README
This README file describes the port of NuttX to the SAMA5D3x-EK development boards. These boards feature the Atmel SAMA5D3 microprocessors. Four different SAMA5D3x-EK kits are available
- SAMA5D31-EK with the ATSAMA5D31 (http://www.atmel.com/devices/sama5d31.aspx)
- SAMA5D33-EK with the ATSAMA5D33 (http://www.atmel.com/devices/sama5d33.aspx)
- SAMA5D34-EK with the ATSAMA5D34 (http://www.atmel.com/devices/sama5d34.aspx)
- SAMA5D35-EK with the ATSAMA5D35 (http://www.atmel.com/devices/sama5d35.aspx)
The each consist of an identical base board with different plug-in modules for each CPU. I also have a 5 inch LCD for my SAMA5D3x-EK, Atmel 5.0_WVGA_R_AEA_DM, Rev. B, but this LCD is not yet generally available as of this writing.
I have seen SAMA5D3x-EK boards with different LCDs attached. One of the more common LCDS is the 7 inch TM0000 TFT LCD controller with MaXTouch multi-touch, capacitive touchscreen (http://www.pdaatl.com/doc/tm7000.pdf). That is NOT the LCD supported by this configuration; the LCD used here is smaller and has a resistive touchscreen that interfaces via the SAMA5D3 ADC interface. Refer to the SAMA5D4-EK for TM0000 support that can be back-ported to the SAMA5D3x-EK.
SAMA5D3 Family
ATSAMA5D31 ATSAMA5D33 ATSAMA5D34 ATSAMA5D35
------------------------- ------------- ------------- ------------- -------------
Pin Count 324 324 324 324
Max. Operating Frequency 536 536 536 536
CPU Cortex-A5 Cortex-A5 Cortex-A5 Cortex-A5
Max I/O Pins 160 160 160 160
Ext Interrupts 160 160 160 160
USB Transceiver 3 3 3 3
USB Speed Hi-Speed Hi-Speed Hi-Speed Hi-Speed
USB Interface Host, Device Host, Device Host, Device Host, Device
SPI 6 6 6 6
TWI (I2C) 3 3 3 3
UART 7 5 5 7
CAN - - 2 2
LIN 4 4 4 4
SSC 2 2 2 2
Ethernet 1 1 1 2
SD / eMMC 3 2 3 3
Graphic LCD Yes Yes Yes -
Camera Interface Yes Yes Yes Yes
ADC channels 12 12 12 12
ADC Resolution (bits) 12 12 12 12
ADC Speed (ksps) 440 440 440 440
Resistive Touch Screen Yes Yes Yes Yes
Crypto Engine AES/DES/ AES/DES/ AES/DES/ AES/DES/
SHA/TRNG SHA/TRNG SHA/TRNG SHA/TRNG
SRAM (Kbytes) 128 128 128 128
External Bus Interface 1 1 1 1
DRAM Memory DDR2/LPDDR, DDR2/LPDDR, DDR2/LPDDR, DDR2/LPDDR,
SDRAM/LPSDR SDRAM/LPSDR DDR2/LPDDR, DDR2/LPDDR,
NAND Interface Yes Yes Yes Yes
Temp. Range (deg C) -40 to 85 -40 to 85 -40 to 85 -40 to 85
I/O Supply Class 1.8/3.3 1.8/3.3 1.8/3.3 1.8/3.3
Operating Voltage (Vcc) 1.08 to 1.32 1.08 to 1.32 1.08 to 1.32 1.08 to 1.32
FPU Yes Yes Yes Yes
MPU / MMU No/Yes No/Yes No/Yes No/Yes
Timers 5 5 5 6
Output Compare channels 6 6 6 6
Input Capture Channels 6 6 6 6
PWM Channels 4 4 4 4
32kHz RTC Yes Yes Yes Yes
Packages LFBGA324_A LFBGA324_A LFBGA324_A LFBGA324_A
Contents
- Development Environment
- GNU Toolchain Options
- IDEs
- NuttX EABI "buildroot" Toolchain
- NXFLAT Toolchain
- Loading Code into SRAM with J-Link
- Writing to FLASH using SAM-BA
- Creating and Using NORBOOT
- Running NuttX from SDRAM
- Buttons and LEDs
- Serial Consoles
- Networking
- AT25 Serial FLASH
- HSMCI Card Slots
- Auto-Mounter
- USB Ports
- USB High-Speed Device
- USB High-Speed Host
- SDRAM Support
- NAND Support
- AT24 Serial EEPROM
- I2C Tool
- CAN Usage
- SAMA5 ADC Support
- SAMA5 PWM Support
- RTC
- Watchdog Timer
- TRNG and /dev/random
- Touchscreen Testing
- Tickless OS
- OV2640 Camera Interface
- I2S Audio Support
- SAMA5D3x-EK Configuration Options
- Configurations
- To-Do List
Development Environment
Several possible development environments may be used:
- Linux or macOS native
- Cygwin unders Windows
- MinGW + MSYS under Windows
- Windows native (with GNUMake from GNUWin32).
All testing has been performed using Cygwin under Windows.
The source has been built only using the GNU toolchain (see below). Other toolchains will likely cause problems.
GNU Toolchain Options
The NuttX make system will support the several different toolchain options.
All testing has been conducted using the CodeSourcery GCC toolchain. To use a different toolchain, you simply need to add change to one of the following configuration options to your .config (or defconfig) file:
CONFIG_ARM_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default)
CONFIG_ARM_TOOLCHAIN_GNU_EABI=y : Generic GCC ARM EABI toolchain
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.
Makefile Build
Under Eclipse, it is pretty easy to set up an "empty makefile project" and simply use the NuttX makefile to build the system. That is almost for free under Linux. Under Windows, you will need to set up the "Cygwin GCC" empty makefile project in order to work with Windows (Google for "Eclipse Cygwin" - there is a lot of help on the internet).
Native Build
Here are a few tips before you start that effort:
- Select the toolchain that you will be using in your .config file
- 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.
- Set up include paths: You will need include/, arch/arm/src/sam34, arch/arm/src/common, arch/arm/src/armv7-m, and sched/.
- 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/sam34/sam_vectors.S. You may need to build NuttX one time from the Cygwin command line in order to obtain the pre-built startup object needed by an IDE.
NuttX EABI "buildroot" Toolchain
A GNU GCC-based toolchain is assumed. The PATH environment variable 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 Bitbucket download site (https://bitbucket.org/nuttx/buildroot/downloads/). This GNU toolchain builds and executes in the Linux or Cygwin environment.
You must have already configured NuttX in
<some-dir>/nuttx.tools/configure.sh sama5d3x-ek:
<sub-dir>Download the latest buildroot package into
<some-dir>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.cd
<some-dir>/buildrootCopy the configuration file from the boards/ sub-directory to the top-level build directory:
cp boards/cortexa8-eabi-defconfig-4.8.2 .config
6a. You may wish to modify the configuration before you build it. For example, it is recommended that you build the kconfig-frontends tools, generomfs, and the NXFLAT tools as well. You may also want to change the selected toolchain. These reconfigurations can all be done with
make menuconfig
6b. If you chose to make the configuration with no changes, then you should still do the following to make certain that the build configuration is up-to-date:
make oldconfig
make
Make sure that the PATH variable includes the path to the newly built binaries.
See the file boards/README.txt in the buildroot source tree. That has more details PLUS some special instructions that you will need to follow if you are building a Cortex-M3 toolchain for Cygwin under Windows.
NXFLAT Toolchain
If you are not using the NuttX buildroot toolchain and you want to use the NXFLAT tools, then you will still have to build a portion of the buildroot tools -- just the NXFLAT tools. The buildroot with the NXFLAT tools can be downloaded from the NuttX Bitbucket download site (https://bitbucket.org/nuttx/nuttx/downloads/).
This GNU toolchain builds and executes in the Linux or Cygwin environment.
You must have already configured NuttX in
<some-dir>/nuttx.tools/configure.sh sama5d3x-ek:
<sub-dir>Download the latest buildroot package into
<some-dir>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.cd
<some-dir>/buildrootcp boards/cortexm3-defconfig-nxflat .config
make oldconfig
make
Make sure that the PATH variable includes the path to the newly built NXFLAT binaries.
NOTE: There are some known incompatibilities with 4.6.3 EABI toolchain and the NXFLAT tools. See the top-level TODO file (under "Binary loaders") for more information about this problem. If you plan to use NXFLAT, please do not use the GCC 4.6.3 EABI toochain.
Loading Code into SRAM with J-Link
Loading code with the Segger tools and GDB
1) Change directories into the directory where you built NuttX.
2) Start the GDB server and wait until it is ready to accept GDB
connections.
3) Then run GDB like this:
$ arm-none-eabi-gdb
(gdb) target remote localhost:2331
(gdb) mon reset
(gdb) load nuttx
(gdb) ... start debugging ...
Loading code using J-Link Commander ----------------------------------
J-Link> r
J-Link> loadbin <file> <address>
J-Link> setpc <address of __start>
J-Link> ... start debugging ...
Writing to FLASH using SAM-BA
Assumed starting configuration:
1. You have installed the J-Link CDC USB driver (Windows only, there is
no need to install a driver on any regular Linux distribution),
2. You have the USB connected to DBGU port (J14)
3. Terminal configuration: 115200 8N1
Using SAM-BA to write to FLASH:
1. Exit the terminal emulation program and remove the USB cable from
the DBGU port (J14)
2. Connect the USB cable to the device USB port (J20)
3. JP9 must open (BMS == 1) to boot from on-chip Boot ROM.
4. Press and maintain PB4 CS_BOOT button and power up the board. PB4
CS_BOOT button prevents booting from Nand or serial Flash by
disabling Flash Chip Selects after having powered the board, you can
release the PB4 BS_BOOT button.
5. On Windows you may need to wait for a device driver to be installed.
6. Start the SAM-BA application, selecting (1) the correct USB serial
port, and (2) board = at91sama5d3x-ek.
7. The SAM-BA menu should appear.
8. Select the FLASH bank that you want to use and the address to write
to and "Execute"
9. When you are finished writing to FLASH, remove the USB cable from J20
and re-connect the serial link on USB CDC / DBGU connector (J14) and
re-open the terminal emulator program.
10. If you loaded code in NOR flash (CS0), then you will need to close
JP9 (BMS == 0) to force booting out of NOR flash (see NOTE).
11. Power cycle the board.
NOTES: By closing JP9 (BMS == 0), you can force the board to boot directly to NOR FLASH. Executing from other memories will require that 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
Install and build the norboot configuration. This steps will establish the norboot configuration and setup the PATH variable in order to do the build:
tools/configure.sh sama5d3x-ek:
<subdir>Before building, make sure the PATH environment variable includes the correct path to the directory than holds your toolchain binaries.
NOTE: Be aware that the default norboot also disables the watchdog. Since you will not be able to re-enable the watchdog later, you may need to set CONFIG_SAMA5_WDT=y in the NuttX configuration file.
Then make norboot:
make
This will result in an ELF binary called 'nuttx' and also HEX and binary versions called 'nuttx.hex' and 'nuttx.bin'.
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
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 tools/configure.sh sama5d3x-ek/nsh # Establish the NSH configuration make # Build the NSH configurationThen 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.
Restart the system without holding CS_BOOT to get back to the normal debug setup.
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 without requiring the final halt and go by setting CONFIG_SAMA5D3XEK_NOR_START=y in the NuttX configuration. However, since I have been debugging the early boot sequence, the above sequence has been most convenient for me since it allows me to step into the program in NOR.
An option is to use the SAM-BA tool to write the NORBOOT image into Serial FLASH. Then, the system will boot from Serial FLASH by copying the NORBOOT image in SRAM which will run and then start the image in NOR FLASH automatically. This is a very convenient usage!
NOTES: (1) There is jumper on the CM module that must be closed to enable use of the AT25 Serial Flash. (2) If using SAM-BA, make sure that you load the NOR boot program into the boot area via the pull- down menu.
<!-- -->STATUS:
2013-7-30: I have been unable to execute these configurations 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.
Running NuttX from SDRAM
Executing from SDRAM --------------------
NuttX may be executed from SDRAM. But this case means that the NuttX binary must reside on some other media (typically NAND FLASH, Serial FLASH, or, perhaps even a TFTP server). In these cases, an intermediate bootloader such as U-Boot or Barebox must be used to configure the SAMA5D3 clocks and SDRAM and then to copy the NuttX binary into SDRAM.
- NuttX Configuration
- Boot sequence
- NAND FLASH Memory Map
- Programming the AT91Boostrap Binary
- Programming U-Boot
- Load NuttX with U-Boot on AT91 boards
TODO: Some drivers may require some adjustments to run from SDRAM. That is because in this case macros like BOARD_MCK_FREQUENCY are not constants but are instead function calls: The MCK clock frequency is not known in advance but instead has to be calculated from the bootloader PLL configuration. See the TODO list at the end of this file for further information.
Using JTAG ----------
This description assumes that you have a JTAG debugger such as Segger J-Link connected to the SAMA5D3-Xplained.
- Start the GDB server
- Start GDB
- Use the 'target remote localhost:xxxx' command to attach to the GDG server
- Do 'mon reset' then 'mon go' to start the internal boot loader (maybe U-Boot).
- Let the boot loader run until it completes SDRAM initialization, then do 'mon halt'.
- Now you have SDRAM initialized and you use 'load nuttx' to load the ELF file into SDRAM.
- Use 'file nuttx' to load symbols
- Set the PC to the NuttX entry point 'mon pc 0x20008040' and start nuttx using 'mon go'.
NuttX Configuration
In order to run from SDRAM, NuttX must be built at origin 0x20008000 in SDRAM (skipping over SDRAM memory used by the bootloader). The following configuration option is required:
CONFIG_SAMA5_BOOT_SDRAM=y
CONFIG_BOOT_RUNFROMSDRAM=y
These options tell the NuttX code that it will be booting and running from SDRAM. In this case, the start-logic will do to things: (1) it will not configure the SAMA5D3 clocking. Rather, it will use the clock configuration as set up by the bootloader. And (2) it will not attempt to configure the SDRAM. Since NuttX is already running from SDRAM, it must accept the SDRAM configuration as set up by the bootloader.
Boot sequence
Reference: http://www.at91.com/linux4sam/bin/view/Linux4SAM/GettingStarted
Several pieces of software are involved to boot a Nutt5X into SDRAM. First is the primary bootloader in ROM which is in charge to check if a valid application is present on supported media (NOR FLASH, Serial DataFlash, NAND FLASH, SD card).
The boot sequence of linux4SAM is done in several steps :
The ROM bootloader checks if a valid application is present in FLASH and if it is the case downloads it into internal SRAM. This program is usually a second level bootloader called AT91BootStrap.
AT91Bootstrap is the second level bootloader. It is in charge of the hardware configuration. It downloads U-Boot / Barebox binary from FLASH to SDRAM / DDRAM and starts the third level bootloader (U-Boot / Barebox)
<!-- -->(see http://www.at91.com/linux4sam/bin/view/Linux4SAM/AT91Bootstrap).
The third level bootloader is either U-Boot or Barebox. The third level bootloader is in charge of downloading NuttX binary from FLASH, network, SD card, etc. It then starts NuttX.
Then NuttX runs from SDRAM
DRAMBOOT
See also Documentation/platforms/arm/sama5/boards/sama5d4-ek/README.txt for a description of the DRAMBOOT program. This is a tiny version of NuttX that can run out of internal SRAM. If you put this program on the HSMCI1 microSD card as boot.bin, then it will boot on power up and you can download NuttX directly into DRAM by sending the nuttx.hex file over the serial connection.
The Documentation/platforms/arm/sama5/boards/sama5d4-ek/README.txt also describes variants AT25BOOT and SRAMBOOT. This have not been ported to the SAMA5D3x-EK, but are available if they are useful too you.
NAND FLASH Memory Map
Reference: http://www.at91.com/linux4sam/bin/view/Linux4SAM/GettingStarted
0x0000:0000 - 0x0003:ffff: AT91BootStrap 0x0004:0000 - 0x000b:ffff: U-Boot 0x000c:0000 - 0x000f:ffff: U-Boot environment 0x0010:0000 - 0x0017:ffff: U-Boot environment redundant 0x0018:0000 - 0x001f:ffff: Device tree (DTB) 0x0020:0000 - 0x007f:ffff: NuttX 0x0080:0000 - end: Available for use as a NAND file system
Programming the AT91Boostrap Binary
Reference: http://www.at91.com/linux4sam/bin/view/Linux4SAM/AT91Bootstrap
This section describes how to program AT91Bootstrap binary into the boot media with SAM-BA tool using NandFlash as boot media.
Get AT91BootStrap binaries. Build instructions are available here:
http://www.at91.com/linux4sam/bin/view/Linux4SAM/AT91Bootstrap\#Build\_AT91Bootstrap\_from\_sources
A pre-built AT91BootStrap binary is available here:
ftp://www.at91.com/pub/at91bootstrap/AT91Bootstrap3.6.0/sama5d3xek-nandflashboot-uboot-3.6.0.bin
Start the SAM-BA GUI Application:
- Connect the USB Device interface to your host machine using the USB Device Cable.
- Make sure that the chip can execute the SAM-BA Monitor.
- Start SAM-BA GUI application.
- Select the board in the drop-down menu and choose the USB connection.
In the SAM-BA GUI Application:
Choose the "NandFlash" tab in the SAM-BA GUI interface.
Initialize the NandFlash by choosing the "Enable NandFlash" action in the Scripts rolling menu, then press "Execute" button.
