README ^^^^^ This is the README file for the port of NuttX to the PJRC Teensy++ 2.0 board. This board is developed by http://pjrc.com/teensy/. The Teensy++ 2.0 is based on an Atmel AT90USB1286 MCU. Contents ^^^^^^^^ o Teensy++ 2.0 Features o Pin Usage o Halfkey Bootloader o Serial Console o SD Connection o Toolchains o Windows Native Toolchains o NuttX buildroot Toolchain o avr-libc o Teensy++ Configuration Options o Configurations Teensy++ 2.0 Features ^^^^^^^^^^^^^^^^^^^^^ o Based on the 64-pin USB AVR Microcontroller AT90USB1286. o USB Full Speed (12Mbit/s) o USB Device Mode o 120kbof available FLASH memory for programs. o 8 kbytes SRAM and 4 kbytes of EEPROM o USB powered o 16MHz crystal o 48 General Purpose IO Pins Pin Usage ^^^^^^^^^ AT90USB1286 TQFP64 -- ------------------------ --------------------------------------------- PIN SIGNAL BOARD CONNECTION -- ------------------------ --------------------------------------------- (left) 1 (INT.6/AIN.0) PE6 Pad E6 2 (INT.7/AIN.1/UVcon) PE7 Pad E7 3 UVcc (Voltage circutry) 4 D- USB DP 5 D+ USB DM 6 UGnd GND 7 UCap GND (via cap) 8 VBus USB VBUS 9 (IUID) PE3 N/C 10 (SS/PCINT0) PB0 Pad B0 11 (PCINT1/SCLK) PB1 Pad B1 12 (PDI/PCINT2/MOSI) PB2 Pad B2 13 (PDO/PCINT3/MISO) PB3 Pad B3 14 (PCINT4/OC.2A) PB4 Pad B4 15 (PCINT5/OC.1A) PB5 Pad B5 16 (PCINT6/OC.1B) PB6 Pad B6 (bottom) 17 (PCINT7/OC.0A/OC.1C) PB7 Pad B7 18 (INT4/TOSC1) PE4 Pad E4 19 (INT.5/TOSC2) PE5 Pad E5 20 RESET Switch pulls to ground 21 VCC VCC 22 GND GND 23 XTAL2 XTAL (16MHz) 24 XTAL1 XTAL (16MHz) 25 (OC0B/SCL/INT0) PD0 Pad D0 26 (OC2B/SDA/INT1) PD1 Pad D1 27 (RXD1/INT2) PD2 Pad D2 28 (TXD1/INT3) PD3 Pad D3 29 (ICP1) PD4 Pad D4 30 (XCK1) PD5 Pad D5 31 (T1) PD6 Pad D6, LED 32 (T0) PD7 Pad D7 (right) 48 PA3 (AD3) Pad A3 47 PA4 (AD4) Pad A4 46 PA5 (AD5) Pad A5 45 PA6 (AD6) Pad A6 44 PA7 (AD7) Pad A7 43 PE2 (ALE/HWB) Pad ALE (Pulled down) 42 PC7 (A15/IC.3/CLKO) Pad C7 41 PC6 (A14/OC.3A) Pad C6 40 PC5 (A13/OC.3B) Pad C5 39 PC4 (A12/OC.3C) Pad C4 38 PC3 (A11/T.3) Pad C3 37 PC2 (A10) Pad C2 36 PC1 (A9) Pad C1 35 PC0 (A8) Pad C0 34 PE1 (RD) Pad E1 33 PE0 (WR) Pad E0 (top) 64 AVCC VCC 63 GND GND 62 AREF Pad Ref (Capacitor to ground) 61 PF0 (ADC0) Pad F0 60 PF1 (ADC1) Pad F1 59 PF2 (ADC2) Pad F2 58 PF3 (ADC3) Pad F3 57 PF4 (ADC4/TCK) Pad F4 56 PF5 (ADC5/TMS) Pad F5 55 PF6 (ADC6/TDO) Pad F6 54 PF7 (ADC7/TDI) Pad F7 53 GND GND 52 VCC VCC 51 PA0 (AD0) Pad A0 50 PA1 (AD1) Pad A1 49 PA2 (AD2) Pad A2 Halfkey Bootloader ^^^^^^^^^^^^^^^^^^ o Download the Teensy application from http://pjrc.com/teensy/loader.html o Instructions are available for your OS at that places as well. Summary: 1. Start Teensy 2. Press button on the Teensy board 3. Select a HEX file (File menu) 4. Select "program" (Operations menu) 5. Reboot (Operations menu). Serial Console ^^^^^^^^^^^^^^ A serial console is supported on an external MAX232/MAX3232 Connected on PD2 and PD3: Port D, Bit 2: RXD1, Receive Data (Data input pin for the USART1). When the USART1 receiver is enabled this pin is configured as an input regardless of the value of DDD2. When the USART forces this pin to be an input, the pull-up can still be controlled by the PORTD2 bit. Port D, Bit 3: TXD1, Transmit Data (Data output pin for the USART1). When the USART1 Transmitter is enabled, this pin is configured as an output regardless of the value of DDD3. AT90USB90128/64 TQFP64 -- ------------------------ --------------------------------------------- PIN SIGNAL BOARD CONNECTION -- ------------------------ --------------------------------------------- 27 (RXD1/INT2) PD2 Pad D2 28 (TXD1/INT3) PD3 Pad D3 Plus power and ground. There are numerous ground points and both USB 5V and Vcc are available. SD Connection ^^^^^^^^^^^^^ I have the SD-ADP SD/MMC Card Adaptor from www.gravitech.com (http://www.gravitech.us/sdcaad.html). Features: o On-board 3.3V regulator o Connect directly to 3.3V or 5.0V microcontroller o Card detect LED o Includes 11-pin male header o Board dimension: 2.0”x1.3” SD-ADP Pinout / SD Connection -- ---- ----------- ------------------------------------------------------- J2 NAME SD CARD DESCRIPTION -- ---- ----------- ------------------------------------------------------- 1 VIN (reguator) Input power to the SD card (3.3V to 6.0V) 2 GND 3,6,12,13 Common (Connects to the housing of the SD socket) 3 3V3 4 3.3V Output voltage from the on-board 3.3V regulator (250mA) 4 NC 9 NC Connect to pin 9 on the SD card (not used in SPI mode) 5 CS 1 DAT3/CS Chip select * 6 DI 2 CMD/DI Serial input data * 7 SCK 5 SCK Serial clock * 8 DO 7 DAT0/DO Serial output data 9 IRQ 8 DAT1/IRQ Interrupt request, connect to pin 8 on the SD card (not used in SPI mode) 10 CD 10 CD Card detect (active low) 11 WP 11 WP Write protect -- ---- ----------- ------------------------------------------------------- * Via a 74LCX245 level translator / buff Teensy SPI Connection -- ---- -- ------------------------- ------- J2 NAME PIN NAME PAD -- ---- -- ------------------------- ------- 1 VIN -- Connected to USB +5V 2 GND -- Connected to USB GND 3 3V3 -- Not used --- 4 NC -- Not used 5 CS 10 (SS/PCINT0) PB0 Pad B0 6 DI 12 (PDI/PCINT2/MOSI) PB2 Pad B2 7 SCK 11 (PCINT1/SCLK) PB1 Pad B1 8 DO 13 (PDO/PCINT3/MISO) PB3 Pad B3 9 IRQ -- Not used --- 10 CD 14 (PCINT4/OC.2A) PB4 Pad B4 11 WP 15 (PCINT5/OC.1A) PB5 Pad B5 -- ---- -- ------------------------- ------- Toolchains ^^^^^^^^^^ There are several toolchain options. However, testing has been performed using *only* the NuttX buildroot toolchain described below. Therefore, the NuttX buildroot toolchain is the recommended choice. The toolchain may be selected using the kconfig-mconf tool (via 'make menuconfig'), by editing the existing configuration file (defconfig), or by overriding the toolchain on the make commandline with CONFIG_AVR_TOOLCHAIN=. The valid values for are BUILDROOT, CROSSPACK, LINUXGCC and WINAVR. Buildroot: There is a DIY buildroot version for the AVR boards here: http://sourceforge.net/projects/nuttx/files/buildroot/. See the following section for details on building this toolchain. It is assumed in some places that buildroot toolchain is available at ../misc/buildroot/build_avr. Edit the setenv.sh file if this is not the case. After configuring NuttX, make sure that CONFIG_AVR_BUILDROOT=y is set in your .config file. WinAVR: For Cygwin development environment on Windows machines, you can use WinAVR: http://sourceforge.net/projects/winavr/files/ It is assumed in some places that WinAVR is installed at C:/WinAVR. Edit the setenv.sh file if this is not the case. After configuring NuttX, make sure that CONFIG_AVR_WINAVR=y is set in your .config file. WARNING: There is an incompatible version of cygwin.dll in the WinAVR/bin directory! Make sure that the path to the correct cygwin.dll file precedes the path to the WinAVR binaries! Linux: For Linux, there are widely available avr-gcc packages. On Ubuntu, use: sudo apt-get install gcc-avr gdb-avr avr-libc After configuring NuttX, make