mirror of
https://github.com/apache/nuttx.git
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Documentation: added documentation for i.MX RT series and Teensy 4.x board
Signed-off-by: Michal Lenc <michallenc@seznam.cz>
This commit is contained in:
Michal Lenc
Xiang Xiao
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==========
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Teensy-4.x
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==========
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The `Teensy 4.0 <https://www.pjrc.com/store/teensy40.html>`_ and `Teensy 4.1 <https://www.pjrc.com/store/teensy41.html>`_
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are development boards from PJRC. Both boards use i.MX RT1060 MCU, feature several I/Os pins and on-board LED.
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Features
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========
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- Processor
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- MIMXRT1062DVL6A processor
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- Memory
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- 1 MB RAM memory
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- 2 MB Flash (Teensy 4.0)
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- 8 MB Flash (Teensy 4.1)
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- 1 SDIO (4 bit) native SD
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- Connectivity
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- Micro USB host
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- CAN transceivers
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- UART, SPI, I2C
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- PWM output pins
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- 10/100 Mb Ethernet (Teensy 4.1 only)
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- Digital audio in/out
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LEDs
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====
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There are two LED status indicators located on the Teensy-4.x board.
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The functions of these LEDs include:
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- RED LED (loading status)
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- dim: ready
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- bright: writing
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- blink: no USB
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- USER LED (D3)
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Only a single LED, D3, is under software control.
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This LED is not used by the board port unless CONFIG_ARCH_LEDS is
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defined. In that case, the usage by the board port is defined in
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include/board.h and src/imxrt_autoleds.c. The LED is used to encode
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OS-related events as follows:
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================ ======================= =====
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SYMBOL Meaning LED
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================ ======================= =====
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LED_STARTED NuttX has been started OFF
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LED_HEAPALLOCATE Heap has been allocated OFF
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LED_IRQSENABLED Interrupts enabled OFF
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LED_STACKCREATED Idle stack created ON
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LED_INIRQ In an interrupt N/C
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LED_SIGNAL In a signal handler N/C
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LED_ASSERTION An assertion failed N/C
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LED_PANIC The system has crashed FLASH
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================ ======================= =====
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Thus if the LED is statically on, NuttX has successfully booted and is,
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apparently, running normally. If the LED is flashing at approximately
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2Hz, then a fatal error has been detected and the system has halted.
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Configurations
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==============
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nsh-4.0
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-------
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Configures the NuttShell (nsh) located at examples/nsh for Teensy 4.0.
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This NSH configuration is focused on low level, command-line driver testing.
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Built-in applications are supported, but none are enabled. NutShells then
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runs on USB console.
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nsh-4.1
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-------
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Configures the NuttShell (nsh) located at examples/nsh for Teensy 4.1.
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This NSH configuration is focused on low level, command-line driver testing.
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Built-in applications are supported, but none are enabled. NutShells then
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runs USB console.
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can-4.1
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-------
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This is an nsh configuration (see above) for Teensy-4.x with added support of
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CAN driver. All FlexCANs (CAN1, CAN2, CAN3) are chosen as default. FlexCAN3
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is FD capable. Please note that device driver name if counted from zero.
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That means for CAN1 -> can0, CAN2 -> can1 and CAN3 -> can2
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Bitrate and sample point can be also changed at System type peripheral selection,
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basic values are 1 MHz for bitrate and 0.80 for sample point. The FlexCAN driver
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for imxrt runs at 80 MHz clock frequency.
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The configuration also includes CAN utilities as candump and cansend.
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This configuration can be easily changed to work with Teensy 4.0 by
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selecting ``CONFIG_TEENSY_40=y``.
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This configuration runs over LPUART1 (pins 24 and 25 on Teensy). Communication
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over USB console can be turn on, but it couses problems with FlexCAN.
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netnsh-4.1
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----------
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This configuration is similar to the nsh configuration except that is
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has networking enabled, both IPv4 and IPv6. This NSH configuration is
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focused on network-related testing.
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This configuration cannot be changed to Teensy 4.0 as this board does
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not have Ethernet capability.
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sd-4.1
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------
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This is an nsh configuration (see above) for Teensy-4.x with added support of
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connecting micro SD card.
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You can mount micro SD card by:
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.. code-block:: console
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$ mount -t vfat /dev/mmcsd0 /mnt
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This configuration cannot be changed to Teensy 4.0 as this board does
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not have micro SD card slot.