Erase the NandFlash device by choosing the "Erase All" action, then press "Execute" button.
Enable the PMECC by choosing the "Enable OS PMECC parameters" action, then press "Execute" button.
PMECC Number of sectors per page: 4 Spare Size: 64 Number of ECC bits required: 4 Size of the ECC sector: 512 ECC offset: 36
- Choose "Send Boot File" action, then press Execute button to select the at91bootstrap binary file and to program the binary to the NandFlash.
- Close SAM-BA, remove the USB Device cable.
Programming U-Boot
Reference http://www.at91.com/linux4sam/bin/view/Linux4SAM/U-Boot
Get U-Boot Binaries. Build instructions are available here:
http://www.at91.com/linux4sam/bin/view/Linux4SAM/U-Boot\#Build\_U\_Boot\_from\_sources
A pre-built binary is available here:
ftp://www.at91.com/pub/uboot/u-boot-v2012.10/u-boot-sama5d3xek\_nandflash\_linux4sam\_4.2.bin
Start the SAM-BA GUI Application:
- Connect the USB Device interface to your host machine using the USB Device Cable.
- Make sure that the chip can execute the SAM-BA Monitor.
- Start SAM-BA GUI application.
- Select the board in the drop-down menu and choose the USB connection.
In the SAM-BA GUI Application:
Choose the NandFlash tab in the SAM-BA GUI interface.
Initialize the NandFlash by choosing the "Enable NandFlash" action in the Scripts rolling menu, then press Execute button.
Enable the PMECC by choosing the "Enable OS PMECC parameters" action, then press Execute button.
PMECC Number of sectors per page: 4 Spare Size: 64 Number of ECC bits required: 4 Size of the ECC sector: 512 ECC offset: 36
Press the "Send File Name" Browse button
Choose u-boot.bin binary file and press Open
Enter the proper address on media in the Address text field: 0x00040000
Press the "Send File" button
Close SAM-BA, remove the USB Device cable.
You should now be able to interrupt with U-Boot via the DBGU interface.
Load NuttX with U-Boot on AT91 boards
Reference http://www.at91.com/linux4sam/bin/view/Linux4SAM/U-Boot
Preparing NuttX image
U-Boot does not support normal binary images. Instead you have to
create an uImage file with the mkimage tool which encapsulates kernel
image with header information, CRC32 checksum, etc.
mkimage comes in source code with U-Boot distribution and it is built
during U-Boot compilation (u-boot-source-dir/tools/mkimage). There
are also sites where you can download pre-built mkimage binaries. For
example: http://www.trimslice.com/wiki/index.php/U-Boot_images
See the U-Boot README file for more information. More information is
also available in the mkimage man page (for example,
http://linux.die.net/man/1/mkimage).
Command to generate an uncompressed uImage file (4) :
mkimage -A arm -O linux -C none -T kernel -a 20008000 -e 20008000 \
-n nuttx -d nuttx.bin uImage
Where:
-A arm: Set architecture to ARM
-O linux: Select operating system. bootm command of u-boot changes
boot method by os type.
-T kernel: Set image type.
-C none: Set compression type.
-a 20008000: Set load address.
-e 20008000: Set entry point.
-n nuttx: Set image name.
-d nuttx.bin: Use image data from nuttx.bin.
This will generate a binary called uImage. If you have the path to
mkimage in your PATH variable, then you can automatically build the
uImage file by adding the following to your .config file:
CONFIG_RAW_BINARY=y
CONFIG_UBOOT_UIMAGE=y
CONFIG_UIMAGE_LOAD_ADDRESS=0x20008000
CONFIG_UIMAGE_ENTRY_POINT=0x20008040
The uImage file can them be loaded into memory from a variety of sources
(serial, SD card, JFFS2 on NAND, TFTP).
STATUS:
2014-4-1: So far, I am unable to get U-Boot to execute the uImage
file. I get the following error messages (in this case
trying to load from an SD card):
U-Boot> fatload mmc 0 0x22000000 uimage
reading uimage
97744 bytes read in 21 ms (4.4 MiB/s)
U-Boot> bootm 0x22000000
## Booting kernel from Legacy Image at 0x22000000 ...
Image Name: nuttx
Image Type: ARM Linux Kernel Image (uncompressed)
Data Size: 97680 Bytes = 95.4 KiB
Load Address: 20008000
Entry Point: 20008040
Verifying Checksum ... OK
XIP Kernel Image ... OK
FDT and ATAGS support not compiled in - hanging
### ERROR ### Please RESET the board ###
This, however, appears to be a usable workaround:
U-Boot> fatload mmc 0 0x20008000 nuttx.bin
mci: setting clock 257812 Hz, block size 512
mci: setting clock 257812 Hz, block size 512
mci: setting clock 257812 Hz, block size 512
gen_atmel_mci: CMDR 00001048 ( 8) ARGR 000001aa (SR: 0c100025) Command Time Out
mci: setting clock 257812 Hz, block size 512
mci: setting clock 22000000 Hz, block size 512
reading nuttx.bin
108076 bytes read in 23 ms (4.5 MiB/s)
U-Boot> go 0x20008040
## Starting application at 0x20008040 ...
NuttShell (NSH) NuttX-7.2
nsh>
Loading through network
On a development system, it is useful to get the kernel and root file
system through the network. U-Boot provides support for loading
binaries from a remote host on the network using the TFTP protocol.
To manage to use TFTP with U-Boot, you will have to configure a TFTP
server on your host machine. Check your distribution manual or Internet
resources to configure a Linux or Windows TFTP server on your host:
- U-Boot documentation on a Linux host:
http://www.denx.de/wiki/view/DULG/SystemSetup#Section_4.6.
- Another TFTP configuration reference:
http://www.linuxhomenetworking.com/wiki/index.php/Quick_HOWTO_:_Ch16_:_Telnet%2C_TFTP%2C_and_xinetd#TFTP
On the U-Boot side, you will have to setup the networking parameters:
1. Setup an Ethernet address (MAC address)
Check this U-Boot network BuildRootFAQ entry to choose a proper MAC
address: http://www.denx.de/wiki/DULG/EthernetDoesNotWork
setenv ethaddr 00:e0:de:ad:be:ef
2. Setup IP parameters:
The board ip address
setenv ipaddr 10.0.0.2
The server ip address where the TFTP server is running
setenv serverip 10.0.0.1
3. saving Environment to flash
saveenv
4. If Ethernet Phy has not been detected during former bootup, reset
the board to reload U-Boot : the Ethernet address and Phy
initialization shall be ok, now
5. Download the NuttX uImage and the root file system to a ram location
using the U-Boot tftp command (Cf. U-Boot script capability chapter).
6. Launch NuttX issuing a bootm or boot command.
If the board has both emac and gmac, you can use following to choose
which one to use:
setenv ethact macb0,gmacb0
setenv ethprime gmacb0
STATUS: 2014-3-30: These instructions were adapted from the Linux4SAM website but have not yet been used.
Buttons and LEDs
Buttons
There are five push button switches on the SAMA5D3X-EK base board:
1. One Reset, board reset (BP1)
2. One Wake up, push button to bring the processor out of low power mode
(BP2)
3. One User momentary Push Button
4. One Disable CS Push Button
Only the momentary push button is controllable by software (labeled "PB_USER1" on the board):
- PE27. Pressing the switch connects PE27 to grounded. Therefore, PE27
must be pulled high internally. When the button is pressed the SAMA5
will sense "0" is on PE27.
LEDs
There are two LEDs on the SAMA5D3 series-CM board that can be controlled by software. A blue LED is controlled via PIO pins. A red LED normally provides an indication that power is supplied to the board but can also be controlled via software.
PE25. This blue LED is pulled high and is illuminated by pulling PE25
low.
PE24. The red LED is also pulled high but is driven by a transistor so
that it is illuminated when power is applied even if PE24 is not
configured as an output. If PE24 is configured as an output, then the
LED is illuminated by a high output.
N.B. PE24 Drives the RED Led on the CM (SODIMM200), but unfortunately
it is also connected to ISI_RST on the MB (Main Board) and controlling
it will reset a Camera connected to the ISI
These LEDs are not used by the board port unless CONFIG_ARCH_LEDS is defined. In that case, the usage by the board port is defined in include/board.h and src/sam_leds.c. The LEDs are used to encode OS-related events as follows when the red LED (PE24) is available:
SYMBOL Meaning LED state
Blue Red
------------------- ----------------------- -------- --------
LED_STARTED NuttX has been started OFF OFF
LED_HEAPALLOCATE Heap has been allocated OFF OFF
LED_IRQSENABLED Interrupts enabled OFF OFF
LED_STACKCREATED Idle stack created ON OFF
LED_INIRQ In an interrupt -- No change --
LED_SIGNAL In a signal handler -- No change --
LED_ASSERTION An assertion failed -- No change --
LED_PANIC The system has crashed OFF Blinking
LED_IDLE MCU is is sleep mode -- Not used --
If CONFIG_SAMA5D3XEK_NOREDLED=y, then the red LED is not used by the system and the controls are as follows:
SYMBOL Meaning LED state
Blue Red
------------------- ----------------------- ----------- -----------
LED_STARTED NuttX has been started OFF Not used
LED_HEAPALLOCATE Heap has been allocated OFF " " " "
LED_IRQSENABLED Interrupts enabled OFF " " " "
LED_STACKCREATED Idle stack created ON " " " "
LED_INIRQ In an interrupt No change " " " "
LED_SIGNAL In a signal handler No change " " " "
LED_ASSERTION An assertion failed No change " " " "
LED_PANIC The system has crashed Blinking " " " "
LED_IDLE MCU is is sleep mode Not used " " " "
Thus if the blue LED is statically on, NuttX has successfully booted and is, apparently, running normally. If the red (or blue) LED is flashing at approximately 2Hz, then a fatal error has been detected and the system has halted.
Serial Consoles
USART1
By default USART1 is used as the NuttX serial console in all configurations (unless otherwise noted). USART1 is buffered with an RS-232 Transceiver (Analog Devices ADM3312EARU) and connected to the DB-9 male socket (J8).
USART1 Connector J8
-------------------------------
SAMA5 FUNCTION NUTTX PIO
PIO NAME CONFIGURATION
---- ---------- ---------------
PB27 RTS1 PIO_USART1_RTS
PB29 TXD1 PIO_USART1_TXD
PB28 RXD1 PIO_USART1_RXD
PB26 CTS1 PIO_USART1_CTS
NOTE: Debug TX (DTXD) and RX (DRXD) pins also are routed to the
ADM3312EARU via non populated 0 Ohm resistors. Thus allowing one
skilled with a soldering iron to choose which UART is level
translated by the ADM3312EARU
-------------------------------
SAMA5 FUNCTION NUTTX PIO
PIO NAME CONFIGURATION
---- ---------- ---------------
PB31 DTXD PIO_DBGU_DTXD
PB30 DRXD PIO_DBGU_DRXD
Hardware UART via CDC
"J-Link-OB-ATSAM3U4C comes with an additional hardware UART that is accessible from a host via CDC which allows terminal communication with the target device. This feature is enabled only if a certain port (CDC disabled, PA25, pin 24 on J-Link-OB-ATSAM3U4C) is NOT connected to ground (open).
- Jumper JP16 not fitted: CDC is enabled
- Jumper JP16 fitted : CDC is disabled"
Networking
Networking support via the can be added to NSH by selecting the following configuration options. The SAMA5D3x supports two different Ethernet MAC peripherals: (1) The 10/100Base-T EMAC peripheral and (2) the 10/100/1000Base-T GMAC peripheral. Only the SAMA5D31 and SAMAD35 support the EMAC peripheral; Only the SAMA5D33, SAMA5D34, and SAMA5D35 support the GMAC perpheral! NOTE that the SAMA5D35 supports both!
Selecting the EMAC peripheral -----------------------------
System Type CONFIG_ARCH_CHIP_ATSAMA5D31=y : SAMA5D31 or SAMAD35 support EMAC CONFIG_ARCH_CHIP_ATSAMA5D35=y : (others do not)
System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_EMACA=y : Enable the EMAC (type A) peripheral
System Type -> EMAC device driver options CONFIG_SAMA5_EMAC_NRXBUFFERS=16 : Set aside some RS and TX buffers CONFIG_SAMA5_EMAC_NTXBUFFERS=4 CONFIG_SAMA5_EMAC_PHYADDR=1 : KSZ8021/31 PHY is at address 1 CONFIG_SAMA5_EMAC_AUTONEG=y : Use autonegotiation CONFIG_SAMA5_EMAC_RMII=y : Either MII or RMII interface should work CONFIG_SAMA5_EMAC_PHYSR=30 : Address of PHY status register on KSZ8021/31 CONFIG_SAMA5_EMAC_PHYSR_ALTCONFIG=y : Needed for KSZ8021/31 CONFIG_SAMA5_EMAC_PHYSR_ALTMODE=0x7 : " " " " " " CONFIG_SAMA5_EMAC_PHYSR_10HD=0x1 : " " " " " " CONFIG_SAMA5_EMAC_PHYSR_100HD=0x2 : " " " " " " CONFIG_SAMA5_EMAC_PHYSR_10FD=0x5 : " " " " " " CONFIG_SAMA5_EMAC_PHYSR_100FD=0x6 : " " " " " "
PHY selection. Later in the configuration steps, you will need to select the KSZ8021/31 PHY for EMAC (See below)
Selecting the GMAC peripheral -----------------------------
System Type CONFIG_ARCH_CHIP_ATSAMA5D33=y : SAMA5D31, SAMA5D33 and SAMAD35 CONFIG_ARCH_CHIP_ATSAMA5D34=y : support GMAC (others do not) CONFIG_ARCH_CHIP_ATSAMA5D35=y :
System Type -> SAMA5 Peripheral Support CONFIG_SAMA5_GMAC=y : Enable the GMAC peripheral
System Type -> GMAC device driver options CONFIG_SAMA5_GMAC_NRXBUFFERS=16 : Set aside some RS and TX buffers CONFIG_SAMA5_GMAC_NTXBUFFERS=4 CONFIG_SAMA5_GMAC_PHYADDR=1 : KSZ8051 PHY is at address 1 CONFIG_SAMA5_GMAC_AUTONEG=y : Use autonegotiation
If both EMAC and GMAC are selected, you will also need:
CONFIG_SAMA5_GMAC_ISETH0=y : GMAC is "eth0"; EMAC is "eth1"
PHY selection. Later in the configuration steps, you will need to select the KSZ9021/31 PHY for GMAC (See below)
Common configuration settings -----------------------------
Networking Support CONFIG_NET=y : Enable Networking CONFIG_NET_SOCKOPTS=y : Enable socket operations CONFIG_NET_ETH_PKTSIZE=562 : Maximum packet size 1518 is more standard CONFIG_NET_TCP=y : Enable TCP/IP networking CONFIG_NET_TCPBACKLOG=y : Support TCP/IP backlog CONFIG_NET_UDP=y : Enable UDP networking CONFIG_NET_ICMP=y : Enable ICMP networking CONFIG_NET_ICMP_SOCKET=y : Needed for NSH ping command : Defaults should be okay for other options Device drivers -> Network Device/PHY Support CONFIG_NETDEVICES=y : Enabled PHY selection CONFIG_ETH0_PHY_KSZ8051=y : Select the KSZ8051 PHY (for EMAC), OR CONFIG_ETH0_PHY_KSZ90x1=y : Select the KSZ9021/31 PHY (for GMAC)
Application Configuration -> Network Utilities CONFIG_NETDB_DNSCLIENT=y : Enable host address resolution CONFIG_NETUTILS_TELNETD=y : Enable the Telnet daemon CONFIG_NETUTILS_TFTPC=y : Enable TFTP data file transfers for get and put commands CONFIG_NETUTILS_NETLIB=y : Network library support is needed CONFIG_NETUTILS_WEBCLIENT=y : Needed for wget support : Defaults should be okay for other options Application Configuration -> NSH Library CONFIG_NSH_TELNET=y : Enable NSH session via Telnet CONFIG_NSH_IPADDR=0x0a000002 : Select an IP address CONFIG_NSH_DRIPADDR=0x0a000001 : IP address of gateway/host PC CONFIG_NSH_NETMASK=0xffffff00 : Netmask CONFIG_NSH_NOMAC=y : Need to make up a bogus MAC address : Defaults should be okay for other options
Using the network with NSH --------------------------
So what can you do with this networking support? First you see that NSH has several new network related commands:
ifconfig, ifdown, ifup: Commands to help manage your network
get and put: TFTP file transfers
wget: HTML file transfers
ping: Check for access to peers on the network
Telnet console: You can access the NSH remotely via telnet.
You can also enable other add on features like full FTP or a Web Server or XML RPC and others. There are also other features that you can enable like DHCP client (or server) or network name resolution.
By default, the IP address of the SAMA5D3x-EK will be 10.0.0.2 and it will assume that your host is the gateway and has the IP address 10.0.0.1.
nsh> ifconfig
eth0 HWaddr 00:e0:de:ad:be:ef at UP
IPaddr:10.0.0.2 DRaddr:10.0.0.1 Mask:255.255.255.0
You can use ping to test for connectivity to the host (Careful, Window firewalls usually block ping-related ICMP traffic). On the target side, you can:
nsh> ping 10.0.0.1
PING 10.0.0.1 56 bytes of data
56 bytes from 10.0.0.1: icmp_seq=1 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=2 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=3 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=4 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=5 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=6 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=7 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=8 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=9 time=0 ms
56 bytes from 10.0.0.1: icmp_seq=10 time=0 ms
10 packets transmitted, 10 received, 0% packet loss, time 10100 ms
NOTE: In this configuration is is normal to have packet loss > 0% the first time you ping due to the default handling of the ARP table.
