SAMA5: Add an NSH configuration of the SAMA5D3x-EK board

configs/README.txt

@@ -1964,8 +1964,22 @@ configs/rgmp
   information about RGMP.
 
 configs/sama5d3x-ek
-  The port of NuttX to the Atmel SAMA5D3x-EK development board (where
+  This is the  port of NuttX to the Atmel SAMA5D3x-EK development boards
-  x=1,3,4, or 5).
+  (where x=1,3,4, or 5).  These boards feature the Atmel SAMA5D3
+  microprocessors.  Four different SAMA5D3x-EK kits are available
+
+    - SAMA5D31-EK with the ATSAMA5D1 (http://www.atmel.com/devices/sama5d31.aspx)
+    - SAMA5D33-EK with the ATSAMA5D3 (http://www.atmel.com/devices/sama5d33.aspx)
+    - SAMA5D34-EK with the ATSAMA5D4 (http://www.atmel.com/devices/sama5d34.aspx)
+    - SAMA5D35-EK with the ATSAMA5D5 (http://www.atmel.com/devices/sama5d35.aspx)
+
+  The each consist of an identical base board with different plug-in modules
+  for each CPU.  An option 7 inch LCD is also available.  All four boards
+  are supported by NuttX with a simple reconfiguration of the processor
+  type.
+
+  There is also the SAMA5D3FAE-EK bundle includes everything:  The base
+  board, all four CPU modules, and the LCD.
 
 configs/sam3u-ek
   The port of NuttX to the Atmel SAM3U-EK development board.

configs/sama5d3x-ek/README.txt

@@ -3,7 +3,7 @@ README
 
   This README file describes the port of NuttX to the SAMA5D3x-EK
   development boards. These boards feature the Atmel SAMA5D3
-  microprocessors.  Three different SAMA5D3x-EK kits are available
+  microprocessors.  Four different SAMA5D3x-EK kits are available
 
     - SAMA5D31-EK with the ATSAMA5D1 (http://www.atmel.com/devices/sama5d31.aspx)
     - SAMA5D33-EK with the ATSAMA5D3 (http://www.atmel.com/devices/sama5d31.aspx)
@@ -73,6 +73,7 @@ Contents
   - NXFLAT Toolchain
   - Loading Code into SRAM with J-Link
   - Writing to FLASH using SAM-BA
+  - Creating and Using NORBOOT
   - Buttons and LEDs
   - Serial Consoles
   - SAMA5D3x-EK Configuration Options
@@ -341,6 +342,80 @@ Writing to FLASH using SAM-BA
   you provide a special code header so that you code can be recognized as a
   boot-able image by the ROM bootloader.
 
+Creating and Using NORBOOT
+==========================
+
+  In order to have more control of debugging code that runs out of NOR FLASH,
+  I created the sama5d3x-ek/norboot configuration.  That configuration is
+  described below under "Configurations."
+
+  Here are some general instructions on how to build an use norboot:
+
+  Building:
+  1. Remove any old configurations (if applicable).
+
+       cd <nuttx>
+       make distclean
+
+  2. Install and build the norboot configuration:
+
+       cd tools
+       ./configure.sh sama5d3x-ek/<subdir>
+       cd -
+       . ./setenv.sh
+
+     Before sourcing the setenv.sh file above, you should examine it and
+     perform edits as necessary so that TOOLCHAIN_BIN is the correct path
+     to the directory than holds your toolchain binaries.
+
+  3. Rename the binaries.  Since you will need two versions of NuttX:  this
+     norboot version that runs in internal SRAM and another under test in
+     NOR FLASH, I rename the resulting binary files so that they can be
+     distinguished:
+
+       mv nuttx norboot
+       mv nuttx.hex norboot.hex
+       mv nuttx.bin norboot.bin
+
+  4. Build your NOR configuration and write this into NOR FLASH.  Here, for
+     example, is how you would create the NSH NOR configuration:
+
+       cd <nuttx>
+       make distclean                 # Remove the norboot configuration
+       cd tools
+       ./configure.sh sama5d3x-ek/nsh # Establish the NSH configuration
+       cd -
+       make                           # Build the NSH configuration
+
+     Then use SAM-BA to write the nuttx.bin binary into NOR FLASH.  This
+     will involve holding the CS_BOOT button and power cycling to start
+     the ROM loader.  The SAM-BA serial connection will be on the device
+     USB port, not the debug USB port.  Follow the SAM-BA instruction to
+     write the nuttx.bin binary to NOR FLASH.
+
+   5. Restart the system without holding CS_BOOT to get back to the normal
+      debug setup.
+
+   6. Then start the J-Link GDB server and GDB.  In GDB, I do the following:
+
+       (gdb) mon reset                # Reset and halt the CPU
+       (gdb) load norboot             # Load norboot into internal SRAM
+       (gdb) mon go                   # Start norboot
+       (gdb) mon halt                 # Break in
+       (gdb) mon reg pc = 0x10000040  # Set the PC to NOR flash entry point
+       (gdb) mon go                   # And jump into NOR flash
+
+      The norboot program can also be configured to jump directly into
+      NOR FLASH with out requiring the the final halt and go, but since I
+      have been debugging the early boot sequence, the above sequence has
+      been most convenient for me.
+
+    STATUS:
+      2013-7-30:  I have been unable to execute this configuration from NOR
+        FLASH by closing the BMS jumper (J9).  As far as I can tell, this
+        jumper does nothing on my board???  So I have been using the norboot
+        configuration exclusively to start the program-under-test in NOR FLASH.
+
 Buttons and LEDs
 ================
 
