Linux Kinetis BSP (Board Support Package) Guide for the Freescale TWR-K70F120M Board

Transcription

1 Linux Kinetis BSP (Bard Supprt Package) Guide fr the Freescale TWR-K70F120M Bard Release

2 Table f Cntents 1. OVERVIEW PRODUCT CONTENTS SHIPPABLE HARDWARE ITEMS DOWNLOADABLE HARDWARE MATERIALS DOWNLOADABLE SOFTWARE MATERIALS DOWNLOADABLE DOCUMENTATION MATERIALS 3 3. SOFTWARE FUNCTIONALITY SUPPORTED FEATURES NEW AND CHANGED FEATURES KNOWN PROBLEMS & LIMITATIONS 5 4. HARDWARE SETUP HARDWARE INTERFACES JUMPERS BOARD CONNECTIONS TWR-K70F120M BOARD LINUX SOFTWARE SET-UP U-BOOT INSTALLATION U-BOOT ENVIRONMENT ETHERNET MAC ADDRESS NETWORK CONFIGURATION LOADING LINUX IMAGES U-BOOT BUILD FURTHER MATERIALS SUPPORT.. 10 Linux Kinetis BSP Guide fr the 2/10 Release Freescale TWR-K70F120M Bard

3 1. Overview This dcument is a Linux Kinetis BSP (Bard Supprt Package) Guide fr the Freescale TWR- K70F120M bard, Release The BSP prvides a sftware develpment envirnment fr evaluatin and develpment f Linux n the Crtex-M4 prcessr cre f the Freescale Kinetis micrcntrller using the Freescale TWR-K70F120M bard as a hardware platfrm. 2. Prduct Cntents This prduct includes the fllwing cmpnents Shippable Hardware Items The fllwing hardware items are shipped t custmers f this prduct: 1. Nne - THIS IS A SOFTWARE-ONLY PACKAGE. Please purchase the TWR-K70F120M bard frm Freescale r its distributrs Dwnladable Hardware Materials The fllwing hardware materials are available fr dwnlad frm Emcraft's web site t custmers f this prduct: 1. Nne - Please btain hardware materials pertinent t the TWR-K70F120M bard directly frm Freescale Dwnladable Sftware Materials The fllwing sftware materials are available fr dwnlad frm Emcraft's web site t custmers f this prduct: 1. u-bt.srec - prebuilt U-Bt file in the frmat suitable fr installatin int embedded Flash f Crtex-M4 n the TWR-K70F120M bard; 2. netwrking.uimage - prebuilt Linux image ready t be laded t the TWR-K70F120M bard; 3. linux-k tar.bz2 - Linux Kinetis sftware develpment envirnment, including: a) U-Bt firmware; b) Linux kernel; c) busybx and ther target cmpnents; d) Linux-hsted crss-develpment envirnment; e) Framewrk fr develping multiple prjects (embedded applicatins) frm a single installatin, including sample prjects allwing t kick-start sftware develpment fr Linux Kinetis Dwnladable Dcumentatin Materials The fllwing dcumentatin materials are available fr dwnlad frm Emcraft's web site t custmers f this prduct: 1. linux-crtexm-um pdf - Linux Crtex-M User's Manual; 2. linux-twr-k70f120m-bspg pdf - Linux Kinetis BSP (Bard Supprt Package) Guide fr the Freescale TWR-K70F120M Bard (this dcument). Linux Kinetis BSP Guide fr the 3/10 Release Freescale TWR-K70F120M Bard

