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README
=====
This README file describes the port of NuttX to the SAMA5D3x-EK
development boards. These boards feature the Atmel SAMA5D3
microprocessors.
Contents
========
- Configurations
Contents
^^^^^^^^
- PIO Muliplexing
- Development Environment
- GNU Toolchain Options
- IDEs
- NuttX EABI "buildroot" Toolchain
- NuttX OABI "buildroot" Toolchain
- NXFLAT Toolchain
- Buttons and LEDs
- Serial Consoles
- SAMA5D3x-EK Configuration Options
- Configurations
PIO Muliplexing
===============
To be provided
Development Environment
=======================
Several possibile development enviorments may be use:
- Linux or OSX native
- Cygwin unders Windows
- MinGW + MSYS under Windows
- Windows native (with GNUMake from GNUWin32).
All testing has been performed using Cygwin under Windows.
The source has been built only using the GNU toolchain (see below). Other
toolchains will likely cause problems.
GNU Toolchain Options
^^^^^^^^^^^^^^^^^^^^^
The NuttX make system has been modified to support the several different
toolchain options.
All testing has been conducted using the AtmelStudio GCC toolchain. To use
the CodeSourcery, devkitARM or Raisonance GNU toolchain, you simply need to
add one of the following configuration options to your .config (or defconfig)
file:
CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery under Windows
CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux
CONFIG_ARMV7A_TOOLCHAIN_ATOLLIC=y : Atollic toolchain for Windos
CONFIG_ARMV7A_TOOLCHAIN_DEVKITARM=y : devkitARM under Windows
CONFIG_ARMV7A_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIL=y : Generic GCC ARM EABI toolchain for Linux
CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIW=y : Generic GCC ARM EABI toolchain for Windows
The AtmelStudio GCC toolchain is selected with CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIW=y
and setting the PATH variable appropriately.
If you are not using AtmelStudio GCC toolchain, then you may also have to
modify the PATH in the setenv.h file if your make cannot find the tools.
NOTE about Windows native toolchains
------------------------------------
There are several limitations to using a Windows based toolchain in a
Cygwin environment. The three biggest are:
1. The Windows toolchain cannot follow Cygwin paths. Path conversions are
performed automatically in the Cygwin makefiles using the 'cygpath'
utility but you might easily find some new path problems. If so, check
out 'cygpath -w'
2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic
links are used in Nuttx (e.g., include/arch). The make system works
around these problems for the Windows tools by copying directories
instead of linking them. But this can also cause some confusion for
you: For example, you may edit a file in a "linked" directory and find
that your changes had no effect. That is because you are building the
copy of the file in the "fake" symbolic directory. If you use a\
Windows toolchain, you should get in the habit of making like this:
make clean_context all
An alias in your .bashrc file might make that less painful.
3. Dependencies are not made when using Windows versions of the GCC. This is
because the dependencies are generated using Windows pathes which do not
work with the Cygwin make.
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
NOTE 1: Older CodeSourcery toolchains (2009q1) do not work with default
optimization level of -Os (See Make.defs). It will work with -O0, -O1, or
-O2, but not with -Os.
NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that
the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM
path or will get the wrong version of make.
IDEs
^^^^
NuttX is built using command-line make. It can be used with an IDE, but some
effort will be required to create the project (There is a simple RIDE project
in the RIDE subdirectory).
Makefile Build
--------------
Under Eclipse, it is pretty easy to set up an "empty makefile project" and
simply use the NuttX makefile to build the system. That is almost for free
under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty
makefile project in order to work with Windows (Google for "Eclipse Cygwin" -
there is a lot of help on the internet).
Native Build
------------
Here are a few tips before you start that effort:
1) Select the toolchain that you will be using in your .config file
2) Start the NuttX build at least one time from the Cygwin command line
before trying to create your project. This is necessary to create
certain auto-generated files and directories that will be needed.
