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 Ethernet
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.
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
Ethernet
========
------------ ----------------- --------------------------------------------
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
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 Windoes 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
If you are not using CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT, then you may
also have to modify the PATH in the setenv.h file 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.
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:
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_LPTIMER -- Support the low power timer
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_GPIO_IRQ -- 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_MTU. Default: 6
CONFIG_ENET_NTXBUFFERS - Number of TX buffers. The size of one
buffer is determined by CONFIG_NET_ETH_MTU. 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:
cd tools
./configure.sh freedom-k64f/<subdir>
cd -
. ./setenv.sh
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. Most of the notes associated with the nsh configuration apply here
as well (see below).
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. 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
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_LINUX=y : Linux (Cygwin under Windows okay too).
CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y : Buildroot (arm-nuttx-elf-gcc)
CONFIG_ARMV7M_OABI_TOOLCHAIN=y : The older OABI version
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. An SDHC driver is has not yet been tested but can be enabled in the NSH
configuration by setting the following configuration values as follows:
CONFIG_KINETIS_SDHC=y : Enable the SDHC driver
CONFIG_MMCSD=y : Enable MMC/SD support
CONFIG_MMCSD_SDIO=y : Use the SDIO-based MMC/SD driver
CONFIG_MMCSD_NSLOTS=1 : One MMC/SD slot
CONFIG_FAT=y : Eable FAT file system
CONFIG_FAT_LCNAMES=y : FAT lower case name support
CONFIG_FAT_LFN=y : FAT long file name support
CONFIG_FAT_MAXFNAME=32 : Maximum lenght of a long file name
CONFIG_GPIO_IRQ=y : Enable GPIO interrupts
CONFIG_KINETIS_PORTEINTS=y : Enable PortE GPIO interrupts
CONFIG_SCHED_WORKQUEUE=y : Enable the NuttX workqueue
CONFIG_NSH_ARCHINIT=y : Provide NSH initializeation logic
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 unexpected interrupt
error.
2016-07-12: Added support for the KSZ8081 PHY and added the netnsh
configuration. The network is basically functional, but a lot more
testing is needed to confirm that.
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.
