README
======
This README file describes the port of NuttX to the SAMA5D3-Xplained
development board. This board features the Atmel SAMA5D36 microprocessor.
See http://www.atmel.com/devices/sama5d36.aspx for further information.
PARAMTER SAMA5D36
------------------------- -------------
Pin Count 324
Max. Operating Frequency 536 MHz
CPU Cortex-A5
Max I/O Pins 160
Ext Interrupts 160
USB Transceiver 3
USB Speed Hi-Speed
USB Interface Host, Device
SPI 6
TWI (I2C) 3
UART 7
CAN 2
LIN 4
SSC 2
Ethernet 2
SD / eMMC 3
Graphic LCD Yes
Camera Interface Yes
ADC channels 12
ADC Resolution (bits) 12
ADC Speed (ksps) 1000
Resistive Touch Screen Yes
Crypto Engine AES/DES/
SHA/TRNG
SRAM (Kbytes) 128
External Bus Interface 1
DRAM Memory DDR2/LPDDR,
SDRAM/LPSDR
NAND Interface Yes
Temp. Range (deg C) -40 to 105
I/O Supply Class 1.8/3.3
Operating Voltage (Vcc) 1.08 to 1.32
FPU Yes
MPU / MMU No/Yes
Timers 6
Output Compare channels 6
Input Capture Channels 6
PWM Channels 4
32kHz RTC Yes
Packages LFBGA324_A
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
- 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
- CAN Usage
- SAMA5 ADC Support
- SAMA5 PWM Support
- RTC
- Watchdog Timer
- TRNG and /dev/random
- I2S Audio Support
- SAMA5D3-Xplained Configuration Options
- Configurations
- To-Do List
Development Environment
=======================
Several possible development environments may be use:
- Linux or OSX native
- Cygwin unders Windows
- MinGW + MSYS under Windows
- Windows native (with GNUMake from GNUWin32).
All testing has been performed using Cygwin under Windows.
The source has been built only using the GNU toolchain (see below). Other
toolchains will likely cause problems.
GNU Toolchain Options
=====================
The NuttX make system 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 sama5d3-xplained/<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 sama5d3-xplained/<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 = at91sama5d3-xplained.
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.
Buttons and LEDs
================
Buttons
-------
The following push buttons switches are available:
1. One board reset button (BP2). When pressed and released, this push
button causes a power-on reset of the whole board.
2. One wakeup pushbutton that brings the processor out of Low-power mode
(BP1)
3. One user pushbutton (BP3)
Only the user push button (BP3) is controllable by software:
- PE29. Pressing the switch connect PE29 to ground. Therefore, PE29
must be pulled high internally. When the button is pressed the SAMA5
will sense "0" is on PE29.
LEDs
----
There are two LEDs on the SAMA5D3 series-CM board that can be controlled
by software. A blue LED is controlled via PIO pins. A red LED normally
provides an indication that power is supplied to the board but can also
be controlled via software.
PE23. This blue LED is pulled high and is illuminated by pulling PE23
low.
PE24. The red LED is also pulled high but is driven by a transistor so
that it is illuminated when power is applied even if PE24 is not
configured as an output.
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
Blue Red
------------------- ----------------------- -------- --------
LED_STARTED NuttX has been started OFF OFF
LED_HEAPALLOCATE Heap has been allocated OFF OFF
LED_IRQSENABLED Interrupts enabled OFF OFF
LED_STACKCREATED Idle stack created ON OFF
LED_INIRQ In an interrupt No change
LED_SIGNAL In a signal handler No change
LED_ASSERTION An assertion failed No change
LED_PANIC The system has crashed OFF Blinking
LED_IDLE MCU is is sleep mode Not used
Thus if the blue LED is statically on, NuttX has successfully booted and
is, apparently, running normally. If the red is flashing at
approximately 2Hz, then a fatal error has been detected and the system
has halted.
Serial Console
==============
UARTS/USARTS
------------
CONN LABEL PIO UART/USART FUNCTION
----- ------- ----- ----------- ---------------
J18 SCL0 PC30 UART0 UTXD0
J18 SDA0 PC29 UART0 URXD0
J15 1 PA31 UART1 UTXD1
J15 0 PA30 UART1 URXD1
J20 TXD3 14 PC26 UART1 URXD1
J20 RXD3 15 PC27 UART1 UTXD1
J20 TXD1 16 PD18 USART0 TXD0
J20 RXD1 17 PD17 USART0 RXD0
J20 TXD0 18 PB29 USART1 TXD1
J20 RXD0 19 PB28 USART1 RXD1
J20 SDA 20 PE19 USART3 TXD3
J20 SCL 21 PE18 USART3 RXD3
By default USART1 is used as the NuttX serial console in all
configurations (unless otherwise noted). USART1 is provided at TTL
levels at pins TXD0 and TXD1 or J20.
