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| <li class="toctree-l3"><a class="reference internal" href="../at32uc3/index.html">Microchip AT32UC3</a></li> |
| <li class="toctree-l3 current"><a class="current reference internal" href="#">Microchip AT90USB</a><ul> |
| <li class="toctree-l4"><a class="reference internal" href="#avr-at90usb64x-and-at90usb6128x">AVR AT90USB64x and AT90USB6128x</a><ul> |
| <li class="toctree-l5"><a class="reference internal" href="#toolchains">Toolchains</a></li> |
| </ul> |
| </li> |
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| |
| <section id="microchip-at90usb"> |
| <h1>Microchip AT90USB<a class="headerlink" href="#microchip-at90usb" title="Permalink to this heading"></a></h1> |
| <section id="avr-at90usb64x-and-at90usb6128x"> |
| <h2>AVR AT90USB64x and AT90USB6128x<a class="headerlink" href="#avr-at90usb64x-and-at90usb6128x" title="Permalink to this heading"></a></h2> |
| <p><strong>Micropendous 3 AT90USB64x</strong> and <strong>AT90USB6128x</strong>. This port of NuttX |
| to the Opendous Micropendous 3 board. The Micropendous3 is may be |
| populated with an AT90USB646, 647, 1286, or 1287. I have only the |
| AT90USB647 version for testing. This version have very limited memory |
| resources: 64K of FLASH and 4K of SRAM.</p> |
| <p><strong>PJRC Teensy++ 2.0 AT90USB1286</strong>. This is a port of NuttX to the PJRC |
| Teensy++ 2.0 board. This board was developed by |
| <a class="reference external" href="http://pjrc.com/teensy/">PJRC</a>. The Teensy++ 2.0 is based on an |
| Microchip AT90USB1286 MCU.</p> |
| <p><strong>AVR-Specific Issues</strong>. The basic AVR port is solid. The biggest issue |
| for using AVR is its tiny SRAM memory and its Harvard architecture. |
| Because of the Harvard architecture, constant data that resides to flash |
| is inaccessible using “normal” memory reads and writes (only SRAM data |
| can be accessed “normally”). Special AVR instructions are available for |
| accessing data in FLASH, but these have not been integrated into the |
| normal, general purpose OS.</p> |
| <p>Most NuttX test applications are console-oriented with lots of strings |
| used for <code class="docutils literal notranslate"><span class="pre">printf()</span></code> and debug output. These strings are all stored in |
| SRAM now due to these data accessing issues and even the smallest |
| console-oriented applications can quickly fill a 4-8K memory. So, in |
| order for the AVR port to be useful, one of two things would need to be |
| done:</p> |
| <ol class="arabic simple"> |
| <li><p>Don’t use console applications that required lots of strings. The |
| basic AVR port is solid and your typical deeply embedded application |
| should work fine. Or,</p></li> |
| <li><p>Create a special version of printf that knows how to access strings |
| that reside in FLASH (or EEPROM).</p></li> |
| </ol> |
| <p><strong>Development Environments:</strong> 1) Linux with native Linux GNU toolchain, |
| 2) Cygwin/MSYS with Cygwin GNU toolchain, 3) Cygwin/MSYS with Windows |
| native toolchain, or 4) Native Windows. All testing, however, has been |
| performed using the NuttX DIY toolchain for Linux or Cygwin is provided |
| by the NuttX |
| <a class="reference external" href="https://bitbucket.org/nuttx/buildroot/downloads/">buildroot</a> |
| package. As a result, that toolchain is recommended.</p> |
| <section id="toolchains"> |
| <h3>Toolchains<a class="headerlink" href="#toolchains" title="Permalink to this heading"></a></h3> |
| <p>There are several toolchain options. However, testing has been performed using |
| <em>only</em> the NuttX buildroot toolchain described below. Therefore, the NuttX |
| buildroot toolchain is the recommended choice.</p> |
| <p>The toolchain may be selected using the kconfig-mconf tool (via <code class="docutils literal notranslate"><span class="pre">make</span> |
| <span class="pre">menuconfig</span></code>), by editing the existing configuration file (<code class="docutils literal notranslate"><span class="pre">defconfig</span></code>), or by |
| overriding the toolchain on the make commandline with |
