Nuttx Porting Guide
Nuttx Porting Guide
Nuttx Porting Guide
Configuration Files. The NuttX configuration consists of logic in processor architecture directories,
chip/SoC directories, and board configuration directories. The complete configuration is specified by
several settings in the NuttX configuration file.
Processor architecture specific files. These are the files contained in the arch/ <arch-name> /
directory and are discussed in a paragraph below. As an example, all ARM processor
architectures are provided under the arch/arm/ directory which is selected with the
CONFIG_ARCH="arm" configuration option.
Variants of the processor architecture may be provided in sub-directories of the Extending this
example, the ARMv7-M ARM family is supported by logic in arch/arm/include/armv7-m and
arch/arm/src/armv7-m directories which are selected by the CONFIG_ARCH_CORTEXM3=y ,
CONFIG_ARCH_CORTEXM4=y , or CONFIG_ARCH_CORTEXM7=y configuration options
These chip-specific files are contained within chip-specific sub-directories also under the
arch/ <arch-name> / directory and are selected via the CONFIG_ARCH_CHIP selection.
As an example, the STMicro STM32 SoC architecture is based on the ARMv7-M processor and is
supported by logic in the arch/arm/include/stm32 and arch/arm/src/stm32 directories which are
selected with the CONFIG_ARCH_CHIP="stm32" configuration setting.
Board specific configurations. In order to be usable, the chip must be contained in a board
environment. The board configuration defines additional properties of the board including such
things as peripheral LEDs, external peripherals (such as networks, USB, etc.).
These board-specific configuration files can be found in the boards/ <arch-name> / <chip-
name> / <board-name> / sub-directories and are discussed in a paragraph below.
2.1 Documentation
General documentation for the NuttX OS resides in this directory.
2.2 nuttx/arch
2.2.1 Subdirectory Structure
This directory contains several sub-directories, each containing architecture-specific logic. The task of
porting NuttX to a new processor consists of add a new subdirectory under arch/ containing logic
specific to the new architecture. The complete board port in is defined by the architecture-specific code
in this directory (plus the board-specific configurations in the config/ subdirectory). Each architecture
must provide a subdirectory, <arch-name> under arch/ with the following characteristics:
<arch-name>/
|-- include/
| |--<chip-name>/
| | `-- (chip-specific header files)
| |--<other-chips>/
| |-- arch.h
| |-- irq.h
| |-- types.h
| |-- limits.h
| `-- syscall.h
`-- src/
|--<chip-name>/
| `-- (chip-specific source files)
|--<other-chips>/
|-- Makefile
`-- (architecture-specific source files)
NOTE that these type names have a leading underscore character. This file will be
included(indirectly) by include/stdint.h and typedef'ed to the final name without the underscore
character. This roundabout way of doings things allows the stdint.h to be removed from the
include/ directory in the event that the user prefers to use the definitions provided by their
toolchain header files
And finally
irqstate_t
Must be defined to the be the size required to hold the interrupt enable/disable state.
This file will be included by include/sys/types.h and be made available to all files.
include/irq.h : This file needs to define some architecture specific functions (usually inline if the
compiler supports inlining) and some structures. These include:
struct xcptcontext : This structures represents the saved context of a thread.
irqstate_t up_irq_save(void) : Used to disable all interrupts. In the case of multi-CPU
platforms, this function disables interrupts on CPUs.
void up_irq_restore(irqstate_t flags) : Used to restore interrupt enables to the same state as
before up_irq_save() was called.
This file must also define NR_IRQS , the total number of IRQs supported by the board.
include/syscall.h : This file needs to define some architecture specific functions (usually inline if
the compiler supports inlining) to support software interrupts or syscalls that can be used all from
user-mode applications into kernel-mode NuttX functions. This directory must always be provided
to prevent compilation errors. However, it need only contain valid function declarations if the
architecture supports the CONFIG_BUILD_PROTECTED or
CONFIG_BUILD_KERNEL configurations.
uintptr_t sys_call0(unsigned int nbr) : nbr is one of the system call numbers that can be
found in include/sys/syscall.h . This function will perform a system call with no (additional)
parameters.
uintptr_t sys_call1(unsigned int nbr, uintptr_t parm1) : nbr is one of the system call
numbers that can be found in include/sys/syscall.h . This function will perform a system call
with one (additional) parameter.
uintptr_t sys_call2(unsigned int nbr, uintptr_t parm1, uintptr_t parm2) : nbr is one of the
system call numbers that can be found in include/sys/syscall.h . This function will perform a
system call with two (additional) parameters.
uintptr_t sys_call3(unsigned int nbr, uintptr_t parm1, uintptr_t parm2, uintptr_t parm3) : nbr
is one of the system call numbers that can be found in include/sys/syscall.h . This function
will perform a system call with three (additional) parameters.
uintptr_t sys_call4(unsigned int nbr, uintptr_t parm1, uintptr_t parm2, uintptr_t parm3,
uintptr_t parm4) : nbr is one of the system call numbers that can be found in
include/sys/syscall.h . This function will perform a system call with four (additional)
parameters.
uintptr_t sys_call5(unsigned int nbr, uintptr_t parm1, uintptr_t parm2, uintptr_t parm3,
uintptr_t parm4, uintptr_t parm5) : nbr is one of the system call numbers that can be found
in include/sys/syscall.h . This function will perform a system call with five (additional)
parameters.
uintptr_t sys_call6(unsigned int nbr, uintptr_t parm1, uintptr_t parm2, uintptr_t parm3,
uintptr_t parm4, uintptr_t parm5, uintptr_t parm6) : nbr is one of the system call numbers
that can be found in include/sys/syscall.h . This function will perform a system call with six
(additional) parameters.
This file must also define NR_IRQS , the total number of IRQs supported by the board.
arch/sim : A user-mode port of NuttX to the x86 Linux or Cygwin platform is available. The
purpose of this port is primarily to support OS feature development. This port does not support
interrupts or a real timer (and hence no round robin scheduler) Otherwise, it is complete.
NOTE: In principle, this user mode port should run in any POSIX environement. This target will
probably not run "out-of-the-box" in unverified POSIX environments due to the many host
environemnt dependencies.
2.3 nuttx/binfmt
The binfmt/ subdirectory contains logic for loading binaries in the file system into memory in a form
that can be used to execute them.
2.4 nuttx/audio
The audio/ subdirectory contains the NuttX audio sub-system.
2.5 nuttx/boards
The boards/ subdirectory contains custom logic and board configuration data for each board. These
board-specific configurations plus the architecture-specific configurations in the arch/ subdirectory
complete define a customized port of NuttX.
The boards/ directory contains board specific configuration files. Each board must provide a sub-
directory <board-name> under boards/ <arch-name> / ><chip-name> / with the following
characteristics:
<board-name>
|-- Kconfig
|-- include/
| |-- board.h
| `-- (board-specific header files)
|-- src/
| |-- Makefile
| `-- (board-specific source files)
|-- configs/
| |-- <config1-dir>
| | |-- Make.defs (optional)
| | `-- defconfig
| |-- <config2-dir>
| | |-- Make.defs
| | `-- defconfig
| ...
|-- scripts/
| |-- (linker script files)
| `-- Make.defs (optional)
`-- (other board-specific configuration sub-directories)/
include/ : This directory contains board specific header files. This directory will be linked as
include/arch/board at configuration time and can be included via #include
<arch/board/header.h> . These header file can only be included by files in arch/ <arch-
name> /include/ and arch/ <arch-name> /src/ .
src/ : This directory contains board specific drivers. This directory will be linked as
<config> /arch/ <arch-name> /src/board at configuration time and will be integrated into the build
system.
src/Makefile : This makefile will be invoked to build the board specific drivers. It must support the
following targets: libext$(LIBEXT) , clean , and distclean .
The boards/ <arch-name> / <chip-name> / <board-name> /configs sub-directory holds all of the files
that are necessary to configure NuttX for the particular board. A board may have various different
configurations using the common source files. Each board configuration is described by two files:
Make.defs and defconfig . Typically, each set of configuration files is retained in a separate
configuration sub-directory (<config1-dir>, <config2-dir>, .. in the above diagram).
NOTE: That the Make.defs file may reside in one of two locations: There may be a unique Make.defs
file for each configuration in the configuration directory OR if that file is absent, there may be a common
board Make.defs file in the /scripts directory. The Make.defs file in the configuration takes
precedence if it is present.
The procedure for configuring NuttX is described below, This paragraph will describe the contents of
these configuration files.
Make.defs : This makefile fragment provides architecture and tool-specific build options. It will be
included by all other makefiles in the build (once it is installed). This make fragment should define:
Tools: CC , LD , AR , NM , OBJCOPY , OBJDUMP
Tool options: CFLAGS , LDFLAGS
When this makefile fragment runs, it will be passed TOPDIR which is the path to the root
directory of the build. This makefile fragment should include:
Definitions in the Make.defs file probably depend on some of the settings in the . config file. For
example, the CFLAGS will most likely be different if CONFIG_DEBUG_FEATURES=y .
The included tools/Config.mk file contains additional definitions that may be overridden in the
architecture-specific Make.defs file as necessary:
defconfig : This is a configuration file similar to the Linux configuration file. In contains
variable/value pairs like:
CONFIG_VARIABLE =value
Okay, so you have created a new board configuration directory. Now, how do you hook this board into
the configuration system so that you can select with make menuconfig ?
You will need modify the file boards/Kconfig . Let's look at the STM32F4-Discovery configuration in the
Kconfig file and see how we would add a new board directory to the configuration. For this
configuration let's say that you new board resides in the directory boards/myarch/mychip/myboard ; It
uses an MCU selected with CONFIG_ARCH_CHIP_MYMCU ; and you want the board to be selected
with CONFIG_ARCH_BOARD_MYBOARD . Then here is how you can clone the STM32F4-Discovery
configuration in boards/Kconfig to support your new board configuration.
In boards/Kconfig for the stm32f4-discovery, you will see a configuration definition like this:
config ARCH_BOARD_STM32F4_DISCOVERY
bool "STMicro STM32F4-Discovery board"
depends on ARCH_CHIP_STM32F407VG
select ARCH_HAVE_LEDS
select ARCH_HAVE_BUTTONS
select ARCH_HAVE_IRQBUTTONS
---help---
STMicro STM32F4-Discovery board based on the STMicro STM32F407VGT6 MCU.
The above selects the STM32F4-Discovery board. The select lines say that the board has both LEDs
and buttons and that the board can generate interrupts from the button presses. You can just copy the
above configuration definition to a new location (notice that they the configurations are in alphabetical
order). Then you should edit the configuration to support your board. The final configuration definition
might look something like:
config ARCH_BOARD_MYBOARD
bool "My very own board configuration"
depends on ARCH_CHIP_MYMCU
select ARCH_HAVE_LEDS
select ARCH_HAVE_BUTTONS
select ARCH_HAVE_IRQBUTTONS
---help---
This options selects the board configuration for my very own board
based on the MYMCU processor.
Later in the boards/Kconfig file, you will see a long, long string configuration with lots of defaults like
this:
config ARCH_BOARD
string
default "amber" if ARCH_BOARD_AMBER
default "avr32dev1" if ARCH_BOARD_AVR32DEV1
default "c5471evm" if ARCH_BOARD_C5471EVM
...
default "stm32f4discovery" if ARCH_BOARD_STM32F4_DISCOVERY
...
This logic will assign string value to a configuration variable called CONFIG_ARCH_BOARD that will
name the directory where the board-specific files reside. In our case, these files reside in
boards/myarch/mychip/myboard and we add the following to the long list of defaults (again in
alphabetical order):
Now the build system knows where to find your board configuration!
And finally, add something like this near the bottom of boards/myarch/mychip/myboard :
if ARCH_BOARD_MYBOARD
source "boards/myarch/mychip/myboard/Kconfig"
endif
This includes additional, board-specific configuration variable definitions in
boards/myarch/mychip/myboard/Kconfig .
2.6 nuttx/crypto
This sub-directory holds the NuttX cryptographic sub-system.
2.7 nuttx/drivers
This directory holds architecture-independent device drivers.
drivers/
|-- Kconfig
|-- Makefile
|-- 1wire/
| |-- Kconfig
| |-- Make.defs
| `-- (1-wire device source files)
|-- analog/
| |-- Kconfig
| |-- Make.defs
| `-- (ADC and DAC driver source files)
|-- audio/
| |-- Kconfig
| |-- Make.defs
| `-- (Audio device source files)
|-- bch/
| |-- Kconfig
| |-- Make.defs
| `-- (BCH driver source files)
|-- can/
| |-- Kconfig
| |-- Make.defs
| `-- (CAN driver source files)
|-- contactless/
| |-- Kconfig
| |-- Make.defs
| `-- (Contactless device driver source files)
|-- eeprom/
| |-- Kconfig
| |-- Make.defs
| `-- (EEPROM character driver source files)
|-- i2c/
| |-- Kconfig
| |-- Make.defs
| `-- (I2C device driver source files)
|-- input/
| |-- Kconfig
| |-- Make.defs
| `-- (Touchscreen and keypad driver source files)
|-- ioexpander/
| |-- Kconfig
| |-- Make.defs
| `-- (I/O expander and GPIO-related driver source files)
|-- lcd/
| |-- Kconfig
| |-- Make.defs
| `-- (LCD driver source files)
|-- leds/
| |-- Kconfig
| |-- Make.defs
| `-- (LED device driver source files)
|-- loop/
| |-- Kconfig
| |-- Make.defs
| `-- (Loop device driver source files)
|-- mmcsd/
| |-- Kconfig
| |-- Make.defs
| `-- (MMC/SD card driver source files)
|-- modem/
| |-- Kconfig
| |-- Make.defs
| `-- (Modem driver source files)
|-- mtd/
| |-- Kconfig
| |-- Make.defs
| `-- (Memory technology device driver source files)
|-- net/
| |-- Kconfig
| |-- Make.defs
| `-- (Network driver source files)
|-- pipes/
| |-- Kconfig
| |-- Make.defs
| `-- (Pipe and FIFO driver source files)
|-- power/
| |-- Kconfig
| |-- Make.defs
| `-- (Power-related driver source files)
|-- sensors/
| |-- Kconfig
| |-- Make.defs
| `-- (Sensor driver source files)
|-- serial/
| |-- Kconfig
| |-- Make.defs
| `-- (Front-end character drivers for chip-specific UARTs, 16550 UART support, and Pseudo-Term
|-- spi/
| |-- Kconfig
| |-- Make.defs
| `-- (SPI-related drivers and helper functions)
|-- syslog/
| |-- Kconfig
| |-- Make.defs
| `-- (System logging device support)
|-- timers/
| |-- Kconfig
| |-- Make.defs
| `-- (Timer-based device driver support)
|-- usbdev/
| |-- Kconfig
| |-- Make.defs
| `-- (USB device driver source files)
|-- usbhost/
| |-- Kconfig
| |-- Make.defs
| `-- (USB host driver source files)
|-- usbmisc/
| |-- Kconfig
| |-- Make.defs
| `-- (Miscellaneous USB driver source files)
|-- usbmonitor/
| |-- Kconfig
| |-- Make.defs
| `-- (USB monitor source files)
|-- video/
| |-- Kconfig
| |-- Make.defs
| `-- (Video driver source files)
|-- wireless/
| |-- Kconfig
| |-- Make.defs
| `-- (Wireless driver source files)
`-- (Various uncategorized driver source files)
2.8 nuttx/fs
This directory contains the NuttX file system. This file system is described below.
