README
======
This README file discusses the port of NuttX to the Atmel SAM V71 Xplained
Ultra Evaluation Kit (SAMV71-XULT). This board features the ATSAMV71Q21 Cortex-M7
microcontroller.
Contents
========
- Board Features
- Open Issues
- Serial Console
- SD card
- Automounter
- LEDs and Buttons
- AT24MAC402 Serial EEPROM
- Networking
- Debugging
- Configurations
Board Features
==============
- ATSAMV71Q21 microcontroller: Cortex-M7, 300MHz, 2MiB FLASH, 384KiB SRAM,
I/D-caches
- One mechanical reset button
- One power switch button
- Two mechanical user pushbuttons
- Two yellow user LEDs
- Supercap backup
- 12.0 MHz crystal
- 32.768 kHz crystal
- 2 MB SDRAM
- 2 MB QSPI Flash
- IEEE 802.3az 10Base-T/100Base-TX Ethernet RMII PHY
- AT24MAC402 256KByte EEPROM with EUI-48 address
- WM8904 stereo audio codec
- ATA6561 CAN Transceiver
- SD Card connector with SDIO support
- Camera interface connector
- MediaLB connector
- Two Xplained Pro extension headers
- One Xplained Pro LCD header
- Coresight 20 connector for 4-bit ETM
- Arduino due compatible shield connectors
- External debugger connector
- USB interface, device and host mode
- Embedded Debugger with Data Gateway Interface and Virtual COM port (CDC)
- External power input (5-14V) or USB powered
See the Atmel website for further information about this board:
- http://www.atmel.com/tools/atsamv71-xult.aspx
Open Issues
===========
The BASIC nsh configuration is fully function (as desribed below under
"Configurations"). There are still open issues that need to be resolved:
1. SDRAM support has been implemented and tested using the nsh
configuration (as desribed below). Currently the memory test does not
pass. I am suspecting that this is because D-Cache is enabled when
SDRAM is configured?
2. HSCMI. CONFIG_MMCSD_MULTIBLOCK_DISABLE=y is set to disable multi-block
transfers only because I have not yet had a chance to verify this. The
is very low priority to me but might be important to you if you are need
very high performance SD card accesses.
3. HSMCI TX DMA is currently disabled for the SAMV7. There is some
issue with the TX DMA setup (HSMCI TX DMA the same driver works with
the SAMA5D4 which has a different DMA subsystem). This is a bug that
needs to be resolved.
DMA is enabled by these settings in the file arch/arm/src/samvy/sam_hsmci.c:
#undef HSCMI_NORXDMA /* Define to disable RX DMA */
#define HSCMI_NOTXDMA 1 /* Define to disable TX DMA */
4. There may also be some issues with removing and re-inserting SD cards
(of course with appropriate mounting and unmounting). I all not sure
of this and need to do more testing to characterize if the issue.
5. There is not yet any support for the following board features: QSPI or WM8904.
Many drivers will port easily from either the SAM3/4 or from the SAMA5Dx.
So there is still plenty to be done.
6. There is a port of the SAMA5D4-EK Ethernet driver to the SAMV71-XULT.
This driver appears to be 100% functional with the following caveats:
- There is a compiler optimization problem. At -O2, there is odd
behavior on pings and ARP messages. But the behavior is OK with
optimization set to -O2. This may or may not be a compiler
optimization issue (it could also be a timing issue or a need
for some additional volatile qualifiers).
- I- and D-Caches are enabled but the D-Cache must be enabled in
write-trough mode. This is to work around issues with the RX and TX
descriptors with are 8-bytes in size. But the D-Cache cache line size
is 32-bytes. That means that you cannot reload, clean or invalidate a
descriptor without also effecting three neighboring descriptors.
Setting write through mode eliminates the need for cleaning the D-Cache.
If only reloading and invalidating are done, then there is no problem.