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lcd-4.1
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-------
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This is an nsh configuration (see above) for Teensy-4.x with added support of
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connecting LCD TFT display with ST7789 controller. You can run framebuffer demo
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by starting "fb" in console. The LCD display is connected via SPI4.
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This configuration can be easily changed to work with Teensy 4.0 by
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selecting ``CONFIG_TEENSY_40=y``.
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Flash
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=====
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Teensy 4.x boards does not have debugger therefore external firmware has to be used to load NuttX.
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`Teensy Loader <https://www.pjrc.com/teensy/loader_cli.html>`_ can be installed and then NuttX can be loaded by:
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.. code-block:: console
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$ teensy_loader_cli --mcu=TEENSY41 -v -w nuttx.hex
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For Teensy 4.0 board, switch ``--mcu=TEENSY41`` to ``--mcu=TEENSY40``.
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@@ -0,0 +1,191 @@
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=======
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i.MX RT
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=======
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The i.MX RT series of chips from NXP Semiconductors is based around an ARM Cortex-M7 core running
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at 500 MHz, 600 MHz or 1 GHz based on particular MCUs
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Suported MCUs
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=============
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The following list includes MCUs from i.MX RT series and indicates whether they are supported in NuttX
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====== ======= ============== =================
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MCU Support Core Frequency
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====== ======= ============== =================
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RT500 No Cortex-M33 200 MHz
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RT600 No Cortex-M33 300 MHz
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RT1010 No Cortex-M7 500 MHz
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RT1015 No Cortex-M7 500 MHz
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RT1020 Yes Cortex-M7 500 MHz
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RT1024 No Cortex-M7 500 MHz
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RT1050 Yes Cortex-M7 600 MHz
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RT1060 Yes Cortex-M7 600 MHz
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RT1064 Yes Cortex-M7 600 MHz
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RT1170 No Cortex-M7 + M4 1 GHz + 400 MHz
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====== ======= ============== =================
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Data and Instruction Cache
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==========================
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MCUs i.MX RT1010 and higher have separated caches for instructions and data. Data cache is initially
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set as write-through but can be changed to write-back via Kconfig. While write-back gives better
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performance than write-through, it is not supported for all peripherals in NuttX yet. Write-back data
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cache can not be selected while running Ethernet or serial port over USB.
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Peripheral Support
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==================
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The following list indicates peripherals supported in NuttX:
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========== =======
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Peripheral Support
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========== =======
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ACMP No
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ADC Yes
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CAN Yes
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CSI No
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DAC No
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eLCDIF Yes
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ENC Yes
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ENET Yes
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FlexIO No
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GPIO Yes
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I2S Yes
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PWM No
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SAI No
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SPDIF No
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SPI Yes
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UART Yes
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USB Yes
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========== =======
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ACMP
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----
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The circout for comparing two analog input voltages designed to operate across the full
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range of supply voltage (rail-to-rail operation).
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ADC
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---
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ADC driver with the successive approximation analog/digital convertor. The lower-half of
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this driver is initialize by calling :c:func:`imxrt_adcinitialize`.
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CAN
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---
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FlexCAN driver is supported in MCUs i.MX RT1020 and higher. i.MX RT106x have both classical
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CAN and also one CAN FD while i.MX RT1170 have 3 CAN FD peripherals. FlexCAN driver in imxrt
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works beyond SocketCAN driver layout. The lower-half of this driver is initialize by
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calling :c:func:`imxrt_cannitialize()`.
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There is an booting option that automatically provides initialization of network interface
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in the early stages of booting and therefore calling :c:func:`imxrt_cannitialize()` via
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board specific logic is not neccessary. This however works only when there is only one
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interface in the chip. For running more interfaces (like CAN and Ethernet), network late
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initialization must be turn on by CONFIG_NETDEV_LATEINIT and board specific logic must call
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lower-half part of drivers.
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CSI
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---
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CMOS Sensor interface which enables the chip to connect directly to external CMOS image sensors.
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DAC
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---
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Digital/analog convertor for external signal is only supported in i.MX RT1170 MCU. It is 12 bit
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lower power, general purpose DAC.
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|
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eLCDIF
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|
------
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|
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The enhanced Liquid Crystal Display interface (LCDIF) is a general purpose display controller.
