483 lines
19 KiB
Plaintext
483 lines
19 KiB
Plaintext
README.txt
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==========
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This is the README file for the port of NuttX to the Freescale Kinetis
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KwiStick K40. Refer to the Freescale web site for further information
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about this part:
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http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=KWIKSTIK-K40
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The Kwikstik is used with the FreeScale Tower System (mostly just to
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provide a simple UART connection)
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Contents
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========
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o Kinetis KwikStik-K40 Features
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o Kinetis KwikStik-K60 Pin Configuration
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- On-Board Connections
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- Connections via the General Purpose Tower Plug-in (TWRPI) Socket
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- Connections via the Tower Primary Connector Side A
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- Connections via the Tower Primary Connector Side B
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- TWR-SER Serial Board Connection
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o Development Environment
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o GNU Toolchain Options
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o IDEs
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o NuttX buildroot Toolchain
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Kinetis KwikStik-K40 Features:
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==============================
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o Kinetis K40 MCU in 144 LQFP
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- 100 MHz ARM Cortex-M4 core
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- 256Kb program flash, 256Kb FlexMemory
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- Full-speed USB 2.0 device
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- Low-pwer segment LCD controller
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- SPI, UART, CAN and more
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o Large segment LCD display with 306 segments
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o 2.3mm audio output and 2 micro USB connectors
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o Omnidirectional microphone and a buzzer
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o On-board Segger J-Link debugger interface
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o Infrared communication port
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o microSD card slot
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o Capacitive touch sensing interface
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o Freescale Tower System connectivity for UART, timers, CAN, SPI, I2C, and DAC
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o Freescale Tower plug-in (TWRPI) socket connectivity for ADC, SPI, I2C, and GPIO
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Kinetis KwikStik-K40 Pin Configuration
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======================================
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On-Board Connections
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------------------- -------------------------- -------- -------------------
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FEATURE CONNECTION PORT/PIN PIN FUNCTION
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------------------- -------------------------- -------- -------------------
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Audio Jack Output Audio Amp On PTE28 PTE28
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Audio Output DAC1_OUT DAC1_OUT
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Volume Up PTD10 PTD10
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Volume Down PTD11 PTD11
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Buzzer Audio Out PTA8 FTM1_CH0
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Microphone Microphone input PTA7 ADC0_SE10
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SD Card Slot SD Clock PTE2 SDHC0_DCLK
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SD Command PTE3 SDHC0_CMD
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SD Data0 PTD12 SDHC0_D4
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SD Data1 PTD13 SDHC0_D5
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SD Data2 PTD14 SDHC0_D6
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SD Data3 PTD15 SDHC0_D7
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SD Card Detect PTE27 PTE27
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SD Card On PTE6 PTE6
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Infrared Port IR Transmit PTE4 IR_TX
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IR Receive PTA13 CMP2_IN0
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Touch Pads E1 / Touch PTB0 TSI0_CH0
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E2 / Touch PTA4 TSI0_CH5
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E3 / Touch PTA24 PTA24
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E4 / Touch PTA25 PTA25
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E5 / Touch PTA26 PTA26
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E6 / Touch PTA27 PTA27
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Connections via the General Purpose Tower Plug-in (TWRPI) Socket
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------------------- -------------------------- -------- -------------------
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FEATURE CONNECTION PORT/PIN PIN FUNCTION
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------------------- -------------------------- -------- -------------------
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General Purpose TWRPI AN0 (J8 Pin 8) ? ADC0_DP0/ADC1_DP3
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TWRPI Socket TWRPI AN1 (J8 Pin 9) ? ADC0_DM0/ADC1_DM3
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TWRPI AN2 (J8 Pin 12) ? ADC1_DP0/ADC0_DP3
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TWRPI ID0 (J8 Pin 17) ? ADC0_DP1
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TWRPI ID1 (J8 Pin 18) ? ADC0_DM1
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TWRPI I2C SCL (J9 Pin 3) PTC10 I2C1_SCL
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TWRPI I2C SDA (J9 Pin 4) PTC11 I2C1_SDA
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TWRPI SPI MISO (J9 Pin 9) PTB23 SPI2_SIN
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TWRPI SPI MOSI (J9 Pin 10) PTB22 SPI2_SOUT
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TWRPI SPI SS (J9 Pin 11) PTB20 SPI2_PCS0
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TWRPI SPI CLK (J9 Pin 12) PTB21 SPI2_SCK
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TWRPI GPIO0 (J9 Pin 15) PTC12 PTC12
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TWRPI GPIO1 (J9 Pin 16) PTB9 PTB9
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TWRPI GPIO2 (J9 Pin 17) PTB10 PTB10
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TWRPI GPIO3 (J9 Pin 18) PTC5 PTC5
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TWRPI GPIO4 (J9 Pin 19) PTA5 PTA5
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The KwikStik features an expansion card-edge connector that interfaces to the Primary Elevator board in a Tower system (Primary side).