@@ -608,7 +683,7 @@ Configurations
     . ./setenv.sh
 
   Before sourcing the setenv.sh file above, you should examine it and perform
-  edits as necessary so that BUILDROOT_BIN is the correct path to the directory
+  edits as necessary so that TOOLCHAIN_BIN is the correct path to the directory
   than holds your toolchain binaries.
 
   And then build NuttX by simply typing the following.  At the conclusion of
@@ -713,6 +788,58 @@ Configurations
     1. This program derives from the hello configuration.  All of the
        notes there apply to this configuration as well.
 
+  nsh:
+    This configuration directory provide the NuttShell (NSH).
+
+    NOTES:
+    1. This configuration uses the default USART1 serial console.  That
+       is easily changed by reconfiguring to (1) enable a different
+       serial peripheral, and (2) selecting that serial peripheral as
+       the console device.
+
+    2. By default, this configuration is set up to build on Windows
+       under either a Cygwin or MSYS environment using a recent, Windows-
+       native, generic ARM EABI GCC toolchain (such as the CodeSourcery
+       toolchain).  Both the build environment and the toolchain
+       selection can easily be changed by reconfiguring:
+
+       CONFIG_HOST_WINDOWS=y                   : Windows operating system
+       CONFIG_WINDOWS_CYGWIN=y                 : POSIX environment under windows
+       CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows
+
+    3. This configuration executes out of CS0 NOR flash and can only
+       be loaded via SAM-BA.  These are the relevant configuration options
+       the define the NOR FLASH configuration:
+
+       CONFIG_SAMA5_BOOT_CS0FLASH=y            : Boot from FLASH on CS0
+       CONFIG_BOOT_RUNFROMFLASH=y              : Run in place on FLASH (vs copying to RAM)
+
+       CONFIG_SAMA5_EBICS0=y                   : Enable CS0 external memory
+       CONFIG_SAMA5_EBICS0_SIZE=134217728      : Memory size is 128KB
+       CONFIG_SAMA5_EBICS0_NOR=y               : Memory type is NOR FLASH
+
+       CONFIG_FLASH_START=0x10000000           : Physical FLASH start address
+       CONFIG_FLASH_VSTART=0x10000000          : Virtual FLASH start address
+       CONFIG_FLASH_SIZE=134217728             : FLASH size (again)
+
+       CONFIG_RAM_START=0x00300400             : Data stored after page table
+       CONFIG_RAM_VSTART=0x00300400
+       CONFIG_RAM_SIZE=114688                  : Available size of 128KB - 16KB for page table
+
+       NOTE:  In order to boot in this configuration, you need to close the
+       BMS jumper.
+
+    4. This configuration has support for NSH built-in applications enabled.
+       However, no built-in applications are selected in the base configuration.
+
+    STATUS:
+      2013-7-31:  I have been unable to execute this configuration from NOR
+        FLASH by closing the BMS jumper (J9).  As far as I can tell, this
+        jumper does nothing on my board???  I have been using the norboot
+        configuration to start the program in NOR FLASH (see just above).
+        See "Creating and Using NORBOOT" above.
+      2013-7-31:  This NSH configuration appears to be fully functional.
+
   ostest:
     This configuration directory, performs a simple OS test using
     examples/ostest.
@@ -734,7 +861,8 @@ Configurations
        CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery for Windows
 
