503 lines
16 KiB
Plaintext
503 lines
16 KiB
Plaintext
README
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^^^^^
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This is the README file for the port of NuttX to the Amber Web Server from
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SoC Robotics (http://www.soc-robotics.com/index.htm). The
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Amber Web Server is based on an Atmel ATMega128. As of this writing,
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documentation for the Amber Web Server board is available here:
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http://www.soc-robotics.com/product/Amber_Specs/Amber_Processor.html
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and
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http://www.soc-robotics.com/pdfs/Amber%201-5a%20Hardware%20Reference%20Guide.pdf
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Contents
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^^^^^^^^
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o Amber Web Server Features
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o Pin Connections
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o Atmel AVRISP mkII Connection
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o Toolchains
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o Windows Native Toolchains
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o NuttX buildroot Toolchain
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o avr-libc
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o Amber Web Server Configuration Options
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o Configurations
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Amber Web Server Features
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^^^^^^^^^^^^^^^^^^^^^^^^^
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o 17.56MHz ATmega128 Atmel 8bit AVR RISC Processor
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o 128Kbyte Flash
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o 64Kbyte RAM
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o 10BaseT Ethernet Port
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o High Speed Serial Port
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o 8Ch 10bit Analog Input port
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o 16 Digital IO ports
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o Expansion bus for daughter cards
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o LED status indicators
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o ISP Programming port
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o 7-14VDC input
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o Power via Ethernet port
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Pin Connections (PCB Rev 1.5a)
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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-------------------- -----------------------------
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ATMega128 Pinout Amber board connection
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-------------------- -----------------------------
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(left)
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1 PEN Pulled-up
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2 PE0 (RXD0/PDI) MAX202ECWED T1IN or J7-1, ISP-PDI (via 74HC5053), J5-26
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3 PE1 (TXD0/PDO) MAX202ECWED A1OUT or J7-9, ISP-PDO (via 74HC5053), J5-25
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4 PE2 (XCK0/AIN0) MAX202ECWED T2IN, J5-24
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5 PE3 (OC3A/AIN1) MAX202ECWED A2OUT, J5-23
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6 PE4 (OC3B/INT4) J5-22
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7 PE5 (OC3C/INT5) J5-21, RTL8019AS INT 0, TP5 PE5
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8 PE6 (T3/INT6) J5-20
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9 PE7 (ICP3/INT7) J5-19
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10 PB0 (SS) Pull up of SS SPI master
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11 PB1 (SCK) J7-7, ISP_SCK (via 74HC4053) and AT45D011 SCK, J5-17
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12 PB2 (MOSI) AT45D011 SI. J5-16
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13 PB3 (MISO) AT45D011 SO, J5-15
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14 PB4 (OC0) AT45D011 CS\, J5-14
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15 PB5 (OC1A) J5-13
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16 PB6 (OC1B) J5-12
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(bottom)
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17 PB7 (OC2/OC1C) J5-11
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18 PG3/TOSC2 32.768KHz XTAL
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19 PG4/TOSC1 32.768KHz XTAL
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20 RESET RESET
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21 VCC
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22 GND GND
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23 XTAL2 14.7456MHz XTAL
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24 XTAL1 14.7456MHz XTAL
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25 PD0 (SCL/INT0) J5-10
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26 PD1 (SDA/INT1) J5-9
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27 PD2 (RXD1/INT2) J5-8, MAX488CSA RO (RS-485)
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28 PD3 (TXD1/INT3) J5-7, MAX488CSA DI (RS-485)
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29 PD4 (ICP1) J5-6
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30 PD5 (XCK1) J5-5
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31 PD6 (T1) J5-4
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32 PD7 (T2) J5-3
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(left)
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48 PA3 (AD3) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
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47 PA4 (AD4) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
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46 PA5 (AD5) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
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45 PA6 (AD6) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
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44 PA7 (AD7) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
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43 PG2 (ALE) J5-1, 74HC5730, 62246DLP-7, RTL8019AS