USART1 Connector J8
DBGU Interface
--------------
The SAMA5D3 Xplained board has a dedicated serial port for debugging,
which is accessible through the 6-pin male header J23.
PIN PIO Usage
--- ---- -----------------------------------------
1 PE13 (available)
2 PB31 DBGU DTXD
3 PB30 DBGU DRXD
4 N/C (may be used by debug interface tool)
5 PE14 (available)
6 GND
The DBGU is not used by NuttX.
Networking
==========
Networking support via the can be added to NSH by selecting the following
configuration options. The SAMA5D36 supports two different Ethernet MAC
peripherals: (1) The 10/100Base-T EMAC peripheral and (2) the
10/100/1000Base-T GMAC peripheral.
Selecting the EMAC peripheral
-----------------------------
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_EMAC=y : Enable the EMAC peripheral
System Type -> EMAC device driver options
CONFIG_SAMA5_EMAC_NRXBUFFERS=16 : Set aside some RS and TX buffers
CONFIG_SAMA5_EMAC_NTXBUFFERS=4
CONFIG_SAMA5_EMAC_PHYADDR=1 : KSZ9031 PHY is at address 1
CONFIG_SAMA5_EMAC_AUTONEG=y : Use autonegotiation
CONFIG_SAMA5_EMAC_RMII=y : Either MII or RMII interface should work
CONFIG_SAMA5_EMAC_PHYSR=30 : Address of PHY status register on KSZ9031
CONFIG_SAMA5_EMAC_PHYSR_ALTCONFIG=y : Needed for KSZ9031
CONFIG_SAMA5_EMAC_PHYSR_ALTMODE=0x7 : " " " " " "
CONFIG_SAMA5_EMAC_PHYSR_10HD=0x1 : " " " " " "
CONFIG_SAMA5_EMAC_PHYSR_100HD=0x2 : " " " " " "
CONFIG_SAMA5_EMAC_PHYSR_10FD=0x5 : " " " " " "
CONFIG_SAMA5_EMAC_PHYSR_100FD=0x6 : " " " " " "
PHY selection. Later in the configuration steps, you will need to select
the KSZ9031 PHY for EMAC (See below)
Selecting the GMAC peripheral
-----------------------------
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_GMAC=y : Enable the GMAC peripheral
System Type -> GMAC device driver options
CONFIG_SAMA5_GMAC_NRXBUFFERS=16 : Set aside some RS and TX buffers
CONFIG_SAMA5_GMAC_NTXBUFFERS=4
CONFIG_SAMA5_GMAC_PHYADDR=1 : KSZ8081 PHY is at address 1
CONFIG_SAMA5_GMAC_AUTONEG=y : Use autonegotiation
If both EMAC and GMAC are selected, you will also need:
CONFIG_SAMA5_GMAC_ISETH0=y : GMAC is "eth0"; EMAC 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_TCP=y : Enable TCP/IP networking
CONFIG_NET_TCPBACKLOG=y : Support TCP/IP backlog
CONFIG_NET_TCP_READAHEAD_BUFSIZE=562 Read-ahead buffer size
CONFIG_NET_UDP=y : Enable UDP networking
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 (for EMAC), OR
CONFIG_ETH0_PHY_KSZ90x1=y : Select the KSZ9031 PHY (for GMAC)
Application Configuration -> Network Utilities
CONFIG_NETUTILS_RESOLV=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 SAMA5D3-Xplained 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 SAMA5D3-Xplained:
$ 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
-----------
Both the SAMA5D3-Xplained board supports an options Serial DataFlash. The
SPI connection is as follows:
AT25DF321A SAMA5
--------------- -----------------------------------------------
SI PD11 SPI0_MOSI
SO PD10 SPI0_MIS0
SCK PD12 SPI0_SPCK
/CS PD13 if jumper JP6 is closed.
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_SAMA5D3XPLAINED_AT25_AUTOMOUNT=y : Mounts AT25 for NSH
CONFIG_SAMA5D3XPLAINED_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
NOTE: It appears that if Linux runs out of NAND, it will destroy the
contents of the AT25.