| <code class="docutils literal notranslate"><span class="pre">CONFIG_AVR_TOOLCHAIN=<toolchain></span></code>.</p> |
| <p>The valid values for <code class="docutils literal notranslate"><span class="pre"><toolchain></span></code> are <code class="docutils literal notranslate"><span class="pre">BUILDROOT</span></code>, <code class="docutils literal notranslate"><span class="pre">CROSSPACK</span></code>, |
| <code class="docutils literal notranslate"><span class="pre">LINUXGCC</span></code> and <code class="docutils literal notranslate"><span class="pre">WINAVR</span></code>.</p> |
| </section> |
| </section> |
| <section id="buildroot"> |
| <h2>Buildroot<a class="headerlink" href="#buildroot" title="Permalink to this heading"></a></h2> |
| <p>There is a DIY buildroot version for the AVR boards here: |
| <a class="reference external" href="http://bitbucket.org/nuttx/buildroot/downloads/">http://bitbucket.org/nuttx/buildroot/downloads/</a>. See the following section for |
| details on building this toolchain.</p> |
| <p>Before building, make sure that the path to the new toolchain is included in |
| your <code class="docutils literal notranslate"><span class="pre">PATH</span></code> environment variable.</p> |
| <p>After configuring NuttX, make sure that <code class="docutils literal notranslate"><span class="pre">CONFIG_AVR_BUILDROOT_TOOLCHAIN=y</span></code> is |
| set in your <code class="docutils literal notranslate"><span class="pre">.config</span></code> file.</p> |
| </section> |
| <section id="winavr"> |
| <h2>WinAVR<a class="headerlink" href="#winavr" title="Permalink to this heading"></a></h2> |
| <p>For Cygwin development environment on Windows machines, you can use WinAVR: |
| <a class="reference external" href="http://sourceforge.net/projects/winavr/files/">http://sourceforge.net/projects/winavr/files/</a></p> |
| <p>Before building, make sure that the path to the new toolchain is included in |
| your <code class="docutils literal notranslate"><span class="pre">PATH</span></code> environment variable.</p> |
| <p>After configuring NuttX, make sure that <code class="docutils literal notranslate"><span class="pre">CONFIG_AVR_WINAVR_TOOLCHAIN=y</span></code> is set |
| in your <code class="docutils literal notranslate"><span class="pre">.config</span></code> file.</p> |
| <div class="admonition warning"> |
| <p class="admonition-title">Warning</p> |
| <p>There is an incompatible version of <code class="docutils literal notranslate"><span class="pre">cygwin.dll</span></code> in the <code class="docutils literal notranslate"><span class="pre">WinAVR/bin</span></code> |
| directory! Make sure that the path to the correct <code class="docutils literal notranslate"><span class="pre">cygwin.dll</span></code> file |
| precedes the path to the WinAVR binaries!</p> |
| </div> |
| </section> |
| <section id="linux"> |
| <h2>Linux<a class="headerlink" href="#linux" title="Permalink to this heading"></a></h2> |
| <p>For Linux, there are widely available avr-gcc packages. On Ubuntu, use: |
| sudo apt-get install gcc-avr gdb-avr avr-libc</p> |
| <p>After configuring NuttX, make sure that CONFIG_AVR_LINUXGCC_TOOLCHAIN=y is set in your |
| .config file.</p> |
| </section> |
| <section id="macos"> |
| <h2>macOS<a class="headerlink" href="#macos" title="Permalink to this heading"></a></h2> |
| <p>For macOS, the CrossPack for AVR toolchain is available from: |
| <a class="reference external" href="http://www.obdev.at/products/crosspack/index.html">http://www.obdev.at/products/crosspack/index.html</a></p> |
| <p>This toolchain is functionally equivalent to the Linux GCC toolchain.</p> |
| <section id="windows-native-toolchains"> |
| <h3>Windows Native Toolchains<a class="headerlink" href="#windows-native-toolchains" title="Permalink to this heading"></a></h3> |
| <p>The WinAVR toolchain is a Windows native toolchain. There are several |
| limitations to using a Windows native toolchain in a Cygwin environment. The |
| three biggest are:</p> |
| <ol class="arabic"> |
| <li><p>The Windows toolchain cannot follow Cygwin paths. Path conversions are |
