Compiling and Installing the NuttX on Bambino 200E board

This tutorial is using Ubuntu 16.04 LTS, but you can adapt it to other distros.

First, install a few packages we'll need :

sudo apt-get install automake bison build-essential flex gperf git libncurses5-dev libtool libusb-dev libusb-1.0.0-dev

Now create a workspace directory:

mkdir -p ~/nuttxspace
cd ~/nuttxspace

Then we need to install the ARM GCC Toolchain.

For this you use the repositories :  We want a version >= gcc version 6.3.1 20170620

Simply do :

sudo apt-get install gcc-arm-none-eabi

Clone the NuttX repositories:

git clone https://bitbucket.org/nuttx/nuttx
git clone https://bitbucket.org/nuttx/apps
git clone https://bitbucket.org/nuttx/tools

Enter inside tools/kconfig-frontends/ to compile it:

cd tools/kconfig-frontends/
./bootstrap
./configure
make
sudo make install

If all happened as expected you installed the kconfig inside /usr/local/bin.

Now we can compile the NuttX for Bambino board:

cd ~/nuttxspace/nuttx/tools
./configure.sh bambino-200e/nsh
cd ..
make

When the compilation finishes it will create a the nuttx.bin that needs to be flashed in the Bambino board.

Here is a list of different methods you can use to flash the board, mostly depending on the hardware available to you :

Note: You will need to use the OpenOCD version 0.10 or newer from repository. OpenOCD 0.9 from Ubuntu repository doesn't work.

In order to flash the firmware (nuttx.bin) inside the board using a ST-Link v2, you need to connect the JTAG/SWD programmer in the J5 connector of the board.

This is the command to use to flash nuttx.bin inside the board:

sudo openocd -f interface/stlink-v2.cfg -f target/lpc4350.cfg -c init -c "reset halt" -c "flash write_image erase nuttx.bin 0x14000000"

Note we are using “lpc4350.cfg”, it is because openocd doesn't have the “lpc4330.cfg”, but it works fine with LPC4330.

Just connect the USB/Serial board to Slot/Connector 5 and use some serial console terminal like “minicom” configured to 115200 8n1 to get access to NuttX prompt.

Note: You will need to use the OpenOCD version 0.10 or newer from repository. OpenOCD 0.9 from Ubuntu repository doesn't work.

To use JLink programmer to flash the Bambino board you need edit the jlink.cfg to use the SWD instead of JTAG:

$ sudo vi /usr/local/share/openocd/scripts/interface/jlink.cfg 

Then add this line at end of file:

transport select swd

Now you can use the same command line that was used with STLink-V2 programmer:

$ sudo openocd -f interface/jlink.cfg -f target/lpc4350.cfg -c init -c "reset halt" -c "flash write_image erase nuttx.bin 0x14000000"

If this command doesn't work for you, try it instead:

$ sudo openocd -f interface/jlink.cfg -f board/lpc4350_spifi_generic.cfg -c init -c "reset halt" -c "flash write_image erase nuttx.bin 0x14000000"

We should see this message:

Open On-Chip Debugger 0.10.0-dev-00371-g81631e4 (2016-09-26-12:35)
Licensed under GNU GPL v2
For bug reports, read
	http://openocd.org/doc/doxygen/bugs.html
swd
adapter speed: 500 kHz
cortex_m reset_config vectreset
Info : No device selected, using first device.
Info : J-Link ARM V8 compiled Nov 28 2014 13:44:46
Info : Hardware version: 8.00
Info : VTarget = 3.313 V
Info : clock speed 500 kHz
Info : SWD DPIDR 0x2ba01477
Info : lpc4350.m4: hardware has 6 breakpoints, 4 watchpoints
Warn : Only resetting the Cortex-M core, use a reset-init event handler to reset any peripherals or configure hardware srst support.
lpc4350.m4: target state: halted
target halted due to debug-request, current mode: Thread 
xPSR: 0x01000000 pc: 0x10402c40 msp: 0x10087ff0
auto erase enabled
Info : Found flash device 'win w25q64cv' (ID 0x001740ef)
wrote 131072 bytes from file nuttx.bin in 5.381125s (23.787 KiB/s)

Based on this guide.

The lpc21isp application communicates with the LPC43xx via its UART0 peripheral.

By default the board is configured so that the LPC43xx response is to start running the code which has previously been loaded into the internal FLASH of the device.

You need to use a special reset sequence to get the LPC43xx to run the built-in ISP boot loader instead.

To enter ISP mode we just need to:

• Press and hold down the ISP button.
• Press and release the RESET button.
• Release the ISP button.

This is the same as the procedure for flashing the v1 bootloader.

Once the device is running the ISP boot loader, lpc21isp can be used to load new firmware into the internal FLASH of the device.

First, install lpc21isp :

sudo apt-get install lpc21isp

Then, we need to get the “make” command to produce a .hex file ( which it doesn't by default ), do :

make menuconfig

Then go to Build Setup, then Binary Output Format, then select Intel HEX binary format ( with the space bar ), then select Save, and finally exit.

Finally, build the firmware again : 

make

And now it should have produced a nuttx.hex file

Finally, we can flash the firmware to the board :

lpc21isp nuttx.hex /dev/ttyUSB0 115200 12000

• You will need to change /dev/ttyUSB0 to match the device name for the FTDI USB device on your machine.
• The baud rate of 115200 appears to be the highest rate that can be used by the LPC43xx when it is running in ISP mode where it uses the internal 12MHz IRC clock source.

