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| <div class="section" id="running"> |
| <span id="id1"></span><h1>Running<a class="headerlink" href="#running" title="Permalink to this headline">¶</a></h1> |
| <p>In order to finally run NuttX on your board, you first have to flash the NuttX |
| binary. As an easy start, it is recommended that you choose a well supported board |
| which also integrates the debugger/programmer in the board itself exposed via USB |
| connector.</p> |
| <p>A good choice is a Nucleo or Discovery board from ST Microelectronics, |
| as there is a wide choice of suported boards for the STM32 architecture in NuttX. |
| Also, these boards expose an UART port over the USB connection which allows you |
| to interact with NuttX via the interactive console without any extra hardware. |
| For the purposes of this guide, we will use the Nucleo F103RB board.</p> |
| <div class="section" id="flashing"> |
| <h2>Flashing<a class="headerlink" href="#flashing" title="Permalink to this headline">¶</a></h2> |
| <p>There are various tools you can use to flash the NuttX binary to your Nucleo |
| board. One common option is to use <cite>openocd</cite> which supports a large number |
| of programmers and target microcontrollers.</p> |
| <p>To install the stable version of openocd you can do:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> apt install openocd |
| </pre></div> |
| </div> |
| <div class="admonition-todo admonition" id="id2"> |
| <p class="admonition-title">Todo</p> |
| <p>add instructions for other platforms</p> |
| </div> |
| <p>You should note that openocd project has not made stable releases for long |
| time and support for newer hardware will probably be only available in the |
| latest Git version. To install it you should:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> git clone git://git.code.sf.net/p/openocd/code openocd |
| <span class="gp">$</span> <span class="nb">cd</span> openocd |
| <span class="gp">$</span> ./bootstrap |
| <span class="gp">$</span> ./configure --prefix install/ |
| <span class="gp">$</span> make install |
| </pre></div> |
| </div> |
| <p>The resulting installation will be under <code class="docutils literal notranslate"><span class="pre">openocd/install</span></code>. You can add |
| <code class="docutils literal notranslate"><span class="pre">openocd/install/bin</span></code> to your <code class="docutils literal notranslate"><span class="pre">PATH</span></code>.</p> |
| <p>Now, to flash the binary to your board, connect the USB cable and do:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> <span class="nb">cd</span> nuttx/ |
| <span class="gp">$</span> openocd -f interface/st-link-v2.cfg -f target/stm32f1x.cfg -c <span class="s1">'init'</span> <span class="se">\</span> |
| -c <span class="s1">'program nuttx/nuttx.bin verify reset'</span> -c <span class="s1">'shutdown'</span> |
| </pre></div> |
| </div> |
| </div> |
| <div class="section" id="access-nuttshell"> |
| <h2>Access NuttShell<a class="headerlink" href="#access-nuttshell" title="Permalink to this headline">¶</a></h2> |
| <p>Once you flash your board, it will reset and offer a prompt over the serial |
| console. With the Nucleo board, you can simply open the terminal program |
| of your choice where you will see the <code class="docutils literal notranslate"><span class="pre">nsh></span></code> prompt:</p> |
| <div class="sphinx-tabs docutils container"> |
| <div class="ui top attached tabular menu sphinx-menu docutils container"> |
| <div class="active item sphinx-data-tab-cGljb2NvbSAoQ0xJKQ== docutils container"> |
| <div class="docutils container"> |
| <p>picocom (CLI)</p> |
| </div> |
| </div> |
| <div class="item sphinx-data-tab-Z3RrdGVybSAoR1VJKQ== docutils container"> |
| <div class="docutils container"> |
| <p>gtkterm (GUI)</p> |
| </div> |
| </div> |
| </div> |
| <div class="ui bottom attached sphinx-tab tab segment code-tab sphinx-data-tab-cGljb2NvbSAoQ0xJKQ== active docutils container"> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> picocom -b <span class="m">115200</span> /dev/ttyUSB0 |
| </pre></div> |
| </div> |
| </div> |
| <div class="ui bottom attached sphinx-tab tab segment code-tab sphinx-data-tab-Z3RrdGVybSAoR1VJKQ== docutils container"> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> gtkterm -s <span class="m">115200</span> -p /dev/ttyUSB0 |
| </pre></div> |
| </div> |
| </div> |
| </div> |
| </div> |
| <div class="section" id="debugging"> |
| <h2>Debugging<a class="headerlink" href="#debugging" title="Permalink to this headline">¶</a></h2> |
| <p>Using <code class="docutils literal notranslate"><span class="pre">openocd</span></code> you can also debug NuttX. To do so, first run:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> openocd -f interface/st-link-v2.cfg -f target/stm32f1x.cfg |
| </pre></div> |
| </div> |
| <p>which will start a GDB server. Then, start <code class="docutils literal notranslate"><span class="pre">gdb</span></code> as:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> <span class="nb">cd</span> nuttx/ |
| <span class="gp">$</span> gdb-multiarch nuttx/nuttx |
| </pre></div> |
| </div> |
