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nuttx/Documentation/platforms/arm/sam34/boards/sam3u-ek/index.rst
Matteo Golin 48db502daf !boards: Remove NSH_ARCHINIT and board_app_initialize 
BREAKING: In an effort to simplify NuttX initialization, NSH_ARCHINIT is
removed. board_app_initialize is also removed. BOARD_LATE_INITIALIZE now
performs all board initialization logic, and is by default enabled. All
references to these symbols are removed. BOARDIOC_INIT remains, but will
result in -ENOTTY when called. It is to be removed in a later commit.

Quick fix: Boards relying on NSH_ARCHINIT should now enable
CONFIG_BOARD_LATE_INITIALIZE instead. If the application needs
fine-grained control over board initialization from userspace, the logic
performed by BOARDIOC_INIT may be copied to the board_finalinitialize
function and used instead via BOARDIOC_FINALINIT. All
board_app_initialize logic provided by NuttX is now moved to
board_late_initialize, and the same should be done for out-of-tree
boards.

Signed-off-by: Matteo Golin <matteo.golin@gmail.com>
2026-05-02 18:36:46 +08:00

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========
SAM3U-EK
========
This documentation discusses issues unique to NuttX configurations for the Atmel
SAM3U-EK development board featuring the ATAM3U. This board features the
ATSAM3U4E MCU running at 96MHz.
AtmelStudio 6.1
===============
You can use AtmelStudio6.1 to load and debug code.
* To load code:
Tools -> Device Programming
Configure the debugger and chip and you are in business.
* To Debug Code:
File -> Open -> Open Object File for Debugging
Select the project name, the full path to the NuttX object (called just
``nuttx`` with no extension), and chip. Take the time to resolve all of the
source file linkages or else you will not have source level debug!
LEDs
====
The SAM3U-EK board has four LEDs labeled LD1, LD2, LD3 and LD4 on the board.
Usage of these LEDs is defined in ``include/board.h`` and ``src/up_leds.c``. They are
encoded as follows:
=================== ============================ ======= ======= =======
SYMBOL Meaning LED0 LED1 LED2
=================== ============================ ======= ======= =======
LED_STARTED NuttX has been started OFF OFF OFF
LED_HEAPALLOCATE Heap has been allocated OFF OFF ON
LED_IRQSENABLED Interrupts enabled OFF ON OFF
LED_STACKCREATED Idle stack created OFF ON ON
LED_INIRQ In an interrupt (note 2) N/C FLASH N/C
LED_SIGNAL In a signal handler (note 3) N/C N/C FLASH
LED_ASSERTION An assertion failed FLASH N/C N/C
LED_PANIC The system has crashed FLASH N/C N/C
=================== ============================ ======= ======= =======
.. note::
If LED1 and LED2 are statically on, then NuttX probably failed to boot and
these LEDs will give you some indication of where the failure was
.. note::
The normal state is LED0=OFF, LED2=ON and LED1 faintly glowing. This faint
glow is because of timer interrupts that result in the LED being illuminated
on a small proportion of the time.
.. note::
LED2 may also flicker normally if signals are processed.
Serial Console
==============
By default, all of these configurations use UART0 for the NuttX serial console.
UART0 corresponds to the DB-9 connector labelled "UART". This is a male
connector and will require a female-to-female, NUL modem cable to connect to a
PC.
An alternate is USART1 which connects to the other DB-9 connector labeled
"USART". USART1 is not enabled by default unless specifically noted otherwise in
the configuration description. A NUL modem cable must be used with the port as
well.
.. note::
One of the USART1 pins is shared with the audio CODEC. The audio CODEC cannot
be used of USART1 is enabled.
By default serial console is configured for 115000, 8-bit, 1 stop bit, and no
parity.
SAM3U-EK-specific 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="sam34"``
* ``CONFIG_ARCH_CHIP_name``: For use in C code to identify the exact chip:
* ``CONFIG_ARCH_CHIP_SAM34``
* ``CONFIG_ARCH_CHIP_SAM3U``
* ``CONFIG_ARCH_CHIP_ATSAM3U4``
* ``CONFIG_ARCH_BOARD``: Identifies the ``boards/`` subdirectory and hence, the
board that supports the particular chip or SoC.