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Connections via the Tower Primary Connector Side A
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--- -------------------- --------------------------------
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PIN NAME USAGE
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--- -------------------- --------------------------------
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A9 GPIO9 / CTS1 PTE10/UART_CTS
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A43 RXD1 PTE9/UART_RX
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A44 TXD1 PTE8/UART_TX
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A63 RSTOUT_b PTA9/FTM1_CH1
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Connections via the Tower Primary Connector Side B
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--- -------------------- --------------------------------
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PIN NAME USAGE
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--- -------------------- --------------------------------
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B21 GPIO1 / RTS1 PTE7/UART_RTS
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B37 PWM7 PTA8/FTM1_CH0
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B38 PWM6 PTA9/FTM1_CH1
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B41 CANRX0 PTE25/CAN1_RX
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B42 CANTX0 PTE24/CAN1_TX
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B44 SPI0_MISO PTA17/SPI0_SIN
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B45 SPI0_MOSI PTA16/SPI0_SOUT
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B46 SPI0_CS0_b PTA14/SPI0_PCS0
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B48 SPI0_CLK PTA15/SPI0_SCK
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B50 SCL1 PTE1/I2C1_SCL
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B51 SDA1 PTE0/I2C1_SDA
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B52 GPIO5 / SD_CARD_DET PTA16
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TWR-SER Serial Board Connection
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===============================
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The serial board connects into the tower and then maps to the tower pins to
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yet other functions (see TWR-SER.pdf).
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For the serial port, the following jumpers are required:
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J15: 1-2 (default)
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J17: 1-2 (default)
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J18: 1-2 (default)
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J19: 1-2 (default)
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The two connections map as follows:
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A41 RXD0 - Not connected
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A42 TXD0 - Not connected
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A43 RXD1 - ELE_RXD (connects indirectory to DB-9 connector J8)
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A44 TXD1 - ELE_TXD (connects indirectory to DB-9 connector J8)
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Finally, we can conclude that
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UART5 (PTE8/9) is associated with the DB9 connector
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Development Environment
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=======================
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Either Linux or Cygwin on Windows can be used for the development environment.
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The source has been built only using the GNU toolchain (see below). Other
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toolchains will likely cause problems. Testing was performed using the Cygwin
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environment.
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GNU Toolchain Options
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=====================
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The NuttX make system has been modified to support the following different
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toolchain options.
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1. The CodeSourcery GNU toolchain,
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2. The devkitARM GNU toolchain,
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3. The NuttX buildroot Toolchain (see below).
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All testing has been conducted using the CodeSourcery Windows toolchain. To
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use the devkitARM or the NuttX GNU toolchain, you simply need to change the
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the following configuration options to your .config (or defconfig) file:
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CONFIG_KINETIS_CODESOURCERYW=y : CodeSourcery under Windows
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CONFIG_KINETIS_CODESOURCERYL=y : CodeSourcery under Linux
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CONFIG_KINETIS_DEVKITARM=y : devkitARM under Windows
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CONFIG_KINETIS_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
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If you are not using CONFIG_KINETIS_BUILDROOT, then you may also have to modify
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the PATH in the setenv.h file if your make cannot find the tools.
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NOTE: the CodeSourcery (for Windows) and devkitARM toolchains are
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Windows native toolchains. The CodeSourcey (for Linux) and NuttX buildroot
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toolchains are Cygwin and/or Linux native toolchains. There are several limitations
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to using a Windows based toolchain in a Cygwin environment. The three biggest are:
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1. The Windows toolchain cannot follow Cygwin paths. Path conversions are
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performed automatically in the Cygwin makefiles using the 'cygpath' utility
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but you might easily find some new path problems. If so, check out 'cygpath -w'
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2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links
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are used in Nuttx (e.g., include/arch). The make system works around these
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problems for the Windows tools by copying directories instead of linking them.
