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README
^^^^^^
README for NuttX port to the Stellaris LMS36965 Evaluation Kit
Contents
^^^^^^^^
Stellaris LMS36965 Evaluation Kit
Development Environment
GNU Toolchain Options
IDEs
NuttX EABI "buildroot" Toolchain
NuttX OABI "buildroot" Toolchain
NXFLAT Toolchain
USB Device Controller Functions
OLED
Using OpenOCD and GDB with an FT2232 JTAG emulator
Stellaris LM3S6965 Evaluation Kit Configuration Options
Configurations
Stellaris LMS36965 Evaluation Kit
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
The Stellaris LM3S6965 Evaluation Board includes the following features:
o Stellaris LM3S6965 microcontroller with fully-integrated 10/100 embedded
Ethernet controller
o Simple setup; USB cable provides serial communication, debugging, and
power
o OLED graphics display with 128 x 96 pixel resolution
o User LED, navigation switches, and select pushbuttons
o Magnetic speaker
o LM3S6965 I/O available on labeled break-out pads
o Standard ARM® 20-pin JTAG debug connector with input and output modes
o USB interface for debugging and power supply
o MicroSD card slot
Features of the LM3S6965 Microcontroller
o 32-bit RISC performance using ARM® Cortex™-M3 v7M architecture
– 50-MHz operation
– Hardware-division and single-cycle-multiplication
– Integrated Nested Vectored Interrupt Controller (NVIC)
– 42 interrupt channels with eight priority levels
o 256 KB single-cycle flash
o 64 KB single-cycle SRAM
o Four general-purpose 32-bit timers
o Integrated Ethernet MAC and PHY
o Three fully programmable 16C550-type UARTs
o Four 10-bit channels (inputs) when used as single-ended inputs
o Two independent integrated analog comparators
o Two I2C modules
o Three PWM generator blocks
– One 16-bit counter
– Two comparators
– Produces two independent PWM signals
– One dead-band generator
o Two QEI modules with position integrator for tracking encoder position
o 0 to 42 GPIOs, depending on user configuration
o On-chip low drop-out (LDO) voltage regulator
GPIO Usage
PIN SIGNAL EVB Function
--- ----------- ---------------------------------------
26 PA0/U0RX Virtual COM port receive
27 PA1/U0TX Virtual COM port transmit
10 PD0/IDX0 SD card chip select
11 PD1/PWM1 Sound
30 PA4/SSI0RX SD card data out
31 PA5/SSI0TX SD card and OLED display data in
28 PA2/SSI0CLK SD card and OLED display clock
22 PC7/PHB0 OLED display data/control select
29 PA3/SSI0FSS OLED display chip select
73 PE1/PWM5 Down switch
74 PE2/PHB1 Left switch
72 PE0/PWM4 Up switch
75 PE3/PHA1 Right switch
61 PF1/IDX1 Select switch
47 PF0/PWM0 User LED
23 PC6/CCP3 Enable +15 V
OLED
^^^^
The Evaluation Kit includes an OLED graphics display. Features:
- RiT P14201 series display
- 128 columns by 96 rows
- 4-bit, 16-level gray scale.
- High-contrast (typ. 500:1)
- Excellent brightness (120 cd/m2)
- Fast 10 us response.
The OLED display has a built-in controller IC with synchronous serial and
parallel interfaces (SSD1329). Synchronous serial (SSI) is used on the EVB.
The SSI port is shared with the microSD card slot.
- PC7: OLED display data/control select (D/Cn)
- PA3: OLED display chip select (CSn)
NOTE: Newer versions of the LM3S6965 Evaluation Kit has an OSAM 128x64x4 OLED
display. Some tweaks to drivers/lcd/p14201.c would be required to support that
LCD.
Using OpenOCD and GDB with an FT2232 JTAG emulator
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Building OpenOCD under Cygwin:
Refer to configs/olimex-lpc1766stk/README.txt
Installing OpenOCD in Linux:
sudo apt-get install openocd
Helper Scripts.
