507 lines
16 KiB
Plaintext
507 lines
16 KiB
Plaintext
README
|
|
^^^^^
|
|
|
|
This is the README file for the port of NuttX to the Amber Web Server from
|
|
SoC Robotics (http://www.soc-robotics.com/index.htm). The
|
|
Amber Web Server is based on an Atmel ATMega128. As of this writing,
|
|
documentation for the Amber Web Server board is available here:
|
|
|
|
http://www.soc-robotics.com/product/Amber_Specs/Amber_Processor.html
|
|
|
|
and
|
|
|
|
http://www.soc-robotics.com/pdfs/Amber%201-5a%20Hardware%20Reference%20Guide.pdf
|
|
|
|
Contents
|
|
^^^^^^^^
|
|
|
|
o Amber Web Server Features
|
|
o Pin Connections
|
|
o Atmel AVRISP mkII Connection
|
|
o Toolchains
|
|
o Windows Native Toolchains
|
|
o NuttX buildroot Toolchain
|
|
o avr-libc
|
|
o Amber Web Server Configuration Options
|
|
o Configurations
|
|
|
|
Amber Web Server Features
|
|
^^^^^^^^^^^^^^^^^^^^^^^^^
|
|
|
|
o 17.56MHz ATmega128 Atmel 8bit AVR RISC Processor
|
|
o 128Kbyte Flash
|
|
o 64Kbyte RAM
|
|
o 10BaseT Ethernet Port
|
|
o High Speed Serial Port
|
|
o 8Ch 10bit Analog Input port
|
|
o 16 Digital IO ports
|
|
o Expansion bus for daughter cards
|
|
o LED status indicators
|
|
o ISP Programming port
|
|
o 7-14VDC input
|
|
o Power via Ethernet port
|
|
|
|
Pin Connections (PCB Rev 1.5a)
|
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
|
|
|
-------------------- -----------------------------
|
|
ATMega128 Pinout Amber board connection
|
|
-------------------- -----------------------------
|
|
(left)
|
|
1 PEN Pulled-up
|
|
2 PE0 (RXD0/PDI) MAX202ECWED T1IN or J7-1, ISP-PDI (via 74HC5053), J5-26
|
|
3 PE1 (TXD0/PDO) MAX202ECWED A1OUT or J7-9, ISP-PDO (via 74HC5053), J5-25
|
|
4 PE2 (XCK0/AIN0) MAX202ECWED T2IN, J5-24
|
|
5 PE3 (OC3A/AIN1) MAX202ECWED A2OUT, J5-23
|
|
6 PE4 (OC3B/INT4) J5-22
|
|
7 PE5 (OC3C/INT5) J5-21, RTL8019AS INT 0, TP5 PE5
|
|
8 PE6 (T3/INT6) J5-20
|
|
9 PE7 (ICP3/INT7) J5-19
|
|
10 PB0 (SS) Pull up of SS SPI master
|
|
11 PB1 (SCK) J7-7, ISP_SCK (via 74HC4053) and AT45D011 SCK, J5-17
|
|
12 PB2 (MOSI) AT45D011 SI. J5-16
|
|
13 PB3 (MISO) AT45D011 SO, J5-15
|
|
14 PB4 (OC0) AT45D011 CS\, J5-14
|
|
15 PB5 (OC1A) J5-13
|
|
16 PB6 (OC1B) J5-12
|
|
(bottom)
|
|
17 PB7 (OC2/OC1C) J5-11
|
|
18 PG3/TOSC2 32.768KHz XTAL
|
|
19 PG4/TOSC1 32.768KHz XTAL
|
|
20 RESET RESET
|
|
21 VCC
|
|
22 GND GND
|
|
23 XTAL2 14.7456MHz XTAL
|
|
24 XTAL1 14.7456MHz XTAL
|
|
25 PD0 (SCL/INT0) J5-10
|
|
26 PD1 (SDA/INT1) J5-9
|
|
27 PD2 (RXD1/INT2) J5-8, MAX488CSA RO (RS-485)
|
|
28 PD3 (TXD1/INT3) J5-7, MAX488CSA DI (RS-485)
|
|
29 PD4 (ICP1) J5-6
|
|
30 PD5 (XCK1) J5-5
|
|
31 PD6 (T1) J5-4
|
|
32 PD7 (T2) J5-3
|
|
(left)
|
|
48 PA3 (AD3) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
|
|
47 PA4 (AD4) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
