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- README
- ^^^^^^
- This README file discusses the port of NuttX to the Embedded Artists
- EA3152 board.
- Contents
- ^^^^^^^^
- o Development Environment
- o GNU Toolchain Options
- o IDEs
- o NuttX buildroot Toolchain
- o Boot Sequence
- o Image Format
- o Image Download to ISRAM
- o Using OpenOCD and GDB
- o ARM/EA3152-specific Configuration Options
- o 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.
- 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,
- 4. The NuttX buildroot Toolchain (see below), or
- 5. Any generic arm-none-eabi GNU toolchain.
- 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_ARM_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery under Windows
- CONFIG_ARM_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux
- CONFIG_ARM_TOOLCHAIN_DEVKITARM=y : devkitARM under Windows
- CONFIG_ARM_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
- CONFIG_ARM_TOOLCHAIN_GNU_EABIL : Generic arm-none-eabi toolchain
- You may also have to modify the PATH environment variable if your make cannot
- find the tools.
- The toolchain may also be set using the kconfig-mconf utility (make menuconfig)
- or by passing CONFIG_ARM_TOOLCHAIN=<toolchain> to make, where <toolchain> is one
- of CODESOURCERYW, CODESOURCERYL, DEVKITARM, BUILDROOT or GNU_EABI as described
- above.
- 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 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.
- 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.
- Generic arm-none-eabi GNU Toolchain
- -----------------------------------
- There are a number of toolchain projects providing support for ARMv4/v5
- class processors, including:
- GCC ARM Embedded
- https://developer.arm.com/open-source/gnu-toolchain/gnu-rm
- Summon ARM Toolchain
- https://github.com/esden/summon-arm-toolchain
- Yagarto
- http://www.yagarto.de
- Others exist for various Linux distributions, MacPorts, etc. Any version
- based on GCC 4.6.3 or later should work.
- 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/lpc31xx,
- arch/arm/src/common, arch/arm/src/arm, 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/lpc31xx/lpc31_vectors.S. You may have to build NuttX
- one time from the Cygwin command line in order to obtain the pre-built
- startup object needed by an IDE.
- NuttX buildroot Toolchain
- ^^^^^^^^^^^^^^^^^^^^^^^^^
- A GNU GCC-based toolchain is assumed. The PATH environment variable 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
- Bitbucket download site (https://bitbucket.org/nuttx/buildroot/downloads/).
- 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 ea3152/<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/arm926t-defconfig-4.2.4 .config
- 6. make oldconfig
- 7. make
- 8. Make sure 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.
- Boot Sequence
- ^^^^^^^^^^^^^
- LPC315x has on chip bootrom which loads properly formatted images from multiple
- sources into SRAM. These sources include including SPI Flash, NOR Flash, UART,
- USB, SD Card, and NAND Flash.
- In all configurations, NuttX is loaded directly into ISRAM. NuttX is linked
- to execute from ISRAM, regardless of the boot source.
- Image Format
- ^^^^^^^^^^^^
- In order to use the bootrom bootloader, a special header must be added to the
- beginning of the binary image that includes information about the binary (things
- like the entry point, the size, and CRC's to verify the image.
- NXP provides a Windows program to append such a header to the binary image.
- However, (1) that program won't run under Linux, and (2) when I try it under
- WinXP, Symantec immediately claims that the program is misbehaving and deletes
- it!
- To work around both of these issues, I have created a small program under
- configs/ea3152/tools to add the header. This program can be built under
- either Linux or Cygwin (and probably other tool environments as well). That
- tool can be built as follows:
- - cd configs/ea3152/tools
- - make
- Then, to build the NuttX binary ready to load with the bootloader, just
- following these steps:
- - cd tools/ # Configure Nuttx
- - ./configure.sh ea3152/ostest # (using the ostest configuration for this example)
- - cd .. # Set up environment
- - make # Make NuttX. This will produce nuttx.bin
- - mklpc.sh # Make the bootloader binary (nuttx.lpc)
- NOTES:
- 1. You will need to set your PATH variable appropriately or use the full path
- to mklpc.sh in the final step.
- 2. You can instruct Symantec to ignore the errors and it will stop quarantining
- the NXP program.
- 3. The CRC32 logic in configs/ea3152/tools doesn't seem to work. As a result,
- the CRC is currently disabled in the header:
- RCS file: /cvsroot/nuttx/nuttx/configs/ea3152/tools/lpchdr.c,v
- retrieving revision 1.2
- diff -r1.2 lpchdr.c
- 264c264
- < g_hdr.imageType = 0x0000000b;
- ---
- > g_hdr.imageType = 0x0000000a;
- Image Download to ISRAM
- ^^^^^^^^^^^^^^^^^^^^^^^
- Assuming that you already have the FTDI driver installed*, then here is the
- are the steps that I use for loading new code into the EA3152:
- - Create the bootloader binary, nuttx.lpc, as described above.
- - Connected the EA3152 using the FTDI USB port (not the lpc3152 USB port)
- This will power up the EA3152 and start the bootloader.
- - Start a terminal emulator (such as TeraTerm) at 115200 8NI.
