README ^^^^^^
README for NuttX port to the Stellaris LMS36965 Evaluation Kit
Contents ^^^^^^^^
Stellaris LMS36965 Evaluation Kit OLED Using OpenOCD and GDB with an FT2232 JTAG emulator USB Device Controller Functions Stellaris LM3S6965 Evaluation Kit Configuration Options Configurations
Stellaris LMS36965 Evaluation Kit ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
The Stellaris LM3S6965 Evaluation Board includes the following features:
o Stellaris LM3S6965 microcontroller with fully-integrated 10/100 embedded Ethernet controller o Simple setup; USB cable provides serial communication, debugging, and power o OLED graphics display with 128 x 96 pixel resolution o User LED, navigation switches, and select pushbuttons o Magnetic speaker o LM3S6965 I/O available on labeled break-out pads o Standard ARM(R) 20-pin JTAG debug connector with input and output modes o USB interface for debugging and power supply o MicroSD card slot
Features of the LM3S6965 Microcontroller
o 32-bit RISC performance using ARM(R) Cortex-M3 v7M architecture - 50-MHz operation - Hardware-division and single-cycle-multiplication - Integrated Nested Vectored Interrupt Controller (NVIC) - 42 interrupt channels with eight priority levels o 256 KB single-cycle flash o 64 KB single-cycle SRAM o Four general-purpose 32-bit timers o Integrated Ethernet MAC and PHY o Three fully programmable 16C550-type UARTs o Four 10-bit channels (inputs) when used as single-ended inputs o Two independent integrated analog comparators o Two I2C modules o Three PWM generator blocks - One 16-bit counter - Two comparators - Produces two independent PWM signals - One dead-band generator o Two QEI modules with position integrator for tracking encoder position o 0 to 42 GPIOs, depending on user configuration o On-chip low drop-out (LDO) voltage regulator
GPIO Usage
PIN SIGNAL EVB Function
26 PA0/U0RX Virtual COM port receive 27 PA1/U0TX Virtual COM port transmit 10 PD0/IDX0 SD card chip select 11 PD1/PWM1 Sound 30 PA4/SSI0RX SD card data out 31 PA5/SSI0TX SD card and OLED display data in 28 PA2/SSI0CLK SD card and OLED display clock 22 PC7/PHB0 OLED display data/control select 29 PA3/SSI0FSS OLED display chip select 73 PE1/PWM5 Down switch 74 PE2/PHB1 Left switch 72 PE0/PWM4 Up switch 75 PE3/PHA1 Right switch 61 PF1/IDX1 Select switch 47 PF0/PWM0 User LED 23 PC6/CCP3 Enable +15 V
OLED ^^^^
The Evaluation Kit includes an OLED graphics display. Features:
- RiT P14201 series display
- 128 columns by 96 rows
- 4-bit, 16-level gray scale.
- High-contrast (typ. 500:1)
- Excellent brightness (120 cd/m2)
- Fast 10 us response.
The OLED display has a built-in controller IC with synchronous serial and parallel interfaces (SSD1329). Synchronous serial (SSI) is used on the EVB. The SSI port is shared with the microSD card slot.
- PC7: OLED display data/control select (D/Cn)
- PA3: OLED display chip select (CSn)
NOTE: Newer versions of the LM3S6965 Evaluation Kit has an OSAM 128x64x4 OLED display. Some tweaks to drivers/lcd/p14201.c would be required to support that LCD.
Using OpenOCD and GDB with an FT2232 JTAG emulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Building OpenOCD under Cygwin:
Refer to boards/olimex-lpc1766stk/README.txt
Installing OpenOCD in Linux:
sudo apt-get install openocd
Helper Scripts.