|
|
46 PA5 (AD5) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
|
|
45 PA6 (AD6) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
|
|
44 PA7 (AD7) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
|
|
43 PG2 (ALE) J5-1, 74HC5730, 62246DLP-7, RTL8019AS
|
|
42 PC7 (A15) TP4 A15, J5-27, 74HC5730
|
|
41 PC6 (A14) J5-28, 74HC5730, 62246DLP-7, RTL8019AS
|
|
40 PC5 (A13) J5-29, 74HC5730, 62246DLP-7, RTL8019AS
|
|
39 PC4 (A12) J5-30, 74HC5730, 62246DLP-7, RTL8019AS
|
|
38 PC3 (A11) J5-31, 74HC5730, 62246DLP-7, RTL8019AS
|
|
37 PC2 (A10) J5-32, 74HC5730, 62246DLP-7, RTL8019AS
|
|
36 PC1 (A9) J5-33, 74HC5730, 62246DLP-7, RTL8019AS
|
|
35 PC0 (A8) J5-34, 74HC5730, 62246DLP-7, RTL8019AS
|
|
34 PG1 (RD) TP2 RD\, J5-52, 62246DLP-7, RTL8019AS
|
|
33 PG0 (WR) TP3 WR\, J5-51, 62246DLP-7, RTL8019AS
|
|
(top)
|
|
64 AVCC
|
|
63 GND GND
|
|
62 AREF (analog supply)
|
|
61 PF0 (ADC0) J6-5, PDV-P9 Light Sensor
|
|
60 PF1 (ADC1) J6-7, Thermister
|
|
59 PF2 (ADC2) J6-9, MXA2500GL Dual Axis Accesserometer, AOUTX
|
|
58 PF3 (ADC3) J6-11, MXA2500GL Dual Axis Accesserometer, AOUTY
|
|
57 PF4 (ADC4/TCK) J6-13, MXA2500GL Dual Axis Accesserometer, TOUT
|
|
56 PF5 (ADC5/TMS) J6-15
|
|
55 PF6 (ADC6/TDO) J6-17
|
|
54 PF7 (ADC7/TDI) J6-19
|
|
53 GND GND
|
|
52 VCC
|
|
51 PA0 (AD0) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
|
|
50 PA1 (AD1) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
|
|
49 PA2 (AD2) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
|
|
|
|
Switches and Jumpers
|
|
^^^^^^^^^^^^^^^^^^^^
|
|
ISP/UART0
|
|
JP1 - DTE/DCE selection
|
|
JP2 -
|
|
JP5 -
|
|
J11 - STK500 Enable
|
|
|
|
ADC
|
|
JP8 -
|
|
JP9 -
|
|
|
|
Networking
|
|
JP10 -
|
|
|
|
RS-485
|
|
J8 -
|
|
J9 -
|
|
J10 -
|
|
|
|
Atmel AVRISP mkII Connection
|
|
^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
|
|
|
ISP6PIN Header
|
|
--------------
|
|
|
|
1 2
|
|
MISO o o VCC
|
|
SCK o o MOSI
|
|
RESET\ o o GND
|
|
|
|
(ISP10PIN Connector)
|
|
------------------- -------------------------
|
|
|
|
1 2
|
|
MOSI o o Vcc - ISP-PDI: PE0/PDI/RX0 via 74HC5053
|
|
LED o o GND - ISP-PROG: J11/GND, to 74HC5053 and LED
|
|
RESET\ o o GND - to 74HC505
|
|
SCK o o GND - ISP_SCK: SCK, PB0/SS\
|
|
MISO o o GND - ISP-PDO: PE1/PD0/TX0 via 74HC5053
|
|
|
|
Board Orientation
|
|
|
|
|
|
|
| +-----+
|
|
| + O O |
|
|
| + O O |
|
|
| + O O
|
|
| + O O |
|
|
| + O x | PIN 1
|
|
| +-----+
|
|
|
|
|
|
|
AVRISP mkII Connection to 10-pin Header
|
|
-------------------------------------------
|
|
10PIN Header 6PIN Header
|
|
--------------------- ---------------------
|
|
Pin 1 MOSI Pin 4 MOSI
|
|
Pin 2 Vcc Pin 2 Vcc
|
|
Pin 3 LED Controlled via J11
|
|
Pin 4 GND Pin 6 GND
|
|
Pin 5 RESET\ Pin 5 RESET\
|
|
Pin 6 GND N/C
|
|