HSMCI Card Slots
================
Physical Slots
--------------
The SAMA5D3-Xplained 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 card detect discrete
is available on PD17 (pulled high). The write protect discrete is tied to
ground and not i savailable to software. The slot supports 8-bit wide
transfer mode, but the NuttX driver currently uses only the 4-bit wide
transfer mode
PD17 MCI0_CD
PD1 MCI0_DA0
PD2 MCI0_DA1
PD3 MCI0_DA2
PD4 MCI0_DA3
PD5 MCI0_DA4
PD6 MCI0_DA5
PD7 MCI0_DA6
PD8 MCI0_DA7
PD9 MCI0_CK
PD0 MCI0_CDA
PE2 PWR_MCI0
The microSD connects vi HSMCI1. The card detect discrete is available on
PD18 (pulled high):
PD18 MCI1_CD
PB20 MCI1_DA0
PB21 MCI1_DA1
PB22 MCI1_DA2
PB23 MCI1_DA3
PB24 MCI1_CK
PB19 MCI1_CDA
Configuration Settings
----------------------
Enabling HSMCI support. The SAMA5D3-Xplained 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_DMAC0=y : DMAC0 is needed by HSMCI0
CONFIG_SAMA5_DMAC1=y : DMAC1 is needed by HSMCI1
System Type
CONFIG_SAMA5_PIO_IRQ=y : PIO interrupts needed
CONFIG_SAMA5_PIOD_IRQ=y : Card detect pins are on PIOD
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 the 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 SAMA5D3-Xplained features three USB communication ports:
* Port A Host High Speed (EHCI) and Full Speed (OHCI) multiplexed with
USB Device High Speed Micro AB connector, J6
* Port B Host High Speed (EHCI) and Full Speed (OHCI) standard type A
connector, J7 upper port
* Port C Host Full Speed (OHCI) only standard type A connector, J7
lower port
The two USB host ports (only) are equipped with 500-mA high-side power
switch for self-powered and bus-powered applications.
The USB device port A (J6) features a VBUS insert detection function.
Port A
------
PIO Signal Name Function
---- ----------- -------------------------------------------------------
PE9 VBUS_SENSE VBus detection
Note: No VBus power switch enable on port A. I think that this limits
this port to a device port or as a host port for self-powered devices
only.
Port B
------
PIO Signal Name Function
---- ----------- -------------------------------------------------------
PE4 EN5V_USBB VBus power enable (via MN3 power switch). To the A1
pin of J7 Dual USB A connector
Port C
------
PIO Signal Name Function
---- ----------- -------------------------------------------------------
PE3 EN5V_USBC VBus power enable (via MN3 power switch). To the B1
pin of J7 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 -> 256GB
CONFIG_SAMA5_DDRCS_LPDDR2=y : Its DDR2
CONFIG_SAMA5D3XPLAINED_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_SAMA5D3XPLAINED_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 SAMA5D3'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_SAMA5D3XPLAINED_NAND_AUTOMOUNT=y : Enable FS support on NAND
CONFIG_SAMA5D3XPLAINED_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_SAMA5D3XPLAINED_NAND_AUTOMOUNT=y : Enable FS support on NAND
CONFIG_SAMA5D3XPLAINED_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_SAMA5D3XPLAINED_NAND_AUTOMOUNT=y and
CONFIG_SAMA5D3XPLAINED_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 cal 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
CAN Usage
=========
I planned to verify CAN using the IXXAT USB-to-CAN Compact. This section
provides miscellaneous CAN-related notes, mostly to myself but perhaps of
interest to others.
[Unfortunately, as of this writing, I still do not have a proper CAN test
bed to verify the CAN driver.]
CAN Configuration
-----------------
The following steps illustrate how to enable CAN0 and/or CAN1 in the NuttX
configuration:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_CAN0=y : Select CAN0 and/or CAN1
CONFIG_SAMA5_CAN1=y
Device Drivers -> CAN Driver Support
CONFIG_CAN=y : (Automatically selected)
CONFIG_CAN_EXTID=y : For extended, 29-bit CAN IDs
System Type -> CAN Drive Support
CONFIG_SAMA5_CAN0_BAUD=250000 : Select some BAUD for CAN0 (if enabled)
CONFIG_SAMA5_CAN0_NRECVMB=1 : Select number of receive mailboxes (see below)
CONFIG_SAMA5_CAN1_BAUD=250000 : Select some BAUD for CAN1 (if enabled)
CONFIG_SAMA5_CAN1_NRECVMB=1 : Select number of receive mailboxes (see below)
Receive Mailboxes and Address Filtering
---------------------------------------
The SAMA5 CAN0 peripheral supports 8 mailboxes that can be used for sending
and receiving messages. Note that the number of dedicated receive mailboxes
(CONFIG_SAMA5_CANn_NRECVMB) was set to one in the above configuration. This
could be set to any value from 1 to 3 (the upper limit of 3 is purely
arbrary and can be increased with some minor code enhancement). The
remainder can be configured dynamically to send CAN messages.
