README
^^^^^^
This README discusses issues unique to NuttX configurations for the
Atmel SAM4L Xplained Pro development board. This board features the
ATSAM4LC4C MCU.
The SAM4L Xplained Pro Starter Kit is bundled with four modules:
1) I/O1 - An MMC/SD card slot, PWM LED control, ADC light sensor, UART
loopback, TWI AT30TSE758 Temperature sensor.
2) OLED1 - An OLED plus 3 additional switches and 3 additional LEDs
3) SLCD1 - A segment LCD that connects directly to the "EXT5 SEGMENT LCD"
connector
4) PROTO1 - A prototyping board with logic on board (other than power-related
logic).
Contents
^^^^^^^^
- Modules
- Development Environment
- GNU Toolchain Options
- IDEs
- NuttX EABI "buildroot" Toolchain
- NuttX OABI "buildroot" Toolchain
- NXFLAT Toolchain
- LEDs
- Serial Consoles
- SAM4L Xplained Pro-specific Configuration Options
- Configurations
Modules
^^^^^^^
The SAM4L Xplained Pro Starter Kit is bundled with four modules:
I/O1
----
The primary function of this module is to provide SD card support, but
the full list of modules features include:
- microSD card connector (SPI interface)
- PWM (LED control)
- ADC (light sensor)
- UART loopback
- TWI AT30TSE758 Temperature sensor with EEPROM
SPI is available on two of the SAM4L Xplained connectors, EXT1 and EXT2.
They mate with the I/O1 connector as indicated in this table.
I/O1 Connector
--------------
I/O1 EXT1 EXT2 Other use of either pin
----------------- -------------------- -------------------- ------------------------------------
1 ID 1 1
2 GND 2 GND 2
3 LIGHTSENSOR 3 PA04 ADCIFE/AD0 3 PA07 ADCIFE/AD2
4 LP_OUT 4 PA05 ADCIFE/AD1 4 PB02 ADCIFE/AD3
5 GPIO1 5 PB12 GPIO 5 PC08 GPIO PB12 and PC8 on EXT5
6 GPIO2 6 PC02 GPIO 6 PB10 GPIO PB10 on EXT5
7 LED 7 PC00 TC/1/A0 7 PC04 TC/1/A2
8 LP_IN 8 PC01 TC/1/B0 8 PC05 TC/1/B2 PC05 on EXT5
9 TEMP_ALERT 9 PC25 EIC/EXTINT2 9 PC06 EIC/EXTINT8 PC25 on EXT5
10 microSD_DETECT 10 PB13 SPI/NPCS1 10 PC09 GPIO PB13 on EXT5
11 TWI SDA 11 PA23 TWIMS/0/TWD 11 PB14 TWIMS/3/TWD PB14 on EXT3&4, PA23 and PB14 on EXT5
12 TWI SCL 12 PA24 TWIMS/0/TWCK 12 PB15 TWIMS/3/TWCK PB15 on EXT3&4, PA24 and PB15 on EXT5
13 UART RX 13 PB00 USART/0/RXD 13 PC26 USART/1/RXD PB00 on EXT4, PC26 on EXT3&5
14 UART TX 14 PB01 USART/0/TXD 14 PC27 USART/1/TXD PB01 on EXT4, PC27 on EXT3&5
15 microSD_SS 15 PC03 SPI/NPCS0 15 PB11 SPI/NPCS2 PB11 on EXT5
16 SPI_MOSI 16 PA22 SPI/MOSI 16 PA22 SPI/MOSI PA22 on EXT5
17 SPI_MISO 17 PA21 SPI/MISO 17 PA21 SPI/MISO PA21 on EXT5
18 SPI_SCK 18 PC30 SPI/SCK 18 PC30 SPI/SCK PC30 on EXT5
19 GND 19 GND GND
20 VCC 20 VCC VCC
The mapping between the I/O1 pins and the SD connector are shown in the
following table.
SD Card Connection
------------------
I/O1 SD PIN Description
---- ---- --- -------------------------------------------------
D2 1 Data line 2 (not used)
15 D3 2 Data line 3. Active low chip select, pulled high
16 CMD 3 Command line, connected to SPI_MOSI.
20 VDD 4
18 CLK 5 Clock line, connected to SPI_SCK.
2/19 GND 6
17 D0 7 Data line 0, connected to SPI_MISO.
D1 8 Data line 1 (not used)
10 SW_A 9 Card detect
2/19 SW_B 10 GND
Card Detect
-----------
When a microSD card is put into the connector SW_A and SW_B are short-
circuited. SW_A is connected to the microSD_DETECT signal. To use this
as a card indicator remember to enable internal pullup in the target
device.