| performed automatically in the Cygwin makefiles using the <code class="docutils literal notranslate"><span class="pre">cygpath</span></code> utility |
| but you might easily find some new path problems. If so, check out <code class="docutils literal notranslate"><span class="pre">cygpath</span> |
| <span class="pre">-w</span></code></p></li> |
| <li><p>Windows toolchains cannot follow Cygwin symbolic links. Many symbolic links |
| are used in NuttX (e.g., <code class="docutils literal notranslate"><span class="pre">include/arch</span></code>). 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:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>make<span class="w"> </span>clean_context<span class="w"> </span>all |
| </pre></div> |
| </div> |
| <p>An alias in your <code class="docutils literal notranslate"><span class="pre">.bashrc</span></code> file might make that less painful.</p> |
| </li> |
| </ol> |
| <p>An additional issue with the WinAVR toolchain, in particular, is that it |
| contains an incompatible version of the Cygwin DLL in its <code class="docutils literal notranslate"><span class="pre">bin/</span></code> directory. |
| You must take care that the correct Cygwin DLL is used.</p> |
| </section> |
| <section id="nuttx-buildroot-toolchain"> |
| <h3>NuttX buildroot toolchain<a class="headerlink" href="#nuttx-buildroot-toolchain" title="Permalink to this heading"></a></h3> |
| <p>If NuttX buildroot toolchain source tarball cne can be downloaded from the NuttX |
| Bitbucket download site (<a class="reference external" href="https://bitbucket.org/nuttx/nuttx/downloads/">https://bitbucket.org/nuttx/nuttx/downloads/</a>). This GNU |
| toolchain builds and executes in the Linux or Cygwin environment.</p> |
| <ol class="arabic"> |
| <li><p>You must have already configured NuttX in <code class="docutils literal notranslate"><span class="pre"><some-dir>/nuttx</span></code>.</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>tools/configure.sh<span class="w"> </span>micropendous3:<sub-dir> |
| </pre></div> |
| </div> |
| <div class="admonition note"> |
| <p class="admonition-title">Note</p> |
| <p>You also must copy avr-libc header files into the NuttX include directory |
| with a command perhaps like:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>cp<span class="w"> </span>-a<span class="w"> </span>/cygdrive/c/WinAVR/include/avr<span class="w"> </span>include/. |
| </pre></div> |
| </div> |
| </div> |
| </li> |
| <li><p>Download the latest buildroot package into <code class="docutils literal notranslate"><span class="pre"><some-dir></span></code></p></li> |
| <li><p>Unpack the buildroot tarball. The resulting directory may have versioning |
| information on it like <code class="docutils literal notranslate"><span class="pre">buildroot-x.y.z</span></code>. If so, rename |
| <code class="docutils literal notranslate"><span class="pre"><some-dir>/buildroot-x.y.z</span></code> to <code class="docutils literal notranslate"><span class="pre"><some-dir>/buildroot</span></code>.</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span><span class="nb">cd</span><span class="w"> </span><some-dir>/buildroot |
| <span class="gp">$ </span>cp<span class="w"> </span>boards/avr-defconfig-4.5.2<span class="w"> </span>.config |
| <span class="gp">$ </span>make<span class="w"> </span>oldconfig |
| <span class="gp">$ </span>make |
| </pre></div> |
| </div> |
| </li> |
| <li><p>Make sure that the <code class="docutils literal notranslate"><span class="pre">PATH</span></code> variable includes the path to the newly built |
| binaries.</p></li> |
| </ol> |
| <p>See the file <code class="docutils literal notranslate"><span class="pre">boards/README.txt</span></code> in the buildroot source tree.That has more |
| detailed PLUS some special instructions that you will need to follow if you are |
| building a toolchain for Cygwin under Windows.</p> |
| </section> |
| <section id="avr-libc"> |
| <h3>avr-libc<a class="headerlink" href="#avr-libc" title="Permalink to this heading"></a></h3> |
| </section> |
| </section> |
| <section id="header-files"> |