On the host side, you should also be able to ping the SAMA5D3x-EK:
$ ping 10.0.0.2
You can also log into the NSH from the host PC like this:
$ telnet 10.0.0.2
Trying 10.0.0.2...
Connected to 10.0.0.2.
Escape character is '^]'.
sh_telnetmain: Session [3] Started
NuttShell (NSH) NuttX-6.31
nsh> help
help usage: help [-v] [<cmd>]
[ echo ifconfig mkdir mw sleep
? exec ifdown mkfatfs ping test
cat exit ifup mkfifo ps umount
cp free kill mkrd put usleep
cmp get losetup mh rm wget
dd help ls mount rmdir xd
df hexdump mb mv source
Builtin Apps:
nsh>
NOTE: If you enable this feature, you experience a delay on booting. That is because the start-up logic waits for the network connection to be established before starting NuttX. In a real application, you would probably want to do the network bringup on a separate thread so that access to the NSH prompt is not delayed.
This delay will be especially long if the board is not connected to a network. On the order of a minute! You will probably think that NuttX has crashed! And then, when it finally does come up, the network will not be available.
Network Initialization Thread
There is a configuration option enabled by CONFIG_NSH_NETINIT_THREAD that will do the NSH network bring-up asynchronously in parallel on a separate thread. This eliminates the (visible) networking delay altogether. This networking initialization feature by itself has some limitations:
- If no network is connected, the network bring-up will fail and
the network initialization thread will simply exit. There are no
retries and no mechanism to know if the network initialization was
successful.
- Furthermore, there is no support for detecting loss of the network
connection and recovery of networking when the connection is restored.
Both of these shortcomings can be eliminated by enabling the network monitor:
Network Monitor
By default the network initialization thread will bring-up the network then exit, freeing all of the resources that it required. This is a good behavior for systems with limited memory.
If the CONFIG_NSH_NETINIT_MONITOR option is selected, however, then the network initialization thread will persist forever; it will monitor the network status. In the event that the network goes down (for example, if a cable is removed), then the thread will monitor the link status and attempt to bring the network back up. In this case the resources required for network initialization are never released.
Pre-requisites:
- CONFIG_NSH_NETINIT_THREAD as described above.
- CONFIG_NETDEV_PHY_IOCTL. Enable PHY IOCTL commands in the Ethernet
device driver. Special IOCTL commands must be provided by the Ethernet
driver to support certain PHY operations that will be needed for link
management. There operations are not complex and are implemented for
the Atmel SAMA5 family.
- CONFIG_ARCH_PHY_INTERRUPT. This is not a user selectable option.
Rather, it is set when you select a board that supports PHY interrupts.
In most architectures, the PHY interrupt is not associated with the
Ethernet driver at all. Rather, the PHY interrupt is provided via some
board-specific GPIO and the board-specific logic must provide support
for that GPIO interrupt. To do this, the board logic must do two things:
(1) It must provide the function arch_phy_irq() as described and
prototyped in the nuttx/include/nuttx/arch.h, and (2) it must select
CONFIG_ARCH_PHY_INTERRUPT in the board configuration file to advertise
that it supports arch_phy_irq(). This logic can be found at
nuttx/boards/arm/sama5/sama5d3x-ek/src/sam_ethernet.c.
- One other thing: UDP support is required (CONFIG_NET_UDP).
Given those prerequisites, the network monitor can be selected with these additional settings.
Networking Support -> Networking Device Support
CONFIG_NETDEV_PHY_IOCTL=y : Enable PHY ioctl support
Application Configuration -> NSH Library -> Networking Configuration
CONFIG_NSH_NETINIT_THREAD : Enable the network initialization thread
CONFIG_NSH_NETINIT_MONITOR=y : Enable the network monitor
CONFIG_NSH_NETINIT_RETRYMSEC=2000 : Configure the network monitor as you like
AT25 Serial FLASH
Connections -----------
Both the Ronetix and Embest versions of the SAMAD3x CPU modules include an Atmel AT25DF321A, 32-megabit, 2.7-volt SPI serial flash. The SPI connection is as follows:
AT25DF321A SAMA5
--------------- -----------------------------------------------
SI PD11 SPI0_MOSI
SO PD10 SPI0_MIS0
SCK PD12 SPI0_SPCK
/CS PD13 via NL17SZ126 if JP1 is closed (See below)
JP1 and JP2 seem to related to /CS on the Ronetix board, but the usage is less clear. For the Embest module, JP1 must be closed to connect /CS to PD13; on the Ronetix schematic, JP11 seems only to bypass a resistor (may not be populated?). I think closing JP1 is correct in either case.
Configuration -------------
The Embest or Ronetix CPU module includes an Atmel AT25DF321A, 32-megabit, 2.7-volt SPI serial flash. Support for that serial FLASH can be enabled in these configurations. These are the relevant configuration settings:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_SPI0=y : Enable SPI0
CONFIG_SAMA5_DMAC0=y : Enable DMA controller 0
System Type -> SPI device driver options
CONFIG_SAMA5_SPI_DMA=y : Use DMA for SPI transfers
CONFIG_SAMA5_SPI_DMATHRESHOLD=4 : Don't DMA for small transfers
Device Drivers -> SPI Driver Support
CONFIG_SPI=y : Enable SPI support
CONFIG_SPI_EXCHANGE=y : Support the exchange method
Device Drivers -> Memory Technology Device (MTD) Support
CONFIG_MTD=y : Enable MTD support
CONFIG_MTD_AT25=y : Enable the AT25 driver
CONFIG_AT25_SPIMODE=0 : Use SPI mode 0
CONFIG_AT25_SPIFREQUENCY=10000000 : Use SPI frequency 10MHz
The AT25 is capable of higher SPI rates than this. I have not experimented a lot, but at 20MHz, the behavior is not the same with all CM modules. This lower rate gives more predictable performance.
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
Board Selection
CONFIG_SAMA5D3XEK_AT25_BLOCKMOUNT=y : Mounts AT25 for NSH
CONFIG_SAMA5D3XEK_AT25_FTL=y : Create block driver for FAT
NOTE that you must close JP1 on the Embest/Ronetix board in order to enable the AT25 FLASH chip select.
You can then format the AT25 FLASH for a FAT file system and mount the file system at /mnt/at25 using these NSH commands:
nsh> mkfatfs /dev/mtdblock0
nsh> mount -t vfat /dev/mtdblock0 /mnt/at25
Then you an use the FLASH as a normal FAT file system:
nsh> echo "This is a test" >/mnt/at25/atest.txt
nsh> ls -l /mnt/at25
/mnt/at25:
-rw-rw-rw- 16 atest.txt
nsh> cat /mnt/at25/atest.txt
This is a test
NOTE: It appears that if Linux runs out of NAND, it will destroy the contents of the AT25.
HSMCI Card Slots
Physical Slots --------------
The SAMA5D3x-EK provides a two SD memory card slots: (1) a full size SD card slot (J7 labelled MCI0), and (2) a microSD memory card slot (J6 labelled MCI1).
The full size SD card slot connects via HSMCI0. The card detect discrete is available on PD17 (pulled high). The write protect discrete is tied to ground (via PP6) and not available to software. The slot supports 8-bit wide transfer mode, but the NuttX driver currently uses only the 4-bit wide transfer mode
PD17 MCI0_CD
PD1 MCI0_DA0
PD2 MCI0_DA1
PD3 MCI0_DA2
PD4 MCI0_DA3
PD5 MCI0_DA4
PD6 MCI0_DA5
PD7 MCI0_DA6
PD8 MCI0_DA7
PD9 MCI0_CK
PD0 MCI0_CDA
The microSD connects vi HSMCI1. The card detect discrete is available on PD18 (pulled high):
PD18 MCI1_CD
PB20 MCI1_DA0
PB21 MCI1_DA1
PB22 MCI1_DA2
PB23 MCI1_DA3
PB24 MCI1_CK
PB19 MCI1_CDA
Configuration Settings ----------------------
Enabling HSMCI support. The SAMA5D3x-EK provides a two SD memory card slots: (1) a full size SD card slot (J7 labelled MCI0), and (2) a microSD memory card slot (J6 labelled MCI1). The full size SD card slot connects via HSMCI0; the microSD connects vi HSMCI1. Support for both SD slots can be enabled with the following settings:
System Type->ATSAMA5 Peripheral Support
CONFIG_SAMA5_HSMCI0=y : Enable HSMCI0 support
CONFIG_SAMA5_HSMCI1=y : Enable HSMCI1 support
CONFIG_SAMA5_DMAC0=y : DMAC0 is needed by HSMCI0
CONFIG_SAMA5_DMAC1=y : DMAC1 is needed by HSMCI1
System Type
CONFIG_SAMA5_PIO_IRQ=y : PIO interrupts needed
CONFIG_SAMA5_PIOD_IRQ=y : Card detect pins are on PIOD
Device Drivers -> MMC/SD Driver Support
CONFIG_MMCSD=y : Enable MMC/SD support
CONFIG_MMSCD_NSLOTS=1 : One slot per driver instance
CONFIG_MMCSD_MULTIBLOCK_LIMIT=1 : (REVISIT)
CONFIG_MMCSD_HAVE_CARDDETECT=y : Supports card-detect PIOs
CONFIG_MMCSD_MMCSUPPORT=n : Interferes with some SD cards
CONFIG_MMCSD_SPI=n : No SPI-based MMC/SD support
CONFIG_MMCSD_SDIO=y : SDIO-based MMC/SD support
CONFIG_SDIO_DMA=y : Use SDIO DMA
CONFIG_SDIO_BLOCKSETUP=y : Needs to know block sizes
Library Routines
CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
Using the SD card
-----------------
1) After booting, the HSCMI devices will appear as /dev/mmcsd0
and /dev/mmcsd1.
2) If you try mounting an SD card with nothing in the slot, the
mount will fail:
nsh> mount -t vfat /dev/mmcsd1 /mnt/sd1
nsh: mount: mount failed: 19
NSH can be configured to provide errors as strings instead of
numbers. But in this case, only the error number is reported. The
error numbers can be found in nuttx/include/errno.h:
#define ENODEV 19
#define ENODEV_STR "No such device"
So the mount command is saying that there is no device or, more
correctly, that there is no card in the SD card slot.
3) Inserted the SD card. Then the mount should succeed.
nsh> mount -t vfat /dev/mmcsd1 /mnt/sd1
nsh> ls /mnt/sd1
/mnt/sd1:
atest.txt
nsh> cat /mnt/sd1/atest.txt
This is a test
NOTE: See the next section entitled "Auto-Mounter" for another way
to mount your SD card.
4) Before removing the card, you must umount the file system. This is
equivalent to "ejecting" or "safely removing" the card on Windows: It
flushes any cached data to the card and makes the SD card unavailable
to the applications.
nsh> umount -t /mnt/sd1
It is now safe to remove the card. NuttX provides into callbacks
that can be used by an application to automatically unmount the
volume when it is removed. But those callbacks are not used in
these configurations.
Auto-Mounter
NuttX implements an auto-mounter than can make working with SD cards easier. With the auto-mounter, the file system will be automatically mounted when the SD card is inserted into the HSMCI slot and automatically unmounted when the SD card is removed.
The auto-mounter is enable with:
CONFIG_FS_AUTOMOUNTER=y
However, to use the automounter you will to provide some additional board-level support. See boards/arm/sama5/sama5d4-ek for and example of how you might do this.
WARNING: SD cards should never be removed without first unmounting them. This is to avoid data and possible corruption of the file system. Certainly this is the case if you are writing to the SD card at the time of the removal. If you use the SD card for read-only access, however, then I cannot think of any reason why removing the card without mounting would be harmful.
USB Ports
The SAMA5D3 series-MB features three USB communication ports:
* Port A Host High Speed (EHCI) and Full Speed (OHCI) multiplexed with
USB Device High Speed Micro AB connector, J20
* Port B Host High Speed (EHCI) and Full Speed (OHCI) standard type A
connector, J19 upper port
* Port C Host Full Speed (OHCI) only standard type A connector, J19
lower port
All three USB host ports are equipped with 500 mA high-side power switch for self-powered and bus powered applications. The USB device port feature VBUS inserts detection function.
Port A ------
PIO Signal Name Function
---- ----------- -------------------------------------------------------
PD29 VBUS_SENSE VBus detection
PD25 EN5V_USBA VBus power enable (via MN15 AIC1526 Dual USB High-Side
Power Switch. The other channel of the switch is for
the LCD)
Port B ------
PIO Signal Name Function
---- ----------- -------------------------------------------------------
PD26 EN5V_USBB VBus power enable (via MN14 AIC1526 Dual USB High-Side
Power Switch). To the A1 pin of J19 Dual USB A
connector
Port C ------
PIO Signal Name Function
---- ----------- -------------------------------------------------------
PD27 EN5V_USBC VBus power enable (via MN14 AIC1526 Dual USB High-Side
Power Switch). To the B1 pin of J19 Dual USB A
connector
Both Ports B and C ------------------
PIO Signal Name Function
---- ----------- -------------------------------------------------------
PD28 OVCUR_USB Combined overrcurrent indication from port A and B
USB High-Speed Device
Basic USB High-Speed Device Configuration
Support the USB high-speed device (UDPHS) driver can be enabled with these NuttX configuration settings.
Device Drivers -> USB Device Driver Support
CONFIG_USBDEV=y : Enable USB device support
CONFIG_USBDEV_DUALSPEED=y : Device support High and Full Speed
CONFIG_USBDEV_DMA=y : Device uses DMA
System Type -> ATSAMA5 Peripheral Support
CONFIG_SAMA5_UDPHS=y : Enable UDPHS High Speed USB device
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
Mass Storage Class ------------------
The Mass Storage Class (MSC) class driver is selected for use with UDPHS:
Device Drivers -> USB Device Driver Support
CONFIG_USBMSC=y : Enable the USB MSC class driver
CONFIG_USBMSC_EPBULKOUT=1 : Use EP1 for the BULK OUT endpoint
CONFIG_USBMSC_EPBULKIN=2 : Use EP2 for the BULK IN endpoint
The following setting enables an add-on that can can be used to control the USB MSC device. It will add two new NSH commands:
a. msconn will connect the USB serial device and export the AT25
to the host, and
b. msdis which will disconnect the USB serial device.
Application Configuration -> System Add-Ons:
CONFIG_SYSTEM_USBMSC=y : Enable the USBMSC add-on
CONFIG_SYSTEM_USBMSC_NLUNS=1 : One LUN
CONFIG_SYSTEM_USBMSC_DEVMINOR1=0 : Minor device zero
CONFIG_SYSTEM_USBMSC_DEVPATH1="/dev/mtdblock0"
: Use a single, LUN: The AT25
: block driver.
NOTES:
a. To prevent file system corruption, make sure that the AT25 is un-
mounted *before* exporting the mass storage device to the host:
nsh> umount /mnt/at25
nsh> mscon
The AT25 can be re-mounted after the mass storage class is disconnected:
nsh> msdis
nsh> mount -t vfat /dev/mtdblock0 /mnt/at25
b. If you change the value CONFIG_SYSTEM_USBMSC_DEVPATH1, then you
can export other file systems:
"/dev/mmcsd1" will export the HSMCI1 microSD
"/dev/mmcsd0" will export the HSMCI0 full-size SD slot
"/dev/ram0" could even be used to export a RAM disk. But you would
first have to use mkrd to create the RAM disk and mkfatfs to put
a FAT file system on it.
CDC/ACM Serial Device Class ---------------------------
This will select the CDC/ACM serial device. Defaults for the other options should be okay.
Device Drivers -> USB Device Driver Support
CONFIG_CDCACM=y : Enable the CDC/ACM device
CONFIG_CDCACM_BULKIN_REQLEN=768 : Default too small for high-speed
The following setting enables an example that can can be used to control the CDC/ACM device. It will add two new NSH commands:
a. sercon will connect the USB serial device (creating /dev/ttyACM0), and
b. serdis which will disconnect the USB serial device (destroying
/dev/ttyACM0).
Application Configuration -> Examples:
CONFIG_SYSTEM_CDCACM=y : Enable an CDC/ACM example
Debugging USB Device --------------------
There is normal console debug output available that can be enabled with CONFIG_DEBUG_FEATURES + CONFIG_DEBUG_USB. However, USB device operation is very time critical and enabling this debug output WILL interfere with the operation of the UDPHS. USB device tracing is a less invasive way to get debug information: If tracing is enabled, the USB device will save encoded trace output in in-memory buffer; if the USB monitor is also enabled, that trace buffer will be periodically emptied and dumped to the system logging device (the serial console in this configuration):
Device Drivers -> "USB Device Driver Support:
CONFIG_USBDEV_TRACE=y : Enable USB trace feature
CONFIG_USBDEV_TRACE_NRECORDS=256 : Buffer 256 records in memory
CONFIG_USBDEV_TRACE_STRINGS=y : (optional)
Application Configuration -> NSH LIbrary:
CONFIG_NSH_USBDEV_TRACE=n : No builtin tracing from NSH
CONFIG_NSH_ARCHINIT=y : Automatically start the USB monitor
Application Configuration -> System NSH Add-Ons:
CONFIG_USBMONITOR=y : Enable the USB monitor daemon
CONFIG_USBMONITOR_STACKSIZE=2048 : USB monitor daemon stack size
CONFIG_USBMONITOR_PRIORITY=50 : USB monitor daemon priority
CONFIG_USBMONITOR_INTERVAL=1 : Dump trace data every second
CONFIG_USBMONITOR_TRACEINIT=y : Enable TRACE output
CONFIG_USBMONITOR_TRACECLASS=y
CONFIG_USBMONITOR_TRACETRANSFERS=y
CONFIG_USBMONITOR_TRACECONTROLLER=y
CONFIG_USBMONITOR_TRACEINTERRUPTS=y
NOTE: If USB debug output is also enabled, both outputs will appear on the serial console. However, the debug output will be asynchronous with the trace output and, hence, difficult to interpret.