GPIOs
-----
So all that is required to connect the SD is configure the SPI
PIN EXT1 EXT2 Description
--- -------------- --------------- -------------------------------------
15 PC03 SPI/NPCS0 PB11 SPI/NPCS2 Active low chip select OUTPUT, pulled
high on board.
10 PB13 SPI/NPCS1 10 PC09 GPIO Active low card detect INPUT, must
use internal pull-up.
Configuration Options:
----------------------
CONFIG_SAM4L_XPLAINED_IOMODULE=y : Informs the system that the
I/O1 module is installed
CONFIG_SAM4L_XPLAINED_IOMODULE_EXT1=y : The module is installed in EXT1
CONFIG_SAM4L_XPLAINED_IOMODULE_EXT2=y : The mdoule is installed in EXT2
See the set-up in the discussion of the nsh configuration below for other
required configuration options.
NOTE: As of this writing, only the SD card slot is supported in the I/O1
module.
OLED1
-----
This module provides an OLED plus 3 additional switches and 3 additional
LEDs.
OLED1 Connector
--------------
OLED1 EXT1 EXT2 Other use of either pin
----------------- -------------------- -------------------- ------------------------------------
1 ID 1 1
2 GND 2 GND 2
3 BUTTON2 3 PA04 ADCIFE/AD0 3 PA07 ADCIFE/AD2
4 BUTTON3 4 PA05 ADCIFE/AD1 4 PB02 ADCIFE/AD3
5 DATA_CMD_SEL 5 PB12 GPIO 5 PC08 GPIO PB12 and PC8 on EXT5
6 LED3 6 PC02 GPIO 6 PB10 GPIO PB10 on EXT5
7 LED1 7 PC00 TC/1/A0 7 PC04 TC/1/A2
8 LED2 8 PC01 TC/1/B0 8 PC05 TC/1/B2 PC05 on EXT5
9 BUTTON1 9 PC25 EIC/EXTINT2 9 PC06 EIC/EXTINT8 PC25 on EXT5
10 DISPLAY_RESET 10 PB13 SPI/NPCS1 10 PC09 GPIO PB13 on EXT5
11 N/C 11 PA23 TWIMS/0/TWD 11 PB14 TWIMS/3/TWD PB14 on EXT3&4, PA23 and PB14 on EXT5
12 N/C 12 PA24 TWIMS/0/TWCK 12 PB15 TWIMS/3/TWCK PB15 on EXT3&4, PA24 and PB15 on EXT5
13 N/C 13 PB00 USART/0/RXD 13 PC26 USART/1/RXD PB00 on EXT4, PC26 on EXT3&5
14 N/C 14 PB01 USART/0/TXD 14 PC27 USART/1/TXD PB01 on EXT4, PC27 on EXT3&5
15 DISPLAY_SS 15 PC03 SPI/NPCS0 15 PB11 SPI/NPCS2 PB11 on EXT5
16 SPI_MOSI 16 PA22 SPI/MOSI 16 PA22 SPI/MOSI PA22 on EXT5
17 N/C 17 PA21 SPI/MISO 17 PA21 SPI/MISO PA21 on EXT5
18 SPI_SCK 18 PC30 SPI/SCK 18 PC30 SPI/SCK PC30 on EXT5
19 GND 19 GND GND
20 VCC 20 VCC VCC
Configuration Options:
----------------------
CONFIG_SAM4L_XPLAINED_OLED1MODULE=y : Informs the system that the
I/O1 module is installed
CONFIG_SAM4L_XPLAINED_OLED1MODULE_EXT1=y : The module is installed in EXT1
CONFIG_SAM4L_XPLAINED_OLED1MODULE_EXT2=y : The mdoule is installed in EXT2
See the set-up in the discussion of the nsh configuration below for other
required configuration options.
SLCD1
-----
This module provides a A segment LCD that connects directly to the "EXT5
SEGMENT LCD" connector
Configuration Options:
----------------------
CONFIG_SAM4L_XPLAINED_SLCD1MODULE=y : Informs the system that the
I/O1 module is installed
See the set-up in the discussion of the nsh configuration below for other
required configuration options.
PROTO1
------
A prototyping board with logic on board (other than power-related logic).
