README.txt
==========
This is the README file for the port of NuttX to the Freescale Freedom-K64F
develoment board.
Contents
========
o Freedom K64F Features
o Serial Console
o LEDs and Buttons
o Networking Support
o SD Card Support
o USB Device Controller Support
o Development Environment
o GNU Toolchain Options
o Freedom K64F Configuration Options
o Configurations
o Status
Kinetis Freedom K64F Features:
=============================
The features of the FRDM-K64F hardware are as follows:
- MK64FN1M0VLL12 MCU (120 MHz, 1 MB flash memory, 256 KB RAM, low-power,
crystal-less USB, and 100 LQFP)
- Dual role USB interface with micro-B USB connector
- RGB LED
- FXOS8700CQ - accelerometer and magnetometer
- Two user push buttons
- Flexible power supply option - OpenSDAv2 USB, K64 USB, and external
source
- Easy access to MCU input/output through Arduino R3TM compatible I/O
connectors
- Programmable OpenSDAv2 debug circuit supporting the CMSIS-DAP Interface
software that provides:
o Mass storage device (MSD) flash programming interface
o CMSIS-DAP debug interface over a driver-less USB HID connection
providing run-control debugging and compatibility with IDE tools
o Virtual serial port interface
o Open-source CMSIS-DAP software project: github.com/mbedmicro/CMSIS-DAP.
- Ethernet
- SDHC
- Add-on RF module: nRF24L01+ Nordic 2.4GHz Radio
- Add-on Bluetooth module: JY-MCU BT board V1.05 BT
OpenSDAv2
=========
The FRDM-K64F platform features OpenSDAv2, the Freescale open-source
hardware embedded serial and debug adapter running an open-source
bootloader. This circuit offers several options for serial communication,
flash programming, and run-control debugging. OpenSDAv2 is an mbed
HDK-compatible debug interface preloaded with the open-source CMSIS-DAP
Interface firmware (mbed interface) for rapid prototyping and product
development.
To use set raw binary output for nuttx.bin
Serial Console
==============
USB VCOM Console
----------------
The primary serial port interface signals are PTB16 UART0_RX and PTB17
UART0_TX. These signals are connected to the OpenSDAv2 VCOM circuit.
Serial Shield Console
---------------------
An alternative serial port might use a standard serial shield mounted
on the Freedom Board. In this case, Arduino pin D1 provides UART TX and
pin D0 privides UART RX.
The I/O headers on the FRDM-K64F board are arranged to enable
compatibility with Arduino shield. The outer rows of pins (even numbered
pins) on the headers, share the same mechanical spacing and placement with
the I/O headers on the Arduino Revision 3 (R3) standard.
The Arduino D0 and D1 pins then correspond to pins 2 and 4 on the J1 I/O
connector:
Arduino Pin FRDM-K64F J1 Connector
------------------------ -----------------------
UART TX, Arduino D1 pin Pin 4, PTC17, UART3_TX
UART RX, Arduino D0 pin Pin 2, PTC16, UART3_RX
Default Serial Console
----------------------
By default, these configuration are setup to use the Serial Console on
UART3. That, however, is easily reconfigured.
LEDs and Buttons
================
RGB LED
-------
An RGB LED is connected through GPIO as shown below:
LED K64
------ -------------------------------------------------------
RED PTB22/SPI2_SOUT/FB_AD29/CMP2_OUT
BLUE PTB21/SPI2_SCK/FB_AD30/CMP1_OUT
GREEN PTE26/ENET_1588_CLKIN/UART4_CTS_b/RTC_CLKOUT/USB0_CLKIN
If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board the
Freedom KL25Z. Usage of these LEDs is defined in include/board.h and
src/k64_leds.c. The following definitions describe how NuttX controls the LEDs:
SYMBOL Meaning LED state
RED GREEN BLUE
------------------- ----------------------- -----------------
LED_STARTED NuttX has been started OFF OFF OFF
LED_HEAPALLOCATE Heap has been allocated OFF OFF ON
LED_IRQSENABLED Interrupts enabled OFF OFF ON
LED_STACKCREATED Idle stack created OFF 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 FLASH OFF OFF
LED_IDLE K64 is in sleep mode (Optional, not used)
Buttons
-------
Two push buttons, SW2 and SW3, are available on FRDM-K64F board, where
SW2 is connected to PTC6 and SW3 is connected to PTA4. Besides the
general purpose input/output functions, SW2 and SW3 can be low-power
wake up signal. Also, only SW3 can be a non-maskable interrupt.
