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nuttx/configs/nucleo-f401re/README.txt
Gregory Nutt dcc709e612 Updated Nucleo-F401RE configuration
2014-05-05 13:47:21 -06:00

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README
======
This README discusses issues unique to NuttX configurations for the ST NucleoF401RE board
from ST Micro (http://www.st.com/web/catalog/mmc/FM141/SC1169/SS1577/LN1810/PF258797)
Microprocessor: 32-bit ARM Cortex M4 at 84MHz STM32F104RE
Memory: 512 KB Flash and 96 KB SRAM
I/O Pins Out: 37, 17 On the Connector
Network: TI CC3000 Wifi Module
ADCs: 1 (at 12-bit resolution)
Peripherals: 10 timers, 2 I2Cs, 2 SPI ports, 3 USARTs, 1 led
Other: Sleep, stop, and standby modes; serial wire debug and JTAG interfaces
Expansion I/F Ardino and Morpho Headers
Uses a STM32F103 to provide a ST-Link for programming, debug similar to the OpenOcd
FTDI function - USB to JTAG front-end.
Wireless WIFI + SD Card SDIO via a "CC3000 WiFi Arduino Shield" added card
RS232 console support via a "RS232 Arduino Shield" added card
Contents
========
- Development Environment
- GNU Toolchain Options
- IDEs
- NuttX EABI "buildroot" Toolchain
- NXFLAT Toolchain
- Hardware
- Button
- LED
- USARTs and Serial Consoles
- LQFP64
- mbed
- Shields
- Configurations
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.
GNU Toolchain Options
=====================
Toolchain Configurations
------------------------
The NuttX make system has been modified to support the following different
toolchain options.
1. The CodeSourcery GNU toolchain,
2. The Atollic Toolchain,
3. The devkitARM GNU toolchain,
4. Raisonance GNU toolchain, or
5. The NuttX buildroot Toolchain (see below).
All testing has been conducted using the CodeSourcery toolchain for Linux.
To use the Atollic, devkitARM, Raisonance GNU, or NuttX buildroot toolchain,
you simply need to add one of the following configuration options to your
.config (or defconfig) file:
CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=n : CodeSourcery under Windows
CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux
CONFIG_ARMV7M_TOOLCHAIN_ATOLLIC=y : The Atollic toolchain under Windows
CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM=n : devkitARM under Windows
CONFIG_ARMV7M_TOOLCHAIN_RAISONANCE=y : Raisonance RIDE7 under Windows
CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=n : NuttX buildroot under Linux or Cygwin (default)
If you change the default toolchain, then you may also have to modify the PATH in
the setenv.h file if your make cannot find the tools.
NOTE: the CodeSourcery (for Windows), Atollic, devkitARM, and Raisonance toolchains are
Windows native toolchains. The CodeSourcey (for Linux) and NuttX buildroot
toolchains are Cygwin and/or Linux 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:
V=1 make clean_context all 2>&1 |tee mout
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 pathes which do not
work with the Cygwin make.
MKDEP = $(TOPDIR)/tools/mknulldeps.sh
The CodeSourcery Toolchain (2009q1)
-----------------------------------
The CodeSourcery toolchain (2009q1) does not work with default optimization
level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with
-Os.
The Atollic "Pro" and "Lite" Toolchain
--------------------------------------
One problem that I had with the Atollic toolchains is that the provide a gcc.exe
and g++.exe in the same bin/ file as their ARM binaries. If the Atollic bin/ path
appears in your PATH variable before /usr/bin, then you will get the wrong gcc
when you try to build host executables. This will cause to strange, uninterpretable
errors build some host binaries in tools/ when you first make.
Also, the Atollic toolchains are the only toolchains that have built-in support for
the FPU in these configurations. If you plan to use the Cortex-M4 FPU, you will
need to use the Atollic toolchain for now. See the FPU section below for more
information.
The Atollic "Lite" Toolchain
----------------------------
The free, "Lite" version of the Atollic toolchain does not support C++ nor
does it support ar, nm, objdump, or objdcopy. If you use the Atollic "Lite"
toolchain, you will have to set:
CONFIG_HAVE_CXX=n
In order to compile successfully. Otherwise, you will get errors like:
"C++ Compiler only available in TrueSTUDIO Professional"
The make may then fail in some of the post link processing because of some of
the other missing tools. The Make.defs file replaces the ar and nm with
the default system x86 tool versions and these seem to work okay. Disable all
of the following to avoid using objcopy:
CONFIG_RRLOAD_BINARY=n
CONFIG_INTELHEX_BINARY=n
CONFIG_MOTOROLA_SREC=n
CONFIG_RAW_BINARY=n
devkitARM
---------
The devkitARM toolchain includes a version of MSYS make. Make sure that the
the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM
path or will get the wrong version of make.
