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README
======
This README file describes the port of NuttX to the SAMA4D4-EK
development board. This board features the Atmel SAMA5D44 microprocessor.
See http://www.atmel.com for further information.
This port was actually performed on a board designated SAMA5D4-MB. This
board should be equivalent to the SAMA5D4-EK. However, care should be
taken when I refer to PIO, Connector, or Jumper Usage in this document.
Please consult the schematic for your actual board-in-hand to verify that
information.
SAMA5D44
--------
---------------------------- -------------
PARAMETER SAMA5D44
---------------------------- -------------
CPU Cortex-A5
ARM TrustZone Yes
NEON Multimedia Architecture Yes
Pin Count 361
Data Cache 32KiB
Instruction Cache 32KiB
L2 Cache 128KiB
Max. Operating Frequency 533MHz
SRAM 128KiB
Max I/O Pins 138
USB Transceiver 3
USB Speed Hi-Speed
USB Interface Host, Device
SPI 3
TWI (I2C) 4
UART 7
LIN 4
SSC 2
Ethernet 2 10/100Mbps
SD / eMMC 2
Graphic LCD Yes
Camera Interface Yes
Video Decoder Yes
Soft Modem Yes
ADC channels 5
Resistive Touch Screen Yes
Capacitive Touch Module Yes
Crypto Engine SHA/AES/TDES
TRNG Yes
External Bus Interface 1
DRAM Memory DDR2/LPDDR,
SDRAM/LPSDR,
32-bit
NAND Interface Yes
FPU Yes
MPU / MMU No/Yes
Timers 9
Output Compare channels 9
Input Capture Channels 9
PWM Channels 4
32kHz RTC Yes
Package BGA361
---------------------------- -------------
Contents
========
- Development Environment
- GNU Toolchain Options
- IDEs
- NuttX EABI "buildroot" Toolchain
- NXFLAT Toolchain
- Loading Code into SRAM with J-Link
- Writing to FLASH using SAM-BA
- Creating and Using DRAMBOOT
- Creating and Using AT25BOOT
- Running NuttX from SDRAM
- PIO Usage
- Buttons and LEDs
- Serial Console
- Networking
- AT25 Serial FLASH
- HSMCI Card Slots
- USB Ports
- USB High-Speed Device
- USB High-Speed Host
- SDRAM Support
- NAND Support
- I2C Tool
- SAMA5 ADC Support
- SAMA5 PWM Support
- RTC
- Watchdog Timer
- TRNG and /dev/random
- I2S Audio Support
- SAMA4D4-EK Configuration Options
- Configurations
- To-Do List
Development Environment
=======================
Several possible development environments may be used:
- 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 will support the several different toolchain options.
All testing has been conducted using the CodeSourcery GCC toolchain. To use
a different toolchain, you simply need to add change to 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 CodeSourcery GCC toolchain is selected with
CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y and setting the PATH variable
appropriately.
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 paths which do not
work with the Cygwin make.
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
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.
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 an IDE.
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 sama5d4-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. Copy the configuration file from the configs/ sub-directory to the
top-level build directory:
cp configs/cortexa8-eabi-defconfig-4.8.2 .config
6a. You may wish to modify the configuration before you build it. For
example, it is recommended that you build the kconfig-frontends tools,
generomfs, and the NXFLAT tools as well. You may also want to change
the selected toolchain. These reconfigurations can all be done with
make menuconfig
6b. If you chose to make the configuration with no changes, then you
should still do the following to make certain that the build
configuration is up-to-date:
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.
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 sama5d4-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.
NOTE: There are some known incompatibilities with 4.6.3 EABI toolchain
and 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.
Loading Code into SRAM with J-Link
==================================
Loading code with the Segger tools and GDB
------------------------------------------
1) Change directories into the directory where you built NuttX.
2) Start the GDB server and wait until it is ready to accept GDB
connections.
3) Then run GDB like this:
$ arm-none-eabi-gdb
(gdb) target remote localhost:2331
(gdb) mon reset
(gdb) load nuttx
(gdb) ... start debugging ...
Loading code using J-Link Commander
----------------------------------
J-Link> r
J-Link> loadbin <file> <address>
J-Link> setpc <address of __start>
J-Link> ... start debugging ...
Writing to FLASH using SAM-BA
=============================
Assumed starting configuration:
1. You have installed the J-Link CDC USB driver (Windows only, there is
no need to install a driver on any regular Linux distribution),
2. You have the USB connected to DBGU port (J23)
3. Terminal configuration: 115200 8N1
Using SAM-BA to write to FLASH:
1. Exit the terminal emulation program and remove the USB cable from
the DBGU port (J23)
2. Connect the USB cable to the device USB port (J6)
3. JP9 must open (BMS == 1) to boot from on-chip Boot ROM.
4. Press and maintain PB4 CS_BOOT button and power up the board. PB4
CS_BOOT button prevents booting from Nand or serial Flash by
disabling Flash Chip Selects after having powered the board, you can
release the PB4 BS_BOOT button.
5. On Windows you may need to wait for a device driver to be installed.
6. Start the SAM-BA application, selecting (1) the correct USB serial
port, and (2) board = at91sama5d4-ek.
7. The SAM-BA menu should appear.
8. Select the FLASH bank that you want to use and the address to write
to and "Execute"
9. When you are finished writing to FLASH, remove the USB cable from J6
and re-connect the serial link on USB CDC / DBGU connector (J23) and
re-open the terminal emulator program.
10. Power cycle the board.
Creating and Using DRAMBOOT
===========================
In order to have more control of debugging code that runs out of DARM,
I created the sama5d4-ek/dramboot configuration. That configuration is
described below under "Configurations."
Here are some general instructions on how to build an use dramboot:
Building:
1. Remove any old configurations (if applicable).
cd <nuttx>
make distclean
2. Install and build the dramboot configuration. This steps will establish
the dramboot configuration and setup the PATH variable in order to do
the build:
cd tools
./configure.sh sama5d4-ek/dramboot
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.
NOTE: Be aware that the default dramboot also disables the watchdog.
Since you will not be able to re-enable the watchdog later, you may
need to set CONFIG_SAMA5_WDT=y in the NuttX configuration file.
Then make dramboot:
make
This will result in an ELF binary called 'nuttx' and also HEX and
binary versions called 'nuttx.hex' and 'nuttx.bin'.
3. Rename the binaries. Since you will need two versions of NuttX: this
dramboot version that runs in internal SRAM and another under test in
NOR FLASH, I rename the resulting binary files so that they can be
distinguished:
mv nuttx dramboot
mv nuttx.hex dramboot.hex
mv nuttx.bin dramboot.bin
4. Build the "real" DRAM configuration. This will create the nuttx.hex
that you will load using dramboot. Note that you must select
CONFIG_SAMA5D4EK_DRAM_BOOT=y. This controls the origin at which the
code is linked and positions it correctly for the DRAMBOOT program.
5. Restart the system holding DIS_BOOT. You should see the RomBOOT
prompt on the 115200 8N1 serial console (and nothing) more. Hit
the ENTER key with the focus on your terminal window a few time.
This will enable JTAG.
6. Then start the J-Link GDB server and GDB. In GDB, I do the following:
(gdb) mon heal # Halt the CPU
(gdb) load dramboot # Load dramboot into internal SRAM
(gdb) mon go # Start dramboot
You should see this message:
Send Intel HEX file now
Load your program by sending the nuttx.hex via the terminal program.
Then:
(gdb) mon halt # Break in
(gdb) mon reg pc = 0x20000040 # Set the PC to DRAM entry point
(gdb) mon go # And jump into DRAM
The dramboot program can also be configured to jump directly into
DRAM without requiring the final halt and go by setting
CONFIG_SAMA5D4EK_DRAM_START=y in the NuttX configuration. However,
since I have been debugging the early boot sequence, the above
sequence has been most convenient for me since it allows me to
step into the program in SDRAM.
7. An option is to use the SAM-BA tool to write the DRAMBOOT image into
Serial FLASH. Then, the system will boot from Serial FLASH by
copying the DRAMBOOT image in SRAM which will run, download the nuttx.hex
file, and then start the image loaded into DRAM automatically. This is
a very convenient usage!
NOTES: (1) There is that must be closed to enable use of the AT25
Serial Flash. (2) If using SAM-BA, make sure that you load the DRAM
boot program into the boot area via the pull-down menu. (3) If
you don't have SAM-BA, an alternative is to use the AT25BOOT program
described in the next section.
STATUS: I don't have a working SAM-BA at the moment and there are issues
with my AT25BOOT (see below). I currently work around these issues by
putting DRAMBOOT on a microSD card (as boot.bin). The RomBOOT loader does
boot that image without issue.
Creating and Using AT25BOOT
===========================
To work around some SAM-BA availability issues that I had at one time,
I created the AT25BOOT program. AT25BOOT is a tiny program that runs in
ISRAM. AT25BOOT will enable SDRAM and configure the AT25 Serial FLASH.
It will prompt and then load an Intel HEX program into SDRAM over the
serial console. If the program is successfully loaded in SDRAM, AT25BOOT
will copy the program at the beginning of the AT26 Serial FLASH.
If the jumpering is set correctly, the SAMA5D4 RomBOOT loader will
then boot the program from the serial FLASH the next time that it
reset.
The AT25BOOT configuration is described below under "Configurations."
Here are some general instructions on how to build an use AT25BOOT:
Building:
1. Remove any old configurations (if applicable).
cd <nuttx>
make distclean
2. Install and build the AT25BOOT configuration. This steps will establish
the AT25BOOT configuration and setup the PATH variable in order to do
the build:
cd tools
./configure.sh sama5d4-ek/at25boot
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.
Then make AT25BOOT:
make
This will result in an ELF binary called 'nuttx' and also HEX and
binary versions called 'nuttx.hex' and 'nuttx.bin'.
3. Rename the binaries. If you want to save this version of AT25BOOT so
that it does not get clobbered later, you may want to rename the
binaries:
mv nuttx at25boot
mv nuttx.hex at25boot.hex
mv nuttx.bin at25boot.bin
4. Build the "real" DRAMBOOT configuration. This will create the
dramboot.hex that you will write to the AT25 FLASH using AT25BOOT. See
the section above entitled "Creating and Using AT25BOOT" for more
information.
5. Restart the system holding DIS_BOOT. You should see the RomBOOT
prompt on the 115200 8N1 serial console (and nothing) more. Hit
the ENTER key with the focus on your terminal window a few time.
This will enable JTAG.
6. Then start the J-Link GDB server and GDB. In GDB, I do the following:
(gdb) mon heal # Halt the CPU
(gdb) load at25boot # Load AT25BOOT into internal SRAM
(gdb) mon go # Start AT25BOOT
You should see this message:
Send Intel HEX file now
Load DRAMBOOT by sending the dramboot.hex via the terminal program.
At this point you will get messages indicated whether or not the write
to the AT25 FLASH was successful or not. When you reset the board,
it should then boot from the AT25 Serial FLASH and you should again
get the prompt:
Send Intel HEX file now
But now you are being prompted to load the DRAM program under test
(See the section above entitled "Creating and Using AT25BOOT").
7. An better option, if available, is to use the SAM-BA tool to write the
DRAMBOOT image into Serial FLASH.
NOTES: (1) There is that must be closed to enable use of the AT25
Serial Flash. (2) If using SAM-BA, make sure that you load the DRAM
boot program into the boot area via the pull-down menu.
STATUS: While this program works great and appears to correctly write
the binary image onto the AT25 Serial FLASH, the RomBOOT loader will
not boot it! I believe that is because the secure boot loader has some
undocumented requirements that I am unaware of. (2014-6-28)
Running NuttX from SDRAM
========================
NuttX may be executed from SDRAM. But this case means that the NuttX
binary must reside on some other media (typically NAND FLASH, Serial
FLASH) or transferred over some interface (perhaps a UARt or even a
TFTP server). In these cases, an intermediate bootloader such as U-Boot
or Barebox must be used to configure the SAMA5D4 clocks and SDRAM and
then to copy the NuttX binary into SDRAM.
The SRAMBOOT program is another option (see above). But this section
will focus on U-Boot.
- NuttX Configuration
- Boot sequence
- NAND FLASH Memory Map
- Programming the AT91Boostrap Binary
- Programming U-Boot
- Load NuttX with U-Boot on AT91 boards
TODO: Some drivers may require some adjustments to run from SDRAM. That
is because in this case macros like BOARD_MCK_FREQUENCY are not constants
but are instead function calls: The MCK clock frequency is not known in
advance but instead has to be calculated from the bootloader PLL configuration.
See the TODO list at the end of this file for further information.
NuttX Configuration
-------------------
In order to run from SDRAM, NuttX must be built at origin 0x20008000 in
SDRAM (skipping over SDRAM memory used by the bootloader). The following
configuration option is required:
CONFIG_SAMA5_BOOT_SDRAM=y
CONFIG_BOOT_RUNFROMSDRAM=y
These options tell the NuttX code that it will be booting and running from
SDRAM. In this case, the start-logic will do to things: (1) it will not
configure the SAMA5D4 clocking. Rather, it will use the clock configuration
as set up by the bootloader. And (2) it will not attempt to configure the
SDRAM. Since NuttX is already running from SDRAM, it must accept the SDRAM
configuration as set up by the bootloader.
Boot sequence
-------------
Reference: http://www.at91.com/linux4sam/bin/view/Linux4SAM/GettingStarted
Several pieces of software are involved to boot a Nutt5X into SDRAM. First
is the primary bootloader in ROM which is in charge to check if a valid
application is present on supported media (NOR FLASH, Serial DataFlash,
NAND FLASH, SD card).
The boot sequence of linux4SAM is done in several steps :
1. The ROM bootloader checks if a valid application is present in FLASH
and if it is the case downloads it into internal SRAM. This program
is usually a second level bootloader called AT91BootStrap.
2. AT91Bootstrap is the second level bootloader. It is in charge of the
hardware configuration. It downloads U-Boot / Barebox binary from
FLASH to SDRAM / DDRAM and starts the third level bootloader
(U-Boot / Barebox)
(see http://www.at91.com/linux4sam/bin/view/Linux4SAM/AT91Bootstrap).
3. The third level bootloader is either U-Boot or Barebox. The third
level bootloader is in charge of downloading NuttX binary from FLASH,
network, SD card, etc. It then starts NuttX.
4. Then NuttX runs from SDRAM
NAND FLASH Memory Map
---------------------
Reference: http://www.at91.com/linux4sam/bin/view/Linux4SAM/GettingStarted
0x0000:0000 - 0x0003:ffff: AT91BootStrap
0x0004:0000 - 0x000b:ffff: U-Boot
0x000c:0000 - 0x000f:ffff: U-Boot environment
0x0010:0000 - 0x0017:ffff: U-Boot environement redundant
0x0018:0000 - 0x001f:ffff: Device tree (DTB)
0x0020:0000 - 0x007f:ffff: NuttX
0x0080:0000 - end: Available for use as a NAND file system
Programming the AT91Boostrap Binary
-----------------------------------
Reference: http://www.at91.com/linux4sam/bin/view/Linux4SAM/AT91Bootstrap
This section describes how to program AT91Bootstrap binary into the boot
media with SAM-BA tool using NandFlash as boot media.