7. The USBHS device controller driver (DCD) is complete but non-functional.
At this point, work has stopped because I am stuck. The problem is that
bus events are not occurring: Nothing is detected by the USBHS when the
host is connected; no activity is seen on the bus by a USB analyzer when
the host is connected. Possibilities: (1) the pullups on DM and DP are
not working. This would prevent the host from detecting the presence of
the device. the DETACH bit is, however, being correctly cleared or (2)
some issue with clocking or configuration of the UTMI. I see nothing
wrong this this case. I have done extensive comparison of the Atmel
sample code and study of the data sheet, but I have not found the key to
solving this.
+nmnmSerial Console
==============
The SAMV71-XULT has no on-board RS-232 drivers so it will be necessary to
use either the VCOM or an external RS-232 driver. Here are some options.
- Arduino Serial Shield: One option is to use an Arduino-compatible
serial shield. This will use the RXD and TXD signals available at pins
0 an 1, respectively, of the Arduino "Digital Low" connector. On the
SAMV71-XULT board, this corresponds to UART3:
------ ------ ------- ------- --------
Pin on SAMV71 Arduino Arduino SAMV71
J503 PIO Name Pin Function
------ ------ ------- ------- --------
1 PD28 RX0 0 URXD3
2 PD30 TX0 1 UTXD3
------ ------ ------- ------- --------
In this configuration, an external RS232 driver can also be used
instead of the shield. Simply connext as follows:
--------- -----------
Arduino RS-232
Pin Label Connection
--------- -----------
D0 (RXD) RX
D1 (TXD) TX
GND GND
5VO Vcc
--------- -----------
- SAMV7-XULT EXTn connectors. USART pins are also available the EXTn
connectors. The following are labelled in the User Guide for USART
functionality:
---- -------- ------ --------
EXT1 EXTI1 SAMV71 SAMV71
Pin Name PIO Function
---- -------- ------ --------
13 USART_RX PB00 RXD0
14 USART_TX PB01 TXD0
---- -------- ------ --------
EXT2 EXTI2 SAMV71 SAMV71
Pin Name PIO Function
---- -------- ------ --------
13 USART_RX PA21 RXD1
14 USART_TX PB04 TXD1
- VCOM. The Virtual Com Port gateway is available on USART1:
------ --------
SAMV71 SAMV71
PIO Function
------ --------
PB04 TXD1
PA21 RXD1
------ --------
Any of these options can be selected as the serial console by:
1. Enabling the UART/USART peripheral in the
"System Type -> Peripheral Selection" menu, then
2. Configuring the peripheral in the "Drivers -> Serial Configuration"
menu.
SD Card
=======
Card Slot
---------
The SAM V71 Xplained Ultra has one standard SD card connector which is
connected to the High Speed Multimedia Card Interface (HSMCI) of the SAM
V71. SD card connector:
------ ----------------- ---------------------
SAMV71 SAMV71 Shared functionality
Pin Function
------ ----------------- ---------------------
PA30 MCDA0 (DAT0)
PA31 MCDA1 (DAT1)
PA26 MCDA2 (DAT2)
PA27 MCDA3 (DAT3) Camera
PA25 MCCK (CLK) Shield
PA28 MCCDA (CMD)
PD18 Card Detect (C/D) Shield
------ ----------------- ---------------------
Configuration Settings
----------------------
Enabling HSMCI support. The SAMV7-XULT provides a one, full-size SD memory card slots. The full size SD card slot connects via HSMCI0. Support for the SD slots can be enabled with the following settings:
System Type->SAMV7 Peripheral Selection
CONFIG_SAMV7_HSMCI0=y : To enable HSMCI0 support
CONFIG_SAMV7_XDMAC=y : XDMAC is needed by HSMCI0/1
System Type
CONFIG_SAMV7_PIO_IRQ=y : PIO interrupts needed
CONFIG_SAMV7_PIOD_IRQ=y : Card detect pin is on PD18
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_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
RTOS Features -> Work Queue Support
CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization, OR
CONFIG_BOARD_INITIALIZE=y
Using the SD card
-----------------
1) After booting, the HSCMI 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) Inserted 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 HSMCI 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_SAMV7XULT_HSMCI0_AUTOMOUNT=y
CONFIG_SAMV7XULT_HSMCI0_AUTOMOUNT_FSTYPE="vfat"
CONFIG_SAMV7XULT_HSMCI0_AUTOMOUNT_BLKDEV="/dev/mmcsd0"
CONFIG_SAMV7XULT_HSMCI0_AUTOMOUNT_MOUNTPOINT="/mnt/sdcard"
CONFIG_SAMV7XULT_HSMCI0_AUTOMOUNT_DDELAY=1000
CONFIG_SAMV7XULT_HSMCI0_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.