fs/
|-- Kconfig
|-- Makefile
|-- binfs/
| |-- Kconfig
| |-- Make.defs
| `-- (BINFS file system source files)
|-- cromfs/
| |-- Kconfig
| |-- Make.defs
| `-- (CROMFS file system source files)
|-- dirent/
| |-- Kconfig
| |-- Make.defs
| `-- (VFS directory access source files)
|-- driver/
| |-- Kconfig
| |-- Make.defs
| `-- (Driver registration OS internal interfaces)
|-- fat/
| |-- Kconfig
| |-- Make.defs
| `-- (FAT file system source files)
|-- inode/
| |-- Kconfig
| |-- Make.defs
| `-- (Pseudo-file system OS internal interfaces)
|-- hostfs/
| |-- Kconfig
| |-- Make.defs
| `-- (HOSTFS file system source files)
|-- mmap/
| |-- Kconfig
| |-- Make.defs
| `-- (RAM-based file mapping source files)
|-- mount/
| |-- Kconfig
| |-- Make.defs
| `-- (Mount point-related OS internal interfaces)
|-- mqueue/
| |-- Kconfig
| |-- Make.defs
| `-- (POSIX message queue OS internal interfaces)
|-- nfs/
| |-- Kconfig
| |-- Make.defs
| `-- (NFS client file system source files)
|-- nxffs/
| |-- Kconfig
| |-- Make.defs
| `-- (NuttX Flash File System (NXFFS) source files)
|-- procfs/
| |-- Kconfig
| |-- Make.defs
| `-- (PROCFS pseudo-file system source files)
|-- romfs/
| |-- Kconfig
| |-- Make.defs
| `-- (ROMFS file system source files)
|-- smartfs/
| |-- Kconfig
| |-- Make.defs
| `-- (SmartFS file system source files)
|-- unionfs/
| |-- Kconfig
| |-- Make.defs
| `-- (UnionFS file system source files)
|-- userfs/
| |-- Kconfig
| |-- Make.defs
| `-- (UserFS file system source files)
|-- vfs/
| |-- Kconfig
| |-- Make.defs
| `-- (VFS OS internal interfaces)
`-- (common file system source files)
2.9 nuttx/graphics
This directory contains files for graphics/video support under NuttX.
graphics/
|-- Kconfig
|-- Makefile
|-- nxbe/
| |-- Make.defs
| `-- (NuttX graphics back-end (NXBE) source files)
|-- nxglib/
| |-- Make.defs
| `-- (NuttX graphics library (NXGL) source files)
|-- nxmu/
| |-- Make.defs
| `-- (NuttX graphics multi-user (NXMU) server source files)
|-- nxterm/
| |-- Make.defs
| `-- (NX terminal (NxTerm) source files)
|-- vnc/
| |-- Make.defs
| `-- (VNC client/server source files)
`-- (common file system source files)
2.10 nuttx/include
This directory holds NuttX header files. Standard header files file retained in can be included in the
normal fashion:
include <stdio.h>
include <sys/types.h>
etc.
Directory structure:
include/
|-- (standard header files)
|-- arpa/
| `-- (Standard header files)
|-- cxx/
| `-- (C++ standard header files)
|-- netinet/
| `-- (Standard header files)
|-- netpacket/
| `-- (Protocol-specific header files. Most non-standard)
|-- nuttx/
| |-1wire/
| | `-- (1-wire driver header files)
| |-analog/
| | `-- (Analog driver header files)
| |-audio/
| | `-- (Audio driver header files)
| |-binfmt/
| | `-- (Binary format header files)
| |-contactless/
| | `-- (Contactless driver header files)
| |-crypto/
| | `-- (Cryptographic support header files)
| |-drivers/
| | `-- (Miscellaneous driver header files)
| |-eeprom/
| | `-- (EEPROM driver header files)
| |-fs/
| | `-- (File System header files)
| |-i2c/
| | `-- (I2C-related header files)
| |-input/
| | `-- (Input device driver header files)
| |-ioexpander/
| | `-- (I/O expander and GPIO driver header files)
| |-lcd/
| | `-- (LCD driver header files)
| |-leds/
| | `-- (LED driver header files)
| |-lib/
| | `-- (Non-standard C library driver header files)
| |-mm/
| | `-- (Memory management header files)
| |-modem/
| | `-- (Modem driver header files)
| |-mtd/
| | `-- (Memory technology device header files)
| |-net/
| | `-- (Networking header files)
| |-nx/
| | `-- (NX graphics header files)
| |-power/
| | `-- (Power management header files)
| |-sensors/
| | `-- (Sensor device driver header files)
| |-serial/
| | `-- (Serial driver header files)
| |-spi/
| | `-- (SPI-related header files)
| |-syslog/
| | `-- (SYSLOG header files)
| |-timers/
| | `-- (Timer-related driver header files)
| |-usb/
| | `-- (USB driver header files)
| |-video/
| | `-- (Video-related driver header files)
| `-wireless/
| `-- (Wireless device driver header files)
`- sys/
`-- (More standard header files)
2.11 nuttx
This is a (almost) empty directory that has a holding place for generated static libraries. The NuttX build
system generates a collection of such static libraries in this directory during the compile phase. These
libraries are then in a known place for the final link phase where they are accessed to generated the
final binaries.
2.12 nuttx/libs/libc
This directory holds a collection of standard libc-like functions with custom interfaces into NuttX.
Normally the logic in this file builds to a single library ( libc.a ). However, if NuttX is built as a separately
compiled kernel (with CONFIG_BUILD_PROTECTED=y or CONFIG_BUILD_KERNEL=y ), then the
contents of this directory are built as two libraries: One for use by user programs ( libuc.a ) and one for
use only within the <kernel> space ( libkc.a ).
These user/kernel space libraries (along with the sycalls of nuttx/syscall ) are needed to support the
two differing protection domains.
Directory structure:
libc/
|-- aio/
| `-- (Implementation of functions from aio.h)
|-- audio/
| `-- (Implementation of audio-related functions)
|-- dirent/
| `-- (Implementation of functions from dirent.h)
|-- dllfch/
| `-- (Implementation of functions from dlfcn.h)
|-- fixedmath/
| `-- (Implementation of functions from fixedmath.h)
|-- hex2bin/
| `-- (Implementation of functions from hex2bin.h)
|-- inttypes/
| `-- (Implementation of functions from inttypes.h)
|-- libgen/
| `-- (Implementation of functions from libgen.h)
|-- locale/
| `-- (Implementation of functions from locale.h)
|-- lzf/
| `-- (Implementation of functions from lzf.h)
|-- machine/
| `-- (Implementations of platform-specific logic)
|-- math/
| `-- (Implementation of functions from fixedmath.h)
|-- misc/
| `-- (Implementation of miscellaneous library functions)
|-- modlib/
| `-- (Implementation of functions from nuttx/lib/modlib.h)
|-- net/
| `-- (Implementation of network-related library functions)
|-- netdb/
| `-- (Implementation of functions from netdb.h)
|-- pthread/
| `-- (Implementation of functions from pthread.h)
|-- queue/
| `-- (Implementation of functions from queue.h)
|-- sched/
| `-- (Implementation of some functions from sched.h)
|-- semaphore/
| `-- (Implementation of some functions from semaphore.h)
|-- signal/
| `-- (Implementation of some functions from signal.h)
|-- spawn/
| `-- (Implementation of some functions from spawn.h)
|-- stdio/
| `-- (Implementation of functions from stdio.h)
|-- stdlib/
| `-- (Implementation of functions from stdlib.h)
|-- string/
| `-- (Implementation of functions from string.h)
|-- symtab/
| `-- (Implementation of symbol-table library functions)
|-- syslog/
| `-- (Implementation of functions from syslog.h)
|-- termios/
| `-- (Implementation of functions from termios.h)
|-- time/
| `-- (Implementation of some functions from time.h)
|-- tls/
| `-- (Implementation of some functions from tls.h)
|-- uio/
| `-- (Implementation of some functions from uio.h)
|-- unistd/
| `-- (Implementation of some functions from unistd.h)
|-- userfs/
| `-- (Implementation of application side internals of UserFS)
|-- wchar/
| `-- (Implementation of some functions from wchar.h. Not fully functional.)
|-- wctype/
| `-- (Implementation of some functions from wctype.h. Not fully functional.)
|-- wqueue/
| `-- (Implementation of some functions from wqueue.h)
`-- zoneinfo/
`-- (Implementation of timezone database)
2.13 nuttx/libs/libxx
This directory holds a tiny, minimal standard std C++ that can be used to build some, simple C++
applications in NuttX.
2.14 nuttx/mm
This is the NuttX memory manager.
2.15 nuttx/net
This directory contains the implementation of the NuttX networking layer including internal socket APIs.
2.16 nuttx/sched
The files forming core of the NuttX RTOS reside here.
2.17 nuttx/syscall
If NuttX is built as a separately compiled kernel (with CONFIG_BUILD_PROTECTED=y or
CONFIG_BUILD_KERNEL=y ), then the contents of this directory are built. This directory holds a
syscall interface that can be used for communication between user-mode applications and the kernel-
mode RTOS.
2.18 nuttx/tools
This directory holds a collection of tools and scripts to simplify configuring, building and maintaining
NuttX.
tools/
|-- Makefile.host
|-- Makefile.export
|-- Makefile.unix, Makefile.win, FlatLibs.mk, KernelLibs.mk, LibTargets.mk, ProtectedLibs.mk
|-- README.txt
|-- b16.c
|-- bdf-converter.c
|-- cfgparser.c
|-- cfgparser.h
|-- cmpconfig.c
|-- cnvwindeps.c
|-- configure.sh / configure.bat / configure.c
|-- copydir.sh / copydir.bat
|-- define.sh / define.bat
|-- discovery.py
|-- incdir.sh / incdir.bat
|-- indent.sh
|-- initialconfig.c
|-- kconfig2html.c / mkconfigvars.sh
|-- link.sh / link.bat
|-- mkconfig.c
|-- mkctags.sh
|-- mkdeps.c
|-- mkexport.sh
|-- mkfsdata.pl
|-- mkimage.sh
|-- mknulldeps.sh
|-- mkromfsimg.sh
|-- mksymtab.c
|-- mksyscall.c
|-- mkversion.c
|-- mkwindeps.sh
|-- noteinfo.c
|-- nxstyle.c
|-- pic32mx/mkpichex.c
|-- refresh.sh
|-- sethost.sh
|-- showsize.sh
|-- testbuild.sh
|-- uncrustify.cfg
|-- unlink.sh / unlink.bat
|-- version.sh
|-- xmlrpc_test.py
`-- zipme.sh
Refer to the README file in the tools directory for more information about the individual files. Some of
these tools are discussed below as well in the discussion of configuring and building NuttX.
2.19 nuttx/wireless
This directory holds support for hardware-independent wireless support.
2.20 nuttx/Makefile
The top-level Makefile in the ${TOPDIR} directory contains all of the top-level control logic to build
NuttX. Use of this Makefile to build NuttX is described below.
Where <board-name> is the name of one of the sub-directories of the NuttX boards/ directory. This
sub-directory name corresponds to one of the supported boards identified above. <config-dir> is the
optional, specific configuration directory for the board. And <app-dir> is the location of the optional
application directory.
NOTE: Recall that the Make.defs file may reside in either the boards/ <arch-name> / <chip-
name> / <board-name>/ configs/[ <config-dir> directory or in the boards/ <arch-name> / <chip-
name> / <board-name>/ scripts .
Automated Configuration. There is a script that automates these steps. The following steps will
accomplish the same configuration:
There is an alternative Windows batch file, configure.bat , that can be used instead of configure.sh in
the windows native environment like:
tools\configure.bat <board-name>:<config-dir>
And, to make sure that other platforms are supported, there is also a C program at tools/configure.c
that can be compiled to establish the board configuration on all platforms.
NOTE (2019-08-6): As of this writing, changes to the boards/ directly have made configure.bat unusable. For
the native Windows environment, configure.c is recommended until that batch file can be repaired.
See tools/README.txt for more information about these scripts. Or use the -h option with
configure.sh>
$ tools/configure.sh -h
Where:
-l selects the Linux (l) host environment.
-m selects the macOS (m) host environment.
-c selects the Windows host and Cygwin (c) environment.
-u selects the Windows host and Ubuntu under Windows 10 (u) environment.
-g selects the Windows host and MinGW/MSYS environment.
-n selects the Windows host and Windows native (n) environment.
Default: Use host setup in the defconfig file
Default Windows: Cygwin
<board-name> is the name of the board in the boards/ directory
<config-name> is the name of the board configuration sub-directory
<app-dir> is the path to the apps/ directory, relative to the nuttx
directory
If your application directory is not in the standard location ( ../apps or ../apps-<version> ), then you
should also specify the location of the application directory on the command line like:
Version Files. The NuttX build expects to find a version file located in the top-level NuttX build
directory. That version file is called .version . The correct version file is installed in each versioned
NuttX released. However, if you are working from an GIT snapshot, then there will be no version file. If
there is no version file, the top-level Makefile will create a dummy .version file on the first make. This
dummy version file will contain all zeroes for version information. If that is not what you want, they you
should run the version.sh script to create a better .version file.