Pin 7 SCK Pin 3 SCK
|
|
Pin 8 GND N/C
|
|
Pin 9 MISO Pin 1 MISO
|
|
Pin 10 GND N/C
|
|
|
|
Toolchains
|
|
^^^^^^^^^^
|
|
|
|
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.
|
|
|
|
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 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
|
|
|
|
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 <some-dir>/nuttx.
|
|
|
|
cd tools
|
|
./configure.sh amber/<sub-dir>
|
|
|
|
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 <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/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 <avr-libc-path>/include/avr <nuttx-path>/include/.
|
|
|
|
Or simply using a symbolic link:
|
|
|
|
ln -s <avr-libc-path>/include/avr <nuttx-path>/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
|
|
loction:
|
|
|
|
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
|
|
|
|
Amber Web Server 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_ATMEGA=y
|
|
|
|
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
|
|
|
|
CONFIG_ARCH_CHIP=atmega
|
|
|
|
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
|
|
chip:
|
|
|
|
CONFIG_ARCH_CHIP_ATMEGA128=y
|
|
|
|
CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
|
|
hence, the board that supports the particular chip or SoC.
|
|
|
|
CONFIG_ARCH_BOARD=amber
|
|
|
|
CONFIG_ARCH_BOARD_name - For use in C code
|
|
|
|
CONFIG_ARCH_BOARD_AMBER=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. One of:
|
|
|
|
CONFIG_DRAM_SIZE=(8*1024) - (8Kb)
|
|
|
|
CONFIG_DRAM_START - The start address of installed SRAM
|
|
|
|
CONFIG_DRAM_START=0x800100
|
|
|
|
CONFIG_DRAM_END - Last address+1 of installed RAM
|
|
|
|
CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
|
|
|
|
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_WDT=n
|
|
CONFIG_AVR_TIMER0=n
|
|
CONFIG_AVR_TIMER1=n
|
|
CONFIG_AVR_TIMER2=n
|
|
CONFIG_AVR_TIMER3=n
|
|
CONFIG_AVR_SPI=n
|
|
CONFIG_AVR_USART0=y
|
|
CONFIG_AVR_USART1=n
|
|
CONFIG_AVR_ADC=n
|
|
CONFIG_AVR_ANACOMP=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
|
|
|
|
ATMEGA specific device driver settings
|
|
|
|
CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
|
|
console and ttys0 (default is the USART0).
|
|
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
|
|
|
|
Configurations
|
|
^^^^^^^^^^^^^^
|
|
|
|
Each Amber Web Server configuration is maintained in a sudirectory and can
|
|
be selected as follow:
|
|
|
|
cd tools
|
|
./configure.sh amber/<subdir>
|
|
cd -
|
|
. ./setenv.sh
|
|
|
|
NOTE: You must also copy avr-libc header files, perhaps like:
|
|
|
|
cp -a /cygdrive/c/WinAVR/include/avr include/.
|
|
|
|
Where <subdir> is one of the following:
|
|
|
|
hello:
|
|
The simple apps/examples/hello "Hello, World!" example.
|