* CONFIG_ARCH_BOARD=sam3u:ek (for the SAM3U-EK development board)
* ``CONFIG_ARCH_BOARD_name``: For use in C code
* ``CONFIG_ARCH_BOARD_SAM3UEK=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=0x0000c000`` (48Kb)
* ``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.
Individual subsystems can be enabled:
* ``CONFIG_SAM34_RTC``: Real Time Clock
* ``CONFIG_SAM34_RTT``: Real Time Timer
* ``CONFIG_SAM34_WDT``: Watchdog Timer
* ``CONFIG_SAM34_UART0``: UART 0
* ``CONFIG_SAM34_SMC``: Static Memory Controller
* ``CONFIG_SAM34_USART0``: USART 0
* ``CONFIG_SAM34_USART1``: USART 1
* ``CONFIG_SAM34_USART2``: USART 2
* ``CONFIG_SAM34_USART3``: USART 3
* ``CONFIG_SAM34_HSMCI``: High Speed Multimedia Card Interface
* ``CONFIG_SAM34_TWI0``: Two-Wire Interface 0
* ``CONFIG_SAM34_TWI1``: Two-Wire Interface 1
* ``CONFIG_SAM34_SPI0``: Serial Peripheral Interface
* ``CONFIG_SAM34_SSC``: Synchronous Serial Controller
* ``CONFIG_SAM34_TC0``: Timer Counter 0
* ``CONFIG_SAM34_TC1``: Timer Counter 1
* ``CONFIG_SAM34_TC2``: Timer Counter 2
* ``CONFIG_SAM34_PWM``: Pulse Width Modulation Controller
* ``CONFIG_SAM34_ADC12B``: 12-bit ADC Controller
* ``CONFIG_SAM34_ADC``: 10-bit ADC Controller
* ``CONFIG_SAM34_DMAC0``: DMA Controller
* ``CONFIG_SAM34_UDPHS``: USB Device High Speed
Some subsystems can be configured to operate in different ways. The drivers need
to know how to configure the subsystem.
* ``CONFIG_SAM34_GPIOA_IRQ``
* ``CONFIG_SAM34_GPIOB_IRQ``
* ``CONFIG_SAM34_GPIOC_IRQ``
* ``CONFIG_USART0_SERIALDRIVER``
* ``CONFIG_USART1_SERIALDRIVER``
* ``CONFIG_USART2_SERIALDRIVER``
* ``CONFIG_USART3_SERIALDRIVER``
* ``CONFIG_SAM34_NAND``: NAND memory
SAM3U specific device driver settings:
* ``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_PARTIY``: 0=no parity, 1=odd parity, 2=even parity
* ``CONFIG_U[S]ARTn_2STOP``: Two stop bits
LCD Options. Other than the standard LCD configuration options (see
``boards/README.txt``), the SAM3U-EK driver also supports:
* ``CONFIG_LCD_PORTRAIT``: Present the display in the standard 240x320
"Portrait" orientation. Default: The display is rotated to support a 320x240
"Landscape" orientation.
Configurations
==============
Each SAM3U-EK configuration is maintained in a sub-directory and
can be selected as follows:
.. code:: console
$ tools/configure.sh sam3u-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.
.. code:: console
$ make
The ``<subdir>`` that is provided above as an argument to the
``tools/configure.sh`` must be is one of the following.
1. 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.
2. Unless stated otherwise, all configurations generate console output on UART0
(J3).
3. Unless otherwise stated, the configurations are setup for Linux (or any other
POSIX environment like Cygwin under Windows):
Build Setup:
* ``CONFIG_HOST_LINUX=y``: Linux or other POSIX environment
4. All of these configurations use the older, OABI, buildroot 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_LINUX=y``: Linux or other pure POSIX invironment (including
Cygwin)
System Type -> Toolchain:
* ``CONFIG_ARM_TOOLCHAIN_BUILDROOT=y``: Buildroot toolchain
* ``CONFIG_ARM_TOOLCHAIN_BUILDROOT_OABI=y``: Older, OABI toolchain
If you want to use the Atmel GCC toolchain, for example, here are the
steps to do so:
Build Setup:
* ``CONFIG_HOST_WINDOWS=y``: Windows
* ``CONFIG_HOST_CYGWIN=y``: Using Cygwin or other POSIX environment
System Type -> Toolchain:
* ``CONFIG_ARM_TOOLCHAIN_GNU_EABI=y``: General GCC EABI toolchain under windows
Library Routines ->
* ``CONFIG_ARCH_SIZET_LONG=n``: ``size_t`` is an ``unsigned int``, not ``long``
This re-configuration should be done before making NuttX or else the
subsequent 'make' will fail. If you have already attempted building
NuttX then you will have to:
1. ``make distclean`` to remove the old configuration
2. ``tools/configure.sh sam3u-ek/ksnh`` to start with a fresh configuration
3. Perform the configuration changes above.
Also, make sure that your ``PATH`` variable has the new path to your Atmel
tools. Try ``which arm-none-eabi-gcc`` to make sure that you are selecting
the right tool.
See also the "NOTE about Windows native toolchains" in the section called
"GNU Toolchain Options" above.
knsh
----
This is identical to the nsh configuration below except that NuttX
is built as a kernel-mode, monolithic module and the user applications
are built separately. It is recommends to use a special make command;
not just ``make`` but make with the following two arguments:
.. code:: console
$ make pass1 pass2
In the normal case (just ``make``), make will attempt to build both user- and
kernel-mode blobs more or less interleaved. This actual works! However, for me
it is very confusing so I prefer the above make command: Make the user-space
binaries first (pass1), then make the kernel-space binaries (pass2)
1. At the end of the build, there will be several files in the top-level
NuttX build directory:
**PASS1:**
* ``nuttx_user.elf``: The pass1 user-space ELF file
* ``nuttx_user.hex``: The pass1 Intel HEX format file (selected in defconfig)
* ``User.map``: Symbols in the user-space ELF file
**PASS2:**
* ``nuttx``: The pass2 kernel-space ELF file
* ``nuttx.hex``: The pass2 Intel HEX file (selected in defconfig)
* ``System.map``: Symbols in the kernel-space ELF file
The J-Link programmer will accept files in .hex, .mot, .srec, and .bin
formats.
2. Combining ``.hex`` files. If you plan to use the ``.hex`` files with your
debugger or FLASH utility, then you may need to combine the two hex files
into a single ``.hex`` file. Here is how you can do that.
a. The ``tail`` of the ``nuttx.hex`` file should look something like this
(with my comments added):
.. code:: console
$ tail nuttx.hex
# 00, data records
...
:10 9DC0 00 01000000000800006400020100001F0004
:10 9DD0 00 3B005A0078009700B500D400F300110151
:08 9DE0 00 30014E016D0100008D
# 05, Start Linear Address Record
:04 0000 05 0800 0419 D2
# 01, End Of File record
:00 0000 01 FF
Use an editor such as ``vi`` to remove the 05 and 01 records.
b. The 'head' of the nuttx_user.hex file should look something like
this (again with my comments added):
.. code:: console
$ head nuttx_user.hex
# 04, Extended Linear Address Record
:02 0000 04 0801 F1
# 00, data records
:10 8000 00 BD89 01084C800108C8110208D01102087E
:10 8010 00 0010 00201C1000201C1000203C16002026
:10 8020 00 4D80 01085D80010869800108ED83010829
...
Nothing needs to be done here. The ``nuttx_user.hex`` file should be fine.
c. Combine the edited ``nuttx.hex`` and un-edited ``nuttx_user.hex`` file to
produce a single combined hex file:
.. code:: console
$ cat nuttx.hex nuttx_user.hex > combined.hex
Then use the ``combined.hex`` file with the to write the FLASH image. If
you do this a lot, you will probably want to invest a little time to
develop a tool to automate these steps.
nsh
---
Configures the NuttShell (nsh) located at examples/nsh. The
Configuration enables both the serial and telnetd NSH interfaces.
1. NSH built-in applications are supported. However, there are
no built-in applications built with the default configuration.
