data".
8. Support for HSMCI is built-in by default. The SAMV71-XULT provides
one full-size SD memory card slot. Refer to the section entitled
"SD card" for configuration-related information.
See "Open Issues" above for issues related to HSMCI.
The auto-mounter is not enabled. See the section above entitled
"Auto-Mounter".
9. Performance-related Configuration settings:
CONFIG_ARMV7M_ICACHE=y : Instruction cache is enabled
CONFIG_ARMV7M_DCACHE=y : Data cache is enabled
CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y : Write through mode
CONFIG_ARCH_FPU=y : H/W floating point support is enabled
CONFIG_ARCH_DPFPU=y : 64-bit H/W floating point support is enabled
# CONFIG_ARMV7M_ITCM is not set : Support not yet in place
# CONFIG_ARMV7M_DTCM is not set : Support not yet in place
I- and D-Caches are enabled but the D-Cache must be enabled in write-
through mode. This is to work around issues with the RX and TX
descriptors with are 8-bytes in size. But the D-Cache cache line
size is 32-bytes. That means that you cannot reload, clean or
invalidate a descriptor without also effecting three neighboring
descriptors. Setting write through mode eliminates the need for
cleaning the D-Cache. If only reloading and invalidating are done,
then there is no problem.
Stack sizes are also large to simplify the bring-up and should be
tuned for better memory usages.
STATUS:
2015-03-29: I- and D-caches are currently enabled, but as noted
above, the D-Cache must be enabled in write-through mode. Also -Os
optimization is not being used (-O2). If the cache is enabled in
Write-Back mode or if higher levels of optimization are enabled, then
there are failures when trying to ping the target from a host.
nsh:
Configures the NuttShell (nsh) located at examples/nsh. There are three
very similar NSH configurations:
- nsh. This configuration is focused on low level, command-line
driver testing. It has no network.
- netnsh. This configuration is focused on network testing and
has only limited command support.
- mxtxplnd. This configuration is identical to the nsh configuration
but assumes that you have a maXTouch Xplained Pro LCD attached
and includes extra tests for the touchscreen and LCD.
NOTES:
1. The serial console is configured by default for use with and Arduino
serial shield (UART3). You will need to reconfigure if you will
to use a different U[S]ART.
2. Default stack sizes are large and should really be tuned to reduce
the RAM footprint:
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_IDLETHREAD_STACKSIZE=1024
CONFIG_USERMAIN_STACKSIZE=2048
CONFIG_PTHREAD_STACK_DEFAULT=2048
... and others ...
3. NSH built-in applications are supported.
Binary Formats:
CONFIG_BUILTIN=y : Enable support for built-in programs
Application Configuration:
CONFIG_NSH_BUILTIN_APPS=y : Enable starting apps from NSH command line
4. SDRAM is enabled in this configuration. Here are the relevant
configuration settings:
System Type
CONFIG_SAMV7_SDRAMC=y
CONFIG_SAMV7_SDRAMSIZE=2097152
SDRAM is not added to the heap in this configuration. To do that
you would need to set CONFIG_SAMV7_SDRAMHEAP=y and CONFIG_MM_REGIONS=2.
Instead, the SDRAM is set up so that is can be used with a destructive
RAM test enabled with this option:
Application Configuration:
CONFIG_SYSTEM_RAMTEST=y
The RAM test can be executed as follows:
nsh> ramtest -w 70000000 2097152
NuttShell (NSH) NuttX-7.8
nsh> ramtest -w 70000000 2097152
RAMTest: Marching ones: 70000000 2097152
RAMTest: Marching zeroes: 70000000 2097152
RAMTest: Pattern test: 70000000 2097152 55555555 aaaaaaaa
RAMTest: Pattern test: 70000000 2097152 66666666 99999999
RAMTest: Pattern test: 70000000 2097152 33333333 cccccccc
RAMTest: Address-in-address test: 70000000 2097152
nsh>
5. The button test at apps/examples/buttons is included in the
configuration. This configuration illustrates (1) use of the buttons
on the evaluation board, and (2) the use of PIO interrupts. Example
usage:
NuttShell (NSH) NuttX-7.8
nsh> help
help usage: help [-v] [<cmd>]
...
Builtin Apps:
buttons
nsh> buttons 3
maxbuttons: 3
Attached handler at 4078f7 to button 0 [SW0], oldhandler:0
Attached handler at 4078e9 to button 1 [SW1], oldhandler:0
IRQ:125 Button 1:SW1 SET:00:
SW1 released
IRQ:125 Button 1:SW1 SET:02:
SW1 depressed
IRQ:125 Button 1:SW1 SET:00:
SW1 released
IRQ:90 Button 0:SW0 SET:01:
SW0 depressed
IRQ:90 Button 0:SW0 SET:00:
SW0 released
IRQ:125 Button 1:SW1 SET:02:
SW1 depressed
nsh>
6. TWI/I2C
TWIHS0 is enabled in this configuration. The SAM V71 Xplained Ultra
supports two devices on the one on-board I2C device on the TWIHS0 bus:
(1) The AT24MAC402 serial EEPROM described above and (2) the Wolfson
WM8904 audio CODEC. This device contains a MAC address for use with
the Ethernet interface.