I have been using the on-board FT2232 JTAG/SWD/SWO interface. OpenOCD
requires a configuration file. I keep the one I used last here:
boards/arm/tiva/lm3s6965-ek/tools/lm3s6965-ek.cfg
However, the "correct" configuration script to use with OpenOCD may
change as the features of OpenOCD evolve. So you should at least
compare that lm3s6965-ek.cfg file with configuration files in
/usr/share/openocd/scripts. As of this writing, the configuration
files of interest were:
/usr/share/openocd/scripts/interface/luminary.cfg
/usr/share/openocd/scripts/board/ek-lm3s6965.cfg
/usr/share/openocd/scripts/target/stellaris.cfg
There is also a script on the tools/ directory that I use to start
the OpenOCD daemon on my system called oocd.sh. That script will
probably require some modifications to work in another environment:
- Possibly the value of OPENOCD_PATH and TARGET_PATH
- It assumes that the correct script to use is the one at
boards/arm/tiva/lm3s6965-ek/tools/lm3s6965-ek.cfg
Starting OpenOCD
Then you should be able to start the OpenOCD daemon like:
boards/arm/tiva/lm3s6965-ek/tools/oocd.sh $PWD
Connecting GDB
Once the OpenOCD daemon has been started, you can connect to it via
GDB using the following GDB command:
arm-nuttx-elf-gdb
(gdb) target remote localhost:3333
NOTE: The name of your GDB program may differ. For example, with the
CodeSourcery toolchain, the ARM GDB would be called arm-none-eabi-gdb.
After starting GDB, you can load the NuttX ELF file:
(gdb) symbol-file nuttx
(gdb) monitor reset
(gdb) monitor halt
(gdb) load nuttx
NOTES:
1. Loading the symbol-file is only useful if you have built NuttX to
include debug symbols (by setting CONFIG_DEBUG_SYMBOLS=y in the
.config file).
2. The MCU must be halted prior to loading code using 'mon reset'
as described below.
OpenOCD will support several special 'monitor' commands. These
GDB commands will send comments to the OpenOCD monitor. Here
are a couple that you will need to use:
(gdb) monitor reset
(gdb) monitor halt
NOTES:
1. The MCU must be halted using 'mon halt' prior to loading code.
2. Reset will restart the processor after loading code.
3. The 'monitor' command can be abbreviated as just 'mon'.
USB Device Controller Functions ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Device Overview
An FT2232 device from Future Technology Devices International Ltd manages
USB-to-serial conversion. The FT2232 is factory configured by Luminary
Micro to implement a JTAG/SWD port (synchronous serial) on channel A and
a Virtual COM Port (VCP) on channel B. This feature allows two simultaneous
communications links between the host computer and the target device using
a single USB cable. Separate Windows drivers for each function are provided
on the Documentation and Software CD.
Debugging with JTAG/SWD
The FT2232 USB device performs JTAG/SWD serial operations under the control
of the debugger or the Luminary Flash Programmer. It also operate as an
In-Circuit Debugger Interface (ICDI), allowing debugging of any external
target board. Debugging modes:
MODE DEBUG FUNCTION USE SELECTED BY
1 Internal ICDI Debug on-board LM3S6965 Default Mode
microcontroller over USB
interface.
2 ICDI out to JTAG/SWD The EVB is used as a USB Connecting to an external
header to SWD/JTAG interface to target and starting debug
an external target. software. The red Debug Out
LED will be ON.
3 In from JTAG/SWD For users who prefer an Connecting an external
header external debug interface debugger to the JTAG/SWD
(ULINK, JLINK, etc.) with header.
the EVB.
Virtual COM Port
The Virtual COM Port (VCP) allows Windows applications (such as HyperTerminal)
to communicate with UART0 on the LM3S6965 over USB. Once the FT2232 VCP
driver is installed, Windows assigns a COM port number to the VCP channel.
Stellaris LM3S6965 Evaluation Kit Configuration Options ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
CONFIG_ARCH - Identifies the arch/ subdirectory. This should
be set to:
CONFIG_ARCH=arm
CONFIG_ARCH_family - For use in C code:
CONFIG_ARCH_ARM=y
CONFIG_ARCH_architecture - For use in C code:
CONFIG_ARCH_CORTEXM3=y
CONFIG_ARCH_CHIP - Identifies the arch/*/chip subdirectory
CONFIG_ARCH_CHIP=lm
CONFIG_ARCH_CHIP_name - For use in C code to identify the exact
chip:
CONFIG_ARCH_CHIP_LM3S6965
CONFIG_ARCH_BOARD - Identifies the boards/ subdirectory and
hence, the board that supports the particular chip or SoC.