Switch GPIO Function
--------- ---------------------------------------------------------------
SW2 PTC6/SPI0_SOUT/PD0_EXTRG/I2S0_RX_BCLK/FB_AD9/I2S0_MCLK/LLWU_P10
SW3 PTA4/FTM0_CH1/NMI_b/LLWU_P3
Networking Support
==================
Ethernet MAC/KSZ8081 PHY
------------------------
------------ ----------------- --------------------------------------------
KSZ8081 Board Signal(s) K64F Pin
Pin Signal Function pinmux Name
--- -------- ----------------- --------------------------------------------
1 VDD_1V2 VDDPLL_1.2V --- ---
2 VDDA_3V3 VDDA_ENET --- ---
3 RXM ENET1_RX- --- ---
4 RXP ENET1_RX+ --- ---
5 TXM ENET1_TX- --- ---
6 TXP ENET1_TX+ --- ---
7 X0 RMII_XTAL0 --- ---
8 XI RMII_XTAL1 --- ---
9 REXT --- ---, Apparently not connected ---
10 MDIO RMII0_MDIO PTB0/RMII0_MDIO PIN_RMII0_MDIO
11 MDC RMII0_MDC PTB1/RMII0_MDC PIN_RMII0_MDC
12 RXD1 RMII0_RXD_1 PTA12/RMII0_RXD1 PIN_RMII0_RXD1
13 RXD0 RMII0_RXD_0 PTA13/RMII0_RXD0 PIN_RMII0_RXD0
14 VDDIO VDDIO_ENET --- ---
15 CRS_DIV PTA14/RMII0_CRS_DV PIN_RMII0_CRS_DV
16 REF_CLK RMII_RXCLK PTA18/EXTAL0, PHY clock input ---
17 RXER RMII0_RXER PTA5/RMII0_RXER PIN_RMII0_RXER
18 INTRP RMII0_INT_B, J14 Pin 2, Apparently not ---
PHY_INT_1 available unless jumpered
19 TXEN RMII0_TXEN PTA15/RMII0_TXEN PIN_RMII0_TXEN
20 TXD0 RMII0_TXD_0 PTA16/RMII0_TXD0 PIN_RMII0_TXD0
21 TXD1 RMII0_TXD_1 PTA17/RMII0_TXD1 PIN_RMII0_TXD1
22 GND1 --- --- ---
24 nRST PHY_RST_B --- ---
25 GND2 --- --- ---
--- -------- ----------------- --------------------------------------------
No external pullup is available on MDIO signal when MK64FN1M0VLL12 MCU is
requests status of the Ethernet link connection. Internal pullup is required
when port configuration for MDIO signal is enabled:
CONFIG_KINETIS_ENET_MDIOPULLUP=y
Networking support via the can be added to NSH by selecting the following
configuration options.
Selecting the EMAC peripheral
-----------------------------
System Type -> Kinetis Peripheral Support
CONFIG_KINETIS_ENET=y : Enable the EThernet MAC peripheral
System Type -> Ethernet Configuration
CONFIG_KINETIS_ENETNETHIFS=1
CONFIG_KINETIS_ENETNRXBUFFERS=6
CONFIG_KINETIS_ENETNTXBUFFERS=2
CONFIG_KINETIS_ENET_MDIOPULLUP=y
Networking Support
CONFIG_NET=y : Enable Neworking
CONFIG_NET_ETHERNET=y : Support Ethernet data link
CONFIG_NET_SOCKOPTS=y : Enable socket operations
CONFIG_NET_ETH_PKTSIZE=590 : Maximum packet size 1518 is more standard
CONFIG_NET_ARP=y : Enable ARP
CONFIG_NET_ARPTAB_SIZE=16 : ARP table size
CONFIG_NET_ARP_IPIN=y : Enable ARP address harvesting
CONFIG_NET_ARP_SEND=y : Send ARP request before sending data
CONFIG_NET_TCP=y : Enable TCP/IP networking
CONFIG_NET_TCP_READAHEAD=y : Support TCP read-ahead
CONFIG_NET_TCP_WRITE_BUFFERS=y : Support TCP write-buffering
CONFIG_NET_TCPBACKLOG=y : Support TCP/IP backlog
CONFIG_NET_MAX_LISTENPORTS=20 :
CONFIG_NET_TCP_READAHEAD_BUFSIZE=536 Read-ahead buffer size
CONFIG_NET_UDP=y : Enable UDP networking
CONFIG_NET_BROADCAST=y : Needed for DNS name resolution
CONFIG_NET_ICMP=y : Enable ICMP networking
CONFIG_NET_ICMP_SOCKET=y : Needed for NSH ping command
: Defaults should be okay for other options
f Application Configuration -> Network Utilities
CONFIG_NETDB_DNSCLIENT=y : Enable host address resolution
CONFIG_NETUTILS_TELNETD=y : Enable the Telnet daemon
CONFIG_NETUTILS_TFTPC=y : Enable TFTP data file transfers for get and put commands
CONFIG_NETUTILS_NETLIB=y : Network library support is needed
CONFIG_NETUTILS_WEBCLIENT=y : Needed for wget support
: Defaults should be okay for other options
Application Configuration -> NSH Library
CONFIG_NSH_TELNET=y : Enable NSH session via Telnet
CONFIG_NSH_IPADDR=0x0a000002 : Select a fixed 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
You can also enable enable the DHCPC client for networks that use
