nuttx-7.31.tar.gz_nuttx-7.31源码_虚拟机跑px4

README ====== This README file describes the port of NuttX to the SAMA4D4-EK development board. This board features the Atmel SAMA5D44 microprocessor. See http://www.atmel.com for further information. This port was actually performed on a board designated SAMA5D4-MB. This board should be equivalent to the SAMA5D4-EK. However, care should be taken when I refer to PIO, Connector, or Jumper Usage in this document. Please consult the schematic for your actual board-in-hand to verify that information. SAMA5D44 -------- ---------------------------- ------------- PARAMETER SAMA5D44 ---------------------------- ------------- CPU Cortex-A5 ARM TrustZone Yes NEON Multimedia Architecture Yes Pin Count 361 Data Cache 32KiB Instruction Cache 32KiB L2 Cache 128KiB Max. Operating Frequency 533MHz SRAM 128KiB Max I/O Pins 138 USB Transceiver 3 USB Speed Hi-Speed USB Interface Host, Device SPI 3 TWI (I2C) 4 UART 7 LIN 4 SSC 2 Ethernet 2 10/100Mbps SD / eMMC 2 Graphic LCD Yes Camera Interface Yes Video Decoder Yes Soft Modem Yes ADC channels 5 Resistive Touch Screen Yes Capacitive Touch Module Yes Crypto Engine SHA/AES/TDES TRNG Yes External Bus Interface 1 DRAM Memory DDR2/LPDDR, SDRAM/LPSDR, 32-bit NAND Interface Yes FPU Yes MPU / MMU No/Yes Timers 9 Output Compare channels 9 Input Capture Channels 9 PWM Channels 4 32kHz RTC Yes Package BGA361 ---------------------------- ------------- 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 DRAMBOOT - Creating and Using AT25BOOT - Running NuttX from SDRAM - SAMA4D44-MB RevC PIO Usage - Board Revisions - Buttons and LEDs - Serial Console - Networking - AT25 Serial FLASH - HSMCI Card Slots - Auto-Mounter - USB Ports - USB High-Speed Device - USB High-Speed Host - SDRAM Support - NAND Support - I2C Tool - SAMA5 ADC Support - SAMA5 PWM Support - RTC - Watchdog Timer - TRNG and /dev/random - Audio Support - TM7000 LCD/Touchscreen - Tickless OS - SAMA4D4-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_ARMV7A_TOOLCHAIN_CODESOURCERYW=y : CodeSourcery under Windows CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYL=y : CodeSourcery under Linux CONFIG_ARMV7A_TOOLCHAIN_ATOLLIC=y : Atollic toolchain for Windos CONFIG_ARMV7A_TOOLCHAIN_DEVKITARM=y : devkitARM under Windows CONFIG_ARMV7A_TOOLCHAIN_BUILDROOT=y : NuttX buildroot under Linux or Cygwin (default) CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIL=y : Generic GCC ARM EABI toolchain for Linux CONFIG_ARMV7A_TOOLCHAIN_GNU_EABIW=y : Generic GCC ARM EABI toolchain for Windows The CodeSourcery GCC toolchain is selected with CONFIG_ARMV7A_TOOLCHAIN_CODESOURCERYW=y and setting the PATH variable appropriately. NOTE about Windows native toolchains ------------------------------------ There are several limitations to using a Windows based toolchain in a Cygwin environment. The three biggest are: 1. The Windows toolchain cannot follow Cygwin paths. Path conversions are performed automatically in the Cygwin makefiles using the 'cygpath' utility but you might easily find some new path problems. If so, check out 'cygpath -w' 2. Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links are used in Nuttx (e.g., include/arch). The make system works around these problems for the Windows tools by copying directories instead of linking them. But this can also cause some confusion for you: For example, you may edit a file in a "linked" directory and find that your changes had no effect. That is because you are building the copy of the file in the "fake" symbolic directory. If you use a\ Windows toolchain, you should get in the habit of making like this: make clean_context all An alias in your .bashrc file might make that less painful. 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: 1) Select the toolchain that you will be using in your .config file 2) Start the NuttX build at least one time from the Cygwin command line before trying to create your project. This is necessary to create certain auto-generated files and directories that will be needed. 3) Set up include pathes: You will need include/, arch/arm/src/sam34, arch/arm/src/common, arch/arm/src/armv7-m, and sched/. 4) All assembly files need to have the definition option -D __ASSEMBLY__ on the command line. Startup files will probably cause you some headaches. The NuttX startup file is arch/arm/src/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. 1. You must have already configured Nuttx in <some-dir>/nuttx. tools/configure.sh sama5d4-ek/<sub-dir> 2. Download the latest buildroot package into <some-dir> 3. unpack the buildroot tarball. The resulting directory may have versioning information on it like buildroot-x.y.z. If so, rename <some-dir>/buildr