1. Get AT91BootStrap binaries. Build instructions are available here:
http://www.at91.com/linux4sam/bin/view/Linux4SAM/AT91Bootstrap#Build_AT91Bootstrap_from_sources
A pre-built AT91BootStrap binary is available here:
ftp://www.at91.com/pub/at91bootstrap/AT91Bootstrap3.6.1/sama5d3_xplained-nandflashboot-uboot-3.6.1.bin
2. Start the SAM-BA GUI Application:
- Connect the USB Device interface to your host machine using the USB
Device Cable.
- Make sure that the chip can execute the SAM-BA Monitor.
- Start SAM-BA GUI application.
- Select the board in the drop-down menu and choose the USB connection.
3. In the SAM-BA GUI Application:
- Choose the "NandFlash" tab in the SAM-BA GUI interface.
- Initialize the NandFlash by choosing the "Enable NandFlash" action in
the Scripts rolling menu, then press "Execute" button.
- Erase the NandFlash device by choosing the "Erase All" action, then
press "Execute" button.
- Enable the PMECC by choosing the "Enable OS PMECC parameters" action,
then press "Execute" button.
PMECC
Number of sectors per page: 4
Spare Size: 64
Number of ECC bits required: 4
Size of the ECC sector: 512
ECC offset: 36
- Choose "Send Boot File" action, then press Execute button to select the
at91bootstrap binary file and to program the binary to the NandFlash.
- Close SAM-BA, remove the USB Device cable.
Programming U-Boot
-------------------
Reference http://www.at91.com/linux4sam/bin/view/Linux4SAM/U-Boot
1. Get U-Boot Binaries. Build instructions are available here:
http://www.at91.com/linux4sam/bin/view/Linux4SAM/U-Boot#Build_U_Boot_from_sources
A pre-Built binay image is available here:
ftp://www.at91.com/pub/uboot/u-boot-v2013.07/u-boot-sama5d3_xplained-v2013.07-at91-r1.bin
2. Start the SAM-BA GUI Application:
- Connect the USB Device interface to your host machine using the USB
Device Cable.
- Make sure that the chip can execute the SAM-BA Monitor.
- Start SAM-BA GUI application.
- Select the board in the drop-down menu and choose the USB connection.
3. In the SAM-BA GUI Application:
- Choose the NandFlash tab in the SAM-BA GUI interface.
- Initialize the NandFlash by choosing the "Enable NandFlash" action in
the Scripts rolling menu, then press Execute button.
- Enable the PMECC by choosing the "Enable OS PMECC parameters" action,
then press Execute button.
PMECC
Number of sectors per page: 4
Spare Size: 64
Number of ECC bits required: 4
Size of the ECC sector: 512
ECC offset: 36
- Press the "Send File Name" Browse button
- Choose u-boot.bin binary file and press Open
- Enter the proper address on media in the Address text field:
0x00040000
- Press the "Send File" button
- Close SAM-BA, remove the USB Device cable.
You should now be able to interrupt with U-Boot vie the DBGU interface.
Load NuttX with U-Boot on AT91 boards
-------------------------------------
Reference http://www.at91.com/linux4sam/bin/view/Linux4SAM/U-Boot
Preparing NuttX image
U-Boot does not support normal binary images. Instead you have to
create an uImage file with the mkimage tool which encapsulates kernel
image with header information, CRC32 checksum, etc.
mkimage comes in source code with U-Boot distribution and it is built
during U-Boot compilation (u-boot-source-dir/tools/mkimage). There
are also sites where you can download pre-built mkimage binaries. For
example: http://www.trimslice.com/wiki/index.php/U-Boot_images
See the U-Boot README file for more information. More information is
also available in the mkimage man page (for example,
http://linux.die.net/man/1/mkimage).
Command to generate an uncompressed uImage file (4) :
mkimage -A arm -O linux -C none -T kernel -a 20008000 -e 20008000 \
-n nuttx -d nuttx.bin uImage
Where:
-A arm: Set architecture to ARM
-O linux: Select operating system. bootm command of u-boot changes
boot method by os type.
-T kernel: Set image type.
-C none: Set compression type.
-a 20008000: Set load address.
-e 20008000: Set entry point.
-n nuttx: Set image name.
-d nuttx.bin: Use image data from nuttx.bin.
This will generate a binary called uImage. If you have the path to
mkimage in your PATH variable, then you can automatically build the
uImage file by adding the following to your .config file:
CONFIG_RAW_BINARY=y
CONFIG_UBOOT_UIMAGE=y
CONFIG_UIMAGE_LOAD_ADDRESS=0x20008000
CONFIG_UIMAGE_ENTRY_POINT=0x20008040
The uImage file can them be loaded into memory from a variety of sources
(serial, SD card, JFFS2 on NAND, TFTP).
STATUS:
2014-4-1: So far, I am unable to get U-Boot to execute the uImage
file. I get the following error messages (in this case
trying to load from an SD card):
U-Boot> fatload mmc 0 0x22000000 uimage
reading uimage
97744 bytes read in 21 ms (4.4 MiB/s)
U-Boot> bootm 0x22000000
## Booting kernel from Legacy Image at 0x22000000 ...
Image Name: nuttx
Image Type: ARM Linux Kernel Image (uncompressed)
Data Size: 97680 Bytes = 95.4 KiB
Load Address: 20008000
Entry Point: 20008040
Verifying Checksum ... OK
XIP Kernel Image ... OK
FDT and ATAGS support not compiled in - hanging
### ERROR ### Please RESET the board ###
This, however, appears to be a usable workaround:
U-Boot> fatload mmc 0 0x20008000 nuttx.bin
mci: setting clock 257812 Hz, block size 512
mci: setting clock 257812 Hz, block size 512
mci: setting clock 257812 Hz, block size 512
gen_atmel_mci: CMDR 00001048 ( 8) ARGR 000001aa (SR: 0c100025) Command Time Out
mci: setting clock 257812 Hz, block size 512
mci: setting clock 22000000 Hz, block size 512
reading nuttx.bin
108076 bytes read in 23 ms (4.5 MiB/s)
U-Boot> go 0x20008040
## Starting application at 0x20008040 ...
NuttShell (NSH) NuttX-7.2
nsh>
Loading through network
On a development system, it is useful to get the kernel and root file
system through the network. U-Boot provides support for loading
binaries from a remote host on the network using the TFTP protocol.
To manage to use TFTP with U-Boot, you will have to configure a TFTP
server on your host machine. Check your distribution manual or Internet
resources to configure a Linux or Windows TFTP server on your host:
- U-Boot documentation on a Linux host:
http://www.denx.de/wiki/view/DULG/SystemSetup#Section_4.6.
- Another TFTP configuration reference:
http://www.linuxhomenetworking.com/wiki/index.php/Quick_HOWTO_:_Ch16_:_Telnet%2C_TFTP%2C_and_xinetd#TFTP
On the U-Boot side, you will have to setup the networking parameters:
1. Setup an Ethernet address (MAC address)
Check this U-Boot network BuildRootFAQ entry to choose a proper MAC
address: http://www.denx.de/wiki/DULG/EthernetDoesNotWork
setenv ethaddr 00:e0:de:ad:be:ef
2. Setup IP parameters:
The board ip address
setenv ipaddr 10.0.0.2
The server ip address where the TFTP server is running
setenv serverip 10.0.0.1
3. saving Environment to flash
saveenv
4. If Ethernet Phy has not been detected during former bootup, reset
the board to reload U-Boot : the Ethernet address and Phy
initialization shall be ok, now
5. Download the NuttX uImage and the root file system to a ram location
using the U-Boot tftp command (Cf. U-Boot script capability chapter).
6. Launch NuttX issuing a bootm or boot command.
If the board has both emac and gmac, you can use following to choose
which one to use:
setenv ethact macb0,gmacb0
setenv ethprime gmacb0
STATUS:
2014-3-30: These instructions were adapted from the Linux4SAM website
but have not yet been used.
PIO Usage
=========
Rev. B. 0111A
------------------------------ ------------------- -------------------------
SAMA5D4 PIO SIGNAL USAGE
------------------------------ ------------------- -------------------------
PA0/LCDDAT0/TMS PA0 LCDDAT0, TMS
PA1/LCDDAT1 PA1 LCDDAT1
PA2/LCDDAT2/G1_TXCK PA LCDDAT2, G1_TXCK
PA3/LCDDAT3/G1_RXCK PA3 LCDDAT3
PA4/LCDDAT4/G1_TXEN PA4 LCDDAT4, G1_TXEN
PA5/LCDDAT5/G1_TXER PA5 LCDDAT5
PA6/LCDDAT6/G1_CRS PA6 LCDDAT6
PA7/LCDDAT7 PA7 LCDDAT7
PA8/LCDDAT8/TCK PA8 LCDDAT8, TCK
PA9/LCDDAT9/G1_COL PA9 LCDDAT9
PA10/LCDDAT10/G1_RXDV PA10 LCDDAT10, G1_RXDV
PA11/LCDDAT11/G1_RXER PA11 LCDDAT11, G1_RXER
PA12/LCDDAT12/G1_RX0 PA12 LCDDAT12, G1_RX0
PA13/LCDDAT13/G1_RX1 PA13 LCDDAT13, G1_RX1
PA14/LCDDAT14/G1_TX0 PA14 LCDDAT14, G1_TX0
PA15/LCDDAT15/G1_TX1 PA15 LCDDAT15, G1_TX1
PA16/LCDDAT16/NTRST PA16 LCDDAT16, NTRST
PA17/LCDDAT17 PA17 LCDDAT17
PA18/LCDDAT18/G1_RX2 PA18 LCDDAT18
PA19/LCDDAT19/G1_RX3 PA19 LCDDAT19
PA20/LCDDAT20/G1_TX2 PA20 LCDDAT20
PA21/LCDDAT21/G1_TX3 PA21 LCDDAT21
PA22/LCDDAT22/G1_MDC PA22 LCDDAT22, G1_MDC
PA23/LCDDAT23/G1_MDIO PA23 LCDDAT23, G1_MDIO
PA24/LCDPWM/PCK0 PA24 LCDPWM, EXP
PA25/LCDDISP/TD0 PA25 LCDDISP, EXP
PA26/LCDVSYNC/PWMH0/SPI1_NPCS1 PA26 LCDVSYNC
PA27/LCDHSYNC/PWML0/SPI1_NPCS2 PA27 LCDHSYNC
PA28/LCDPCK/PWMH1/SPI1_NPCS3 PA28 LCDPCK
PA29/LCDDEN/PWML1 PA29 LCDDEN
PA30/TWD0 PA30 TWD0
PA31/TWCK0 PA31 TWCK0
------------------------------ ------------------- -------------------------
PB0/G0_TXCK PB0 G0_TXCK, EXP
PB1/G0_RXCK/SCK2/ISI_PCK ISI_PCK_PB1 ISI_PCK
PB2/G0_TXEN PB2 G0_TXEN,EXP
PB3/G0_TXER/CTS2/ISI_VSYNC ISI_VSYNC_PB3 ISI_VSYNC
PB4/G0_CRS/RXD2/ISI_HSYNC ISI_HSYNC_PB4 ISI_HSYNC
PB5/G0_COL/TXD2/PCK2 ISI_PWD_PB5 ISI_PWD
PB6/G0_RXDV PB6 G0_RXDV, EXP
PB7/G0_RXER PB7 G0_RXER, EXP
PB8/G0_RX0 PB8 G0_RX0, EXP
PB9/G0_RX1 PB9 G0_RX1, EXP
PB10/G0_RX2/PCK2/PWML1 PB10 AUDIO_PCK2, EXP
PB11/G0_RX3/RTS2/PWMH1 ISI_RST_PB11 ISI_RST
PB12/G0_TX0 PB12 G0_TX0, EXP
PB13/G0_TX1 PB13 G0_TX1, EXP
PB14/G0_TX2/SPI2_NPCS1/PWMH0 ZIG_SPI2_NPCS1 ZIG_SPI2_NPCS1
PB15/G0_TX3/SPI2_NPCS2/PWML0 HDMI_RST_PB15 HDMI_RST
PB16/G0_MDC PB16 G0_MDC, EXP
PB17/G0_MDIO PB17 G0_MDIO, EXP
PB18/SPI1_MISO/D8 LCD_SPI1_SO LCD_SPI1_SO
PB19/SPI1_MOSI/D9 LCD_SPI1_SI LCD_SPI1_SI
PB20/SPI1_SPCK/D10 LCD_SPI1_CLK LCD_SPI1_CLK
PB21/SPI1_NPCS0/D11 EXP_PB21 EXP
PB22/SPI1_NPCS1/D12 EXP_PB22 EXP
PB23/SPI1_NPCS2/D13 LCD_SPI1_CS2 LCD_SPI1_NPCS2
PB24/DRXD/D14/TDI PB24 TDI, EXP
PB25/DTXD/D15/TDO PB25 TDO, EXP
PB26/PCK0/RK0/PWMH0 PB26 AUDIO_RK0
PB27/SPI1_NPCS3/TK0/PWML0 PB27 AUDIO, HDMI_TK0, EXP
PB28/SPI2_NPCS3/TD0/PWMH1 PB28 AUDIO, HDMI_TD0, EXP
PB29/TWD2/RD0/PWML1 PB29 AUDIO_RD0, ZIG_TWD2
PB30/TWCK2/RF0 PB30 AUDIO_RF, ZIG_TWCK2
PB31/TF0 PB31 AUDIO, HDMI_TF0, EXP
------------------------------ ------------------- -------------------------
PC0/SPI0_MISO/PWMH2/ISI_D8 PC0 AT25_SPI0_SO, ISI_D8
PC1/SPI0_MOSI/PWML2/ISI_D9 PC1 AT25_SPI0_SI, ISI_D9
PC2/SPI0_SPCK/PWMH3/ISI_D10 PC2 AT25_SPI0_SPCK, ISI_D10,
ZIG_PWMH3_PC2
PC3/SPI0_NPCS0/PWML3/ISI_D11 PC3 AT25_SPI0_NCPS0, ISI_D11,
ZIG_PWML3_PC3 (See JP6)
PC4/SPI0_NPCS1/MCI0_CK/PCK1 PC4 MCI0_CK, ISI_MCK, EXP
PC5/D0/MCI0_CDA PC5 MCI0_CDA, NAND_IO0
PC6/D1/MCI0_DA0 PC6 MCI0_DA0, NAND_IO1
PC7/D2/MCI0_DA1 PC7 MCI0_DA1, NAND_IO2
PC8/D3/MCI0_DA2 PC8 MCI0_DA2, NAND_IO3
PC9/D4/MCI0_DA3 PC9 MCI0_DA3, NAND_IO4
PC10/D5/MCI0_DA4 PC10 MCI0_DA4, NAND_IO5
PC11/D6/MCI0_DA5 PC11 MCI0_DA5, NAND_IO6
PC12/D7/MCI0_DA6 PC12 MCI0_DA6, NAND_IO7
PC13/NRD/NANDOE/MCI0_DA7 PC13 MCI0_DA7, NAND_RE
PC14/NWE/NANDWE NAND_WEn NWE, NANDWE
PC15/NCS3 NAND_NCS3 NAND_NCS3
PC16/NANDRDY NAND_RDY NANDRDY
PC17/A21/NANDALE NAND_ALE NAND_ALE
PC18/A22/NANDCLE NAND_CLE NAND_CLE
PC19/ISI_D0/TK1 PC19 ISI_D0
PC20/ISI_D1/TF1 PC20 ISI_D1
PC21/ISI_D2/TD1 PC21 ISI_D2
PC22/ISI_D3/RF1 PC22 ISI_D3
PC23/ISI_D4/RD1 PC23 ISI_D4
PC24/ISI_D5/RK1/PCK1 PC24 ISI_D5
PC25/ISI_D6/TWD3/URXD1 PC25 AUDIO_TWD3, ISI_D6
PC26/ISI_D7/TWCK3/UTXD1 PC26 AUDIO_TWCK3, ISI_D7
PC27/AD0/SPI0_NPCS1/PWML0 AD0_XP AD0_XP
PC28/AD1/SPI0_NPCS2/PWML1 AD1_XM AD1_XM
PC29/AD2/SPI0_NPCS3/PWMFI0 AD2_YP AD2_YP
PC30/AD3/PWMH0 AD3_YM AD3_YM
PC31/AD4/PWMH1 AD4_LR AD4_LR, ADC_INPUT
------------------------------ ------------------- -------------------------
PD8/PCK0 PD8 EXP_PCK0
PD9/FIQ USB_OVCUR_PD9 USB_OVCUR_PD9
PD10/CTS0/CDETA ZIG_CTS0_PD10 ZIG_CTS0
PD11/RTS0/SPI2_MISO ZIG_SPI2_MISO_RTS0 ZIG_SPI2_MISO_RTS0
PD12/RXD0/DCENA ZIG_RXD0_PD12 ZIG_RXD0
PD13/TXD0/SPI2_MOSI ZIG_SPI2_MOSI_TXD0 ZIG_SPI2_MOSI_TXD0
PD14/CTS1/CDETB ZIG_CTS1_PD14 ZIG_CTS1
PD15/RTS1/SPI2_SPCK ZIG_SPI2_SPCK_RTS1 ZIG_SPI2_SPCK_RTS
PD16/RXD1/DCENB ZIG_RXD1_PD16 ZIG_RXD1_PD16
PD17/TXD1/SPI2_NPCS0 ZIG_SPI2_NPCS0_TXD1 ZIG_SPI2_NPCS0_TXD
PD18/SENSE0 SENSE0_PD18 SENSE0
PD19/SENSE1 SENSE1_PD19 SENSE1
PD20/SENSE2 SENSE2_PD20 SENSE2
PD21/SENSE3 SENSE3_PD21 SENSE3
PD22/SENSE4 SENSE4_PD22 SENSE4
PD23/SENSE5 N/C N/C
PD24/SENSE6 N/C N/C
PD25/SENSE7 N/C N/C
PD26/SENSE8 N/C N/C
PD27/SENSE9 N/C N/C
PD28/SCK0 N/C PD28
PD29/SCK1 SENSE_DISCH_PD29 SENSE_DISCH
PD30 EXP_PD30 EXP
PD31/SPI0_NPCS2/PCK1 EXP_PD31 EXP
------------------------------ ------------------- -------------------------
PE0/A0/NBS0/MCI0_CDB/CTS4 PMIC_IRQ_PE0 PMIC_IRQ
PE1/A1/MCI0_DB0 G0_IRQ_PE1 G0_IRQ
PE2/A2/MCI0_DB1 G1_IRQ_PE2 G1_IRQ
PE3/A3/MCI0_DB2 HDMI_IRQ_PE3 HDMI_IRQ
PE4/A4/MCI0_DB3 AUDIO_IRQ_PE4 AUDIO_IRQ
PE5/A5/CTS3 MCI0_CD_PE5 MCI0_CD
PE6/A6/TIOA3 MCI1_CD_PE6 MCI1_CD
PE7/A7/TIOB3/PWMFI1 EXP_PE7 EXP
PE8/A8/TCLK3/PWML3 LED_USER_PE8 LED_USER (D10)
PE9/A9/TIOA2 LED_POWER_PE9 LED_POWER (D9, Red)
PE10/A10/TIOB2 USBA_EN5V_PE10 EN5V_USBA
PE11/A11/TCLK2 USBB_EN5V_PE11 EN5V_USBB
PE12/A12/TIOA1/PWMH2 USBC_EN5V_PE12 EN5V_USBC
PE13/A13/TIOB1/PWML2 PB_USER1_PE13 PB_USER1
PE14/A14/TCLK1/PWMH3 MCI1_CD_PE14 MCI1_CD ???