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42 PC7 (A15) TP4 A15, J5-27, 74HC5730
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41 PC6 (A14) J5-28, 74HC5730, 62246DLP-7, RTL8019AS
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40 PC5 (A13) J5-29, 74HC5730, 62246DLP-7, RTL8019AS
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39 PC4 (A12) J5-30, 74HC5730, 62246DLP-7, RTL8019AS
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38 PC3 (A11) J5-31, 74HC5730, 62246DLP-7, RTL8019AS
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37 PC2 (A10) J5-32, 74HC5730, 62246DLP-7, RTL8019AS
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36 PC1 (A9) J5-33, 74HC5730, 62246DLP-7, RTL8019AS
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35 PC0 (A8) J5-34, 74HC5730, 62246DLP-7, RTL8019AS
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34 PG1 (RD) TP2 RD\, J5-52, 62246DLP-7, RTL8019AS
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33 PG0 (WR) TP3 WR\, J5-51, 62246DLP-7, RTL8019AS
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(top)
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64 AVCC
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63 GND GND
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62 AREF (analog supply)
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61 PF0 (ADC0) J6-5, PDV-P9 Light Sensor
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60 PF1 (ADC1) J6-7, Thermister
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59 PF2 (ADC2) J6-9, MXA2500GL Dual Axis Accesserometer, AOUTX
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58 PF3 (ADC3) J6-11, MXA2500GL Dual Axis Accesserometer, AOUTY
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57 PF4 (ADC4/TCK) J6-13, MXA2500GL Dual Axis Accesserometer, TOUT
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56 PF5 (ADC5/TMS) J6-15
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55 PF6 (ADC6/TDO) J6-17
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54 PF7 (ADC7/TDI) J6-19
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53 GND GND
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52 VCC
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51 PA0 (AD0) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
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50 PA1 (AD1) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
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49 PA2 (AD2) J5-?, 74HC5730, 62246DLP-7, RTL8019AS
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Switches and Jumpers
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^^^^^^^^^^^^^^^^^^^^
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ISP/UART0
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JP1 - DTE/DCE selection
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JP2 -
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JP5 -
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J11 - STK500 Enable
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ADC
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JP8 -
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JP9 -
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Networking
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JP10 -
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RS-485
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J8 -
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J9 -
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J10 -
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Atmel AVRISP mkII Connection
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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ISP6PIN Header
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--------------
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1 2
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MISO o o VCC
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SCK o o MOSI
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RESET\ o o GND
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(ISP10PIN Connector)
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------------------- -------------------------
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1 2
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MOSI o o Vcc - ISP-PDI: PE0/PDI/RX0 via 74HC5053
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LED o o GND - ISP-PROG: J11/GND, to 74HC5053 and LED
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RESET\ o o GND - to 74HC505
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SCK o o GND - ISP_SCK: SCK, PB0/SS\
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MISO o o GND - ISP-PDO: PE1/PD0/TX0 via 74HC5053
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Board Orientation
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| +-----+
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| + O O |
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| + O O |
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| + O O
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| + O O |
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| + O x | PIN 1
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| +-----+
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AVRISP mkII Connection to 10-pin Header
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-------------------------------------------
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10PIN Header 6PIN Header
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--------------------- ---------------------
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Pin 1 MOSI Pin 4 MOSI
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Pin 2 Vcc Pin 2 Vcc
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Pin 3 LED Controlled via J11
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Pin 4 GND Pin 6 GND
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Pin 5 RESET\ Pin 5 RESET\
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Pin 6 GND N/C
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Pin 7 SCK Pin 3 SCK
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Pin 8 GND N/C
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Pin 9 MISO Pin 1 MISO
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Pin 10 GND N/C
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Toolchains
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^^^^^^^^^^
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Buildroot:
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There is a DIY buildroot version for the AVR boards here:
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http://sourceforge.net/projects/nuttx/files/buildroot/. See the
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following section for details on building this toolchain.