4 3. Sftware Functinality 3.1. Supprted Features The fllwing list summarizes the features and capabilities f Linux Kinetis, Release : U-Bt firmware: U-Bt v ; Target initializatin frm pwer-n / reset; Runs frm the internal envm and internal SRAM (n external memry required fr standalne peratin); Serial cnsle; Ethernet driver fr lading images t the target; Serial driver fr lading images t the target; Device driver fr built-in Flash (envm) and self-upgrade capability; Device driver fr string envirnment and Linux images in external Flash; Autbt feature, allwing bt f OS images frm Flash r ther strage with n peratr interventin; Persistent envirnment in Flash fr custmizatin f target peratin; Sphisticated cmmand interface fr maintenance and develpment f the target. Linux: uclinux kernel v2.6.33; Bt frm cmpressed and uncmpressed images; Ability t run critical kernel cde frm integrated Flash f Kinetis; Serial device driver and Linux cnsle; Ethernet device driver and netwrking (ping, NFS, Telnet, FTP, ntpd, etc.); busybx v1.17; POSIX pthreads; Hardened exceptin handling; an exceptin triggered by a prcess affects nly the ffending prcess; Ladable kernel mdules; Supprt fr the hardware FPU; Secure shell (ssh) daemn; Web server; MTD-based Flash partitining and persistent JFFS2 Flash file system fr external Flash; Device driver fr the DMA interface; Device driver fr the USB hst interface; SDHC Card device driver; Framebuffer device driver; Tuchscreen device driver; ADC device driver. Linux Kinetis BSP Guide fr the 4/10 Release Freescale TWR-K70F120M Bard

5 Develpment tls: ARMv7-ptimized GNU tlchain frm CdeSurcery (2010q1) is used fr develpment f U-Bt, Linux and user-space applicatins (tlchain must be dwnladed separately frm the CdeSurcery web site); Crss GDB fr debugging user-space applicatins; mkimage tl used by the Linux kernel build prcess t create a Linux image btable by U-Bt. Develpment envirnment: Linux-hsted crss-develpment envirnment; Develpment f multiple prjects (embedded applicatins) frm a single installatin; hell sample prject ("Hell, wrld!" single-prcess cnfiguratin); netwrking sample prject (basic shell, netwrking and Flash management tls demnstratin); develper sample prject (template prject that can be used t jump-start develpment f custm user-space applicatins and ladable kernel mdules) New and Changed Features This sectin lists new and changed features f this release: 1. Enable access t GPIO interrupts frm user space in Kinetis Linux. ID: RT Develp an SPI device driver fr the uclinux Kinetis. ID: RT Develp a Linux device driver fr the Kinetis USB FS interface. ID: RT Clean in the Kinetis Linux SD Card device driver. ID: RT Knwn Prblems & Limitatins This sectin lists knwn prblems and limitatins f this release: 1. CONFIG_KERNEL_IN_ENVM requires disabling CONFIG_ARM_UNWIND and CONFIG_EARLY_PRINTK. ID: RT Wrkarund: When enabling CONFIG_KERNEL_IN_ENVM in the kernel, disable CONFIG_ARM_UNWIND and CONFIG_EARLY_PRINTK. 2. Debugging f multi-threaded applicatins using GDB is nt supprted. ID: RT Wrkarund: Nne. This issue will be reslved in future releases f the prduct. 4. Hardware Setup This sectin explains hw t set up the Freescale TWR-K70F120M bard Hardware Interfaces Fr a descriptin f the hardware interfaces prvided by the TWR-K70F120M bard, refer t detailed technical dcumentatin and ther assciated materials available frm Freescale. Linux Kinetis BSP Guide fr the 5/10 Release Freescale TWR-K70F120M Bard