     3. This configuration executes out of CS0 NOR flash and can only
-       be loaded via JTAG.  128MB
+       be loaded via SAM-BA.  These are the relevant configuration options
+       the define the NOR FLASH configuration:
 
        CONFIG_SAMA5_BOOT_CS0FLASH=y            : Boot from FLASH on CS0
        CONFIG_BOOT_RUNFROMFLASH=y              : Run in place on FLASH (vs copying to RAM)
@@ -759,20 +887,11 @@ Configurations
         FLASH by closing the BMS jumper (J9).  As far as I can tell, this
         jumper does nothing on my board???  I have been using the norboot
         configuration to start the program in NOR FLASH (see just above).
-        I do that as follows:
+        See "Creating and Using NORBOOT" above.
-
-        1. I build the norboot configuration and rename nuttx to norboot
-        2. I build the the ostest configuration and write it to NOR FLASH
-           using SAM-BA
-        3. Then I start the J-Link GDB server and GDB.  In GDB, I do the
-           following:
-
-           (gdb) mon reset                # Reset and halt the CPU
-           (gdb) load norboot             # Load norboot into internal SRAM
-           (gdb) mon go                   # Start norboot
-           (gdb) mon halt                 # Break in
-           (gdb) mon reg pc = 0x10000040  # Set the PC to NOR flash entry point
-           (gdb) mon go                   # And jump into NOR flash
 
        2013-7-31:
-         The OS test configuration is functional.
+         The OS test configuration is basically functional, but takes a very
+         long time in the round-robin scheduler test computing prime numbers.
+         This test is suppose to be slow -- like several seconds -- but not
+         many minutes.  No idea why yet.  The best guess would be an excessive
+         number of context switches.

