README.txt
==========
This is the README file for the port of NuttX to the Freescale Freedom KL26Z
board. This board has the MKL26Z128 chip with a built-in SDA debugger.
Contents
========
- Development Environment
- GNU Toolchain Options
- NuttX Buildroot Toolchain
- LEDs
- Serial Console
- mbed
- Freedom KL26Z-specific Configuration Options
- Configurations
Development Environment
=======================
Either Linux or Cygwin under 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.
GNU Toolchain Options
=====================
As of this writing, all testing has been performed using the NuttX buildroot
toolchain described below. I have also verified the build using the
CodeSourcery GCC toolchain for windows. Most any contemporary EABI GCC
toolchain should work will a little tinkering.
NuttX 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-M0 GCC toolchain (if
different from the default in your PATH variable).
If you have no Cortex-M0 toolchain, one can be downloaded from the NuttX
Bitbucket download site (https://bitbucket.org/nuttx/buildroot/downloads/).
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 freedom-kl26z/<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/cortexm0-eabi-defconfig-4.6.3 .config
6. make oldconfig
7. make
8. Edit setenv.h, if necessary, so that the PATH variable includes
the path to the newly built binaries.
See the file configs/README.txt in the buildroot source tree. That has more
details PLUS some special instructions that you will need to follow if you are
building a Cortex-M0 toolchain for Cygwin under Windows.
LEDs
====
The Freedom KL26Z has a single RGB LED driven by the KL26Z as follows:
------------- --------
RGB LED KL26Z128
------------- --------
Red Cathode PTE29
Green Cathode PTE31
Blue Cathode PTD5
NOTE: PTD5 is also connected to the I/O header on J2 pin 12 (also known as D13).
If CONFIG_ARCH_LEDs is defined, then NuttX will control the LED on board the
Freedom KL26Z. The following definitions describe how NuttX controls the LEDs:
SYMBOL Meaning LED state
Initially all LED is OFF
------------------- ----------------------- --------------------------
LED_STARTED NuttX has been started R=OFF G=OFF B=OFF
LED_HEAPALLOCATE Heap has been allocated (no change)
LED_IRQSENABLED Interrupts enabled (no change)
LED_STACKCREATED Idle stack created R=OFF G=OFF B=ON
LED_INIRQ In an interrupt (no change)
LED_SIGNAL In a signal handler (no change)
LED_ASSERTION An assertion failed (no change)
LED_PANIC The system has crashed R=FLASHING G=OFF B=OFF
LED_IDLE K26Z1XX is in sleep mode (Optional, not used)
Serial Console
==============
As with most NuttX configurations, the Freedom KL26Z configurations
depend on having a serial console to interact with the software. The
Freedom KL26Z, however, has no on-board RS-232 drivers so will be
necessary to connect the Freedom KL26Z UART pins to an external
RS-232 driver board or TTL-to-Serial USB adaptor.
By default UART0 is used as the serial console on this boards. The UART0
is configured to work with the OpenSDA USB CDC/ACM port:
------ ------------------------------- -----------------------------
PIN PIN FUNCTIONS BOARD SIGNALS
------ ------------------------------- -----------------------------
Pin 27 PTA1/TSI0_CH2/UART0_RX/FTM2_CH0 UART1_RX_TGTMCU and D0 (PTA1)
Pin 28 PTA2/TSI0_CH3/UART0_TX/FTM2_CH1 UART1_TX_TGTMCU and D1 (PTA2)
But the UART0 Tx/Rx signals are also available on J1:
---------------- ---------
UART0 SIGNAL J1 pin
---------------- ---------
UART0_RX (PTA1) J1, pin 2
UART0_TX (PTA2) J1, pin 4
Ground is available on J2 pin 14. 3.3V is available on J3 and J4.
Freedom KL26Z-specific 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_CORTEXM0=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP=kl
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_MKL26Z128=y
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=freedom-kl26z (for the Freescale FRDM-KL26Z development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_FREEDOM_K26Z128=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=16384 (16Kb)
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.
CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
cause a 100 second delay during boot-up. This 100 second delay
serves no purpose other than it allows you to calibratre
CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure
the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until
the delay actually is 100 seconds.
Individual subsystems can be enabled as follows. These settings are for
all of the K25Z100/120 line and may not be available for the MKL26Z128
in particular:
AHB
---
CONFIG_KL_PDMA Peripheral DMA
CONFIG_KL_FMC Flash memory
CONFIG_KL_EBI External bus interface
APB1
----
CONFIG_KL_WDT Watchdog timer
CONFIG_KL_RTC Real time clock (RTC)
CONFIG_KL_TMR0 Timer0
CONFIG_KL_TMR1 Timer1
CONFIG_KL_I2C0 I2C interface
CONFIG_KL_SPI0 SPI0 master/slave
CONFIG_KL_SPI1 SPI1 master/slave
CONFIG_KL_PWM0 PWM0
CONFIG_KL_PWM1 PWM1
CONFIG_KL_PWM2 PWM2
CONFIG_KL_PWM3 PWM3
CONFIG_KL_UART0 UART0
CONFIG_KL_USBD USB 2.0 FS device controller
CONFIG_KL_ACMP Analog comparator
CONFIG_KL_ADC Analog-digital-converter (ADC)
APB2
---
CONFIG_KL_PS2 PS/2 interface
CONFIG_KL_TIMR2 Timer2
CONFIG_KL_TIMR3 Timer3
CONFIG_KL_I2C1 I2C1 interface
CONFIG_KL_SPI2 SPI2 master/slave
CONFIG_KL_SPI3 SPI3 master/slave
CONFIG_KL_PWM4 PWM4
CONFIG_KL_PWM5 PWM5
CONFIG_KL_PWM6 PWM6
CONFIG_KL_PWM7 PWM7
CONFIG_KL_UART1 UART1
CONFIG_KL_UART2 UART2
CONFIG_KL_I2S I2S interface
K26Z1XX specific device driver settings
CONFIG_UARTn_SERIAL_CONSOLE - Selects the UARTn (n=0,1,2) for the
console and ttys0.
CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer for UARTn.
CONFIG_UARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
for UARTn.
CONFIG_UARTn_BAUD - The configure BAUD of UARTn,
CONFIG_UARTn_BITS - The number of bits. Must be 5, 6, 7, or 8.
CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_UARTn_2STOP - Two stop bits
Configurations
==============
Each FREEDOM-KL26Z configuration is maintained in a sub-directory and
can be selected as follow:
cd tools
./configure.sh freedom-kl26z/<subdir>
cd -
. ./setenv.sh
If this is a Windows native build, then configure.bat should be used
instead of configure.sh:
configure.bat freedom-kl26z\<subdir>
Where <subdir> is one of the following:
minnsh:
------
This is a experiment to see just how small we can get a usable NSH
configuration. This configuration has far fewer features than the nsh
configuration but is also a fraction of the size.
This minnsh configuration is a "proof-of-concept" and not very usable in
its current state. This configuration was created by disabling
everything possible INCLUDING file system support. Without file system
support, NuttX is pretty much crippled. Here are some of the
consequences of disabling the file system:
- All features that depend on the file system are lost: device drivers,
mountpoints, message queues, named semaphores.
- Without device drivers, you cannot interact with the RTOS using POSIX
interfaces. You would have to work with NuttX as with those other
tiny RTOSs: As a scheduler and a callable hardare abstraction layer
(HAL).
- You cannot use any of the NuttX upper half device drivers since they
depend on the pseudo-file system and device nodes. You can, of
course, continue to use the lower half drivers either directly. Or,
perhaps, you could write some custom minnsh upper half drivers that
do not depend on a file system and expose a HAL interface.
There is a special version of readline() the NSH uses when there is no
file system. It uses a special up_putc() to write data to the console
and a special function up_getc() to read data from the console.
- The current up_getc() implementationsa are a kludge. They are
analogous to the up_putc() implementations: They directly poll the
hardware for serial availability, locking up all lower priority tasks
in the entire system while they poll. So a version of NSH that uses
up_getc() essentially blocks the system until a character is received.
