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- README
- ======
- README for NuttX port to the Tiva TM4C123G LaunchPad. The Tiva TM4C123G
- LaunchPad Evaluation Board is a low-cost evaluation platform for ARM®
- Cortex™-M4F-based microcontrollers from Texas Instruments.
- Contents
- ========
- On-Board GPIO Usage
- LEDs
- Serial Console
- USB Device Controller Functions
- AT24 Serial EEPROM
- I2C Tool
- Using OpenOCD and GDB with an FT2232 JTAG emulator
- TM4C123G LaunchPad Configuration Options
- Configurations
- On-Board GPIO Usage
- ===================
- PIN SIGNAL(S) LanchPad Function
- --- ---------------------------------------- ---------------------------------------
- 17 PA0/U0RX DEBUG/VCOM, Virtual COM port receive
- 18 PA1/U0TX DEBUG/VCOM, Virtual COM port transmit
- 19 PA2/SSIOCLK GPIO, J2 pin 10
- 20 PA3/SSIOFSS GPIO, J2 pin 9
- 21 PA4/SSIORX GPIO, J2 pin 8
- 22 PA5/SSIOTX GPIO, J1 pin 8
- 23 PA6/I2CLSCL GPIO, J1 pin 9
- 24 PA7/I2CLSDA GPIO, J1 pin 10
- 45 PB0/T2CCP0/U1Rx GPIO, J1 pin 3
- 46 PB1/T2CCP1/U1Tx GPIO, J1 pin 4
- 47 PB2/I2C0SCL/T3CCP0 GPIO, J2 pin 2
- 48 PB3/I2C0SDA/T3CCP1 GPIO, J4 pin 3
- 58 PB4/AIN10/CAN0Rx/SSI2CLK/T1CCP0 GPIO, J1 pin 7
- 57 PB5/AIN11/CAN0Tx/SSI2FSS/T1CCP1 GPIO, J1 pin 2
- 01 PB6/SSI2RX/T0CCP0 Connects to PD0 via resistor, GPIO, J2 pin 7
- 04 PB7/SSI2TX/T0CCP1 Connects to PD1 via resistor, GPIO, J2 pin 6
- 52 PC0/SWCLK/T4CCP0/TCK DEBUG/VCOM
- 51 PC1/SWDIO/T4CCP1/TMS DEBUG/VCOM
- 50 PC2/T5CCP0/TDI DEBUG/VCOM
- 49 PC3/SWO/T5CCP1/TDO DEBUG/VCOM
- 16 PC4/C1-/U1RTS/U1RX/U4RX/WT0CCP0 GPIO, J4 pin 4
- 15 PC5/C1+/U1CTS/U1TX/U4TX/WT0CCP1 GPIO, J4 pin 5
- 14 PC6/C0+/U3RX/WT1CCP0 GPIO, J4 pin 6
- 13 PC7/C0-/U3TX/WT1CCP1 GPIO, J4 pin 7
- 61 PD0/AIN7/I2C3SCL/SSI1CLK/SSI3CLKWT2CCP0 Connects to PB6 via resistor, GPIO, J3 pin 3
- 62 PD1/AIN6/I2C3SDA/SSI1Fss/SSI3Fss/WT2CCP1 Connects to PB7 via resistor, GPIO, J3 Pin 4
- 63 PD2/AIN5/SSI1RX/SSI3RX/WT3CCP0 GPIO, J3 pin 5
- 64 PD3/AIN4/SSI1TX/SSI3TX/WT3CCP1 GPIO, J3 pin 6
- 43 PD4/U6RX/USB0DM/WT4CCP0 USB_DM
- 44 PD5/U6TX/USB0DP/WT4CCP1 USB_DP
- 53 PD6/U2RX/WT5CCP0 GPIO, J4 pin 8
- 10 PD7/NMI/U2TX/WT5CCP1 +USB_VBUS, GPIO, J4 pin 9
- Used for VBUS detection when
- configured as a self-powered USB
- Device
- 09 PE0/AIN3/U7RX GPIO, J2 pin 3
- 08 PE1/AIN2/U7TX GPIO, J3 pin 7
- 07 PE2/AIN1 GPIO, J3 pin 8
- 06 PE3/AIN0 GPIO, J3 pin 9
- 59 PE4/AIN9/CAN0RX/I2C2SCL/U5RX GPIO, J1 pin 5
- 60 PE5/AIN8/CAN0TX/I2C2SDA/U5TX GPIO, J1 pin 6
- 28 PF0/C0O/CAN0RX/NMI/SSI1RX/T0CCP0/U1RTS USR_SW2 (Low when pressed), GPIO, J2 pin 4
- 29 PF1/C1O/SSI1TX/T0CCP1/TRD1/U1CTS LED_R, GPIO, J3 pin 10
- 30 PF2/SSI1CLK/T1CCP0/TRD0 LED_B, GPIO, J4 pin 1
- 31 PF3/CAN0TX/SSI1FSS/T1CCP1/TRCLK LED_G, GPIO, J4 pin 2
- 05 PF4/T2CCP0 USR_SW1 (Low when pressed), GPIO, J4 pin 10
- AT24 Serial EEPROM
- ==================
- AT24 Connections
- ----------------
- A AT24C512 Serial EEPPROM was used for tested I2C. There are no I2C
- devices on-board the Launchpad, but an external serial EEPROM module
- module was used.