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|
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ENC
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---
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|
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The enhanced quadrature encoder/decoder module supported in i.MX RT1015 and higher. The lower-half
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of this driver is initialize by calling :c:func:`imxrt_qeinitialize`.
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ENET
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----
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|
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|
Ethernet driver supported in i.MX RT1020 and higher. The lower-half of this driver is initialize
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by calling :c:func:`imxrt_netnitialize`.
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|
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|
There is an booting option that automatically provides initialization of network interface
|
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|
in the early stages of booting and therefore calling :c:func:`imxrt_cannitialize()` via
|
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|
board specific logic is not neccessary. This however works only when there is only one
|
||||||
|
interface in the chip. For running more interfaces (like CAN and Ethernet), network late
|
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|
initialization must be turn on by CONFIG_NETDEV_LATEINIT and board specific logic must call
|
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lower-half part of drivers.
|
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|
|
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FlexIO
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|
------
|
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|
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||||||
|
A configurable module providing a range of functionality like emulation of a variety of
|
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serial/parallel communication protocols, flexible 16-bit timers or programmable logic blocks.
|
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|
This module is supported in i.MX RT1010 and higher.
|
||||||
|
|
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|
GPIO
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|
----
|
||||||
|
|
||||||
|
Pins can be configured using :c:func:`imxrt_config_gpio` function. Writing to pins is
|
||||||
|
done by :c:func:`imxrt_gpio_write` function and reading is done by :c:func:`imxrt_gpio_read`.
|
||||||
|
|
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|
MCUs i.MX RT1060 and higher includes both standard speed GPIOs (1-5) and high speed
|
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|
GPIOS (6-9). Regular and high speed GPIO share the same pins (GPIO1 is with GPIO6 etc),
|
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|
therefore IOMUXC_GPR_GPR26-29 registers are used to determine what modue is used for the
|
||||||
|
GPIO pins.
|
||||||
|
|
||||||
|
|
||||||
|
I2C
|
||||||
|
---
|
||||||
|
|
||||||
|
Inter-Integrated Circout module supporting an interface to an I2C bus as master and/or
|
||||||
|
as a slave. The lower-half of this driver is initialize by calling :c:func:`imxrt_i2cbus_initialize`.
|
||||||
|
|
||||||
|
PWM
|
||||||
|
---
|
||||||
|
|
||||||
|
Pulse width modulator supported in i.MX RT1010 and higher.
|
||||||
|
|
||||||
|
SAI
|
||||||
|
---
|
||||||
|
|
||||||
|
Synchronous audio interface provided by I2C module. Supported in i.MX RT1015 and higher.
|
||||||
|
|
||||||
|
SPDIF
|
||||||
|
-----
|
||||||
|
|
||||||
|
Sony/Philips digital interface audio block. It is a stereo transciever that allows the
|
||||||
|
processor to receive and transmit digital audio. Supported in i.MX RT1010 and higher.
|
||||||
|
|
||||||
|
SPI
|
||||||
|
---
|
||||||
|
|
||||||
|
Serial Peripheral interface module that supports an interface to an SPI bus as a master
|
||||||
|
and/or a slave. The lower-half of this driver is initialize by calling :c:func:`imxrt_lpsibus_initialize`.
|
||||||
|
|
||||||
|
UART
|
||||||
|
----
|
||||||
|
|
||||||
|
Universal Asynchronous Receiver/Transmitter module. UART is initialized automatically during
|
||||||
|
MCU boot.