Why would you want to use more than one receive mailbox? There are two
reasons. Multiple receive mailboxes might needed to either (1) receive
bursts of messages, or (2) to support multiple groups of messages filtered
on message ID.
You must also specify the address filtering for each dedicated receive mailbox:
System Type -> CAN Drive Support
CONFIG_SAMA5_CAN0_ADDR0 and CONFIG_SAMA5_CAN0_MASK0 : If CONFIG_SAMA5_CAN0_NRECVMB >= 1
CONFIG_SAMA5_CAN0_ADDR1 and CONFIG_SAMA5_CAN0_MASK1 : If CONFIG_SAMA5_CAN0_NRECVMB >= 2
CONFIG_SAMA5_CAN0_ADDR2 and CONFIG_SAMA5_CAN0_MASK2 : If CONFIG_SAMA5_CAN0_NRECVMB >= 3
CONFIG_SAMA5_CAN1_ADDR0 and CONFIG_SAMA5_CAN1_MASK0 : If CONFIG_SAMA5_CAN1_NRECVMB >= 1
CONFIG_SAMA5_CAN1_ADDR1 and CONFIG_SAMA5_CAN1_MASK1 : If CONFIG_SAMA5_CAN1_NRECVMB >= 2
CONFIG_SAMA5_CAN1_ADDR2 and CONFIG_SAMA5_CAN1_MASK2 : If CONFIG_SAMA5_CAN1_NRECVMB >= 3
Only messages that have IDs that match the CONFIG_SAMA5_CANn_ADDRn when both
the received and the configured address are masked by CONFIG_SAMA5_CANn_MASKn
will be accepted. For example, if the mask is all ones, then only messasges
with exact address matches will be accepted; if the mask is all zeroes than
any address will be accepted.
CAN connectors
--------------
CAN1 and CAN2 are available via RJ-11 connectors on the SAMA5D3-Xplained. Each
is wired as follows. Also shown below is the matching pins if you want connect
the CAN to a device that uses an DB-9 connector (Such as the IXXAT USB-to-CAN
Compact). Both connector types (as well as RJ-45) are common.
+----------+ RJ-11 DB-9
| O | ----------- --------------
+------------+ | | Pin 1 3v3 Pin 1 N/C
| +--+ | | o5 | Pin 2 5v Pin 2 CANL
| | | | | o9 | Pin 3 N/C Pin 3 GND
| +-+ +-+ | | o4 | Pin 4 CANL Pin 4 N/C
| | | | | o8 | Pin 5 CANH Pin 5 N/C
| |654321| | | o3 | Pin 6 N/C Pin 6 N/C
| |oooooo| | | o7 | Pin 7 CANH
| +------+ | | o2 | Pin 8 N/C
+------------+ | o6 | Pin 9 CANV+ (N/C on IXXAT) RJ-11 Female | x1 |
| |
| O |
+----------+
DB-9 Male
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 SAMA5D3-Xplained. This
paragraph is included here, however, for people using a custom SAMA5D3x
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 SAMA5D3-Xplained. This
paragraph is included here, however, for people using a custom SAMA5D3x
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/sama5d3-xplained/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
The RTC 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 in "RTC Configuration" 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!