dynamically assigned address:
Application Configuration -> Network Utilities
CONFIG_NETUTILS_DHCPC=y : Enables the DHCP client
Networking Support
CONFIG_NET_UDP=y : Depends on broadcast UDP
Application Configuration -> NSH Library
CONFIG_NET_BROADCAST=y
CONFIG_NSH_DHCPC=y : Tells NSH to use DHCPC, not
: the fixed addresses
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 FRDM-K64F 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 FRDM-K64F:
$ 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 networking as described above, you will
experience a delay on booting NSH. That is because the start-up logic
waits for the network connection to be established before starting
NuttX. In a real application, you would probably want to do the
network bringup on a separate thread so that access to the NSH prompt
is not delayed.
This delay will be especially long if the board is not connected to
a network. On the order of minutes! You will probably think that
NuttX has crashed! And then, when it finally does come up after
numerous timeouts and retries, the network will not be available --
even if the network cable is plugged in later.
The long delays can be eliminated by using a separate the network
initialization thread discussed below. Recovering after the network
becomes available requires the network monitor feature, also discussed
below.
Network Initialization Thread
-----------------------------
There is a configuration option enabled by CONFIG_NSH_NETINIT_THREAD
that will do the NSH network bring-up asynchronously in parallel on
a separate thread. This eliminates the (visible) networking delay
altogether. This current implementation, however, has some limitations:
- If no network is connected, the network bring-up will fail and
the network initialization thread will simply exit. There are no
retries and no mechanism to know if the network initialization was
successful (it could perform a network Ioctl to see if the link is
up and it now, keep trying, but it does not do that now).
- Furthermore, there is currently no support for detecting loss of
network connection and recovery of the connection (similarly, this
thread could poll periodically for network status, but does not).
Both of these shortcomings could be eliminated by enabling the network
monitor:
Network Monitor
---------------
By default the network initialization thread will bring-up the network
then exit, freeing all of the resources that it required. This is a
good behavior for systems with limited memory.
If the CONFIG_NSH_NETINIT_MONITOR option is selected, however, then the
network initialization thread will persist forever; it will monitor the
network status. In the event that the network goes down (for example, if
a cable is removed), then the thread will monitor the link status and
attempt to bring the network back up. In this case the resources
required for network initialization are never released.
Pre-requisites:
- CONFIG_NSH_NETINIT_THREAD as described above.
- The K64F EMAC block does not support PHY interrupts. The KSZ8081
PHY interrupt line is brought to a jumper block and it should be
possible to connect that some some interrupt port pin. You would
need to provide some custom logic in the Freedcom K64F
configuration to set up that PHY interrupt.
- In addtion to the PHY interrupt, the Network Monitor also requires the
following setting:
CONFIG_NETDEV_PHY_IOCTL. Enable PHY IOCTL commands in the Ethernet
device driver. Special IOCTL commands must be provided by the Ethernet
driver to support certain PHY operations that will be needed for link
management. There operations are not complex and are implemented for
the Atmel SAMA5 family.
CONFIG_ARCH_PHY_INTERRUPT. This is not a user selectable option.