You can get help information from the version.sh script using the -h option. For example:
$ tools/version.sh -h
tools/version.sh is a tool for generation of proper version files for the NuttX build
Where:
-b
Use this build identification string. Default: use GIT build ID
NOTE: GIT build information may not be available in a snapshot
-d
Enable script debug
-h
show this help message and exit
-v
-v <major.minor>
The NuttX version number expressed as a major and minor number separated
by a period
<outfile-path>
The full path to the version file to be created
As an example, the following command will generate a version file for version 6.1 using the current GIT
revision number:
The .version file is also used during the build process to create a C header file at
include/nuttx/version.h that contains the same version information. That version file may be used by
your C applications for, as an example, reporting version information.
cd ${TOPDIR}
make
The makefile fragment .config that describes the current configuration, and
The makefile fragment Make.defs that provides customized build targets.
Environment Variables. The specific environmental definitions are unique for each board but should
include, as a minimum, updates to the PATH variable to include the full path to the architecture-
specific toolchain identified in Make.defs .
First Time Make. Additional configuration actions will be taken the first time that system is built. These
additional steps include:
Auto-generating the file include/nuttx/config.h using the ${TOPDIR}/.config file.
Auto-generating the file ${TOPDIR}/.version with version 0.0 if one does not exist.
Auto-generating the file include/nuttx/version.h using the ${TOPDIR}/.version file.
Creating a link to ${TOPDIR}/arch/ <arch-name> /include at ${TOPDIR}/include/arch .
Creating a link to ${TOPDIR}/boards/ <arch-name> / <chip-name> / <board-name> /include at
${TOPDIR}/include/arch/board .
Creating a link to ${TOPDIR}/boards/ <arch-name> / <chip-name> / <board-name> /src at
${TOPDIR}/arch/ <arch-name> /src/board
Creating a link to ${APPDIR}/include at ${TOPDIR}/include/apps
Creating make dependencies.
The file include/nuttx/arch.h identifies by prototype all of the APIs that must be provided by the
architecture specific logic. The internal OS APIs that architecture-specific logic must interface with also
also identified in include/nuttx/arch.h or in other header files.
up_ is supposed to stand for microprocessor; the u is like the Greek letter micron: µ. So it would be µP
which is a common shortening of the word microprocessor. I don't like that name very much. I wish I would
have used a more obvious prefix like arch_ instead -- then I would not have to answer this question so
often.
Common Board Interfaces. Any interface that is common to all boards should be prefixed with
board_ and should also be prototyped in include/nuttx/board.h . These board_ definitions
provide the interface between the board-level logic and the commaon and architecture-specific
logic.
Board-Specific Interfaces. Any interface which is unique to a board should be prefixed with the
board name, for example stm32f4discovery_ . Sometimes the board name is too long so stm32_
would be okay too. These should be prototyped in boards/<arch>/<chip>/<board>/src/<board>.h
and should not be used outside of that directory since board-specific definitions have no meaning
outside of the board directory.
Scope of Inclusions. Header files are made accessible to internal OS logic and to applications
through symbolic links and through include paths that are provided to the C/C++ compiler.
Through these include paths, the NuttX build system also enforces modularity in the design. For
example, one important design principle is architectural layering. In this case I am referring to the
OS as layered into application interface, common internal OS logic, and lower level platform-
specific layers. The platform-specific layers all reside in the either arch/ sub-directories on the
config/ subdirectories: The former sub-directories are reserved for microcontroller-specific logic
and the latter for board-specific logic.
In the strict, layered NuttX architecture, the upper level OS services are always available to
platform-specific logic. However, the opposite is not true: Common OS logic must never have any
dependency on the lower level platform-specific code. The OS logic must be totally agnostic
about its hardware environment. Similarly, microcontroller-specific logic was be completely
ignorant of board-specific logic.
This strict layering is enforced in the NuttX build system by controlling the compiler include paths:
Higher level code can never include header files from either; of the platform-specific source
directories; microcontroller-specific code can never include header files from the board-specific
source directories. The board-specific directories are, then, at the bottom of the layered
hierarchy.
An exception to these inclusion restrictions is the platform-specific include/. These are made
available to higher level OS logic. The microcontroller-specific include directory will be linked at
include/arch/chip and, hence, can be included like #include <arch/hardware/chip.h . Similarly,
the board-specific include directory will be linked at include/arch/board and, hence, can be
included like #include <arch/board/board.h .
Keeping in the spirit of the layered architecture, these publicly visible header files must not export
platform-specific definitions; Only platform-specific realizations of standardized declarations
should be visible. Those standardized declarations should appear in common header files such
as those provided by include/nuttx/arch.h and include/nuttx/board.h . Similarly, these publicly
visible header file must not include files that reside in the inaccessible platform-specific source
directories. For example, the board-specific boards/<arch>/<chip>/<board>/include/board.h
header file must never include microcontroller-specific header files that reside in
arch/<arch>/src/<mcu> . That practice will cause inclusion failures when the publicly visible file is
included in common logic outside of the platform-specific source directories.
Description. up_initialize() will be called once during OS initialization after the basic OS services have
been initialized. The architecture specific details of initializing the OS will be handled here. Such things
as setting up interrupt service routines, starting the clock, and registering device drivers are some of
the things that are different for each processor and hardware platform.
up_initialize() is called after the OS initialized but before the init process has been started and before
the libraries have been initialized. OS services and driver services are available.
4.2.2 up_idle()
Description. up_idle() is the logic that will be executed when their is no other ready-to-run task. This
is processor idle time and will continue until some interrupt occurs to cause a context switch from the
idle task.
Processing in this state may be processor-specific. e.g., this is where power management operations
might be performed.
4.2.3 up_initial_state()
Description. A new thread is being started and a new TCB has been created. This function is called to
initialize the processor specific portions of the new TCB.
This function must setup the initial architecture registers and/or stack so that execution will begin at tcb-
>start on the next context switch.
This function may also need to set up processor registers so that the new thread executes with the
correct privileges. If CONFIG_BUILD_PROTECTED or CONFIG_BUILD_KERNEL have been
selected in the NuttX configuration, then special initialization may need to be performed depending on
the task type specified in the TCB's flags field: Kernel threads will require kernel-mode privileges; User
tasks and pthreads should have only user-mode privileges. If neither CONFIG_BUILD_PROTECTED
nor CONFIG_BUILD_KERNEL have been selected, then all threads should have kernel-mode
privileges.
4.2.4 up_create_stack()
Function Prototype: STATUS up_create_stack(FAR struct tcb_s *tcb, size_t stack_size, uint8_t
ttype);
Description. Allocate a stack for a new thread and setup up stack-related information in the TCB.
adj_stack_size : Stack size after adjustment for hardware, processor, etc. This value is retained
only for debug purposes.
stack_alloc_ptr : Pointer to allocated stack
adj_stack_ptr : Adjusted stack_alloc_ptr for HW. The initial value of the stack pointer.
Input Parameters:
stack_size : The requested stack size. At least this much must be allocated.
ttype : The thread type. This may be one of following (defined in include/nuttx/sched.h ):
This thread type is normally available in the flags field of the TCB, however, there are certain
contexts where the TCB may not be fully initialized when up_create_stack is called.
4.2.5 up_use_stack()
Function Prototype: STATUS up_use_stack(FAR struct tcb_s *tcb, FAR void *stack, size_t
stack_size);
Description. Setup up stack-related information in the TCB using pre-allocated stack memory. This
function is called only from task_init() when a task or kernel thread is started (never for pthreads).
adj_stack_size : Stack size after adjustment for hardware, processor, etc. This value is retained
only for debug purposes.
stack_alloc_ptr : Pointer to allocated stack
adj_stack_ptr : Adjusted stack_alloc_ptr for HW. The initial value of the stack pointer.
Input Parameters:
NOTE: Unlike up_stack_create() and up_stack_release , this function does not require the task type
( ttype ) parameter. The TCB flags will always be set to provide the task type to up_use_stack() if the
information needs that information.
4.2.6 up_stack_frame()
Function Prototype: FAR void *up_stack_frame(FAR struct tcb_s *tcb, size_t frame_size);
Description. Allocate a stack frame in the TCB's stack to hold thread-specific data. This function may
be called any time after up_create_stack() or up_use_stack() have been called but before the task
has been started.
Thread data may be kept in the stack (instead of in the TCB) if it is accessed by the user code directly.
This includes such things as argv[] . The stack memory is guaranteed to be in the same protection
domain as the thread.
adj_stack_size : Stack size after removal of the stack frame from the stack.
adj_stack_ptr : Adjusted initial stack pointer after the frame has been removed from the stack.
This will still be the initial value of the stack pointer when the task is started.
Input Parameters:
Returned Value: A pointer to bottom of the allocated stack frame. NULL will be returned on any
failures. The alignment of the returned value is the same as the alignment of the stack itself
4.2.7 up_release_stack()
Description. A task has been stopped. Free all stack related resources retained int the defunct TCB.
Input Parameters:
ttype : The thread type. This may be one of following (defined in include/nuttx/sched.h ):
TCB_FLAG_TTYPE_TASK : Normal user task
TCB_FLAG_TTYPE_PTHREAD : User pthread
TCB_FLAG_TTYPE_KERNEL : Kernel thread
This thread type is normally available in the flags field of the TCB, however, there are certain
error recovery contexts where the TCB may not be fully initialized when up_release_stack is
called.
4.2.8 up_unblock_task()
Description. A task is currently in an inactive task list but has been prepped to execute. Move the TCB
to the ready-to-run list, restore its context, and start execution.
This function is called only from the NuttX scheduling logic. Interrupts will always be disabled when this
function is called.
Input Parameters:
tcb : Refers to the tcb to be unblocked. This tcb is in one of the waiting tasks lists. It must be
moved to the ready-to-run list and, if it is the highest priority ready to run tasks, executed.
4.2.9 up_block_task()
Description. The currently executing task at the head of the ready to run list must be stopped. Save its
context and move it to the inactive list specified by task_state. This function is called only from the
NuttX scheduling logic. Interrupts will always be disabled when this function is called.
Input Parameters:
tcb : Refers to a task in the ready-to-run list (normally the task at the head of the list). It most be
stopped, its context saved and moved into one of the waiting task lists. It it was the task at the
head of the ready-to-run list, then a context to the new ready to run task must be performed.
task_state : Specifies which waiting task list should be hold the blocked task TCB.
4.2.10 up_release_pending()
Description. When tasks become ready-to-run but cannot run because pre-emption is disabled, they
are placed into a pending task list. This function releases and makes ready-to-run all of the tasks that
have collected in the pending task list. This can cause a context switch if a new task is placed at the
head of the ready to run list.
This function is called only from the NuttX scheduling logic when pre-emption is re-enabled. Interrupts
will always be disabled when this function is called.
4.2.11 up_reprioritize_rtr()
Description. Called when the priority of a running or ready-to-run task changes and the reprioritization
will cause a context switch. Two cases:
1. The priority of the currently running task drops and the next task in the ready to run list has
priority.
2. An idle, ready to run task's priority has been raised above the the priority of the current, running
task and it now has the priority.
This function is called only from the NuttX scheduling logic. Interrupts will always be disabled when this
function is called.
Input Parameters:
Description. This function causes the currently executing task to cease to exist. This is a special case
of task_delete().
Unlike other UP APIs, this function may be called directly from user programs in various states. The
implementation of this function should disable interrupts before performing scheduling operations.
4.2.13 up_assert()
Function Prototype:
void up_assert(FAR const uint8_t *filename, int linenum);
4.2.14 up_schedule_sigaction()
Description. This function is called by the OS when one or more signal handling actions have been
queued for execution. The architecture specific code must configure things so that the 'sigdeliver'
callback is executed on the thread specified by 'tcb' as soon as possible.
This operation should not cause the task to be unblocked nor should it cause any immediate execution
of sigdeliver. Typically, a few cases need to be considered:
1. This function may be called from an interrupt handler During interrupt processing, all xcptcontext
structures should be valid for all tasks. That structure should be modified to invoke sigdeliver()
either on return from (this) interrupt or on some subsequent context switch to the recipient task.
2. If not in an interrupt handler and the tcb is NOT the currently executing task, then again just
modify the saved xcptcontext structure for the recipient task so it will invoke sigdeliver when that
task is later resumed.
3. If not in an interrupt handler and the tcb IS the currently executing task -- just call the signal
handler now.
4.2.15 up_allocate_heap()
Description. This function will be called to dynamically set aside the heap region.
4.2.16 up_interrupt_context()
Description. Return true if we are currently executing in the interrupt handler context.
4.2.17 up_disable_irq()
Function Prototype:
#ifndef CONFIG_ARCH_NOINTC
void up_disable_irq(int irq);
#endif
Description. Disable the IRQ specified by 'irq' On many architectures, there are three levels of interrupt
enabling: (1) at the global level, (2) at the level of the interrupt controller, and (3) at the device level. In
order to receive interrupts, they must be enabled at all three levels.
This function implements enabling of the device specified by 'irq' at the interrupt controller level if
supported by the architecture (up_irq_save() supports the global level, the device level is hardware
specific).
4.2.18 up_enable_irq()
Function Prototype:
#ifndef CONFIG_ARCH_NOINTC
void up_enable_irq(int irq);
#endif
Description. This function implements disabling of the device specified by 'irq' at the interrupt controller
level if supported by the architecture (up_irq_restore() supports the global level, the device level is
hardware specific).
4.2.19 up_prioritize_irq()
Function Prototype:
#ifdef CONFIG_ARCH_IRQPRIO
void up_enable_irq(int irq);
#endif
4.2.20 up_putc()
Description. This is a debug interface exported by the architecture-specific logic. Output one character
on the console
All of the board-specific interfaces used by the NuttX OS logic are for controlled board initialization.
There are three points in time where you can insert custom, board-specific initialization logic:
First, <arch>_board_initialize() : This function is not called from the common OS logic, but rather from
the architecture-specific power on reset logic. This is used only for initialization of very low-level things
like configuration of GPIO pins, power settings, DRAM initialization, etc. The OS has not been
initialized at this point, so you cannot allocate memory or initialize device drivers.