- The Serial EEPROM was mounted on an external adaptor board and connected
- to the LaunchPad thusly:
- - VCC J1 pin 1 3.3V
- J3 pin 1 5.0V
- - GND J2 pin 1 GND
- J3 pin 2 GND
- - PB2 J2 pin 2 SCL
- - PB3 J4 pin 3 SDA
- Configuration Settings
- ----------------------
- The following configuration settings were used:
- System Type -> Tiva/Stellaris Peripheral Support
- CONFIG_TIVA_I2C0=y : Enable I2C
- System Type -> I2C device driver options
- TIVA_I2C_FREQUENCY=100000 : Select an I2C frequency
- Device Drivers -> I2C Driver Support
- CONFIG_I2C=y : Enable I2C support
- Device Drivers -> Memory Technology Device (MTD) Support
- CONFIG_MTD=y : Enable MTD support
- CONFIG_MTD_AT24XX=y : Enable the AT24 driver
- CONFIG_AT24XX_SIZE=512 : Specifies the AT 24C512 part
- CONFIG_AT24XX_ADDR=0x53 : AT24 I2C address
- Application Configuration -> NSH Library
- CONFIG_NSH_ARCHINIT=y : NSH board-initialization
- File systems
- CONFIG_NXFFS=y : Enables the NXFFS file system
- CONFIG_NXFFS_PREALLOCATED=y : Required
- : Other defaults are probably OK
- Board Selection
- CONFIG_TM4C123G_LAUNCHPAD_AT24_BLOCKMOUNT=y : Mounts AT24 for NSH
- CONFIG_TM4C123G_LAUNCHPAD_AT24_NXFFS=y : Mount the AT24 using NXFFS
- You can then format the AT24 EEPROM for a FAT file system and mount the
- file system at /mnt/at24 using these NSH commands:
- nsh> mkfatfs /dev/mtdblock0
- nsh> mount -t vfat /dev/mtdblock0 /mnt/at24
- Then you an use the FLASH as a normal FAT file system:
- nsh> echo "This is a test" >/mnt/at24/atest.txt
- nsh> ls -l /mnt/at24
- /mnt/at24:
- -rw-rw-rw- 16 atest.txt
- nsh> cat /mnt/at24/atest.txt
- This is a test
- STATUS:
- 2014-12-12: I was unsuccessful getting my AT24 module to work on the TM4C123G
- LaunchPad. I was unable to successuflly communication with the AT24 via
- I2C. I did verify I2C using the I2C tool and other I2C devices and I now
- belive that my AT24 module is not fully functional.
- I2C Tool
- ========
- I2C Tool. NuttX supports an I2C tool at apps/system/i2c that can be used
- to peek and poke I2C devices. That tool can be enabled by setting the
- following:
- System Type -> TIVA Peripheral Support
- CONFIG_TIVA_I2C0=y : Enable I2C0
- CONFIG_TIVA_I2C1=y : Enable I2C1
- CONFIG_TIVA_I2C2=y : Enable I2C2
- ...
- System Type -> I2C device driver options
- CONFIG_TIVA_I2C0_FREQUENCY=100000 : Select an I2C0 frequency
- CONFIG_TIVA_I2C1_FREQUENCY=100000 : Select an I2C1 frequency
- CONFIG_TIVA_I2C2_FREQUENCY=100000 : Select an I2C2 frequency
- ...
- Device Drivers -> I2C Driver Support
- CONFIG_I2C=y : Enable I2C support
- Application Configuration -> NSH Library
- CONFIG_SYSTEM_I2CTOOL=y : Enable the I2C tool
- CONFIG_I2CTOOL_MINBUS=0 : I2C0 has the minimum bus number 0
- CONFIG_I2CTOOL_MAXBUS=2 : I2C2 has the maximum bus number 2
- CONFIG_I2CTOOL_DEFFREQ=100000 : Pick a consistent frequency
- The I2C tool has extensive help that can be accessed as follows:
- nsh> i2c help
- Usage: i2c <cmd> [arguments]
- Where <cmd> is one of:
- Show help : ?