LEDs and Buttons
================
LEDs
----
There are two yellow LED available on the SAM V71 Xplained Ultra board that
can be turned on and off. The LEDs can be activated by driving the
connected I/O line to GND.
------ ----------- ---------------------
SAMV71 Function Shared functionality
PIO
------ ----------- ---------------------
PA23 Yellow LED0 EDBG GPIO
PC09 Yellow LED1 LCD, and Shield
------ ----------- ---------------------
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_autoleds.c. The LEDs are used to encode
OS-related events as follows:
------------------- ----------------------- -------- --------
SYMBOL Meaning LED state
LED0 LED1
------------------- ----------------------- -------- --------
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 N/C Blinking
LED_IDLE MCU is is sleep mode Not used
------------------- ----------------------- -------- --------
Thus if LED0 is statically on, NuttX has successfully booted and is,
apparently, running normally. If LED1 is flashing at approximately
2Hz, then a fatal error has been detected and the system has halted.
NOTE: That LED0 is not used after completion of booting and may
be used by other board-specific logic.
Buttons
-------
SAM V71 Xplained Ultra contains three mechanical buttons. One button is the
RESET button connected to the SAM V71 reset line and the others are generic
user configurable buttons. When a button is pressed it will drive the I/O
line to GND.
------ ----------- ---------------------
SAMV71 Function Shared functionality
PIO
------ ----------- ---------------------
RESET RESET Trace, Shield, and EDBG
PA09 SW0 EDBG GPIO and Camera
PB12 SW1 EDBG SWD and Chip Erase
------ ----------- ---------------------
NOTES:
- There are no pull-up resistors connected to the generic user buttons so
it is necessary to enable the internal pull-up in the SAM V71 to use the
button.
- PB12 is set up as a system flash ERASE pin when the firmware boots. To
use the SW1, PB12 has to be configured as a normal regular I/O pin in
the MATRIX module. For more information see the SAM V71 datasheet.
AT24MAC402 Serial EEPROM
========================
Ethernet MAC Address
--------------------
The SAM V71 Xplained Ultra features one external AT24MAC402 serial EEPROM
with a EIA-48 MAC address connected to the SAM V71 through I2C. This device
contains a MAC address for use with the Ethernet interface.
Connectivity:
------ -------- -------- ------------------------------------------
SAMV71 SAMV71 I2C Shared
Pin Function Function Functionality
------ -------- -------- ------------------------------------------
PA03 TWID0 SDA EXT1, EXT2, EDBG I2C, LCD, Camera, Audio,
MediaLB, and Shield
PA04 TWICK0 SCL EXT1, EXT2, EDBG I2C, LCD, Camera, Audio,
MediaLB, and Shield
------ -------- -------- ------------------------------------------
I2C address:
The 7-bit addresses of the AT24 part are 0b1010AAA for the normal 2Kbit
memory and 0b1011aaa for the "extended memory" where aaa is the state of
the A0, A1, and A3 pins on the part. On the SAMV71-XULT board, these
are all pulled high so the full, 7-bit address is 0x5f.