CONFIG_ARCH_BOARD=lm3s6965-ek (for the Stellaris LM3S6965 Evaluation Kit)
CONFIG_ARCH_BOARD_name - For use in C code
CONFIG_ARCH_BOARD_LM3S6965EK
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=0x00010000 (64Kb)
CONFIG_RAM_START - The start address of installed DRAM
CONFIG_RAM_START=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.
There are configurations for disabling support for interrupts GPIO ports. GPIOJ must be disabled because it does not exist on the LM3S6965. Additional interrupt support can be disabled if desired to reduce memory footprint.
CONFIG_TIVA_GPIOA_IRQS=y
CONFIG_TIVA_GPIOB_IRQS=y
CONFIG_TIVA_GPIOC_IRQS=y
CONFIG_TIVA_GPIOD_IRQS=y
CONFIG_TIVA_GPIOE_IRQS=y
CONFIG_TIVA_GPIOF_IRQS=y
CONFIG_TIVA_GPIOG_IRQS=y
CONFIG_TIVA_GPIOH_IRQS=y
CONFIG_TIVA_GPIOJ_IRQS=n << Always
LM3S6965 specific device driver settings
CONFIG_UARTn_SERIAL_CONSOLE - selects the UARTn for the
console and ttys0 (default is the UART0).
CONFIG_UARTn_RXBUFSIZE - Characters are buffered as received.
This specific the size of the receive buffer
CONFIG_UARTn_TXBUFSIZE - Characters are buffered before
being sent. This specific the size of the transmit buffer
CONFIG_UARTn_BAUD - The configure BAUD of the UART. Must be
CONFIG_UARTn_BITS - The number of bits. Must be either 7 or 8.
CONFIG_UARTn_PARTIY - 0=no parity, 1=odd parity, 2=even parity
CONFIG_UARTn_2STOP - Two stop bits
CONFIG_TIVA_SSI0 - Select to enable support for SSI0
CONFIG_TIVA_SSI1 - Select to enable support for SSI1
CONFIG_SSI_POLLWAIT - Select to disable interrupt driven SSI support.
Poll-waiting is recommended if the interrupt rate would be to
high in the interrupt driven case.
CONFIG_SSI_TXLIMIT - Write this many words to the Tx FIFO before
emptying the Rx FIFO. If the SPI frequency is high and this
value is large, then larger values of this setting may cause
Rx FIFO overrun errors. Default: half of the Tx FIFO size (4).
CONFIG_TIVA_ETHERNET - This must be set (along with CONFIG_NET)
to build the Stellaris Ethernet driver
CONFIG_TIVA_ETHLEDS - Enable to use Ethernet LEDs on the board.
CONFIG_TIVA_BOARDMAC - If the board-specific logic can provide
a MAC address (via tiva_ethernetmac()), then this should be selected.
CONFIG_TIVA_ETHHDUPLEX - Set to force half duplex operation
CONFIG_TIVA_ETHNOAUTOCRC - Set to suppress auto-CRC generation
CONFIG_TIVA_ETHNOPAD - Set to suppress Tx padding
CONFIG_TIVA_MULTICAST - Set to enable multicast frames
CONFIG_TIVA_PROMISCUOUS - Set to enable promiscuous mode
CONFIG_TIVA_BADCRC - Set to enable bad CRC rejection.
CONFIG_TIVA_DUMPPACKET - Dump each packet received/sent to the console.
Configurations ^^^^^^^^^^^^^^
Each Stellaris LM3S6965 Evaluation Kit configuration is maintained in a sub-directory and can be selected as follow:
tools/configure.sh lm3s6965-ek:<subdir>
Where <subdir> is one of the following:
discover: A configuration for the UDP discovery tool at apps/examples/discover. Contributed by Max Holtzberg.
NOTES:
1. This configuration uses the mconf-based configuration tool. To
change this configuration 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.