USB High-Speed Host
OHCI Only ---------
Support the USB low/full-speed OHCI host driver can be enabled by changing the NuttX configuration file as follows:
System Type -> ATSAMA5 Peripheral Support
CONFIG_SAMA5_UHPHS=y : USB Host High Speed
System Type -> USB High Speed Host driver options
CONFIG_SAMA5_OHCI=y : Low/full-speed OHCI support
: Defaults for values probably OK
Device Drivers
CONFIG_USBHOST=y : Enable USB host support
Device Drivers -> USB Host Driver Support
CONFIG_USBHOST_ISOC_DISABLE=y : Isochronous endpoints not used
CONFIG_USBHOST_MSC=y : Enable the mass storage class driver
CONFIG_USBHOST_HIDKBD=y : Enable the HID keyboard class driver
RTOS Features -> Work Queue Support
CONFIG_SCHED_WORKQUEUE=y : High priority worker thread support is required
CONFIG_SCHED_HPWORK=y :
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
EHCI ----
Support the USB high-speed EHCI host driver can be enabled by changing the NuttX configuration file as follows. If EHCI is enabled by itself, then only high-speed devices can be supported. If OHCI is also enabled, then all low-, full-, and high speed devices will work.
System Type -> ATSAMA5 Peripheral Support
CONFIG_SAMA5_UHPHS=y : USB Host High Speed
System Type -> USB High Speed Host driver options
CONFIG_SAMA5_EHCI=y : High-speed EHCI support
CONFIG_SAMA5_OHCI=y : Low/full-speed OHCI support
: Defaults for values probably OK for both
Device Drivers
CONFIG_USBHOST=y : Enable USB host support
CONFIG_USBHOST_INT_DISABLE=y : Interrupt endpoints not needed
CONFIG_USBHOST_ISOC_DISABLE=y : Isochronous endpoints not needed
Device Drivers -> USB Host Driver Support
CONFIG_USBHOST_ISOC_DISABLE=y : Isochronous endpoints not used
CONFIG_USBHOST_MSC=y : Enable the mass storage class driver
CONFIG_USBHOST_HIDKBD=y : Enable the HID keyboard class driver
RTOS Features -> Work Queue Support
CONFIG_SCHED_WORKQUEUE=y : High priority worker thread support is required
CONFIG_SCHED_HPWORK=y :
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
USB Hub Support ----------------
USB hub support can be included by adding the following changes to the configuration (in addition to those listed above):
Drivers -> USB Host Driver Support
CONFIG_USBHOST_HUB=y : Enable the hub class
CONFIG_USBHOST_ASYNCH=y : Asynchronous I/O supported needed for hubs
System Type -> USB High Speed Host driver options
CONFIG_SAMA5_OHCI_NEDS=12 : You will probably want more pipes
CONFIG_SAMA5_OHCI_NTDS=18
CONFIG_SAMA5_OHCI_TDBUFFERS=12
CONFIG_SAMA5_OHCI_TDBUFSIZE=128
Board Selection ->
CONFIG_SAMA5D3XEK_USBHOST_STACKSIZE=2048 (bigger than it needs to be)
RTOS Features -> Work Queue Support
CONFIG_SCHED_LPWORK=y : Low priority queue support is needed
CONFIG_SCHED_LPNTHREADS=1
CONFIG_SCHED_LPWORKSTACKSIZE=1024
NOTES:
1. It is necessary to perform work on the low-priority work queue
(vs. the high priority work queue) because deferred hub-related
work requires some delays and waiting that is not appropriate on
the high priority work queue.
2. Stack usage make increase when USB hub support is enabled because
the nesting depth of certain USB host class logic can increase.
STATUS:
Hub support has not been verified on this board yet.
Mass Storage Device Usage -------------------------
Example Usage:
NuttShell (NSH) NuttX-6.29
nsh> ls /dev
/dev:
console
mtdblock0
null
ttyS0
Here a USB FLASH stick is inserted. Nothing visible happens in the shell. But a new device will appear:
nsh> ls /dev
/dev:
console
mtdblock0
null
sda
ttyS0
nsh> mount -t vfat /dev/sda /mnt/sda
nsh> ls -l /mnt/sda
/mnt/sda:
-rw-rw-rw- 8788 viminfo
drw-rw-rw- 0 .Trash-1000/
-rw-rw-rw- 3378 zmodem.patch
-rw-rw-rw- 1503 sz-1.log
-rw-rw-rw- 613 .bashrc
HID Keyboard Usage ------------------
If a (supported) USB keyboard is connected, a /dev/kbda device will appear:
nsh> ls /dev
/dev:
console
kbda
mtdblock0
null
ttyS0
/dev/kbda is a read-only serial device. Reading from /dev/kbda will get keyboard input as ASCII data (other encodings are possible):
nsh> cat /dev/kbda
Debugging USB Host ------------------
There is normal console debug output available that can be enabled with CONFIG_DEBUG_FEATURES + CONFIG_DEBUG_USB. However, USB host operation is very time critical and enabling this debug output might interfere with the operation of the UDPHS. USB host tracing is a less invasive way to get debug information: If tracing is enabled, the USB host will save encoded trace output in in-memory buffer; if the USB monitor is also enabled, that trace buffer will be periodically emptied and dumped to the system logging device (the serial console in this configuration):
Device Drivers -> "USB Host Driver Support:
CONFIG_USBHOST_TRACE=y : Enable USB host trace feature
CONFIG_USBHOST_TRACE_NRECORDS=256 : Buffer 256 records in memory
CONFIG_USBHOST_TRACE_VERBOSE=y : Buffer everything
Application Configuration -> NSH LIbrary:
CONFIG_NSH_USBDEV_TRACE=n : No builtin tracing from NSH
CONFIG_NSH_ARCHINIT=y : Automatically start the USB monitor
Application Configuration -> System NSH Add-Ons:
CONFIG_USBMONITOR=y : Enable the USB monitor daemon
CONFIG_USBMONITOR_STACKSIZE=2048 : USB monitor daemon stack size
CONFIG_USBMONITOR_PRIORITY=50 : USB monitor daemon priority
CONFIG_USBMONITOR_INTERVAL=1 : Dump trace data every second
NOTE: If USB debug output is also enabled, both outputs will appear on the serial console. However, the debug output will be asynchronous with the trace output and, hence, difficult to interpret.
NOR FLASH Support
Most of these configurations execute 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.
STATUS: I have been unable to execute these configurations 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 (see the section entitled "Creating and Using NORBOOT" above.)
SDRAM Support
SRAM Heap Configuration -----------------------
In these configurations, .data and .bss are retained in ISRAM. SDRAM can be initialized and included in the heap. Relevant configuration settings:
System Type->ATSAMA5 Peripheral Support
CONFIG_SAMA5_MPDDRC=y : Enable the DDR controller
System Type->External Memory Configuration
CONFIG_SAMA5_DDRCS=y : Tell the system that DRAM is at the DDR CS
CONFIG_SAMA5_DDRCS_SIZE=268435456 : 2Gb DRAM -> 256MB
CONFIG_SAMA5_DDRCS_LPDDR2=y : Its DDR2
Board Selection
CONFIG_SAMA5D3XEK_MT47H128M16RT=y : This is the type of DDR2
System Type->Heap Configuration
CONFIG_SAMA5_DDRCS_HEAP=y : Add the SDRAM to the heap
CONFIG_SAMA5_DDRCS_HEAP_OFFSET=0
CONFIG_SAMA5_DDRCS_HEAP_SIZE=268435456
Memory Management
CONFIG_MM_REGIONS=2 : Two heap memory regions: ISRAM and SDRAM
RAM Test --------
Another thing you could do is to enable the RAM test built-in application. You can enable the NuttX RAM test that may be used to verify the external SDRAM. To do this, keep the SDRAM out of the heap so that it can be tested without crashing programs using the memory:
System Type->Heap Configuration
CONFIG_SAMA5_DDRCS_HEAP=n : Don't add the SDRAM to the heap
Memory Management
CONFIG_MM_REGIONS=1 : One memory regions: ISRAM
Then enable the RAM test built-in application:
Application Configuration->System NSH Add-Ons->Ram Test
CONFIG_TESTING_RAMTEST=y
In this configuration, the SDRAM is not added to heap and so is not accessible to the applications. So the RAM test can be freely executed against the SRAM memory beginning at address 0x2000:0000 (DDR CS):
nsh> ramtest -h
Usage: <noname> [-w|h|b] <hex-address> <decimal-size>
Where:
<hex-address> starting address of the test.
<decimal-size> number of memory locations (in bytes).
-w Sets the width of a memory location to 32-bits.
-h Sets the width of a memory location to 16-bits (default).
-b Sets the width of a memory location to 8-bits.
To test the entire external 256MB SRAM:
nsh> ramtest -w 20000000 268435456
RAMTest: Marching ones: 20000000 268435456
RAMTest: Marching zeroes: 20000000 268435456
RAMTest: Pattern test: 20000000 268435456 55555555 aaaaaaaa
RAMTest: Pattern test: 20000000 268435456 66666666 99999999
RAMTest: Pattern test: 20000000 268435456 33333333 cccccccc
RAMTest: Address-in-address test: 20000000 268435456
SDRAM Data Configuration ------------------------
In these configurations, .data and .bss are retained in ISRAM by default. .data and .bss can also be retained in SDRAM using these slightly different configuration settings. In this configuration, ISRAM is used only for the Cortex-A5 page table for the IDLE thread stack.
System Type->ATSAMA5 Peripheral Support
CONFIG_SAMA5_MPDDRC=y : Enable the DDR controller
System Type->External Memory Configuration
CONFIG_SAMA5_DDRCS=y : Tell the system that DRAM is at the DDR CS
CONFIG_SAMA5_DDRCS_SIZE=268435456 : 2Gb DRAM -> 256GB
CONFIG_SAMA5_DDRCS_LPDDR2=y : Its DDR2
Board Selection
CONFIG_SAMA5D3XEK_MT47H128M16RT=y : This is the type of DDR2
System Type->Heap Configuration
CONFIG_SAMA5_ISRAM_HEAP=n : These do not apply in this case
CONFIG_SAMA5_DDRCS_HEAP=n
System Type->Boot Memory Configuration
CONFIG_RAM_START=0x20000000 : Physical address of SDRAM
CONFIG_RAM_VSTART=0x20000000 : Virtual address of SDRAM
CONFIG_RAM_SIZE=268435456 : Size of SDRAM
CONFIG_BOOT_SDRAM_DATA=y : Data is in SDRAM
Care must be used applied these RAM locations; the graphics
configurations use SDRAM in an incompatible way to set aside
LCD framebuffers.
Memory Management
CONFIG_MM_REGIONS=1 : One heap memory region: ISDRAM
NAND Support
NAND support is only partial in that there is no file system that works with it properly. Lower-level NAND support has been developed and verified, but there is no way to use it in the current NuttX architecture other than through the raw MTD interface.
NAND should still be considered a work in progress. You will not want to use NAND unless you are interested in investing a little effort, particularly in infrastructure. See the "STATUS SUMMARY" section below.
NAND Support ------------
NAND Support can be added to the NSH configuration by modifying the NuttX configuration file as follows:
Build Setup
CONFIG_EXPERIMENTAL=y : NXFFS implementation is incomplete and
: not yet fully functional.
System Type -> SAMA5 Peripheral support
CONFIG_SAMA5_HSMC=y : Make sure that the SMC is enabled
Drivers -> Memory Technology Device (MTD) Support
CONFIG_MTD=y : Enable MTD support
CONFIG_MTD_NAND=y : Enable NAND support
CONFIG_MTD_NAND_BLOCKCHECK=n : Interferes with NXFFS bad block checking
CONFIG_MTD_NAND_SWECC=y : Use S/W ECC calculation
Defaults for all other NAND settings should be okay
System Type -> External Memory Configuration
CONFIG_SAMA5_EBICS3=y : Enable External CS3 memory
CONFIG_SAMA5_EBICS3_NAND=y : Select NAND memory type
CONFIG_SAMA5_EBICS3_SIZE=8388608 : Use this size
CONFIG_SAMA5_EBICS3_SWECC=y : Use S/W ECC calculation
Defaults for ROM page table addresses should be okay
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : Use architecture-specific initialization
NOTES:
1. WARNING: This will wipe out everything that you may have on the NAND
FLASH! I have found that using the JTAG with no valid image on NAND
or Serial FLASH is a problem: In that case, the code always ends up
in the SAM-BA bootloader.
My understanding is that you can enable JTAG in this case by simply
entering any data on the DBG serial port. I have not tried this.
Instead, I just changed to boot from Serial Flash:
2. Booting from Serial Flash. The work around for this case is to put
the NORBOOT image into Serial FLASH. Then, the system will boot from
Serial FLASH by copying the NORBOOT image in SRAM which will run and
then start the image in NOR FLASH. See the discussion of the NORBOOT
configuration in the "Creating and Using NORBOOT" section above.
NOTE that there is jumper on the CM module that must be closed to enable
use of the AT25 Serial Flash. Also, if you are using using SAM-BA,
make sure that you load the NOR boot program into the boot area via
the pull-down menu.
3. Unfortunately, there are no appropriate NAND file system in NuttX as
of this writing. The following sections discussion issues/problems
with using NXFFS and FAT.
PMECC
-----
Hardware ECC calculation using the SAMA5D3's PMECC can be enable as
follows:
Drivers -> Memory Technology Device (MTD) Support
CONFIG_MTD_NAND_SWECC=y : Don't use S/W ECC calculation
CONFIG_MTD_NAND_HWECC=y : Use H/W ECC instead
System Type -> External Memory Configuration
CONFIG_SAMA5_EBICS3_SWECC=n : Don't use S/W ECC calculation
CONFIG_SAMA5_HAVE_PMECC=n : Use H/W ECC instead
Other PMECC-related default settings should be okay.
STATUS: As of the writing, NAND transfers using PMECC appear to
work correctly. However, the PMECC based systems do not work as
as well with FAT or NXFFS. My belief that that the FAT/NXFFS layers
are inappropriate for NAND and, as a result, happen not to work with
the PMECC ECC calculation. See also the "STATUS SUMMARY" section below.
DMA Support
-----------
DMA support can be enabled as follows:
System Type -> SAMA5 Peripheral support
CONFIG_SAMA5_DMAC0=y : Use DMAC0 for memory-to-memory DMA
System Type -> External Memory Configuration
CONFIG_SAMA5_NAND_DMA=y : Use DMAC0 for NAND data transfers
STATUS: DMA appears to be functional, but probably has not been
exercised enough to claim that with any certainty. See also the "STATUS
SUMMARY" section below.
NXFFS
-----
The NuttX FLASH File System (NXFFS) works well with NOR-like FLASH
but does not work well with NAND (See comments below under STATUS)
File Systems:
CONFIG_FS_NXFFS=y : Enable the NXFFS file system
Defaults for all other NXFFS settings should be okay.
NOTE: NXFFS will require some significant buffering because of
the large size of the NAND flash blocks. You will also need
to enable SDRAM as described above.
Board Selection
CONFIG_SAMA5D3XEK_NAND_BLOCKMOUNT=y : Enable FS support on NAND
CONFIG_SAMA5D3XEK_NAND_NXFFS=y : Use the NXFFS file system
Other file systems are not recommended because only NXFFS can handle
bad blocks and only NXFFS performs wear-levelling.
FAT
---
Another option is FAT. FAT, however, is not appropriate for use with
NAND: FAT will not handle bad blocks, does not perform any wear
levelling, and may not conform to writing ordering requirements of NAND.
Also, there appear to be issues with FAT when PMECC is enabled (see
"STATUS SUMMARY" below).
File Systems:
CONFIG_FS_FAT=y : Enable the FAT FS
CONFIG_FAT_LCNAMES=y : With lower case name support
CONFIG_FAT_LFN=y : And (patented) FAT long file name support
CONFIG_FS_NXFFS=n : Don't need NXFFS
Defaults for all other NXFFS settings should be okay.
Board Selection
CONFIG_SAMA5D3XEK_NAND_BLOCKMOUNT=y : Enable FS support on NAND
CONFIG_SAMA5D3XEK_NAND_FTL=y : Use an flash translation layer
NOTE: FTL will require some significant buffering because of
the large size of the NAND flash blocks. You will also need
to enable SDRAM as described above.
SMART FS
--------
Another option is Smart FS. Smart FS is another small file system
designed to work with FLASH. Properties: It does support some wear-
leveling like NXFFS, but like FAT, cannot handle bad blocks and like
NXFFS, it will try to re-write erased bits.
Using NAND with NXFFS
---------------------
With the options CONFIG_SAMA5D3XEK_NAND_BLOCKMOUNT=y and
CONFIG_SAMA5D3XEK_NAND_NXFFS=y, the NAND FLASH will be mounted in the NSH
start-up logic before the NSH prompt appears. There is no feedback as
to whether or not the mount was successful. You can, however, see the
mounted file systems using the nsh 'mount' command:
nsh> mount
/mnt/nand type nxffs
Then NAND can be used like any other file system:
nsh> echo "This is a test" >/mnt/nand/atest.txt
nsh> ls -l /mnt/nand
/mnt/nand:
---x--x--x 16 atest.txt
nsh> cat /mnt/nand/atest.txt
This is a test
The NAND volume can be un-mounted with this comment:
nsh> umount /mnt/nand
nsh> mount
And re-mounted with this command:
nsh> mount -t nxffs /mnt/mystuff
nsh> mount
/mnt/mystuff type nxffs
NOTES:
1. NXFFS can be very slow. The first time that you start the system,
be prepared for a wait; NXFFS will need to format the NAND volume.