The other two board initialization hooks are called from the OS start-up logic and are described in the
following paragraphs:
4.3.1 board_early_initialize()
But at this same point in time, the OS will also call a board-specific initialization function named
board_early_initialize() if CONFIG_BOARD_EARLY_INITIALIZE=y is selected in the configuration.
The context in which board_early_initialize() executes is suitable for early initialization of most, simple
device drivers and is a logical, board-specific extension of up_initialize().
board_early_initialize() runs on the startup, initialization thread. Some initialization operations cannot
be performed on the start-up, initialization thread. That is because the initialization thread cannot wait
for event. Waiting may be required, for example, to mount a file system or or initialize a device such as
an SD card. For this reason, such driver initialize must be deferred to board_late_initialize() .
4.3.2 board_late_initialize()
And, finally, just before the user application code starts. If CONFIG_BOARD_LATE_INITIALIZE=y is
selected in the configuration, then an final, additional initialization call will be performed in the boot-up
sequence to a function called board_late_initialize() . board_late_initialize() will be called well after
up_initialize() and board_early_initialize() are called. board_late_initialize() will be called just before
the main application task is started. This additional initialization phase may be used, for example, to
initialize more complex, board-specific device drivers.
Waiting for events, use of I2C, SPI, etc are permissable in the context of board_late_initialize(). That is
because board_late_initialize() will run on a temporary, internal kernel thread.
System Timer In most implementations, system time is provided by a timer interrupt. That timer
interrupt runs at rate determined by CONFIG_USEC_PER_TICK (default 10000 microseconds or
100Hz. If CONFIG_SCHED_TICKLESS is selected, the default is 100 microseconds). The timer
generates an interrupt each CONFIG_USEC_PER_TICK microseconds and increments a counter
called g_system_timer . g_system_timer then provides a time-base for calculating up-time and
elapsed time intervals in units of CONFIG_USEC_PER_TICK . The range of g_system_timer is, by
default, 32-bits. However, if the MCU supports type long long and CONFIG_SYSTEM_TIME16 is
selected, a 64-bit system timer will be supported instead.
System Timer Accuracy On many system, the exact timer interval specified by
CONFIG_USEC_PER_TICK cannot be achieved due to limitations in frequencies or in dividers. As a
result, the time interval specified by CONFIG_USEC_PER_TICK may only be approximate and there
may be small errors in the apparent up-time time. These small errors, however, will accumulate over
time and after a long period of time may have an unacceptably large error in the apparent up-time of
the MCU.
If the timer tick period generated by the hardware is not exactly CONFIG_USEC_PER_TICK and if
there you require accurate up-time for the MCU, then there are measures that you can take:
Delta-Sigma Modulation Example. Consider this case: The system timer is a count-up timer driven at
32.768KHz. There are dividers that can be used, but a divider of one yields the highest accuracy. This
counter counts up until the count equals a match value, then a timer interrupt is generated. The desire
frequency is 100Hz ( CONFIG_USEC_PER_TICK is 10000).
This exact frequency of 100Hz cannot be obtained in this case. In order to obtain that exact frequency
a match value of 327.68 would have to be provided. The closest integer value is 328 but the ideal
match value is between 327 and 328. The closest value, 328, would yield an actual timer frequency of
99.9Hz! That will may cause significant timing errors in certain usages.
Use of Delta-Sigma Modulation can eliminate this error in the long run. Consider this example
implementation:
accumulator = 0;
match = 328;
2. On each timer interrupt, accumulator is updated with difference that, in this reflects, 100* the error
in interval that just passed. So on the first timer interrupt, the accumulator would be updated like:
if (match == 328)
{
accumulator += 32; // 100*(328 - 327.68)
}
else
{
accumulator -= 68; // (100*(327 - 327.68)
}
3. And on that same timer interrupt a new match value would be programmed:
if (accumulator < 0)
{
match = 328;
}
else
{
match = 327;
}
In this way, the timer interval is controlled from interrupt-to-interrupt to produce an average frequency of
exactly 100Hz.
4.4.2 Hardware
CONFIG_RTC
Enables general support for a hardware RTC. Specific architectures may require other
specific settings.
CONFIG_RTC_EXTERNAL
Most MCUs include RTC hardware built into the chip. Other RTCs, external MCUs, may be
provided as separate chips typically interfacing with the MCU via a serial interface such as
SPI or I2C. These external RTCs differ from the built-in RTCs in that they cannot be
initialized until the operating system is fully booted and can support the required serial
communications. CONFIG_RTC_EXTERNAL will configure the operating system so that it
defers initialization of its time facilities.
CONFIG_RTC_DATETIME
There are two general types of RTC: (1) A simple battery backed counter that keeps the
time when power is down, and (2) A full date / time RTC the provides the date and time
information, often in BCD format. If CONFIG_RTC_DATETIME is selected, it specifies this
second kind of RTC. In this case, the RTC is used to "seed"" the normal NuttX timer and the
NuttX system timer provides for higher resolution time.
CONFIG_RTC_HIRES
If CONFIG_RTC_DATETIME not selected, then the simple, battery backed counter is
used. There are two different implementations of such simple counters based on the time
resolution of the counter: The typical RTC keeps time to resolution of 1 second, usually
supporting a 32-bit time_t value. In this case, the RTC is used to "seed" the normal NuttX
timer and the NuttX timer provides for higher resolution time. If CONFIG_RTC_HIRES is
enabled in the NuttX configuration, then the RTC provides higher resolution time and
completely replaces the system timer for purpose of date and time.
CONFIG_RTC_FREQUENCY
If CONFIG_RTC_HIRES is defined, then the frequency of the high resolution RTC must be
provided. If CONFIG_RTC_HIRES is not defined, CONFIG_RTC_FREQUENCY is
assumed to be one.
CONFIG_RTC_ALARM
Enable if the RTC hardware supports setting of an alarm. A callback function will be
executed when the alarm goes off
which requires the following base functions to read and set time:
up_rtc_initialize() . Initialize the built-in, MCU hardware RTC per the selected configuration. This
function is called once very early in the OS initialization sequence. NOTE that initialization of
external RTC hardware that depends on the availability of OS resources (such as SPI or I2C)
must be deferred until the system has fully booted. Other, RTC-specific initialization functions are
used in that case.
up_rtc_time() . Get the current time in seconds. This is similar to the standard time() function.
This interface is only required if the low-resolution RTC/counter hardware implementation
selected. It is only used by the RTOS during initialization to set up the system time when
CONFIG_RTC is set but neither CONFIG_RTC_HIRES nor CONFIG_RTC_DATETIME are
set.
up_rtc_gettime() . Get the current time from the high resolution RTC clock/counter. This interface
is only supported by the high-resolution RTC/counter hardware implementation. It is used to
replace the system timer ( g_system_tick ).
up_rtc_settime() . Set the RTC to the provided time. All RTC implementations must be able to set
their time based on a standard timespec.
g_system_timer
Running at rate of system base timer, used for time-slicing, and so forth.
In the case of CONFIG_RTC_HIRES is set the g_system_timer keeps counting at rate of a system
timer, which however, is disabled in power-down mode. By comparing this time and RTC (actual time)
one may determine the actual system active time. To retrieve that variable use:
4.4.4 Tickless OS
Default System Timer. By default, a NuttX configuration uses a periodic timer interrupt that drives all
system timing. The timer is provided by architecture-specific code that calls into NuttX at a rate
controlled by CONFIG_USEC_PER_TICK . The default value of CONFIG_USEC_PER_TICK is
10000 microseconds which corresponds to a timer interrupt rate of 100 Hz.
Increments a counter. This counter is the system time and has a resolution of
CONFIG_USEC_PER_TICK microseconds.
Checks if it is time to perform time-slice operations on tasks that have select round-robin
scheduling.
Checks for expiration of timed events.
What is wrong with this default system timer? Nothing really. It is reliable and uses only a small fraction
of the CPU band width. But we can do better. Some limitations of default system timer are, in increasing
order of importance:
Overhead: Although the CPU usage of the system timer interrupt at 100Hz is really very low, it is
still mostly wasted processing time. One most timer interrupts, there is really nothing that needs
be done other than incrementing the counter.
Resolution: Resolution of all system timing is also determined by CONFIG_USEC_PER_TICK .
So nothing that be time with resolution finer than 10 milliseconds be default. To increase this
resolution, CONFIG_USEC_PER_TICK an be reduced. However, then the system timer
interrupts use more of the CPU bandwidth processing useless interrupts.
Power Usage: But the biggest issue is power usage. When the system is IDLE, it enters a light,
low-power mode (for ARMs, this mode is entered with the wfi or wfe instructions for example).
But each interrupt awakens the system from this low power mode. Therefore, higher rates of
interrupts cause greater power consumption.
Tickless OS. The so-called Tickless OS provides one solution to issue. The basic concept here is that
the periodic, timer interrupt is eliminated and replaced with a one-shot, interval timer. It becomes event
driven instead of polled: The default system timer is a polled design. On each interrupt, the NuttX logic
checks if it needs to do anything and, if so, it does it.
Using an interval timer, one can anticipate when the next interesting OS event will occur, program the
interval time and wait for it to fire. When the interval time fires, then the scheduled activity is performed.
In order to use the Tickless OS, one must provide special support from the platform-specific code. Just
as with the default system timer, the platform-specific code must provide the timer resources to support
the OS behavior. Currently these timer resources are only provided on a few platforms. An example
implementation is for the simulation is at nuttx/arch/sim/src/up_tickless.c . There is another example for
the Atmel SAMA5 at nuttx/arch/arm/src/sama5/sam_tickless.c . These paragraphs will explain how to
provide the Tickless OS support to any platform.
CONFIG_ARCH_HAVE_TICKLESS : If the platform provides support for the Tickless OS, then
this setting should be selected in the Kconfig file for the board. Here is what the selection looks
in the arch/Kconfig file for the simulated platform:
config ARCH_SIM
bool "Simulation"
select ARCH_HAVE_TICKLESS
---help---
Linux/Cywgin user-mode simulation.
The advantage of an alarm is that it avoids some small timing errors; the advantage of the use of
the interval timer is that the hardware requirement may be less.
CONFIG_USEC_PER_TICK : This option is not unique to Tickless OS operation, but changes its
relevance when the Tickless OS is selected. In the default configuration where system time is
provided by a periodic timer interrupt, the default system timer is configure the timer for 100Hz or
CONFIG_USEC_PER_TICK=10000 . If CONFIG_SCHED_TICKLESS is selected, then there
are no system timer interrupt. In this case, CONFIG_USEC_PER_TICK does not control any
timer rates. Rather, it only determines the resolution of time reported by clock_systimer() and the
resolution of times that can be set for certain delays including watchdog timers and delayed work.
In this case there is still a trade-off: It is better to have the CONFIG_USEC_PER_TICK as low as
possible for higher timing resolution. However, the time is currently held in unsigned int . On
some systems, this may be 16-bits in width but on most contemporary systems it will be 32-bits.
In either case, smaller values of CONFIG_USEC_PER_TICK will reduce the range of values
that delays that can be represented. So the trade-off is between range and resolution (you could
also modify the code to use a 64-bit value if you really want both).
The default, 100 microseconds, will provide for a range of delays up to 120 hours.
This value should never be less than the underlying resolution of the timer. Errors may ensue.
The interfaces that must be provided by the platform specified code are defined in
include/nuttx/arch.h , listed below, and summarized in the following paragraphs:
<arch> _timer_initialize() : Initializes the timer facilities. Called early in the initialization sequence
(by up_initialize() ).
up_timer_gettime() : Returns the current time from the platform specific time source.
The tickless option can be supported either via a simple interval timer (plus elapsed time) or via an
alarm. The interval timer allows programming events to occur after an interval. With the alarm, you can
set a time in* the future and get an event when that alarm goes off.
Note that a platform-specific implementation would probably require two hardware timers: (1) A interval
timer to satisfy the requirements of up_timer_start() and up_timer_cancel() , and a (2) a counter to
handle the requirement of up_timer_gettime() . Ideally, both timers would run at the rate determined by
CONFIG_USEC_PER_TICK (and certainly never slower than that rate).
Since timers are a limited resource, the use of two timers could be an issue on some systems. The job
could be done with a single timer if, for example, the single timer were kept in a free-running at all
times. Some timer/counters have the capability to generate a compare interrupt when the timer
matches a comparison value but also to continue counting without stopping. If your hardware supports
such counters, one might used the CONFIG_SCHED_TICKLESS_ALARM option and be able to
simply set the comparison count at the value of the free running timer PLUS the desired delay. Then
you could have both with a single timer: An alarm and a free-running counter with the same timer!
In addition to these imported interfaces, the RTOS will export the following interfaces for use by the
platform-specific interval timer implementation:
nxsched_alarm_expiration() . Called by the platform-specific logic when the alarm expires.
nxsched_timer_expiration() . Called by the platform-specific logic when the interval time expires.
Function Prototype:
#include "up_internal.h"
void <arch>_timer_initialize()(void);
Description:
Initializes all platform-specific timer facilities. This function is called early in the initialization
sequence by up_initialize() . On return, the current up-time should be available from
up_timer_gettime() and the interval timer is ready for use (but not actively timing).
Input Parameters:
None
Returned Value:
Assumptions:
Called early in the initialization sequence before any special concurrency protections are
required.
4.4.4.4.2 up_timer_gettime()
Function Prototype:
#include <nuttx/arch.h>
int up_timer_gettime(FAR struct timespec *ts);
Description:
Return the elapsed time since power-up (or, more correctly, since <arch> _timer_initialize() was
called). This function is functionally equivalent to clock_gettime() for the clock ID
CLOCK_MONOTONIC . This function provides the basis for reporting the current time and also is used
to eliminate error build-up from small errors in interval time calculations.
Input Parameters:
Returned Value:
Assumptions:
Called from the normal tasking context. The implementation must provide whatever mutual
exclusion is necessary for correct operation. This can include disabling interrupts in order to
assure atomic register operations.