Binary Formats:
* ``CONFIG_BUILTIN=y``: Enable support for built-in programs
Application Configuration:
* ``CONFIG_NSH_BUILTIN_APPS=y``: Enable starting apps from NSH command line
2. This configuration has been used for verifying the touchscreen on
on the SAM3U-EK LCD. With these modifications, you can include the
touchscreen test program at apps/examples/touchscreen as an NSH built-in
application. You can enable the touchscreen and test by modifying the
default configuration in the following ways:
Device Drivers
* ``CONFIG_SPI=y``: Enable SPI support
* ``CONFIG_SPI_EXCHANGE=y``: The exchange() method is supported
* ``CONFIG_INPUT=y``: Enable support for input devices
* ``CONFIG_INPUT_ADS7843E=y``: Enable support for the XPT2046
* ``CONFIG_ADS7843E_SPIDEV=2``: Use SPI CS 2 for communication
* ``CONFIG_ADS7843E_SPIMODE=0``: Use SPI mode 0
* ``CONFIG_ADS7843E_FREQUENCY=1000000``: SPI BAUD 1MHz
* ``CONFIG_ADS7843E_SWAPXY=y``: If landscpe orientation
* ``CONFIG_ADS7843E_THRESHX=51``: These will probably need to be tuned
* ``CONFIG_ADS7843E_THRESHY=39``
System Type -> Peripherals:
* ``CONFIG_SAM34_SPI0=y``: Enable support for SPI
System Type:
* ``CONFIG_SAM34_GPIO_IRQ=y``: GPIO interrupt support
* ``CONFIG_SAM34_GPIOA_IRQ=y``: Enable GPIO interrupts from port A
Library Support:
* ``CONFIG_SCHED_WORKQUEUE=y``: Work queue support required
Application Configuration:
* ``CONFIG_EXAMPLES_TOUCHSCREEN=y``: Enable the touchscreen built-int test
Defaults should be okay for related touchscreen settings. Touchscreen
debug output on UART0 can be enabled with:
Build Setup:
* ``CONFIG_DEBUG_FEATURES=y``: Enable debug features
* ``CONFIG_DEBUG_INFO=y``: Enable verbose debug output
* ``CONFIG_DEBUG_INPUT=y``: Enable debug output from input devices
3. Enabling HSMCI support. The SAM3U-KE provides a an SD memory card
slot. Support for the SD slot can be enabled with the following
settings:
System Type->ATSAM3/4 Peripheral Support
* ``CONFIG_SAM34_HSMCI=y``: Enable HSMCI support
* ``CONFIG_SAM34_DMAC0=y``: DMAC support is needed by HSMCI
System Type
* ``CONFIG_SAM34_GPIO_IRQ=y``: PIO interrupts needed
* ``CONFIG_SAM34_GPIOA_IRQ=y``: Card detect pin is on PIOA
Device Drivers -> MMC/SD Driver Support
* ``CONFIG_MMCSD=y``: Enable MMC/SD support
* ``CONFIG_MMSCD_NSLOTS=1``: One slot per driver instance
* ``CONFIG_MMCSD_HAVE_CARDDETECT=y``: Supports card-detect PIOs
* ``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
.. warning::
* 2013-6-28: The touchscreen is functional.
* 2013-6-29: Hmmm... but there appear to be conditions when the
touchscreen driver locks up. Looks like some issue with
managing the interrupts.
* 2013-6-30: Those lock-ups appear to be due to poorly placed debug output
statements. If you do not enable debug output, the touchscreen is
rock-solid.
* 2013-8-10: Added the comments above above enabling HSMCI memory card
support and verified that the configuration builds without error. However,
that configuration has not yet been tested (and is may even be
incomplete).
nx
--
Configures to use ``examples/nx`` using the HX834x LCD hardware on the SAM3U-EK
development board.
nxwm
----
This is a special configuration setup for the NxWM window manager UnitTest. It
includes support for both the HX834x LCD and the ADS7843E touchscreen controller
on board the SAM3U-EK board.
The NxWM window manager is a tiny window manager tailored for use with smaller
LCDs. It supports a toolchain, a start window, and multiple application windows.
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 at ``apps/graphics/NxWidgets/nxwm``.
The NxWM unit test can be found at ``apps/graphics/NxWidgets/UnitTests/nxwm``.
.. warning::
1. 2013-6-28: Created the configuration but have not yet done
anything with it.
2. 2013-6-29: Various changes to get a clean build of this
configuration. Still untested.
3. 20113-6-30: I cannot load this program using AtmelStudio6.1.
The total size with DEBUG on is 138.9 KB. I have verified
that the first 128KB may have been written correctly, but then
the code above 128KB wraps and overwrites the code at the
beginning of FLASH, trashing the FLASH images.
Bottom line: Still untested.
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