I have lots of debug on so I don't yet know what the optimized wait
will be. But with debug ON, software ECC, and no DMA the wait is
in many tens of minutes (and substantially longer if many debug
options are enabled.
[I don't yet have data for the more optimal cases. It will be
significantly less, but still not fast.]
2. On subsequent boots, after the NXFFS file system has been created
the delay will be less. When the new file system is empty, it will
be very fast. But the NAND-related boot time can become substantial
when there has been a lot of usage of the NAND. This is because
NXFFS needs to scan the NAND device and build the in-memory dataset
needed to access NAND and there is more that must be scanned after
the device has been used. You may want to create a separate thread at
boot time to bring up NXFFS so that you don't delay the boot-to-prompt
time excessively in these longer delay cases.
3. There is another NXFFS related performance issue: When the FLASH
is fully used, NXFFS will restructure the entire FLASH, the delay
to restructure the entire FLASH will probably be even larger. This
solution in this case is to implement an NXFSS clean-up daemon that
does the job a little-at-a-time so that there is no massive clean-up
when the FLASH becomes full.
4. Bad NXFFS behavior with NAND: If you restart NuttX, the files that
you wrote to NAND will be gone. Why? Because the multiple writes
have corrupted the NAND ECC bits. See STATUS below. NXFFS would
require a major overhaul to be usable with NAND.
Using NAND with FAT
-------------------
If configured for FAT, the system will create block driver at
/dev/mtdblock0:
NuttShell (NSH)
nsh> ls /dev
/dev:
console
mtdblock0
null
ttyS0
You will not that the system comes up immediately because there is not
need to scan the volume in this case..
The NSH 'mkfatfs' command can be used to format a FAT file system on
NAND.
nsh> mkfatfs /dev/mtdblock0
This step, on the other hand, requires quite a bit of time.
And the FAT file system can be mounted like:
nsh> mount -t vfat /dev/mtdblock0 /mnt/nand
nsh> ls /mnt/nand
/mnt/nand:
nsh> echo "This is a test" > /mnt/nand/atest.txt
NOTE: This will take a long time because it will require reading,
modifying, and re-writing the 128KB erase page!
nsh> ls -l /mnt/nand
/mnt/nand:
-rw-rw-rw- 16 atest.txt
nsh> cat /mnt/fat/atest.txt
This is a test
NOTES:
1. Unlike NXFFS, FAT can work with NAND (at least with PMECC disabled).
But there are some significant issues.
2. First, each NAND write access will cause a 256KB data transfer: It
will read the entire 128KB erase block, modify it and write it back
to memory. There is some caching logic so that this cached erase
block can be reused if possible and writes will be deferred as long
as possible.
3. If you hit a bad block, then FAT is finished. There is no mechanism
in place in FAT not to mark and skip over bad blocks.
What is Needed
--------------
What is needed to work with FAT properly would be another MTD layer
between the FTL layer and the NAND FLASH layer. That layer would
perform bad block detection and sparing so that FAT works transparently
on top of the NAND.
Another, less general, option would be support bad blocks within FAT.
STATUS SUMMARY --------------
PMECC appears to be working in that I can write a NAND block with its ECC and read the block back and verify that that is are no bit failures. However, when attempting to work with FAT, it does not work correctly: The MBR is written and read back correctly, but gets corrupted later for unknown reasons.
DMA works (at least with software ECC), but I have seen occasional failures. I recommend enabling DMA with caution.
In NuttX, DMA will also cost two context switches (and, hence, four register state transfers). With smaller NAND page sizes (say 2KiB and below), I would expect little or no performance improvement with DMA for this reason.
NXFFS does not work with NAND. NAND differs from other other FLASH types several ways. For one thing, NAND requires error correction (ECC) bytes that must be set in order to work around bit failures. This affects NXFFS in two ways:
a. First, write failures are not fatal. Rather, they should be tried by bad blocks and simply ignored. This is because unrecoverable bit failures will cause read failures when reading from NAND. Setting the CONFIG_EXPERIMENTAL+CONFIG_NXFFS_NANDs option will enable this behavior.
b. Secondly, NXFFS will write a block many times. It tries to keep bits in the erased state and assumes that it can overwrite those bits to change them from the erased to the non-erased state. This works will with NOR-like FLASH. NAND behaves this way too. But the problem with NAND is that the ECC bits cannot be re-written in this way. So once a block has been written, it cannot be modified. This behavior has NOT been fixed in NXFFS. Currently, NXFFS will attempt to re-write the ECC bits causing the ECC to become corrupted because the ECC bits cannot be overwritten without erasing the entire block.
This may prohibit NXFFS from ever being used with NAND.
As mentioned above, FAT does work but (1) has some performance issues on writes and (2) cannot handle bad blocks.
There was a major reorganization of the SAMA5 code after NuttX-7.11 to add support for the SAMA5D2. Only the SAMA5D4-EK nsh configuration was re-verified on 2015-09-29. But as of this writing, none of the SAMA5D3- EK configurations a been re-verified. Some regression testing is needed.
AT24 Serial EEPROM
AT24 Connections ----------------
A AT24C512 Serial EEPPROM was used for tested I2C. There are other I2C/TWI devices on-board, but the serial EEPROM is the simplest test.
There is, however, no AT24 EEPROM on board the SAMA5D3x-EK: The Serial EEPROM was mounted on an external adaptor board and connected to the SAMA5D3x-EK thusly:
- VCC -- VCC
- GND -- GND
- TWCK0(PA31) -- SCL
- TWD0(PA30) -- SDA
By default, PA30 and PA31 are SWJ-DP pins, it can be used as a pin for TWI peripheral in the end application.
Configuration Settings ----------------------
The following configuration settings were used:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_TWI0=y : Enable TWI0
System Type -> TWI device driver options
SAMA5_TWI0_FREQUENCY=100000 : Select a TWI frequency
Device Drivers -> I2C Driver Support
CONFIG_I2C=y : Enable I2C support
Device Drivers -> Memory Technology Device (MTD) Support
CONFIG_MTD=y : Enable MTD support
CONFIG_MTD_AT24XX=y : Enable the AT24 driver
CONFIG_AT24XX_SIZE=512 : Specifies the AT 24C512 part
CONFIG_AT24XX_ADDR=0x53 : AT24 I2C address
Application Configuration -> NSH Library
CONFIG_NSH_ARCHINIT=y : NSH board-initialization
File systems
CONFIG_NXFFS=y : Enables the NXFFS file system
CONFIG_NXFFS_PREALLOCATED=y : Required
: Other defaults are probably OK
Board Selection
CONFIG_SAMA5D3XEK_AT24_BLOCKMOUNT=y : Mounts AT24 for NSH
CONFIG_SAMA5D3XEK_AT24_NXFFS=y : Mount the AT24 using NXFFS
You can then format the AT24 EEPROM for a FAT file system and mount the file system at /mnt/at24 using these NSH commands:
nsh> mkfatfs /dev/mtdblock0
nsh> mount -t vfat /dev/mtdblock0 /mnt/at24
Then you an use the FLASH as a normal FAT file system:
nsh> echo "This is a test" >/mnt/at24/atest.txt
nsh> ls -l /mnt/at24
/mnt/at24:
-rw-rw-rw- 16 atest.txt
nsh> cat /mnt/at24/atest.txt
This is a test
I2C Tool
I2C Tool. NuttX supports an I2C tool at apps/system/i2c that can be used to peek and poke I2C devices. That tool can be enabled by setting the following:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_TWI0=y : Enable TWI0
CONFIG_SAMA5_TWI1=y : Enable TWI1
CONFIG_SAMA5_TWI2=y : Enable TWI2
System Type -> TWI device driver options
SAMA5_TWI0_FREQUENCY=100000 : Select a TWI0 frequency
SAMA5_TWI1_FREQUENCY=100000 : Select a TWI1 frequency
SAMA5_TWI2_FREQUENCY=100000 : Select a TWI2 frequency
Device Drivers -> I2C Driver Support
CONFIG_I2C=y : Enable I2C support
Application Configuration -> NSH Library
CONFIG_SYSTEM_I2CTOOL=y : Enable the I2C tool
CONFIG_I2CTOOL_MINBUS=0 : TWI0 has the minimum bus number 0
CONFIG_I2CTOOL_MAXBUS=2 : TWI2 has the maximum bus number 2
CONFIG_I2CTOOL_DEFFREQ=100000 : Pick a consistent frequency
The I2C tool has extensive help that can be accessed as follows:
nsh> i2c help
Usage: i2c <cmd> [arguments]
Where <cmd> is one of:
Show help : ?
List buses : bus
List devices : dev [OPTIONS] <first> <last>
Read register : get [OPTIONS] [<repetitions>]
Show help : help
Write register: set [OPTIONS] <value> [<repetitions>]
Verify access : verf [OPTIONS] [<value>] [<repetitions>]
Where common "sticky" OPTIONS include:
[-a addr] is the I2C device address (hex). Default: 03 Current: 03
[-b bus] is the I2C bus number (decimal). Default: 0 Current: 0
[-r regaddr] is the I2C device register address (hex). Default: 00 Current: 00
[-w width] is the data width (8 or 16 decimal). Default: 8 Current: 8
[-s|n], send/don't send start between command and data. Default: -n Current: -n
[-i|j], Auto increment|don't increment regaddr on repetitions. Default: NO Current: NO
[-f freq] I2C frequency. Default: 100000 Current: 100000
NOTES:
o Arguments are "sticky". For example, once the I2C address is
specified, that address will be reused until it is changed.
WARNING:
o The I2C dev command may have bad side effects on your I2C devices.
Use only at your own risk.
As an example, the I2C dev command can be used to list all devices
responding on TWI0 (the default) like this:
nsh> i2c dev 0x03 0x77
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- 1a -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- 39 -- -- -- 3d -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- --
nsh>
Address 0x1a is the WM8904. Address 0x39 is the SIL9022A. I am not sure
what is at address 0x3d and 0x60
CAN Usage
I planned to verify CAN using the IXXAT USB-to-CAN Compact. This section provides miscellaneous CAN-related notes, mostly to myself but perhaps of interest to others.
[Unfortunately, as of this writing, I still do not have a proper CAN test bed to verify the CAN driver.]
CAN Configuration -----------------
The following steps illustrate how to enable CAN0 and/or CAN1 in the NuttX configuration:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_CAN0=y : Select CAN0 and/or CAN1
CONFIG_SAMA5_CAN1=y
Device Drivers -> CAN Driver Support
CONFIG_CAN=y : (Automatically selected)
CONFIG_CAN_EXTID=y : For extended, 29-bit CAN IDs
System Type -> CAN Drive Support
CONFIG_SAMA5_CAN0_BAUD=250000 : Select some BAUD for CAN0 (if enabled)
CONFIG_SAMA5_CAN0_NRECVMB=1 : Select number of receive mailboxes (see below)
CONFIG_SAMA5_CAN1_BAUD=250000 : Select some BAUD for CAN1 (if enabled)
CONFIG_SAMA5_CAN1_NRECVMB=1 : Select number of receive mailboxes (see below)
Receive Mailboxes and Address Filtering
The SAMA5 CAN0 peripheral supports 8 mailboxes that can be used for sending and receiving messages. Note that the number of dedicated receive mailboxes (CONFIG_SAMA5_CANn_NRECVMB) was set to one in the above configuration. This could be set to any value from 1 to 3 (the upper limit of 3 is purely arbrary and can be increased with some minor code enhancement). The remainder can be configured dynamically to send CAN messages.
Why would you want to use more than one receive mailbox? There are two reasons. Multiple receive mailboxes might needed to either (1) receive bursts of messages, or (2) to support multiple groups of messages filtered on message ID.
You must also specify the address filtering for each dedicated receive mailbox:
System Type -> CAN Drive Support
CONFIG_SAMA5_CAN0_ADDR0 and CONFIG_SAMA5_CAN0_MASK0 : If CONFIG_SAMA5_CAN0_NRECVMB >= 1
CONFIG_SAMA5_CAN0_ADDR1 and CONFIG_SAMA5_CAN0_MASK1 : If CONFIG_SAMA5_CAN0_NRECVMB >= 2
CONFIG_SAMA5_CAN0_ADDR2 and CONFIG_SAMA5_CAN0_MASK2 : If CONFIG_SAMA5_CAN0_NRECVMB >= 3
CONFIG_SAMA5_CAN1_ADDR0 and CONFIG_SAMA5_CAN1_MASK0 : If CONFIG_SAMA5_CAN1_NRECVMB >= 1
CONFIG_SAMA5_CAN1_ADDR1 and CONFIG_SAMA5_CAN1_MASK1 : If CONFIG_SAMA5_CAN1_NRECVMB >= 2
CONFIG_SAMA5_CAN1_ADDR2 and CONFIG_SAMA5_CAN1_MASK2 : If CONFIG_SAMA5_CAN1_NRECVMB >= 3
Only messages that have IDs that match the CONFIG_SAMA5_CANn_ADDRn when both the received and the configured address are masked by CONFIG_SAMA5_CANn_MASKn will be accepted. For example, if the mask is all ones, then only messages with exact address matches will be accepted; if the mask is all zeroes than any address will be accepted.
CAN connectors --------------
CAN1 and CAN2 are available via RJ-11 connectors on the SAMA5D3x-EK. Each is wired as follows. Also shown below is the matching pins if you want connect the CAN to a device that uses an DB-9 connector (Such as the IXXAT USB-to-CAN Compact). Both connector types (as well as RJ-45) are common.
+----------+ RJ-11 DB-9
| O | ----------- --------------
+------------+ | | Pin 1 3v3 Pin 1 N/C | +--+ | | o5 | Pin 2 5v Pin 2 CANL | | | | | o9 | Pin 3 N/C Pin 3 GND | +-+ +-+ | | o4 | Pin 4 CANL Pin 4 N/C | | | | | o8 | Pin 5 CANH Pin 5 N/C | |654321| | | o3 | Pin 6 N/C Pin 6 N/C | |oooooo| | | o7 | Pin 7 CANH | +------+ | | o2 | Pin 8 N/C +------------+ | o6 | Pin 9 CANV+ (N/C on IXXAT) RJ-11 Female | x1 | | | | O | +----------+ DB-9 Male
SAMA5 ADC Support
Basic driver configuration
ADC support can be added to the NSH configuration. However, there are no ADC input pins available to the user for ADC testing (the touchscreen ADC inputs are intended for other functionality). Because of this, there is not much motivation to enable ADC support on the SAMA5D3x-EK. This paragraph is included here, however, for people using a custom SAMA5D3x board that requires ADC support.
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_ADC=y : Enable ADC driver support
CONFIG_SAMA5_TC0=y : Enable the Timer/counter library need for periodic sampling
Drivers
CONFIG_ANALOG=y : Should be automatically selected
CONFIG_ADC=y : Should be automatically selected
System Type -> ADC Configuration
CONFIG_SAMA5_ADC_CHAN0=y : These settings enable the sequencer to collect
CONFIG_SAMA5_ADC_CHAN1=y : Samples from ADC channels 0-3 on each trigger
CONFIG_SAMA5_ADC_CHAN2=y
CONFIG_SAMA5_ADC_CHAN3=y
CONFIG_SAMA5_ADC_SEQUENCER=y
CONFIG_SAMA5_ADC_TIOA0TRIG=y : Trigger on the TC0, channel 0 output A
CONFIG_SAMA5_ADC_TIOAFREQ=2 : At a frequency of 2Hz
CONFIG_SAMA5_ADC_TIOA_RISING=y : Trigger on the rising edge
Default ADC settings (like gain and offset) may also be set if desired.
System Type -> Timer/counter Configuration
CONFIG_SAMA5_TC0_TIOA0=y : Should be automatically selected
Work queue supported is also needed:
Library routines
CONFIG_SCHED_WORKQUEUE=y
ADC Test Example
For testing purposes, there is an ADC program at apps/examples/adc that will collect a specified number of samples. This test program can be enabled as follows:
Application Configuration -> Examples -> ADC example
CONFIG_EXAMPLES_ADC=y : Enables the example code
CONFIG_EXAMPLES_ADC_DEVPATH="/dev/adc0"
Other default settings for the ADC example should be okay.
ADC DMA Support
At 2Hz, DMA is not necessary nor desire-able. The ADC driver has support for DMA transfers of converted data (although that support has not been tested as of this writing). DMA support can be added by include the following in the configuration.
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_DMAC1=y : Enable DMAC1 support
System Type -> ADC Configuration
CONFIG_SAMA5_ADC_DMA=y : Enable ADC DMA transfers
CONFIG_SAMA5_ADC_DMASAMPLES=2 : Collect two sets of samples per DMA
Drivers -> Analog device (ADC/DAC) support
CONFIG_ADC_FIFOSIZE=16 : Driver may need a large ring buffer
Application Configuration -> Examples -> ADC example
CONFIG_EXAMPLES_ADC_GROUPSIZE=16 : Larger buffers in the test
SAMA5 PWM Support
Basic driver configuration
PWM support can be added to the NSH configuration. However, there are no PWM output pins available to the user for PWM testing. Because of this, there is not much motivation to enable PWM support on the SAMA5D3x-EK. This paragraph is included here, however, for people using a custom SAMA5D3x board that requires PWM support.