sure that CONFIG_AVR_LINUXGCC=y is set in your .config file. Mac OS X: For Mac OS X, the CrossPack for AVR toolchain is available from: http://www.obdev.at/products/crosspack/index.html This toolchain is functionally equivalent to the Linux GCC toolchain. Windows Native Toolchains ^^^^^^^^^^^^^^^^^^^^^^^^^ The WinAVR toolchain is a Windows native toolchain. There are several limitations to using a Windows native 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 An additional issue with the WinAVR toolchain, in particular, is that it contains an incompatible version of the Cygwin DLL in its bin/ directory. You must take care that the correct Cygwin DLL is used. NuttX buildroot Toolchain ^^^^^^^^^^^^^^^^^^^^^^^^^ If NuttX buildroot toolchain source tarball cne 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 /nuttx. cd tools ./configure.sh Teensy++/ NOTE: you also must copy avr-libc header files into the NuttX include directory with command perhaps like: cp -a /cygdrive/c/WinAVR/include/avr include/. 2. Download the latest buildroot package into 3. unpack the buildroot tarball. The resulting directory may have versioning information on it like buildroot-x.y.z. If so, rename /buildroot-x.y.z to /buildroot. 4. cd /buildroot 5. cp configs/avr-defconfig-4.5.2 .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 detailed PLUS some special instructions that you will need to follow if you are building a toolchain for Cygwin under Windows. avr-libc ^^^^^^^^ Header Files In any case, header files from avr-libc are required: http://www.nongnu.org/avr-libc/. A snapshot of avr-lib is included in the WinAVR installation. For Linux development platforms, avr-libc package is readily available (and would be installed in the apt-get command shown above). But if you are using the NuttX buildroot configuration on Cygwin, then you will have to build get avr-libc from binaries. Header File Installation The NuttX build will required that the AVR header files be available via the NuttX include directory. This can be accomplished by either copying the avr-libc header files into the NuttX include directory: cp -a /include/avr /include/. Or simply using a symbolic link: ln -s /include/avr /include/. Build Notes: It may not necessary to have a built version of avr-lib; only header files are required. Bu if you choose to use the optimized libraru functions of the flowing point library, then you may have to build avr-lib from sources. Below are instructions for building avr-lib from fresh sources: 1. Download the avr-libc package from: http://savannah.nongnu.org/projects/avr-libc/ I am using avr-lib-1.7.1.tar.bz2 2. Upack the tarball and cd into the tar jxf avr-lib-1.7.1.tar.bz2 cd avr-lib-1.7.1 3. Configure avr-lib. Assuming that WinAVR is installed at the following location: export PATH=/cygdrive/c/WinAVR/bin:$PATH ./configure --build=`./config.guess` --host=avr This takes a *long* time. 4. Make avr-lib. make This also takes a long time because it generates variants for nearly all AVR chips. 