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But this can also cause some confusion for you: For example, you may edit
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a file in a "linked" directory and find that your changes had no effect.
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That is because you are building the copy of the file in the "fake" symbolic
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directory. If you use a Windows toolchain, you should get in the habit of
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making like this:
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make clean_context all
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An alias in your .bashrc file might make that less painful.
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3. Dependencies are not made when using Windows versions of the GCC. This is
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because the dependencies are generated using Windows pathes which do not
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work with the Cygwin make.
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Support has been added for making dependencies with the windows-native toolchains.
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That support can be enabled by modifying your Make.defs file as follows:
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- MKDEP = $(TOPDIR)/tools/mknulldeps.sh
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+ MKDEP = $(TOPDIR)/tools/mkdeps.sh --winpaths "$(TOPDIR)"
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If you have problems with the dependency build (for example, if you are not
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building on C:), then you may need to modify tools/mkdeps.sh
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NOTE 1: The CodeSourcery toolchain (2009q1) does not work with default optimization
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level of -Os (See Make.defs). It will work with -O0, -O1, or -O2, but not with
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-Os.
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NOTE 2: The devkitARM toolchain includes a version of MSYS make. Make sure that
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the paths to Cygwin's /bin and /usr/bin directories appear BEFORE the devkitARM
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path or will get the wrong version of make.
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IDEs
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====
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NuttX is built using command-line make. It can be used with an IDE, but some
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effort will be required to create the project.
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Makefile Build
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--------------
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Under Eclipse, it is pretty easy to set up an "empty makefile project" and
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simply use the NuttX makefile to build the system. That is almost for free
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under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty
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makefile project in order to work with Windows (Google for "Eclipse Cygwin" -
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there is a lot of help on the internet).
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Native Build
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------------
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Here are a few tips before you start that effort:
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1) Select the toolchain that you will be using in your .config file
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2) Start the NuttX build at least one time from the Cygwin command line
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before trying to create your project. This is necessary to create
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certain auto-generated files and directories that will be needed.
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3) Set up include pathes: You will need include/, arch/arm/src/k40,
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arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
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4) All assembly files need to have the definition option -D __ASSEMBLY__
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on the command line.
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Startup files will probably cause you some headaches. The NuttX startup file
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is arch/arm/src/kinetis/k40_vectors.S.
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NuttX buildroot Toolchain
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=========================
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A GNU GCC-based toolchain is assumed. The files */setenv.sh should
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be modified to point to the correct path to the Cortex-M4 GCC toolchain (if
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different from the default in your PATH variable).
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If you have no Cortex-M4 toolchain, one can be downloaded from the NuttX
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SourceForge download site (https://sourceforge.net/project/showfiles.php?group_id=189573).
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This GNU toolchain builds and executes in the Linux or Cygwin environment.
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NOTE: The NuttX toolchain is an OABI toolchain (vs. the more common EABI)
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and does not include optimizations for Cortex-M4 (ARMv7E-M).
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1. You must have already configured Nuttx in <some-dir>/nuttx.
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cd tools
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./configure.sh kwikstik-k40/<sub-dir>
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2. Download the latest buildroot package into <some-dir>
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3. unpack the buildroot tarball. The resulting directory may
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have versioning information on it like buildroot-x.y.z. If so,
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rename <some-dir>/buildroot-x.y.z to <some-dir>/buildroot.
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4. cd <some-dir>/buildroot
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5. cp configs/cortexm3-defconfig-4.3.3 .config
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6. make oldconfig
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7. make
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8. Edit setenv.h, if necessary, so that the PATH variable includes
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the path to the newly built binaries.
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See the file configs/README.txt in the buildroot source tree. That has more
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detailed PLUS some special instructions that you will need to follow if you are
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building a Cortex-M4 toolchain for Cygwin under Windows.