Configuration
-------------
System Type -> SAMV7 Peripheral Support
CONFIG_SAMV7_TWIHS0=y : Used to access the EEPROM
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
Device drivers -> Memory Technology Devices
CONFIG_MTD_AT24XX=y : Enable the AT24 device driver
CONFIG_AT24XX_SIZE=2 : Normal EEPROM is 2Kbit (256b)
CONFIG_AT24XX_ADDR=0x57 : Normal EEPROM address */
CONFIG_AT24XX_EXTENDED=y : Supports an extended memory region
CONFIG_AT24XX_EXTSIZE=160 : Extended address up to 0x9f
MTD Configuration Data
----------------------
The AT24 EEPROM can also be used to storage of up to 256 bytes of
configuration data:
Device drivers -> Memory Technology Devices
The configuration data device will appear at /dev/config.
Networking
==========
KSZ8061RNBVA Connections
------------------------
------ --------- --------- --------------------------
SAMV71 SAMV71 Ethernet Shared functionality
Pin Function Function
------ --------- --------- --------------------------
PD00 GTXCK REF_CLK Shield
PD01 GTXEN TXEN
PD02 GTX0 TXD0
PD03 GTX1 TXD1
PD04 GRXDV CRS_DV Trace
PD05 GRX0 RXD0 Trace
PD06 GRX1 RXD1 Trace
PD07 GRXER RXER Trace
PD08 GMDC MDC Trace
PD09 GMDIO MDIO
PA19 GPIO INTERRUPT EXT1, Shield
PA29 GPIO SIGDET
PC10 GPIO RESET
------ --------- --------- --------------------------
Selecting the GMAC peripheral
-----------------------------
System Type -> SAMV7 Peripheral Support
CONFIG_SAMV7_EMAC0=y : Enable the GMAC peripheral (aka, EMAC0)
CONFIG_SAMV7_TWIHS0=y : We will get the MAC address from the AT24 EEPROM
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
System Type -> EMAC device driver options
CONFIG_SAMV7_EMAC0_NRXBUFFERS=16 : Set aside some RS and TX buffers
CONFIG_SAMV7_EMAC0_NTXBUFFERS=8
CONFIG_SAMV7_EMAC0_RMII=y : The RMII interfaces is used on the board
CONFIG_SAMV7_EMAC0_AUTONEG=y : Use autonegotiation
CONFIG_SAMV7_EMAC0_PHYADDR=1 : KSZ8061 PHY is at address 1
CONFIG_SAMV7_EMAC0_PHYSR=30 : Address of PHY status register on KSZ8061
CONFIG_SAMV7_EMAC0_PHYSR_ALTCONFIG=y : Needed for KSZ8061
CONFIG_SAMV7_EMAC0_PHYSR_ALTMODE=0x7 : " " " " " "
CONFIG_SAMV7_EMAC0_PHYSR_10HD=0x1 : " " " " " "
CONFIG_SAMV7_EMAC0_PHYSR_100HD=0x2 : " " " " " "
CONFIG_SAMV7_EMAC0_PHYSR_10FD=0x5 : " " " " " "
CONFIG_SAMV7_EMAC0_PHYSR_100FD=0x6 : " " " " " "
PHY selection. Later in the configuration steps, you will need to select
the KSZ8061 PHY for EMAC (See below)
Networking Support
CONFIG_NET=y : Enable Neworking
CONFIG_NET_NOINTS=y : Use the work queue, not interrupts for processing
CONFIG_NET_SOCKOPTS=y : Enable socket operations
CONFIG_NET_ETH_MTU=562 : Maximum packet size (MTU) 1518 is more standard
CONFIG_NET_ETH_TCP_RECVWNDO=562 : Should be the same as CONFIG_NET_ETH_MTU
CONFIG_NET_ARP=y : ARP support should be enabled
CONFIG_NET_ARP_SEND=y : Use ARP to get peer address before sending
CONFIG_NET_TCP=y : Enable TCP/IP networking
CONFIG_NET_TCPBACKLOG=y : Support TCP/IP backlog
CONFIG_NET_TCP_READAHEAD=y : Enable TCP read-ahead buffering
CONFIG_NET_TCP_WRITE_BUFFERS=y : Enable TCP write buffering
CONFIG_NET_UDP=y : Enable UDP networking
CONFIG_NET_BROADCAST=y : Support UDP broadcase packets
CONFIG_NET_ICMP=y : Enable ICMP networking
CONFIG_NET_ICMP_PING=y : Needed for NSH ping command
: Defaults should be okay for other options
Device drivers -> Network Device/PHY Support
CONFIG_NETDEVICES=y : Enabled PHY selection
CONFIG_ETH0_PHY_KSZ8061=y : Select the KSZ8061 PHY used with EMAC0
Device drivers -> Memory Technology Devices
CONFIG_MTD_AT24XX=y : Enable the AT24 device driver
CONFIG_AT24XX_SIZE=2 : Normal EEPROM is 2Kbit (256b)
CONFIG_AT24XX_ADDR=0x57 : Normal EEPROM address */