This, of course, could be fixed by creating a special, upper half
implementation of the interrupt-driven serial lower half (like
stm32_serial) that just supports single character console I/O
(perhaps called up_putc and up_getc?). The NSH could wait for serial
input without blocking the system. But then that would increase the
footprint too.
So although the minnsh configurations are a good starting point for
making things small, they not are really very practical. Why might
you want a NuttX minnsh solution? Perhaps you have software that runs
on a family of chips including some very tiny MCUs. Then perhaps having
the RTOS compatibility would justify the loss of functionality?
You can re-enable the file system and (true) serial console with
these settings:
Enable the file system:
CONFIG_NFILE_DESCRIPTORS=5
CONFIG_NFILE_STREAMS=5
Enable the console device:
CONFIG_DEV_CONSOLE=y
Disable most new NSH commands. Some like 'ls' are really mandatory
with a file system:
CONFIG_NSH_DISABLE_xxx=y
Enable the upper half serial driver:
CONFIG_SERIAL=y
CONFIG_STANDARD_SERIAL=y
Enable the USART1 serial driver:
CONFIG_STM32_USART1=y
CONFIG_STM32_USART1_SERIALDRIVER=y
CONFIG_USART1_SERIAL_CONSOLE=y
CONFIG_USART1_2STOP=0
CONFIG_USART1_BAUD=115200
CONFIG_USART1_BITS=8
CONFIG_USART1_PARITY=0
CONFIG_USART1_RXBUFSIZE=16
CONFIG_USART1_TXBUFSIZE=16
With these changes, NSH should behave better and we preserve the device
driver interface. But this result in a total size increase of about
7KB: That is about 5KB of additional OS support for the file system and
serial console PLUS about 2KB for the 'ls' command logic (including OS
support for opendir(), readdir(), closedir(), stat(), and probably other
things).
nsh:
---
Configures the NuttShell (nsh) located at apps/examples/nsh. The
Configuration enables the serial interface on UART0. Support for
builtin applications is disabled.
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. By default, this configuration uses the CodeSourcery toolchain
for Windows and builds under Cygwin (or probably MSYS). That
can easily be reconfigured, of course.
CONFIG_HOST_WINDOWS=y : Builds under Windows
CONFIG_WINDOWS_CYGWIN=y : Using Cygwin
CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows
3. Serial Console. A serial console is necessary to interrupt with
NSH. The serial console is configured on UART0 which is available
on J1:
---------------- ---------
UART0 SIGNAL J1 pin
---------------- ---------
UART0_RX (PTA1) J1, pin 2
UART0_TX (PTA2) J1, pin 4
Ground is available on J2 pin 14. 3.3V is available on J3 and J4.
It is possible to configure NSH to use a USB serial console instead
of an RS-232 serial console. However, that configuration has not
been impelmented as of this writing.
4. Memory Usage. The size command gives us the static memory usage.
This is what I get:
$ size nuttx
text data bss dec hex filename
35037 106 1092 36235 8d8b nuttx
And we can get the runtime memory usage from the NSH free command:
NuttShell (NSH) NuttX-6.25
nsh> free
total used free largest
Mem: 14160 3944 10216 10216
nsh>
Summary:
- This slightly tuned NSH example uses 34.2KB of FLASH leaving 93.8KB
of FLASH (72%) free from additional application development.
I did not do all of the arithmetic, but it appears to me that of this
34+KB of FLASH usage, probably 20-30% of the FLASH is used by libgcc!
libgcc has gotten very fat!
- Static SRAM usage is about 1.2KB (<4%).
- At run time, 10.0KB of SRAM (62%) is still available for additional
applications. Most of the memory used at runtime is allocated I/O
buffers and the stack for the NSH main thread (1.5KB).
There is probably enough free memroy to support 3 or 4 application
threads in addition to NSH.
5. This configurations has support for NSH built-in applications. However,
in the default configuration no built-in applications are enabled.
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