| <h2>Header Files<a class="headerlink" href="#header-files" title="Permalink to this heading"></a></h2> |
| <p>In any case, header files from avr-libc are required: |
| <a class="reference external" href="http://www.nongnu.org/avr-libc/">http://www.nongnu.org/avr-libc/</a>. A snapshot of avr-lib is included in the WinAVR |
| installation. For Linux development platforms, avr-libc package is readily |
| available (and would be installed in the apt-get command shown above). But if |
| you are using the NuttX buildroot configuration on Cygwin, then you will have to |
| build get avr-libc from binaries.</p> |
| </section> |
| <section id="header-file-installation"> |
| <h2>Header File Installation<a class="headerlink" href="#header-file-installation" title="Permalink to this heading"></a></h2> |
| <p>The NuttX build will required that the AVR header files be available via the |
| NuttX include directory. This can be accomplished by either copying the |
| avr-libc header files into the NuttX include directory:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>cp<span class="w"> </span>-a<span class="w"> </span><avr-libc-path>/include/avr<span class="w"> </span><nuttx-path>/include/. |
| </pre></div> |
| </div> |
| <p>Or simply using a symbolic link:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>ln<span class="w"> </span>-s<span class="w"> </span><avr-libc-path>/include/avr<span class="w"> </span><nuttx-path>/include/. |
| </pre></div> |
| </div> |
| </section> |
| <section id="build-notes"> |
| <h2>Build Notes<a class="headerlink" href="#build-notes" title="Permalink to this heading"></a></h2> |
| <p>It may not be necessary to have a built version of avr-lib; only header files |
| are required. But if you choose to use the optimized library functions of the |
| floating point library, then you may have to build avr-lib from sources. Below |
| are instructions for building avr-lib from fresh sources:</p> |
| <ol class="arabic"> |
| <li><p>Download the avr-libc package from |
| <a class="reference external" href="http://savannah.nongnu.org/projects/avr-libc/">http://savannah.nongnu.org/projects/avr-libc/</a>. I am using |
| avr-lib-1.7.1.tar.bz2</p></li> |
| <li><p>Unpack the tarball and <code class="docutils literal notranslate"><span class="pre">cd</span></code> into it:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>tar<span class="w"> </span>jxf<span class="w"> </span>avr-lib-1.7.1.tar.bz2 |
| <span class="gp">$ </span><span class="nb">cd</span><span class="w"> </span>avr-lib-1.7.1 |
| </pre></div> |
| </div> |
| </li> |
| <li><p>Configure avr-lib. Assuming that WinAVR is installed at the following |
| location:</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span><span class="nb">export</span><span class="w"> </span><span class="nv">PATH</span><span class="o">=</span>/cygdrive/c/WinAVR/bin:<span class="nv">$PATH</span> |
| <span class="gp">$ </span>./configure<span class="w"> </span>--build<span class="o">=</span><span class="sb">`</span>./config.guess<span class="sb">`</span><span class="w"> </span>--host<span class="o">=</span>avr |
| </pre></div> |
| </div> |
| <p>This takes a <em>long</em> time.</p> |
| </li> |
| <li><p>Make avr-lib.</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>make |
| </pre></div> |
| </div> |
| <p>This also takes a long time because it generates variants for nearly |
| all AVR chips.</p> |
| </li> |
| <li><p>Install avr-lib.</p> |
| <div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>make<span class="w"> </span>install |
| </pre></div> |
| </div> |
| </li> |
| </ol> |
| <section id="supported-boards"> |
| <h3>Supported Boards<a class="headerlink" href="#supported-boards" title="Permalink to this heading"></a></h3> |
| <div class="toctree-wrapper compound"> |
| <ul> |
| <li class="toctree-l1"><a class="reference internal" href="boards/micropendous3/index.html">Micropendous 3</a></li> |
| <li class="toctree-l1"><a class="reference internal" href="boards/teensy-2.0/index.html">Teensy 2.0</a></li> |
| </ul> |
| </div> |
| </section> |
| </section> |
| </section> |
| |
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