4.4.4.4.3 up_alarm_cancel()
Function Prototype:
#include <nuttx/arch.h>
int up_alarm_cancel(FAR struct timespec *ts);
Description:
Cancel the alarm and return the time of cancellation of the alarm. These two steps need to be as nearly
atomic as possible. nxsched_timer_expiration() will not be called unless the alarm is restarted with
up_alarm_start() . If, as a race condition, the alarm has already expired when this function is called,
then time returned is the current time.
Input Parameters:
ts : Location to return the expiration time. The current time should be returned if the timer is not
active. ts may be NULL in which case the time is not returned
Returned Value:
Assumptions:
May be called from interrupt level handling or from the normal tasking level. interrupts may need
to be disabled internally to assure non-reentrancy.
4.4.4.4.4 up_alarm_start()
Function Prototype:
#include <nuttx/arch.h>
int up_alarm_start(FAR const struct timespec *ts);
Description:
Start the alarm. nxsched_timer_expiration() will be called when the alarm occurs (unless
up_alarm_cancel is called to stop it).
Input Parameters:
ts : The time in the future at the alarm is expected to occur. When the alarm occurs the timer
logic will call nxsched_timer_expiration() .
Returned Value:
Assumptions:
May be called from interrupt level handling or from the normal tasking level. Interrupts may need
to be disabled internally to assure non-reentrancy.
4.4.4.4.5 up_timer_cancel()
Function Prototype:
#include <nuttx/arch.h>
int up_timer_cancel(FAR struct timespec *ts);
Description:
Cancel the interval timer and return the time remaining on the timer. These two steps need to be as
nearly atomic as possible. nxsched_timer_expiration() will not be called unless the timer is restarted
with up_timer_start() . If, as a race condition, the timer has already expired when this function is called,
then that pending interrupt must be cleared so that nxsched_timer_expiration() is not called spuriously
and the remaining time of zero should be returned.
Input Parameters:
ts : Location to return the remaining time. Zero should be returned if the timer is not active.
Returned Value:
Assumptions:
May be called from interrupt level handling or from the normal tasking level. interrupts may need
to be disabled internally to assure non-reentrancy.
4.4.4.4.6 up_timer_start()
Function Prototype:
#include <nuttx/arch.h>
int up_timer_start(FAR const struct timespec *ts);
Description:
Start the interval timer. nxsched_timer_expiration() will be called at the completion of the timeout
(unless up_timer_cancel() is called to stop the timing).
Input Parameters:
Returned Value:
Assumptions:
May be called from interrupt level handling or from the normal tasking level. Interrupts may need
to be disabled internally to assure non-reentrancy.
NuttX provides a general watchdog timer facility. This facility allows the NuttX user to specify a
watchdog timer function that will run after a specified delay. The watchdog timer function will run in the
context of the timer interrupt handler. Because of this, a limited number of NuttX interfaces are
available to he watchdog timer function. However, the watchdog timer function may use mq_send() ,
sigqueue() , or kill() to communicate with NuttX tasks.
4.4.5.1 wd_create/wd_static
4.4.5.2 wd_delete
4.4.5.3 wd_start
4.4.5.4 wd_cancel
4.4.5.5 wd_gettime
4.4.5.6 Watchdog Timer Callback
4.4.5.1 wd_create/wd_static
Function Prototype:
#include <nuttx/wdog.h>
WDOG_ID wd_create(void);
void wd_static(FAR struct wdog_s *wdog);
Description: The wd_create() function will create a timer by allocating the appropriate resources for
the watchdog. The wd_create() function returns a pointer to a fully initialized, dynamically allocated
struct wdog_s instance (which is typedef 'ed as WDOG_ID );
wd_static() performs the equivalent initialization of a statically allocated struct wdog_s instance. No
allocation is performed in this case. The initializer definition, WDOG_INITIALIZER is also available for
initialization of static instances of struct wdog_s . NOTE: wd_static() is also implemented as a macro
definition.
Returned Value:
Pointer to watchdog that may be used as a handle in subsequent NuttX calls (i.e., the watchdog
ID), or NULL if insufficient resources are available to create the watchdogs.
Assumptions/Limitations:
POSIX Compatibility: This is a NON-POSIX interface. VxWorks provides the following comparable
interface:
4.4.5.2 wd_delete
Function Prototype:
#include <nuttx/wdog.h>
int wd_delete(WDOG_ID wdog);
Description: The wd_delete function will deallocate a watchdog timer previously allocated via
wd_create() . The watchdog timer will be removed from the timer queue if has been started.
This function need not be called for statically allocated timers (but it is not harmful to do so).
Input Parameters:
Returned Value:
Zero ( OK ) is returned on success; a negated errno value is return to indicate the nature of any
failure.
Assumptions/Limitations: It is the responsibility of the caller to assure that the watchdog is inactive
before deleting it.
POSIX Compatibility: This is a NON-POSIX interface. VxWorks provides the following comparable
interface:
Does not make any checks to see if the watchdog is being used before deallocating it (i.e., never
returns ERROR).
4.4.5.3 wd_start
Function Prototype:
#include <nuttx/wdog.h>
int wd_start(WDOG_ID wdog, int delay, wdentry_t wdentry,
int argc, ....);
Description: This function adds a watchdog to the timer queue. The specified watchdog function will
be called from the interrupt level after the specified number of ticks has elapsed. Watchdog timers may
be started from the interrupt level.
To replace either the timeout delay or the function to be executed, call wd_start again with the same
wdog; only the most recent wd_start() on a given watchdog ID has any effect.
Input Parameters:
wdog . Watchdog ID
delay . Delay count in clock ticks
wdentry . Function to call on timeout
argc . The number of uint32_t parameters to pass to wdentry.
... . uint32_t size parameters to pass to wdentry
Returned Value:
Zero ( OK ) is returned on success; a negated errno value is return to indicate the nature of any
failure.
Assumptions/Limitations: The watchdog routine runs in the context of the timer interrupt handler and
is subject to all ISR restrictions.
POSIX Compatibility: This is a NON-POSIX interface. VxWorks provides the following comparable
interface:
STATUS wdStart (WDOG_ID wdog, int delay, FUNCPTR wdentry, int parameter);
Differences from the VxWorks interface include:
The present implementation supports multiple parameters passed to wdentry; VxWorks supports
only a single parameter. The maximum number of parameters is determined by
4.4.5.4 wd_cancel
Function Prototype:
#include <nuttx/wdog.h>
int wd_cancel(WDOG_ID wdog);
Description: This function cancels a currently running watchdog timer. Watchdog timers may be
canceled from the interrupt level.
Input Parameters:
Returned Value:
OK or ERROR
Assumptions/Limitations:
POSIX Compatibility: This is a NON-POSIX interface. VxWorks provides the following comparable
interface:
4.4.5.5 wd_gettime
Function Prototype:
#include <nuttx/wdog.h>
int wd_gettime(WDOG_ID wdog);
Description: This function returns the time remaining before the specified watchdog expires.
Input Parameters:
Returned Value: The time in system ticks remaining until the watchdog time expires. Zero means
either that wdog is not valid or that the wdog has already expired.
When a watchdog expires, the callback function with this type is called:
The arguments are passed as scalar wdparm_t values. For systems where the sizeof(pointer) <
sizeof(uint32_t) , the following union defines the alignment of the pointer within the uint32_t . For
example, the SDCC MCS51 general pointer is 24-bits, but uint32_t is 32-bits (of course).
union wdparm_u
{
FAR void *pvarg; /* The size one generic point */
uint32_t dwarg; /* Big enough for a 32-bit value in any case */
uintptr_t uiarg; /* sizeof(uintptr_t) >= sizeof(pointer) */
};
Classes of Work Queues. There are three different classes of work queues, each with different
properties and intended usage. These class of work queues along with the common work queue
interface are described in the following paragraphs.
High Priority Kernel Work queue. The dedicated high-priority work queue is intended to handle
delayed processing from interrupt handlers. This work queue is required for some drivers but, if there
are no complaints, can be safely disabled. The high priority worker thread also performs garbage
collection -- completing any delayed memory deallocations from interrupt handlers. If the high-priority
worker thread is disabled, then that clean up will be performed either by (1) the low-priority worker
thread, if enabled, and if not (2) the IDLE thread instead (which runs at the lowest of priority and may
not be appropriate if memory reclamation is of high priority)
Device Driver Bottom Half. The high-priority worker thread is intended to serve as the bottom half for
device drivers. As a consequence it must run at a very high, fixed priority rivalling the priority of the
interrupt handler itself. Typically, the high priority work queue should be the highest priority thread in
your system (the default priority is 224).
Thread Pool. The work queues can be configured to support multiple, low-priority threads. This is
essentially a thread pool that provides multi-threaded servicing of the queue work. This breaks the strict
serialization of the "queue" (and hence, the work queue is no longer a queue at all).
Multiple worker threads are required to support, for example, I/O operations that stall waiting for input. If
there is only a single thread, then the entire work queue processing would stall in such cases. Such
behavior is necessary to support asynchronous I/O, AIO, for example.
Compared to the Low Priority Kernel Work Queue. For less critical, lower priority, application
oriented worker thread support, consider enabling the lower priority work queue. The lower priority work
queue runs at a lower priority, of course, but has the added advantage that it supports priority
inheritance (if CONFIG_PRIORITY_INHERITANCE=y is also selected): The priority of the lower
priority worker thread can then be adjusted to match the highest priority client.
Configuration Options.
CONFIG_SIG_SIGWORK The signal number that will be used to wake-up the worker thread.
This same signal is used with the Default: 17
Low Priority Kernel Work Queue. This lower priority work queue is better suited for more extended,
application oriented processing such as file system clean-up, memory garbage collection and
asynchronous I/O operations.
Compared to the High Priority Work Queue. The lower priority work queue runs at a lower priority
than the high priority work queue, of course, and so is inappropriate to serve as a driver bottom half. It
is, otherwise, very similar to the high priority work queue and most of the discussion above for the high
priority work queue applies equally here. The lower priority work queue does have one important,
however, that make it better suited for some tasks:
Priority Inheritance. The lower priority worker thread(s) support priority inheritance (if <config>
CONFIG_PRIORITY_INHERITANCE is also selected): The priority of the lower priority worker thread
can then be adjusted to match the highest priority client.
NOTE: This priority inheritance feature is not automatic. The lower priority worker thread will
always a fixed priority unless additional logic implements that calls lpwork_boostpriority() to
raise the priority of the lower priority worker thread (typically called before scheduling the
work) and then calls the matching lpwork_restorepriority() when the work is completed
(typically called within the work handler at the completion of the work). Currently, only the
NuttX asynchronous I/O logic uses this dynamic prioritization feature.
The higher priority worker thread, on the other hand, is intended to serve as the bottom half for device
drivers. As a consequence must run at a very high, fixed priority. Typically, it should be the highest
priority thread in your system.
Configuration Options.
Work Queue Accessibility. The high- and low-priority worker threads are kernel-mode threads. In the
normal, flat NuttX build, these work queues are are useful to application code and may be shared.
However, in the NuttX protected and kernel build modes, kernel mode code is isolated and cannot be
accessed from user-mode code.
Configuration Options.
Work queue IDs. All work queues use the identical interface functions (at least identical in terms of the
function signature). The first parameter passed to the work queue interface function identifies the work
queue:
HPWORK . This ID of the high priority work queue that should only be used for hi-priority, time-
critical, driver bottom-half functions.
LPWORK . This is the ID of the low priority work queue that can be used for any purpose. if
CONFIG_SCHED_LPWORK is not defined, then there is only one kernel work queue and
LPWORK is equal to HPWORK .
USRWORK . This is the ID of the user-mode work queue that can be used for any purpose by
applications. In a flat build, LPWORK is equal to LPWORK so that user applications will use the
lower priority work queue (if there is one).
typedef void (*worker_t)(FAR void *arg); Defines the type of the work callback.
struct work_s . Defines one entry in the work queue. This is a client-allocated structure. Work
queue clients should not reference any field in this structure since they are subject to change.
The user only needs this structure in order to declare instances of the work structure. Handling of
all fields is performed by the work queue interfaces described below.
4.5.2.3.1 work_queue()
Function Prototype:
#include <nuttx/wqueue.h>
int work_queue(int qid, FAR struct work_s *work, worker_t worker,
FAR void *arg, uint32_t delay);
Description. Queue work to be performed at a later time. All queued work will be performed on the
worker thread of execution (not the caller's).
The work structure is allocated and must be initialized to all zero by the caller. Otherwise, the work
structure is completely managed by the work queue logic. The caller should never modify the contents
of the work queue structure directly. If work_queue() is called before the previous work as been
performed and removed from the queue, then any pending work will be canceled and lost.
Input Parameters:
worker : The worker callback to be invoked. The callback will invoked on the worker thread of
execution.
arg : The argument that will be passed to the worker callback function when it is invoked.
delay : Delay (in system clock ticks) from the time queue until the worker is invoked. Zero means
to perform the work immediately.
Returned Value:
4.5.2.3.2 work_cancel()
Function Prototype: #include <nuttx/wqueue.h> int work_cancel(int qid, FAR struct work_s *work);
Description. Cancel previously queued work. This removes work from the work queue. After work has
been cancelled, it may be re-queue by calling work_queue() again.
Input Parameters:
Returned Value:
4.5.2.3.3 work_signal()
Input Parameters:
Returned Value:
4.5.2.3.4 work_available()
Function Prototype:
#include <nuttx/wqueue.h>
bool work_available(FAR struct work_s *work);
Description.
Returned Value:
4.5.2.3.5 work_usrstart()
Function Prototype:
#include <nuttx/config.h>
#include <nuttx/wqueue.h>
#if defined(CONFIG_LIB_USRWORK) && !defined(__KERNEL__)
int work_usrstart(void);
#endif
Description. The function is only available as a user interface in the kernel-mode build. In the flat build,
there is no user-mode work queue; in the protected mode, the user-mode work queue will automatically
be started by the OS start-up code. But in the kernel mode, each user process will be required to start
is own, private instance of the user-mode work thread using this interface.
Returned Value:
The task ID of the worker thread is returned on success. A negated errno value is returned on
failure.