| <p>Inside <code class="docutils literal notranslate"><span class="pre">gdb</span></code> console, connect to the <code class="docutils literal notranslate"><span class="pre">openocd</span></code> server with:</p> |
| <div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) target extended-remote :3333 |
| </pre></div> |
| </div> |
| <p>You can debug using standard <code class="docutils literal notranslate"><span class="pre">gdb</span></code> commands.</p> |
| <div class="section" id="advanced-debugging-with-jtag"> |
| <h3>Advanced Debugging with JTAG<a class="headerlink" href="#advanced-debugging-with-jtag" title="Permalink to this headline">¶</a></h3> |
| <p>If your board does not have an embedded programmer and uses |
| <a class="reference external" href="https://en.wikipedia.org/wiki/JTAG">JTAG</a> connector instead, |
| things are a bit different. This guide assumes you have a JTAG hardware debugger like a |
| <a class="reference external" href="https://www.segger.com/products/debug-probes/j-link/">Segger J-Link</a>. |
| JTAG is a set of standards that let you |
| attach a hardware device to your embedded board, and then remotely control the CPU. |
| You can load code, start, stop, step through the program, and examine variables and memory.</p> |
| <ol class="arabic"> |
| <li><p>Attach the Debugger Cables</p></li> |
| <li><p>Start the Debugger</p> |
| <p>Refer to your JTAG debugger’s documentation for information on how to start a GDB Server process that gdb can |
| communicate with to load code and start, stop, and step the embedded board’s CPU. Your command line may be |
| different from this one.</p> |
| <blockquote> |
| <div><div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> JLinkGDBServer -device ATSAMA5D27 -if JTAG -speed <span class="m">1000</span> -JTAGConf -1,-1 |
| </pre></div> |
| </div> |
| </div></blockquote> |
| </li> |
| <li><p>Launch the GNU Debugger</p> |
| <p>In another terminal window, launch the GDB. In the case of this guide, this came with the |
| ARM Embedded GNU Toolchain we downloaded in the Install step.</p> |
| <blockquote> |
| <div><div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$</span> <span class="nb">cd</span> nuttx/ |
| <span class="gp">$</span> gdb-multiarch nuttx/nuttx |
| </pre></div> |
| </div> |
| </div></blockquote> |
| </li> |
| <li><p>Set gdb to talk with the J-Link</p> |
| <blockquote> |
| <div><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) target extended-remote :2331 |
| </pre></div> |
| </div> |
| </div></blockquote> |
| </li> |
| <li><p>Reset the board</p> |
| <blockquote> |
| <div><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) mon reset |
| </pre></div> |
| </div> |
| </div></blockquote> |
| </li> |
| <li><p>You may need to switch to the serial console to hit a key to stop the board from booting from its boot monitor |
| (U-Boot, in the case of the SAMA5 boards from Microchip).</p></li> |
| <li><p>Halt the board</p> |
| <blockquote> |
| <div><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) mon halt |
| </pre></div> |
| </div> |
| </div></blockquote> |
| </li> |
| <li><p>Load nuttx</p> |
| <blockquote> |
| <div><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) load nuttx |
| `/home/adamf/src/nuttx-sama5d36-xplained/nuttx/nuttx' has changed; re-reading symbols. |
| Loading section .text, size 0x9eae4 lma 0x20008000 |
| Loading section .ARM.exidx, size 0x8 lma 0x200a6ae4 |
| Loading section .data, size 0x125c lma 0x200a6aec |
| Start address 0x20008040, load size 654664 |
| Transfer rate: 75 KB/sec, 15587 bytes/write. |
| (gdb) |
| </pre></div> |
| </div> |
| </div></blockquote> |
| </li> |
| <li><p>Set a breakpoint</p> |
| <blockquote> |
| <div><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) breakpoint nsh_main |
| </pre></div> |
| </div> |
| </div></blockquote> |
| </li> |
| <li><p>Start nuttx</p> |
| <blockquote> |
| <div><div class="highlight-none notranslate"><div class="highlight"><pre><span></span>(gdb) continue |
| Continuing. |
| |
| Breakpoint 1, nsh_main (argc=1, argv=0x200ddfac) at nsh_main.c:208 |
| 208 sched_getparam(0, &param); |
| (gdb) continue |
| Continuing. |
| </pre></div> |
| </div> |
| </div></blockquote> |
| </li> |
| </ol> |
| </div> |
| <div class="section" id="debugging-shortcuts"> |
| <h3>Debugging Shortcuts<a class="headerlink" href="#debugging-shortcuts" title="Permalink to this headline">¶</a></h3> |
| <p>Note that you can abbreviate <code class="docutils literal notranslate"><span class="pre">gdb</span></code> commands, <code class="docutils literal notranslate"><span class="pre">info</span> <span class="pre">b</span></code> is a shortcut for |
| <code class="docutils literal notranslate"><span class="pre">information</span> <span class="pre">breakpoints</span></code>; <code class="docutils literal notranslate"><span class="pre">c</span></code> works the same as <code class="docutils literal notranslate"><span class="pre">continue</span></code>, etc.</p> |
| <hr class="docutils" /> |
| <p>Next up is <a class="reference internal" href="configuring.html#configuring"><span class="std std-ref">Configuring</span></a>.</p> |
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