6 4.2. Jumpers The fllwing jumpers must be cnfigured n the TWR-K70F120M and TWR-SER bards: Bard Jumper Cnfiguratin Ntes TWR-K70F120M J19 pen T disable the n-bard 50 MHz scillatr TWR-K70F120M J18 clse Only n the schematics Rev C bards. T prvide prper Ethernet clcking TWR-SER J2 3-4 clsed T select 50 MHz fr the Ethernet PHY clck TWR-SER J3 2-3 clsed T rute the 50 MHz clck t CLOCKIN0 TWR-SER J clsed T select the RMII mde f the Ethernet PHY 4.3. Bard Cnnectins T pwer the TWR-K70F120M bard up, simply cnnect it t a PC / ntebk by plugging a mini-usb cable int the J13 mini-usb cnnectr n the TWR-K70F120M bard. As sn as the cnnectin t the PC has been made, the varius n-bards LEDs shuld lit up, indicating that the bard is up and running. T prvide a serial interface t a PC / ntebk plug a null-mdem RS-232 cable t the TWR- SER J8 serial cnnectr n the bard. On the PC side, the serial link prvides a serial cnsle device t the TWR-K70F120M. The sftware installed n the bard is cnfigured fr a K terminal. On the Linux hst, the serial cnsle is available using a /dev/ttysn device. T prvide netwrk cnnectivity t the bard, cnnect it int yur LAN by plugging a standard Ethernet cable int the TWR-SER 10/100 Ethernet cnnectr. The bard is precnfigured with an IP address f TWR-K70F120M Bard Linux Sftware Set-up 5.1. U-Bt Installatin T install U-bt nt the Freescale TWR-K70F120M, fllw the step-wise prcedure dcumented belw: 1. Cnnect the TWR-K70F120M bard t a Windws hst using a mini-usb cable; 2. On the Windws hst dwnlad and install the Special Editin f CdeWarrir 10.2 r higher frm the Freescale web site at: 3. On the Windws hst run the CdeWarrir fr Micrcntrllers 10.2: a) Create a prject by selecting File -> New -> Barebard Prject. Chse Kinetis -> K70 Family -> K70F (120 MHz) Family -> MK70FN1M0 frm the list f devices t cnnect t. On the next page, in the list f cnnectin types check nly the Open Surce JTAG, after that yu can click Finish; b) Open the Target Tasks view. It is accessible via Windw -> Shw View -> Other; c) In the Target Tasks view, create a new task. The Run Cnfiguratin shuld be [prject-name]_mk70fn1m0_internal_flash_osjtag, the Task Type shuld be Flash Prgrammer fr Kinetis; d) In the Kinetis Flash Prgrammer Task view, click the Add Device buttn under the list f devices. In the dialg bx chse FTFE_PFlash1M0 (128Kx64x1) as the type f the internal flash and click Add Device; Linux Kinetis BSP Guide fr the 6/10 Release Freescale TWR-K70F120M Bard