PE15/A15/SCK3/TIOA0 MCI1_PWR_PE15 MCI1_PWR
PE16/A16/RXD3/TIOB0 DBGU_RXD3_PE16 DBGU_RXD3 (See JP19)
PE17/A17/TXD3/TCLK0 DBGU_TXD3_PE17 DBGU_TXD3 (See JP20)
PE18/A18/TIOA5/MCI1_CK PE18 MCI1_CK, EXP
PE19/A19/TIOB5/MCI1_CDA PE19 MCI1_CDA, EXP
PE20/A20/TCLK5/MCI1_DA0 PE20 MCI1_DA0, EXP
PE21/A23/TIOA4/MCI1_DA1 PE21 MCI1_DA1, EXP
PE22/A24/TIOB4/MCI1_DA2 PE22 MCI1_DA2, EXP
PE23/A25/TCLK4/MCI1_DA3 PE23 MCI1_DA3, EXP
PE24/NCS0/RTS3 LCD_PE24 LCD_PE24
PE25/NCS1/SCK4/IRQ LCD_PE25 LCD_PE25
PE26/NCS2/RXD4/A18 RXD4_PE26 RXD4
PE27/NWR1/NBS1/TXD4 TXD4_PE27 TXD4
PE28/NWAIT/RTS4/A19 1Wire_PE28 1-WIRE ROM, LCD, D8 (green)
PE29/DIBP/URXD0/TWD1 SMD_DIBP_PE29 DIBP
PE30/DIBN/UTXD0/TWCK1 SMD_DIBN_PE30 DIBP
PE31/ADTRG USBA_VBUS_PE31 USBA_VBUS_PE31
------------------------------ ------------------- -------------------------
Buttons and LEDs
================
Buttons
-------
A single button, PB_USER1 (PB2), is available on the SAMA5D4-EK:
------------------------------ ------------------- -------------------------
SAMA5D4 PIO SIGNAL USAGE
------------------------------ ------------------- -------------------------
PE13/A13/TIOB1/PWML2 PB_USER1_PE13 PB_USER1
------------------------------ ------------------- -------------------------
Closing JP2 will bring PE13 to ground so 1) PE13 should have a weak pull-up,
and 2) when PB2 is pressed, a low value will be senses.
LEDs
----
There are 3 LEDs on the SAMA5D4-EK:
------------------------------ ------------------- -------------------------
SAMA5D4 PIO SIGNAL USAGE
------------------------------ ------------------- -------------------------
PE28/NWAIT/RTS4/A19 1Wire_PE28 1-WIRE ROM, LCD, D8 (green)
PE8/A8/TCLK3/PWML3 LED_USER_PE8 LED_USER (D10)
PE9/A9/TIOA2 LED_POWER_PE9 LED_POWER (D9, Red)
------------------------------ ------------------- -------------------------
- D8: D8 is shared with other functions and cannot be used if the 1-Wire ROM
is used. I am not sure of the LCD function, but the LED may not be available
if the LCD is used either. We will avoid using D8 just for simplicity.
- D10: Nothing special here. A low output illuminates.
- D9: The Power ON LED. Connects to the via an IRLML2502 MOSFET. This LED will
be on when power is applied but otherwise a low output value will turn it
off.
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_leds.c. The LEDs are used to encode OS-related
events as follows:
SYMBOL Meaning LED state
USER D10 POWER D9
------------------- ----------------------- -------- --------
LED_STARTED NuttX has been started OFF ON
LED_HEAPALLOCATE Heap has been allocated OFF ON
LED_IRQSENABLED Interrupts enabled OFF ON
LED_STACKCREATED Idle stack created ON ON
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 OFF Blinking
LED_IDLE MCU is is sleep mode Not used
Thus if the D0 and D9 are statically on, NuttX has successfully booted and
is, apparently, running normally. If the red D9 LED is flashing at
approximately 2Hz, then a fatal error has been detected and the system
has halted.
Serial Console
==============
Two UART ports are available:
Virtual COM / DBGU Port (J24). Either may be driven by USART3, depending
upon the setting of JP19 and JP20:
------------------------------ ------------------- -------------------------
SAMA5D4 PIO SIGNAL USAGE
------------------------------ ------------------- -------------------------
PE16/A16/RXD3/TIOB0 DBGU_RXD3_PE16 DBGU_RXD3 (See JP19)
PE17/A17/TXD3/TCLK0 DBGU_TXD3_PE17 DBGU_TXD3 (See JP20)
------------------------------ ------------------- -------------------------
In one jumper position UART3 connects to the SAM3U which will, in turn,
provide the serial output over a USB virtual COM port. In other other
jumper position, UART3 will connect the RS-232 port labelled DBGU (J24).
I personally prefer the RS-2323 port because my terminal software does not
lose the USB Virtual COM everytime I reset or power-cycle the board.
USART4 TTL-Level
------------------------------ ------------------- -------------------------
SAMA5D4 PIO SIGNAL USAGE
------------------------------ ------------------- -------------------------
PE26/NCS2/RXD4/A18 RXD4_PE26 RXD4
PE27/NWR1/NBS1/TXD4 TXD4_PE27 TXD4
------------------------------ ------------------- -------------------------
A TTL-to-RS232 converter is required to use this USART for a serial console.
- RXD4/PE26 is available at Expansion Interface, J19C pin 59
- TXD4/PE27 is available at Expansion Interface, J19C pin 60
- VCC_3V3 is also available at Expansion Interface, J19B pins 21 and 22
- GND is available J19A pin 11, J19B pin 31, and J19C pin 51
By default the RS-232 DBGU port on USART3 is used as the NuttX serial
console in all configurations (unless otherwise noted). USART4, however,
is the also available.
Networking
==========
Networking support via the can be added to NSH by selecting the following
configuration options. The SAMA5D44 supports two different 10/100Base-T
Ethernet MAC peripherals.
------------------------------ ------------------- -------------------------
SAMA5D4 PIO SAMA5D4-MB KSZ8081RNB
------------------------------ ------------------- -------------------------
PB0/G0_TXCK G0_TXCK_PB0 RXF_CLK/B-CAST_OFF
PB1/G0_RXCK/SCK2/ISI_PCK (RMII, not used) (RMII, not used)
PB2/G0_TXEN G0_TXEN_PB2 TXEN
PB3/G0_TXER/CTS2/ISI_VSYNC (RMII, not used) (RMII, not used)
PB4/G0_CRS/RXD2/ISI_HSYNC (RMII, not used) (RMII, not used)
PB5/G0_COL/TXD2/PCK2 (RMII, not used) (RMII, not used)
PB6/G0_RXDV G0_RXDV_PB6 CRS_DV/CONFIG2
PB7/G0_RXER G0_RXER_PB7 RXER/ISO
PB8/G0_RX0 G0_RX0_PB8 RXD0/DUPLEX
PB9/G0_RX1 G0_RX1_PB9 RXD1/PHYAD2
PB10/G0_RX2/PCK2/PWML1 (RMII, not used) (RMII, not used)
PB11/G0_RX3/RTS2/PWMH1 (RMII, not used) (RMII, not used)
PB12/G0_TX0 G0_TX0_PB12 TXD0
PB13/G0_TX1 G0_TX1_PB13 TXD1
PB14/G0_TX2/SPI2_NPCS1/PWMH0 (RMII, not used) (RMII, not used)
PB15/G0_TX3/SPI2_NPCS2/PWML0 (RMII, not used) (RMII, not used)
PB16/G0_MDC G0_MDC_PB16 MDC
PB17/G0_MDIO G0_MDIO_PB17 MDIO
PE1/A1/MCI0_DB0 G0_IRQ_PE1 nINTRP/NAND_TREE
------------------------------ ------------------- -------------------------
PA2/LCDDAT2/G1_TXCK G1_TXCK_PA2 RXF_CLK/B-CAST_OFF
PA3/LCDDAT3/G1_RXCK (RMII, not used) (RMII, not used)
PA4/LCDDAT4/G1_TXEN G1_TXEN_PA4 TXEN
PA5/LCDDAT5/G1_TXER (RMII, not used) (RMII, not used)
PA6/LCDDAT6/G1_CRS (RMII, not used) (RMII, not used)
PA9/LCDDAT9/G1_COL (RMII, not used) (RMII, not used)
PA10/LCDDAT10/G1_RXDV G1_RXDV_PA10 CRS_DV/CONFIG2
PA11/LCDDAT11/G1_RXER G1_RXER_PA11 RXER/ISO
PA12/LCDDAT12/G1_RX0 G1_RX0_PA12 RXD0/DUPLEX
PA13/LCDDAT13/G1_RX1 G1_RX1_PA13 RXD1/PHYAD2
PA18/LCDDAT18/G1_RX2 (RMII, not used) (RMII, not used)
PA19/LCDDAT19/G1_RX3 (RMII, not used) (RMII, not used)
PA14/LCDDAT14/G1_TX0 G1_TX0_PA14 TXD0
PA15/LCDDAT15/G1_TX1 G1_TX1_PA15 TXD1
PA20/LCDDAT20/G1_TX2 (RMII, not used) (RMII, not used)
PA21/LCDDAT21/G1_TX3 (RMII, not used) (RMII, not used)
PA22/LCDDAT22/G1_MDC G1_MDC_PA22 MDC
PA23/LCDDAT23/G1_MDIO G1_MDIO_PA23 MDIO
PE2/A2/MCI0_DB1 G1_IRQ_PE2 nINTRP/NAND_TREE
------------------------------ ------------------- -------------------------
EMAC2 connects (directly) to a KSZ8081RNB PHY (U10) and is available at
the ETH0 connector.
EMAC1 connects (indirectly) to another KSZ8081RNB PHY (U7) and is available
at the ETH1 connector. The ETH1 signals go through a line driver that is
enabled via LCD_ETH1_CONFIG when an LCD is detected:
- LCD_ETH1_CONFIG = 0: LCD 5v disable
- LCD_ETH1_CONFIG = 1 & LCD_DETECT# =0: LCD 5v enable
But where does LCD_ETH1_CONFIG come from?