- List busses : bus
- List devices : dev [OPTIONS] <first> <last>
- Read register : get [OPTIONS] [<repititions>]
- Show help : help
- Write register: set [OPTIONS] <value> [<repititions>]
- Verify access : verf [OPTIONS] [<value>] [<repititions>]
- Where common "sticky" OPTIONS include:
- [-a addr] is the I2C device address (hex). Default: 03 Current: 03
- [-b bus] is the I2C bus number (decimal). Default: 0 Current: 0
- [-r regaddr] is the I2C device register address (hex). Default: 00 Current: 00
- [-w width] is the data width (8 or 16 decimal). Default: 8 Current: 8
- [-s|n], send/don't send start between command and data. Default: -n Current: -n
- [-i|j], Auto increment|don't increment regaddr on repititions. Default: NO Current: NO
- [-f freq] I2C frequency. Default: 100000 Current: 100000
- NOTES:
- o Arguments are "sticky". For example, once the I2C address is
- specified, that address will be re-used until it is changed.
- WARNING:
- o The I2C dev command may have bad side effects on your I2C devices.
- Use only at your own risk.
- As an example, the I2C dev command can be used to list all devices
- responding on I2C0 (the default) like this:
- nsh> i2c dev 0x03 0x77
- 0 1 2 3 4 5 6 7 8 9 a b c d e f
- 00: -- -- -- -- -- -- -- -- -- -- -- -- --
- 10: -- -- -- -- -- -- -- -- -- -- 1a -- -- -- -- --
- 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
- 30: -- -- -- -- -- -- -- -- -- 39 -- -- -- 3d -- --
- 40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
- 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
- 60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
- 70: -- -- -- -- -- -- -- --
- nsh>
- NOTE: This is output from a different board and shows I2C
- devices responding at addresses 0x1a, 0x39, 0x3d, and 0x60.
- 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
- As of this writing, there is no support for the tm4c123g in the package
- above. You will have to build openocd from its source (as of this writing
- the latest commit was b9b4bd1a6410ff1b2885d9c2abe16a4ae7cb885f):
- git clone http://git.code.sf.net/p/openocd/code openocd
- cd openocd
- Then, add the patches provided by http://openocd.zylin.com/922:
- git fetch http://openocd.zylin.com/openocd refs/changes/22/922/14 && git checkout FETCH_HEAD
- ./bootstrap
- ./configure --enable-maintainer-mode --enable-ti-icdi
- make
- sudo make install
- For additional help, see http://processors.wiki.ti.com/index.php/Tiva_Launchpad_with_OpenOCD_and_Linux
- Helper Scripts.
- I have been using the on-board In-Circuit Debug Interface (ICDI) interface.
- OpenOCD requires a configuration file. I keep the one I used last here:
- configs/tm4c123g-launchpad/tools/tm4c123g-launchpad.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 tm4c123g-launchpad.cfg file with configuration files in
- /usr/share/openocd/scripts. As of this writing, the configuration
- files of interest were:
- /usr/local/share/openocd/scripts/board/ek-tm4c123gxl.cfg
- /usr/local/share/openocd/scripts/interface/ti-icdi.cfg
- /usr/local/share/openocd/scripts/target/stellaris_icdi.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/tm4c123g-launchpad/tools/tm4c123g-launchpad.cfg
- Starting OpenOCD
- If you are in the top-level NuttX build directlory then you should
- be able to start the OpenOCD daemon like:
- oocd.sh $PWD
- The relative path to the oocd.sh script is configs/tm4c123g-launchpad/tools.
- You may want to add that path to you PATH variable.
- Note that OpenOCD needs to be run with administrator privileges in
- some environments (sudo).
- 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'.
- LEDs
- ====
- The TM4C123G has a single RGB LED. If CONFIG_ARCH_LEDS is defined, then
- support for the LaunchPad LEDs will be included in the build. See:
- - configs/tm4c123g-launchpad/include/board.h - Defines LED constants, types and
- prototypes the LED interface functions.
- - configs/tm4c123g-launchpad/src/tm4c123g-launchpad.h - GPIO settings for the LEDs.
- - configs/tm4c123g-launchpad/src/up_leds.c - LED control logic.
- OFF:
- - OFF means that the OS is still initializing. Initialization is very fast so
- if you see this at all, it probably means that the system is hanging up
- somewhere in the initialization phases.
- GREEN or GREEN-ish
- - This means that the OS completed initialization.
- Bluish:
- - Whenever and interrupt or signal handler is entered, the BLUE LED is
- illuminated and extinguished when the interrupt or signal handler exits.
- This will add a BLUE-ish tinge to the LED.
- Redish:
- - If a recovered assertion occurs, the RED component will be illuminated
- briefly while the assertion is handled. You will probably never see this.
- Flashing RED:
- - In the event of a fatal crash, the BLUE and GREEN components will be
- extinguished and the RED component will FLASH at a 2Hz rate.