Based on this guide.

The first step to working with the J-Link debugger is to install the necessary software from SEGGER.

• Go to https://www.segger.com/jlink-software.html
• Install the Software & documentation pack software appropriate for your operating system

Two programs are involved in using GDB to debug via the J-Link hardware debugger.

One is a TCP/IP based debug server provided by SEGGER in the Software & documentation pack and the other is arm-none-eabi-gdb.

They are each started as below:

JLinkGDBServer -device LPC4330_M4 -endian little -if JTAG -speed 10000 -localhostonly
arm-none-eabi-gdb -ex "set target-charset ASCII" -ex "set print pretty on" -ex "target remote :2331" -ex "set mem inaccessible-by-default off" nuttx

• JLinkGDBServer connects to the J-Link hardware pod via the provided USB cable. The command line options it is given let it know that we are debugging a LPC43xx device (specifically the M4 core), the device is setup as little endian, using JTAG as the debug protocol instead of SWD, the JTAG protocol should run at 10MHz, and only allow GDB processes from the same machine to connect (reduces the security risk of remote connections to the debug stub).
• arm-none-eabi-gdb connects to JLinkGDBServer via a TCP/IP socket on port 2331. It can then be used in a fashion similar to how MRI has been used to debug Smoothie firmware in the past.

It is possible to use GDB and the JLinkGDBServer to upload code into the LPC4330 via JTAG. I see upload speeds of >1MiB/sec when using this method.

From within GDB, you can issue the following commands to upload the binary contents of the specified .elf file into the microcontroller and start it executing again from a clean reset.

Ctrl+C
load
monitor reset
continue

First off download the User Guide PDF here.

In particular, read section 3.2 and 3.3 about what needs to be installed before LPCScrypt can run.

Here is a brief summary of what is required for Ubuntu platforms:

• LPCScrypt installs 32-bit binaries so 64-bit Ubuntu installs will need additional 32-bit library support:
  • Ubuntu 13.04 of earlier: sudo apt-get install linux32 ia32-libs
  • Ubuntu 13.10 and later: sudo apt-get install libc6:i386 libusb-dev:i386 uuid-dev:i386 libgtk2.0-0:i386 gtk2-engines-murrine:i386
• It can be nice to have the USB based serial ports exposed by the LPCScrypt second stage boot loader accessible from user mode:
• sudo scripts/install_udev_rules

Then, download LPCScript from here and install it.

You then need to enter bootloader mode : 

• Press and hold down the ISP button.
• Press and release the RESET button.
• Release the ISP button.

This is the same as the procedure for flashing the v1 bootloader.

You can then use LPCScrypt to flash your firmware :

./scripts/boot_lpcscrypt 
./bin/lpcscrypt program +c /path/to/nuttx/nuttx.bin BankA
./bin/lpcscrypt resetCore

Alternatively this has been known to work : 

sleep 1
./bin/lpcscrypt -d /dev/ttyACM0 program +c LPC4330_M4/Smoothie2.bin SPIFI
sleep 1
./bin/lpcscrypt -d /dev/ttyACM0 resetCore

You flashed the nuttx.bin firmware inside Bambino 200E board, now you can see the NuttX initialization over serial.

Just connect the USB/Serial board to Gadgeteer Slot 5 (label: “KU X”) and use some serial console terminal like “minicom” with the USB/Serial device file detected by Linux (use dmesg to see it, normall will be /dev/ttyUSB0) and configure it to 115200 8n1 to get access to NuttX prompt.

Press the “RESET” button near USB1 connector and you will see the NuttX initialization:

NuttShell (NSH)                                                                    
nsh>

Type “help” or “?” to see the available commands:

nsh> ?
help usage:  help [[-v|]] [[<cmd>|]]                                               
                                        
  [           cmp         false       mkdir       rm          true        
  ?           dirname     free        mh          rmdir       uname       
  basename    dd          help        mount       set         umount      
  break       df          hexdump     mv          sh          unset       
  cat         echo        kill        mw          sleep       usleep      
  cd          exec        ls          ps          test        xd          
  cp          exit        mb          pwd         time        

Builtin Apps:
nsh>

You can test Ethernet on Bambino board using these steps:

cd ~/nuttxspace/nuttx/tools
./configure.sh bambino-200e/netnsh
cd ..
make

Flash the nuttx.bin firmware as explained before and use an ethernet cable to connect your board to your router. Look in the router Status page the IP it defined to Bambino board, then execute from your Linux machine:

telnet 192.168.0.14

Supposing 192.168.0.14 was the IP address your router attributed to Bambino board, replace it with the correct IP.

You can test USB on Bambino board using these steps:

cd ~/nuttxspace/nuttx/tools
./configure.sh bambino-200e/usbnsh
cd ..
make

Flash the nuttx.bin firmware as explained before and connect a USB cable on USB0 port and to your PC.

Reset the board, you will see in the “dmesg” of Linux that it created the USB/Serial device as ttyACM0. Configure the minicom to use /dev/ttyACM0 115200 8N1.

Press Enter three times in the minicom to start the NuttX Shell.

TODO