3) Set up include pathes: You will need include/, arch/arm/src/sam34,
arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
4) All assembly files need to have the definition option -D __ASSEMBLY__
on the command line.
Startup files will probably cause you some headaches. The NuttX startup file
is arch/arm/src/sam34/sam_vectors.S. You may need to build NuttX
one time from the Cygwin command line in order to obtain the pre-built
startup object needed by RIDE.
NuttX EABI "buildroot" Toolchain
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
A GNU GCC-based toolchain is assumed. The files */setenv.sh should
be modified to point to the correct path to the Cortex-M3 GCC toolchain (if
different from the default in your PATH variable).
If you have no Cortex-M3 toolchain, one can be downloaded from the NuttX
SourceForge download site (https://sourceforge.net/projects/nuttx/files/buildroot/).
This GNU toolchain builds and executes in the Linux or Cygwin environment.
1. You must have already configured Nuttx in <some-dir>/nuttx.
cd tools
./configure.sh sama5d3x-ek/<sub-dir>
2. Download the latest buildroot package into <some-dir>
3. unpack the buildroot tarball. The resulting directory may
have versioning information on it like buildroot-x.y.z. If so,
rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
4. cd <some-dir>/buildroot
5. cp configs/cortexm3-eabi-defconfig-4.6.3 .config
6. make oldconfig
7. make
8. Edit setenv.h, if necessary, so that the PATH variable includes
the path to the newly built binaries.
See the file configs/README.txt in the buildroot source tree. That has more
details PLUS some special instructions that you will need to follow if you are
building a Cortex-M3 toolchain for Cygwin under Windows.
NOTE: Unfortunately, the 4.6.3 EABI toolchain is not compatible with the
the NXFLAT tools. See the top-level TODO file (under "Binary loaders") for
more information about this problem. If you plan to use NXFLAT, please do not
use the GCC 4.6.3 EABI toochain; instead use the GCC 4.3.3 OABI toolchain.
See instructions below.
NuttX OABI "buildroot" Toolchain
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
The older, OABI buildroot toolchain is also available. To use the OABI
toolchain, use the build instructtions above, but (1) modify the
cortexm3-eabi-defconfig-4.6.3 configuration to use OABI (using 'make
menuconfig'), or (2) use an exising OABI configuration such as
cortexm3-defconfig-4.3.3
NXFLAT Toolchain
^^^^^^^^^^^^^^^^
If you are *not* using the NuttX buildroot toolchain and you want to use
the NXFLAT tools, then you will still have to build a portion of the buildroot
tools -- just the NXFLAT tools. The buildroot with the NXFLAT tools can
be downloaded from the NuttX SourceForge download site
(https://sourceforge.net/projects/nuttx/files/).
This GNU toolchain builds and executes in the Linux or Cygwin environment.
1. You must have already configured Nuttx in <some-dir>/nuttx.
cd tools
./configure.sh sama5d3x-ek/<sub-dir>
2. Download the latest buildroot package into <some-dir>
3. unpack the buildroot tarball. The resulting directory may
have versioning information on it like buildroot-x.y.z. If so,
rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
4. cd <some-dir>/buildroot
5. cp configs/cortexm3-defconfig-nxflat .config
6. make oldconfig
7. make
8. Edit setenv.h, if necessary, so that the PATH variable includes
the path to the newly built NXFLAT binaries.