- Serial Console
- ==============
- By default, all configurations use UART0 which connects to the USB VCOM
- on the DEBUG port on the TM4C123G LaunchPad:
- UART0 RX - PA.0
- UART0 TX - PA.1
- However, if you use an external RS232 driver, then other options are
- available. UART1 has option pin settings and flow control capabilities
- that are not available with the other UARTS::
- UART1 RX - PB.0 or PC.4 (Need disambiguation in board.h)
- UART1 TX - PB.1 or PC.5 (" " " " "" " ")
- UART1_RTS - PF.0 or PC.4
- UART1_CTS - PF.1 or PC.5
- NOTE: board.h currently selects PB.0, PB.1, PF.0 and PF.1 for UART1, but
- that can be changed by editting board.h
- UART2-5, 7 are also available, UART2 is not recommended because it shares
- some pin usage with USB device mode. UART6 is not available because its
- only RX/TX pin options are dedicated to USB support.
- UART2 RX - PD.6
- UART2 TX - PD.7 (Also used for USB VBUS detection)
- UART3 RX - PC.6
- UART3 TX - PC.7
- UART4 RX - PC.4
- UART4 TX - PC.5
- UART5 RX - PE.4
- UART5 TX - PE.5
- UART6 RX - PD.4, Not available. Dedicated for USB_DM
- UART6 TX - PD.5, Not available. Dedicated for USB_DP
- UART7 RX - PE.0
- UART7 TX - PE.1
- 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 TM4C123G 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 TM4C123G over USB. Once the FT2232 VCP
- driver is installed, Windows assigns a COM port number to the VCP channel.
- TM4C123G LaunchPad 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_CORTEXM4=y
- CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
- CONFIG_ARCH_CHIP="tiva"
- CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
- chip:
- CONFIG_ARCH_CHIP_TM4C123GH6PMI
- CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
- hence, the board that supports the particular chip or SoC.
- CONFIG_ARCH_BOARD=tm4c123g-launchpad (for the TM4C123G LaunchPad)
- CONFIG_ARCH_BOARD_name - For use in C code
- CONFIG_ARCH_BOARD_TM4C123G_LAUNCHPAD
- 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 - Describes the installed DRAM (SRAM in this case):
- CONFIG_RAM_SIZE=0x00008000 (32Kb)
- CONFIG_RAM_START - The start address of installed DRAM
- CONFIG_RAM_START=0x20000000
- 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.
- There are configurations for disabling support for interrupts GPIO ports.
- Only GPIOP and GPIOQ pins can be used as interrupting sources on the
- TM4C129x. Additional interrupt support can be disabled if desired to
- reduce memory footprint.
- CONFIG_TIVA_GPIOP_IRQS=y
- CONFIG_TIVA_GPIOQ_IRQS=y
- TM4C123G 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_TIVA_SSI0 - Select to enable support for SSI0
- CONFIG_TIVA_SSI1 - Select to enable 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_TIVA_ETHERNET - This must be set (along with CONFIG_NET)
- to build the Tiva Ethernet driver
- CONFIG_TIVA_ETHLEDS - Enable to use Ethernet LEDs on the board.
- CONFIG_TIVA_BOARDMAC - If the board-specific logic can provide
- a MAC address (via tiva_ethernetmac()), then this should be selected.
- CONFIG_TIVA_ETHHDUPLEX - Set to force half duplex operation
- CONFIG_TIVA_ETHNOAUTOCRC - Set to suppress auto-CRC generation
- CONFIG_TIVA_ETHNOPAD - Set to suppress Tx padding
- CONFIG_TIVA_MULTICAST - Set to enable multicast frames
- CONFIG_TIVA_PROMISCUOUS - Set to enable promiscuous mode
- CONFIG_TIVA_BADCRC - Set to enable bad CRC rejection.
- CONFIG_TIVA_DUMPPACKET - Dump each packet received/sent to the console.
- Configurations
- ==============
- Each TM4C123G LaunchPad configuration is maintained in a
- sub-directory and can be selected as follow:
- tools/configure.sh tm4c123g-launchpad/<subdir>
- Where <subdir> is one of the following:
- nsh:
- ---
- Configures the NuttShell (nsh) located at apps/examples/nsh. The
- configuration enables the serial VCOM interfaces on UART0. Support for
- builtin applications is enabled, but in the base configuration no
- builtin applications are selected.
- 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
- see additional README.txt files in the NuttX tools repository.
- b. Execute 'make menuconfig' in nuttx/ in order to start the
- reconfiguration process.
- 2. By default, this configuration uses the CodeSourcery toolchain
- for Windows and builds under Cygwin (or probably MSYS). That
- can easily be reconfigured, of course.
- 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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