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README ====== This README discusses issues unique to NuttX configurations for the ST Nucleo-l432kc board from ST Micro. See http://www.st.com/nucleo-l432kc NucleoL432KC: Microprocessor: 32-bit ARM Cortex M4 at 80MHz STM32L432KCU6 Memory: 256 KB Flash and 64 KB SRAM ADC: 1×12-bit, 5 MSPS A/D converter: up to 10 channels DMA: 16-stream DMA controllers with FIFOs and burst support Timers: Up to 11 timers: up to five 16-bit, one 32-bit, two low-power 16 bit timers, two watchdog timers, and a SysTick timer GPIO: Up to 26 I/O ports with interrupt capability, most 5v tolerant I2C: Up to 2 × I2C interfaces USARTs: Up to 3 USARTs, 2 UARTs, 1 LPUART SPIs: Up to 2 SPIs SAIs: 1 dual-channel audio interface CAN interface QSPI interface USB: USB 2.0 full-speed device/host/OTG controller with on-chip PHY CRC calculation unit RTC Board features: Peripherals: 1 led Debug: Serial wire debug and JTAG interfaces via on-board micro-usb stlink v2.1 Expansion I/F Arduino Nano Headers Uses a STM32F103 to provide a ST-Link for programming, debug similar to the OpenOcd FTDI function - USB to JTAG front-end. See http://mbed.org/platforms/ST-Nucleo-L432KC for more information about these boards. Contents ======== - Nucleo-32 Boards - Development Environment - GNU Toolchain Options - IDEs - NuttX EABI "buildroot" Toolchain - NXFLAT Toolchain - Hardware - Button - LED - USARTs and Serial Consoles - QFN32 - mbed - SPI Flash support - Configurations Nucleo-32 Boards ================ The Nucleo-L432KC is a member of the Nucleo-64 board family. The Nucleo-64 is a standard board for use with several STM32 parts in the LQFP64 package. Variants include Order code Targeted STM32 ------------- -------------- NUCLEO-F031K6 STM32F031K6T6 NUCLEO-F042K6 STM32F042K6T6 NUCLEO-F303K8 STM32F303K8T6 NUCLEO-L011K4 STM32L011K4T6 NUCLEO-L031K6 STM32L031K6T6 NUCLEO-L432KC STM32L432KCU6 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 environment variable to include the path to the toolchain binaries. NOTE: 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 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 PATH environment variable 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 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. $ tools/configure.sh nucleo-l432kc: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 boards/cortexm3-eabi-defconfig-4.6.3 .config 6. make oldconfig 7. make 8. Make sure that the PATH variable includes the path to the newly built binaries. See the file boards/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 Bitbucket download site (https://bitbucket.org/nuttx/nuttx/downloads/). This GNU toolchain builds and executes in the Linux or Cygwin environment. 1. You must have already configured Nuttx in <some-dir>/nuttx. 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 boards/cortexm3-defconfig-nxflat .config 6. make oldconfig 7. make 8. Make sure that the PATH variable includes the path to the newly built NXFLAT binaries. mbed ==== The Nucleo-L432KC includes boot loader from mbed: https://mbed.org/handbook/Homepage Using the mbed loader: 1. Connect the Nucleo-L432kc 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-L432kc. The NUCLEO window will close then re-open and the Nucleo-L432KC will be running the new code. Hardware ======== LEDs ---- The Nucleo L432KC provides a single user LED, LD3. LD3 is the green LED connected to Arduino signal D13 corresponding to MCU I/O PB3 (pin 26). - 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 LED is available: SYMBOL Meaning LD3 ------------------- ----------------------- ----------- 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 LD3, NuttX has successfully booted and is, apparently, running normally. If LD3 is flashing at approximately 2Hz, then a fatal error has been detected and