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README ^^^^^^ README for NuttX port to the Nucleus 2G LPC1768 board from 2G Engineering (http://www.2g-eng.com/) Contents ^^^^^^^^ 2G-Engineering Nucleus Board Development Environment GNU Toolchain Options IDEs NuttX buildroot Toolchain USB Device Controller Functions LEDs Nucleus 2G Configuration Options Configurations Nucleus 2G Board ^^^^^^^^^^^^^^^^ GPIO Usage P0[0]/RD1/TXD3/SDA1 P0[0]/CAN_RX1 P0[1]/TD1/RXD3/SCL P0[1]/CAN_TX1 P0[2]/TXD0/AD0[7] TX0 P0[3]/RXD0/AD0[6] RX0 P0[4] P0[4]/CAN1_STB P0[5] P0[5]/CAN2_STB P0[6]/I2SRX_SDA/SSEL1/MAT2[0] GPI/O_CS1 P0[7]/I2STX_CLK/SCK1/MAT2[1] SCLK1 P0[8]/I2STX_WS/MISO1/MAT2[2] MISO1 P0[9]/I2STX_SDA/MOSI1/MAT2[3] MOSI1 P0[10] P0[10]/CAN1_TERM P0[11] P0[11]/CAN2_TERM P0[15]/TXD1/SCK0/SCK MMC_CLK P0[16]/RXD1/SSEL0/SSEL MMC_CD P0[17]/CTS1/MISO0/MISO MMC_DATA0 P0[18]/DCD1/MOSI0/MOSI MMC_MISO P0[19]/DSR1/SDA1 GPI/O_CS2 P0[20]/DTR1/SCL1 GPI/O_CS3 P0[21]/RI1/MCIPWR/RD1 P0[21] P0[22]/RTS1/TD1 P0[22] P0[23]/AD0[0]/I2SRX_CLK/CAP3[0] AD0 P0[24]/AD0[1]/I2SRX_WS/CAP3[1] AD1 P0[25]/AD0[2]/I2SRX_SDA/TXD3 AD2 P0[26]/AD0[3]/AOUT/RXD3 AD3 P0[27]/SDA0/USB_SDA SDA P0[28]/SCL0 SCL P0[29]/USB_D+ USB+ P0[30]/USB_D- USB- P1[0] - P1[17] Not connected P1[18]/USB_UP_LED/PWM1[1]/CAP1[0] USB_LINK P1[19]-P[29] P[19]-P[29] P1[30]/VBUS/AD0[4] USB_+5 P1[31]/SCK1/AD0[5] AD5 P2[0] P2[0]/LED1_A P2[1] P2[1]/LED1_B P2[2] P2[2]/LED2_A P2[3] P2[3]/LED2_B P2[4] P2[4] P2[5]/PWM1[6]/DTR1/TRACEDATA[0] 232_POWERAVE P2[6]/PCAP1[0]/RI1/TRACECLK 232_VALID P2[7]/RD2/RTS1 P2[7]/CAN_RX2 P2[8]/TD2/TXD2 P2[8]/CAN_TX2 P2[9]/USB_CONNECT/RXD2 USB_CONNECT P2[10]/EINT0/NMI BOOTLOADER P2[11]/EINT1/I2STX_CLK HEARTBEAT P2[12]/EINT2/I2STX_WS EXTRA_LED P2[13]/EINT3/I2STX_SDA 5V_ENABLE P3[25]-P3[26] Not connected P4[28]-P4[29] P4[28]-P4[29] 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. Testing was performed using the Cygwin environment. 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. The NuttX buildroot Toolchain (see below). 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 or devkitARM toolchain, you simply need add one of the following configuration options to your .config (or defconfig) file: CONFIG_LPC17_CODESOURCERYW=y : CodeSourcery under Windows CONFIG_LPC17_CODESOURCERYL=y : CodeSourcery under Linux CONFIG_LPC17_DEVKITARM=y : devkitARM under Windows CONFIG_LPC17_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) If you are not using CONFIG_LPC17_BUILDROOT, then you may also have to modify the PATH in the setenv.h file if your make cannot find the tools. NOTE: the CodeSourcery (for Windows)and devkitARM 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 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 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. 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 (There is a simple RIDE project in the RIDE subdirectory). Here are a few tip 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/lpc17xx, arch/arm/src/common, arch/arm/src/cortexm3, 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/lpc17x/lpc17_vectors.S. NuttX buildroot Toolchain ^^^^^^^^^^^^^^^^^^^^^^^^^ A GNU GCC-based toolchain is assumed. The files */setenv.sh 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 SourceForge download site (https://sourceforge.net/project/showfiles.php?group_id=189573). 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 nucleus2g/<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/cortexm3-defconfig-4.3.3 .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 Cortex-M3 toolchain for Cygwin under Windows. NOTE: This is an OABI toolchain. LEDs ^^^^ If CONFIG_ARCH_LEDS is defined, then support for the Nucleus-2G LEDs will be included in the build. See: - configs/nucleus2g/include/board.h - Defines LED constants, types and prototypes the LED interface functions. - configs/nucleus2g/src/nucleus2g_internal.h - GPIO settings for the LEDs. - configs/nucleus2g/src/up_leds.c - LED control logic. The Nucleus2G has 3 LEDs... two on the Babel CAN board and a "heartbeat" LED." The LEDs on the Babel CAN board are capabl of OFF/GREEN/RED/AMBER status. In normal usage, the two LEDs on the Babel CAN board