Buttons and LEDs
^^^^^^^^^^^^^^^^
Buttons
-------
To be provided
LEDs
----
To be provided
Serial Consoles
===============
To be provided
SAMA5D3x-EK Configuration Options
=================================
CONFIG_ARCH - Identifies the arch/ subdirectory. This should
be set to:
CONFIG_ARCH="arm"
CONFIG_ARCH_family - For use in C code:
CONFIG_ARCH_ARM=y
CONFIG_ARCH_architecture - For use in C code:
CONFIG_ARCH_CORTEXA5=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP="sama5"
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_SAMA5=y
and one of:
CONFIG_ARCH_CHIP_ATSAMA5D31=y
CONFIG_ARCH_CHIP_ATSAMA5D33=y
CONFIG_ARCH_CHIP_ATSAMA5D34=y
CONFIG_ARCH_CHIP_ATSAMA5D35=y
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD="sama5d3x-ek" (for the SAMA5D3x-EK development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_SAMA5D3X_EK=y
CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation
of delay loops
CONFIG_ENDIAN_BIG - define if big endian (default is little
endian)
CONFIG_DRAM_SIZE - Describes the installed DRAM (SRAM in this case):
CONFIG_DRAM_SIZE=0x0002000 (128Kb)
CONFIG_DRAM_START - The physical start address of installed DRAM
CONFIG_DRAM_START=0x20000000
CONFIG_DRAM_VSTART - The virutal start address of installed DRAM
CONFIG_DRAM_VSTART=0x20000000
CONFIG_ARCH_IRQPRIO - The SAM3UF103Z supports interrupt prioritization
CONFIG_ARCH_IRQPRIO=y
CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that
have LEDs
CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
stack. If defined, this symbol is the size of the interrupt
stack in bytes. If not defined, the user task stacks will be
used during interrupt handling.
CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture.
CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
cause a 100 second delay during boot-up. This 100 second delay
serves no purpose other than it allows you to calibratre
CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure
the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until
the delay actually is 100 seconds.
Individual subsystems can be enabled:
CONFIG_SAMA5_DBGU - Debug Unit Interrupt
CONFIG_SAMA5_PIT - Periodic Interval Timer Interrupt
CONFIG_SAMA5_WDT - Watchdog timer Interrupt
CONFIG_SAMA5_HSMC - Multi-bit ECC Interrupt
CONFIG_SAMA5_SMD - SMD Soft Modem
CONFIG_SAMA5_USART0 - USART 0
CONFIG_SAMA5_USART1 - USART 1
CONFIG_SAMA5_USART2 - USART 2
CONFIG_SAMA5_USART3 - USART 3
CONFIG_SAMA5_UART0 - UART 0
CONFIG_SAMA5_UART1 - UART 1
CONFIG_SAMA5_TWI0 - Two-Wire Interface 0
CONFIG_SAMA5_TWI1 - Two-Wire Interface 1
CONFIG_SAMA5_TWI2 - Two-Wire Interface 2
CONFIG_SAMA5_HSMCI0 - High Speed Multimedia Card Interface 0
CONFIG_SAMA5_HSMCI1 - High Speed Multimedia Card Interface 1
CONFIG_SAMA5_HSMCI2 - High Speed Multimedia Card Interface 2
CONFIG_SAMA5_SPI0 - Serial Peripheral Interface 0
CONFIG_SAMA5_SPI1 - Serial Peripheral Interface 1
CONFIG_SAMA5_TC0 - Timer Counter 0 (ch. 0, 1, 2)
CONFIG_SAMA5_TC1 - Timer Counter 1 (ch. 3, 4, 5)
CONFIG_SAMA5_PWM - Pulse Width Modulation Controller
CONFIG_SAMA5_ADC - Touch Screen ADC Controller
CONFIG_SAMA5_DMAC0 - DMA Controller 0
CONFIG_SAMA5_DMAC1 - DMA Controller 1
CONFIG_SAMA5_UHPHS - USB Host High Speed
CONFIG_SAMA5_UDPHS - USB Device High Speed
CONFIG_SAMA5_GMAC - Gigabit Ethernet MAC
CONFIG_SAMA5_EMAC - Ethernet MAC
CONFIG_SAMA5_LCDC - LCD Controller
CONFIG_SAMA5_ISI - Image Sensor Interface
CONFIG_SAMA5_SSC0 - Synchronous Serial Controller 0
CONFIG_SAMA5_SSC1 - Synchronous Serial Controller 1
CONFIG_SAMA5_CAN0 - CAN controller 0
CONFIG_SAMA5_CAN1 - CAN controller 1
CONFIG_SAMA5_SHA - Secure Hash Algorithm
CONFIG_SAMA5_AES - Advanced Encryption Standard
CONFIG_SAMA5_TDES - Triple Data Encryption Standard
CONFIG_SAMA5_TRNG - True Random Number Generator
CONFIG_SAMA5_ARM - Performance Monitor Unit
CONFIG_SAMA5_FUSE - Fuse Controller
CONFIG_SAMA5_MPDDRC - MPDDR controller
Some subsystems can be configured to operate in different ways. The drivers
need to know how to configure the subsystem.