configs/sama5d3x-ek/nsh/Make.defs

@@ -0,0 +1,136 @@
+############################################################################
+# configs/sama5d3x-ek/nsh/Make.defs
+#
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+include ${TOPDIR}/.config
+include ${TOPDIR}/tools/Config.mk
+include ${TOPDIR}$(DELIM)arch$(DELIM)arm$(DELIM)src$(DELIM)armv7-a$(DELIM)Toolchain.defs
+
+ifeq ($(CONFIG_SAMA5_BOOT_ISRAM),y)
+  LDSCRIPT = isram.ld
+endif
+ifeq ($(CONFIG_SAMA5_BOOT_SDRAM),y)
+  LDSCRIPT = ddram.ld
+endif
+ifeq ($(CONFIG_SAMA5_BOOT_CS0FLASH),y)
+  LDSCRIPT = norflash.ld
+endif
+ifeq ($(CONFIG_SAMA5_BOOT_CS1FLASH),y)
+#  LDSCRIPT = cs1flash.ld
+endif
+ifeq ($(CONFIG_SAMA5_BOOT_CS2FLASH),y)
+#  LDSCRIPT = cs2flash.ld
+endif
+ifeq ($(CONFIG_SAMA5_BOOT_CS3FLASH),y)
+#  LDSCRIPT = cs3flash.ld
+endif
+
+ifeq ($(WINTOOL),y)
+  # Windows-native toolchains
+  ARCHINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)$(DELIM)include}"
+  ARCHXXINCLUDES = -I. -isystem "${shell cygpath -w $(TOPDIR)$(DELIM)include}" -isystem "${shell cygpath -w $(TOPDIR)$(DELIM)include$(DELIM)cxx}"
+  ARCHSCRIPT = -T "${shell cygpath -w $(TOPDIR)$(DELIM)configs$(DELIM)$(CONFIG_ARCH_BOARD)$(DELIM)scripts$(DELIM)$(LDSCRIPT)}"
+  MAXOPTIMIZATION = -O2
+else
+  # Linux/Cygwin-native toolchain
+  ARCHINCLUDES = -I. -isystem $(TOPDIR)$(DELIM)include
+  ARCHXXINCLUDES = -I. -isystem $(TOPDIR)$(DELIM)include -isystem $(TOPDIR)$(DELIM)include$(DELIM)cxx
+  ARCHSCRIPT = -T$(TOPDIR)$(DELIM)configs$(DELIM)$(CONFIG_ARCH_BOARD)$(DELIM)scripts$(DELIM)$(LDSCRIPT)
+endif
+
+CC = $(CROSSDEV)gcc
+CXX = $(CROSSDEV)g++
+CPP = $(CROSSDEV)gcc -E
+LD = $(CROSSDEV)ld
+AR = $(ARCROSSDEV)ar rcs
+NM = $(ARCROSSDEV)nm
+OBJCOPY = $(CROSSDEV)objcopy
+OBJDUMP = $(CROSSDEV)objdump
+
+ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
+  ARCHOPTIMIZATION = -g
+else
+  ARCHOPTIMIZATION = $(MAXOPTIMIZATION) -fno-strict-aliasing -fno-strength-reduce -fomit-frame-pointer
+endif
+
+ARCHCPUFLAGS = -mcpu=cortex-a5 -mfpu=vfpv4-d16
+ARCHCFLAGS = -fno-builtin
+ARCHCXXFLAGS = -fno-builtin -fno-exceptions -fno-rtti
+ARCHWARNINGS = -Wall -Wstrict-prototypes -Wshadow
+ARCHWARNINGSXX = -Wall -Wshadow
+ARCHDEFINES =
+ARCHPICFLAGS = -fpic -msingle-pic-base -mpic-register=r10
+
+CFLAGS = $(ARCHCFLAGS) $(ARCHWARNINGS) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CPICFLAGS = $(ARCHPICFLAGS) $(CFLAGS)
+CXXFLAGS = $(ARCHCXXFLAGS) $(ARCHWARNINGSXX) $(ARCHOPTIMIZATION) $(ARCHCPUFLAGS) $(ARCHXXINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES) -pipe
+CXXPICFLAGS = $(ARCHPICFLAGS) $(CXXFLAGS)
+CPPFLAGS = $(ARCHINCLUDES) $(ARCHDEFINES) $(EXTRADEFINES)
+AFLAGS = $(CFLAGS) -D__ASSEMBLY__
+
+NXFLATLDFLAGS1 = -r -d -warn-common
+NXFLATLDFLAGS2 = $(NXFLATLDFLAGS1) -T$(TOPDIR)$(DELIM)binfmt$(DELIM)libnxflat$(DELIM)gnu-nxflat-pcrel.ld -no-check-sections
+LDNXFLATFLAGS = -e main -s 2048
+
+OBJEXT = .o
+LIBEXT = .a
+EXEEXT =
+
+ifneq ($(CROSSDEV),arm-nuttx-elf-)
+  LDFLAGS += -nostartfiles -nodefaultlibs
+endif
+ifeq ($(CONFIG_DEBUG_SYMBOLS),y)
+  LDFLAGS += -g
+endif
+
+HOSTCC = gcc
+HOSTINCLUDES = -I.
+HOSTCFLAGS = -Wall -Wstrict-prototypes -Wshadow -g -pipe
+HOSTLDFLAGS =
+ifeq ($(CONFIG_HOST_WINDOWS),y)
+  HOSTEXEEXT = .exe
+else
+  HOSTEXEEXT =
+endif
+
+ifeq ($(WINTOOL),y)
+  # Windows-native host tools
+  DIRLINK = $(TOPDIR)$(DELIM)tools$(DELIM)copydir.sh
+  DIRUNLINK = $(TOPDIR)$(DELIM)tools$(DELIM)unlink.sh
+  MKDEP = $(TOPDIR)$(DELIM)tools$(DELIM)mknulldeps.sh
+else
+  # Linux/Cygwin-native host tools 
+  MKDEP = $(TOPDIR)$(DELIM)tools$(DELIM)mkdeps$(HOSTEXEEXT)
+endif
+

configs/sama5d3x-ek/nsh/setenv.sh

@@ -0,0 +1,76 @@
+#!/bin/bash
+# configs/samard3x-ek/nsh/setenv.sh
+#
+#   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+if [ "$_" = "$0" ] ; then
+  echo "You must source this script, not run it!" 1>&2
+  exit 1
+fi
+
+WD=`pwd`
+if [ ! -x "setenv.sh" ]; then
+  echo "This script must be executed from the top-level NuttX build directory"
+  exit 1
+fi
+
+if [ -z "${PATH_ORIG}" ]; then
+  export PATH_ORIG="${PATH}"
+fi
+
+# This is the Cygwin path to the location where I installed the Atmel GCC
+# toolchain under Windows.  You will also have to edit this if you install
+# this toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/Atmel/Atmel Toolchain/ARM GCC/Native/4.7.3.99/arm-gnu-toolchain/bin"
+
+# This is the Cygwin path to the location where I installed the CodeSourcery
+# toolchain under windows.  You will also have to edit this if you install
+# the CodeSourcery toolchain in any other location
+#export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery G++ Lite/bin"
+export TOOLCHAIN_BIN="/cygdrive/c/Program Files (x86)/CodeSourcery/Sourcery_CodeBench_Lite_for_ARM_EABI/bin"
+
+# These are the Cygwin paths to the locations where I installed the Atollic
+# toolchain under windows.  You will also have to edit this if you install
+# the Atollic toolchain in any other location.  /usr/bin is added before
+# the Atollic bin path because there is are binaries named gcc.exe and g++.exe
+# at those locations as well.
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for ARM Pro 2.3.0/ARMTools/bin"
+#export TOOLCHAIN_BIN="/usr/bin:/cygdrive/c/Program Files (x86)/Atollic/TrueSTUDIO for STMicroelectronics STM32 Lite 2.3.0/ARMTools/bin"
+
+# This is the Cygwin path to the location where I build the buildroot
+# toolchain.
+#export TOOLCHAIN_BIN="${WD}/../misc/buildroot/build_arm_nofpu/staging_dir/bin"
+
+# Add the path to the toolchain to the PATH varialble
+export PATH="${TOOLCHAIN_BIN}:/sbin:/usr/sbin:${PATH_ORIG}"
+
+echo "PATH : ${PATH}"