There is no built-in support for the PROTO1 module.
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, ok
4. The NuttX buildroot Toolchain (see below).
All testing has been conducted using the NuttX buildroot toolchain. To use
the CodeSourcery, devkitARM or Raisonance GNU toolchain, you simply need to
add one of 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_ATOLLIC=y : Atollic toolchain for Windos
CONFIG_ARMV7M_TOOLCHAIN_DEVKITARM=y : devkitARM under Windows
CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIL=y : Generic GCC ARM EABI toolchain for Linux
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : Generic GCC ARM EABI toolchain for Windows
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 about Windows native toolchains
------------------------------------
The CodeSourcery (for Windows), Atollic, and devkitARM toolchains are
Windows native toolchains. The CodeSourcery (for Linux), NuttX buildroot,
and, perhaps, the generic GCC 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 (There is a simple RIDE project
in the RIDE subdirectory).
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/sam34,
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/sam34/sam_vectors.S. You may need 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 sam4l-xplained/<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-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 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.
LEDs
^^^^
There are three LEDs on board the SAM4L Xplained Pro board: The EDBG
controls two of the LEDs, a power LED and a status LED. There is only
one user controllable LED, a yellow LED labeled LED0 near the SAM4L USB
connector.
This LED is controlled by PC07 and LED0 can be activated by driving the
PC07 to GND.
When CONFIG_ARCH_LEDS is defined in the NuttX configuration, NuttX will
control LED0 as follows:
SYMBOL Meaning LED0
------------------- ----------------------- ------
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 N/C
LED_SIGNAL In a signal handler N/C
LED_ASSERTION An assertion failed N/C
LED_PANIC The system has crashed FLASH
Thus is LED0 is statically on, NuttX has successfully booted and is,
apparently, running normmally. If LED0 is flashing at approximately
2Hz, then a fatal error has been detected and the system has halted.
Serial Consoles
^^^^^^^^^^^^^^^
USART0
------
USART0 is available on connectors EXT1 and EXT4
EXT1 EXT4 GPIO Function
---- ---- ------ -----------
13 13 PB00 USART0_RXD
14 14 PB01 USART0_TXD
19 19 GND
20 20 VCC
If you have a TTL to RS-232 convertor then this is the most convenient
serial console to use. It is the default in all of these configurations.
An option is to use the virtual COM port.
Virtual COM Port
----------------
The SAM4L Xplained Pro contains an Embedded Debugger (EDBG) that can be
used to program and debug the ATSAM4LC4C using Serial Wire Debug (SWD).
The Embedded debugger also include a Virtual Com port interface over
USART1. Virtual COM port connections:
PC26 USART1 RXD
PC27 USART1 TXD
SAM4L Xplained Pro-specific Configuration Options
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
CONFIG_ARCH - Identifies the arch/ subdirectory. This should
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="sam34"
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_SAM34
CONFIG_ARCH_CHIP_SAM4L
CONFIG_ARCH_CHIP_ATSAM4LC4C
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=sam4l-xplained (for the SAM4L Xplained Pro development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_SAM4L_XPLAINED=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=0x00008000 (32Kb)
CONFIG_RAM_START - The start address of installed DRAM
CONFIG_RAM_START=0x20000000
CONFIG_ARCH_IRQPRIO - The SAM4L supports interrupt prioritization
CONFIG_ARCH_IRQPRIO=y
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:
CPU
---
CONFIG_SAM34_OCD
HSB
---
CONFIG_SAM34_APBA
CONFIG_SAM34_AESA
PBA
---
CONFIG_SAM34_IISC
CONFIG_SAM34_SPI0
CONFIG_SAM34_TC0
CONFIG_SAM34_TC1
CONFIG_SAM34_TWIM0
CONFIG_SAM34_TWIS0
CONFIG_SAM34_TWIM1
CONFIG_SAM34_TWIS1
CONFIG_SAM34_USART0
CONFIG_SAM34_USART1
CONFIG_SAM34_USART2
CONFIG_SAM34_USART3
CONFIG_SAM34_ADC12B
CONFIG_SAM34_DACC
CONFIG_SAM34_ACC
CONFIG_SAM34_GLOC
CONFIG_SAM34_ABDACB
CONFIG_SAM34_TRNG
CONFIG_SAM34_PARC
CONFIG_SAM34_CATB
CONFIG_SAM34_TWIM2
CONFIG_SAM34_TWIM3
CONFIG_SAM34_LCDCA
PBB
---
CONFIG_SAM34_HRAMC1
CONFIG_SAM34_HMATRIX
CONFIG_SAM34_PDCA
CONFIG_SAM34_CRCCU
CONFIG_SAM34_USBC
CONFIG_SAM34_PEVC
PBC
---
CONFIG_SAM34_CHIPID
CONFIG_SAM34_FREQM
PBD
---
CONFIG_SAM34_AST
CONFIG_SAM34_WDT
CONFIG_SAM34_EIC
CONFIG_SAM34_PICOUART
Some subsystems can be configured to operate in different ways. The drivers
need to know how to configure the subsystem.
