README ^^^^^^ This README discusses issues unique to NuttX configurations for the ISOTEL NetClamps VSN V1.2 ready2go sensor network platform. Contents ^^^^^^^^ - Development Environment - GNU Toolchain Options - IDEs - NuttX buildroot Toolchain - DFU - LEDs - VSN-specific Configuration Options - Configurations 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 because the Raisonance R-Link emulatator and some RIDE7 development tools were used and those tools works only under Windows. 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. Raisonance GNU toolchain, or 4. The NuttX buildroot Toolchain (see below). All testing has been conducted using the NuttX buildroot toolchain. However, the make system is setup to default to use the devkitARM 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_STM32_CODESOURCERYW=y : CodeSourcery under Windows CONFIG_STM32_CODESOURCERYL=y : CodeSourcery under Linux CONFIG_STM32_DEVKITARM=y : devkitARM under Windows CONFIG_STM32_RAISONANCE=y : Raisonance RIDE7 under Windows CONFIG_STM32_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) If you are not using CONFIG_STM32_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), devkitARM, and Raisonance 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 not 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. Support has been added for making dependencies with the windows-native toolchains. That support can be enabled by modifying your Make.defs file as follows: - MKDEP = $(TOPDIR)/tools/mknulldeps.sh + MKDEP = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)" If you have problems with the dependency build (for example, if you are not building on C:), then you may need to modify tools/mkdeps.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/stm32, arch/arm/src/common, arch/arm/src/cortexm3, 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 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/project/showfiles.php?group_id=189573). 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 vsn/ 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-4.3.3 .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 detailed PLUS some special instructions that you will need to follow if you are building a Cortex-M3 toolchain for Cygwin under Windows. DFU ^^^ The linker files in these projects can be configured to indicate that you will be loading code using STMicro built-in USB Device Firmware Upgrade (DFU) loader or via some JTAG emulator. You can specify the DFU bootloader by adding the following line: CONFIG_STM32_DFU=y to your .config file. Most of the configurations in this directory are set up to use the DFU loader. If CONFIG_STM32_DFU is defined, the code will not be positioned at the beginning of FLASH (0x08000000) but will be offset to 0x08003000. This offset is needed to make space for the DFU loader and 0x08003000 is where the DFU loader expects to find new applications at boot time. If you need to change that origin for some other bootloader, you will need to edit the file(s) ld.script.dfu for each configuration. The DFU SE PC-based software is available from the STMicro website, http://www.st.com. General usage instructions: 1. Convert the NuttX Intel Hex file (nuttx.ihx) into a special DFU file (nuttx.dfu)... see below for details. 2. Connect the VSN board to your computer using a USB cable. 3. Start the DFU loader on the VSN board. You do this by resetting the board while holding the "Key" button. Windows should recognize that the DFU loader has been installed. 3. Run the DFU SE program to load nutt.dfu into FLASH. What if the DFU loader is not in FLASH? The loader code is available inside of the Demo dirctory of the USBLib ZIP file that can be downloaded from the STMicro Website. You can build it using RIDE (or other toolchains); you will need a JTAG emulator to burn it into FLASH the first time. In order to use STMicro's built-in DFU loader, you will have to get the NuttX binary into a special format with a .dfu extension. The DFU SE PC_based software installation includes a file "DFU File Manager" conversion program that a file in Intel Hex format to the special DFU format. When you successfully build NuttX, you will find a file called nutt.ihx in the top-level directory. That