Selecting the EMAC0 peripheral
-----------------------------
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_EMAC0=y : Enable the EMAC peripheral
System Type -> EMAC device driver options
CONFIG_SAMA5_EMAC0_NRXBUFFERS=16 : Set aside some RS and TX buffers
CONFIG_SAMA5_EMAC0_NTXBUFFERS=8
CONFIG_SAMA5_EMAC0_PHYADDR=1 : KSZ8081 PHY is at address 1
CONFIG_SAMA5_EMAC0_AUTONEG=y : Use autonegotiation
CONFIG_SAMA5_EMAC0_RMII=y : The RMII interfaces is used on the board
CONFIG_SAMA5_EMAC0_PHYSR=30 : Address of PHY status register on KSZ8081
CONFIG_SAMA5_EMAC0_PHYSR_ALTCONFIG=y : Needed for KSZ8081
CONFIG_SAMA5_EMAC0_PHYSR_ALTMODE=0x7 : " " " " " "
CONFIG_SAMA5_EMAC0_PHYSR_10HD=0x1 : " " " " " "
CONFIG_SAMA5_EMAC0_PHYSR_100HD=0x2 : " " " " " "
CONFIG_SAMA5_EMAC0_PHYSR_10FD=0x5 : " " " " " "
CONFIG_SAMA5_EMAC0_PHYSR_100FD=0x6 : " " " " " "
PHY selection. Later in the configuration steps, you will need to select
the KSZ8081 PHY for EMAC (See below)
Selecting the EMAC1 peripheral
-----------------------------
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_EMAC1=y : Enable the EMAC peripheral
System Type -> EMAC device driver options
CONFIG_SAMA5_EMAC1_NRXBUFFERS=16 : Set aside some RS and TX buffers
CONFIG_SAMA5_EMAC1_NTXBUFFERS=8
CONFIG_SAMA5_EMAC1_PHYADDR=1 : KSZ8081 PHY is at address 1
CONFIG_SAMA5_EMAC1_AUTONEG=y : Use autonegotiation
CONFIG_SAMA5_EMAC1_RMII=y : The RMII interfaces is used on the board
CONFIG_SAMA5_EMAC1_PHYSR=30 : Address of PHY status register on KSZ8081
CONFIG_SAMA5_EMAC1_PHYSR_ALTCONFIG=y : Needed for KSZ8081
CONFIG_SAMA5_EMAC1_PHYSR_ALTMODE=0x7 : " " " " " "
CONFIG_SAMA5_EMAC1_PHYSR_10HD=0x1 : " " " " " "
CONFIG_SAMA5_EMAC1_PHYSR_100HD=0x2 : " " " " " "
CONFIG_SAMA5_EMAC1_PHYSR_10FD=0x5 : " " " " " "
CONFIG_SAMA5_EMAC1_PHYSR_100FD=0x6 : " " " " " "
PHY selection. Later in the configuration steps, you will need to select
the KSZ8081 PHY for EMAC (See below)
If both EMAC0 and EMAC1 are selected, you will also need:
CONFIG_SAMA5_EMAC0_ISETH0=y : EMAC0 is "eth0"; EMAC1 is "eth1"
PHY selection. Later in the configuration steps, you will need to select
the KSZ9081 PHY for GMAC (See below)
Common configuration settings
-----------------------------
Networking Support
CONFIG_NET=y : Enable Neworking
CONFIG_NET_SOCKOPTS=y : Enable socket operations
CONFIG_NET_BUFSIZE=562 : Maximum packet size (MTD) 1518 is more standard
CONFIG_NET_RECEIVE_WINDOW=562 : Should be the same as CONFIG_NET_BUFSIZE
CONFIG_NET_ARP=y : ARP support should be enabled
CONFIG_NET_ARP_IPIN=y : IP address harvesting (optional)
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_KSZ8081=y : Select the KSZ8081 PHY used with EMAC0 and 1
Application Configuration -> Network Utilities
CONFIG_NETUTILS_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_UIPLIB=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=y : Need to make up a bogus MAC address
: Defaults should be okay for other options
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-6.31
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.
AT25 Serial FLASH
=================
Connections
-----------
The SAMA4D4-EK board supports an options Serial DataFlash connected
at MN8. The SPI connection is as follows:
------------------------------ ------------------- -------------------------
SAMA5D4 PIO SIGNAL USAGE
------------------------------ ------------------- -------------------------
PC0/SPI0_MISO/PWMH2/ISI_D8 PC0 AT25_SPI0_SO, ISI_D8
PC1/SPI0_MOSI/PWML2/ISI_D9 PC1 AT25_SPI0_SI, ISI_D9
PC2/SPI0_SPCK/PWMH3/ISI_D10 PC2 AT25_SPI0_SPCK, ISI_D10,
ZIG_PWMH3_PC2
PC3/SPI0_NPCS0/PWML3/ISI_D11 PC3 AT25_SPI0_NCPS0, ISI_D11,
ZIG_PWML3_PC3 (See JP6)
------------------------------ ------------------- -------------------------
Configuration
-------------
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_SPI0=y : Enable SPI0
CONFIG_SAMA5_DMAC0=y : Enable DMA controller 0
System Type -> SPI device driver options
CONFIG_SAMA5_SPI_DMA=y : Use DMA for SPI transfers
CONFIG_SAMA5_SPI_DMATHRESHOLD=4 : Don't DMA for small transfers
Device Drivers -> SPI Driver Support
CONFIG_SPI=y : Enable SPI support
CONFIG_SPI_EXCHANGE=y : Support the exchange method
Device Drivers -> Memory Technology Device (MTD) Support
CONFIG_MTD=y : Enable MTD support
CONFIG_MTD_AT25=y : Enable the AT25 driver
CONFIG_AT25_SPIMODE=0 : Use SPI mode 0
CONFIG_AT25_SPIFREQUENCY=10000000 : Use SPI frequency 10MHz
The AT25 is capable of higher SPI rates than this. I have not experimented
a lot, but at 20MHz, the behavior is not the same with all CM modules. This
lower rate gives more predictable performance.
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
Board Selection
CONFIG_SAMA5D4EK_AT25_AUTOMOUNT=y : Mounts AT25 for NSH
CONFIG_SAMA5D4EK_AT25_FTL=y : Create block driver for FAT
NOTE: that you must close JP6 in order to enable the AT25 FLASH chip select.
You can then format the AT25 FLASH for a FAT file system and mount the
file system at /mnt/at25 using these NSH commands:
nsh> mkfatfs /dev/mtdblock0
nsh> mount -t vfat /dev/mtdblock0 /mnt/at25
Then you an use the FLASH as a normal FAT file system:
nsh> echo "This is a test" >/mnt/at25/atest.txt
nsh> ls -l /mnt/at25
/mnt/at25:
-rw-rw-rw- 16 atest.txt
nsh> cat /mnt/at25/atest.txt
This is a test
HSMCI Card Slots
================
Physical Slots
--------------
The SAMA4D4-EK provides a two SD memory card slots: (1) a full size SD
card slot (J10), and (2) a microSD memory card slot (J11).
HSMCI0
------
The full size SD card slot connects via HSMCI0. The card detect discrete
is available on PE5 (pulled high). The write protect discrete is tied to
ground and is not available to software. The slot supports 8-bit wide
transfer mode, but the NuttX driver currently uses only the 4-bit wide
transfer mode
------------------------------ ------------------- -------------------------
SAMA5D4 PIO SIGNAL USAGE
------------------------------ ------------------- -------------------------
PC4/SPI0_NPCS1/MCI0_CK/PCK1 PC4 MCI0_CK, ISI_MCK, EXP
PC5/D0/MCI0_CDA PC5 MCI0_CDA, NAND_IO0
PC6/D1/MCI0_DA0 PC6 MCI0_DA0, NAND_IO1
PC7/D2/MCI0_DA1 PC7 MCI0_DA1, NAND_IO2
PC8/D3/MCI0_DA2 PC8 MCI0_DA2, NAND_IO3
PC9/D4/MCI0_DA3 PC9 MCI0_DA3, NAND_IO4
PC10/D5/MCI0_DA4 PC10 MCI0_DA4, NAND_IO5
PC11/D6/MCI0_DA5 PC11 MCI0_DA5, NAND_IO6
PC12/D7/MCI0_DA6 PC12 MCI0_DA6, NAND_IO7
PC13/NRD/NANDOE/MCI0_DA7 PC13 MCI0_DA7, NAND_RE
PE5/A5/CTS3 MCI0_CD_PE5 MCI0_CD
------------------------------ ------------------- -------------------------
HSMCI1
------
The microSD connects vi HSMCI1. The card detect discrete is available on
PE6 (pulled high). NOTE that PE15 must be controlled to provide power
to the HSMCI1 slot (the HSMCI0 slot is always powered).
------------------------------ ------------------- -------------------------
SAMA5D4 PIO SIGNAL USAGE
------------------------------ ------------------- -------------------------
PE14/A14/TCLK1/PWMH3 MCI1_CD_PE14 MCI1_CD ???
PE15/A15/SCK3/TIOA0 MCI1_PWR_PE15 MCI1_PWR
PE18/A18/TIOA5/MCI1_CK PE18 MCI1_CK, EXP
PE19/A19/TIOB5/MCI1_CDA PE19 MCI1_CDA, EXP
PE20/A20/TCLK5/MCI1_DA0 PE20 MCI1_DA0, EXP
PE21/A23/TIOA4/MCI1_DA1 PE21 MCI1_DA1, EXP
PE22/A24/TIOB4/MCI1_DA2 PE22 MCI1_DA2, EXP
PE23/A25/TCLK4/MCI1_DA3 PE23 MCI1_DA3, EXP
PE6/A6/TIOA3 MCI1_CD_PE6 MCI1_CD
------------------------------ ------------------- -------------------------
Configuration Settings
----------------------
Enabling HSMCI support. The SAMA4D4-EK provides a two SD memory card
slots: (1) a full size SD card slot (J10), and (2) a microSD memory card
slot (J11). The full size SD card slot connects via HSMCI0; the microSD
connects via HSMCI1. Support for both SD slots can be enabled with the
following settings:
System Type->ATSAMA5 Peripheral Support
CONFIG_SAMA5_HSMCI0=y : Enable HSMCI0 support
CONFIG_SAMA5_HSMCI1=y : Enable HSMCI1 support
CONFIG_SAMA5_XDMAC1=y : XDMAC1 is needed by HSMCI0/1
System Type
CONFIG_SAMA5_PIO_IRQ=y : PIO interrupts needed
CONFIG_SAMA5_PIOE_IRQ=y : Card detect pins are on PE5 and PE6
Device Drivers -> MMC/SD Driver Support
CONFIG_MMCSD=y : Enable MMC/SD support
CONFIG_MMSCD_NSLOTS=1 : One slot per driver instance
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
Library Routines
CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
Using the SD card
-----------------
1) After booting, the HSCMI devices will appear as /dev/mmcsd0
and /dev/mmcsd1.
2) If you try mounting an SD card with nothing in the slot, the
mount will fail:
nsh> mount -t vfat /dev/mmcsd1 /mnt/sd1
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/mmcsd1 /mnt/sd1
nsh> ls /mnt/sd1
/mnt/sd1:
atest.txt
nsh> cat /mnt/sd1/atest.txt
This is a test
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/sd1
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.
USB Ports
=========
The SAMA4D4-EK features three USB communication ports:
* Port A Host High Speed (EHCI) and Full Speed (OHCI) multiplexed with
USB Device High Speed Micro AB connector, J1
* Port B Host High Speed (EHCI) and Full Speed (OHCI) standard type A
connector, J5 upper port
* Port C Host Full Speed (OHCI) and Full Speed (OHCI) standard type A
connector, J5 lower port
The three USB host ports are equipped with 500-mA high-side power
switch for self-powered and bus-powered applications.
The USB device port A (J5) features a VBUS insert detection function.
Port A
------
PIO Signal Name Function
---- -------------- -------------------------------------------------------
PE10 EN5V_USBA VBus power enable (via MN2 power switch) to VBus pin of
the OTG connector (host)
PE31 USBA_VBUS_PE31 VBus sensing from the VBus pin of the OTG connector (device)
Port B
------
PIO Signal Name Function
---- -------------- -------------------------------------------------------
PE11 EN5V_USBB VBus power enable (via MN4 power switch). To the A1
pin of J5 Dual USB A connector
Port C
------
PIO Signal Name Function
---- -------------- -------------------------------------------------------
PE12 EN5V_USBC VBus power enable (via MN4 power switch). To the B1
pin of J5 Dual USB A connector
Both Ports B and C
------------------
PIO Signal Name Function
---- ----------- -------------------------------------------------------
PE5 OVCUR_USB Combined over-current indication from port A and B
USB High-Speed Device
=====================
Basic USB High-Speed Device Configuration
-----------------------------------------
Support the USB high-speed device (UDPHS) driver can be enabled with these
NuttX configuration settings.
Device Drivers -> USB Device Driver Support
CONFIG_USBDEV=y : Enable USB device support
CONFIG_USBDEV_DUALSPEED=y : Device support High and Full Speed
CONFIG_USBDEV_DMA=y : Device uses DMA
System Type -> ATSAMA5 Peripheral Support
CONFIG_SAMA5_UDPHS=y : Enable UDPHS High Speed USB device
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
Mass Storage Class
------------------
The Mass Storage Class (MSC) class driver is selected for use with
UDPHS:
Device Drivers -> USB Device Driver Support
CONFIG_USBMSC=y : Enable the USB MSC class driver
CONFIG_USBMSC_EPBULKOUT=1 : Use EP1 for the BULK OUT endpoint
CONFIG_USBMSC_EPBULKIN=2 : Use EP2 for the BULK IN endpoint
The following setting enables an add-on that can can be used to control
the USB MSC device. It will add two new NSH commands:
a. msconn will connect the USB serial device and export the AT25
to the host, and
b. msdis which will disconnect the USB serial device.
Application Configuration -> System Add-Ons:
CONFIG_SYSTEM_USBMSC=y : Enable the USBMSC add-on
CONFIG_SYSTEM_USBMSC_NLUNS=1 : One LUN
CONFIG_SYSTEM_USBMSC_DEVMINOR1=0 : Minor device zero
CONFIG_SYSTEM_USBMSC_DEVPATH1="/dev/mtdblock0"
: Use a single, LUN: The AT25
: block driver.
NOTES:
a. To prevent file system corruption, make sure that the AT25 is un-
mounted *before* exporting the mass storage device to the host:
nsh> umount /mnt/at25
nsh> mscon
The AT25 can be re-mounted after the mass storage class is disconnected:
nsh> msdis
nsh> mount -t vfat /dev/mtdblock0 /mnt/at25
b. If you change the value CONFIG_SYSTEM_USBMSC_DEVPATH1, then you
can export other file systems:
"/dev/mmcsd1" will export the HSMCI1 microSD
"/dev/mmcsd0" will export the HSMCI0 full-size SD slot
"/dev/ram0" could even be used to export a RAM disk. But you would
first have to use mkrd to create the RAM disk and mkfatfs to put
a FAT file system on it.
CDC/ACM Serial Device Class
---------------------------
This will select the CDC/ACM serial device. Defaults for the other
options should be okay.
Device Drivers -> USB Device Driver Support
CONFIG_CDCACM=y : Enable the CDC/ACM device
CONFIG_CDCACM_BULKIN_REQLEN=768 : Default too small for high-speed
The following setting enables an example that can can be used to control
the CDC/ACM device. It will add two new NSH commands:
a. sercon will connect the USB serial device (creating /dev/ttyACM0), and
b. serdis which will disconnect the USB serial device (destroying
/dev/ttyACM0).