Basic driver configuration:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_PWM=y : Enable PWM driver support
Drivers
CONFIG_PWM=y : Should be automatically selected
PWM Channel/Output Selection
----------------------------
In order to use the PWM, you must enable one or more PWM Channels:
System Type -> PWM Configuration
CONFIG_SAMA5_PWM_CHAN0=y : Enable one or more of channels 0-3
CONFIG_SAMA5_PWM_CHAN1=y
CONFIG_SAMA5_PWM_CHAN2=y
CONFIG_SAMA5_PWM_CHAN3=y
For each channel that is enabled, you must also specify the output pins
to be enabled and the clocking supplied to the PWM channel.
CONFIG_SAMA5_PWM_CHANx_FAULTINPUT=n : (not used currently)
CONFIG_SAMA5_PWM_CHANx_OUTPUTH=y : Enable One of both of the H and L output pins
CONFIG_SAMA5_PWM_CHANx_OUTPUTL=y
Where x=0..3.
Care must be taken because all PWM output pins conflict with some other
usage of the pin by other devices. Furthermore, many of these pins have
not been brought out to an external connector:
-----+---+---+----+------+----------------
PWM PIN PER PIO I/O CONFLICTS
-----+---+---+----+------+----------------
PWM0 FI B PC28 J2.30 SPI1, ISI
H B PB0 --- GMAC
B PA20 J1.14 LCDC, ISI
L B PB1 --- GMAC
B PA21 J1.16 LCDC, ISI
-----+---+---+----+------+----------------
PWM1 FI B PC31 J2.36 HDMI
H B PB4 --- GMAC
B PA22 J1.18 LCDC, ISI
L B PB5 --- GMAC
B PE31 J3.20 ISI, HDMI
B PA23 J1.20 LCDC, ISI
-----+---+---+----+------+----------------
PWM2 FI B PC29 J2.29 UART0, ISI, HDMI
H C PD5 --- HSMCI0
B PB8 --- GMAC
L C PD6 --- HSMCI0
B PB9 --- GMAC
-----+---+---+----+------+----------------
PWM3 FI C PD16 --- SPI0, Audio
H C PD7 --- HSMCI0
B PB12 J3.7 GMAC
L C PD8 --- HSMCI0
B PB13 --- GMAC
-----+---+---+----+--------------------
See boards/arm/sama5/sama5d3x-ek/include/board.h for all of the default PWM
pin selections. I used PWM channel 0, pins PA20 and PA21 for testing.
Clocking is addressed in the next paragraph.
PWM Clock Configuration
-----------------------
PWM Channels can be clocked from either a coarsely divided divided down
MCK or from a custom frequency from PWM CLKA and/or CLKB. If you want
to use CLKA or CLKB, you must enable and configure them.
System Type -> PWM Configuration
CONFIG_SAMA5_PWM_CLKA=y
CONFIG_SAMA5_PWM_CLKA_FREQUENCY=3300
CONFIG_SAMA5_PWM_CLKB=y
CONFIG_SAMA5_PWM_CLKB_FREQUENCY=3300
Then for each of the enabled, channels you must select the input clock
for that channel:
System Type -> PWM Configuration
CONFIG_SAMA5_PWM_CHANx_CLKA=y : Pick one of MCK, CLKA, or CLKB (only)
CONFIG_SAMA5_PWM_CHANx_CLKB=y
CONFIG_SAMA5_PWM_CHANx_MCK=y
CONFIG_SAMA5_PWM_CHANx_MCKDIV=128 : If MCK is selected, then the MCK divider must
: also be provided (1,2,4,8,16,32,64,128,256,512, or 1024).
PWM Test Example
For testing purposes, there is an PWM program at apps/examples/pwm that will collect a specified number of samples. This test program can be enabled as follows:
Application Configuration -> Examples -> PWM example
CONFIG_EXAMPLES_PWM=y : Enables the example code
Other default settings for the PWM example should be okay.
CONFIG_EXAMPLES_PWM_DEVPATH="/dev/pwm0"
CONFIG_EXAMPLES_PWM_FREQUENCY=100
Usage of the example is straightforward:
nsh> pwm -h
Usage: pwm [OPTIONS]
Arguments are "sticky". For example, once the PWM frequency is
specified, that frequency will be reused until it is changed.
"sticky" OPTIONS include:
[-p devpath] selects the PWM device. Default: /dev/pwm0 Current: /dev/pwm0
[-f frequency] selects the pulse frequency. Default: 100 Hz Current: 100 Hz
[-d duty] selects the pulse duty as a percentage. Default: 50 % Current: 50 %
[-t duration] is the duration of the pulse train in seconds. Default: 5 Current: 5
[-h] shows this message and exits
RTC
The Real Time Clock/Calendar RTC) may be enabled with these settings:
System Type:
CONFIG_SAMA5_RTC=y : Enable the RTC driver
Drivers (these values will be selected automatically):
CONFIG_RTC=y : Use the RTC for system time
CONFIG_RTC_DATETIME=y : RTC supports data/time
You can set the RTC using the NSH date command:
NuttShell (NSH) NuttX-7.3
nsh> help date
date usage: date [-s "MMM DD HH:MM:SS YYYY"]
nsh> date
Jan 01 00:34:45 2012
nsh> date -s "JUN 29 7:30:00 2014"
nsh> date
Jun 29 07:30:01 2014
After a power cycle and reboot:
NuttShell (NSH) NuttX-7.3
nsh> date
Jun 29 07:30:55 2014
nsh>
The RTC also supports an alarm that may be enable with the following settings. However, there is nothing in the system that currently makes use of this alarm.
Drivers:
CONFIG_RTC_ALARM=y : Enable the RTC alarm
Library Routines
CONFIG_SCHED_WORKQUEUE=y : Alarm needs work queue support
Watchdog Timer
NSH can be configured to exercise the watchdog timer test (apps/examples/watchdog). This can be selected with the following settings in the NuttX configuration file:
System Type:
CONFIG_SAMA5_WDT=y : Enable the WDT peripheral
: Defaults in "RTC Configuration" should be OK
Drivers (this will automatically be selected):
CONFIG_WATCHDOG=y : Enables watchdog timer driver support
Application Configuration -> Examples
CONFIG_EXAMPLES_WATCHDOG=y : Enable apps/examples/watchdog
The WDT timer is driven off the slow, 32768Hz clock divided by 128. As a result, the watchdog a maximum timeout value of 16 seconds. The SAMA5 WDT may also only be programmed one time; the processor must be reset before the WDT can be reprogrammed.
The SAMA5 always boots with the watchdog timer enabled at its maximum timeout (16 seconds). In the normal case where no watchdog timer driver has been configured, the watchdog timer is disabled as part of the start up logic. But, since we are permitted only one opportunity to program the WDT, we cannot disable the watchdog time if CONFIG_SAMA5_WDT=y. So, be forewarned: You have only 16 seconds to run your watchdog timer test!
NOTE: If you are using the norboot program to run from FLASH as I did, beware that the default version also disables the watchdog. You will need a special version of norboot with CONFIG_SAMA5_WDT=y.
TRNG and /dev/random
NSH can be configured to enable the SAMA5 TRNG peripheral so that it provides /dev/random. The following configuration will enable the TRNG, and support for /dev/random:
System Type:
CONFIG_SAMA5_TRNG=y : Enable the TRNG peripheral
Drivers:
CONFIG_DEV_RANDOM=y : Enable /dev/random
A simple test of /dev/random is available at apps/examples/random and can be enabled as a NSH application via the following additional configuration settings:
Applications -> Examples
CONFIG_EXAMPLES_RANDOM=y : Enable apps/examples/random
CONFIG_EXAMPLES_MAXSAMPLES=64 : Default settings are probably OK
CONFIG_EXAMPLES_NSAMPLES=8
Touchscreen Testing
You can enable the touchscreen by modifying the configuration in the following ways:
System Type:
CONFIG_SAMA5_ADC=y : ADC support is required
CONFIG_SAMA5_TSD=y : Enabled touchcreen device support
SAMA5_TSD_4WIRE=y : 4-Wire interface with pressure
You might want to tinker with the SWAPXY and THRESHX and THRESHY settings to get the result that you want.
Drivers:
CONFIG_INPUT=y : (automatically selected)
Board Selection:
CONFIG_SAMA5D3XEK_TSD_DEVMINOR=0 : Register as /dev/input0
Library Support:
CONFIG_SCHED_WORKQUEUE=y : Work queue support required
These options may also be applied to enable a built-in touchscreen test application:
Application Configuration:
CONFIG_EXAMPLES_TOUCHSCREEN=y : Enable the touchscreen built-int test
CONFIG_EXAMPLES_TOUCHSCREEN_MINOR=0 : To match the board selection
CONFIG_EXAMPLES_TOUCHSCREEN_DEVPATH="/dev/input0"
Defaults should be okay for all related settings.
Tickless OS
Background
By default, a NuttX configuration uses a periodic timer interrupt that drives all system timing. The timer is provided by architecture-specifi code that calls into NuttX at a rate controlled by CONFIG_USEC_PER_TICK. The default value of CONFIG_USEC_PER_TICK is 10000 microseconds which corresponds to a timer interrupt rate of 100 Hz.
An option is to configure NuttX to operation in a "tickless" mode. Some limitations of default system timer are, in increasing order of importance:
- Overhead: Although the CPU usage of the system timer interrupt at 100Hz is really very low, it is still mostly wasted processing time. One most timer interrupts, there is really nothing that needs be done other than incrementing the counter.
- Resolution: Resolution of all system timing is also determined by CONFIG_USEC_PER_TICK. So nothing that be time with resolution finer than 10 milliseconds be default. To increase this resolution, CONFIG_USEC_PER_TICK an be reduced. However, then the system timer interrupts use more of the CPU bandwidth processing useless interrupts.
- Power Usage: But the biggest issue is power usage. When the system is IDLE, it enters a light, low-power mode (for ARMs, this mode is entered with the wfi or wfe instructions for example). But each interrupt awakens the system from this low power mode. Therefore, higher rates of interrupts cause greater power consumption.
The so-called Tickless OS provides one solution to issue. The basic concept here is that the periodic, timer interrupt is eliminated and replaced with a one-shot, interval timer. It becomes event driven instead of polled: The default system timer is a polled design. On each interrupt, the NuttX logic checks if it needs to do anything and, if so, it does it.
Using an interval timer, one can anticipate when the next interesting OS event will occur, program the interval time and wait for it to fire. When the interval time fires, then the scheduled activity is performed.
Configuration
The following configuration options will enable support for the Tickless OS for the SAMA5D platforms using TC0 channels 0-3 (other timers or timer channels could be used making the obvious substitutions):
RTOS Features -> Clocks and Timers
CONFIG_SCHED_TICKLESS=y : Configures the RTOS in tickless mode
CONFIG_SCHED_TICKLESS_ALARM=n : (option not implemented)
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_TC0=y : Enable TC0 (TC channels 0-3
System Type -> Timer/counter Configuration
CONFIG_SAMA5_ONESHOT=y : Enables one-shot timer wrapper
CONFIG_SAMA5_FREERUN=y : Enabled free-running timer wrapper
CONFIG_SAMA5_TICKLESS_ONESHOT=0 : Selects TC0 channel 0 for the one-shot
CONFIG_SAMA5_TICKLESS_FREERUN=1 : Selects TC0 channel 1 for the free-
: running timer
The resolution of the clock is provided by the CONFIG_USEC_PER_TICK setting in the configuration file.
NOTE: In most cases, the slow clock will be used as the timer/counter input. You should enable the 32.768KHz crystal for the slow clock by calling sam_sckc_enable(). Otherwise, you will be doing all system timing using the RC clock! UPDATE: This will now be selected by default when you configure for TICKLESS support.
The slow clock has a resolution of about 30.518 microseconds. Ideally, the value of CONFIG_USEC_PER_TICK should be the exact clock resolution. Otherwise there will be cumulative timing inaccuracies. But a choice choice of:
CONFIG_USEC_PER_TICK=31
will have an error of 0.6% and will have inaccuracies that will effect the time due to long term error build-up.
UPDATE: As of this writing (2015-12-03), the Tickless support is functional. However, there are inaccuracies in delays. For example,
nsh> sleep 10
results in a delay of maybe 5.4 seconds. But the timing accuracy is correct if all competing uses of the interval timer are disabled (mostly from the high priority work queue). Therefore, I conclude that this inaccuracy is due to the inaccuracies in the representation of the clock rate. 30.518 usec cannot be represented accurately. Each timing calculation results in a small error. When the interval timer is very busy, long delays will be divided into many small pieces and each small piece has a large error in the calculation. The cumulative error is the cause of the problem.
SAMA5 Timer Usage
This current implementation uses two timers: A one-shot timer to provide the timed events and a free running timer to provide the current time. Since timers are a limited resource, that could be an issue on some systems.
We could do the job with a single timer if we were to keep the single timer in a free-running at all times. The SAMA5 timer/counters have 32-bit counters with the capability to generate a compare interrupt when the timer matches a compare value but also to continue counting without stopping (giving another, different interrupt when the timer rolls over from 0xffffffff to zero). So we could potentially used the just set the compare at the number of ticks you want PLUS the current value of timer. Then you could have both with a single timer: An interval timer and a free- running counter with the same timer! In this case, you would want to to set CONFIG_SCHED_TICKLESS_ALARM in the NuttX configuration.
Patches are welcome!
OV2640 Camera Interface
SAMA5D3x PIN SAMA5D3x-EK OV2640
PIO PER SIGNAL ISI Socket J11
---- --- ------------- --- ------------ ----------------------------------------
--- 1 VDDISI ---
--- 2 GND ---
--- 3 VDDISI ---
--- 4 GND ---
PE28 ? ? 5 ZB_SLPTR ???
PE29 ? ? 6 ZB_RST C6 RESETB Reset mode (?)
PC27 B TWI1_CK 7 TWCK1 C2 SIO_C SCCB serial interface clock input
PC26 B TWI1_D 8 TWD1 C1 SIO_D SCCB serial interface data I/O
--- 9 GND ---
PD31 B PCK1 (ISI_MCK) 10 ISI_MCK C4 XVCLK System clock input (?)
--- 11 GND ---
PA30 C ISI_VSYNC 12 ISI_VSYNC D2 VSYNC Vertical synchronization
--- 13 GND ---
PA31 C ISI_HSYNC 14 ISI_HSYNC C3 HREF Horizontal reference output (?)
--- 15 GND ---
PC30 C ISI_PCK 16 ISI_PCK E3 PCLK Pixel clock output
--- 17 GND ---
PA16 C ISI_D0 18 ISI_D0 E2 Y0 Video port output bit[0]
PA17 C ISI_D1 19 ISI_D1 E1 Y1 Video port output bit[1]
PA18 C ISI_D2 20 ISI_D2 F3 Y2 Video port output bit[2]
PA19 C ISI_D3 21 ISI_D3 G3 Y3 Video port output bit[3]
PA20 C ISI_D4 22 ISI_D4 F4 Y4 Video port output bit[4]
PA21 C ISI_D5 23 ISI_D5 G4 Y5 Video port output bit[5]
PA22 C ISI_D6 24 ISI_D6 E5 Y6 Video port output bit[6]
PA23 C ISI_D7 25 ISI_D7 G5 Y7 Video port output bit[7]
PC29 C ISI_D8 26 ISI_D8 F5 Y8 Video port output bit[8]
PC28 C ISI_D9 27 ISI_D9 G6 Y9 Video port output bit[9]
PC27 C ISI_D10 28 ISI_D10 ---
PC26 C ISI_D11 29 ISI_D11 ---
--- 30 GND ---
??? ?? A2 EXPST_B Snapshot exposure start trigger
??? ?? A6 STROBE Flash control output
??? ?? B2 FREX Snapshot trigger
??? ?? B6 PWDN Power-down mode enable
I2S Audio Support
The SAMA5D3x-EK has two devices on-board that can be used for verification of I2S functionality: HDMI and a WM8904 audio CODEC. As of this writing, the I2S driver is present, but there are not drivers for either the HDMI or the WM8904.
WM8904 Audio CODEC Interface ----------------------------
------------- ---------------- ----------------- ----------------------
WM8904 SAMA5D3 NuttX Pin Name External Access
------------- ---------------- ----------------- ----------------------
3 SDA PA30 TWD0 PIO_TWI0_D J1 Pin 34
2 SCLK PA31 TWCK0 PIO_TWI0_CK J1 Pin 36
28 MCLK PD30 PCK0 PIO_PMC_PCK0 (Not available)
29 BCLK/GPIO4 PC16 TK PIO_SSC0_TK J2 Pin 6
"" " " PC19 RK PIO_SSC0_RK J2 Pin 12
30 LRCLK PC17 TF PIO_SSC0_TF J2 Pin 8
"" " " PC20 RF PIO_SSC0_RF J2 Pin 14
31 ADCDAT PC21 RD PIO_SSC0_RD J2 Pin 16
32 DACDAT PC18 TD PIO_SSC0_TD J2 Pin 10
1 IRQ/GPIO1 PD16 INT_AUDIO N/A (Not available)
------------- ---------------- ----------------- ----------------------
Ground at Pins 3,4,37,38
WM8904 Configuration --------------------
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_DMAC0=y : DMAC0 required by SSC0
CONFIG_SAMA5_TWI0=y : Enable TWI0 driver support
CONFIG_SAMA5_SSCO=y : Enable SSC0 driver support
System Type -> SSC0 Configuration
CONFIG_SAMA5_SSC_MAXINFLIGHT=16
CONFIG_SAMA5_SSC0_DATALEN=16
Device Drivers -> I2C Driver Support
CONFIG_I2C=y : Enable I2C support
CONFIG_I2C_EXCHANGE=y : Support the exchange method
CONFIG_I2C_RESET=n : (Maybe y, if you have bus problems)
System Type -> SSC Configuration
CONFIG_SAMA5_SSC_MAXINFLIGHT=16 : Up to 16 pending DMA transfers
CONFIG_SAMA5_SSC0_DATALEN=16 : 16-bit data
CONFIG_SAMA5_SSC0_RX=y : Support a receiver (although it is not used!)