4.5.2.3.6 lpwork_boostpriority()
Function Prototype:
#include <nuttx/config.h>
#include <nuttx/wqueue.h>
#if defined(CONFIG_SCHED_LPWORK) && defined(CONFIG_PRIORITY_INHERITANCE)
void lpwork_boostpriority(uint8_t reqprio);
#endif
Description. Called by the work queue client to assure that the priority of the low-priority worker thread
is at least at the requested level, reqprio . This function would normally be called just before calling
work_queue() .
Input Parameters:
Function Prototype:
#include <nuttx/config.h>
#include <nuttx/wqueue.h>
#if defined(CONFIG_SCHED_LPWORK) && defined(CONFIG_PRIORITY_INHERITANCE)
void lpwork_restorepriority(uint8_t reqprio);
#endif
Description. This function is called to restore the priority after it was previously boosted. This is often
done by client logic on the worker thread when the scheduled work completes. It will check if we need
to drop the priority of the worker thread.
Input Parameters:
When CONFIG_ARCH_ADDRENV=y is set in the board configuration, the CPU-specific logic must
provide a set of interfaces as defined in the header file include/nuttx/arch.h . These interfaces are listed
below and described in detail in the following paragraphs.
1. Binary Loader Support. These are low-level interfaces used in binfmt/ to instantiate tasks with
address environments. These interfaces all operate on type group_addrenv_t which is an
abstract representation of a task group's address environment and the type must be defined
in arch/arch.h if CONFIG_ARCH_ADDRENV is defined. These low-level interfaces include:
2. Tasking Support. Other interfaces must be provided to support higher-level interfaces used by
the NuttX tasking logic. These interfaces are used by the functions in sched/ and all operate on
the task group which as been assigned an address environment by up_addrenv_clone() .
4. If CONFIG_ARCH_KERNEL_STACK is selected, then each user process will have two stacks:
(1) a large (and possibly dynamic) user stack and (2) a smaller kernel stack. However, this option
is required if both CONFIG_BUILD_KERNEL and CONFIG_LIBC_EXECFUNCS are selected.
Why? Because when we instantiate and initialize the address environment of the new user
process, we will temporarily lose the address environment of the old user process, including its
stack contents. The kernel C logic will crash immediately with no valid stack in place.
4.6.1 up_addrenv_create()
Function Prototype:
Description:
This function is called when a new task is created in order to instantiate an address environment
for the new task group. up_addrenv_create() is essentially the allocator of the physical memory
for the new task.
Input Parameters:
textsize : The size (in bytes) of the .text address environment needed by the task. This region
may be read/execute only.
datasize : The size (in bytes) of the .bss/.data address environment needed by the task. This
region may be read/write only.
heapsize : The initial size (in bytes) of the heap address environment needed by the task. This
region may be read/write only.
addrenv : The location to return the representation of the task address environment.
Returned Value:
4.6.2 up_addrenv_destroy()
Function Prototype:
Description:
This function is called when a final thread leaves the task group and the task group is destroyed.
This function then destroys the defunct address environment, releasing the underlying physical
memory allocated by up_addrenv_create() .
Input Parameters:
Returned Value:
4.6.3 up_addrenv_vtext()
Function Prototype:
Description:
Return the virtual .text address associated with the newly create address environment. This
function is used by the binary loaders in order get an address that can be used to initialize the
new task.
Input Parameters:
Returned Value:
4.6.4 up_addrenv_vdata()
Function Prototype:
Description:
Return the virtual .text address associated with the newly create address environment. This
function is used by the binary loaders in order get an address that can be used to initialize the
new task.
Input Parameters:
Returned Value:
4.6.5 up_addrenv_heapsize()
Function Prototype:
Description:
Return the initial heap allocation size. That is the amount of memory allocated by
up_addrenv_create() when the heap memory region was first created. This may or may not
differ from the heapsize parameter that was passed to up_addrenv_create() .
Input Parameters:
Returned Value:
The initial heap size allocated is returned on success; a negated errno value on failure.
4.6.6 up_addrenv_select()
Function Prototype:
Description:
After an address environment has been established for a task (via up_addrenv_create()) , this
function may be called to instantiate that address environment in the virtual address space. This
might be necessary, for example, to load the code for the task from a file or to access address
environment private data.
Input Parameters:
Returned Value:
4.6.7 up_addrenv_restore()
Function Prototype:
Description:
Input Parameters:
Returned Value:
4.6.8 up_addrenv_clone()
Function Prototype:
Description:
Duplicate an address environment. This does not copy the underlying memory, only the
representation that can be used to instantiate that memory as an address environment.
Input Parameters:
Returned Value:
4.6.9 up_addrenv_attach()
Function Prototype:
Description:
This function is called from the core scheduler logic when a thread is created that needs to share
the address environment of its task group. In this case, the group's address environment may
need to be "cloned" for the child thread.
NOTE: In most platforms, nothing will need to be done in this case. Simply being a member of the
group that has the address environment may be sufficient.
Input Parameters:
Returned Value:
4.6.10 up_addrenv_detach()
Function Prototype:
This function is called when a task or thread exits in order to release its reference to an address
environment. The address environment, however, should persist until up_addrenv_destroy() is
called when the task group is itself destroyed. Any resources unique to this thread may be
destroyed now.
Input Parameters:
Returned Value:
4.6.11 up_addrenv_ustackalloc()
Function Prototype:
Description:
This function is called when a new thread is created in order to instantiate an address
environment for the new thread's stack. up_addrenv_ustackalloc() is essentially the allocator of
the physical memory for the new task's stack.
Input Parameters:
tcb : The TCB of the thread that requires the stack address environment.
stacksize : The size (in bytes) of the initial stack address environment needed by the task. This
region may be read/write only.
Returned Value:
4.6.12 up_addrenv_ustackfree()
Function Prototype:
Description:
This function is called when any thread exits. This function then destroys the defunct address
environment for the thread's stack, releasing the underlying physical memory.
Input Parameters:
tcb : The TCB of the thread that no longer requires the stack address environment.
Returned Value:
4.6.13 up_addrenv_vustack()
Function Prototype:
Description:
Return the virtual address associated with the newly create stack address environment.
Input Parameters:
tcb :The TCB of the thread with the stack address environment of interest.
vstack : The location to return the stack virtual base address.
Returned Value:
4.6.14 up_addrenv_ustackselect()
Function Prototype:
Description:
After an address environment has been established for a task's stack (via
up_addrenv_ustackalloc() . This function may be called to instantiate that address environment in
the virtual address space. This is a necessary step before each context switch to the newly
created thread (including the initial thread startup).
Input Parameters:
tcb : The TCB of the thread with the stack address environment to be instantiated.
Returned Value:
4.6.15 up_addrenv_kstackalloc()
Function Prototype:
Description:
This function is called when a new thread is created to allocate the new thread's kernel stack.
This function may be called for certain terminating threads which have no kernel stack. It must be
tolerant of that case.
Input Parameters:
tcb : The TCB of the thread that requires the kernel stack.
Returned Value:
4.6.16 up_addrenv_kstackfree()
Function Prototype:
Description:
This function is called when any thread exits. This function frees the kernel stack.
Input Parameters:
tcb : The TCB of the thread that no longer requires the kernel stack.
Returned Value:
4.7.1 nx_start()
To be provided
To be provided
4.7.3 nxsched_process_timer()
Function Prototype:
#include <nuttx/arch.h>
void nxsched_process_timer(void);
Description. This function handles system timer events. The timer interrupt logic itself is implemented
in the architecture specific code, but must call the following OS function periodically -- the calling
interval must be CONFIG_USEC_PER_TICK .
4.7.4 nxsched_timer_expiration()
Function Prototype:
#include <nuttx/arch.h>
void nxsched_timer_expiration(void);
Description:
Input Parameters:
None
Returned Value:
None
Assumptions:
Base code implementation assumes that this function is called from interrupt handling logic with
interrupts disabled.
4.7.5 nxsched_alarm_expiration()
Function Prototype:
#include <nuttx/arch.h>
void nxsched_timer_expiration(void);
Description:
Input Parameters:
None
Returned Value:
None
Assumptions:
Base code implementation assumes that this function is called from interrupt handling logic with
interrupts disabled.
4.7.6 irq_dispatch()
Description. This function must be called from the architecture- specific logic in order to display an
interrupt to the appropriate, registered handling logic.
Within the OS, functions do not return error information via the errno variable. Instead, the
majority of internal OS function return error information as an integer value: Returned values
greater than or equal to zero are success values; returned values less than zero indicate failures.
Failures are reported by returning a negated errno value from include/errno.h ,
2. Cancellation Points: Many of the application OS interfaces are cancellation points, i.e., when the
task is operating in defferred cancellation state, it cannot be deleted or cancelled until it calls an
application OS interface that is a cancellation point.
The POSIX specification is very specific about this, specific both in identifying which application
OS interfaces are cancellation points and specific in the fact that it is prohibited for any OS
operation other than those listed in the specification to generate cancellation points. If internal OS
logic were to re-use application OS interfaces directly then it could very easily violate this POSIX
requirement by incorrectly generating cancellation points on inappropriate OS operations and
could result in very difficult to analyze application failures.
3. Use of per-task Resources: Many resources are only valid in the task group context in which a
thread operates. Above we mentioned one: errno is only valid for the thread that is currently
executing. So, for example, the errno at the time of a call is a completely different variable than,
say, the errno while running in a work queue task.
File descriptors are an even better example: An open file on file descriptor 5 on task A is not the
same open file as might be used on file descriptor 5 on task B.
As a result, internal OS logic may not use application OS interfaces that use file descriptors or
any other per-task resource.
Within NuttX, this is handled by supporting equivalent internal OS interfaces that do not break the
above rules. These internal interfaces are intended for use only within the OS and should not be used
by application logic. Some examples include:
include <sys/boardctl.h>
int boardctl(unsigned int cmd, uintptr_t arg);
Description:
In a small embedded system, there will typically be a much greater interaction between
application and low-level board features. The canonically correct to implement such interactions is
by implementing a character driver and performing the interactions via low level ioctl() calls. This,
however, may not be practical in many cases and will lead to "correct" but awkward
implementations.
boardctl() is non-standard OS interface to alleviate the problem. It basically circumvents the
normal device driver ioctl() interlace and allows the application to perform direct IOCTL-like calls
to the board-specific logic. It is especially useful for setting up board operational and test
configurations.
NOTE: The other interfaces described in this document are internal OS interface. boardctl() is
an application interface to the OS. There is no point, in fact, of using boardctl() within the OS;
the board interfaces prototyped in include/nuttx/board.h may be called directly from within the
OS.
Application interfaces are described in the NuttX User Guide. This application interface interface
is described here only because it is so non-standard and because it is so closely tied to board
porting logic.
Input Parameters:
cmd : Identifies the board command to be executed. See include/sys/boardctl.h for the complete
list of common board commands. Provisions are made to support non-common, board-specific
commands as well.
arg : The argument that accompanies the command. The nature of the argument is determined
by the specific command.
Returned Value:
On success zero ( OK ) is returned; -1 ( ERROR ) is returned on failure with the errno variable
set to indicate the nature of the failure.
"SMP systems are tightly coupled multiprocessor systems with a pool of homogeneous processors
running independently, each processor executing different programs and working on different data and
with capability of sharing common resources (memory, I/O device, interrupt system and so on) and
connected using a system bus or a crossbar."
For a technical description of the NuttX implementation of SMP, see the NuttX SMP Wiki Page.
None
4.10.1 up_testset()
Function Prototype:
#include <nuttx/spinlock.h>
#ifdef CONFIG_SPINLOCK
spinlock_t up_testset(volatile FAR spinlock_t *lock);
#endif
Description:
Perform and atomic test and set operation on the provided spinlock.
Input Parameters:
Returned Value:
The spinlock is always locked upon return. The value of previous value of the spinlock variable is
returned, either SP_LOCKED if the spinlock was previously locked (meaning that the test-and-
set operation failed to obtain the lock) or SP_UNLOCKED if the spinlock was previously
unlocked (meaning that we successfully obtained the lock)
4.10.2 up_cpu_index()
Function Prototype:
#include <nuttx/arch.h>
#ifdef CONFIG_SMP
int up_cpu_index(void);
#else
# define up_cpu_index() (0)
#endif
Description:
Input Parameters:
None
Returned Value:
4.10.3 up_cpu_start()
Function Prototype:
#include <nuttx/arch.h>
#ifdef CONFIG_SMP
int up_cpu_start(int cpu);
#endif
Description:
In an SMP configuration, only one CPU is initially active (CPU 0). System initialization occurs on
that single thread. At the completion of the initialization of the OS, just before beginning normal
multitasking, the additional CPUs would be started by calling this function.
Each CPU is provided the entry point to is IDLE task when started. A TCB for each CPU's IDLE
task has been initialized and placed in the CPU's g_assignedtasks[cpu] list. A stack has also
been allocated and initialized.
The OS initialization logic calls this function repeatedly until each CPU has been started, 1
through (CONFIG_SMP_NCPUS-1) .
Input Parameters:
cpu : The index of the CPU being started. This will be a numeric value in the range of from one to
(CONFIG_SMP_NCPUS-1) ). (CPU 0 is already active).
Returned Value:
4.10.4 up_cpu_pause()
Function Prototype:
#include <nuttx/arch.h>
#ifdef CONFIG_SMP
int up_cpu_pause(int cpu);
#endif
Description:
Save the state of the current task at the head of the g_assignedtasks[cpu] task list and then
pause task execution on the CPU.
This function is called by the OS when the logic executing on one CPU needs to modify the state
of the g_assignedtasks[cpu] list for another CPU.
Input Parameters:
cpu : The index of the CPU to be paused. This will not be the index of the currently executing
CPU.
Returned Value:
4.10.5 up_cpu_resume()
Function Prototype:
#include <nuttx/arch.h>
#ifdef CONFIG_SMP
int up_cpu_resume(int cpu);
#endif
Description:
Restart the cpu after it was paused via up_cpu_pause() , restoring the state of the task at the
head of the g_assignedtasks[cpu] list, and resume normal tasking.
This function is called after up_cpu_pause() in order resume operation of the CPU after
modifying its g_assignedtasks[cpu] list.
Input Parameters:
cpu : The index of the CPU being resumed. This will not be the index of the currently executing
CPU.