Application Configuration -> Examples:
CONFIG_SYSTEM_CDCACM=y : Enable an CDC/ACM example
Debugging USB Device
--------------------
There is normal console debug output available that can be enabled with
CONFIG_DEBUG + CONFIG_DEBUG_USB. However, USB device operation is very
time critical and enabling this debug output WILL interfere with the
operation of the UDPHS. USB device tracing is a less invasive way to get
debug information: If tracing is enabled, the USB device will save
encoded trace output in in-memory buffer; if the USB monitor is also
enabled, that trace buffer will be periodically emptied and dumped to the
system logging device (the serial console in this configuration):
Device Drivers -> "USB Device Driver Support:
CONFIG_USBDEV_TRACE=y : Enable USB trace feature
CONFIG_USBDEV_TRACE_NRECORDS=256 : Buffer 256 records in memory
CONFIG_USBDEV_TRACE_STRINGS=y : (optional)
Application Configuration -> NSH LIbrary:
CONFIG_NSH_USBDEV_TRACE=n : No builtin tracing from NSH
CONFIG_NSH_ARCHINIT=y : Automatically start the USB monitor
Application Configuration -> System NSH Add-Ons:
CONFIG_SYSTEM_USBMONITOR=y : Enable the USB monitor daemon
CONFIG_SYSTEM_USBMONITOR_STACKSIZE=2048 : USB monitor daemon stack size
CONFIG_SYSTEM_USBMONITOR_PRIORITY=50 : USB monitor daemon priority
CONFIG_SYSTEM_USBMONITOR_INTERVAL=1 : Dump trace data every second
CONFIG_SYSTEM_USBMONITOR_TRACEINIT=y : Enable TRACE output
CONFIG_SYSTEM_USBMONITOR_TRACECLASS=y
CONFIG_SYSTEM_USBMONITOR_TRACETRANSFERS=y
CONFIG_SYSTEM_USBMONITOR_TRACECONTROLLER=y
CONFIG_SYSTEM_USBMONITOR_TRACEINTERRUPTS=y
NOTE: If USB debug output is also enabled, both outputs will appear on the
serial console. However, the debug output will be asynchronous with the
trace output and, hence, difficult to interpret.
USB High-Speed Host
===================
OHCI Only
---------
Support the USB low/full-speed OHCI host driver can be enabled by changing
the NuttX configuration file as follows:
System Type -> ATSAMA5 Peripheral Support
CONFIG_SAMA5_UHPHS=y : USB Host High Speed
System Type -> USB High Speed Host driver options
CONFIG_SAMA5_OHCI=y : Low/full-speed OHCI support
: Defaults for values probably OK
Device Drivers
CONFIG_USBHOST=y : Enable USB host support
Device Drivers -> USB Host Driver Support
CONFIG_USBHOST_ISOC_DISABLE=y : Isochronous endpoints not used
CONFIG_USBHOST_MSC=y : Enable the mass storage class driver
CONFIG_USBHOST_HIDKBD=y : Enable the HID keyboard class driver
Library Routines
CONFIG_SCHED_WORKQUEUE=y : Worker thread support is required
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
NOTE: When OHCI is selected, the SAMA5 will operate at 384MHz instead of
396MHz. This is so that the PLL generates a frequency which is a multiple
of the 48MHz needed for OHCI. The delay loop calibration values that are
used will be off slightly because of this.
EHCI
----
Support the USB high-speed EHCI host driver can be enabled by changing the
NuttX configuration file as follows. If EHCI is enabled by itself, then
only high-speed devices can be supported. If OHCI is also enabled, then
all low-, full-, and high speed devices will work.
System Type -> ATSAMA5 Peripheral Support
CONFIG_SAMA5_UHPHS=y : USB Host High Speed
System Type -> USB High Speed Host driver options
CONFIG_SAMA5_EHCI=y : High-speed EHCI support
CONFIG_SAMA5_OHCI=y : Low/full-speed OHCI support
: Defaults for values probably OK for both
Device Drivers
CONFIG_USBHOST=y : Enable USB host support
CONFIG_USBHOST_INT_DISABLE=y : Interrupt endpoints not needed
CONFIG_USBHOST_ISOC_DISABLE=y : Isochronous endpoints not needed
Device Drivers -> USB Host Driver Support
CONFIG_USBHOST_ISOC_DISABLE=y : Isochronous endpoints not used
CONFIG_USBHOST_MSC=y : Enable the mass storage class driver
CONFIG_USBHOST_HIDKBD=y : Enable the HID keyboard class driver
Library Routines
CONFIG_SCHED_WORKQUEUE=y : Worker thread support is required
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
Mass Storage Device Usage
-------------------------
Example Usage:
NuttShell (NSH) NuttX-6.29
nsh> ls /dev
/dev:
console
mtdblock0
null
ttyS0
Here a USB FLASH stick is inserted. Nothing visible happens in the
shell. But a new device will appear:
nsh> ls /dev
/dev:
console
mtdblock0
null
sda
ttyS0
nsh> mount -t vfat /dev/sda /mnt/sda
nsh> ls -l /mnt/sda
/mnt/sda:
-rw-rw-rw- 8788 viminfo
drw-rw-rw- 0 .Trash-1000/
-rw-rw-rw- 3378 zmodem.patch
-rw-rw-rw- 1503 sz-1.log
-rw-rw-rw- 613 .bashrc
HID Keyboard Usage
------------------
If a (supported) USB keyboard is connected, a /dev/kbda device will appear:
nsh> ls /dev
/dev:
console
kbda
mtdblock0
null
ttyS0
/dev/kbda is a read-only serial device. Reading from /dev/kbda will get
keyboard input as ASCII data (other encodings are possible):
nsh> cat /dev/kbda
Debugging USB Host
------------------
There is normal console debug output available that can be enabled with
CONFIG_DEBUG + CONFIG_DEBUG_USB. However, USB host operation is very time
critical and enabling this debug output might interfere with the operation
of the UDPHS. USB host tracing is a less invasive way to get debug
information: If tracing is enabled, the USB host will save encoded trace
output in in-memory buffer; if the USB monitor is also enabled, that trace
buffer will be periodically emptied and dumped to the system logging device
(the serial console in this configuration):
Device Drivers -> "USB Host Driver Support:
CONFIG_USBHOST_TRACE=y : Enable USB host trace feature
CONFIG_USBHOST_TRACE_NRECORDS=256 : Buffer 256 records in memory
CONFIG_USBHOST_TRACE_VERBOSE=y : Buffer everything
Application Configuration -> NSH LIbrary:
CONFIG_NSH_USBDEV_TRACE=n : No builtin tracing from NSH
CONFIG_NSH_ARCHINIT=y : Automatically start the USB monitor
Application Configuration -> System NSH Add-Ons:
CONFIG_SYSTEM_USBMONITOR=y : Enable the USB monitor daemon
CONFIG_SYSTEM_USBMONITOR_STACKSIZE=2048 : USB monitor daemon stack size
CONFIG_SYSTEM_USBMONITOR_PRIORITY=50 : USB monitor daemon priority
CONFIG_SYSTEM_USBMONITOR_INTERVAL=1 : Dump trace data every second
NOTE: If USB debug output is also enabled, both outpus will appear on the
serial console. However, the debug output will be asynchronous with the
trace output and, hence, difficult to interpret.
SDRAM Support
=============
SRAM Heap Configuration
-----------------------
In these configurations, .data and .bss are retained in ISRAM. SDRAM can
be initialized and included in the heap. Relevant configuration settings:
System Type->ATSAMA5 Peripheral Support
CONFIG_SAMA5_MPDDRC=y : Enable the DDR controller
System Type->External Memory Configuration
CONFIG_SAMA5_DDRCS=y : Tell the system that DRAM is at the DDR CS
CONFIG_SAMA5_DDRCS_SIZE=268435456 : 2Gb DRAM -> 256MB
CONFIG_SAMA5_DDRCS_LPDDR2=y : Its DDR2
CONFIG_SAMA5D4EK_MT47H128M16RT=y : This is the type of DDR2
System Type->Heap Configuration
CONFIG_SAMA5_DDRCS_HEAP=y : Add the SDRAM to the heap
CONFIG_SAMA5_DDRCS_HEAP_OFFSET=0
CONFIG_SAMA5_DDRCS_HEAP_SIZE=268435456
Memory Management
CONFIG_MM_REGIONS=2 : Two heap memory regions: ISRAM and SDRAM
RAM Test
--------
Another thing you could do is to enable the RAM test built-in application.
You can enable the NuttX RAM test that may be used to verify the external
SDRAM. To do this, keep the SDRAM out of the heap so that it can be tested
without crashing programs using the memory:
System Type->Heap Configuration
CONFIG_SAMA5_DDRCS_HEAP=n : Don't add the SDRAM to the heap
Memory Management
CONFIG_MM_REGIONS=1 : One memory regions: ISRAM
Then enable the RAM test built-in application:
Application Configuration->System NSH Add-Ons->Ram Test
CONFIG_SYSTEM_RAMTEST=y
In this configuration, the SDRAM is not added to heap and so is not
accessable to the applications. So the RAM test can be freely executed
against the SRAM memory beginning at address 0x2000:0000 (DDR CS):
nsh> ramtest -h
Usage: <noname> [-w|h|b] <hex-address> <decimal-size>
Where:
<hex-address> starting address of the test.
<decimal-size> number of memory locations (in bytes).
-w Sets the width of a memory location to 32-bits.
-h Sets the width of a memory location to 16-bits (default).
-b Sets the width of a memory location to 8-bits.
To test the entire external 256MB SRAM:
nsh> ramtest -w 20000000 268435456
RAMTest: Marching ones: 20000000 268435456
RAMTest: Marching zeroes: 20000000 268435456
RAMTest: Pattern test: 20000000 268435456 55555555 aaaaaaaa
RAMTest: Pattern test: 20000000 268435456 66666666 99999999
RAMTest: Pattern test: 20000000 268435456 33333333 cccccccc
RAMTest: Address-in-address test: 20000000 268435456
SDRAM Data Configuration
------------------------
In these configurations, .data and .bss are retained in ISRAM by default.
.data and .bss can also be retained in SDRAM using these slightly
different configuration settings. In this configuration, ISRAM is
used only for the Cortex-A5 page table for the IDLE thread stack.
System Type->ATSAMA5 Peripheral Support
CONFIG_SAMA5_MPDDRC=y : Enable the DDR controller
System Type->External Memory Configuration
CONFIG_SAMA5_DDRCS=y : Tell the system that DRAM is at the DDR CS
CONFIG_SAMA5_DDRCS_SIZE=268435456 : 2Gb DRAM -> 256GB
CONFIG_SAMA5_DDRCS_LPDDR2=y : Its DDR2
CONFIG_SAMA5D4EK_MT47H128M16RT=y : This is the type of DDR2
System Type->Heap Configuration
CONFIG_SAMA5_ISRAM_HEAP=n : These do not apply in this case
CONFIG_SAMA5_DCRS_HEAP=n
System Type->Boot Memory Configuration
CONFIG_RAM_START=0x20000000 : Physical address of SDRAM
CONFIG_RAM_VSTART=0x20000000 : Virtual address of SDRAM
CONFIG_RAM_SIZE=268435456 : Size of SDRAM
CONFIG_BOOT_SDRAM_DATA=y : Data is in SDRAM
Care must be used applied these RAM locations; graphics
configurations may use SDRAM in an incompatible way to set aside
LCD framebuffers.
Memory Management
CONFIG_MM_REGIONS=1 : One heap memory region: ISDRAM
NAND Support
============
NAND support is only partial in that there is no file system that works
with it properly. Lower-level NAND support has been developed and
verified, but there is no way to use it in the current NuttX architecture
other than through the raw MTD interface.
NAND should still be considered a work in progress. You will not want to
use NAND unless you are interested in investing a little effort,
particularly in infrastructure. See the "STATUS SUMMARY" section below.
NAND Support
------------
NAND Support can be added to the NSH configuration by modifying the
NuttX configuration file as follows:
Build Setup
CONFIG_EXPERIMENTAL=y : NXFFS implementation is incomplete and
: not yet fully functional.
System Type -> SAMA5 Peripheral support
CONFIG_SAMA5_HSMC=y : Make sure that the SMC is enabled
Drivers -> Memory Technology Device (MTD) Support
CONFIG_MTD=y : Enable MTD support
CONFIG_MTD_NAND=y : Enable NAND support
CONFIG_MTD_NAND_BLOCKCHECK=n : Interferes with NXFFS bad block checking
CONFIG_MTD_NAND_SWECC=y : Use S/W ECC calculation
Defaults for all other NAND settings should be okay
System Type -> External Memory Configuration
CONFIG_SAMA5_EBICS3=y : Enable External CS3 memory
CONFIG_SAMA5_EBICS3_NAND=y : Select NAND memory type
CONFIG_SAMA5_EBICS3_SIZE=8388608 : Use this size
CONFIG_SAMA5_EBICS3_SWECC=y : Use S/W ECC calculation
Defaults for ROM page table addresses should be okay
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : Use architecture-specific initialization
NOTES:
1. WARNING: This will wipe out everything that you may have on the NAND
FLASH! I have found that using the JTAG with no valid image on NAND
or Serial FLASH is a problem: In that case, the code always ends up
in the SAM-BA bootloader.
My understanding is that you can enable JTAG in this case by simply
entering any data on the DBG serial port. I have not tried this.
Instead, I just changed to boot from Serial Flash:
2. Unfortunately, there are no appropriate NAND file system in NuttX as
of this writing. The following sections discussion issues/problems
with using NXFFS and FAT.
PMECC
-----
Hardware ECC calculation using the SAMA5D4's PMECC can be enable as
follows:
Drivers -> Memory Technology Device (MTD) Support
CONFIG_MTD_NAND_SWECC=y : Don't use S/W ECC calculation
CONFIG_MTD_NAND_HWECC=y : Use H/W ECC instead
System Type -> External Memory Configuration
CONFIG_SAMA5_EBICS3_SWECC=n : Don't use S/W ECC calculation
CONFIG_SAMA5_HAVE_PMECC=n : Use H/W ECC instead
Other PMECC-related default settings should be okay.
STATUS: As of the writing, NAND transfers using PMECC appear to
work correctly. However, the PMECC based systems do not work as
as well with FAT or NXFFS. My belief that that the FAT/NXFFS layers
are inappropriate for NAND and, as a result, happen not to work with
the PMECC ECC calculation. See also the "STATUS SUMMARY" section below.
DMA Support
-----------
DMA support can be enabled as follows:
System Type -> SAMA5 Peripheral support
CONFIG_SAMA5_DMAC0=y : Use DMAC0 for memory-to-memory DMA
System Type -> External Memory Configuration
CONFIG_SAMA5_NAND_DMA=y : Use DMAC0 for NAND data transfers
STATUS: DMA appears to be functional, but probably has not been
exercised enough to claim that with any certainty. See also the "STATUS
SUMMARY" section below.
NXFFS
-----
The NuttX FLASH File System (NXFFS) works well with NOR-like FLASH
but does not work well with NAND (See comments below under STATUS)
File Systems:
CONFIG_FS_NXFFS=y : Enable the NXFFS file system
Defaults for all other NXFFS settings should be okay.
NOTE: NXFFS will require some significant buffering because of
the large size of the NAND flash blocks. You will also need
to enable SDRAM as described above.
Board Selection
CONFIG_SAMA5D4EK_NAND_AUTOMOUNT=y : Enable FS support on NAND
CONFIG_SAMA5D4EK_NAND_NXFFS=y : Use the NXFFS file system
Other file systems are not recommended because only NXFFS can handle
bad blocks and only NXFFS performs wear-levelling.
