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_KINETIS_CODESOURCERYW=y : CodeSourcery under Windows CONFIG_KINETIS_CODESOURCERYL=y : CodeSourcery under Linux CONFIG_KINETIS_DEVKITARM=y : devkitARM under Windows CONFIG_KINETIS_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) If you are not using CONFIG_KINETIS_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 /nuttx. cd tools ./configure.sh kwikstik-k40/ 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/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 /nuttx. cd tools ./configure.sh lpcxpresso-lpc1768/ 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/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_DRAM_SIZE - Describes the installed DRAM (SRAM in this case): CONFIG_DRAM_SIZE=0x00010000 (64Kb) CONFIG_DRAM_START - The start address of installed DRAM CONFIG_DRAM_START=0x20000000 CONFIG_ARCH_IRQPRIO - The Kinetis K40 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: 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/ cd - . ./setenv.sh Where 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