Rather, it is set when you select a board that supports PHY
interrupts. For the K64F, like most other architectures, the PHY
interrupt must be provided via some board-specific GPIO. In any
event, the board-specific logic must provide support for the PHY
interrupt. To do this, the board logic must do two things: (1) It
must provide the function arch_phy_irq() as described and prototyped
in the nuttx/include/nuttx/arch.h, and (2) it must select
CONFIG_ARCH_PHY_INTERRUPT in the board configuration file to
advertise that it supports arch_phy_irq().
And a few other things: UDP support is required (CONFIG_NET_UDP) and
signals must not be disabled (CONFIG_DISABLE_SIGNALS).
Given those prerequisites, the network monitor can be selected with these
additional settings.
System Type -> Kinetis Ethernet Configuration
CONFIG_ARCH_PHY_INTERRUPT=y : (auto-selected)
CONFIG_NETDEV_PHY_IOCTL=y : (auto-selected)
Application Configuration -> NSH Library -> Networking Configuration
CONFIG_NSH_NETINIT_THREAD : Enable the network initialization thread
CONFIG_NSH_NETINIT_MONITOR=y : Enable the network monitor
CONFIG_NSH_NETINIT_RETRYMSEC=2000 : Configure the network monitor as you like
CONFIG_NSH_NETINIT_SIGNO=18
SD Card Support
===============
Card Slot
---------
A micro Secure Digital (SD) card slot is available on the FRDM-K64F connected to
the SD Host Controller (SDHC) signals of the MCU. This slot will accept micro
format SD memory cards. The SD card detect pin (PTE6) is an open switch that
shorts with VDD when card is inserted.
------------ ------------- --------
SD Card Slot Board Signal K64F Pin
------------ ------------- --------
DAT0 SDHC0_D0 PTE1
DAT1 SDHC0_D1 PTE0
DAT2 SDHC0_D2 PTE5
CD/DAT3 SDHC0_D3 PTE4
CMD SDHC0_CMD PTE3
CLK SDHC0_DCLK PTE2
SWITCH D_CARD_DETECT PTE6
------------ ------------- --------
There is no Write Protect pin available to the K64F.
Configuration Settings
----------------------
Enabling SDHC support. The Freedom K64F provides one microSD memory card
slot. Support for the SD slots can be enabled with the following
settings:
System Type->Kinetic Peripheral Selection
CONFIG_KINETIS_SDHC=y : To enable SDHC0 support
CONFIG_KINETIS_SDHC_DMA=y : Use SDIO DMA
System Type
CONFIG_KINETIS_GPIOIRQ=y : GPIO interrupts needed
CONFIG_KINETIS_PORTEINTS=y : Card detect pin is on PTE6
Device Drivers -> MMC/SD Driver Support
CONFIG_MMCSD=y : Enable MMC/SD support
CONFIG_MMSCD_NSLOTS=1 : One slot per driver instance
CONFIG_MMCSD_MULTIBLOCK_DISABLE=y : (REVISIT)
CONFIG_MMCSD_HAVE_CARDDETECT=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_BLOCKSETUP=y : Needs to know block sizes
RTOS Features -> Work Queue Support
CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support
CONFIG_SCHED_HPWORK=y
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization, and
CONFIG_LIB_BOARDCTL=y : Or
CONFIG_BOARD_LATE_INITIALIZE=y
Using the SD card
-----------------
1. After booting, the SDHC device will appear as /dev/mmcsd0.
2. If you try mounting an SD card with nothing in the slot, the mount will
fail:
nsh> mount -t vfat /dev/mmcsd0 /mnt/sd0
nsh: mount: mount failed: 19
NSH can be configured to provide errors as strings instead of
numbers. But in this case, only the error number is reported. The
error numbers can be found in nuttx/include/errno.h:
#define ENODEV 19
#define ENODEV_STR "No such device"
So the mount command is saying that there is no device or, more
correctly, that there is no card in the SD card slot.
3. Insert the SD card. Then the mount should succeed.
nsh> mount -t vfat /dev/mmcsd0 /mnt/sd0
nsh> ls /mnt/sd1
/mnt/sd1:
atest.txt
nsh> cat /mnt/sd1/atest.txt
This is a test
NOTE: See the next section entitled "Auto-Mounter" for another way
to mount your SD card.
4. Before removing the card, you must umount the file system. This is
equivalent to "ejecting" or "safely removing" the card on Windows: It
flushes any cached data to an SD card and makes the SD card unavailable
to the applications.
nsh> umount -t /mnt/sd0
It is now safe to remove the card. NuttX provides into callbacks
that can be used by an application to automatically unmount the
volume when it is removed. But those callbacks are not used in
these configurations.