In this configuration, the I2C tool at apps/system/i2ctool is
enabled. This tools supports interactive access to I2C devices on
the enabled TWIHS bus. Relevant configuration settings:
CONFIG_SAMV7_TWIHS0=y
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
CONFIG_I2C=y
CONFIG_I2C_TRANSFER=y
CONFIG_SYSTEM_I2CTOOL=y
CONFIG_I2CTOOL_MINBUS=0
CONFIG_I2CTOOL_MAXBUS=0
CONFIG_I2CTOOL_MINADDR=0x03
CONFIG_I2CTOOL_MAXADDR=0x77
CONFIG_I2CTOOL_MAXREGADDR=0xff
CONFIG_I2CTOOL_DEFFREQ=400000
Example usage:
nsh> i2c
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: 400000 Current: 400000
NOTES:
o An environment variable like $PATH may be used for any argument.
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.
nsh> i2c bus
BUS EXISTS?
Bus 0: YES
nsh> i2c dev 3 77
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- 1a -- -- -- -- --
20: -- -- -- -- -- -- -- -- 28 -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- 37 -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- 4e --
50: -- -- -- -- -- -- -- 57 -- -- -- -- -- -- -- 5f
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
nsh>
Where 0x1a is the address of the WM8904 Audio CODEC, 0x28 is the
address of TWI interface to the EDBG, 0x4e is the address of the
CP2100CP programmable PLL, and 0x57 and 0x5f are the addresses of
the AT2 EEPROM (I am not sure what the other address, 0x37, is
as this writing).
7. TWIHS0 is also used to support 256 byte non-volatile storage for
configuration data using the MTD configuration as described above
under the heading, "MTD Configuration Data".
8. Support for HSMCI is built-in by default. The SAMV71-XULT provides
one full-size SD memory card slot. Refer to the section entitled
"SD card" for configuration-related information.
See "Open Issues" above for issues related to HSMCI.
The auto-mounter is not enabled. See the section above entitled
"Auto-Mounter".
9. Performance-related Configuration settings:
CONFIG_ARMV7M_ICACHE=y : Instruction cache is enabled
CONFIG_ARMV7M_DCACHE=y : Data cache is enabled
CONFIG_ARMV7M_DCACHE_WRITETHROUGH=n : Write back mode
CONFIG_ARCH_FPU=y : H/W floating point support is enabled
CONFIG_ARCH_DPFPU=y : 64-bit H/W floating point support is enabled
# CONFIG_ARMV7M_ITCM is not set : Support not yet in place
# CONFIG_ARMV7M_DTCM is not set : Support not yet in place
Stack sizes are also large to simplify the bring-up and should be
tuned for better memory usages.
STATUS:
2015-03-28: HSMCI TX DMA is disabled. There are some issues with the TX
DMA that need to be corrected.
nxwm:
This is a special configuration setup for the NxWM window manager
UnitTest. It provides an interactive windowing experience with the
maXTouch Xplained Pro LCD.
NOTES:
1. The NxWM window manager is a tiny window manager tailored for use
with smaller LCDs. It supports a task, a start window, and
multiple application windows with toolbars. However, to make the
best use of the visible LCD space, only one application window is
visible 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
2. 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:
a. Install the nxwm configuration
$ cd ~/nuttx-git/nuttx/tools
$ ./configure.sh samv71-xult/nxwm
b. 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.
c. 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
d. Build the NxWidgets library
$ cd ~/nuttx-git/NxWidgets/libnxwidgets
$ make TOPDIR=~/nuttx-git/nuttx
...
e. Build the NxWM library
$ cd ~/nuttx-git/NxWidgets/nxwm
$ make TOPDIR=~/nuttx-git/nuttx
...
f. Built NuttX with the installed unit test as the application
$ cd ~/nuttx-git/nuttx
$ make
3. Reading from the LCD is not currently functional. The following
settings are in the configuration that tell the system that this
is a read-only LCD:
CONFIG_LCD_NOGETRUN=y
CONFIG_NX_WRITEONLY=y
4. Small Icons are selected and can be very difficult to touch. You
might want to enable larger icons with:
CONFIG_NXWM_LARGE_ICONS=y
STATUS:
2015-05-13:
- The demo functions and produces displays but is not yet very stable.
- I have two maXTouch Xplained Pro displays. One works well, the
other has some issues which I suspect are due to the ribbon cable
connector with fits too snugly on one side.
Here are the symptoms of the LCD that does not work. I attribute
these problems with problems in the parallel interface due to a
bad connection:
- The color is wrong; to reddish. This suggests some issue with color
format or pixel width
- Images are positioned correctly on the display, but all half the
horizontal width that they should be, again suggesting some problem
with the pixel with.
- Some images are simply truncated to half the correct size (such as
the touch circles in the calibration screen).
- Other images are horizontally compressed (such as the initial NX
logo on the background).
- As mentioned above, reading fromthe LCD is not currently functional.
There are some special settings work work around this but the
bottom line is that transparent operations cannot yet be supported.
- I am seeing some small artifacts with the font used in the HEX
calculator display.
- Line spacing in the NxTerm window is too much. This is probably
a font-related issue too.
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