- - Reset the EA3152 and you should see:
- LPC31xx READY FOR PLAIN IMAGE>
- - Send the nuttx.lpc file and you should see:
- Download finished
- That will load the NuttX binary into ISRAM and attempt to execute it.
- *See the LPC315x documentation if you do not have the FTDI driver installed.
- Using OpenOCD and GDB
- ^^^^^^^^^^^^^^^^^^^^^
- I have been using the Olimex ARM-USB-OCD JTAG debugger with the EA3152
- (http://www.olimex.com). The OpenOCD configuration file is here:
- tools/armusbocb.cfg. There is also a script on the tools directory that
- I used to start the OpenOCD daemon on my system called oocd.sh. That
- script would probably require some modifications to work in another
- environment:
- - possibly the value of OPENOCD_PATH
- - If you are working under Linux you will need to change any
- occurances of `cygpath -w blablabla` to just blablabla
- Then you should be able to start the OpenOCD daemon like:
- configs/ea3152/tools/oocd.sh $PWD
- Where it is assumed that you are executing oocd.sh from the top level
- directory where NuttX is installed.
- 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
- And you can load the NuttX ELF file:
- (gdb) symbol-file nuttx
- (gdb) load nuttx
- ARM/EA3152-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_ARM926EJS=y
- CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
- CONFIG_ARCH_CHIP=lpc31xx
- CONFIG_ARCH_CHIP_name - For use in C code
- CONFIG_ARCH_CHIP_LPC3152
- CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
- hence, the board that supports the particular chip or SoC.
- CONFIG_ARCH_BOARD=ea3152
- CONFIG_ARCH_BOARD_name - For use in C code
- CONFIG_ARCH_BOARD_EA3152
- 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 - For most ARM9 architectures, this describes the
- size of installed DRAM. For the LPC315X, it is used only to
- deterimine how to map the executable regions. It is SDRAM size
- only if you are executing out of the external SDRAM; or it could
- be NOR FLASH size, external SRAM size, or internal SRAM size.
- CONFIG_RAM_START - The start address of installed DRAM (physical)
- CONFIG_RAM_VSTART - The startaddress of DRAM (virtual)
- 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_BUTTONS - Enable support for buttons. 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.
- CONFIG_ARCH_DMA - Support DMA initialization
- CONFIG_ARCH_LOWVECTORS - define if vectors reside at address 0x0000:00000
- Undefine if vectors reside at address 0xffff:0000
- CONFIG_ARCH_ROMPGTABLE - A pre-initialized, read-only page table is available.
- If defined, then board-specific logic must also define PGTABLE_BASE_PADDR,
- PGTABLE_BASE_VADDR, and all memory section mapping in a file named
- board_memorymap.h.
- Individual subsystems can be enabled:
- CONFIG_LPC31_MCI, CONFIG_LPC31_SPI, CONFIG_LPC31_UART
- External memory available on the board (see also CONFIG_MM_REGIONS)
- CONFIG_LPC31_EXTSRAM0 - Select if external SRAM0 is present
- CONFIG_LPC31_EXTSRAM0HEAP - Select if external SRAM0 should be
- configured as part of the NuttX heap.
- CONFIG_LPC31_EXTSRAM0SIZE - Size (in bytes) of the installed
- external SRAM0 memory
- CONFIG_LPC31_EXTSRAM1 - Select if external SRAM1 is present
- CONFIG_LPC31_EXTSRAM1HEAP - Select if external SRAM1 should be
- configured as part of the NuttX heap.
- CONFIG_LPC31_EXTSRAM1SIZE - Size (in bytes) of the installed
- external SRAM1 memory
- CONFIG_LPC31_EXTDRAM - Select if external SDRAM is present
- CONFIG_LPC31_EXTDRAMHEAP - Select if external SDRAM should be
- configured as part of the NuttX heap.
- CONFIG_LPC31_EXTDRAMSIZE - Size (in bytes) of the installed
- external SDRAM memory
- CONFIG_LPC31_EXTNAND - Select if external NAND is present
- CONFIG_LPC31_EXTNANDSIZE - Size (in bytes) of the installed
- external NAND memory
- LPC315X specific device driver settings
- CONFIG_UART_SERIAL_CONSOLE - selects the UART for the
- console and ttys0
- CONFIG_UART_RXBUFSIZE - Characters are buffered as received.
- This specific the size of the receive buffer
- CONFIG_UART_TXBUFSIZE - Characters are buffered before
- being sent. This specific the size of the transmit buffer
- CONFIG_UART_BAUD - The configure BAUD of the UART. Must be
- CONFIG_UART_BITS - The number of bits. Must be either 7 or 8.
- CONFIG_UART_PARTIY - 0=no parity, 1=odd parity, 2=even parity
- CONFIG_UART_2STOP - Two stop bits
- Configurations
- ^^^^^^^^^^^^^^
- Each EA3152 configuration is maintained in a sub-directory and can be
- selected as follow:
- cd tools
- ./configure.sh ea3152/<subdir>
- cd -
- Where <subdir> is one of the following:
- ostest:
- This configuration directory, performs a simple OS test using
- examples/ostest. By default, this project assumes that you are
- using the DFU bootloader.
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