Auto-Mounter
------------
NuttX implements an auto-mounter than can make working with SD cards
easier. With the auto-mounter, the file system will be automatically
mounted when the SD card is inserted into the SDHC slot and automatically
unmounted when the SD card is removed.
Here is a sample configuration for the auto-mounter:
File System Configuration
CONFIG_FS_AUTOMOUNTER=y
Board-Specific Options
CONFIG_FRDMK64F_SDHC_AUTOMOUNT=y
CONFIG_FRDMK64F_SDHC_AUTOMOUNT_FSTYPE="vfat"
CONFIG_FRDMK64F_SDHC_AUTOMOUNT_BLKDEV="/dev/mmcsd0"
CONFIG_FRDMK64F_SDHC_AUTOMOUNT_MOUNTPOINT="/mnt/sdcard"
CONFIG_FRDMK64F_SDHC_AUTOMOUNT_DDELAY=1000
CONFIG_FRDMK64F_SDHC_AUTOMOUNT_UDELAY=2000
WARNING: SD cards should never be removed without first unmounting
them. This is to avoid data and possible corruption of the file
system. Certainly this is the case if you are writing to the SD card
at the time of the removal. If you use the SD card for read-only access,
however, then I cannot think of any reason why removing the card without
mounting would be harmful.
USB Device Controller Support
==============================
USB Device Controller Support
-----------------------------
The USBHS device controller driver is enabled with he following
configurationsettings:
Device Drivers -> USB Device Driver Support
CONFIG_USBDEV=y : Enable USB device support
For full-speed/low-power mode:
CONFIG_USBDEV_DUALSPEED=n : Disable High speed support
For high-speed/normal mode:
CONFIG_USBDEV_DUALSPEED=y : Enable High speed support
CONFIG_USBDEV_DMA=y : Enable DMA methods
CONFIG_USBDEV_MAXPOWER=100 : Maximum power consumption
CONFIG_USBDEV_SELFPOWERED=y : Self-powered device
System Type -> Kinetis Peripheral Selection
CONFIG_KINETIS_USBOTG=y
CDC/ACM Device Class
--------------------
In order to be usable, you must all enabled some class driver(s) for the
USBHS device controller. Here, for example, is how to configure the CDC/ACM
serial device class:
Device Drivers -> USB Device Driver Support
CONFIG_CDCACM=y : USB Modem (CDC ACM) support
CONFIG_CDCACM_EP0MAXPACKET=64 : Enpoint 0 packet size
CONFIG_CDCACM_EPINTIN=1 : Interrupt IN endpoint number
CONFIG_CDCACM_EPINTIN_FSSIZE=64 : Full speed packet size
CONFIG_CDCACM_EPINTIN_HSSIZE=64 : High speed packet size
CONFIG_CDCACM_EPBULKOUT=3 : Bulk OUT endpoint number
CONFIG_CDCACM_EPBULKOUT_FSSIZE=64 : Full speed packet size
CONFIG_CDCACM_EPBULKOUT_HSSIZE=512 : High speed packet size
CONFIG_CDCACM_EPBULKIN=2 : Bulk IN endpoint number
CONFIG_CDCACM_EPBULKIN_FSSIZE=64 : Full speed packet size
CONFIG_CDCACM_EPBULKIN_HSSIZE=512 : High speed packet size
CONFIG_CDCACM_NWRREQS=4 : Number of write requests
CONFIG_CDCACM_NRDREQS=8 : Number of read requests
CONFIG_CDCACM_BULKIN_REQLEN=96 : Size of write request buffer (for full speed)
CONFIG_CDCACM_BULKIN_REQLEN=768 : Size of write request buffer (for high speed)
CONFIG_CDCACM_RXBUFSIZE=257 : Serial read buffer size
CONFIG_CDCACM_TXBUFSIZE=193 : Serial transmit buffer size (for full speed)
CONFIG_CDCACM_TXBUFSIZE=769 : Serial transmit buffer size (for high speed)
CONFIG_CDCACM_VENDORID=0x0525 : Vendor ID
CONFIG_CDCACM_PRODUCTID=0xa4a7 : Product ID
CONFIG_CDCACM_VENDORSTR="NuttX" : Vendor string
CONFIG_CDCACM_PRODUCTSTR="CDC/ACM Serial" : Product string
Device Drivers -> Serial Driver Support
CONFIG_SERIAL_REMOVABLE=y : Support for removable serial device
The CDC/ACM application provides commands to connect and disconnect the
CDC/ACM serial device:
CONFIG_SYSTEM_CDCACM=y : Enable connect/disconnect support
CONFIG_SYSTEM_CDCACM_DEVMINOR=0 : Use device /dev/ttyACM0
CONFIG_CDCACM_RXBUFSIZE=??? : A large RX may be needed
If you include this CDC/ACM application, then you can connect the CDC/ACM
serial device to the host by entering the command 'sercon' and you detach
the serial device with the command 'serdis'. If you do no use this
application, they you will have to write logic in your board initialization
code to initialize and attach the USB device.