CONFIG_GPIOA_IRQ
CONFIG_GPIOB_IRQ
CONFIG_GPIOC_IRQ
CONFIG_USART0_ISUART
CONFIG_USART1_ISUART
CONFIG_USART2_ISUART
CONFIG_USART3_ISUART
ST91SAM4L specific device driver settings
CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=0,1,2,3) or UART
m (m=4,5) for the console and ttys0 (default is the USART1).
CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART. Must be
CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8.
CONFIG_U[S]ARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_U[S]ARTn_2STOP - Two stop bits
Configurations
^^^^^^^^^^^^^^
Each SAM4L Xplained Pro configuration is maintained in a sub-directory and
can be selected as follow:
cd tools
./configure.sh sam4l-xplained/<subdir>
cd -
. ./setenv.sh
Before sourcing the setenv.sh file above, you should examine it and perform
edits as necessary so that BUILDROOT_BIN is the correct path to the directory
than holds your toolchain binaries.
And then build NuttX by simply typing the following. At the conclusion of
the make, the nuttx binary will reside in an ELF file called, simply, nuttx.
make
The <subdir> that is provided above as an argument to the tools/configure.sh
must be is one of the following.
NOTE: These configurations use the mconf-based configuration tool. To
change any of these 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.
NOTES:
1. These configurations use the mconf-based configuration tool. To
change any of these 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.
2. Unless stated otherwise, all configurations generate console
output of on USART0 which is available on EXT1 or EXT4 (see the
section "Serial Consoles" above). The virtual COM port could
be used, instead, by reconfiguring to use USART1 instead of
USART0:
System Type -> AT91SAM3/4 Peripheral Support
CONFIG_SAM_USART0=y
CONFIG_SAM_USART1=n
Device Drivers -> Serial Driver Support -> Serial Console
CONFIG_USART0_SERIAL_CONSOLE=y
Device Drivers -> Serial Driver Support -> USART0 Configuration
CONFIG_USART0_2STOP=0
CONFIG_USART0_BAUD=115200
CONFIG_USART0_BITS=8
CONFIG_USART0_PARITY=0
CONFIG_USART0_RXBUFSIZE=256
CONFIG_USART0_TXBUFSIZE=256
3. Unless otherwise stated, the configurations are setup for
Linux (or any other POSIX environment like Cygwin under Windows):
Build Setup:
CONFIG_HOST_LINUX=y : Linux or other POSIX environment
4. These configurations use the older, OABI, buildroot toolchain. But
that is easily reconfigured:
System Type -> Toolchain:
CONFIG_ARMV7M_TOOLCHAIN_BUILDROOT=y : Buildroot toolchain
CONFIG_ARMV7M_OABI_TOOLCHAIN=y : Older, OABI toolchain
If you want to use the Atmel GCC toolchain, here are the steps to
do so:
Build Setup:
CONFIG_HOST_WINDOWS=y : Windows
CONFIG_HOST_CYGWIN=y : Using Cygwin or other POSIX environment
System Type -> Toolchain:
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : General GCC EABI toolchain under windows
This re-configuration should be done before making NuttX or else the
subsequent 'make' will fail. If you have already attempted building
NuttX then you will have to 1) 'make distclean' to remove the old
configuration, 2) 'cd tools; ./configure.sh sam3u-ek/ksnh' to start
with a fresh configuration, and 3) perform the configuration changes
above.
Also, make sure that your PATH variable has the new path to your
Atmel tools. Try 'which arm-none-eabi-gcc' to make sure that you
are selecting the right tool. setenv.sh is available for you to
use to set or PATH variable. The path in the that file may not,
however, be correct for your installation.
See also the "NOTE about Windows native toolchains" in the section call
"GNU Toolchain Options" above.