Returned Value:
4.11.1 up_shmat()
Function Prototype:
#include <nuttx/arch.h>
#ifdef CONFIG_MM_SHM
int up_shmat(FAR uintptr_t *pages, unsigned int npages, uintptr_t vaddr);
#endif
Description:
Input Parameters:
pages : A pointer to the first element in a array of physical address, each corresponding to one
page of memory.
npages : The number of pages in the list of physical pages to be mapped.
vaddr : The virtual address corresponding to the beginning of the (contiguous) virtual address
region.
Returned Value:
4.11.2 up_shmdt()
Function Prototype:
#include <nuttx/arch.h>
#ifdef CONFIG_MM_SHM
int up_shmdt(uintptr_t vaddr, unsigned int npages);
#endif
Description:
Detach, i.e, unmap, on shared memory region from a user virtual address.
Input Parameters:
vaddr : The virtual address corresponding to the beginning of the (contiguous) virtual address
region.
npages : T The number of pages to be unmapped.
Returned Value:
LED definitions are provided for each board in the board.h that resides in the <board-
name>/include/board.h file (which is also linked to include/arch/board/board.h when the RTOS
is configured). Those definitions are discussed below.
The board-specific logic provides unique instances of the LED interfaces. This is because the
implementation of LED support may be very different on different boards. Prototypes for these
board-specific implementations are, however, provided in architecture-common header files. That
header file is usually at <arch-name>/src/common/up_internal.h , but could be at other locations
in particular architectures. These prototypes are discussed below.
The implementation of LED support is very specific to a board architecture. Some boards have several
LEDS, others have only one or two. Some have none. Others LED matrices and show alphanumeric
data, etc. The NuttX logic does not refer to specific LEDS, rather, it refers to an event to be shown on
the LEDS in whatever manner is appropriate for the board; the way that this event is presented
depends upon the hardware available on the board.
The model used by NuttX is that the board can show 8 events defined as follows in <board-
name>/include/board.h :
#define LED_STARTED ??
#define LED_HEAPALLOCATE ??
#define LED_IRQSENABLED ??
#define LED_STACKCREATED ??
#define LED_INIRQ ??
#define LED_SIGNAL ??
#define LED_ASSERTION ??
#define LED_PANIC ??
The specific value assigned to each pre-processor variable can be whatever makes the implementation
easiest for the board logic. The meaning associated with each definition is as follows:
LED_STARTED is the value that describes the setting of the LEDs when the LED logic is first
initialized. This LED value is set but never cleared.
LED_HEAPALLOCATE indicates that the NuttX heap has been configured. This is an important
place in the boot sequence because if the memory is configured wrong, it will probably crash
leaving this LED setting. This LED value is set but never cleared.
LED_IRQSENABLED indicates that interrupts have been enabled. Again, during bring-up (or if
there are hardware problems), it is very likely that the system may crash just when interrupts are
enabled, leaving this setting on the LEDs. This LED value is set but never cleared.
LED_STACKCREATED is set each time a new stack is created. If set, it means that the system
attempted to start at least one new thread. This LED value is set but never cleared.
LED_INIRQ is set and cleared on entry and exit from each interrupt. If interrupts are working
okay, this LED will have a dull glow.
LED_SIGNAL is set and cleared on entry and exit from a signal handler. Signal handlers are
tricky so this is especially useful during bring-up or a new architecture.
LED_ASSERTION is set if an assertion occurs.
LED_PANIC will blink at around 1Hz if the system panics and hangs.
#ifdef CONFIG_ARCH_LEDS
void board_autoled_initialize(void);
void board_autoled_on(int led);
void board_autoled_off(int led);
#else
# define board_autoled_initialize()
# define board_autoled_on(led)
# define board_autoled_off(led)
#endif
Where:
WARNING: This interface name will eventually be removed; do not use it in new board ports. New
implementations should not use the naming convention for common board interfaces, but should instead
use the naming conventions for microprocessor-specific interfaces or the board-specific interfaces (such
as stm32_led_initialize() ).
board_autoled_on(int led) is called to instantiate the LED presentation of the event. The led
argument is one of the definitions provided in <board-name>/include/board.h .
board_autoled_off(int led is called to terminate the LED presentation of the event. The led
argument is one of the definitions provided in <board-name>/include/board.h . Note that only
LED_INIRQ , LED_SIGNAL , LED_ASSERTION , and LED_PANIC indications are terminated.
CONFIG_MM_IOB
Enables generic I/O buffer support. This setting will build the common I/O buffer (IOB) support
library.
CONFIG_IOB_NBUFFERS
Number of pre-allocated I/O buffers. Each packet is represented by a series of small I/O buffers in
a chain. This setting determines the number of preallocated I/O buffers available for packet data.
The default value is setup for network support. The default is 8 buffers if neither TCP read-ahead
or TCP write buffering is enabled (neither CONFIG_NET_TCP_WRITE_BUFFERS nor
CONFIG_NET_TCP_READAHEAD ), 24 if only write buffering is enabled, and 36 if both read-
ahead and write buffering are enabled.
CONFIG_IOB_BUFSIZE
Payload size of one I/O buffer. Each packet is represented by a series of small I/O buffers in a
chain. This setting determines the data payload each preallocated I/O buffer. The default value is
196 bytes.
CONFIG_IOB_NCHAINS
Number of pre-allocated I/O buffer chain heads. These tiny nodes are used as containers to
support queueing of I/O buffer chains. This will limit the number of I/O transactions that can be in-
flight at any give time. The default value of zero disables this features.
These generic I/O buffer chain containers are not currently used by any logic in NuttX. That is
because their other other specialized I/O buffer chain containers that also carry a payload of
usage specific information. The default value is zero if nether TCP nor UDP read-ahead buffering
is enabled (i.e., neither CONFIG_NET_TCP_READAHEAD &&
! CONFIG_NET_UDP_READAHEAD or eight if either is enabled.
CONFIG_IOB_THROTTLE
I/O buffer throttle value. TCP write buffering and read-ahead buffer use the same pool of free I/O
buffers. In order to prevent uncontrolled incoming TCP packets from hogging all of the available,
pre-allocated I/O buffers, a throttling value is required. This throttle value assures that I/O buffers
will be denied to the read-ahead logic before TCP writes are halted. The default 0 if neither TCP
write buffering nor TCP read-ahead buffering is enabled. Otherwise, the default is 8.
CONFIG_IOB_DEBUG
Force I/O buffer debug. This option will force debug output from I/O buffer logic. This is not
normally something that would want to do but is convenient if you are debugging the I/O buffer
logic and do not want to get overloaded with other un-related debug output. NOTE that this
selection is not available if DEBUG features are not enabled ( CONFIG_DEBUG_FEATURES )
with IOBs are being used to syslog buffering logic ( CONFIG_SYSLOG_BUFFER ).
4.14.2 Throttling
An allocation throttle was added. I/O buffer allocation logic supports a throttle value originally for read-
ahead buffering to prevent the read-ahead logic from consuming all available I/O buffers and blocking
the write buffering logic. This throttle logic is only needed for networking only if both write buffering and
read-ahead buffering are used. Of use of I/O buffering might have other motivations for throttling.
This structure represents one I/O buffer. A packet is contained by one or more I/O buffers in a chain.
The io_pktlen is only valid for the I/O buffer at the head of the chain.
struct iob_s
{
/* Singly-link list support */
/* Payload */
uint8_t io_data[CONFIG_IOB_BUFSIZE];
};
This container structure supports queuing of I/O buffer chains. This structure is intended only for
internal use by the IOB module.
4.14.4.1 iob_initialize()
4.14.4.2 iob_alloc()
4.14.4.3 iob_tryalloc()
4.14.4.4 iob_free()
4.14.4.5 iob_free_chain()
4.14.4.6 iob_add_queue()
4.14.4.7 iob_tryadd_queue()
4.14.4.8 iob_remove_queue()
4.14.4.9 iob_peek_queue()
4.14.4.10 iob_free_queue()
4.14.4.11 iob_copyin()
4.14.4.12 iob_trycopyin()
4.14.4.13 iob_copyout()
4.14.4.14 iob_clone()
4.14.4.15 iob_concat()
4.14.4.16 iob_trimhead()
4.14.4.17 iob_trimhead_queue()
4.14.4.18 iob_trimtail()
4.14.4.19 iob_pack()
4.14.4.20 iob_contig()
4.14.4.21 iob_dump()
4.14.4.1 iob_initialize()
Function Prototype:
#include <nuttx/mm/iob.h>
void iob_initialize(void);
4.14.4.2 iob_alloc()
Function Prototype:
#include <nuttx/mm/iob.h>
FAR struct iob_s *iob_alloc(bool throttled);
Description. Allocate an I/O buffer by taking the buffer at the head of the free list.
4.14.4.3 iob_tryalloc()
Function Prototype:
#include <nuttx/mm/iob.h>
FAR struct iob_s *iob_tryalloc(bool throttled);
Description. Try to allocate an I/O buffer by taking the buffer at the head of the free list without waiting
for a buffer to become free.
4.14.4.4 iob_free()
Function Prototype:
#include <nuttx/mm/iob.h>
FAR struct iob_s *iob_free(FAR struct iob_s *iob);
Description. Free the I/O buffer at the head of a buffer chain returning it to the free list. The link to the
next I/O buffer in the chain is return.
4.14.4.5 iob_free_chain()
Function Prototype:
#include <nuttx/mm/iob.h>
void iob_free_chain(FAR struct iob_s *iob);
Description. Free an entire buffer chain, starting at the beginning of the I/O buffer chain
4.14.4.6 iob_add_queue()
Function Prototype:
#include <nuttx/mm/iob.h>
#if CONFIG_IOB_NCHAINS > 0
int iob_add_queue(FAR struct iob_s *iob, FAR struct iob_queue_s *iobq);
#endif /* CONFIG_IOB_NCHAINS > 0 */
Description. Add one I/O buffer chain to the end of a queue. May fail due to lack of resources.
4.14.4.7 iob_tryadd_queue()
Function Prototype:
#include <nuttx/mm/iob.h>
#if CONFIG_IOB_NCHAINS > 0
int iob_tryadd_queue(FAR struct iob_s *iob, FAR struct iob_queue_s *iobq);
#endif /* CONFIG_IOB_NCHAINS > 0 */
Description. Add one I/O buffer chain to the end of a queue without waiting for resources to become
free.
4.14.4.8 iob_remove_queue()
Function Prototype:
#include <nuttx/mm/iob.h>
#if CONFIG_IOB_NCHAINS > 0
FAR struct iob_s *iob_remove_queue(FAR struct iob_queue_s *iobq);
#endif /* CONFIG_IOB_NCHAINS > 0 */
Description. Remove and return one I/O buffer chain from the head of a queue.
Returned Value. Returns a reference to the I/O buffer chain at the head of the queue.
4.14.4.9 iob_peek_queue()
Function Prototype:
#include <nuttx/mm/iob.h>
#if CONFIG_IOB_NCHAINS > 0
FAR struct iob_s *iob_peek_queue(FAR struct iob_queue_s *iobq);
#endif
Description. Return a reference to the I/O buffer chain at the head of a queue. This is similar to
iob_remove_queue except that the I/O buffer chain is in place at the head of the queue. The I/O buffer
chain may safely be modified by the caller but must be removed from the queue before it can be freed.
Returned Value. Returns a reference to the I/O buffer chain at the head of the queue.
4.14.4.10 iob_free_queue()
Function Prototype:
#include <nuttx/mm/iob.h>
#if CONFIG_IOB_NCHAINS > 0
void iob_free_queue(FAR struct iob_queue_s *qhead);
#endif /* CONFIG_IOB_NCHAINS > 0 */
4.14.4.11 iob_copyin()
Function Prototype:
#include <nuttx/mm/iob.h>
int iob_copyin(FAR struct iob_s *iob, FAR const uint8_t *src,
unsigned int len, unsigned int offset, bool throttled);
Description. Copy data len bytes from a user buffer into the I/O buffer chain, starting at offset ,
extending the chain as necessary.
4.14.4.12 iob_trycopyin()
Function Prototype:
#include <nuttx/mm/iob.h>
int iob_trycopyin(FAR struct iob_s *iob, FAR const uint8_t *src,
unsigned int len, unsigned int offset, bool throttled);
Description. Copy data len bytes from a user buffer into the I/O buffer chain, starting at offset ,
extending the chain as necessary BUT without waiting if buffers are not available.
4.14.4.13 iob_copyout()
Function Prototype:
#include <nuttx/mm/iob.h>
int iob_copyout(FAR uint8_t *dest, FAR const struct iob_s *iob,
unsigned int len, unsigned int offset);
Description. Copy data len bytes of data into the user buffer starting at offset in the I/O buffer,
returning that actual number of bytes copied out.
4.14.4.14 iob_clone()
Function Prototype:
#include <nuttx/mm/iob.h>
int iob_clone(FAR struct iob_s *iob1, FAR struct iob_s *iob2, bool throttled);
Description. Duplicate (and pack) the data in iob1 in iob2 . iob2 must be empty.
4.14.4.15 iob_concat()
Function Prototype:
#include <nuttx/mm/iob.h>
void iob_concat(FAR struct iob_s *iob1, FAR struct iob_s *iob2);
4.14.4.16 iob_trimhead()
Function Prototype:
#include <nuttx/mm/iob.h>
FAR struct iob_s *iob_trimhead(FAR struct iob_s *iob, unsigned int trimlen);
Description. Remove bytes from the beginning of an I/O chain. Emptied I/O buffers are freed and,
hence, the beginning of the chain may change.
4.14.4.17 iob_trimhead_queue()
Function Prototype:
#include <nuttx/mm/iob.h>
#if CONFIG_IOB_NCHAINS > 0
FAR struct iob_s *iob_trimhead_queue(FAR struct iob_queue_s *qhead,
unsigned int trimlen);
#endif
Description. Remove bytes from the beginning of an I/O chain at the head of the queue. Emptied I/O
buffers are freed and, hence, the head of the queue may change.
This function is just a wrapper around iob_trimhead() that assures that the iob at the head of queue is
modified with the trimming operations.
Returned Value. The new iob at the head of the queue is returned.