2. Default platform/toolchain:
CONFIG_HOST_LINUX=y : Linux (Cygwin under Windows okay too).
CONFIG_ARM_TOOLCHAIN_BUILDROOT=y : Buildroot (arm-nuttx-elf-gcc)
CONFIG_ARM_TOOLCHAIN_BUILDROOT_OABI=y : The older OABI version
CONFIG_RAW_BINARY=y : Output formats: ELF and raw binary
3. As it is configured now, you MUST have a network connected.
Otherwise, the NSH prompt will not come up because the Ethernet
driver is waiting for the network to come up. That is probably
a bug in the Ethernet driver behavior!
nsh: Configures the NuttShell (nsh) located at examples/nsh. The Configuration enables both the serial and telnetd NSH interfaces.
NOTES:
1. This configuration uses the mconf-based configuration tool. To
change this configuration 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.
2. Default platform/toolchain:
CONFIG_HOST_LINUX=y : Linux (Cygwin under Windows okay too).
CONFIG_ARM_TOOLCHAIN_BUILDROOT=y : Buildroot (arm-nuttx-elf-gcc)
CONFIG_ARM_TOOLCHAIN_BUILDROOT_OABI=y : The older OABI version
CONFIG_RAW_BINARY=y : Output formats: ELF and raw binary
3. As it is configured now, you MUST have a network connected.
Otherwise, the NSH prompt will not come up because the Ethernet
driver is waiting for the network to come up. That is probably
a bug in the Ethernet driver behavior!
4. Network File System (NFS) support can be added by setting the
following in your configuration file:
CONFIG_NFS=y
nx: And example using the NuttX graphics system (NX). This example uses the P14201 OLED driver.
NOTES:
1. This configuration uses the mconf-based configuration tool. To
change this configuration 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.
2. Default platform/toolchain:
CONFIG_HOST_LINUX=y : Linux (Cygwin under Windows okay too).
CONFIG_ARM_TOOLCHAIN_BUILDROOT=y : Buildroot (arm-nuttx-elf-gcc)
CONFIG_RAW_BINARY=y : Output formats: ELF and raw binary
qemu-flat: An example config with FLAT memory model to run on qemu.
./tools/configure.sh lm3s6965-ek:qemu-flat
make
qemu-system-arm -semihosting \
-M lm3s6965evb \
-device loader,file=nuttx.bin,addr=0x00000000 \
-netdev user,id=user0 \
-nic user,id=user0 \
-serial mon:stdio -nographic
qemu-kostest: An example config with PROTECTED memory model to run on qemu.
./tools/configure.sh lm3s6965-ek:qemu-kostest
make
qemu-system-arm -semihosting \
-M lm3s6965evb \
-device loader,file=nuttx.bin,addr=0x00000000 \
-device loader,file=nuttx_user.bin,addr=0x00020000 \
-serial mon:stdio -nographic
qemu-protected: An example config with PROTECTED memory model to run on qemu.
./tools/configure.sh lm3s6965-ek:qemu-protected
make
qemu-system-arm -semihosting \
-M lm3s6965evb \
-device loader,file=nuttx.bin,addr=0x00000000 \
-device loader,file=nuttx_user.bin,addr=0x00020000 \
-netdev user,id=user0 \
-nic user,id=user0 \
-serial mon:stdio -nographic
tcpecho: This configuration builds the simple TCP echo example based on W.Richard Steven UNIX Programming book to ensure correct usage of the socket API. Contributed by Max Holtzberg.
NOTES:
1. This configuration uses the mconf-based configuration tool. To
change this configuration 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.
2. Default platform/toolchain:
CONFIG_HOST_LINUX=y : Linux
CONFIG_ARM_TOOLCHAIN_GNU_EABI=y : GNU EABI toolchain for Linux
CONFIG_RAW_BINARY=y : Output formats: ELF and raw binary
3. As it is configured now, you MUST have a network connected.
Otherwise, the NSH prompt will not come up because the Ethernet
driver is waiting for the network to come up. That is probably
a bug in the Ethernet driver behavior!