Configuration sub-directories
-----------------------------
nsh:
This configuration directory will built the NuttShell. See NOTES above
and below:
NOTES:
1. NOTE: If you get a compilation error like:
libxx_new.cxx:74:40: error: 'operator new' takes type 'size_t'
('unsigned int') as first parameter [-fper
Sometimes NuttX and your toolchain will disagree on the underlying
type of size_t; sometimes it is an 'unsigned int' and sometimes it is
an 'unsigned long int'. If this error occurs, then you may need to
toggle the value of CONFIG_CXX_NEWLONG.
2. If the I/O1 module is connected to the SAM4L Xplained Pro, then
support for the SD card slot can be enabled by making the following
changes to the configuration:
File Systems:
CONFIG_FS_FAT=y : Enable the FAT file system
CONFIG_FAT_LCNAMES=y : Enable upper/lower case 8.3 file names (Optional, see below)
CONFIG_FAT_LFN=y : Enable long file named (Optional, see below)
CONFIG_FAT_MAXFNAME=32 : Maximum supported file name length
There are issues related to patents that Microsoft holds on FAT long
file name technologies. See the top level COPYING file for further
details.
System Type -> Peripherals:
CONFIG_SAM34_SPI0=y : Enable the SAM4L SPI peripheral
Device Drivers
CONFIG_SPI=y : Enable SPI support
CONFIG_SPI_EXCHANGE=y : The exchange() method is supported
CONFIG_SPI_OWNBUS=y : Smaller code if this is the only SPI device
CONFIG_MMCSD=y : Enable MMC/SD support
CONFIG_MMCSD_NSLOTS=1 : Only one MMC/SD card slot
CONFIG_MMCSD_MULTIBLOCK_DISABLE=n : Should not need to disable multi-block transfers
CONFIG_MMCSD_HAVECARDDETECT=y : I/O1 module as a card detect GPIO
CONFIG_MMCSD_SPI=y : Use the SPI interface to the MMC/SD card
CONFIG_MMCSD_SPICLOCK=20000000 : This is a guess for the optimal MMC/SD frequency
CONFIG_MMCSD_SPIMODE=0 : Mode 0 is required
Board Selection -> Common Board Options
CONFIG_NSH_MMCSDSLOTNO=0 : Only one MMC/SD slot, slot 0
CONFIG_NSH_MMCSDSPIPORTNO=0 : Use CS=0 if the I/O1 is in EXT1, OR
CONFIG_NSH_MMCSDSPIPORTNO=2 : Use CS=2 if the I/O1 is in EXT2
Board Selection -> SAM4L Xplained Pro Modules
CONFIG_SAM4L_XPLAINED_IOMODULE=y : I/O1 module is connected
CONFIG_SAM4L_XPLAINED_IOMODULE_EXT1=y : In EXT1, or EXT2
CONFIG_SAM4L_XPLAINED_IOMODULE_EXT2=y
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : Board has architecture-specific initialization
NOTE: If you enable the I/O1 this configuration with USART0 as the
console and with the I/O1 module in EXT1, you *must* remove UART
jumper. Otherwise, you have lookpack on USART0 and NSH will *not*
behave very well (since its outgoing prompts also appear as incoming
commands).
