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diff --git a/nuttx/configs/teensy31/README.txt b/nuttx/configs/teensy31/README.txt new file mode 100644 index 000000000..997d31b8a --- /dev/null +++ b/nuttx/configs/teensy31/README.txt @@ -0,0 +1,543 @@ +README.txt +========== + +This is the README file for the port of NuttX to the Freescale Kinetis +KwiStick K40. Refer to the Freescale web site for further information +about this part: +http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=KWIKSTIK-K40 + +The Kwikstik is used with the FreeScale Tower System (mostly just to +provide a simple UART connection) + +Contents +======== + + o Kinetis KwikStik-K40 Features + o Kinetis KwikStik-K60 Pin Configuration + - On-Board Connections + - Connections via the General Purpose Tower Plug-in (TWRPI) Socket + - Connections via the Tower Primary Connector Side A + - Connections via the Tower Primary Connector Side B + - TWR-SER Serial Board Connection + o Development Environment + o GNU Toolchain Options + o IDEs + o NuttX EABI "buildroot" Toolchain + o NuttX OABI "buildroot" Toolchain + o NXFLAT Toolchain + +Kinetis KwikStik-K40 Features: +============================== + + o Kinetis K40 MCU in 144 LQFP + - 100 MHz ARM Cortex-M4 core + - 256Kb program flash, 256Kb FlexMemory + - Full-speed USB 2.0 device + - Low-pwer segment LCD controller + - SPI, UART, CAN and more + o Large segment LCD display with 306 segments + o 2.3mm audio output and 2 micro USB connectors + o Omnidirectional microphone and a buzzer + o On-board Segger J-Link debugger interface + o Infrared communication port + o microSD card slot + o Capacitive touch sensing interface + o Freescale Tower System connectivity for UART, timers, CAN, SPI, I2C, and DAC + o Freescale Tower plug-in (TWRPI) socket connectivity for ADC, SPI, I2C, and GPIO + +Kinetis KwikStik-K40 Pin Configuration +====================================== + +On-Board Connections +------------------- -------------------------- -------- ------------------- +FEATURE CONNECTION PORT/PIN PIN FUNCTION +------------------- -------------------------- -------- ------------------- +Audio Jack Output Audio Amp On PTE28 PTE28 + Audio Output DAC1_OUT DAC1_OUT + Volume Up PTD10 PTD10 + Volume Down PTD11 PTD11 +Buzzer Audio Out PTA8 FTM1_CH0 +Microphone Microphone input PTA7 ADC0_SE10 +SD Card Slot SD Clock PTE2 SDHC0_DCLK + SD Command PTE3 SDHC0_CMD + SD Data0 PTD12 SDHC0_D4 + SD Data1 PTD13 SDHC0_D5 + SD Data2 PTD14 SDHC0_D6 + SD Data3 PTD15 SDHC0_D7 + SD Card Detect PTE27 PTE27 + SD Card On PTE6 PTE6 +Infrared Port IR Transmit PTE4 IR_TX + IR Receive PTA13 CMP2_IN0 +Touch Pads E1 / Touch PTB0 TSI0_CH0 + E2 / Touch PTA4 TSI0_CH5 + E3 / Touch PTA24 PTA24 + E4 / Touch PTA25 PTA25 + E5 / Touch PTA26 PTA26 + E6 / Touch PTA27 PTA27 + +Connections via the General Purpose Tower Plug-in (TWRPI) Socket +------------------- -------------------------- -------- ------------------- +FEATURE CONNECTION PORT/PIN PIN FUNCTION +------------------- -------------------------- -------- ------------------- +General Purpose TWRPI AN0 (J8 Pin 8) ? ADC0_DP0/ADC1_DP3 +TWRPI Socket TWRPI AN1 (J8 Pin 9) ? ADC0_DM0/ADC1_DM3 + TWRPI AN2 (J8 Pin 12) ? ADC1_DP0/ADC0_DP3 + TWRPI ID0 (J8 Pin 17) ? ADC0_DP1 + TWRPI ID1 (J8 Pin 18) ? ADC0_DM1 + TWRPI I2C SCL (J9 Pin 3) PTC10 I2C1_SCL + TWRPI I2C SDA (J9 Pin 4) PTC11 I2C1_SDA + TWRPI SPI MISO (J9 Pin 9) PTB23 SPI2_SIN + TWRPI SPI MOSI (J9 Pin 10) PTB22 SPI2_SOUT + TWRPI SPI SS (J9 Pin 11) PTB20 SPI2_PCS0 + TWRPI SPI CLK (J9 Pin 12) PTB21 SPI2_SCK + TWRPI GPIO0 (J9 Pin 15) PTC12 PTC12 + TWRPI GPIO1 (J9 Pin 16) PTB9 PTB9 + TWRPI GPIO2 (J9 Pin 17) PTB10 PTB10 + TWRPI GPIO3 (J9 Pin 18) PTC5 PTC5 + TWRPI GPIO4 (J9 Pin 19) PTA5 PTA5 + +The KwikStik features an expansion card-edge connector that interfaces to the Primary Elevator board in a Tower system (Primary side). + +Connections via the Tower Primary Connector Side A +--- -------------------- -------------------------------- +PIN NAME USAGE +--- -------------------- -------------------------------- +A9 GPIO9 / CTS1 PTE10/UART_CTS +A43 RXD1 PTE9/UART_RX +A44 TXD1 PTE8/UART_TX +A63 RSTOUT_b PTA9/FTM1_CH1 + +Connections via the Tower Primary Connector Side B +--- -------------------- -------------------------------- +PIN NAME USAGE +--- -------------------- -------------------------------- +B21 GPIO1 / RTS1 PTE7/UART_RTS +B37 PWM7 PTA8/FTM1_CH0 +B38 PWM6 PTA9/FTM1_CH1 +B41 CANRX0 PTE25/CAN1_RX +B42 CANTX0 PTE24/CAN1_TX +B44 SPI0_MISO PTA17/SPI0_SIN +B45 SPI0_MOSI PTA16/SPI0_SOUT +B46 SPI0_CS0_b PTA14/SPI0_PCS0 +B48 SPI0_CLK PTA15/SPI0_SCK +B50 SCL1 PTE1/I2C1_SCL +B51 SDA1 PTE0/I2C1_SDA +B52 GPIO5 / SD_CARD_DET PTA16 + +TWR-SER Serial Board Connection +=============================== + +The serial board connects into the tower and then maps to the tower pins to +yet other functions (see TWR-SER.pdf). + +For the serial port, the following jumpers are required: + + J15: 1-2 (default) + J17: 1-2 (default) + J18: 1-2 (default) + J19: 1-2 (default) + +The two connections map as follows: + + A41 RXD0 - Not connected + A42 TXD0 - Not connected + A43 RXD1 - ELE_RXD (connects indirectory to DB-9 connector J8) + A44 TXD1 - ELE_TXD (connects indirectory to DB-9 connector J8) + +Finally, we can conclude that + + UART5 (PTE8/9) is associated