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,
/dev/random, and the simple test of /dev/random at apps/examples/ranadom:
System Type:
CONFIG_SAMA5_TRNG=y : Enable the TRNG peripheral
Drivers (automatically selected):
CONFIG_DEV_RANDOM=y : Enable /dev/random
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 SAMA5D3-Xplained 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 SAMA5D3 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_SAMA5D3XPLAINED_I2SCHAR_MINOR=0
CONFIG_SAMA5D3XPLAINED_SSC_PORT=0 : 0 or SSC0, 1 for SSC1
Library Routines
CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support
SAMA5D3-Xplained Configuration Options
=================================
CONFIG_ARCH - Identifies the arch/ subdirectory. This should
be set to:
CONFIG_ARCH="arm"
CONFIG_ARCH_family - For use in C code:
CONFIG_ARCH_ARM=y
CONFIG_ARCH_architecture - For use in C code:
CONFIG_ARCH_CORTEXA5=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP="sama5"
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_SAMA5=y
and one of:
CONFIG_ARCH_CHIP_ATSAMA5D31=y
CONFIG_ARCH_CHIP_ATSAMA5D33=y
CONFIG_ARCH_CHIP_ATSAMA5D34=y
CONFIG_ARCH_CHIP_ATSAMA5D35=y
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD="sama5d3-xplained" (for the SAMA5D3-Xplained development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_SAMA5D3_XPLAINED=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 virutal start address of installed DRAM
CONFIG_RAM_VSTART=0x20000000
CONFIG_ARCH_IRQPRIO - The SAM3UF103Z supports interrupt prioritization
CONFIG_ARCH_IRQPRIO=y
CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that
have LEDs
CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
stack. If defined, this symbol is the size of the interrupt
stack in bytes. If not defined, the user task stacks will be
used during interrupt handling.
CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture.
CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
cause a 100 second delay during boot-up. This 100 second delay
serves no purpose other than it allows you to 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 Interrupt
CONFIG_SAMA5_PIT - Periodic Interval Timer Interrupt
CONFIG_SAMA5_WDT - Watchdog timer Interrupt
CONFIG_SAMA5_HSMC - Multi-bit ECC Interrupt
CONFIG_SAMA5_SMD - SMD Soft Modem
CONFIG_SAMA5_USART0 - USART 0
CONFIG_SAMA5_USART1 - USART 1
CONFIG_SAMA5_USART2 - USART 2
CONFIG_SAMA5_USART3 - USART 3
CONFIG_SAMA5_UART0 - UART 0
CONFIG_SAMA5_UART1 - UART 1
CONFIG_SAMA5_TWI0 - Two-Wire Interface 0
CONFIG_SAMA5_TWI1 - Two-Wire Interface 1
CONFIG_SAMA5_TWI2 - Two-Wire Interface 2
CONFIG_SAMA5_HSMCI0 - High Speed Multimedia Card Interface 0
CONFIG_SAMA5_HSMCI1 - High Speed Multimedia Card Interface 1
CONFIG_SAMA5_HSMCI2 - High Speed Multimedia Card Interface 2
CONFIG_SAMA5_SPI0 - Serial Peripheral Interface 0
CONFIG_SAMA5_SPI1 - Serial Peripheral Interface 1
CONFIG_SAMA5_TC0 - Timer Counter 0 (ch. 0, 1, 2)
CONFIG_SAMA5_TC1 - Timer Counter 1 (ch. 3, 4, 5)
CONFIG_SAMA5_PWM - Pulse Width Modulation Controller
CONFIG_SAMA5_ADC - Touch Screen ADC Controller
CONFIG_SAMA5_DMAC0 - DMA Controller 0
CONFIG_SAMA5_DMAC1 - DMA Controller 1
CONFIG_SAMA5_UHPHS - USB Host High Speed
CONFIG_SAMA5_UDPHS - USB Device High Speed
CONFIG_SAMA5_GMAC - Gigabit Ethernet MAC
CONFIG_SAMA5_EMAC - Ethernet MAC
CONFIG_SAMA5_LCDC - LCD Controller
CONFIG_SAMA5_ISI - Image Sensor Interface
CONFIG_SAMA5_SSC0 - Synchronous Serial Controller 0
CONFIG_SAMA5_SSC1 - Synchronous Serial Controller 1
CONFIG_SAMA5_CAN0 - CAN controller 0
CONFIG_SAMA5_CAN1 - CAN controller 1
CONFIG_SAMA5_SHA - Secure Hash Algorithm
CONFIG_SAMA5_AES - Advanced Encryption Standard
CONFIG_SAMA5_TDES - Triple Data Encryption Standard
CONFIG_SAMA5_TRNG - True Random Number Generator
CONFIG_SAMA5_ARM - Performance Monitor Unit
CONFIG_SAMA5_FUSE - Fuse Controller
CONFIG_SAMA5_MPDDRC - MPDDR controller
Some subsystems can be configured to operate in different ways. The drivers
need to know how to configure the subsystem.