I have been using the on-board FT2232 JTAG/SWD/SWO interface. OpenOCD
requires a configuration file. I keep the one I used last here:
configs/lm3s6965-ek/tools/lm3s6965-ek.cfg
However, the "correct" configuration script to use with OpenOCD may
change as the features of OpenOCD evolve. So you should at least
compare that lm3s6965-ek.cfg file with configuration files in
/usr/share/openocd/scripts. As of this writing, the configuration
files of interest were:
/usr/share/openocd/scripts/interface/luminary.cfg
/usr/share/openocd/scripts/board/ek-lm3s6965.cfg
/usr/share/openocd/scripts/target/stellaris.cfg
There is also a script on the tools/ directory that I use to start
the OpenOCD daemon on my system called oocd.sh. That script will
probably require some modifications to work in another environment:
- Possibly the value of OPENOCD_PATH and TARGET_PATH
- It assumes that the correct script to use is the one at
configs/lm3s6965-ek/tools/lm3s6965-ek.cfg
Starting OpenOCD
Then you should be able to start the OpenOCD daemon like:
configs/lm3s6965-ek/tools/oocd.sh $PWD
Connecting GDB
Once the OpenOCD daemon has been started, you can connect to it via
GDB using the following GDB command:
arm-nuttx-elf-gdb
(gdb) target remote localhost:3333
NOTE: The name of your GDB program may differ. For example, with the
CodeSourcery toolchain, the ARM GDB would be called arm-none-eabi-gdb.
After starting GDB, you can load the NuttX ELF file:
(gdb) symbol-file nuttx
(gdb) monitor reset
(gdb) monitor halt
(gdb) load nuttx
NOTES:
1. Loading the symbol-file is only useful if you have built NuttX to
include debug symbols (by setting CONFIG_DEBUG_SYMBOLS=y in the
.config file).
2. The MCU must be halted prior to loading code using 'mon reset'
as described below.
OpenOCD will support several special 'monitor' commands. These
GDB commands will send comments to the OpenOCD monitor. Here
are a couple that you will need to use:
(gdb) monitor reset
(gdb) monitor halt
NOTES:
1. The MCU must be halted using 'mon halt' prior to loading code.
2. Reset will restart the processor after loading code.
3. The 'monitor' command can be abbreviated as just 'mon'.
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 NuttX buildroot toolchain. However,
the make system is setup to default to use the devkitARM toolchain. To use
the CodeSourcery or devkitARM, you simply need to add one of the following
configuration options to your .config (or defconfig) file:
CONFIG_LM_CODESOURCERYW=y : CodeSourcery under Windows
CONFIG_LM_CODESOURCERYL=y : CodeSourcery under Linux
CONFIG_LM_DEVKITARM=y : devkitARM under Windows
CONFIG_LM_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
If you are not using CONFIG_LM_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 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.
NOTE 3: I recently (i.e., late 2011) tried building with the CodeSourcery Windows
toolchain. The code worked but required 40 seconds to boot (or even until the
status LED illuminates)!! Know idea why. With the buildroot tools, boot time is
a couple of seconds.
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/lm,
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/lm/lm_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-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 lm3s6965-ek/<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.
USB Device Controller Functions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Device Overview
An FT2232 device from Future Technology Devices International Ltd manages
USB-to-serial conversion. The FT2232 is factory configured by Luminary
Micro to implement a JTAG/SWD port (synchronous serial) on channel A and
a Virtual COM Port (VCP) on channel B. This feature allows two simultaneous
communications links between the host computer and the target device using
a single USB cable. Separate Windows drivers for each function are provided
on the Documentation and Software CD.
Debugging with JTAG/SWD
The FT2232 USB device performs JTAG/SWD serial operations under the control
of the debugger or the Luminary Flash Programmer. It also operate as an
In-Circuit Debugger Interface (ICDI), allowing debugging of any external
target board. Debugging modes:
MODE DEBUG FUNCTION USE SELECTED BY
1 Internal ICDI Debug on-board LM3S6965 Default Mode
microcontroller over USB
interface.
2 ICDI out to JTAG/SWD The EVB is used as a USB Connecting to an external
header to SWD/JTAG interface to target and starting debug
an external target. software. The red Debug Out
LED will be ON.