is the file that you should provide to the DFU File Manager. You will need to rename it to nuttx.hex in order to find it with the DFU File Manager. You will end up with a file called nuttx.dfu that you can use with the STMicro DFU SE program. LEDs ^^^^ The VSN board has four LEDs labeled LD1, LD2, LD3 and LD4 on the the board. Usage of these LEDs is defined in include/board.h and src/up_leds.c. They are encoded as follows: SYMBOL Meaning LED1* LED2 LED3 LED4 ------------------- ----------------------- ------- ------- ------- ------ LED_STARTED NuttX has been started ON OFF OFF OFF LED_HEAPALLOCATE Heap has been allocated OFF ON OFF OFF LED_IRQSENABLED Interrupts enabled ON ON OFF OFF LED_STACKCREATED Idle stack created OFF OFF ON OFF LED_INIRQ In an interrupt** ON N/C N/C OFF LED_SIGNAL In a signal handler*** N/C ON N/C OFF LED_ASSERTION An assertion failed ON ON N/C OFF LED_PANIC The system has crashed N/C N/C N/C ON * If LED1, LED2, LED3 are statically on, then NuttX probably failed to boot and these LEDs will give you some indication of where the failure was ** The normal state is LED3 ON and LED1 faintly glowing. This faint glow is because of timer interupts that result in the LED being illuminated on a small proportion of the time. *** LED2 may also flicker normally if signals are processed. VSN-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_CORTEXM3=y CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory CONFIG_ARCH_CHIP=stm32 CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip: CONFIG_ARCH_CHIP_STM32F103ZET6 CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD=vsn (for the VSN development board) CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_VSN=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_DRAM_END - Last address+1 of installed RAM CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE) CONFIG_ARCH_IRQPRIO - The STM32F103Z 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: AHB --- CONFIG_STM32_DMA1 CONFIG_STM32_DMA2 CONFIG_STM32_CRC CONFIG_STM32_FSMC CONFIG_STM32_SDIO APB1 ---- CONFIG_STM32_TIM2 CONFIG_STM32_TIM3 CONFIG_STM32_TIM4 CONFIG_STM32_TIM5 CONFIG_STM32_TIM6 CONFIG_STM32_TIM7 CONFIG_STM32_WWDG CONFIG_STM32_SPI2 CONFIG_STM32_SPI4 CONFIG_STM32_USART2 CONFIG_STM32_USART3 CONFIG_STM32_UART4 CONFIG_STM32_UART5 CONFIG_STM32_I2C1 CONFIG_STM32_I2C2 CONFIG_STM32_USB CONFIG_STM32_CAN CONFIG_STM32_BKP CONFIG_STM32_PWR CONFIG_STM32_DAC CONFIG_STM32_USB APB2 ---- CONFIG_STM32_ADC1 CONFIG_STM32_ADC2 CONFIG_STM32_TIM1 CONFIG_STM32_SPI1 CONFIG_STM32_TIM8 CONFIG_STM32_USART1 CONFIG_STM32_ADC3 Alternate pin mappings (should not be used with the VSN board): CONFIG_STM32_TIM1_FULL_REMAP CONFIG_STM32_TIM1_PARTIAL_REMAP CONFIG_STM32_TIM2_FULL_REMAP CONFIG_STM32_TIM2_PARTIAL_REMAP_1 CONFIG_STM32_TIM2_PARTIAL_REMAP_2 CONFIG_STM32_TIM3_FULL_REMAP CONFIG_STM32_TIM3_PARTIAL_REMAP CONFIG_STM32_TIM4_REMAP CONFIG_STM32_USART1_REMAP CONFIG_STM32_USART2_REMAP CONFIG_STM32_USART3_FULL_REMAP CONFIG_STM32_USART3_PARTIAL_REMAP CONFIG_STM32_SPI1_REMAP CONFIG_STM32_SPI3_REMAP CONFIG_STM32_I2C1_REMAP CONFIG_STM32_CAN1_FULL_REMAP CONFIG_STM32_CAN1_PARTIAL_REMAP CONFIG_STM32_CAN2_REMAP STM32F103Z specific device driver settings CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=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 CONFIG_STM32_SPI_INTERRUPTS - Select to enable interrupt driven SPI support. Non-interrupt-driven, poll-waiting is recommended if the interrupt rate would be to high in the interrupt driven case. CONFIG_STM32_SPI_DMA - Use DMA to improve SPI transfer performance. Cannot be used with CONFIG_STM32_SPI_INTERRUPT. CONFIG_SDIO_DMA - Support DMA data transfers. Requires CONFIG_STM32_SDIO and CONFIG_STM32_DMA2. CONFIG_SDIO_PRI - Select SDIO interrupt prority. Default: 128 CONFIG_SDIO_DMAPRIO - Select SDIO DMA interrupt priority. Default: Medium CONFIG_SDIO_WIDTH_D1_ONLY - Select 1-bit transfer mode. Default: 4-bit transfer mode. Configurations ^^^^^^^^^^^^^^ Each VSN configuration is maintained in a sudirectory and can be selected as follow: cd tools ./configure.sh vsn/ cd - . ./setenv.sh Where is one of the following: nsh: Configures the NuttShell (nsh) located at examples/nsh. The Configuration enables both the serial and telnetd NSH interfaces.