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It is assumed in some places that buildroot toolchain is available
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at ../misc/buildroot/build_avr. Edit the setenv.sh file if
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this is not the case.
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After configuring NuttX, make sure that CONFIG_AVR_BUILDROOT=y is set in your
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.config file.
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WinAVR:
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For Cygwin development environment on Windows machines, you can use
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WinAVR: http://sourceforge.net/projects/winavr/files/
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It is assumed in some places that WinAVR is installed at C:/WinAVR. Edit the
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setenv.sh file if this is not the case.
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After configuring NuttX, make sure that CONFIG_AVR_WINAVR=y is set in your
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.config file.
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WARNING: There is an incompatible version of cygwin.dll in the WinAVR/bin
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directory! Make sure that the path to the correct cygwin.dll file precedes
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the path to the WinAVR binaries!
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Linux:
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For Linux, there are widely available avr-gcc packages. On Ubuntu, use:
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sudo apt-get install gcc-avr gdb-avr avr-libc
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After configuring NuttX, make sure that CONFIG_AVR_LINUXGCC=y is set in your
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.config file.
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Windows Native Toolchains
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^^^^^^^^^^^^^^^^^^^^^^^^^
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The WinAVR toolchain is a Windows native toolchain. There are several
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limitations to using a Windows native toolchain in a Cygwin environment.
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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'
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utility but you might easily find some new path problems. If so, check
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out 'cygpath -w'
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2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic
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links are used in Nuttx (e.g., include/arch). The make system works
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around these problems for the Windows tools by copying directories
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instead of linking them. But this can also cause some confusion for
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you: For example, you may edit a file in a "linked" directory and find
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that your changes had no effect. That is because you are building the
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copy of the file in the "fake" symbolic directory. If you use a
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Windows toolchain, you should get in the habit of 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
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is because the dependencies are generated using Windows pathes which do
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not work with the Cygwin make.
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Support has been added for making dependencies with the windows-native
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toolchains. That support can be enabled by modifying your Make.defs
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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
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not building on C:), then you may need to modify tools/mkdeps.sh
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An additional issue with the WinAVR toolchain, in particular, is that it
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contains an incompatible version of the Cygwin DLL in its bin/ directory.
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You must take care that the correct Cygwin DLL is used.
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NuttX buildroot Toolchain
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^^^^^^^^^^^^^^^^^^^^^^^^^
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If NuttX buildroot toolchain source tarball cne can be downloaded from the
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NuttX SourceForge download site (https://sourceforge.net/projects/nuttx/files/).
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This GNU toolchain builds and executes in the Linux or Cygwin environment.
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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 amber/<sub-dir>
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NOTE: you also must copy avr-libc header files into the NuttX include
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directory with command perhaps like:
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cp -a /cygdrive/c/WinAVR/include/avr include/.
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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/avr-defconfig-4.5.2 .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
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are building a toolchain for Cygwin under Windows.
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avr-libc
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^^^^^^^^
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Header Files
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In any case, header files from avr-libc are required: http://www.nongnu.org/avr-libc/.
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A snapshot of avr-lib is included in the WinAVR installation. For Linux
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development platforms, avr-libc package is readily available (and would
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be installed in the apt-get command shown above). But if you are using
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the NuttX buildroot configuration on Cygwin, then you will have to build
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get avr-libc from binaries.
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Header File Installation
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The NuttX build will required that the AVR header files be available via
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the NuttX include directory. This can be accomplished by either copying
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the avr-libc header files into the NuttX include directory:
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cp -a <avr-libc-path>/include/avr <nuttx-path>/include/.
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Or simply using a symbolic link:
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ln -s <avr-libc-path>/include/avr <nuttx-path>/include/.
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Build Notes:
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It may not necessary to have a built version of avr-lib; only header files
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are required. Bu if you choose to use the optimized libraru functions of
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the flowing point library, then you may have to build avr-lib from sources.