CONFIG_SAMA5_SSC0_RX_RKINPUT=y : Receiver gets clock the RK0 input
CONFIG_SAMA5_SSC0_RX_FSLEN=1 : Minimal frame sync length
CONFIG_SAMA5_SSC0_RX_STTDLY=1 : Start delay
CONFIG_SAMA5_SSC0_TX=y : Support a transmitter
CONFIG_SAMA5_SSC0_TX_RXCLK=y : Transmitter gets clock the RXCLCK
CONFIG_SAMA5_SSC0_TX_FSLEN=0 : Disable frame synch generation
CONFIG_SAMA5_SSC0_TX_STTDLY=1 : Start delay
CONFIG_SAMA5_SSC0_TX_TKOUTPUT_NONE=y : No output
Audio
CONFIG_AUDIO=y : Audio support needed
CONFIG_AUDIO_FORMAT_PCM=y : Only PCM files are supported
CONFIG_AUDIO_NUM_BUFFERS=8 : Number of audio buffers
CONFIG_AUDIO_BUFFER_NUMBYTES=8192 : Audio buffer size
Drivers -> Audio
CONFIG_I2S=y : General I2S support
CONFIG_DRIVERS_AUDIO=y : Audio device support
CONFIG_AUDIO_WM8904=y : Build WM8904 driver character driver
Board Selection
CONFIG_SAMA5D3XEK_WM8904_I2CFREQUENCY=400000
CONFIG_SAMA5D3XEK_WM8904_SRCMAIN=y : WM8904 MCLK is the SAMA5D Main Clock
Library Routines
CONFIG_SCHED_WORKQUEUE=y : MW8904 driver needs work queue support
The NxPlayer ------------
The NxPlayer is a audio library and command line application for playing audio file. The NxPlayer can be found at apps/system/nxplayer. If you would like to add the NxPlayer, here are some recommended configuration settings.
First of all, the NxPlayer depends on the NuttX audio subsystem. See the "WM8904 Configuration" above for an example of how the audio subsystem is configured to use the WM8904 CODED with PCM decoding.
Then the NxPlayer can be enabled as follows:
System Libraries and NSH Add-Ons -> NxPlayer media player / command line -> CONFIG_SYSTEM_NXPLAYER=y : Build the NxPlayer library CONFIG_NXPLAYER_PLAYTHREAD_STACKSIZE=1500 : Size of the audio player stack CONFIG_NXPLAYER_COMMAND_LINE=y : Build command line application CONFIG_NXPLAYER_INCLUDE_HELP=y : Includes a help command CONFIG_NXPLAYER_INCLUDE_DEVICE_SEARCH=n : (Since there is only one audio device) CONFIG_NXPLAYER_INCLUDE_PREFERRED_DEVICE=y : Only one audio device is supported CONFIG_NXPLAYER_FMT_FROM_EXT=y : (Since only PCM is supported) CONFIG_NXPLAYER_FMT_FROM_HEADER=n : (Since only PCM is supported) CONFIG_NXPLAYER_INCLUDE_MEDIADIR=y : Specify a media directory CONFIG_NXPLAYER_DEFAULT_MEDIADIR="/music" : See nxplayer configuration CONFIG_NXPLAYER_RECURSIVE_MEDIA_SEARCH=y : Search all sub-directories CONFIG_NXPLAYER_INCLUDE_SYSTEM_RESET=y : Add support for reset command
You must include the full path to the location where NxPlayer can find the media files. That path is given by CONFIG_NXPLAYER_DEFAULT_MEDIADIR. Here I use the example "/mnt/scard". That is a location where you could, for example, mount an MMC/SD card driver.
I2S Loopback Test -----------------
The I2S driver was verified using a special I2C character driver (at nuttx/drivers/audio/i2schar.c) and a test driver at apps/examples/i2schar. The I2S driver was verified in loopback mode with no audio device.
This section describes the modifications to the NSH configuration that were used to perform the I2S testing:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_SSCO=y : Enable SSC0 driver support
CONFIG_SAMA5_DMAC0=y : DMAC0 required by SSC0
Alternatively, SSC1 could have be used:
System Type -> SAMA5 Peripheral Support
CONFIG_SAMA5_SSC1=y : Enable SSC0 driver support
CONFIG_SAMA5_DMAC0=y : DMAC0 required by SSC0
System Type -> SSC Configuration
CONFIG_SAMA5_SSC_MAXINFLIGHT=16 : Up to 16 pending DMA transfers
CONFIG_SAMA5_SSC0_MASTER=y : Master mode
CONFIG_SAMA5_SSC0_DATALEN=16 : 16-bit data
CONFIG_SAMA5_SSC0_RX=y : Support a receiver
CONFIG_SAMA5_SSC0_RX_RKINPUT=y : Receiver gets clock from RK input
CONFIG_SAMA5_SSC0_RX_FSLEN=2 : Pick some matching frame synch length
CONFIG_SAMA5_SSC0_TX=y : Support a transmitter
CONFIG_SAMA5_SSC0_TX_MCKDIV=y : Transmitter gets clock from MCK/2
CONFIG_SAMA5_SSC0_TX_FSLEN=2 : Pick some matching frame synch length
CONFIG_SAMA5_SSC0_MCKDIV_SAMPLERATE=48000 : Sampling at 48K samples/sec
CONFIG_SAMA5_SSC0_TX_TKOUTPUT_XFR=y : Outputs clock on TK when transferring data
CONFIG_SAMA5_SSC0_LOOPBACK=y : Loopmode mode connects RD/TD and RK/TK
Audio
CONFIG_AUDIO=y : Audio support needed
: Defaults should be okay
Drivers -> Audio
CONFIG_I2S=y : General I2S support
CONFIG_DRIVERS_AUDIO=y : Audio device support
CONFIG_AUDIO_I2SCHAR=y : Build I2S character driver
The following describes how I have the test application at
apps/examples/i2schar configured:
CONFIG_EXAMPLES_I2SCHAR=y
CONFIG_EXAMPLES_I2SCHAR_DEVPATH="/dev/i2schar0"
CONFIG_EXAMPLES_I2SCHAR_TX=y
CONFIG_EXAMPLES_I2SCHAR_TXBUFFERS=4
CONFIG_EXAMPLES_I2SCHAR_TXSTACKSIZE=1536
CONFIG_EXAMPLES_I2SCHAR_RX=y
CONFIG_EXAMPLES_I2SCHAR_RXBUFFERS=4
CONFIG_EXAMPLES_I2SCHAR_RXSTACKSIZE=1536
CONFIG_EXAMPLES_I2SCHAR_BUFSIZE=256
CONFIG_EXAMPLES_I2SCHAR_DEVINIT=y
Board Selection
CONFIG_SAMA5D3XEK_I2SCHAR_MINOR=0
CONFIG_SAMA5D3XEK_SSC_PORT=0 : 0 or SSC0, 1 for SSC1
Library Routines
CONFIG_SCHED_WORKQUEUE=y : Driver needs work queue support
SAMA5D3x-EK 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_CORTEXA5=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP="sama5"
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact chip:
CONFIG_ARCH_CHIP_SAMA5=y
and one of:
CONFIG_ARCH_CHIP_ATSAMA5D31=y CONFIG_ARCH_CHIP_ATSAMA5D33=y CONFIG_ARCH_CHIP_ATSAMA5D34=y CONFIG_ARCH_CHIP_ATSAMA5D35=y
CONFIG_ARCH_BOARD - Identifies the boards/ subdirectory and hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD="sama5d3x-ek" (for the SAMA5D3x-EK development board)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_SAMA5D3X_EK=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_RAM_SIZE - Describes the installed DRAM (SRAM in this case):
CONFIG_RAM_SIZE=0x0002000 (128Kb)
CONFIG_RAM_START - The physical start address of installed DRAM
CONFIG_RAM_START=0x20000000
CONFIG_RAM_VSTART - The virtual start address of installed DRAM
CONFIG_RAM_VSTART=0x20000000
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.
Individual subsystems can be enabled:
CONFIG_SAMA5_DBGU - Debug Unit
CONFIG_SAMA5_PIT - Periodic Interval Timer
CONFIG_SAMA5_WDT - Watchdog timer
CONFIG_SAMA5_HSMC - Multi-bit ECC
CONFIG_SAMA5_SMD - SMD Soft Modem
CONFIG_SAMA5_USART0 - USART 0
CONFIG_SAMA5_USART1 - USART 1
CONFIG_SAMA5_USART2 - USART 2
CONFIG_SAMA5_USART3 - USART 3
CONFIG_SAMA5_UART0 - UART 0
CONFIG_SAMA5_UART1 - UART 1
CONFIG_SAMA5_TWI0 - Two-Wire Interface 0
CONFIG_SAMA5_TWI1 - Two-Wire Interface 1
CONFIG_SAMA5_TWI2 - Two-Wire Interface 2
CONFIG_SAMA5_HSMCI0 - High Speed Multimedia Card Interface 0
CONFIG_SAMA5_HSMCI1 - High Speed Multimedia Card Interface 1
CONFIG_SAMA5_HSMCI2 - High Speed Multimedia Card Interface 2
CONFIG_SAMA5_SPI0 - Serial Peripheral Interface 0
CONFIG_SAMA5_SPI1 - Serial Peripheral Interface 1
CONFIG_SAMA5_TC0 - Timer Counter 0 (ch. 0, 1, 2)
CONFIG_SAMA5_TC1 - Timer Counter 1 (ch. 3, 4, 5)
CONFIG_SAMA5_PWM - Pulse Width Modulation Controller
CONFIG_SAMA5_ADC - Touch Screen ADC Controller
CONFIG_SAMA5_DMAC0 - DMA Controller 0
CONFIG_SAMA5_DMAC1 - DMA Controller 1
CONFIG_SAMA5_UHPHS - USB Host High Speed
CONFIG_SAMA5_UDPHS - USB Device High Speed
CONFIG_SAMA5_GMAC - Gigabit Ethernet MAC
CONFIG_SAMA5_EMACA - Ethernet MAC (Type A)
CONFIG_SAMA5_LCDC - LCD Controller
CONFIG_SAMA5_ISI - Image Sensor Interface
CONFIG_SAMA5_SSC0 - Synchronous Serial Controller 0
CONFIG_SAMA5_SSC1 - Synchronous Serial Controller 1
CONFIG_SAMA5_CAN0 - CAN controller 0
CONFIG_SAMA5_CAN1 - CAN controller 1
CONFIG_SAMA5_SHA - Secure Hash Algorithm
CONFIG_SAMA5_AES - Advanced Encryption Standard
CONFIG_SAMA5_TDES - Triple Data Encryption Standard
CONFIG_SAMA5_TRNG - True Random Number Generator
CONFIG_SAMA5_ARM - Performance Monitor Unit
CONFIG_SAMA5_FUSE - Fuse Controller
CONFIG_SAMA5_MPDDRC - MPDDR controller
Some subsystems can be configured to operate in different ways. The drivers need to know how to configure the subsystem.
CONFIG_SAMA5_PIOA_IRQ - Support PIOA interrupts
CONFIG_SAMA5_PIOB_IRQ - Support PIOB interrupts
CONFIG_SAMA5_PIOC_IRQ - Support PIOD interrupts
CONFIG_SAMA5_PIOD_IRQ - Support PIOD interrupts
CONFIG_SAMA5_PIOE_IRQ - Support PIOE interrupts
CONFIG_USART0_SERIALDRIVER - USART0 is configured as a UART
CONFIG_USART1_SERIALDRIVER - USART1 is configured as a UART
CONFIG_USART2_SERIALDRIVER - USART2 is configured as a UART
CONFIG_USART3_SERIALDRIVER - USART3 is configured as a UART
AT91SAMA5 specific device driver settings
CONFIG_SAMA5_DBGU_SERIAL_CONSOLE - selects the DBGU
for the console and ttyDBGU
CONFIG_SAMA5_DBGU_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_SAMA5_DBGU_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_SAMA5_DBGU_BAUD - The configure BAUD of the DBGU.
CONFIG_SAMA5_DBGU_PARITY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_U[S]ARTn_SERIAL_CONSOLE - selects the USARTn (n=0,1,2,3) or UART
m (m=4,5) for the console and ttys0 (default is the USART1).
CONFIG_U[S]ARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_U[S]ARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_U[S]ARTn_BAUD - The configure BAUD of the UART.
CONFIG_U[S]ARTn_BITS - The number of bits. Must be either 7 or 8.
CONFIG_U[S]ARTn_PARITY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_U[S]ARTn_2STOP - Two stop bits
AT91SAMA5 USB Host Configuration Pre-requisites
CONFIG_USBDEV - Enable USB device support
CONFIG_USBHOST - Enable USB host support
CONFIG_SAMA5_UHPHS - Needed
CONFIG_SAMA5_OHCI - Enable the STM32 USB OTG FS block
CONFIG_SCHED_WORKQUEUE - Worker thread support is required
Options:
CONFIG_SAMA5_OHCI_NEDS
Number of endpoint descriptors
CONFIG_SAMA5_OHCI_NTDS
Number of transfer descriptors
CONFIG_SAMA5_OHCI_TDBUFFERS
Number of transfer descriptor buffers
CONFIG_SAMA5_OHCI_TDBUFSIZE
Size of one transfer descriptor buffer
CONFIG_USBHOST_INT_DISABLE
Disable interrupt endpoint support
CONFIG_USBHOST_ISOC_DISABLE
Disable isochronous endpoint support
CONFIG_USBHOST_BULK_DISABLE
Disable bulk endpoint support
config SAMA5_OHCI_REGDEBUG
Configurations
Information Common to All Configurations
Each SAMA5D3x-EK configuration is maintained in a sub-directory and can be selected as follow:
tools/configure.sh sama5d3x-ek:<subdir>
Before building, make sure the PATH environment variable includes the correct path to the directory than holds your toolchain binaries.
And then build NuttX by simply typing the following. At the conclusion of the make, the nuttx binary will reside in an ELF file called, simply, nuttx.
make
The <subdir> that is provided above as an argument to the tools/configure.sh must be is one of the following.
NOTES:
- These configurations use the mconf-based configuration tool. To change any of these configurations using that tool, you should:
<!-- -->a. Build and install the kconfig-mconf tool. See nuttx/README.txt
see additional README.txt files in the NuttX tools repository.
b. Execute 'make menuconfig' in nuttx/ in order to start the
reconfiguration process.
Unless stated otherwise, all configurations generate console output on USART1 (J8).
All of these configurations use the Code Sourcery for Windows toolchain (unless stated otherwise in the description of the configuration). That toolchain selection can easily be reconfigured using 'make menuconfig'. Here are the relevant current settings:
Build Setup: CONFIG_HOST_WINDOWS=y : Microsoft Windows CONFIG_WINDOWS_CYGWIN=y : Using Cygwin or other POSIX environment
System Type -> Toolchain: CONFIG_ARM_TOOLCHAIN_GNU_EABI=y : GNU EABI toolchain
The SAMA5Dx is running at 396MHz by default in these configurations. This is because the original timing for the PLLs, NOR FLASH, and SDRAM came from the Atmel NoOS sample code which runs at that rate.
The SAMA5Dx is capable of running at 528MHz, however, and is easily re-configured:
Board Selection -> CPU Frequency CONFIG_SAMA5D3XEK_396MHZ=n # Disable 396MHz operation CONFIG_SAMA5D3XEK_528MHZ=y # Enable 528MHz operation
If you switch to 528MHz, you should also check the loop calibration value in your .config file. Of course, it would be best to re-calibrate the timing loop, but these values should get you in the ballpark:
CONFIG_BOARD_LOOPSPERMSEC=49341 # Calibrated on SAMA5D3-EK at 396MHz # running from ISRAM CONFIG_BOARD_LOOPSPERMSEC=65775 # Calibrated on SAMA4D3-Xplained at # 528MHz running from SDRAM
Operation at 528MHz has been verified but is not the default in these configurations because most testing was done at 396MHz. NAND has not been verified at these rates.
By default, all of these configurations run from ISRAM or NOR FLASH (as indicated below in each description of the configuration). Operation from SDRAM is also an option as described in the paragraph entitled, "Running NuttX from SDRAM."
Configuration Sub-directories
Summary: Some of the descriptions below are long and wordy. Here is the concise summary of the available SAMA5D3x-EK configurations:
demo: This is an NSH configuration that supports as much functionality
as possible. That is why it gets its name: It attempts to show as
much as possible
hello: The tiniest configuration possible (almost). It just says
"Hello, World!" On the serial console. It is so tiny that it is
able to run entirely out of internal SRAM (all of the other
configurations except norboot use NOR FLASH for .text and internal
SRAM for .data and .bass). This configuration is only useful for
bring-up.
norboot:
This is a little program to help debug of code in NOR flash. I wrote
it because I don't yet understand how to get the SAMA5 to boot from
NOR FLASH. See the description below and the section above entitled
"Creating and Using NORBOOT" for more information
nsh: This is another NSH configuration, not too different from the
demo configuration. The nsh configuration is, however, bare bones.