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KwikStik-K40-specific Configuration Options
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============================================
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CONFIG_ARCH - Identifies the arch/ subdirectory. This sould
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be set to:
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CONFIG_ARCH=arm
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CONFIG_ARCH_family - For use in C code:
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CONFIG_ARCH_ARM=y
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CONFIG_ARCH_architecture - For use in C code:
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CONFIG_ARCH_CORTEXM4=y
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CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
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CONFIG_ARCH_CHIP=k40
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CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
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chip:
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CONFIG_ARCH_CHIP_MK40X256VLQ100
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CONFIG_ARCH_BOARD - Identifies the configs subdirectory and
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hence, the board that supports the particular chip or SoC.
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CONFIG_ARCH_BOARD=kwikstik-k40 (for the KwikStik-K40 development board)
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_KWIKSTIK_K40=y
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CONFIG_ARCH_LOOPSPERMSEC - Must be calibrated for correct operation
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of delay loops
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CONFIG_ENDIAN_BIG - define if big endian (default is little
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endian)
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CONFIG_DRAM_SIZE - Describes the installed DRAM (SRAM in this case):
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CONFIG_DRAM_SIZE=0x00010000 (64Kb)
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CONFIG_DRAM_START - The start address of installed DRAM
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CONFIG_DRAM_START=0x20000000
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CONFIG_DRAM_END - Last address+1 of installed RAM
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CONFIG_DRAM_END=(CONFIG_DRAM_START+CONFIG_DRAM_SIZE)
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CONFIG_ARCH_IRQPRIO - The Kinetis K40 supports interrupt prioritization
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CONFIG_ARCH_IRQPRIO=y
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CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to boards that
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have LEDs
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CONFIG_ARCH_INTERRUPTSTACK - This architecture supports an interrupt
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stack. If defined, this symbol is the size of the interrupt
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stack in bytes. If not defined, the user task stacks will be
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used during interrupt handling.
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CONFIG_ARCH_STACKDUMP - Do stack dumps after assertions
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CONFIG_ARCH_LEDS - Use LEDs to show state. Unique to board architecture.
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CONFIG_ARCH_CALIBRATION - Enables some build in instrumentation that
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cause a 100 second delay during boot-up. This 100 second delay
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serves no purpose other than it allows you to calibratre
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CONFIG_ARCH_LOOPSPERMSEC. You simply use a stop watch to measure
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the 100 second delay then adjust CONFIG_ARCH_LOOPSPERMSEC until
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the delay actually is 100 seconds.
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Individual subsystems can be enabled:
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CONFIG_KINETIS_TRACE -- Enable trace clocking on power up.
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CONFIG_KINETIS_FLEXBUS -- Enable flexbus clocking on power up.
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CONFIG_KINETIS_UART0 -- Support UART0
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CONFIG_KINETIS_UART1 -- Support UART1
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CONFIG_KINETIS_UART2 -- Support UART2
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CONFIG_KINETIS_UART3 -- Support UART3
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CONFIG_KINETIS_UART4 -- Support UART4
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CONFIG_KINETIS_UART5 -- Support UART5
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CONFIG_KINETIS_ENET -- Support Ethernet (K60 only)
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CONFIG_KINETIS_RNGB -- Support the random number generator(K60 only)
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CONFIG_KINETIS_FLEXCAN0 -- Support FlexCAN0
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CONFIG_KINETIS_FLEXCAN1 -- Support FlexCAN1
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CONFIG_KINETIS_SPI0 -- Support SPI0
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CONFIG_KINETIS_SPI1 -- Support SPI1
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CONFIG_KINETIS_SPI2 -- Support SPI2
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CONFIG_KINETIS_I2C0 -- Support I2C0
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CONFIG_KINETIS_I2C1 -- Support I2C1
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CONFIG_KINETIS_I2S -- Support I2S
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CONFIG_KINETIS_DAC0 -- Support DAC0
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CONFIG_KINETIS_DAC1 -- Support DAC1
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CONFIG_KINETIS_ADC0 -- Support ADC0
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CONFIG_KINETIS_ADC1 -- Support ADC1
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CONFIG_KINETIS_CMP -- Support CMP
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CONFIG_KINETIS_VREF -- Support VREF
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CONFIG_KINETIS_SDHC -- Support SD host controller
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CONFIG_KINETIS_FTM0 -- Support FlexTimer 0
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CONFIG_KINETIS_FTM1 -- Support FlexTimer 1
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CONFIG_KINETIS_FTM2 -- Support FlexTimer 2