7 e) In the Kinetis Flash Prgrammer Task view, in the Target RAM grup bx, enter the fllwing regin f internal SRAM memry: Address: 1fff0000, Size: ; f) In the Kinetis Flash Prgrammer Task view, click Add Actin -> Prgram / Verify. Chse the U-Bt image (u-bt.srec) frm the file system, select the Erase sectrs befre prgram checkbx and click Add Prgram Actin; g) In the Target Tasks view, click the right muse buttn n yur flash prgramming task and select Execute. If the CdeWarrir IDE asks yu t update the OSBDM/OSJTAG btlader, fllw its instructins. If the CdeWarrir IDE cannt find yur bard cnnected t the Windws hst, g t the Windws Device Manager and reinstall the drivers fr the USB devices listed. 4. After prgramming the flash using CdeWarrir, re-plug the mini-usb cable int the TWR- K70F120M bard; 5. Cnnect the UART prt f the TWR-K70F120M bard t a hst; 6. Run a terminal prgram (e.g. HyperTerminal n Windws, r kermit n Linux) and create a serial cnnectin t the TWR-K70F120M bard with the fllwing COM-prt settings: N1; 7. Reset the TWR-K70F120M bard and see the U-Bt start-up banner in the terminal prgram U-Bt Envirnment When the TWR-K70F120M bard is reset, the Linux btstrap will prceed t bt the U-Bt firmware frm the built-in Flash printing the fllwing utput t the serial cnsle: U-Bt linux-crtexm (Dec :19:38) CPU : Freescale Kinetis series (Crtex-M4) Freqs: SYSTICK=120MHz,CCLK=120MHz,PCLK=60MHz,MACCLK=50MHz Bard: Freescale TWR-K70F120M rev 1 DRAM: 128 MB NAND: 256 MiB Bad blck table fund at page , versin 0x01 Bad blck table fund at page , versin 0x01 *** Warning - bad CRC r NAND, using default envirnment In: serial Out: serial Err: serial Net: FEC0 Hit any key t stp autbt: 0 TWR-K70F120M> U-bt makes use f the s-called envirnment variables t define varius aspects f the system functinality. Parameters defined by the U-bt envirnment variables include: target IP address, target MAC address, address in RAM where a Linux btable images will be laded, and many mre. T examine the current settings f the envirnment variables, run printenv frm the U-Bt cmmand interface. The reasn fr the warning abut the "bad CRC" is that U-Bt is cnfigured t stre its envirnment variables in the external Flash. Hwever, this being the first time when yu bt Linux Kinetis n the develpment bard, bviusly there is n U-Bt envirnment prgrammed t the external Flash. U-Bt ges t the external Flash, fails t find its envirnment there, prints the warning message and resrts t using the default envirnment integrated int the U-Bt image at build time. U-Bt prvides a cmmand called saveenv that stres the up-t-date run-time envirnment t the persistent strage, which will be the external Flash fr the U-Bt cnfiguratin used n the TWR-K70F120M bard. Yu need t call saveenv any time when yu want t cpy Linux Kinetis BSP Guide fr the 7/10 Release Freescale TWR-K70F120M Bard

8 current settings f the envirnment variables t the persistent strage in Flash. This is hw yu can write the current U-Bt envirnment t the external Flash: TWR-K70F120M> saveenv Saving Envirnment t NAND TWR-K70F120M> Reset the TWR-K70F120M bard and check that there is n warning abut the bad CRC in the bt-up messages. This is expected since nw U-Bt successfully finds its envirnment in the external Flash: TWR-K70F120M> reset resetting U-Bt linux-crtexm (Dec :43:45) Hit any key t stp autbt: 0 TWR-K70F120M> 5.3. Ethernet MAC Address In Linux Kinetis, the MAC address f the Ethernet interface is defined by the ethaddr U-Bt envirnment variable. The value f the MAC address can be examined frm the U-Bt cmmand line mnitr as fllws: TWR-K70F120M> printenv ethaddr ethaddr=c0:b1:3c:88:88:88 TWR-K70F120M> The default U-Bt envirnment fr the TWR-K70F120M bard sets ethaddr t a fixed MAC address. This address shuld wrk fr yu in a general case, hwever if yu have mre than tw TWR-K70F120M bards in yur LAN, use f the same address n multiple bards may result in packet cllisins in yur LAN and verall may render yur LAN mal-functining. If yu have mre than ne TWR-K70F120M bards in yur LAN, yu have t assign a unique MAC address t each bard. The MAC address can be changed by mdifying the ethaddr variable as fllws: TWR-K70F120M> setenv ethaddr C0:B1:3C:88:88:89 Dn't frget t stre yur update in the persistent strage using saveenv s it is remembered acrss resets and pwer cycles Netwrk Cnfiguratin Yu will have t update the netwrk cnfiguratin f yur bard t match settings f yur lcal envirnment. Typically, all yu have t allw lading images ver netwrk frm a TFTP server is update the U-Bt envirnment variables ipaddr (the bard IP address) and serverip (the IP address f the TFTP server). Here is hw it is dne. Update ipaddr and serverip: TWR-K70F120M> setenv ipaddr TWR-K70F120M> setenv serverip and then save the updated envirnment t the external Flash s that yur changes are persistent acrss resets/pwer cycles. Linux Kinetis BSP Guide fr the 8/10 Release Freescale TWR-K70F120M Bard