Development Environment
=======================
Either Linux or Cygwin on Windows can be used for the development environment.
The source has been built only using the GNU toolchain (see below). Other
toolchains will likely cause problems. Testing was performed using the Cygwin
environment.
GNU Toolchain Options
=====================
The NuttX make system supports several GNU-based toolchains under Linux,
Cygwin under Windows, and Windows native. To select a toolchain:
1. Use 'make menuconfig' and select the toolchain that you are using
under the System Type menu.
2. The default toolchain is the NuttX buildroot under Linux or Cygwin:
CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y
You may also have to modify the PATH environment variable if your make cannot
find the tools.
NOTE: Using native Windows toolchains under Cygwin has some limitations.
This incuudes the CodeSourcery (for Windows) and devkitARM toolchains are
Windows native toolchains. The biggest limitations 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.
Freedom K64F Configuration Options
==================================
CONFIG_ARCH - Identifies the arch/ subdirectory. This sould
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_CORTEXM4=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP=kinetis
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_MK64FN1M0VLL12
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD="freedom-k64f" (for the Freedom K64F development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_FREEDOM_K64F=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=0x00010000 (64Kb)
CONFIG_RAM_START - The start address of installed DRAM
CONFIG_RAM_START=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.
Individual subsystems can be enabled:
CONFIG_KINETIS_TRACE -- Enable trace clocking on power up.
CONFIG_KINETIS_FLEXBUS -- Enable flexbus clocking on power up.
CONFIG_KINETIS_UART0 -- Support UART0
CONFIG_KINETIS_UART1 -- Support UART1
CONFIG_KINETIS_UART2 -- Support UART2
CONFIG_KINETIS_UART3 -- Support UART3
CONFIG_KINETIS_UART4 -- Support UART4
CONFIG_KINETIS_UART5 -- Support UART5
CONFIG_KINETIS_ENET -- Support Ethernet (K5x, K6x, and K7x only)
CONFIG_KINETIS_RNGB -- Support the random number generator(K6x only)
CONFIG_KINETIS_FLEXCAN0 -- Support FlexCAN0
CONFIG_KINETIS_FLEXCAN1 -- Support FlexCAN1
CONFIG_KINETIS_SPI0 -- Support SPI0
CONFIG_KINETIS_SPI1 -- Support SPI1
CONFIG_KINETIS_SPI2 -- Support SPI2
CONFIG_KINETIS_I2C0 -- Support I2C0
CONFIG_KINETIS_I2C1 -- Support I2C1
CONFIG_KINETIS_I2S -- Support I2S
CONFIG_KINETIS_DAC0 -- Support DAC0
CONFIG_KINETIS_DAC1 -- Support DAC1
CONFIG_KINETIS_ADC0 -- Support ADC0
CONFIG_KINETIS_ADC1 -- Support ADC1
CONFIG_KINETIS_CMP -- Support CMP
CONFIG_KINETIS_VREF -- Support VREF
CONFIG_KINETIS_SDHC -- Support SD host controller
CONFIG_KINETIS_FTM0 -- Support FlexTimer 0
CONFIG_KINETIS_FTM1 -- Support FlexTimer 1
CONFIG_KINETIS_FTM2 -- Support FlexTimer 2
CONFIG_KINETIS_LPTMR0 -- Support the low power timer 0
CONFIG_KINETIS_RTC -- Support RTC
CONFIG_KINETIS_SLCD -- Support the segment LCD (K3x, K4x, and K5x only)
CONFIG_KINETIS_EWM -- Support the external watchdog
CONFIG_KINETIS_CMT -- Support Carrier Modulator Transmitter
CONFIG_KINETIS_USBOTG -- Support USB OTG (see also CONFIG_USBHOST and CONFIG_USBDEV)
CONFIG_KINETIS_USBDCD -- Support the USB Device Charger Detection module
CONFIG_KINETIS_LLWU -- Support the Low Leakage Wake-Up Unit
CONFIG_KINETIS_TSI -- Support the touch screeen interface
CONFIG_KINETIS_FTFL -- Support FLASH
CONFIG_KINETIS_DMA -- Support DMA
CONFIG_KINETIS_CRC -- Support CRC
CONFIG_KINETIS_PDB -- Support the Programmable Delay Block
CONFIG_KINETIS_PIT -- Support Programmable Interval Timers
CONFIG_ARM_MPU -- Support the MPU
Kinetis interrupt priorities (Default is the mid priority). These should
not be set because they can cause unhandled, nested interrupts. All
interrupts need to be at the default priority in the current design.