5. Install avr-lib. make install Teensy++ Configuration Options ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ CONFIG_ARCH - Identifies the arch/ subdirectory. This should be set to: CONFIG_ARCH=avr CONFIG_ARCH_family - For use in C code: CONFIG_ARCH_AVR=y CONFIG_ARCH_architecture - For use in C code: CONFIG_ARCH_CHIP_AT90USB=y CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory CONFIG_ARCH_CHIP=at90usb CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip. CONFIG_ARCH_CHIP_AT90USB1286=y CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD=teensy CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_TEENSY=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. One of: CONFIG_RAM_SIZE=(8*1024) - (8Kb) CONFIG_RAM_START - The start address of installed DRAM CONFIG_RAM_START=0x800100 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_AVR_INT0=n CONFIG_AVR_INT1=n CONFIG_AVR_INT2=n CONFIG_AVR_INT3=n CONFIG_AVR_INT4=n CONFIG_AVR_INT5=n CONFIG_AVR_INT6=n CONFIG_AVR_INT7=n CONFIG_AVR_USBHOST=n CONFIG_AVR_USBDEV=n CONFIG_AVR_WDT=n CONFIG_AVR_TIMER0=n CONFIG_AVR_TIMER1=n CONFIG_AVR_TIMER2=n CONFIG_AVR_TIMER3=n CONFIG_AVR_SPI=n CONFIG_AVR_USART1=y CONFIG_AVR_ANACOMP=n CONFIG_AVR_ADC=n CONFIG_AVR_TWI=n If the watchdog is enabled, this specifies the initial timeout. Default is maximum supported value. CONFIG_WDTO_15MS CONFIG_WDTO_30MS CONFIG_WDTO_60MS CONFIG_WDTO_120MS CONFIG_WDTO_1250MS CONFIG_WDTO_500MS CONFIG_WDTO_1S CONFIG_WDTO_2S CONFIG_WDTO_4S CONFIG_WDTO_8S AT90USB specific device driver settings CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the console and ttys0 (default is no serial console). CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received. This specific the size of the receive buffer CONFIG_USARTn_TXBUFSIZE - Characters are buffered before being sent. This specific the size of the transmit buffer CONFIG_USARTn_BAUD - The configure BAUD of the USART. Must be CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8. CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity CONFIG_USARTn_2STOP - Two stop bits AT90USB specific USB device configuration CONFIG_USB_DISABLE_PADREGULATOR CONFIG_USB_LOWSPEED CONFIG_USB_NOISYVBUS Configurations ^^^^^^^^^^^^^^ Common Configuration Notes -------------------------- 1. Each Teensy++ configuration is maintained in a sub-directory and can be selected as follow: cd tools ./configure.sh teensy/ cd - . ./setenv.sh Where is one of the configuration sub-directories described in the following paragraph. NOTE: You must also copy avr-libc header files, perhaps like: cp -a /cygdrive/c/WinAVR/include/avr include/. 2. These configurations use the mconf-based configuration tool. To change a 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. 3. By default, all configurations assume the NuttX Buildroot toolchain under Cygwin with Windows. This is easily reconfigured: CONFIG_HOST_WINDOWS=y CONFIG_WINDOWS_CYGWIN=y CONFIG_AVR_BUILDROOT=y Configuration Sub-Directories ----------------------------- hello: The simple apps/examples/hello "Hello, World!" example. ostest: This configuration directory, performs a simple OS test using apps/examples/ostest. NOTE: The OS test is quite large. In order to get it to fit within AVR memory constraints, it will probably be necessary to disable some OS features. usbmsc: This configuration directory exercises the USB mass storage class driver at apps/system/usbmsc. See apps/examples/README.txt for more information. NOTE: THIS CONFIGURATION HAS NOT YET BEEN DEBUGGED AND DOES NOT WORK!!! ISSUES: (1) THE SPI DRIVER IS UNTESTED, (2) THE USB DRIVER IS UNTESTED, AND (3) THE RAM USAGE MIGHT BE EXCESSIVE. Update 7/11: (1) The SPI/SD driver has been verified, however, (2) I believe that the current teensy/usbmsc configuration uses too much SRAM for the system to behave sanely. A lower memory footprint version of the mass storage driver will be required before this can be debugged.