CONFIG_AT24XX_EXTENDED=y : Supports an extended memory region
CONFIG_AT24XX_EXTSIZE=160 : Extended address up to 0x9f
RTOS Features ->Work Queue Support
CONFIG_SCHED_WORKQUEUE=y : Work queue support is needed
CONFIG_SCHED_HPWORK=y
CONFIG_SCHED_HPWORKSTACKSIZE=2048 : Might need to be increased
Application Configuration -> Network Utilities
CONFIG_NETUTILS_DNSCLIENT=y : Enable host address resolution
CONFIG_NETUTILS_TELNETD=y : Enable the Telnet daemon
CONFIG_NETUTILS_TFTPC=y : Enable TFTP data file transfers for get and put commands
CONFIG_NETUTILS_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 an IP address
CONFIG_NSH_DRIPADDR=0x0a000001 : IP address of gateway/host PC
CONFIG_NSH_NETMASK=0xffffff00 : Netmask
CONFIG_NSH_NOMAC=n : We will get the IP address from EEPROM
: Defaults should be okay for other options
Using the network with NSH
--------------------------
So what can you do with this networking support? First you see that
NSH has several new network related commands:
ifconfig, ifdown, ifup: Commands to help manage your network
get and put: TFTP file transfers
wget: HTML file transfers
ping: Check for access to peers on the network
Telnet console: You can access the NSH remotely via telnet.
You can also enable other add on features like full FTP or a Web
Server or XML RPC and others. There are also other features that
you can enable like DHCP client (or server) or network name
resolution.
By default, the IP address of the SAMA4D4-EK will be 10.0.0.2 and
it will assume that your host is the gateway and has the IP address
10.0.0.1.
nsh> ifconfig
eth0 HWaddr 00:e0:de:ad:be:ef at UP
IPaddr:10.0.0.2 DRaddr:10.0.0.1 Mask:255.255.255.0
You can use ping to test for connectivity to the host (Careful,
Window firewalls usually block ping-related ICMP traffic). On the
target side, you can:
nsh> ping 10.0.0.1
PING 10.0.0.1 56 bytes of data
56 bytes from 10.0.0.1: icmp_seq=1 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=2 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=3 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=4 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=5 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=6 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=7 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=8 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=9 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=10 time=0 ms
10 packets transmitted, 10 received, 0% packet loss, time 10100 ms
NOTE: In this configuration is is normal to have packet loss > 0%
the first time you ping due to the default handling of the ARP
table.
On the host side, you should also be able to ping the SAMA4D4-EK:
$ ping 10.0.0.2
You can also log into the NSH from the host PC like this:
$ telnet 10.0.0.2
Trying 10.0.0.2...
Connected to 10.0.0.2.
Escape character is '^]'.
sh_telnetmain: Session [3] Started
NuttShell (NSH) NuttX-7.9
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. On the order of a minute! You will probably think that
NuttX has crashed! And then, when it finally does come up, the
network will not be available.
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 networking initialization feature by itself 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.
- Furthermore, there is no support for detecting loss of the network
connection and recovery of networking when the connection is restored.
Both of these shortcomings can 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.
- 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 SAMV7 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.