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).
Using Sourcery CodeBench from http://www.mentor.com/embedded-software/sourcery-tools/sourcery-codebench/overview
Download and install the latest version (as of this writting it was
sourceryg++-2013.05-64-arm-none-eabi)
Import the project from git.
File->import->Git-URI, then import a Exiting code as a Makefile progject
from the working directory the git clone was done to.
Select the Sourcery CodeBench for ARM EABI. N.B. You must do one command line
build, before the make will work in CodeBench.
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/stm32,
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/stm32/stm32_vectors.S. With RIDE, I have to build NuttX
one time from the Cygwin command line in order to obtain the pre-built
startup object needed by RIDE.
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 nucleo-f401re/nsh)
$ make qconfig
$ V=1 make context all 2>&1 | tee mout
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-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-M3 toolchain for Cygwin under Windows.
NOTE: Unfortunately, the 4.6.3 EABI toolchain is not compatible with the
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 toolchain; instead use the GCC 4.3.3 EABI toolchain.
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 lpcxpresso-lpc1768/<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 builtNXFLAT binaries.
mbed
====
The Nucleo-F401RE includes boot loader from mbed:
https://mbed.org/platforms/ST-Nucleo-F401RE/
https://mbed.org/handbook/Homepage
Using the mbed loader:
1. Connect the Nucleo-F401RE to the host PC using the USB connector.
2. A new file system will appear called NUCLEO; open it with Windows
Explorer (assuming that you are using Windows).
3. Drag and drop nuttx.bin into the MBED window. This will load the
nuttx.bin binary into the Nucleo-F401RE. The NUCLEO window will
close then re-open and the Nucleo-F401RE will be running the new code.
Hardware
========
GPIO
----
SERIAL_TX=PA_2 USER_BUTTON=PC_13
SERIAL_RX=PA_3 LED1 =PA_5
A0=PA_0 USART2RX D0=PA_3 D8 =PA_9
A1=PA_1 USART2TX D1=PA_2 D9 =PC_7
A2=PA_4 D2=PA_10 WIFI_CS=D10=PB_6 SPI_CS
A3=PB_0 WIFI_INT=D3=PB_3 D11=PA_7 SPI_MOSI
A4=PC_1 SDCS=D4=PB_5 D12=PA_6 SPI_MISO
A5=PC_0 WIFI_EN=D5=PB_4 LED1=D13=PA_5 SPI_SCK
LED2=D6=PB_10 I2C1_SDA=D14=PB_9 Probe
D7=PA_8 I2C1_SCL=D15=PB_8 Probe
From: https://mbed.org/platforms/ST-Nucleo-F401RE/
Buttons
-------
B1 USER: the user button is connected to the I/O PC13 (pin 2) of the STM32
microcontroller.
LEDs
----
The Nucleo F401RE and a single user LED, LD2. LD2 is the green LED
connected to Arduino signal D13 corresponding to MCU I/O PA5 (pin 21) or
PB13 (pin 34) depending on the STM32target.
- When the I/O is HIGH value, the LED is on.
- When the I/O is LOW, the LED is off.
These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is
defined. In that case, the usage by the board port is defined in
include/board.h and src/sam_leds.c. The LEDs are used to encode OS-related
events as follows when the red LED (PE24) is available:
SYMBOL Meaning LD2
------------------- ----------------------- -----------
LED_STARTED NuttX has been started OFF
LED_HEAPALLOCATE Heap has been allocated OFF
LED_IRQSENABLED Interrupts enabled OFF
LED_STACKCREATED Idle stack created 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 Blinking
LED_IDLE MCU is is sleep mode Not used
Thus if LD2, NuttX has successfully booted and is, apparently, running
normally. If LD2 is flashing at approximately 2Hz, then a fatal error
has been detected and the system has halted.
Serial Consoles
===============
USART1
------
RXD: PA11 CN10 pin 14
PB7 CN7 pin 21
TXD: PA10 CN9 pin 3, CN10 pin 33
PB6 CN5 pin 3, CN10 pin 17
USART2
-----
RXD: PA3 CN9 pin 1 (See SB13, 14, 62, 63). CN10 pin 37
PD6
TXD: PA2 CN9 pin 2(See SB13, 14, 62, 63). CN10 pin 35
PD5
If you have a 3.3 V TTL to RS-232 converter then this is the most convenient
serial console to use. UART2 is the default in all of these
configurations.