with the DB9 connector + +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 has been modified to support the following different + toolchain options. + + 1. The CodeSourcery GNU toolchain, + 2. The devkitARM GNU toolchain, + 3. The NuttX buildroot Toolchain (see below). + + All testing has been conducted using the CodeSourcery Windows toolchain. To + use the devkitARM or the NuttX GNU toolchain, you simply need to change the + the following configuration options to your .config (or defconfig) file: + + CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery under Windows + CONFIG_ARMV7M_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux + CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM=y : devkitARM under Windows + CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) + + 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: the CodeSourcery (for Windows) and devkitARM 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: + + make clean_context all + + 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 + + NOTE 1: 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. + + NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that + 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). + + 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/k40, + 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/kinetis/k40_vectors.S. + +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-M4 GCC toolchain (if + different from the default in your PATH variable). + + If you have no Cortex-M4 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. + + NOTE: The NuttX toolchain may not include optimizations for Cortex-M4 (ARMv7E-M). + + 1. You must have already configured Nuttx in <some-dir>/nuttx. + + cd tools + ./configure.sh kwikstik-k40/<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-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-M4 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 toochain; instead use the GCC 4.3.3 OABI toolchain. + See instructions below. + +NuttX OABI "buildroot" Toolchain +================================ + + The older, OABI buildroot toolchain is also available. To use the OABI + toolchain: + + 1. When building the buildroot toolchain, either (1) modify the cortexm3-eabi-defconfig-4.6.3 + configuration to use EABI (using 'make menuconfig'), or (2) use an exising OABI + configuration such as cortexm3-defconfig-4.3.3 + + 2. Modify the Make.defs file to use the OABI conventions: + + +CROSSDEV = arm-nuttx-elf- + +ARCHCPUFLAGS = -mtune=cortex-m3 -march=armv7-m -mfloat-abi=soft + +NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-gotoff.ld -no-check-sections + -CROSSDEV = arm-nuttx-eabi- + -ARCHCPUFLAGS = -mcpu=cortex-m3 -mthumb -mfloat-abi=soft + -NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)/binfmt/libnxflat/gnu-nxflat-pcrel.ld -no-check-sections + +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. + +KwikStik-K40-specific 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=k40 + + CONFIG_ARCH_CHIP_name - For use in C code to identify the exact + chip: + + CONFIG_ARCH_CHIP_MK40X256VLQ100 + + CONFIG_ARCH_BOARD - Identifies the configs subdirectory and + hence, the board that supports the particular chip or SoC. + + CONFIG_ARCH_BOARD=kwikstik-k40 (for the KwikStik-K40 development board) + + CONFIG_ARCH_BOARD_name - For use in C code + + CONFIG_ARCH_BOARD_KWIKSTIK_K40=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 (K60 only) + CONFIG_KINETIS_RNGB -- Support the random number generator(K60 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 (K40 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_ARMV7M_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_SDHC_PRIO + + PIN Interrupt Support + + CONFIG_GPIO_IRQ -- Enable pin interrtup 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 K40 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 + + KwikStik-K40 LCD Hardware Configuration + + CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape" + support. Default is this 320x240 "landscape" orientation + (this setting is informative only... not used). + CONFIG_LCD_PORTRAIT - Define for 240x320 display "portrait" + orientation support. In this orientation, the KwikStik-K40's + LCD ribbon cable is at the bottom of the display. Default is + 320x240 "landscape" orientation. + CONFIG_LCD_RPORTRAIT - Define for 240x320 display "reverse + portrait" orientation support. In this orientation, the + KwikStik-K40's LCD ribbon cable is at the top of the display. + Default is 320x240 "landscape" orientation. + CONFIG_LCD_BACKLIGHT - Define to support an adjustable backlight + using timer 1. The granularity of the settings is determined + by CONFIG_LCD_MAXPOWER. Requires CONFIG_KINETIS_TIM1. + +Configurations +============== + +Each KwikStik-K40 configuration is maintained in a sub-directory and +can be selected as follow: + + cd tools + ./configure.sh kwikstik-k40/<subdir> + cd - + . ./setenv.sh + +Where <subdir> is one of the following: + + ostest: + ------ + This configuration directory, performs a simple OS test using + examples/ostest. + + 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 + and misc/tools/ + + 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_RAW_BINARY=y : Output formats: ELF and raw binary |