In most architectures, the PHY interrupt is not associated with the
Ethernet driver at all. Rather, the PHY interrupt is provided via some
board-specific GPIO and the board-specific logic must provide support
for that GPIO 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(). This logic can be found at
nuttx/configs/sama5d4-ek/src/sam_ethernet.c.
- 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.
Networking Support -> Networking Device Support
CONFIG_NETDEV_PHY_IOCTL=y : Enable PHY ioctl support
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
Debugging
=========
The on-board EDBG appears to work only with Atmel Studio. You can however,
simply connect a SAM-ICE or J-Link to the JTAG/SWD connector on the board
and that works great. The only tricky thing is getting the correct
orientation of the JTAG connection.
I have been using Atmel Studio to write code to flash then I use the Segger
J-Link GDB server to debug. I have been using the 'Device Programming' I
available under the Atmel Studio 'Tool' menu. I have to disconnect the
SAM-ICE while programming with the EDBG. I am sure that you could come up
with a GDB server-only solution if you wanted.
I run GDB like this from the directory containing the NuttX ELF file:
arm-none-eabi-gdb
(gdb) target remote localhost:2331
(gdb) mon reset
(gdb) file nuttx
(gdb) ... start debugging ...
Configurations
==============
Information Common to All Configurations
----------------------------------------
Each SAMV71-XULT configuration is maintained in a sub-directory and
can be selected as follow:
cd tools
./configure.sh samv71-xult/<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 oldconfig
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 USART3 (i.e., for the Arduino serial shield).
3. All of these configurations are set up to build under Windows using the
"GNU Tools for ARM Embedded Processors" that is maintained by ARM
(unless stated otherwise in the description of the configuration).
https://launchpad.net/gcc-arm-embedded
As of this writing (2015-03-11), full support is difficult to find
for the Cortex-M&, but is supported by at least this realeasse of
the ARM GNU tools:
https://launchpadlibrarian.net/192228215/release.txt
That toolchain selection can easily be reconfigured using
'make menuconfig'. Here are the relevant current settings:
Build Setup:
CONFIG_HOST_WINDOWS=y : Window environment
CONFIG_WINDOWS_CYGWIN=y : Cywin under Windows
System Type -> Toolchain:
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : GNU ARM EABI toolchain
NOTE: As of this writing, there are issues with using this tool at
the -Os level of optimization. This has not been proven to be a
compiler issue (as least not one that might not be fixed with a
well placed volatile qualifier). However, in any event, it is
recommend that you use not more that -O2 optimization.
Configuration sub-directories
-----------------------------
nsh:
Configures the NuttShell (nsh) located at examples/nsh. There are two
NSH configurations:
- nsh. This configuration is focused on low level, command-line
driver testing. It has not network.
- netnsh. This configuration is focused on network testing and
has only limited command support.
NOTES:
1. The serial console is configured by default for use with and Arduino
serial shield (UART3). You will need to reconfigure if you will
to use a different U[S]ART.
2. Default stack sizes are large and should really be tuned to reduce
the RAM footprint:
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_IDLETHREAD_STACKSIZE=1024
CONFIG_USERMAIN_STACKSIZE=2048
CONFIG_PTHREAD_STACK_DEFAULT=2048
... and others ...
3. NSH built-in applications are supported.
Binary Formats:
CONFIG_BUILTIN=y : Enable support for built-in programs
Application Configuration:
CONFIG_NSH_BUILTIN_APPS=y : Enable starting apps from NSH command line
4. The network initialization thread is NOT enabled in this configuration.
As a result, networking initialization is performed serially with
NSH bring-up. The time from reset to the NSH prompt will be determined
primarily by this network initialization time. And can be especially
long, perhaps minutes, if the network cable is not connected!
If fast boot times are required, you need to perform asynchronous
network initialization as described under "Network Initialization Thread"
5. SDRAM is NOT enabled in this configuration.
6. TWI/I2C
TWIHS0 is enabled in this configuration. The SAM V71 Xplained Ultra
supports two devices on the one on-board I2C device on the TWIHS0 bus:
(1) The AT24MAC402 serial EEPROM described above and (2) the Wolfson
WM8904 audio CODEC. This device contains a MAC address for use with
the Ethernet interface.