CONFIG_KINETIS_UART0PRIO
CONFIG_KINETIS_UART1PRIO
CONFIG_KINETIS_UART2PRIO
CONFIG_KINETIS_UART3PRIO
CONFIG_KINETIS_UART4PRIO
CONFIG_KINETIS_UART5PRIO
CONFIG_KINETIS_EMACTMR_PRIO
CONFIG_KINETIS_EMACTX_PRIO
CONFIG_KINETIS_EMACRX_PRIO
CONFIG_KINETIS_EMACMISC_PRIO
CONFIG_KINETIS_SDHC_PRIO
PIN Interrupt Support
CONFIG_KINETIS_GPIOIRQ -- Enable pin interrupt support. Also needs
one or more of the following:
CONFIG_KINETIS_PORTAINTS -- Support 32 Port A interrupts
CONFIG_KINETIS_PORTBINTS -- Support 32 Port B interrupts
CONFIG_KINETIS_PORTCINTS -- Support 32 Port C interrupts
CONFIG_KINETIS_PORTDINTS -- Support 32 Port D interrupts
CONFIG_KINETIS_PORTEINTS -- Support 32 Port E interrupts
Kinetis K64 specific device driver settings
CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn (n=0..5) for the
console and ttys0 (default is the UART0).
CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_UARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_UARTn_BAUD - The configure BAUD of the UART.
CONFIG_UARTn_BITS - The number of bits. Must be either 8 or 8.
CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
Kenetis ethernet controller settings
CONFIG_ENET_NRXBUFFERS - Number of RX buffers. The size of one
buffer is determined by CONFIG_NET_ETH_PKTSIZE. Default: 6
CONFIG_ENET_NTXBUFFERS - Number of TX buffers. The size of one
buffer is determined by CONFIG_NET_ETH_PKTSIZE. Default: 2
CONFIG_ENET_USEMII - Use MII mode. Default: RMII mode.
CONFIG_ENET_PHYADDR - PHY address
Configurations
==============
Each Freedom K64F configuration is maintained in a sub-directory and
can be selected as follow:
tools/configure.sh freedom-k64f/<subdir>
Where <subdir> is one of the following:
netnsh:
------
This configuration is identical to the nsh configuration described
below except that networking support is enabled.
NOTES:
1. This configuration uses the mconf-based configuration tool. To
change this configuration using that tool, you should:
a. Build and install the kconfig-mconf tool. See nuttx/README.txt
see additional README.txt files in the NuttX tools repository.
b. Execute 'make menuconfig' in nuttx/ in order to start the
reconfiguration process.
2. Default platform/toolchain:
CONFIG_HOST_WINDOWS=y : Cygwin under Windows
CONFIG_WINDOWS_CYGWIN=y
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : ARM/mbed toolcahin (arm-none-elf-gcc)
CONFIG_INTELHEX_BINARY=y : Output formats: Intel hex binary
3. The Serial Console is provided on UART3 with the correct pin
configuration for use with an Arduino Serial Shield.
4. SDHC support is not enabled in this configuration. Refer to the
configuration settings listed above under "SD Card Support".
5. Support for NSH built-in applications is enabled, but no built-in
applications have been configured in.