It is the simplest possible NSH configuration and is useful as a
platform for debugging and integrating new features in isolation.
nx: A simple test using the NuttX graphics system (NX) that has been
used to verify the SAMA5D3x-EK TFT LCD. This test case focuses on
general window controls, movement, mouse and keyboard input. It
requires no user interaction.
nxplayer: A command line media player using the on-board WM8904 audio
CODEC.
nxwm: This is a special configuration setup for the NxWM window manager
UnitTest. It integrates support for both the SAMA5 LCDC and the
SAMA5 ADC touchscreen controller and provides a more advance
graphics demo. It provides an interactive windowing experience.
ov2640: A test of the SAMA5 ISI using an OV2640 camera. INCOMPLETE!
There may be issues with some of these configurations. See the details before of the status of individual configurations.
Now for the gory details:
demo:
This configuration directory provide the NuttShell (NSH). There are
two NSH configurations: nsh and demo. The difference is that nsh is
intended to be a very simple NSH configuration upon which you can build
further functionality. The demo configuration, on the other hand, is
intended to be a rich configuration that shows many features all working
together.
See also the NOTES associated with the nsh configuration for other hints
about features that can be included with this configuration.
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. 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_ARM_TOOLCHAIN_GNU_EABI=y : GNU EABI toolchain
If you are running on Linux, make *certain* that you have
CONFIG_HOST_LINUX=y *before* the first make or you will create a
corrupt configuration that may not be easy to recover from. See
the warning in the section "Information Common to All Configurations"
for further information.
3. This configuration executes out of CS0 NOR flash and can only
be loaded via SAM-BA. The are the relevant configuration options
are provided above in the section entitled "NOR FLASH Support".
4. Data resides in ISRAM, but can be moved to SDRAM as described above
under "SDRAM Data Configuration."
The following features are pre-enabled in the demo configuration, but not
in the nsh configuration:
5. SDRAM is supported. .data and .bss is still retained in ISRAM, but
SDRAM is initializeed and the SDRAM memory is included in the heap.
Relevant configuration settings are provided in the paragraph entitled
"SDRAM Support" above.
6. The Real Time Clock/Calendar (RTC) is enabled. See the section entitled
"RTC" above.
7. The Embest or Ronetix CPU module includes an Atmel AT25DF321A,
32-megabit, 2.7-volt SPI serial flash. Support for that serial
FLASH can is enabled in this configuration. See the paragraph
entitle "AT25 Serial FLASH" for detailed configuration settings.
8. Support for HSMCI car slots. The SAMA5D3x-EK provides a two SD memory
card slots: (1) a full size SD card slot (J7 labelled MCI0), and (2)
a microSD memory card slot (J6 labelled MCI1). The full size SD card
slot connects via HSMCI0; the microSD connects vi HSMCI1. Relevant
configuration settings can be found in the section entitled "HSMCI
Card Slots" above.
9. Support the USB high-speed device (UDPHS) driver is enabled. See the
section above entitled "USB High-Speed Device" for relevant NuttX
configuration settings.
10. The USB high-speed EHCI and the low-/full- OHCI host drivers are supported
in this configuration. See the section above entitle "USB High-Speed Host"
for relevant configuration information.
11. Support SAMA5D3 TRNG peripheral is enabled so that it provides
/dev/random. See the section entitled "TRNG and /dev/random"
above for detailed configuration information.
STATUS:
See the To-Do list below
2014-3-30: I some casual retesting, I am seeing some slow boot-
up times and possible microSD card issues. I will
need to revisit this.
hello:
This configuration directory, performs the (almost) simplest of all
possible examples: examples/hello. This just comes up, says hello
on the serial console and terminates. This configuration is of
value during bring-up because it is small and can run entirely out
of internal SRAM.
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_ARM_TOOLCHAIN_GNU_EABI=y : GNU EABI toolchain
If you are running on Linux, make *certain* that you have
CONFIG_HOST_LINUX=y *before* the first make or you will create a
corrupt configuration that may not be easy to recover from. See
the warning in the section "Information Common to All Configurations"
for further information.
3. This configuration executes out of internal SRAM and can only
be loaded via JTAG.
CONFIG_SAMA5_BOOT_ISRAM=y : Boot into internal SRAM
CONFIG_BOOT_RUNFROMISRAM=y : Run from internal SRAM
STATUS:
See the To-Do list below
norboot: This is a little program to help debug of code in NOR flash. It does the following:
- It enables and configures NOR FLASH, then
- Waits for you to break in with GDB.
At that point, you can set the PC and begin executing from NOR FLASH
under debug control. See the section entitled "Creating and Using
NORBOOT" above.
NOTES:
1. This program derives from the hello configuration. All of the
notes there apply to this configuration as well.
2. The default norboot program initializes the NOR memory,
displays a message and halts. The norboot program can also be
configured to jump directly into NOR FLASH without requiring the
final halt and go by setting CONFIG_SAMA5D3XEK_NOR_START=y in the
NuttX configuration.
3. Be aware that the default norboot also disables the watchdog.
Since you will not be able to re-enable the watchdog later, you may
need to set CONFIG_SAMA5_WDT=y in the NuttX configuration file.
4. If you put norboot on the Serial FLASH, you can automatically
boot to NOR on reset. See the section "Creating and Using NORBOOT"
above.
STATUS:
See the To-Do list below
nsh:
This configuration directory provide the NuttShell (NSH). There are
two NSH configurations: nsh and demo. The difference is that nsh is
intended to be a very simple NSH configuration upon which you can build
further functionality. The demo configuration, on the other hand, is
intended to be a rich configuration that shows many features all working
together.
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_ARM_TOOLCHAIN_GNU_EABI=y : GNU EABI toolchain
If you are running on Linux, make *certain* that you have
CONFIG_HOST_LINUX=y *before* the first make or you will create a
corrupt configuration that may not be easy to recover from. See
the warning in the section "Information Common to All Configurations"
for further information.
3. This configuration executes out of CS0 NOR flash and can only
be loaded via SAM-BA. The are the relevant configuration options
are provided above in the section entitled "NOR FLASH Support".
4. This configuration has support for NSH built-in applications enabled.
However, no built-in applications are selected in the base configuration.
5. Data resides in ISRAM, but can be moved to SDRAM as described above
under "SDRAM Data Configuration."
6. This configuration has support for the FAT file system built in. However,
by default, there are no block drivers initialized. The FAT file system can
still be used to create RAM disks.
7. SDRAM support can be enabled by modifying your NuttX configuration as
described above in the paragraph entitle "SDRAM Support"
8. The Embest or Ronetix CPU module includes an Atmel AT25DF321A,
32-megabit, 2.7-volt SPI serial flash. Support for that serial
FLASH can be enabled by modifying the NuttX configuration as
described above in the paragraph entitled "AT25 Serial FLASH".
9. Enabling HSMCI support. The SAMA5D3x-EK provides a two SD memory card
slots: (1) a full size SD card slot (J7 labeled MCI0), and (2) a
microSD memory card slot (J6 labeled MCI1). The full size SD card
slot connects via HSMCI0; the microSD connects vi HSMCI1. Support
for both SD slots can be enabled with the settings provided in the
paragraph entitled "HSMCI Card Slots" above.
10. Support the USB low-, high- and full-speed OHCI host driver can be enabled
by changing the NuttX configuration file as described in the section
entitled "USB High-Speed Host" above.
11. Support the USB high-speed USB device driver (UDPHS) can be enabled
by changing the NuttX configuration file as described above in the
section entitled "USB High-Speed Device."
12. AT24 Serial EEPROM. A AT24C512 Serial EEPPROM was used for tested
I2C. There is, however, no AT24 EEPROM on board the SAMA5D3x-EK:
The serial EEPROM was mounted on an external adaptor board and
connected to the SAMA5D3x-EK thusly. See the section above entitle
"AT24 Serial EEPROM" for further information.
13. I2C Tool. NuttX supports an I2C tool at apps/system/i2c that can be
used to peek and poke I2C devices. See the discussion above under
"I2C Tool" for detailed configuration settings.
14. Networking support via the can be added to NSH by modifying the
configuration. See the "Networking" section above for detailed
configuration settings.
15. You can enable the touchscreen and a touchscreen by following the
configuration instructions in the section entitled "Touchscreen
Testing" above.
16. The Real Time Clock/Calendar (RTC) may be enabled by reconfiguring NuttX.
See the section entitled "RTC" above for detailed configuration settings.
17. This example can be configured to exercise the watchdog timer test
(apps/examples/watchdog). See the detailed configuration settings in
the section entitled "Watchdog Timer" above.
18. This example can be configured to enable the SAMA5 TRNG peripheral so
that it provides /dev/random. See the section entitled "TRNG and
/dev/random" above for detailed configuration information.
19. See also the sections above for additional configuration options:
"AT24 Serial EEPROM", "CAN Usage", "SAMA5 ADC Support", "SAMA5 PWM
Support", "OV2640 Camera Interface", "I2S Audio Support"
STATUS:
See the To-Do list below
I2C
2013-9-12: I have been unsuccessful getting the external serial
AT24 EEPROM to work. I am pretty sure that this is a problem with
my external AT24 board (the TWI0 bus hangs when the AT24 is plugged
in). I will skip the AT24 integration since it is not on the critical
path at the moment.
2013-9-12: The I2C tool, however, seems to work well. It successfully
enumerates the devices on the bus and successfully exchanges a few
commands. The real test of the come later when a real I2C device is
integrated.
nx:
A simple test using the NuttX graphics system (NX) that has been used to
verify the SAMA5D3x-EK TFT LCD. This test case focuses on general
window controls, movement, mouse and keyboard input. It requires no
user interaction.
nxplayer
A command line media player using the on-board WM8904 audio CODEC.
This configuration is based on the nsh configuration above with the
following extensions:
a. It runs at 528MHz
b. It includes SDRAM support
c. Support for the WM8904 audio CODEC is enabled along with
support for TWI0, SSC0, and DMAC0 needed by the SM8904.
d. Support for the full size SD card slot (HSMCI0) is enable
e. The NxPlayer command line media player is built in.
NOTES:
1. See the NOTEs for the nsh configuration. Since this configuration
derives from that configuration, all notes apply.
2. Using NxPlayer
This configuration depends on media files in the default mountpoint
at /music. You will need to mount the media before running
NxPlayer, Here are the general steps to play a file:
a. You will need an (full size) SD card containing the .WAV files
that you want to play (.WAV is only format supported as of this
writing). That SD card should be inserted in the HSMCI0 media
slot A (best done before powering up).
b. If the NuttX auto-mounter is enabled and properly configured,
then the FAT file system appear at /music. If the auto-
mounter is not enabled, then here are the steps to manually
mount the FAT file system:
Then from NSH prompt, you need to mount the media volume like:
nsh> mount -t vfat /dev/mmcsd0 /music
NOTE: There is an auto-mounter that could be used to eliminate
this step. The auto mounter is not enabled or integrated into
in this configuration, however. See the section entitle
"Auto-Mounter " above.
c. You can then see the available .wav files like:
nsh>ls /music
d. Then you can run the media player like:
nsh> nxplayer
nxplayer> device pcm0
nxplayer> play <filename>
where <filename> is name or path of the .WAV file to be playerd.
nxwm:
This is a special configuration setup for the NxWM window manager
UnitTest. It integrates support for both the SAMA5 LCDC and the
SAMA5 ADC touchscreen controller and provides a more advance
graphics demo. It provides an interactive windowing experience.
The NxWM window manager is a tiny window manager tailored for use
with smaller LCDs. It supports a taskbar, a start window, and
multiple application windows with toolbars. However, to make the
best use of the visible LCD space, only one application window is
visible at at time.
The NxWM window manager can be found here:
nuttx-git/NxWidgets/nxwm
The NxWM unit test can be found at:
nuttx-git/NxWidgets/UnitTests/nxwm
STATUS:
See the To-Do list below
2013-10-18. This example kind of works, but there are still far too
many outstanding issues:
a) It runs of the SAMA5D31 and SAMA5D34, but not on the SAMA5D33. This
board is from a different manufacturer and there may be some SDRAM-
related issues?
b) There may be an SDRAM noise issue on the SAMA5D31 and SAMA5D34.
I suspect that the SDRAM setup is non-optimal. The symptom is that
writing into frame buffer (in SDRAM) occasionally corrupts the DMA
descriptors (also in SDRAM) When the bad DMA descriptors are
fetched, the channel shuts down and the display goes black. This
problem could also be cause by a bad write outside of the framebuffer
and, in fact, putting a guard band around the framebuffers seems to
eliminate the problem.
c) There are some occasional start up issues. It appears that the LCDC
is programmed incorrectly and groups of pixels in the images are
reversed (producing an odd serrated look to the images).
Update: I corrected a similar problem on the SAMA5D4-EK by
increasing the SCLK from MCK to 2*MCK. That eliminated all start up
problems with the SAMA5D4-EK and needs to be tried on the SAMA5D3e-EK
as well. This is controlled by an LCD setting in include/board.h.
d) I think that there may be more issues if GRAPHICS and INPUT debug is
off. I have not tested with DEBUG off.
e) The biggest problem is the touchscreen accuracy. The touchscreen
seems stable during calibration, but the first thing that this
example requires is a touch in the far, far, upper left corner of
the display. In that region, I cannot get reliable touch measurements
and so I cannot get past the opening display.
Bottom line: Not ready for prime time.
2014-9-20: Trying to verify the build today, there are now compilation
errors in the ADC/Touchscreen driver. See STATUS at the end of this file
ov2640:
A test of the SAMA5 ISI using an OV2640 camera.
To-Do List
Most of these configurations execute from NOR FLASH. I have been unable to execute these configurations 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.
UPDATE: It has been confirmed at that there is an issue with the BMS jumper on my board. However, other NuttX users have confirmed operation booting directly into NOR FLASH. So although I cannot confirm this behavior, this appears to be no longer an issue.
Neither USB OHCI nor EHCI support Isochronous endpoints. Interrupt endpoint support in the EHCI driver is untested (but works in similar EHCI drivers).
HSCMI. CONFIG_MMCSD_MULTIBLOCK_LIMIT=1 is set to disable multi-block transfers because of some issues that I saw during testing. The is very low priority to me but might be important to you if you are need very high performance SD card accesses.
HSMCI TX DMA is currently disabled for the SAMA5D3. There is some issue with the TX DMA setup (HSMCI TX DMA the same driver works with the SAMA5D4 which has a different DMA subsystem). This is a bug that needs to be resolved.
UPDATE: This problem may be fixed with a bug correct on 2015-03-15). Need to retest. That change is necessary, but may not be sufficient to solve the problem.
I believe that there is an issue when the internal AT25 FLASH is formatted by NuttX. That format works fine with Linux, but does not appear to work with Windows. Reformatting on Windows can resolve this. NOTE: This is not a SAMA5Dx issue.
UPDATE: Two important bugs were recently fixed in the NuttX FAT formatting function (mkfatfs). It is likely that these fixes will eliminate this issue, but that has not yet been verified.
CAN testing has not yet been performed due to issues with cabling. I just do not have a good test bed (or sufficient CAN knowledge) for good CAN testing.
There are lots of LCDC hardware features that are not tested with NuttX. The simple NuttX graphics system does not have support for all of the layers and other features of the LCDC.
I have a Camera, but there is still no ISI driver. I am not sure what to do with the camera. NuttX needs something like V4L to provide the definition for what a camera driver is supposed to do.
I will probably develop a test harness for ISI, but it is of only minimal value with no OS infrastructure to deal with images and video.
GMAC has only been tested on a 10/100Base-T network. I don't have a 1000Base-T network to support additional testing.
Some drivers may require some adjustments if you intend to run from SDRAM. That is because in this case macros like BOARD_MCK_FREQUENCY are not constants but are instead function calls: The MCK clock frequency is not known in advance but instead has to be calculated from the bootloader PLL configuration.
As of this writing, all drivers have been converted to run from SDRAM except for the PWM and the Timer/Counter drivers. These drivers use the BOARD_MCK_FREQUENCY definition in more complex ways and will require some minor redesign and re-testing before they can be available.
2014-9-20: Failed to build the NxWM configuration:
CC: chip/sam_adc.c chip/sam_adc.c: In function 'sam_adc_interrupt': chip/sam_adc.c:886:21: warning: unused variable 'priv' [-Wunused-variable] struct sam_adc_s *priv = &g_adcpriv; ^ chip/sam_adc.c: In function 'sam_adc_initialize': chip/sam_adc.c:1977:7: error: 'g_adcdev' undeclared (first use in this function) g_adcdev.ad_ops = &g_adcops; ^ chip/sam_adc.c:1977:7: note: each undeclared identifier is reported only once for each function it appears in chip/sam_adc.c:1977:27: error: 'g_adcops' undeclared (first use in this function) g_adcdev.ad_ops = &g_adcops; ^ chip/sam_adc.c:1983:11: error: 'struct sam_adc_s' has no member named 'dev' priv->dev = &g_adcdev; ^ chip/sam_adc.c:2090:1: warning: control reaches end of non-void function [-Wreturn-type] } ^
The failure occurs because there are no ADC channels configured (as there should not be) so SAMA5_ADC_HAVE_CHANNELS is not defined (as it should not be). However, if there are no configured ADC channel, then sam_adc_initialize() does not compile correctly -- and it should not given nature the logic that is in place there now.
A quick glance at the history of these files does not reveal what the obvious solution is so I will need to come back and revisit this in the future.