FAT
---
Another option is FAT. FAT, however, is not appropriate for use with
NAND: FAT will not handle bad blocks, does not perform any wear
levelling, and may not conform to writing ordering requirements of NAND.
Also, there appear to be issues with FAT when PMECC is enabled (see
"STATUS SUMMARY" below).
File Systems:
CONFIG_FS_FAT=y : Enable the FAT FS
CONFIG_FAT_LCNAMES=y : With lower case name support
CONFIG_FAT_LFN=y : And (patented) FAT long file name support
CONFIG_FS_NXFFS=n : Don't need NXFFS
Defaults for all other NXFFS settings should be okay.
Board Selection
CONFIG_SAMA5D4EK_NAND_AUTOMOUNT=y : Enable FS support on NAND
CONFIG_SAMA5D4EK_NAND_FTL=y : Use an flash translation layer
NOTE: FTL will require some significant buffering because of
the large size of the NAND flash blocks. You will also need
to enable SDRAM as described above.
SMART FS
--------
Another option is Smart FS. Smart FS is another small file system
designed to work with FLASH. Properties: It does support some wear-
leveling like NXFFS, but like FAT, cannot handle bad blocks and like
NXFFS, it will try to re-write erased bits.
Using NAND with NXFFS
---------------------
With the options CONFIG_SAMA5D4EK_NAND_AUTOMOUNT=y and
CONFIG_SAMA5D4EK_NAND_NXFFS=y, the NAND FLASH will be mounted in the NSH
start-up logic before the NSH prompt appears. There is no feedback as
to whether or not the mount was successful. You can, however, see the
mounted file systems using the nsh 'mount' command:
nsh> mount
/mnt/nand type nxffs
Then NAND can be used like any other file system:
nsh> echo "This is a test" >/mnt/nand/atest.txt
nsh> ls -l /mnt/nand
/mnt/nand:
---x--x--x 16 atest.txt
nsh> cat /mnt/nand/atest.txt
This is a test
The NAND volume can be un-mounted with this comment:
nsh> umount /mnt/nand
nsh> mount
And re-mounted with this command:
nsh> mount -t nxffs /mnt/mystuff
nsh> mount
/mnt/mystuff type nxffs
NOTES:
1. NXFFS can be very slow. The first time that you start the system,
be prepared for a wait; NXFFS will need to format the NAND volume.
I have lots of debug on so I don't yet know what the optimized wait
will be. But with debug ON, software ECC, and no DMA the wait is
in many tens of minutes (and substantially longer if many debug
options are enabled.
[I don't yet have data for the more optimal cases. It will be
significantly less, but still not fast.]
2. On subsequent boots, after the NXFFS file system has been created
the delay will be less. When the new file system is empty, it will
be very fast. But the NAND-related boot time can become substantial
when there has been a lot of usage of the NAND. This is because
NXFFS needs to scan the NAND device and build the in-memory dataset
needed to access NAND and there is more that must be scanned after
the device has been used. You may want to create a separate thread at
boot time to bring up NXFFS so that you don't delay the boot-to-prompt
time excessively in these longer delay cases.
3. There is another NXFFS related performance issue: When the FLASH
is fully used, NXFFS will restructure the entire FLASH, the delay
to restructure the entire FLASH will probably be even larger. This
solution in this case is to implement an NXFSS clean-up daemon that
does the job a little-at-a-time so that there is no massive clean-up
when the FLASH becomes full.
4. Bad NXFFS behavior with NAND: If you restart NuttX, the files that
you wrote to NAND will be gone. Why? Because the multiple writes
have corrupted the NAND ECC bits. See STATUS below. NXFFS would
require a major overhaul to be usable with NAND.
Using NAND with FAT
-------------------
If configured for FAT, the system will create block driver at
/dev/mtdblock0:
NuttShell (NSH)
nsh> ls /dev
/dev:
console
mtdblock0
null
ttyS0
You will not that the system comes up immediately because there is not
need to scan the volume in this case..
The NSH 'mkfatfs' command can be used to format a FAT file system on
NAND.
nsh> mkfatfs /dev/mtdblock0
This step, on the other hand, requires quite a bit of time.
And the FAT file system can be mounted like:
nsh> mount -t vfat /dev/mtdblock0 /mnt/nand
nsh> ls /mnt/nand
/mnt/nand:
nsh> echo "This is a test" > /mnt/nand/atest.txt
NOTE: This will take a long time because it will require reading,
modifying, and re-writing the 128KB erase page!
nsh> ls -l /mnt/nand
/mnt/nand:
-rw-rw-rw- 16 atest.txt
nsh> cat /mnt/fat/atest.txt
This is a test
NOTES:
1. Unlike NXFFS, FAT can work with NAND (at least with PMECC disabled).
But there are some significant issues.
2. First, each NAND write access will cause a 256KB data transfer: It
will read the entire 128KB erase block, modify it and write it back
to memory. There is some caching logic so that this cached erase
block can be re-used if possible and writes will be deferred as long
as possible.
3. If you hit a bad block, then FAT is finished. There is no mechanism
in place in FAT not to mark and skip over bad blocks.
What is Needed
--------------
What is needed to work with FAT properly would be another MTD layer
between the FTL layer and the NAND FLASH layer. That layer would
perform bad block detection and sparing so that FAT works transparently
on top of the NAND.
Another, less general, option would be support bad blocks within FAT.
STATUS SUMMARY
--------------
1. PMECC appears to be working in that I can write a NAND block with its
ECC and read the block back and verify that that is are no bit
failures. However, when attempting to work with FAT, it does not
work correctly: The MBR is written and read back correctly, but gets
corrupted later for unknown reasons.
2. DMA works (at least with software ECC), but I have seen occasional
failures. I recommend enabling DMA with caution.
In NuttX, DMA will also cost two context switches (and, hence, four
register state transfers). With smaller NAND page sizes (say 2KiB and
below), I would expect little or no performance improvement with DMA
for this reason.
3. NXFFS does not work with NAND. NAND differs from other other FLASH
types several ways. For one thing, NAND requires error correction
(ECC) bytes that must be set in order to work around bit failures.
This affects NXFFS in two ways:
a. First, write failures are not fatal. Rather, they should be tried by
bad blocks and simply ignored. This is because unrecoverable bit
failures will cause read failures when reading from NAND. Setting
the CONFIG_EXPERIMENTAL+CONFIG_NXFFS_NANDs option will enable this
behavior.
b. Secondly, NXFFS will write a block many times. It tries to keep
bits in the erased state and assumes that it can overwrite those bits
to change them from the erased to the non-erased state. This works
will with NOR-like FLASH. NAND behaves this way too. But the
problem with NAND is that the ECC bits cannot be re-written in this
way. So once a block has been written, it cannot be modified. This
behavior has NOT been fixed in NXFFS. Currently, NXFFS will attempt
to re-write the ECC bits causing the ECC to become corrupted because
the ECC bits cannot be overwritten without erasing the entire block.
This may prohibit NXFFS from ever being used with NAND.
4. As mentioned above, FAT does work but (1) has some performance issues on
writes and (2) cannot handle bad blocks.
I2C Tool
========
I2C Tool. NuttX supports an I2C tool at apps/system/i2c that can be used
to peek and poke I2C devices. That tool can be enabled by setting the
following:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_TWI0=y : Enable TWI0
CONFIG_SAMA5_TWI1=y : Enable TWI1
CONFIG_SAMA5_TWI2=y : Enable TWI2
System Type -> TWI device driver options
SAMA5_TWI0_FREQUENCY=100000 : Select a TWI0 frequency
SAMA5_TWI1_FREQUENCY=100000 : Select a TWI1 frequency
SAMA5_TWI2_FREQUENCY=100000 : Select a TWI2 frequency
Device Drivers -> I2C Driver Support
CONFIG_I2C=y : Enable I2C support
CONFIG_I2C_TRANSFER=y : Driver supports the transfer() method
CONFIG_I2C_WRITEREAD=y : Driver supports the writeread() method
Application Configuration -> NSH Library
CONFIG_SYSTEM_I2CTOOL=y : Enable the I2C tool
CONFIG_I2CTOOL_MINBUS=0 : TWI0 has the minimum bus number 0
CONFIG_I2CTOOL_MAXBUS=2 : TWI2 has the maximum bus number 2
CONFIG_I2CTOOL_DEFFREQ=100000 : Pick a consistent frequency
The I2C tool has extensive help that can be accessed as follows:
nsh> i2c help
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: 100000 Current: 100000
NOTES:
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.
As an example, the I2C dev comman can be used to list all devices
responding on TWI0 (the default) like this:
nsh> i2c dev 0x03 0x77
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- 1a -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- 39 -- -- -- 3d -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
nsh>
Address 0x1a is the WM8904. Address 0x39 is the SIL9022A. I am not sure
what is at address 0x3d and 0x60
SAMA5 ADC Support
=================
Basic driver configuration
--------------------------
ADC support can be added to the NSH configuration. However, there are no
ADC input pins available to the user for ADC testing (the touchscreen ADC
inputs are intended for other functionality). Because of this, there is
not much motivation to enable ADC support on the SAMA4D4-EK. This
paragraph is included here, however, for people using a custom SAMA5D4x
board that requires ADC support.
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_ADC=y : Enable ADC driver support
CONFIG_SAMA5_TC0=y : Enable the Timer/counter library need for periodic sampling
Drivers
CONFIG_ANALOG=y : Should be automatically selected
CONFIG_ADC=y : Should be automatically selected
System Type -> ADC Configuration
CONFIG_SAMA5_ADC_CHAN0=y : These settings enable the sequencer to collect
CONFIG_SAMA5_ADC_CHAN1=y : Samples from ADC channels 0-3 on each trigger
CONFIG_SAMA5_ADC_CHAN2=y
CONFIG_SAMA5_ADC_CHAN3=y
CONFIG_SAMA5_ADC_SEQUENCER=y
CONFIG_SAMA5_ADC_TIOA0TRIG=y : Trigger on the TC0, channel 0 output A
CONFIG_SAMA5_ADC_TIOAFREQ=2 : At a frequency of 2Hz
CONFIG_SAMA5_ADC_TIOA_RISING=y : Trigger on the rising edge
Default ADC settings (like gain and offset) may also be set if desired.
System Type -> Timer/counter Configuration
CONFIG_SAMA5_TC0_TIOA0=y : Should be automatically selected
Work queue supported is also needed:
Library routines
CONFIG_SCHED_WORKQUEUE=y
ADC Test Example
----------------
For testing purposes, there is an ADC program at apps/examples/adc that
will collect a specified number of samples. This test program can be
enabled as follows:
Application Configuration -> Examples -> ADC example
CONFIG_EXAMPLES_ADC=y : Enables the example code
CONFIG_EXAMPLES_ADC_DEVPATH="/dev/adc0"
Other default settings for the ADC example should be okay.
ADC DMA Support
---------------
At 2Hz, DMA is not necessary nor desire-able. The ADC driver has support
for DMA transfers of converted data (although that support has not been
tested as of this writing). DMA support can be added by include the
following in the configuration.
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_DMAC1=y : Enable DMAC1 support
System Type -> ADC Configuration
CONFIG_SAMA5_ADC_DMA=y : Enable ADC DMA transfers
CONFIG_SAMA5_ADC_DMASAMPLES=2 : Collect two sets of samples per DMA
Drivers -> Analog device (ADC/DAC) support
CONFIG_ADC_FIFOSIZE=16 : Driver may need a large ring buffer
Application Configuration -> Examples -> ADC example
CONFIG_EXAMPLES_ADC_GROUPSIZE=16 : Larger buffers in the test
SAMA5 PWM Support
=================
Basic driver configuration
--------------------------
PWM support can be added to the NSH configuration. However, there are no
PWM output pins available to the user for PWM testing. Because of this,
there is not much motivation to enable PWM support on the SAMA4D4-EK. This
paragraph is included here, however, for people using a custom SAMA5D4x
board that requires PWM support.
Basic driver configuration:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_PWM=y : Enable PWM driver support
Drivers
CONFIG_PWM=y : Should be automatically selected
PWM Channel/Output Selection
----------------------------
In order to use the PWM, you must enable one or more PWM Channels:
System Type -> PWM Configuration
CONFIG_SAMA5_PWM_CHAN0=y : Enable one or more of channels 0-3
CONFIG_SAMA5_PWM_CHAN1=y
CONFIG_SAMA5_PWM_CHAN2=y
CONFIG_SAMA5_PWM_CHAN3=y
For each channel that is enabled, you must also specify the output pins
to be enabled and the clocking supplied to the PWM channel.
CONFIG_SAMA5_PWM_CHANx_FAULTINPUT=n : (not used currently)
CONFIG_SAMA5_PWM_CHANx_OUTPUTH=y : Enable One of both of the H and L output pins
CONFIG_SAMA5_PWM_CHANx_OUTPUTL=y
Where x=0..3.
Care must be taken because all PWM output pins conflict with some other
usage of the pin by other devices. Furthermore, many of these pins have
not been brought out to an external connector:
-----+---+---+----+------+----------------
PWM PIN PER PIO I/O CONFLICTS
-----+---+---+----+------+----------------
PWM0 FI B PC28 J2.30 SPI1, ISI
H B PB0 --- GMAC
B PA20 J1.14 LCDC, ISI
L B PB1 --- GMAC
B PA21 J1.16 LCDC, ISI
-----+---+---+----+------+----------------
PWM1 FI B PC31 J2.36 HDMI
H B PB4 --- GMAC
B PA22 J1.18 LCDC, ISI
L B PB5 --- GMAC
B PE31 J3.20 ISI, HDMI
B PA23 J1.20 LCDC, ISI
-----+---+---+----+------+----------------
PWM2 FI B PC29 J2.29 UART0, ISI, HDMI
H C PD5 --- HSMCI0
B PB8 --- GMAC
L C PD6 --- HSMCI0
B PB9 --- GMAC
-----+---+---+----+------+----------------
PWM3 FI C PD16 --- SPI0, Audio
H C PD7 --- HSMCI0
B PB12 J3.7 GMAC
L C PD8 --- HSMCI0
B PB13 --- GMAC
-----+---+---+----+--------------------
See configs/sama5d4-ek/include/board.h for all of the default PWM
pin selections. I used PWM channel 0, pins PA20 and PA21 for testing.
Clocking is addressed in the next paragraph.
PWM Clock Configuration
-----------------------
PWM Channels can be clocked from either a coarsely divided divided down
MCK or from a custom frequency from PWM CLKA and/or CLKB. If you want
to use CLKA or CLKB, you must enable and configure them.
System Type -> PWM Configuration
CONFIG_SAMA5_PWM_CLKA=y
CONFIG_SAMA5_PWM_CLKA_FREQUENCY=3300
CONFIG_SAMA5_PWM_CLKB=y
CONFIG_SAMA5_PWM_CLKB_FREQUENCY=3300
Then for each of the enabled, channels you must select the input clock
for that channel:
System Type -> PWM Configuration
CONFIG_SAMA5_PWM_CHANx_CLKA=y : Pick one of MCK, CLKA, or CLKB (only)
CONFIG_SAMA5_PWM_CHANx_CLKB=y
CONFIG_SAMA5_PWM_CHANx_MCK=y
CONFIG_SAMA5_PWM_CHANx_MCKDIV=128 : If MCK is selected, then the MCK divider must
: also be provided (1,2,4,8,16,32,64,128,256,512, or 1024).