9 5.5. Lading Linux Images At this pint, yu are able t lad Linux btable images t the bard ver TFTP and either bt them directly r install them t the external Flash t allw bting Linux frm Flash n pwer-up/reset. On the hst, activate the Linux Kinetis develpment envirnment and build the netwrking prject: -bash-3.2$. ACTIVATE.sh -bash-3.2$ cd prjects/netwrking/ -bash-3.2$ make -bash-3.2$ Cpy the Linux btable image t the TFTP dwnlad directry: -bash-3.2$ cp netwrking.uimage /tftpbt/vlad/ -bash-3.2$ T lad the image directly, use the netbt U-Bt macr: TWR-K70F120M> setenv image vlad/netwrking.uimage TWR-K70F120M> run netbt TFTP frm server ; ur IP address is Filename 'vlad/netwrking.uimage'. Lading: ################################################################# ################################################################# ############# dne Bytes transferred = (1fcf60 hex) Image Name: Linux arm1 Image Type: ARM Linux Kernel Image (uncmpressed) Verifying Checksum OK Lading Kernel Image OK OK Starting kernel Linux versin arm1 (vlad@cean.emcraft.cm) (gcc versin (Surcery G++ Lite 2010q1-189) ) #1 Fri Dec 6 15:43:44 MSK 2013 T lad the image int the Flash, use the U-Bt update macr: TWR-K70F120M> setenv image vlad/netwrking.uimage TWR-K70F120M> run update TFTP frm server ; ur IP address is Filename 'vlad/netwrking.uimage'. Lading: ################################################################# ################################################################# ############# dne Bytes transferred = (1fcf60 hex) NAND erase: device 0 ffset 0x100000, size 0x1f00000 Erasing at 0x1fe % cmplete. OK NAND write: device 0 ffset 0x100000, size 0x1f bytes written: OK TWR-K70F120M> Reset the bard and verify that the newly prgrammed image bts n the target in the autbt mde: Linux Kinetis BSP Guide fr the 9/10 Release Freescale TWR-K70F120M Bard

10 TWR-K70F120M> reset resetting U-Bt linux-crtexm (Dec :19:37) Starting kernel init started: BusyBx v (Dec :19:37) ~ # 5.6. U-Bt Build The BSP distributin cmes with U-Bt pre-built fr the TWR-K70F120M bard. If hwever yu need t re-build U-Bt fr yur bard, please fllw the instructins belw: 1. Install the Linux Kinetis distributin t the develpment hst, as described in the Linux Crtex-M User's Manual. 2. Frm the tp f the Linux Kinetis installatin, activate the Linux Kinetis crss-cmpile envirnment by running. ACTIVATE.sh. 3. G t the U-Bt surce directry (cd u-bt/). 4. Run the fllwing cmmands: [psl@pvr u-bt]$ make twr-k70f120m_cnfig Cnfiguring fr twr-k70f120m bard [psl@pvr u-bt]$ make -s [psl@pvr u-bt]$ make -s u-bt.srec 6. Further Materials Refer t Linux Crtex-M User's Manual fr detailed infrmatin n the sftware architecture f the Linux Kinetis distributin. Visit Emcraft Systems' web site at t btain additinal materials related t Linux Kinetis. 7. Supprt We appreciate yur review f ur prduct and welcme any and all feedback. Cmments can be sent directly by t: a2f-linux-supprt@emcraft.cm The fllwing level f supprt is included with yur purchase f this prduct: supprt fr installatin, cnfiguratin and basic use scenaris f the prduct during 3 mnths since the prduct purchase; Free upgrade t new releases f the dwnladable materials included in the prduct during 3 mnths since the prduct purchase. If yu require supprt beynd f what is described abve, we will be happy t prvide it using resurces f ur cntract develpment team. Please cntact us fr details. Linux Kinetis BSP Guide fr the 10/10 Release Freescale TWR-K70F120M Bard