|
||||||
|
|
||||||
|
USB
|
||||||
|
---
|
||||||
|
|
||||||
|
Console communication over USB is supported via CDC-ACM. Only USB Device is currently supported
|
||||||
|
for i.MX RT in NuttX
|
||||||
|
|
||||||
|
Supported Boards
|
||||||
|
================
|
||||||
|
|
||||||
|
.. toctree::
|
||||||
|
:glob:
|
||||||
|
:maxdepth: 1
|
||||||
|
|
||||||
|
boards/*/*
|
||||||
@@ -1,183 +0,0 @@
|
|||||||
README
|
|
||||||
======
|
|
||||||
|
|
||||||
This README file provides information about the port of NuttX to the Teensy 4.x board. This board features the
|
|
||||||
MIMXRT1062DVL6A MCU. Some of the features of this board include:
|
|
||||||
|
|
||||||
o Processor
|
|
||||||
|
|
||||||
- MIMXRT1062DVL6A processor
|
|
||||||
|
|
||||||
o Memory
|
|
||||||
|
|
||||||
- 1 Mb RAM memory
|
|
||||||
- 2 Mb QSPI Flash
|
|
||||||
- 1 SDIO (4 bit) native SD
|
|
||||||
|
|
||||||
o Connectivity
|
|
||||||
|
|
||||||
- Micro USB host
|
|
||||||
- CAN transceivers
|
|
||||||
- 41 digital pins
|
|
||||||
- 14 analog pins, 2 ADCs on chip
|
|
||||||
|
|
||||||
Contents
|
|
||||||
========
|
|
||||||
|
|
||||||
o LEDs
|
|
||||||
o Configurations
|
|
||||||
- Configuration sub-directories
|
|
||||||
|
|
||||||
LEDs and buttons
|
|
||||||
================
|
|
||||||
|
|
||||||
LEDs
|
|
||||||
----
|
|
||||||
|
|
||||||
There are two LED status indicators located on the Teensy-4.x board.
|
|
||||||
The functions of these LEDs include:
|
|
||||||
|
|
||||||
- RED LED (loading status)
|
|
||||||
- dim: ready
|
|
||||||
- bright: writing
|
|
||||||
- blink: no USB
|
|
||||||
- USER LED (D3)
|
|
||||||
|
|
||||||
Only a single LED, D3, is under software control.
|
|
||||||
|
|
||||||
This LED is not used by the board port unless CONFIG_ARCH_LEDS is
|
|
||||||
defined. In that case, the usage by the board port is defined in
|
|
||||||
include/board.h and src/imxrt_autoleds.c. The LED is used to encode
|
|
||||||
OS-related events as follows:
|
|
||||||
|
|
||||||
------------------- ----------------------- ------
|
|
||||||
SYMBOL Meaning LED
|
|
||||||
------------------- ----------------------- ------
|
|
||||||
LED_STARTED NuttX has been started OFF
|
|
||||||
LED_HEAPALLOCATE Heap has been allocated OFF
|
|
||||||
LED_IRQSENABLED Interrupts enabled OFF
|
|
||||||
LED_STACKCREATED Idle stack created ON
|
|
||||||
LED_INIRQ In an interrupt N/C
|
|
||||||
LED_SIGNAL In a signal handler N/C
|
|
||||||
LED_ASSERTION An assertion failed N/C
|
|
||||||
LED_PANIC The system has crashed FLASH
|
|
||||||
|
|
||||||
Thus if the LED is statically on, NuttX has successfully booted and is,
|
|
||||||
apparently, running normally. If the LED is flashing at approximately
|
|
||||||
2Hz, then a fatal error has been detected and the system has halted.
|
|
||||||
|
|
||||||
Configurations
|
|
||||||
==============
|
|
||||||
|
|
||||||
Information Common to All Configurations
|
|
||||||
----------------------------------------
|
|
||||||
Each Teensy-4.x configuration is maintained in a sub-directory and
|
|
||||||
can be selected as follow:
|
|
||||||
|
|
||||||
tools/configure.sh [OPTIONS] teensy-4.x:<subdir>
|
|
||||||
|
|
||||||
Where typical options are -l to configure to build on Linux or -c to
|
|
||||||
configure for Cygwin under Linux. 'tools/configure.sh -h' will show
|
|
||||||
you all of the options.
|
|
||||||
|
|
||||||
Before building, make sure the PATH environment variable include the
|
|
||||||
correct path to the directory than holds your toolchain binaries.
|
|
||||||
|
|
||||||
And then build NuttX by simply typing the following. At the conclusion of
|
|
||||||
the make, the nuttx binary will reside in an ELF file called, simply, nuttx.
|
|
||||||
|
|
||||||
make
|
|
||||||
|
|
||||||
The <subdir> that is provided above as an argument to the tools/configure.sh
|
|
||||||
must be is one of the following.
|
|
||||||
|
|
||||||
NOTES:
|
|
||||||
|
|
||||||
1. These configurations use the mconf-based configuration tool. To
|
|
||||||
change any of these configurations 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. All of these configurations are set up to build under Windows using the
|
|
||||||
"GNU Tools for ARM Embedded Processors" that is maintained by ARM
|
|
||||||
(unless stated otherwise in the description of the configuration).