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CONFIG_KINETIS_LPTIMER -- Support the low power timer
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CONFIG_KINETIS_RTC -- Support RTC
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CONFIG_KINETIS_SLCD -- Support the segment LCD (K40 only)
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CONFIG_KINETIS_EWM -- Support the external watchdog
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CONFIG_KINETIS_CMT -- Support Carrier Modulator Transmitter
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CONFIG_KINETIS_USBOTG -- Support USB OTG (see also CONFIG_USBHOST and CONFIG_USBDEV)
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CONFIG_KINETIS_USBDCD -- Support the USB Device Charger Detection module
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CONFIG_KINETIS_LLWU -- Support the Low Leakage Wake-Up Unit
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CONFIG_KINETIS_TSI -- Support the touch screeen interface
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CONFIG_KINETIS_FTFL -- Support FLASH
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CONFIG_KINETIS_DMA -- Support DMA
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CONFIG_KINETIS_CRC -- Support CRC
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CONFIG_KINETIS_PDB -- Support the Programmable Delay Block
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CONFIG_KINETIS_PIT -- Support Programmable Interval Timers
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CONFIG_ARMV7M_MPU -- Support the MPU
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Kinetis interrupt priorities (Default is the mid priority)
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CONFIG_KINETIS_UART0PRIO
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CONFIG_KINETIS_UART1PRIO
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CONFIG_KINETIS_UART2PRIO
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CONFIG_KINETIS_UART3PRIO
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CONFIG_KINETIS_UART4PRIO
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CONFIG_KINETIS_UART5PRIO
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CONFIG_KINETIS_SDHC_PRIO
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PIN Interrupt Support
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CONFIG_GPIO_IRQ -- Enable pin interrtup support. Also needs
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one or more of the following:
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CONFIG_KINETIS_PORTAINTS -- Support 32 Port A interrupts
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CONFIG_KINETIS_PORTBINTS -- Support 32 Port B interrupts
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CONFIG_KINETIS_PORTCINTS -- Support 32 Port C interrupts
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CONFIG_KINETIS_PORTDINTS -- Support 32 Port D interrupts
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CONFIG_KINETIS_PORTEINTS -- Support 32 Port E interrupts
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Kinetis K40 specific device driver settings
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CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn (n=0..5) for the
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console and ttys0 (default is the UART0).
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CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received.
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This specific the size of the receive buffer
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CONFIG_UARTn_TXBUFSIZE - Characters are buffered before
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being sent. This specific the size of the transmit buffer
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CONFIG_UARTn_BAUD - The configure BAUD of the UART.
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CONFIG_UARTn_BITS - The number of bits. Must be either 8 or 8.
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CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
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KwikStik-K40 LCD Hardware Configuration
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CONFIG_LCD_LANDSCAPE - Define for 320x240 display "landscape"
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support. Default is this 320x240 "landscape" orientation
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(this setting is informative only... not used).
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CONFIG_LCD_PORTRAIT - Define for 240x320 display "portrait"
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orientation support. In this orientation, the KwikStik-K40's
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LCD ribbon cable is at the bottom of the display. Default is
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320x240 "landscape" orientation.
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CONFIG_LCD_RPORTRAIT - Define for 240x320 display "reverse
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portrait" orientation support. In this orientation, the
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KwikStik-K40's LCD ribbon cable is at the top of the display.
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Default is 320x240 "landscape" orientation.
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CONFIG_LCD_BACKLIGHT - Define to support an adjustable backlight
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using timer 1. The granularity of the settings is determined
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by CONFIG_LCD_MAXPOWER. Requires CONFIG_KINETIS_TIM1.
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Configurations
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==============
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Each KwikStik-K40 configuration is maintained in a sudirectory and
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can be selected as follow:
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cd tools
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./configure.sh kwikstik-k40/<subdir>
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cd -
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. ./setenv.sh
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Where <subdir> is one of the following:
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ostest:
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|
------
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This configuration directory, performs a simple OS test using
|
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examples/ostest. By default, this project assumes that you are
|
|
using the DFU bootloader.
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CONFIG_KINETIS_BUILDROOT=y : NuttX buildroot under Linux or Cygwin
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