Relevant configuration settings:
CONFIG_SAMV7_TWIHS0=y
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
CONFIG_I2C=y
CONFIG_I2C_TRANSFER=y
7. TWIHS0 is used to support 256 byte non-volatile storage. This EEPROM
holds the assigned MAC address which is necessary for networking. The
EEPROM is also available for storage of configuration data using the
MTD configuration as described above under the heading, "MTD
Configuration Data".
8. Support for HSMCI is built-in by default. The SAMV71-XULT provides
one full-size SD memory card slot. Refer to the section entitled
"SD card" for configuration-related information.
See "Open Issues" above for issues related to HSMCI.
The auto-mounter is not enabled. See the section above entitled
"Auto-Mounter".
9. Performance-related Configuration settings:
CONFIG_ARMV7M_ICACHE=y : Instruction cache is enabled
CONFIG_ARMV7M_DCACHE=y : Data cache is enabled
CONFIG_ARCH_FPU=y : H/W floating point support is enabled
CONFIG_ARCH_DPFPU=y : 64-bit H/W floating point support is enabled
# CONFIG_ARMV7M_ITCM is not set : Support not yet in place
# CONFIG_ARMV7M_DTCM is not set : Support not yet in place
Stack sizes are also large to simplify the bring-up and should be
tuned for better memory usages.
STATUS:
2015-03-28: I- and D-caches are currently disabled. Also -Os
optimization is not being used (-O2). If either the caches or higher
levels of optimization are enabled, then there are failures when trying
to ping the target from a host. This appears to be a timing-related
issue will probably not be easy to fix.
nsh:
Configures the NuttShell (nsh) located at examples/nsh. There are two
NSH configurations:
- nsh. This configuration is focused on low level, command-line
driver testing. It has not network.
- netnsh. This configuration is focused on network testing and
has only limited command support.
NOTES:
1. The serial console is configured by default for use with and Arduino
serial shield (UART3). You will need to reconfigure if you will
to use a different U[S]ART.
2. Default stack sizes are large and should really be tuned to reduce
the RAM footprint:
CONFIG_ARCH_INTERRUPTSTACK=2048
CONFIG_IDLETHREAD_STACKSIZE=1024
CONFIG_USERMAIN_STACKSIZE=2048
CONFIG_PTHREAD_STACK_DEFAULT=2048
... and others ...
3. NSH built-in applications are supported.
Binary Formats:
CONFIG_BUILTIN=y : Enable support for built-in programs
Application Configuration:
CONFIG_NSH_BUILTIN_APPS=y : Enable starting apps from NSH command line
4. SDRAM is not enabled in this configuration. I have enabled SDRAM and
the apps/examples RAM test using this configuration settings:
System Type
CONFIG_SAMV7_SDRAMC=y
CONFIG_SAMV7_SDRAMSIZE=2097152
Application Configuration:
CONFIG_SYSTEM_RAMTEST=y
The RAM test can be executed as follows:
nsh> ramtest -w 70000000 209152
STATUS: As of this writing, SDRAM does not pass the RAM test. This is the sympton:
nsh> mw 70000000
70000000 = 0x00000000
nsh> mw 70000000=55555555
70000000 = 0x00000000 -> 0x55555555
nsh> mw 70000000
70000000 = 0x55555555
nsh> mw 70100000
70100000 = 0x00000000
nsh> mw 70100000=aaaaaaaa
70100000 = 0x00000000 -> 0xaaaaaaaa
nsh> mw 70100000
70100000 = 0xaaaaaaaa
nsh> mw 70000000
70000000 = 0x00000000 <<< Lost RAM content
5. The button test at apps/examples/buttons is included in the
configuration. This configuration illustrates (1) use of the buttons
on the evaluation board, and (2) the use of PIO interrupts. Example
usage:
NuttShell (NSH) NuttX-7.8
nsh> help
help usage: help [-v] [<cmd>]
...