would show CAN status, but if CONFIG_ARCH_LEDS is defined, these LEDs will be controlled as follows for NuttX debug functionality (where NC means "No Change"). During the boot phases. LED1 and LED2 will show boot status. /* LED1 LED2 HEARTBEAT */ #define LED_STARTED 0 /* OFF OFF OFF */ #define LED_HEAPALLOCATE 1 /* GREEN OFF OFF */ #define LED_IRQSENABLED 2 /* OFF GREEN OFF */ #define LED_STACKCREATED 3 /* OFF OFF OFF */ #define LED_INIRQ 4 /* NC NC ON (momentary) */ #define LED_SIGNAL 5 /* NC NC ON (momentary) */ #define LED_ASSERTION 6 /* NC NC ON (momentary) */ #define LED_PANIC 7 /* NC NC ON (1Hz flashing) */ After the system is booted, this logic will no longer use LEDs 1 and 2. They are then available for use the application software using lpc17_led1() and lpc17_led2(): enum lpc17_ledstate_e { LPC17_LEDSTATE_OFF = 0, LPC17_LEDSTATE_GREEN = 1, LPC17_LEDSTATE_RED = 2, LPC17_LEDSTATE_AMBER = (LPC17_LEDSTATE_GREEN|LPC17_LEDSTATE_RED), }; EXTERN void lpc17_led1(enum lpc17_ledstate_e state); EXTERN void lpc17_led2(enum lpc17_ledstate_e state); The heartbeat LED is illuminated during all interrupt and signal procressing. Normally, it will glow dimly to inicate that the LPC17xx is taking interrupts. On an assertion PANIC, it will flash at 1Hz. Nucleus 2G 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_CORTEXM3=y CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory CONFIG_ARCH_CHIP=lpc17xx CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip: CONFIG_ARCH_CHIP_LPC1768=y CONFIG_ARCH_BOARD - Identifies the configs subdirectory and hence, the board that supports the particular chip or SoC. CONFIG_ARCH_BOARD=nucleus2g (for the Nucleus 2G) CONFIG_ARCH_BOARD_name - For use in C code CONFIG_ARCH_BOARD_NUCLEUS2G=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 (CPU SRAM in this case): CONFIG_DRAM_SIZE=(32*1024) (32Kb) There is an additional 32Kb of SRAM in AHB SRAM banks 0 and 1. CONFIG_DRAM_START - The start address of installed DRAM CONFIG_DRAM_START=0x10000000 CONFIG_DRAM_END - Last address+1 of installed RAM CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE) CONFIG_ARCH_IRQPRIO - The LPC17xx supports interrupt prioritization CONFIG_ARCH_IRQPRIO=y 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_LPC17_MAINOSC=y CONFIG_LPC17_PLL0=y CONFIG_LPC17_PLL1=n CONFIG_LPC17_ETHERNET=n CONFIG_LPC17_USBHOST=n CONFIG_LPC17_USBOTG=n CONFIG_LPC17_USBDEV=n CONFIG_LPC17_UART0=y CONFIG_LPC17_UART1=n CONFIG_LPC17_UART2=n CONFIG_LPC17_UART3=n CONFIG_LPC17_CAN1=n CONFIG_LPC17_CAN2=n CONFIG_LPC17_SPI=n CONFIG_LPC17_SSP0=n CONFIG_LPC17_SSP1=n CONFIG_LPC17_I2C0=n CONFIG_LPC17_I2C1=n CONFIG_LPC17_I2S=n CONFIG_LPC17_TMR0=n CONFIG_LPC17_TMR1=n CONFIG_LPC17_TMR2=n CONFIG_LPC17_TMR3=n CONFIG_LPC17_RIT=n CONFIG_LPC17_PWM=n CONFIG_LPC17_MCPWM=n CONFIG_LPC17_QEI=n CONFIG_LPC17_RTC=n CONFIG_LPC17_WDT=n CONFIG_LPC17_ADC=n CONFIG_LPC17_DAC=n CONFIG_LPC17_GPDMA=n CONFIG_LPC17_FLASH=n LPC17xx 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 LPC17xx USB Configuration CONFIG_LPC17_USBDEV_FRAME_INTERRUPT Handle USB Start-Of-Frame events. Enable reading SOF from interrupt handler vs. simply reading on demand. Probably a bad idea... Unless there is some issue with sampling the SOF from hardware asynchronously. CONFIG_LPC17_USBDEV_EPFAST_INTERRUPT Enable high priority interrupts. I have no idea why you might want to do that CONFIG_LPC17_USBDEV_NDMADESCRIPTORS Number of DMA descriptors to allocate in SRAM. CONFIG_LPC17_USBDEV_DMA Enable lpc17xx-specific DMA support Configurations ^^^^^^^^^^^^^^ Each Nucleus 2G configuration is maintained in a sudirectory and can be selected as follow: cd tools ./configure.sh nucleus2g/<subdir> cd - . ./setenv.sh Where <subdir> is one of the following: nsh: Configures the NuttShell (nsh) located at examples/nsh. The Configuration enables both the serial and telnetd NSH interfaces. NOTE: As it is configured now, you MUST have a network connected. Otherwise, the NSH prompt will not come up because the Ethernet driver is waiting for the network to come up. That is probably a bug in the Ethernet driver behavior! ostest: This configuration directory, performs a simple OS test using examples/ostest.