STATUS: As of 2013-6-18, this configuration appears completely
functional. Testing, however, has been very light. Example:
NuttShell (NSH) NuttX-6.28
nsh> mount -t vfat /dev/mmcsd0 /mnt/stuff
nsh> ls /mnt/stuff
/mnt/stuff:
nsh> echo "This is a test" >/mnt/stuff/atest.txt
nsh> ls /mnt/stuff
/mnt/stuff:
atest.txt
nsh> cat /mnt/stuff/atest.txt
This is a test
nsh>
3. If the OLED1 module is connected to the SAM4L Xplained Pro, then
support for the OLED display can be enabled by making the following
changes to the configuration:
System Type -> Peripherals:
CONFIG_SAM34_SPI0=y : Enable the SAM4L SPI peripheral
Device Drivers -> SPI
CONFIG_SPI=y : Enable SPI support
CONFIG_SPI_EXCHANGE=y : The exchange() method is supported
CONFIG_SPI_CMDDATA=y : CMD/DATA support is required
CONFIG_SPI_OWNBUS=y : Smaller code if this is the only SPI device
Device Drivers -> LCDs
CONFIG_LCD=y : Enable LCD support
CONFIG_LCD_MAXCONTRAST=255 : Maximum contrast value
CONFIG_LCD_LANDSCAPE=y : Landscape orientation (see below*)
CONFIG_LCD_UG2832HSWEG04=y : Enable support for the OLED
CONFIG_LCD_SSD1306_SPIMODE=0 : SPI Mode 0
CONFIG_LCD_SSD1306_SPIMODE=3500000 : Pick an SPI frequency
Board Selection -> SAM4L Xplained Pro Modules
CONFIG_SAM4L_XPLAINED_OLED1MODULE=y : OLED1 module is connected
CONFIG_SAM4L_XPLAINED_OLED1MODULE_EXT1=y : In EXT1, or EXT2
CONFIG_SAM4L_XPLAINED_OLED1MODULE_EXT2=y
The NX graphics subsystem also needs to be configured:
CONFIG_NX=y : Enable graphics support
CONFIG_NX_LCDDRIVER=y : Using an LCD driver
CONFIG_NX_NPLANES=1 : With a single color plane
CONFIG_NX_WRITEONLY=n : You can read from the LCD (see below**)
CONFIG_NX_DISABLE_2BPP=y : Disable all resolutions except 1BPP
CONFIG_NX_DISABLE_4BPP=y
CONFIG_NX_DISABLE_8BPP=y
CONFIG_NX_DISABLE_16BPP=y
CONFIG_NX_DISABLE_24BPP=y
CONFIG_NX_DISABLE_32BPP=y
CONFIG_NX_PACKEDMSFIRST=y : LSB packed first (shouldn't matter)
CONFIG_NXTK_BORDERWIDTH=2 : Use a small border
CONFIG_NXTK_DEFAULT_BORDERCOLORS=y : Default border colors
CONFIG_NXFONTS_CHARBITS=7 : 7-bit fonts
CONFIG_NXFONT_SANS17X23B=y : Pick a font (any that will fit)
* This orientation will put the buttons "above" the LCD. The
reverse landscape configuration (CONFIG_LCD_RLANDSCAPE) will
"flip" the display so that the buttons are "below" the LCD.
** The hardware is write only, but the driver maintains a frame buffer
to support read and read-write-modiry operations on the LCD.
Reading from the frame buffer is, however, untested.
Then, in order to use the OLED, you will need to build some kind of
graphics application or use one of the NuttX graphics examples.
Here, for example, is the setup for the graphic "Hello, World!"
example:
CONFIG_EXAMPLES_NXHELLO=y : Enables the example
CONFIG_EXAMPLES_NXHELLO_DEFAULT_COLORS=y : Use default colors (see below *)
CONFIG_EXAMPLES_NXHELLO_DEFAULT_FONT=y : Use the default font
CONFIG_EXAMPLES_NXHELLO_BPP=1 : One bit per pixel
CONFIG_EXAMPLES_NXHELLO_EXTERNINIT=y : Special initialization is required.
* The OLED is monochrome so the only "colors" are blacka nd white.
The default "colors" will give you while text on a black background.
You can override the faults it you want black text on a while background.
NOTE: One issue that I have seen with the NXHello example when
running as an NSH command is that it only works the first time.
So, after you run the 'nxhello' command one time, you will have to
reset the board before you run it again.
This is clearly some issue with initializing, un-initializing, and
then re-initializing. If you want to fix this, patches are quite
welcome.
4. If the LCD1 module is connected to the SAM4L Xplained Pro, then
support for the SLCDt can be enabled by making the following
changes to the configuration:
System Type -> AT91SAM3/4 Peripheral Support
CONFIG_SAM34_LCDCA=y
System Type -> AT91SAM3/4 Clock Configuration
CONFIG_SAM34_OSC32K=y
Board Selection -> Board-Specific Options -> SAM4L Xplained Pro Modules
CONFIG_SAM4L_XPLAINED_SLCD1MODULE=y
Device Drivers
CONFIG_LCD=y
CONFIG_LCD_MAXCONTRAST=63
Library Routines -> Non-standard Library Support
CONFIG_LIB_SLCDCODEC=y
The SLCD example can be enabled to verify the SLCD:
Application Configuration -> Examples
CONFIG_EXAMPLES_SLCD=y
CONFIG_EXAMPLES_SLCD_DEVNAME="/dev/slcd"
CONFIG_EXAMPLES_SLCD_BUFSIZE=64
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y
NOTE: In order to use the segment LCD you *must* open the VLCD_A and
VLCD_BC jumpers or the SLD will not be powered!