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Below are instructions for building avr-lib from fresh sources:
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1. Download the avr-libc package from:
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http://savannah.nongnu.org/projects/avr-libc/
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I am using avr-lib-1.7.1.tar.bz2
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2. Upack the tarball and cd into the
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tar jxf avr-lib-1.7.1.tar.bz2
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cd avr-lib-1.7.1
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3. Configure avr-lib. Assuming that WinAVR is installed at the following
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loction:
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export PATH=/cygdrive/c/WinAVR/bin:$PATH
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./configure --build=`./config.guess` --host=avr
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This takes a *long* time.
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4. Make avr-lib.
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make
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This also takes a long time because it generates variants for nearly
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all AVR chips.
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5. Install avr-lib.
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make install
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Amber Web Server Configuration Options
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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CONFIG_ARCH - Identifies the arch/ subdirectory. This should
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be set to:
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CONFIG_ARCH=avr
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CONFIG_ARCH_family - For use in C code:
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CONFIG_ARCH_AVR=y
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CONFIG_ARCH_architecture - For use in C code:
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CONFIG_ARCH_ATMEGA=y
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CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
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CONFIG_ARCH_CHIP=atmega
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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_ATMEGA128=y
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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=amber
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CONFIG_ARCH_BOARD_name - For use in C code
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CONFIG_ARCH_BOARD_AMBER=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. One of:
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CONFIG_DRAM_SIZE=(8*1024) - (8Kb)
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CONFIG_DRAM_START - The start address of installed SRAM
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CONFIG_DRAM_START=0x800100
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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_AVR_INT0=n
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CONFIG_AVR_INT1=n
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CONFIG_AVR_INT2=n
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CONFIG_AVR_INT3=n
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CONFIG_AVR_INT4=n
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CONFIG_AVR_INT5=n
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CONFIG_AVR_INT6=n
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CONFIG_AVR_INT7=n
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CONFIG_AVR_WDT=n
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CONFIG_AVR_TIMER0=n
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CONFIG_AVR_TIMER1=n
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CONFIG_AVR_TIMER2=n
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CONFIG_AVR_TIMER3=n
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CONFIG_AVR_SPI=n
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CONFIG_AVR_USART0=y
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CONFIG_AVR_USART1=n
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CONFIG_AVR_ADC=n
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CONFIG_AVR_ANACOMP=n
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CONFIG_AVR_TWI=n
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If the watchdog is enabled, this specifies the initial timeout. Default
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is maximum supported value.
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CONFIG_WDTO_15MS
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CONFIG_WDTO_30MS
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CONFIG_WDTO_60MS
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CONFIG_WDTO_120MS
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CONFIG_WDTO_1250MS
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CONFIG_WDTO_500MS
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CONFIG_WDTO_1S
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CONFIG_WDTO_2S
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CONFIG_WDTO_4S
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CONFIG_WDTO_8S
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ATMEGA specific device driver settings
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CONFIG_USARTn_SERIAL_CONSOLE - selects the USARTn for the
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console and ttys0 (default is the USART0).
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CONFIG_USARTn_RXBUFSIZE - Characters are buffered as received.
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This specific the size of the receive buffer
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CONFIG_USARTn_TXBUFSIZE - Characters are buffered before
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being sent. This specific the size of the transmit buffer
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CONFIG_USARTn_BAUD - The configure BAUD of the USART. Must be
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CONFIG_USARTn_BITS - The number of bits. Must be either 7 or 8.
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CONFIG_USARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
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CONFIG_USARTn_2STOP - Two stop bits
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Configurations
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^^^^^^^^^^^^^^
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Each Amber Web Server configuration is maintained in a sudirectory and can
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be selected as follow:
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cd tools
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./configure.sh amber/<subdir>
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cd -
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. ./setenv.sh
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NOTE: You must also copy avr-libc header files, perhaps like:
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cp -a /cygdrive/c/WinAVR/include/avr include/.
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Where <subdir> is one of the following:
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hello:
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The simple apps/examples/hello "Hello, World!" example.
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