PWM Test Example
----------------
For testing purposes, there is an PWM program at apps/examples/pwm that
will collect a specified number of samples. This test program can be
enabled as follows:
Application Configuration -> Examples -> PWM example
CONFIG_EXAMPLES_PWM=y : Enables the example code
Other default settings for the PWM example should be okay.
CONFIG_EXAMPLES_PWM_DEVPATH="/dev/pwm0"
CONFIG_EXAMPLES_PWM_FREQUENCY=100
Usage of the example is straightforward:
nsh> pwm -h
Usage: pwm [OPTIONS]
Arguments are "sticky". For example, once the PWM frequency is
specified, that frequency will be re-used until it is changed.
"sticky" OPTIONS include:
[-p devpath] selects the PWM device. Default: /dev/pwm0 Current: /dev/pwm0
[-f frequency] selects the pulse frequency. Default: 100 Hz Current: 100 Hz
[-d duty] selects the pulse duty as a percentage. Default: 50 % Current: 50 %
[-t duration] is the duration of the pulse train in seconds. Default: 5 Current: 5
[-h] shows this message and exits
RTC
===
The Real Time Clock/Calendar RTC) may be enabled with these settings:
System Type:
CONFIG_SAMA5_RTC=y : Enable the RTC driver
Drivers (these values will be selected automatically):
CONFIG_RTC=y : Use the RTC for system time
CONFIG_RTC_DATETIME=y : RTC supports data/time
NOTE: If you want the RTC to preserve time over power cycles, you will
need to install a battery in the battery holder (J12) and close the jumper,
JP13.
You can set the RTC using the NSH date command:
NuttShell (NSH) NuttX-7.3
nsh> help date
date usage: date [-s "MMM DD HH:MM:SS YYYY"]
nsh> date
Jan 01 00:34:45 2012
nsh> date -s "JUN 29 7:30:00 2014"
nsh> date
Jun 29 07:30:01 2014
After a power cycle and reboot:
NuttShell (NSH) NuttX-7.3
nsh> date
Jun 29 07:30:55 2014
nsh>
The RTC also supports an alarm that may be enable with the following
settings. However, there is nothing in the system that currently makes
use of this alarm.
Drivers:
CONFIG_RTC_ALARM=y : Enable the RTC alarm
Library Routines
CONFIG_SCHED_WORKQUEUE=y : Alarm needs work queue support
Watchdog Timer
==============
NSH can be configured to exercise the watchdog timer test
(apps/examples/watchdog). This can be selected with the following
settings in the NuttX configuration file:
System Type:
CONFIG_SAMA5_WDT=y : Enable the WDT peripheral
: Defaults values for others settings
should be OK
Drivers (this will automatically be selected):
CONFIG_WATCHDOG=y : Enables watchdog timer driver support
Application Configuration -> Examples
CONFIG_EXAMPLES_WATCHDOG=y : Enable apps/examples/watchdog
The WDT timer is driven off the slow, 32768Hz clock divided by 128. As a
result, the watchdog a maximum timeout value of 16 seconds. The SAMA5 WDT
may also only be programmed one time; the processor must be reset before
the WDT can be reprogrammed.
The SAMA5 always boots with the watchdog timer enabled at its maximum
timeout (16 seconds). In the normal case where no watchdog timer driver
has been configured, the watchdog timer is disabled as part of the start
up logic. But, since we are permitted only one opportunity to program
the WDT, we cannot disable the watchdog time if CONFIG_SAMA5_WDT=y. So,
be forewarned: You have only 16 seconds to run your watchdog timer test!
NOTE: If you are using the dramboot program to run from DRAM as I did,
beware that the default version also disables the watchdog. You will
need a special version of dramboot with CONFIG_SAMA5_WDT=y.
TRNG and /dev/random
====================
NSH can be configured to enable the SAMA5 TRNG peripheral so that it
provides /dev/random. The following configuration will enable the TRNG,
and support for /dev/random:
System Type:
CONFIG_SAMA5_TRNG=y : Enable the TRNG peripheral
Drivers:
CONFIG_DEV_RANDOM=y : Enable /dev/random
A simple test of /dev/random is available at apps/examples/random and
can be enabled as a NSH application via the following additional
configuration settings:
Applications -> Examples
CONFIG_EXAMPLES_RANDOM=y : Enable apps/examples/random
CONFIG_EXAMPLES_MAXSAMPLES=64 : Default settings are probably OK
CONFIG_EXAMPLES_NSAMPLES=8
I2S Audio Support
=================
The SAMA4D4-EK has two devices on-board that can be used for verification
of I2S functionality: HDMI and a WM8904 audio CODEC. As of this writing,
the I2S driver is present, but there are not drivers for either the HDMI
or the WM8904.
WM8904 Audio CODEC Interface
----------------------------
------------- ---------------- -----------------
WM8904 SAMA5D4 NuttX Pin Name
------------- ---------------- -----------------
3 SDA PA30 TWD0 PIO_TWI0_D
2 SCLK PA31 TWCK0 PIO_TWI0_CK
28 MCLK PD30 PCK0 PIO_PMC_PCK0
29 BCLK/GPIO4 PC16 TK PIO_SSC0_TK
"" " " PC19 RK PIO_SSC0_RK
30 LRCLK PC17 TF PIO_SSC0_TF
"" " " PC20 RF PIO_SSC0_RF
31 ADCDAT PC21 RD PIO_SSC0_RD
32 DACDAT PC18 TD PIO_SSC0_TD
1 IRQ/GPIO1 PD16 INT_AUDIO N/A
------------- ---------------- -----------------
I2S Loopback Test
-----------------
The I2S driver was verified using a special I2C character driver (at
nuttx/drivers/audio/i2schar.c) and a test driver at apps/examples/i2schar.
The I2S driver was verified in loopback mode with no audio device.
[NOTE: The above statement is anticipatory: As of this writing I2S driver
verification is underway and still not complete].
This section describes the modifications to the NSH configuration that were
used to perform the I2S testing:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_SSCO=y : Enable SSC0 driver support
CONFIG_SAMA5_DMAC0=y : DMAC0 required by SSC0
Alternatively, SSC1 could have be used:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_SSC1=y : Enable SSC0 driver support
CONFIG_SAMA5_DMAC1=y : DMAC0 required by SSC0
System Type -> SSC Configuration
CONFIG_SAMA5_SSC_MAXINFLIGHT=16 : Up to 16 pending DMA transfers
CONFIG_SAMA5_SSC0_MASTER=y : Master mode
CONFIG_SAMA5_SSC0_DATALEN=16 : 16-bit data
CONFIG_SAMA5_SSC0_RX=y : Support a receiver
CONFIG_SAMA5_SSC0_RX_RKINPUT=y : Receiver gets clock from RK input
CONFIG_SAMA5_SSC0_TX=y : Support a transmitter
CONFIG_SAMA5_SSC0_TX_MCKDIV=y : Transmitter gets clock from MCK/2
CONFIG_SAMA5_SSC0_MCKDIV_SAMPLERATE=48000 : Sampling at 48K samples/sec
CONFIG_SAMA5_SSC0_TX_TKOUTPUT_XFR=y : Outputs clock on TK when transferring data
CONFIG_SAMA5_SSC0_LOOPBACK=y : Loopmode mode connects RD/TD and RK/TK
Audio
CONFIG_AUDIO=y : Audio support needed
: Defaults should be okay
Drivers -> Audio
CONFIG_I2S=y : General I2S support
CONFIG_AUDIO_DEVICES=y : Audio device support
CONFIG_AUDIO_I2SCHAR=y : Build I2S character driver
The following describes how I have the test application at
apps/examples/i2schar configured:
CONFIG_EXAMPLES_I2SCHAR=y
CONFIG_EXAMPLES_I2SCHAR_DEVPATH="/dev/i2schar0"
CONFIG_EXAMPLES_I2SCHAR_TX=y
CONFIG_EXAMPLES_I2SCHAR_TXBUFFERS=4
CONFIG_EXAMPLES_I2SCHAR_TXSTACKSIZE=1536
CONFIG_EXAMPLES_I2SCHAR_RX=y
CONFIG_EXAMPLES_I2SCHAR_RXBUFFERS=4
CONFIG_EXAMPLES_I2SCHAR_RXSTACKSIZE=1536
CONFIG_EXAMPLES_I2SCHAR_BUFSIZE=256
CONFIG_EXAMPLES_I2SCHAR_DEVINIT=y
Board Selection
CONFIG_SAMA5D4EK_I2SCHAR_MINOR=0
CONFIG_SAMA5D4EK_SSC_PORT=0 : 0 or SSC0, 1 for SSC1
Library Routines
CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support
SAMA4D4-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
CONFIG_ARCH_CHIP_ATSAMA5D44=y
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD="sama5d4-ek" (for the SAMA4D4-EK development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_SAMA5D4_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_RAM_SIZE - Describes the installed DRAM (SRAM in this case):
CONFIG_RAM_SIZE=0x0002000 (128Kb)
CONFIG_RAM_START - The physical start address of installed DRAM
CONFIG_RAM_START=0x20000000
CONFIG_RAM_VSTART - The virtual start address of installed DRAM
CONFIG_RAM_VSTART=0x20000000
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 calibrate
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
CONFIG_SAMA5_PIT - Periodic Interval Timer
CONFIG_SAMA5_WDT - Watchdog timer
CONFIG_SAMA5_HSMC - Multi-bit ECC
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_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_XDMAC0 - XDMA Controller 0
CONFIG_SAMA5_XDMAC1 - XDMA Controller 1
CONFIG_SAMA5_UHPHS - USB Host High Speed
CONFIG_SAMA5_UDPHS - USB Device High Speed
CONFIG_SAMA5_EMAC0 - Ethernet MAC 0 (GMAC0)
CONFIG_SAMA5_EMAC1 - Ethernet MAC 1 (GMAC1)
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_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_SAMA5_PIOA_IRQ - Support PIOA interrupts
CONFIG_SAMA5_PIOB_IRQ - Support PIOB interrupts
CONFIG_SAMA5_PIOC_IRQ - Support PIOD interrupts
CONFIG_SAMA5_PIOD_IRQ - Support PIOD interrupts
CONFIG_SAMA5_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
AT91SAMA5 specific device driver settings
CONFIG_SAMA5_DBGU_SERIAL_CONSOLE - selects the DBGU
for the console and ttyDBGU
CONFIG_SAMA5_DBGU_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_SAMA5_DBGU_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_SAMA5_DBGU_BAUD - The configure BAUD of the DBGU.
CONFIG_SAMA5_DBGU_PARITY - 0=no parity, 1=odd parity, 2=even parity
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 DBGU).
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_PARITY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_U[S]ARTn_2STOP - Two stop bits
AT91SAMA5 USB Host Configuration
Pre-requisites
CONFIG_USBDEV - Enable USB device support
CONFIG_USBHOST - Enable USB host support
CONFIG_SAMA5_UHPHS - Needed
CONFIG_SAMA5_OHCI - Enable the STM32 USB OTG FS block
CONFIG_SCHED_WORKQUEUE - Worker thread support is required
Options:
CONFIG_SAMA5_OHCI_NEDS
Number of endpoint descriptors
CONFIG_SAMA5_OHCI_NTDS
Number of transfer descriptors
CONFIG_SAMA5_OHCI_TDBUFFERS
Number of transfer descriptor buffers
CONFIG_SAMA5_OHCI_TDBUFSIZE
Size of one transfer descriptor buffer
CONFIG_USBHOST_INT_DISABLE
Disable interrupt endpoint support
CONFIG_USBHOST_ISOC_DISABLE
Disable isochronous endpoint support
CONFIG_USBHOST_BULK_DISABLE
Disable bulk endpoint support
config SAMA5_OHCI_REGDEBUG
Configurations
==============
Information Common to All Configurations
----------------------------------------
Each SAMA4D4-EK configuration is maintained in a sub-directory and
can be selected as follow:
cd tools
./configure.sh sama5d4-ek/<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
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 the DBGU (J23).
3. 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_WINDOWS=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.
!!!WARNING!!! The first time that you type 'make', the system will
configure itself based on the settings in the .config file. One of
these settings can cause a lot of confusion if you configure the build
in the wrong state: If you are running on Linux, make *certain* that
you have CONFIG_HOST_LINUX=y *before* the first make or you will
create a very corrupt configuration that may not be easy to recover
from.
4. The SAMA5Dx is running at 396MHz by default in these configurations.
This is because the original timing for the PLLs, NOR FLASH, and SDRAM
came from the Atmel NoOS sample code which runs at that rate.
The SAMA5Dx is capable of running at 528MHz, however, and is easily
re-configured:
Board Selection -> CPU Frequency
CONFIG_SAMA5D4EK_396MHZ=n # Disable 396MHz operation
CONFIG_SAMA5D4EK_528MHZ=y # Enable 528MHz operation
If you switch to 528MHz, you should also check the loop calibration
value in your .config file. Of course, it would be best to re-calibrate
the timing loop, but these values should get you in the ballpark:
CONFIG_BOARD_LOOPSPERMSEC=49341 # Calibrated on SAMA5D3-EK at 396MHz
# running from ISRAM
CONFIG_BOARD_LOOPSPERMSEC=65775 # Calibrated on SAMA5D3-Xplained at
# 528MHz running from SDRAM
Operation at 528MHz has been verified but is not the default in these
configurations because most testing was done at 396MHz. NAND has not
been verified at these rates.
Configuration Sub-directories
-----------------------------
Summary: Some of the descriptions below are long and wordy. Here is the
concise summary of the available SAMA4D4-EK configurations:
at25boot: This is a little program to write a boot loader into the
AT25 serial FLASH (in particular, dramboot). See the description
below and the section above entitled "Creating and Using AT25BOOT"
for more information
dramboot: This is a little program to help debug of code in DRAM. See
the description below and the section above entitled "Creating and
Using DRAMBOOT" for more information
nsh: This is another NSH configuration, not too different from the
demo configuration. The nsh configuration is, however, bare bones.
It is the simplest possible NSH configuration and is useful as a
platform for debugging and integrating new features in isolation.
ramtest: This is a stripped down version of NSH that runs out of
internal SRAM. It configures SDRAM and supports only the RAM test
at apps/examples/ramtest. This configuration is useful for
bringing up SDRAM.
There may be issues with some of these configurations. See the details
before of the status of individual configurations.
Now for the gory details:
at25boot:
To work around some SAM-BA availability issues that I had at one time,
I created the at25boot program. at25boot is a tiny program that runs in
ISRAM. at25boot will enable SDRAM and configure the AT25 Serial FLASH.
It will prompt and then load an Intel HEX program into SDRAM over the
serial console. If the program is successfully loaded in SDRAM, at25boot
will copy the program at the beginning of the AT26 Serial FLASH.
If the jumpering is set correctly, the SAMA5D4 RomBOOT loader will
then boot the program from the serial FLASH the next time that it
reset.
The usage is different, otherwise I believe the notes for the dramboot
configuration should all apply.
STATUS: While this program works great and appears to correctly write
the binary image onto the AT25 Serial FLASH, the RomBOOT loader will
not boot it! I believe that is because the secure boot loader has some
undocumented requirements that I am unaware of. (2014-6-28)
dramboot:
This is a little program to help debug of code in DRAM. It does the
following:
- Sets the clocking so that the SAMA5 is running at 528MHz.