6. No external pullup is available on MDIO signal when MK64FN1M0VLL12 MCU
is requests status of the Ethernet link connection. Internal pullup is
required when port configuration for MDIO signal is enabled:
CONFIG_KINETIS_ENET_MDIOPULLUP=y
7. Configured to use a fixed IPv4 address:
CONFIG_NSH_IPADDR=0x0a000002
CONFIG_NSH_DRIPADDR=0x0a000001
CONFIG_NSH_NETMASK=0xffffff00
And a bogus MAC address:
CONFIG_NSH_NOMAC=y
CONFIG_NSH_SWMAC=y
CONFIG_NSH_MACADDR=0x00e0deadbeef
nsh:
---
Configures the NuttShell (nsh) located at apps/examples/nsh using a
serial console on UART3.
NOTES:
1. This configuration uses the mconf-based configuration tool. To
change this configuration using that tool, you should:
a. Build and install the kconfig-mconf tool. See nuttx/README.txt
see additional README.txt files in the NuttX tools repository.
b. Execute 'make menuconfig' in nuttx/ in order to start the
reconfiguration process.
2. Default platform/toolchain:
CONFIG_HOST_WINDOWS=y : Cygwin under Windows
CONFIG_WINDOWS_CYGWIN=y
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : ARM/mbed toolcahin (arm-none-elf-gcc)
CONFIG_INTELHEX_BINARY=y : Output formats: Intel hex binary
3. The Serial Console is provided on UART0 with the correct pin
configuration for use with the OpenSDAv2 VCOM. This can be switched
to use a RS-232 shield on UART3 by reconfiguring the serial console.
-CONFIG_KINETIS_UART0=y
+CONFIG_KINETIS_UART3=y
-CONFIG_UART0_SERIALDRIVER=y
+CONFIG_UART3_SERIALDRIVER=y
-CONFIG_UART0_SERIAL_CONSOLE=y
+CONFIG_UART3_SERIAL_CONSOLE=y
-CONFIG_UART0_RXBUFSIZE=256
+CONFIG_UART3_RXBUFSIZE=256
-CONFIG_UART0_TXBUFSIZE=256
+CONFIG_UART3_TXBUFSIZE=256
-CONFIG_UART0_BAUD=115200
+CONFIG_UART3_BAUD=115200
-CONFIG_UART0_BITS=8
+CONFIG_UART3_BITS=8
-CONFIG_UART0_PARITY=0
+CONFIG_UART3_PARITY=0
-CONFIG_UART0_2STOP=0
+CONFIG_UART3_2STOP=0
NOTE: On my Windows 10 / Cygwin64 system, the OpenSDAv2 VCOM is not
recognized. I probably need to install a driver?
There is a serial USB driver on the mbed web site. However, this
driver would not install on Windows 10 for me. I understand that
it installs OK on Windows 7.
4. Support for NSH built-in applications is enabled, but no built-in
applications have been configured in.
5. An SDHC driver is enabled in this configuration but does not yet work.
The basic problem seems to be that it does not sense the presence of
the SD card on PTE6. No interrupts are generated when the SD card is
inserted or removed. You might want to disable SDHC and MMC/SD if
you are using this configuration. Refer to the configuration
settings listed above under "SD Card Support".
Status
======
2016-07-11: Received hardware today and the board came up on the very
first try. That does not happen often. At this point, the very basic
NSH configuration is working and LEDs are working.
The only odd behavior that I see is that pressing SW3 causes an NMI
interrupt (followed by a crash):
kinetis_nmi: PANIC!!! NMI received
I don't yet understand why this is.
2016-07-12: Added support for the KSZ8081 PHY and added the netnsh
configuration. The network is basically functional. More testing is
needed, but I have not seen any obvious network failures.
In testing, I notice a strange thing. If I run at full optimization the
code runs (albeit with bugs-to-be-solved). But with no optimization or
even at -O1, the system fails to boot. This seems to be related to the
watchdog timer.
2016-07-13: Add SD automounter logic; broke out SDHC logic into a separate
file. The nsh configuration now has SDHC enabled be default. Does not
yet work. The basic problem seems to be that it does not sense the
presence of the SD card on PTE6. No interrupts are generated when the
SD card is inserted or removed. You might want to disable SDHC and
MMC/SD if you are using this configuration.
The nsh configuration now builds successfully with USB device enabled.
USB device, however, has not yet been tested. I have not yet looked
into 48MHz clocking requirements.
2017-02-10: These have been numerous SDHC fixes submitted by Marc Rechte'.
These may or may not have fixed the SDHC issues mentioned about. You
would have to retest to verify the SDHC functionality.
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