CONFIG_PIOA_IRQ - Support PIOA interrupts
CONFIG_PIOB_IRQ - Support PIOB interrupts
CONFIG_PIOC_IRQ - Support PIOD interrupts
CONFIG_PIOD_IRQ - Support PIOD interrupts
CONFIG_PIOE_IRQ - Support PIOE interrupts
CONFIG_USART0_ISUART - USART0 is configured as a UART
CONFIG_USART1_ISUART - USART1 is configured as a UART
CONFIG_USART2_ISUART - USART2 is configured as a UART
CONFIG_USART3_ISUART - USART3 is configured as a UART
ST91SAM4S specific device driver settings
CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=0,1,2,3) or UART
m (m=4,5) for the console and ttys0 (default is the USART1).
CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART. Must be
CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8.
CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_U[S]ARTn_2STOP - Two stop bits
Configurations
==============
Information Common to All Configurations
----------------------------------------
Each SAM3U-EK configuration is maintained in a sub-directory and
can be selected as follow:
cd tools
./configure.sh sama5d3x-ek/<subdir>
cd -
. ./setenv.sh
Before sourcing the setenv.sh file above, you should examine it and perform
edits as necessary so that BUILDROOT_BIN is the correct path to the directory
than holds your toolchain binaries.
And then build NuttX by simply typing the following. At the conclusion of
the make, the nuttx binary will reside in an ELF file called, simply, nuttx.
make
The <subdir> that is provided above as an argument to the tools/configure.sh
must be is one of the following.
NOTES:
1. These configurations use the mconf-based configuration tool. To
change any of these configurations using that tool, you should:
a. Build and install the kconfig-mconf tool. See nuttx/README.txt
and misc/tools/
b. Execute 'make menuconfig' in nuttx/ in order to start the
reconfiguration process.
2. Unless stated otherwise, all configurations generate console
output on UART0 (J3).
3. Unless otherwise stated, the configurations are setup for
Linux (or any other POSIX environment like Cygwin under Windows):
Build Setup:
CONFIG_HOST_LINUX=y : Linux or other POSIX environment
4. All of these configurations use the Code Sourcery for Windows toolchain
(unless stated otherwise in the description of the configuration). That
toolchain selection can easily be reconfigured using 'make menuconfig'.
Here are the relevant current settings:
Build Setup:
CONFIG_HOST_WINDOS=y : Microsoft Windows
CONFIG_WINDOWS_CYGWIN=y : Using Cygwin or other POSIX environment
System Type -> Toolchain:
CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIW=y : GNU EABI toolchain for windows
That same configuration will work with Atmel GCC toolchain. The only
change required to use the Atmel GCC toolchain is to change the PATH
variable so that those tools are selected instead of the CodeSourcery
tools. Try 'which arm-none-eabi-gcc' to make sure that you are
selecting the right tool.
The setenv.sh file is available for you to use to set the PATH
variable. The path in the that file may not, however, be correct
for your installation.
See also the "NOTE about Windows native toolchains" in the section call
"GNU Toolchain Options" above.
Configuration sub-directories
-----------------------------
ostest:
This configuration directory, performs a simple OS test using
examples/ostest.