3 In from JTAG/SWD For users who prefer an Connecting an external
header external debug interface debugger to the JTAG/SWD
(ULINK, JLINK, etc.) with header.
the EVB.
Virtual COM Port
The Virtual COM Port (VCP) allows Windows applications (such as HyperTerminal)
to communicate with UART0 on the LM3S6965 over USB. Once the FT2232 VCP
driver is installed, Windows assigns a COM port number to the VCP channel.
Stellaris LM3S6965 Evaluation Kit 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=lm
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_LM3S6965
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=lm3s6965-ek (for the Stellaris LM3S6965 Evaluation Kit)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_LM3S6965EK
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 LM3S6965 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.
There are configurations for disabling support for interrupts GPIO ports.
GPIOJ must be disabled because it does not exist on the LM3S6965.
Additional interrupt support can be disabled if desired to reduce memory
footprint.
CONFIG_LM_DISABLE_GPIOA_IRQS=n
CONFIG_LM_DISABLE_GPIOB_IRQS=n
CONFIG_LM_DISABLE_GPIOC_IRQS=n
CONFIG_LM_DISABLE_GPIOD_IRQS=n
CONFIG_LM_DISABLE_GPIOE_IRQS=n
CONFIG_LM_DISABLE_GPIOF_IRQS=n
CONFIG_LM_DISABLE_GPIOG_IRQS=n
CONFIG_LM_DISABLE_GPIOH_IRQS=n
CONFIG_LM_DISABLE_GPIOJ_IRQS=y
LM3S6965 specific device driver settings
CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn 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. Must be
CONFIG_UARTn_BITS - The number of bits. Must be either 7 or 8.
CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_UARTn_2STOP - Two stop bits
CONFIG_SSI0_DISABLE - Select to disable support for SSI0
CONFIG_SSI1_DISABLE - Select to disable support for SSI1
CONFIG_SSI_POLLWAIT - Select to disable interrupt driven SSI support.
Poll-waiting is recommended if the interrupt rate would be to
high in the interrupt driven case.
CONFIG_SSI_TXLIMIT - Write this many words to the Tx FIFO before
emptying the Rx FIFO. If the SPI frequency is high and this
value is large, then larger values of this setting may cause
Rx FIFO overrun errors. Default: half of the Tx FIFO size (4).
CONFIG_LM_ETHERNET - This must be set (along with CONFIG_NET)
to build the Stellaris Ethernet driver
CONFIG_LM_ETHLEDS - Enable to use Ethernet LEDs on the board.
CONFIG_LM_BOARDMAC - If the board-specific logic can provide
a MAC address (via lm_ethernetmac()), then this should be selected.
CONFIG_LM_ETHHDUPLEX - Set to force half duplex operation
CONFIG_LM_ETHNOAUTOCRC - Set to suppress auto-CRC generation
CONFIG_LM_ETHNOPAD - Set to suppress Tx padding
CONFIG_LM_MULTICAST - Set to enable multicast frames
CONFIG_LM_PROMISCUOUS - Set to enable promiscuous mode
CONFIG_LM_BADCRC - Set to enable bad CRC rejection.
CONFIG_LM_DUMPPACKET - Dump each packet received/sent to the console.
Configurations
^^^^^^^^^^^^^^
Each Stellaris LM3S6965 Evaluation Kit configuration is maintained in a
sub-directory and can be selected as follow:
cd tools
./configure.sh lm3s6965-ek/<subdir>
cd -
. ./setenv.sh
Where <subdir> is one of the following:
nsh:
Configures the NuttShell (nsh) located at examples/nsh. The
Configuration enables both the serial and telnetd NSH interfaces.
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_RAW_BINARY=y : Output formats: ELF and raw binary
3. As it is configured now, you MUST have a network connected.
Otherwise, the NSH prompt will not come up because the Ethernet
driver is waiting for the network to come up. That is probably
a bug in the Ethernet driver behavior!
4. Network File System (NFS) support can be added by setting the
following in your configuration file:
CONFIG_NFS=y
nx:
And example using the NuttX graphics system (NX). This example
uses the P14201 OLED driver.
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_RAW_BINARY=y : Output formats: ELF and raw binary
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_RAW_BINARY=y : Output formats: ELF and raw binary
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