CONFIG_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
ST91SAMA5 specific device driver settings
CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=0,1,2,3) or UART
m (m=4,5) for the console and ttys0 (default is the USART1).
CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART. Must be
CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8.
CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_U[S]ARTn_2STOP - Two stop bits
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 SAMA5D3-Xplained configuration is maintained in a sub-directory and
can be selected as follow:
cd tools
./configure.sh sama5d3-xplained/<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 UART0 (J3).
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.
Configuration Sub-directories
-----------------------------
Summary: Some of the descriptions below are long and wordy. Here is the
concise summary of the available SAMA5D3-Xplained configurations:
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.
There may be issues with some of these configurations. See the details
before of the status of individual configurations.
Now for the gory details:
nsh:
This configuration directory provide the NuttShell (NSH). There are
two NSH configurations: nsh and demo. The difference is that nsh is
intended to be a very simple NSH configuration upon which you can build
further functionality. The demo configuration, on the other hand, is
intended to be a rich configuration that shows many features all working
together.
NOTES:
1. This configuration uses the default USART1 serial console. 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 NAND flash and can only
be loaded via BareBox.
4. This configuration has support for NSH built-in applications enabled.
However, no built-in applications are selected in the base configuration.
5. Data resides in ISRAM, but can be moved to SDRAM as described above
under "SDRAM Data Configuration."
6. This configuration has support for the FAT file system built in. However,
by default, there are no block drivers initialized. The FAT file system can
still be used to create RAM disks.
7. SDRAM support can be enabled by modifying your NuttX configuration as
described above in the paragraph entitle "SDRAM Support"
8. The SAMA5D3 Xplained board includes an option serial DataFlash. Support
for that serial FLASH can be enabled by modifying the NuttX configuration
as described above in the paragraph entitled "AT25 Serial FLASH".
9. Enabling HSMCI support. The SAMA5D3-Xplained 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 vi HSMCI1. Support for both SD slots can be enabled
with the settings provided in the paragraph entitled "HSMCI Card Slots"
above.
10. 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.
11. 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."
12. 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.
13. Networking support via the can be added to NSH by modifying the
configuration. See the "Networking" section above for detailed
configuration settings.
16. The Real Time Clock/Calendar RTC) may be enabled by reconfiguring NuttX.
See the section entitled "RTC" above for detailed configuration settings.
17. 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.
18. This example can be configured to enable the SAMA5 TRNG peripheral so
that it provides /dev/random. See the section entitled "TRNG and
/dev/random" above for detailed configuration information.
19. See also the sections above for additional configuration options:
"CAN Usage", "SAMA5 ADC Support", "SAMA5 PWM Support", "I2S Audio
Support"
STATUS:
See the To-Do list below
I2C
2014-9-12: The I2C tool, however, seems to work well. It succesfully
enumerates the devices on the bus and successfully exchanges a few
commands. The real test of the come later when a real I2C device is
integrated.
To-Do List
==========
1) Currently the SAMA5Dx is running at 396MHz in these configurations. This
is because the 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 536MHz, however. The setup for that configuration exists
in the BareBox assembly language setup and should be incorporated.
2) Neither USB OHCI nor EHCI support Isochronous endpoints. Interrupt
endpoint support in the EHCI driver is untested (but works in similar
EHCI drivers).
3) HSCMI TX DMA support is currently commented out.
4) I believe that there is an issue when the internal AT25 FLASH is
formatted by NuttX. That format works fine with Linux, but does not
appear to work with Windows. Reformatting on Windows can resolve this.
NOTE: This is not a SAMA5Dx issue.
UPDATE: Two important bugs were recently fixed in the NuttX FAT
formatting function (mkfatfs). It is likely that these fixes will
eliminate this issue, but that has not yet been verified.
5) CAN testing has not yet been performed due to issues with cabling. I
just do not have a good test bed (or sufficient CAN knowledge) for
good CAN testing.
6) The NxWM example does not work well. This example was designed to work
with much smaller displays and does not look good or work well with the
SAMA5D3-Xplained's 800x480 display. See above for details.
7) I have a Camera, but there is still no ISI driver. I am not sure what to
do with the camera. NuttX needs something like V4L to provide the
definition for what a camera driver is supposed to do.
I will probably develop a test harness for ISI, but it is of only
minimal value with no OS infrastructure to deal with images and video.
8) GMAC has only been tested on a 10/100Base-T network. I don't have a
1000Base-T network to support additional testing.