- Configures DRAM,
- Loads and Intel HEX file into DRAM over the terminal port,
- Waits for you to break in with GDB (or optionally starts the
newly loaded program).
At that point, you can set the PC and begin executing from SDRAM under
debug control. See the section entitled "Creating and Using
DRAMBOOT" above.
NOTES:
1. This configuration uses the the USART3 for the serial console
which is available at the "DBGU" RS-232 connector (J24). That
is easily changed by reconfiguring to (1) enable a different
serial peripheral, and (2) selecting that serial peripheral as
the console device.
2. By default, this configuration is set up to build on Windows
under either a Cygwin or MSYS environment using a recent, Windows-
native, generic ARM EABI GCC toolchain (such as the CodeSourcery
toolchain). Both the build environment and the toolchain
selection can easily be changed by reconfiguring:
CONFIG_HOST_WINDOWS=y : Windows operating system
CONFIG_WINDOWS_CYGWIN=y : POSIX environment under windows
CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows
If you are running on Linux, make *certain* that you have
CONFIG_HOST_LINUX=y *before* the first make or you will create a
corrupt configuration that may not be easy to recover from. See
the warning in the section "Information Common to All Configurations"
for further information.
3. This configuration executes out of internal SRAM flash and is
loaded into SRAM by the boot RomBoot from NAND, Serial
DataFlash, SD card or from a TFTPC sever via the Boot ROM.
Data also is positioned in SRAM.
2. The default dramboot program initializes the DRAM memory,
displays a message, loads an Intel HEX program into DRAM over the
serial console and halts. The dramboot program can also be
configured to jump directly into DRAM without requiring the
final halt and go by setting CONFIG_SAMA5D4EK_DRAM_START=y in the
NuttX configuration.
3. Be aware that the default dramboot also disables the watchdog.
Since you will not be able to re-enable the watchdog later, you may
need to set CONFIG_SAMA5_WDT=y in the NuttX configuration file.
4. If you put dramboot on the Serial FLASH, you can automatically
boot to SDRAM on reset. See the section "Creating and Using DRAMBOOT"
above.
5. Here are the steps that I use to execute this program in SRAM
using only the ROM Bootloader:
a) Hold the DIS_BOOT button and
b) With the DIS_BOOT button pressed, power cycle the board. A
reset does not seem to be sufficient.
c) The serial should show RomBOOT in a terminal window (at 115200
8N1) and nothing more.
d) Press ENTER in the terminal window a few times to enable JTAG.
e) Start the Segger GDB server. It should successfully connect to
the board via JTAG (if JTAG was correctly enabled in step d)).
f) Start GDB, connect, to the GDB server, load NuttX, and debug.
gdb> target remote localhost:2331
gdb> mon halt (don't do mon reset)
gdb> load nuttx
gdb> mon reg pc (make sure that the PC is 0x200040
gdb> ... and debug ...
STATUS: I don't have a working SAM-BA at the moment and there are issues
with my AT25BOOT (see above). I currently work around these issues by
putting DRAMBOOT on a microSD card (as boot.bin). The RomBOOT loader does
boot that image without issue.
nsh:
This configuration directory provide the NuttShell (NSH). This is a
very simple NSH configuration upon which you can build further
functionality.
NOTES:
1. This configuration uses the the USART3 for the serial console
which is available at the "DBGU" RS-232 connector (J24). That
is easily changed by reconfiguring to (1) enable a different
serial peripheral, and (2) selecting that serial peripheral as
the console device.
2. By default, this configuration is set up to build on Windows
under either a Cygwin or MSYS environment using a recent, Windows-
native, generic ARM EABI GCC toolchain (such as the CodeSourcery
toolchain). Both the build environment and the toolchain
selection can easily be changed by reconfiguring:
CONFIG_HOST_WINDOWS=y : Windows operating system
CONFIG_WINDOWS_CYGWIN=y : POSIX environment under windows
CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows
If you are running on Linux, make *certain* that you have
CONFIG_HOST_LINUX=y *before* the first make or you will create a
corrupt configuration that may not be easy to recover from. See
the warning in the section "Information Common to All Configurations"
for further information.
3. This configuration supports logging of debug output to a circular
buffer in RAM. This feature is discussed fully in this Wiki page:
http://nuttx.org/doku.php?id=wiki:howtos:syslog . Relevant configuration settings are summarized below:
File System:
CONFIG_SYSLOG_ENABLE=n : (Output debug info unconditionally)
CONFIG_SYSLOG=y : Enables the System Logging feature.
Device Drivers:
CONFIG_RAMLOG=y : Enable the RAM-based logging feature.
CONFIG_RAMLOG_CONSOLE=n : (We don't use the RAMLOG console)
CONFIG_RAMLOG_SYSLOG=y : This enables the RAM-based logger as the
system logger.
CONFIG_RAMLOG_NONBLOCKING=y : Needs to be non-blocking for dmesg
CONFIG_RAMLOG_BUFSIZE=16384 : Buffer size is 16KiB
NOTE: This RAMLOG feature is really only of value if debug output
is enabled. But, by default, no debug output is disabled in this
configuration. Therefore, there is no logic that will add anything
to the RAM buffer. This feature is configured and in place only
to support any future debugging needs that you may have.
If you don't plan on using the debug features, then by all means
disable this feature and save 16KiB of RAM!
4. This configuration executes out of SDRAM flash and is loaded into
SDRAM from NAND, Serial DataFlash, SD card or from a TFTPC sever via
U-Boot, BareBox, or the DRAMBOOT configuration described above. Data
also is positioned in SDRAM.
The load address is different for the DRAMBOOT program and the Linux
bootloaders. This can easily be reconfigured, however:
CONFIG_SAMA5D4EK_DRAM_BOOT=y
See the section above entitled "Creating and Using DRAMBOOT" above
for more information. Here is a summary of the steps that I used
to boot the NSH configuration:
a. Create the DRAMBOOT program as described above. It should be
configured with CONFIG_SAMA5D4EK_DRAM_START=y so that DRAMBOOT
will immediately start the program. You may not want to do
this is your prefer to break in with GDB.
b. Write the DRAMBOOT program binary (nuttx.bin) to a microSD
card as "boot.bin". Insert the microSD card into the boar;
The ROM Booloader should now boot DRAMBOOT on reset and you
should see this message:
Send Intel HEX file now
c. Build the NSH version of NuttX. Send the Intel HEX of NSH
at the prompt. After the file is received, NSH should start
automatically.
At times the past, have have tested with nuttx.bin on an SD card and
booting with U-Boot. These are the commands that I used to boot NuttX
from the SD card:
U-Boot> fatload mmc 0 0x20008000 nuttx.bin
U-Boot> go 0x20008040
5. This configuration supports /dev/null, /dev/zero, and /dev/random.
CONFIG_DEV_NULL=y : Enables /dev/null
CONFIG_DEV_ZERO=y : Enabled /dev/zero
Support for /dev/random is implemented using the SAMA5D4's True
Random Number Generator (TRNG). See the section above entitled
"TRNG and /dev/random" for information about configuring /dev/random.
CONFIG_SAMA5_TRNG=y : Enables the TRNG peripheral
CONFIG_DEV_RANDOM=y : Enables /dev/random
6. This configuration has support for NSH built-in applications enabled.
7. This configuration has support for the FAT and ROMFS file systems
built in.
The FAT file system includes long file name support. Please be aware
that Microsoft claims patents against the long file name support (see
more discussion in the top-level COPYING file).
CONFIG_FS_FAT=y : Enables the FAT file system
CONFIG_FAT_LCNAMES=y : Enable lower case 8.3 file names
CONFIG_FAT_LFN=y : Enables long file name support
CONFIG_FAT_MAXFNAME=32 : Arbitrarily limits the size of a path
segment name to 32 bytes
The ROMFS file system is enabled simply with:
CONFIG_FS_ROMFS=y : Enable ROMFS file system
8. An NSH star-up script is provided by the ROMFS file system. The ROMFS
file system is mounted at /etc and provides:
|- dev/
| `- ram0
`- etc/
`- init.d/
`- rcS
(There will, of course, be other devices uner /dev include /dev/console,
/dev/null, /dev/zero, /dev/random, etc.).
Relevant configuration options include:
CONFIG_NSH_ROMFSETC=y : Enable mounting at of startup file system
CONFIG_NSH_ROMFSMOUNTPT="/etc" : Mount at /etc
CONFIG_NSH_ROMFSDEVNO=0 : Device is /dev/ram0
CONFIG_NSH_ARCHROMFS=y : ROMFS image is at
configs/sama5d4-ek/include/nsh_romfsimg.h
The content of /etc/init.d/rcS can be see in the file rcS.template that
can be found at: configs/sama5d4-ek/include/rcS.template:
mkrd -m 2 -s 512 1024
mkfatfs /dev/ram1
mount -t vfat /dev/ram1 /tmp
The above commands will create a RAM disk block device at /dev/ram1.
The RAM disk will take 0.4MiB of memory (512 x 1024). Then it will
create a FAT file system on the ram disk and mount it at /tmp. So
after NSH starts and runs the rcS script, we will have:
|- dev/
| |- ram0
| `- ram2
|- etc/
| `- init.d/
| `- rcS
`- tmp/
The /tmp directory can them be used for and scratch purpose.
9. The Real Time Clock/Calendar (RTC) is enabled in this configuration.
See the section entitled "RTC" above for detailed configuration
settings.
The RTC alarm is not enabled by default since there is nothing in
this configuration that uses it. The alarm can easily be enabled,
however, as described in the "RTC" section.
The time value from the RTC will be used as the NuttX system time
in all timestamp operations. You may use the NSH 'date' command
to set or view the RTC as described above in the "RTC" section.
NOTE: If you want the RTC to preserve time over power cycles, you
will need to install a battery in the battery holder (J12) and close
the jumper, JP13.
10. Support for HSMCI0 is built-in by default. The SAMA4D4-EK provides
two SD memory card slots: (1) a full size SD card slot (J10), and
(2) a microSD memory card slot (J11). The full size SD card slot
connects via HSMCI0; the microSD connects vi HSMCI1. Support for
the microSD slot could also be enabled with the settings provided
in the paragraph entitled "HSMCI Card Slots" above.
NOTE: For now I am boot off the microSD slot so, unless are booting
in a different manner, this HSMCI1 slot may not be useful to you
anyway.
STATUS: There are unresolved issue with HSMCI0 as of this writing.
No errors are reported so most the handshaking signals and command
transfers are working, but all data transfers return the value zero
(with or without DMA). This seems like some pin configuration issue.
Also, we should be receiving interrupts when an SD card is inserted
or removed; we are not.
If these behaviors are a problem for you, then you may want to
disable HSMCI0 as well.
11. Networking is supported via EMAC0. See the "Networking" section
above for detailed configuration settings. DHCP is not used in
this configuration; rather, a hard-coded IP address of 10.0.0.2 is
used with a netmask of 255.255.255.0. The host is assumed to be
10.0.0.1 in places. You can reconfigure to enabled DHCPC or to
change these addresses as you see fit.
Since networking is enabled, you will see some boot-up delays until
the network connection is established. These delays can be quite
large if no network is attached (A production design would bring up
the network asynchronously to avoid these start up delays).
12. The SAMA5D4-EK includes for an AT25 serial DataFlash. That support is
NOT enabled in this configuration. Support for that serial FLASH can
be enabled by modifying the NuttX configuration as described above in
the paragraph entitled "AT25 Serial FLASH".
13. Support the USB low-, high- and full-speed OHCI host driver can be
enabled by changing the NuttX configuration file as described in the
section entitled "USB High-Speed Host" above.
14. Support the USB high-speed USB device driver (UDPHS) can be enabled
by changing the NuttX configuration file as described above in the
section entitled "USB High-Speed Device."
15. I2C Tool. NuttX supports an I2C tool at apps/system/i2c that can be
used to peek and poke I2C devices. See the discussion above under
"I2C Tool" for detailed configuration settings.
16. This example can be configured to exercise the watchdog timer test
(apps/examples/watchdog). See the detailed configuration settings in
the section entitled "Watchdog Timer" above.
STATUS:
See the To-Do list below
ramtest:
This is a stripped down version of NSH that runs out of
internal SRAM. It configures SDRAM and supports only the RAM test
at apps/examples/ramtest. This configuration is useful for
bringing up SDRAM.
NOTES:
1. This configuration uses the the USART3 for the serial console
which is available at the "DBGU" RS-232 connector (J24). That
is easily changed by reconfiguring to (1) enable a different
serial peripheral, and (2) selecting that serial peripheral as
the console device.
2. By default, this configuration is set up to build on Windows
under either a Cygwin or MSYS environment using a recent, Windows-
native, generic ARM EABI GCC toolchain (such as the CodeSourcery
toolchain). Both the build environment and the toolchain
selection can easily be changed by reconfiguring:
CONFIG_HOST_WINDOWS=y : Windows operating system
CONFIG_WINDOWS_CYGWIN=y : POSIX environment under windows
CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows
If you are running on Linux, make *certain* that you have
CONFIG_HOST_LINUX=y *before* the first make or you will create a
corrupt configuration that may not be easy to recover from. See
the warning in the section "Information Common to All Configurations"
for further information.
3. This configuration executes out of internal SRAM flash and is
loaded into SRAM by the boot ROM SDRAM from NAND, Serial
DataFlash, SD card or from a TFTPC sever via the Boot ROM.
Data also is positioned in SRAM.
Here are the steps that I use to execute this program in SRAM
using only the ROM Bootloader:
a) Hold the DIS_BOOT button and
b) With the DIS_BOOT button pressed, power cycle the board. A
reset does not seem to be sufficient.
c) The serial should show RomBOOT in a terminal window (at 115200
8N1) and nothing more.
d) Press ENTER in the terminal window a few times to enable JTAG.
e) Start the Segger GDB server. It should successfully connect to
the board via JTAG (if JTAG was correctly enabled in step d)).
f) Start GDB, connect, to the GDB server, load NuttX, and debug.
gdb> target remote localhost:2331
gdb> mon halt (don't do mon reset)
gdb> load nuttx
gdb> mon reg pc (make sure that the PC is 0x200040
gdb> ... and debug ...
To-Do List
==========
1) Neither USB OHCI nor EHCI support Isochronous endpoints. Interrupt
endpoint support in the EHCI driver is untested (but works in similar
EHCI drivers).
2) HSCMI TX DMA support is currently commented out.
3) Currently HSMCI0 does not work correctly. No errors are reported so all of
the card handshakes must be working, but only zero values are read from the
card (with or without DMA). Sounds like a pin configuration issue.
Also, we should be receiving interrupts when an SD card is inserted or
removed; we are not.
4) Some drivers may require some adjustments if you intend to run from SDRAM.
That is because in this case macros like BOARD_MCK_FREQUENCY are not constants
but are instead function calls: The MCK clock frequency is not known in
advance but instead has to be calculated from the bootloader PLL configuration.
As of this writing, all drivers have been converted to run from SDRAM except
for the PWM and the Timer/Counter drivers. These drivers use the
BOARD_MCK_FREQUENCY definition in more complex ways and will require some
minor redesign and re-testing before they can be available.
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