Nucleo CN9 STM32F401RE
----------- ------------
Pin 1 PA3 USART2_RX
Pin 2 PA2 USART2_TX
Solder Bridges. This configuration requires:
- SB62 and SB63 Closed: PA2 and PA3 on STM32 MCU are connected to D1 and D0
(pin 7 and pin 8) on Arduino connector CN9 and ST Morpho connector CN10
as USART signals. Thus SB13 and SB14 should be OFF.
- SB13 and SB14 Open: PA2 and PA3 on STM32F103C8T6 (ST-LINK MCU) are
disconnected to PA3 and PA2 on STM32 MCU.
USART6
------
RXD: PC7 CN5 pin2, CN10 pin 19
PA12 CN10, pin 12
TXD: PC6 CN10, pin 4
PA11 CN10, pin 14
Virtual COM Port
----------------
Yet another option is to use UART0 and the USB virtual COM port. This
option may be more convenient for long term development, but was
painful to use during board bring-up.
Solder Bridges. This configuration requires:
- SB62 and SB63 Open: PA2 and PA3 on STM32 MCU are disconnected to D1
and D0 (pin 7 and pin 8) on Arduino connector CN9 and ST Morpho
connector CN10.
- SB13 and SB14 Closed: PA2 and PA3 on STM32F103C8T6 (ST-LINK MCU) are
connected to PA3 and PA2 on STM32 MCU to have USART communication
between them. Thus SB61,SB62 and SB63 should be OFF.
Default
-------
As shipped, SB62 and SB63 are open and SB13 and SB14 closed, so the
virtual COM port is enabled.
Shields
=======
1. RS-232 from Cutedigi.com. Supports a single RS-232 connected via
Nucleo CN9 STM32F401RE Cutedigi
----------- ------------ --------
Pin 1 PA3 USART2_RX RXD
Pin 2 PA2 USART2_TX TXD
Support for this shield is enabled by selecting:
CONFIG_STM32_USART2=y
CONFIG_USART2_ISUART=y
CONFIG_USART2_SERIAL_CONSOLE=y
CONFIG_USART2_RXBUFSIZE=256
CONFIG_USART2_TXBUFSIZE=256
CONFIG_USART2_BAUD=115200
CONFIG_USART2_BITS=8
CONFIG_USART2_PARITY=0
CONFIG_USART2_2STOP=0
2. CC3000 Wireless shield
Support this shield is enabled by configuring the CC3000 networking:
CONFIG_WL_CC3000
Configurations
==============
Composite: The composite is a super set of all the functions in nsh,
usbserial, usbmsc. (usbnsh has not been rung out).
Build it with
make distclean;(cd tools;./configure.sh nucleo-f401re/nsh)
then run make menuconfig if you wish to customize things.
or
$ make qconfig
N.B. Memory is tight, both Flash and RAM are taxed. If you enable
debugging you will need to add -Os following the line -g in the line:
ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
ARCHOPTIMIZATION = -g
in the top level Make.degs or the code will not fit.
Stack space has been hand optimized using the stack coloring by enabling
"Stack usage debug hooks" (CONFIG_DEBUG_STACK) in Build Setup-> Debug
Options. I have selected values that have 8-16 bytes of headroom with
network debugging on. If you enable more debugging and get a hard fault
or any weirdness like commands hanging. Then the Idle, main or Interrupt
stack my be too small. Stop the target and have a look a memory for a
blown stack: No DEADBEEF at the lowest address of a given stack.
Given the RAM memory constraints it is not possible to be running the
network and USB CDC/ACM and MSC at the same time. But on the bright
side, you can export the FLASH memory to the PC. Write files on the
Flash. Reboot and mount the FAT FS and run network code that will have
access the files.
You can use the scripts/cdc-acm.inf file to install the windows
composite device.
Network control is facilitated by running the c3b (cc3000basic) application.
Run c3b from the nsh prompt.
+-------------------------------------------+
| Nuttx CC3000 Demo Program |
+-------------------------------------------+
01 - Initialize the CC3000
02 - Show RX & TX buffer sizes, & free RAM
03 - Start Smart Config
04 - Manually connect to AP
05 - Manually add connection profile
06 - List access points
07 - Show CC3000 information
08 - Telnet
Type 01-07 to select above option:
Select 01. Then use 03 and the TI Smart config application running on an
IOS or Android device to configure join your network.
Use 07 to see the IP address of the device.
(On the next reboot running c3b 01 the CC3000 will automaticaly rejoin the
network after the 01 give it a few seconds and enter 07 or 08)
Use 08 to start Telnet. Then you can connect to the device using the
address listed in command 07.
qq will exit the c3b with the telnet deamon running (if started)
Slow.... You will be thinking 300 bps. This is because of packet sizes and
how the select thread runs in the telnet session. Telnet is not the best
showcase for the CC3000, but simply a proof of network connectivity.
http POST and GET should be more efficient.
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