Builtin Apps:
buttons
nsh> buttons 3
maxbuttons: 3
Attached handler at 4078f7 to button 0 [SW0], oldhandler:0
Attached handler at 4078e9 to button 1 [SW1], oldhandler:0
IRQ:125 Button 1:SW1 SET:00:
SW1 released
IRQ:125 Button 1:SW1 SET:02:
SW1 depressed
IRQ:125 Button 1:SW1 SET:00:
SW1 released
IRQ:90 Button 0:SW0 SET:01:
SW0 depressed
IRQ:90 Button 0:SW0 SET:00:
SW0 released
IRQ:125 Button 1:SW1 SET:02:
SW1 depressed
nsh>
6. TWI/I2C
TWIHS0 is enabled in this configuration. The SAM V71 Xplained Ultra
supports two devices on the one on-board I2C device on the TWIHS0 bus:
(1) The AT24MAC402 serial EEPROM described above and (2) the Wolfson
WM8904 audio CODEC. This device contains a MAC address for use with
the Ethernet interface.
In this configuration, the I2C tool at apps/system/i2ctool is
enabled. This tools supports interactive access to I2C devices on
the enabled TWIHS bus. Relevant configuration settings:
CONFIG_SAMV7_TWIHS0=y
CONFIG_SAMV7_TWIHS0_FREQUENCY=100000
CONFIG_I2C=y
CONFIG_I2C_TRANSFER=y
CONFIG_SYSTEM_I2CTOOL=y
CONFIG_I2CTOOL_MINBUS=0
CONFIG_I2CTOOL_MAXBUS=0
CONFIG_I2CTOOL_MINADDR=0x03
CONFIG_I2CTOOL_MAXADDR=0x77
CONFIG_I2CTOOL_MAXREGADDR=0xff
CONFIG_I2CTOOL_DEFFREQ=400000
Example usage:
nsh> i2c
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: 400000 Current: 400000
NOTES:
o An environment variable like $PATH may be used for any argument.
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.
nsh> i2c bus
BUS EXISTS?
Bus 0: YES
nsh> i2c dev 3 77
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- 1a -- -- -- -- --
20: -- -- -- -- -- -- -- -- 28 -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- 37 -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- 4e --
50: -- -- -- -- -- -- -- 57 -- -- -- -- -- -- -- 5f
60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
nsh>
Where 0x1a us the address of the WM8904 Audio CODEC, 0x28 is the
address of TWI interface to the EDBG, 0x4e is the address of the
CP2100CP programmable PLL, and 0x57 and 0x5f are the addresses of
the AT2 EEPROM (I am not sure what the other address, 0x37, is are
as this writing).
7. TWIHS0 is also used to support 256 byte non-volatile storage for
configuration data using the MTD configuration as described above
under the heading, "MTD Configuration Data".
8. Support for HSMCI is built-in by default. The SAMV71-XULT provides
one full-size SD memory card slot. Refer to the section entitled
"SD card" for configuration-related information.
See "Open Issues" above for issues related to HSMCI.
The auto-mounter is not enabled. See the section above entitled
"Auto-Mounter".
9. Performance-related Configuration settings:
CONFIG_ARMV7M_ICACHE=y : Instruction cache is enabled
CONFIG_ARMV7M_DCACHE=y : Data cache is enabled
CONFIG_ARCH_FPU=y : H/W floating point support is enabled
CONFIG_ARCH_DPFPU=y : 64-bit H/W floating point support is enabled
# CONFIG_ARMV7M_ITCM is not set : Support not yet in place
# CONFIG_ARMV7M_DTCM is not set : Support not yet in place
Stack sizes are also large to simplify the bring-up and should be
tuned for better memory usages.
STATUS:
2015-03-28: HSMCI TX DMA is disabled. There are some issues with the TX
DMA that need to be corrected.
dab3dbc75b