configs/sama5d3x-ek/src/sam_cxxinitialize.c

@@ -0,0 +1,153 @@
+/************************************************************************************
+ * configs/sama5dx-ek/src/sam_cxxinitialize.c
+ *
+ *   Copyright (C) 2013 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <debug.h>
+
+#include <nuttx/arch.h>
+
+#include <arch/sama5/chip.h>
+#include "chip.h"
+
+#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+/* Debug ****************************************************************************/
+/* Non-standard debug that may be enabled just for testing the static constructors */
+
+#ifndef CONFIG_DEBUG
+#  undef CONFIG_DEBUG_CXX
+#endif
+
+#ifdef CONFIG_DEBUG_CXX
+#  define cxxdbg              dbg
+#  define cxxlldbg            lldbg
+#  ifdef CONFIG_DEBUG_VERBOSE
+#    define cxxvdbg           vdbg
+#    define cxxllvdbg         llvdbg
+#  else
+#    define cxxvdbg(x...)
+#    define cxxllvdbg(x...)
+#  endif
+#else
+#  define cxxdbg(x...)
+#  define cxxlldbg(x...)
+#  define cxxvdbg(x...)
+#  define cxxllvdbg(x...)
+#endif
+
+/************************************************************************************
+ * Private Types
+ ************************************************************************************/
+/* This type defines one entry in initialization array */
+
+typedef void (*initializer_t)(void);
+
+/************************************************************************************
+ * External references
+ ************************************************************************************/
+/* _sinit and _einit are symbols exported by the linker script that mark the
+ * beginning and the end of the C++ initialization section.
+ */
+
+extern initializer_t _sinit;
+extern initializer_t _einit;
+
+/* _stext and _etext are symbols exported by the linker script that mark the
+ * beginning and the end of text.
+ */
+
+extern uint32_t _stext;
+extern uint32_t _etext;
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/****************************************************************************
+ * Name: up_cxxinitialize
+ *
+ * Description:
+ *   If C++ and C++ static constructors are supported, then this function
+ *   must be provided by board-specific logic in order to perform
+ *   initialization of the static C++ class instances.
+ *
+ *   This function should then be called in the application-specific
+ *   user_start logic in order to perform the C++ initialization.  NOTE
+ *   that no component of the core NuttX RTOS logic is involved; This
+ *   function defintion only provides the 'contract' between application
+ *   specific C++ code and platform-specific toolchain support
+ *
+ ***************************************************************************/
+
+void up_cxxinitialize(void)
+{
+  initializer_t *initp;
+
+  cxxdbg("_sinit: %p _einit: %p _stext: %p _etext: %p\n",
+         &_sinit, &_einit, &_stext, &_etext);
+
+  /* Visit each entry in the initialzation table */
+
+  for (initp = &_sinit; initp != &_einit; initp++)
+    {
+      initializer_t initializer = *initp;
+      cxxdbg("initp: %p initializer: %p\n", initp, initializer);
+
+      /* Make sure that the address is non-NULL and lies in the text region
+       * defined by the linker script.  Some toolchains may put NULL values
+       * or counts in the initialization table
+       */
+
+      if ((void*)initializer > (void*)&_stext && (void*)initializer < (void*)&_etext)
+        {
+          cxxdbg("Calling %p\n", initializer);
+          initializer();
+        }
+    }
+}
+
+#endif /* CONFIG_HAVE_CXX && CONFIG_HAVE_CXXINITIALIZE */