the system has halted. Serial Consoles =============== USART1 ------ Pins and Connectors: RXD: PA11 CN10 pin 14 PB7 CN7 pin 21 TXD: PA10 CN9 pin 3, CN10 pin 33 PB6 CN5 pin 3, CN10 pin 17 NOTE: You may need to edit the include/board.h to select different USART1 pin selections. TTL to RS-232 converter connection: Nucleo CN10 STM32L432KC ----------- ------------ Pin 21 PA9 USART1_RX *Warning you make need to reverse RX/TX on Pin 33 PA10 USART1_TX some RS-232 converters Pin 20 GND Pin 8 U5V To configure USART1 as the console: CONFIG_STM32_USART1=y CONFIG_USART1_SERIALDRIVER=y CONFIG_USART1_SERIAL_CONSOLE=y CONFIG_USART1_RXBUFSIZE=256 CONFIG_USART1_TXBUFSIZE=256 CONFIG_USART1_BAUD=115200 CONFIG_USART1_BITS=8 CONFIG_USART1_PARITY=0 CONFIG_USART1_2STOP=0 USART2 ----- Pins and Connectors: 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 UART2 is the default in all of these configurations. TTL to RS-232 converter connection: Nucleo CN9 STM32L432KC ----------- ------------ Pin 1 PA3 USART2_RX *Warning you make need to reverse RX/TX on Pin 2 PA2 USART2_TX some RS-232 converters 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. To configure USART2 as the console: CONFIG_STM32_USART2=y CONFIG_USART2_SERIALDRIVER=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 Virtual COM Port ---------------- Yet another option is to use UART2 and the USB virtual COM port. This option may be more convenient for long term development, but is 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. Configuring USART2 is the same as given above. Question: What BAUD should be configure to interface with the Virtual COM port? 115200 8N1? Default ------- As shipped, SB62 and SB63 are open and SB13 and SB14 closed, so the virtual COM port is enabled. SPI Flash support: ===================== We can use an external SPI Serial Flash with nucleo-l432kc board. In this case we tested with AT45DB081D (8Mbit = 1MiB). You can connect the AT45DB081D memory in the nucleo-l432kc board this way: -------------------------------- | Memory nucleo-l432kc | |------------------------------| | SI ---> D11 (PB5) | | SCK ---> D13 (PB3) | | /RESET ---> 3V3 | | /CS ---> D10 (PA11) | | /WP ---> 3V3 | | VCC ---> 3V3 | | GND ---> GND | | SO ---> D12 (PB4) | -------------------------------- You can start with default "nucleo-l432kc/nsh" configuration option and enable/disable these options using "make menuconfig" : System Type ---> STM32L4 Peripheral Support ---> [*] SPI1 Device Drivers ---> -*- Memory Technology Device (MTD) Support ---> -*- SPI-based AT45DB flash (1000000) AT45DB Frequency File Systems ---> [*] NXFFS file system Then after compiling and flashing the file nuttx.bin you can test the flash this way: nsh> ls /mnt /mnt: at45db/ nsh> echo "Testing" > /mnt/at45db/file.txt nsh> ls /mnt/at45db /mnt/at45db: file.txt nsh> cat /mnt/at45db/file.txt Testing nsh> Configurations ============== nsh: --------- Configures the NuttShell (nsh) located at apps/examples/nsh for the Nucleo-L432KC board. The Configuration enables the serial interfaces on UART2. Support for builtin applications is enabled, but in the base configuration no builtin applications are selected (see NOTES below). 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 Linux. That can easily be reconfigured, of course. CONFIG_HOST_LINUX=y : Builds under Linux CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery for Linux 3. Although the default console is USART2 (which would correspond to the Virtual COM port) I have done all testing with the console device configured for USART1 (see instruction above under "Serial Consoles). I have been using a TTL-to-RS-232 converter connected as shown below: Nucleo CN10 STM32L432KC ----------- ------------ Pin 21 PA9 USART1_RX *Warning you make need to reverse RX/TX on Pin 33 PA10 USART1_TX some RS-232 converters Pin 20 GND Pin 8 U5V