|
|
||||||
|
|
||||||
https://developer.arm.com/open-source/gnu-toolchain/gnu-rm
|
|
||||||
|
|
||||||
That toolchain selection can easily be reconfigured using
|
|
||||||
'make menuconfig'. Here are the relevant current settings:
|
|
||||||
|
|
||||||
Build Setup:
|
|
||||||
CONFIG_HOST_WINDOWS=y : Window environment
|
|
||||||
CONFIG_WINDOWS_CYGWIN=y : Cywin under Windows
|
|
||||||
|
|
||||||
System Type -> Toolchain:
|
|
||||||
CONFIG_ARMV7M_TOOLCHAIN_GNU_EABIW=y : GNU ARM EABI toolchain
|
|
||||||
|
|
||||||
Configuration sub-directories
|
|
||||||
-----------------------------
|
|
||||||
|
|
||||||
nsh-4.0:
|
|
||||||
|
|
||||||
Configures the NuttShell (nsh) located at examples/nsh for Teensy 4.0.
|
|
||||||
This NSH configuration is focused on low level, command-line driver testing.
|
|
||||||
Built-in applications are supported, but none are enabled. NutShells then
|
|
||||||
runs on USB console.
|
|
||||||
|
|
||||||
nsh-4.1:
|
|
||||||
|
|
||||||
Configures the NuttShell (nsh) located at examples/nsh for Teensy 4.1.
|
|
||||||
This NSH configuration is focused on low level, command-line driver testing.
|
|
||||||
Built-in applications are supported, but none are enabled. NutShells then
|
|
||||||
runs USB console.
|
|
||||||
|
|
||||||
can-4.1:
|
|
||||||
|
|
||||||
This is an nsh configuration (see above) for Teensy-4.x with added support of
|
|
||||||
CAN driver. All FlexCANs (CAN1, CAN2, CAN3) are chosen as default. FlexCAN3
|
|
||||||
is FD capable. Please note that device driver name if counted from zero.
|
|
||||||
That means for CAN1 -> can0, CAN2 -> can1 and CAN3 -> can2
|
|
||||||
|
|
||||||
Bitrate and sample point can be also changed at System type peripheral selection,
|
|
||||||
basic values are 1 MHz for bitrate and 0.80 for sample point. The FlexCAN driver
|
|
||||||
for imxrt runs at 80 MHz clock frequency.
|
|
||||||
|
|
||||||
The configuration also includes CAN utilities as candump and cansend.
|
|
||||||
|
|
||||||
This configuration can be easily changed to work with Teensy 4.0 by
|
|
||||||
selecting CONFIG_TEENSY_40=y.
|
|
||||||
|
|
||||||
This configuration runs over LPUART1 (pins 24 and 25 on Teensy). Communication
|
|
||||||
over USB console can be turn on, but it couses problems with FlexCAN.
|
|
||||||
|
|
||||||
netnsh-4.1:
|
|
||||||
|
|
||||||
This configuration is similar to the nsh configuration except that is
|
|
||||||
has networking enabled, both IPv4 and IPv6. This NSH configuration is
|
|
||||||
focused on network-related testing.
|
|
||||||
|
|
||||||
This configuration cannot be changed to Teensy 4.0 as this board does
|
|
||||||
not have Ethernet capability.
|
|
||||||
|
|
||||||
sd-4.1
|
|
||||||
|
|
||||||
This is an nsh configuration (see above) for Teensy-4.x with added support of
|
|
||||||
connecting micro SD card.
|
|
||||||
|
|
||||||
You can mount micro SD card by "mount -t vfat /dev/mmcsd0 /mnt"
|
|
||||||
|
|
||||||
This configuration cannot be changed to Teensy 4.0 as this board does
|
|
||||||
not have micro SD card slot.
|
|
||||||
|
|
||||||
lcd-4.1
|
|
||||||
|
|
||||||
This is an nsh configuration (see above) for Teensy-4.x with added support of
|
|
||||||
connecting LCD TFT display with ST7789 controller. You can run framebuffer demo
|
|
||||||
by starting "fb" in console. The LCD display is connected via SPI4.
|
|
||||||
|
|
||||||
This configuration can be easily changed to work with Teensy 4.0 by
|
|
||||||
selecting CONFIG_TEENSY_40=y.
|
|
||||||
Reference in New Issue
Block a user