4.14.4.18 iob_trimtail()
Function Prototype:
#include <nuttx/mm/iob.h>
FAR struct iob_s *iob_trimtail(FAR struct iob_s *iob, unsigned int trimlen);
Description. Remove bytes from the end of an I/O chain. Emptied I/O buffers are freed NULL will be
returned in the special case where the entry I/O buffer chain is freed.
4.14.4.19 iob_pack()
Function Prototype:
#include <nuttx/mm/iob.h>
FAR struct iob_s *iob_pack(FAR struct iob_s *iob);
Description. Pack all data in the I/O buffer chain so that the data offset is zero and all but the final
buffer in the chain are filled. Any emptied buffers at the end of the chain are freed.
4.14.4.20 iob_contig()
Function Prototype:
#include <nuttx/mm/iob.h>
int iob_contig(FAR struct iob_s *iob, unsigned int len);
Description. Ensure that there is len bytes of contiguous space at the beginning of the I/O buffer
chain starting at iob .
4.14.4.21 iob_dump()
Function Prototype:
#include <nuttx/mm/iob.h>
#ifdef CONFIG_DEBUG_FEATURES
void iob_dump(FAR const char *msg, FAR struct iob_s *iob, unsigned int len,
unsigned int offset);
#endif
Overview. NuttX includes an optional, scalable file system. This file-system may be omitted altogether;
NuttX does not depend on the presence of any file system.
Pseudo Root File System. A simple in-memory, pseudo file system can be enabled by default. This is
an in-memory file system because it does not require any storage medium or block driver support.
Rather, file system contents are generated on-the-fly as referenced via standard file system operations
(open, close, read, write, etc.). In this sense, the file system is pseudo file system (in the same sense
that the Linux /proc file system is also referred to as a pseudo file system).
Any user supplied data or logic can be accessed via the pseudo-file system. Built in support is provided
for character and block drivers in the /dev pseudo file system directory.
Mounted File Systems The simple in-memory file system can be extended my mounting block devices
that provide access to true file systems backed up via some mass storage device. NuttX supports the
standard mount() command that allows a block driver to be bound to a mountpoint within the pseudo
file system and to a file system. At present, NuttX supports the standard VFAT and ROMFS file
systems, a special, wear-leveling NuttX FLASH File System (NXFFS), as well as a Network File System
client (NFS version 3, UDP).
Comparison to Linux From a programming perspective, the NuttX file system appears very similar to
a Linux file system. However, there is a fundamental difference: The NuttX root file system is a pseudo
file system and true file systems may be mounted in the pseudo file system. In the typical Linux
installation by comparison, the Linux root file system is a true file system and pseudo file systems may
be mounted in the true, root file system. The approach selected by NuttX is intended to support greater
scalability from the very tiny platform to the moderate platform.
These different device driver types are discussed in the following paragraphs. Note: device driver
support depends on the in-memory, pseudo file system that is enabled by default.
include/nuttx/fs/fs.h . All structures and APIs needed to work with character drivers are
provided in this header file.
struct file_operations . Each character device driver must implement an instance of struct
file_operations . That structure defines a call table with the following methods:
User Access. After it has been registered, the character driver can be accessed by user code
using the standard driver operations including open() , close() , read() , write() , etc.
Specialized Character Drivers. Within the common character driver framework, there are
different specific varieties of specialized character drivers. The unique requirements of the
underlying device hardware often mandates some customization of the character driver. These
customizations tend to take the form of:
The specialized character drivers support by NuttX are documented in the following paragraphs.
include/nuttx/serial/serial.h . All structures and APIs needed to work with serial drivers are
provided in this header file.
struct uart_ops_s . Each serial device driver must implement an instance of struct uart_ops_s .
That structure defines a call table with the following methods:
int uart_register(FAR const char *path, FAR uart_dev_t *dev); . A serial driver may register
itself by calling uart_register() , passing it the path where it will appear in the pseudo-file-system
and it's initialized instance of struct uart_ops_s . By convention, serial device drivers are
registered at paths like /dev/ttyS0 , /dev/ttyS1 , etc. See the uart_register() implementation in
drivers/serial.c .
User Access. Serial drivers are, ultimately, normal character drivers and are accessed as other
character drivers.
1. An "upper half", generic driver that provides the common touchscreen interface to application
level code, and
2. A "lower half", platform-specific driver that implements the low-level touchscreen controls to
implement the touchscreen functionality.
Files supporting the touchscreen controller (TSC) driver can be found in the following locations:
Interface Definition. The header files for NuttX touchscreen drivers reside in the
include/nuttx/include/input directory. The interface between the touchscreen controller "upper
half" and "lower half" drivers are not common, but vary from controller-to-controller. Because of
this, each touchscreen driver has its own unique header file that describes the "upper half"/"lower
half" interface in that directory. The application level interface to each touchscreen driver, on the
other hand, is the same for each touchscreen driver and is described
include/nuttx/include/input/touchscreen.h . The touchscreen driver uses a standard character
driver framework but read operations return specially formatted data.
"Upper Half" Driver. The controller-specific, "upper half" touchscreen drivers reside in the
directory drivers/input .
"Lower Half" Drivers. Platform-specific touchscreen drivers reside in either: (1) The
arch/ <architecture> /src/ <hardware> directory for the processor architectures that have build in
touchscreen controllers or (2) the boards/ <arch> / <chip> / <board> /src/ directory for boards
that use an external touchscreen controller chip.
1. An "upper half", generic driver that provides the common analog interface to application level
code, and
2. A "lower half", platform-specific driver that implements the low-level controls to implement the
analog functionality.
General header files for the NuttX analog drivers reside in include/nuttx/analog/ . These header
files includes both the application level interface to the analog driver as well as the interface
between the "upper half" and "lower half" drivers.
Common analog logic and share-able analog drivers reside in the drivers/analog/ .
Platform-specific drivers reside in arch/ <architecture> /src/ <hardware> directory for the specific
processor <architecture> and for the specific <chip> analog peripheral devices.
include/nuttx/analog/adc.h . All structures and APIs needed to work with ADC drivers are
provided in this header file. This header file includes:
1. Structures and interface descriptions needed to develop a low-level, architecture-specific,
ADC driver.
2. To register the ADC driver with a common ADC character driver.
3. Interfaces needed for interfacing user programs with the common ADC character driver.
drivers/analog/adc.c . The implementation of the common ADC character driver.
include/nuttx/analog/dac.h . All structures and APIs needed to work with DAC drivers are
provided in this header file. This header file includes:
1. Structures and interface descriptions needed to develop a low-level, architecture-specific,
DAC driver.
2. To register the DAC driver with a common DAC character driver.
3. Interfaces needed for interfacing user programs with the common DAC character driver.
drivers/analog/dac.c . The implementation of the common DAC character driver.
For the purposes of this driver, a PWM device is any device that generates periodic output pulses of
controlled frequency and pulse width. Such a device might be used, for example, to perform pulse-
width modulated output or frequency/pulse-count modulated output (such as might be needed to
control a stepper motor).
1. An "upper half", generic driver that provides the common PWM interface to application level code,
and
2. A "lower half", platform-specific driver that implements the low-level timer controls to implement
the PWM functionality.
Interface Definition. The header file for the NuttX PWM driver reside at
include/nuttx/timers/pwm.h . This header file includes both the application level interface to the
PWM driver as well as the interface between the "upper half" and "lower half" drivers. The PWM
module uses a standard character driver framework. However, since the PWM driver is a devices
control interface and not a data transfer interface, the majority of the functionality available to the
application is implemented in driver ioctl calls.
"Upper Half" Driver. The generic, "upper half" PWM driver resides at drivers/pwm.c .
"Lower Half" Drivers. Platform-specific PWM drivers reside in
arch/ <architecture> /src/ <hardware> directory for the specific processor <architecture> and for
the specific <chip> PWM peripheral devices.
6.1.5 CAN Drivers
NuttX supports only a very low-level CAN driver. This driver supports only the data exchange and does
not include any high-level CAN protocol. The NuttX CAN driver is split into two parts:
1. An "upper half", generic driver that provides the common CAN interface to application level code,
and
2. A "lower half", platform-specific driver that implements the low-level timer controls to implement
the CAN functionality.
Interface Definition. The header file for the NuttX CAN driver resides at include/nuttx/can/can.h .
This header file includes both the application level interface to the CAN driver as well as the
interface between the "upper half" and "lower half" drivers. The CAN module uses a standard
character driver framework.
"Upper Half" Driver. The generic, "upper half" CAN driver resides at drivers/can.c .
"Lower Half" Drivers. Platform-specific CAN drivers reside in
arch/ <architecture> /src/ <hardware> directory for the specific processor <architecture> and for
the specific <chip> CAN peripheral devices.
Usage Note: When reading from the CAN driver multiple messages may be returned, depending on (1)
the size the returned can messages, and (2) the size of the buffer provided to receive CAN messages.
Never assume that a single message will be returned... if you do this, you will lose CAN data under
conditions where your read buffer can hold more than one small message. Below is an example about
how you should think of the CAN read operation:
1. An "upper half", generic driver that provides the common Quadrature Encoder interface to
application level code, and
2. A "lower half", platform-specific driver that implements the low-level timer controls to implement
the Quadrature Encoder functionality.
Files supporting the Quadrature Encoder can be found in the following locations:
Interface Definition. The header file for the NuttX Quadrature Encoder driver reside at
include/nuttx/sensors/qencoder.h . This header file includes both the application level interface to
the Quadrature Encoder driver as well as the interface between the "upper half" and "lower half"
drivers. The Quadrature Encoder module uses a standard character driver framework.
"Upper Half" Driver. The generic, "upper half" Quadrature Encoder driver resides at
drivers/sensors/qencoder.c .
"Lower Half" Drivers. Platform-specific Quadrature Encoder drivers reside in
arch/ <architecture> /src/ <hardware> directory for the specific processor <architecture> and for
the specific <chip> Quadrature Encoder peripheral devices.
1. An "upper half", generic driver that provides the common timer interface to application level code,
and
2. A "lower half", platform-specific driver that implements the low-level timer controls to implement
the timer functionality.
Files supporting the timer driver can be found in the following locations:
Interface Definition. The header file for the NuttX timer driver reside at
include/nuttx/timers/timer.h . This header file includes both the application level interface to the
timer driver as well as the interface between the "upper half" and "lower half" drivers. The timer
driver uses a standard character driver framework.
"Upper Half" Driver. The generic, "upper half" timer driver resides at drivers/timers/timer.c .
"Lower Half" Drivers. Platform-specific timer drivers reside in
arch/ <architecture> /src/ <hardware> directory for the specific processor <architecture> and for
the specific <chip> timer peripheral devices.
1. An "upper half", generic driver that provides the common RTC interface to application level code,
and
2. A "lower half", platform-specific driver that implements the low-level timer controls to implement
the RTC functionality.
Files supporting the RTC driver can be found in the following locations:
Interface Definition. The header file for the NuttX RTC driver reside at include/nuttx/timers/rtc.h .
This header file includes both the application level interface to the RTC driver as well as the
interface between the "upper half" and "lower half" drivers. The RTC driver uses a standard
character driver framework.
"Upper Half" Driver. The generic, "upper half" RTC driver resides at drivers/timers/rtc.c .
"Lower Half" Drivers. Platform-specific RTC drivers reside in
arch/ <architecture> /src/ <hardware> directory for the specific processor <architecture> and for
the specific <chip> RTC peripheral devices.
1. An "upper half", generic driver that provides the common watchdog timer interface to application
level code, and
2. A "lower half", platform-specific driver that implements the low-level timer controls to implement
the watchdog timer functionality.
Files supporting the watchdog timer driver can be found in the following locations:
Interface Definition. The header file for the NuttX watchdog timer driver reside at
include/nuttx/timers/watchdog.h . This header file includes both the application level interface to
the watchdog timer driver as well as the interface between the "upper half" and "lower half"
drivers. The watchdog timer driver uses a standard character driver framework.
"Upper Half" Driver. The generic, "upper half" watchdog timer driver resides at
drivers/timers/watchdog.c .
"Lower Half" Drivers. Platform-specific watchdog timer drivers reside in
arch/ <architecture> /src/ <hardware> directory for the specific processor <architecture> and for
the specific <chip> watchdog timer peripheral devices.
Keypads vs. Keyboards Keyboards and keypads are really the same devices for NuttX. A keypad is
thought of as simply a keyboard with fewer keys.
Special Commands. In NuttX, a keyboard/keypad driver is simply a character driver that may have an
(optional) encoding/decoding layer on the data returned by the character driver. A keyboard may return
simple text data (alphabetic, numeric, and punctuation) or control characters (enter, control-C, etc.)
when a key is pressed. We can think about this the "normal" keyboard data stream. However, in
addition, most keyboards support actions that cannot be represented as text or control data. Such
actions include things like cursor controls (home, up arrow, page down, etc.), editing functions (insert,
delete, etc.), volume controls, (mute, volume up, etc.) and other special functions. In this case, some
special encoding may be required to multiplex the normal text data and special command key press
data streams.
Key Press and Release Events Sometimes the time that a key is released is needed by applications
as well. Thus, in addition to normal and special key press events, it may also be necessary to encode
normal and special key release events.
Encoding/Decoding Layer. An optional encoding/decoding layer can be used with the basic character
driver to encode the keyboard events into the text data stream. The function interfaces that comprise
that encoding/decoding layer are defined in the header file include/nuttx/input/kbd_code.h . These
functions provide an matched set of (a) driver encoding interfaces, and (b) application decoding
interfaces.
1. Driver Encoding Interfaces. These are interfaces used by the keyboard/keypad driver to encode
keyboard events and data.
kbd_press()
Function Prototype:
#include <nuttx/streams.h>
#include <nuttx/input/kbd_codec.h>
void kbd_press(int ch, FAR struct lib_outstream_s *stream);
Description:
Indicates a normal key press event. Put one byte of normal keyboard data into the
output stream.
Input Parameters:
Returned Value:
None.
kbd_release()
Function Prototype:
#include <nuttx/streams.h>
#include <nuttx/input/kbd_codec.h>
void kbd_release(uint8_t ch, FAR struct lib_outstream_s *stream);
Description:
Input Parameters:
Returned Value:
None.
kbd_specpress()
Function Prototype:
#include <nuttx/streams.h>
#include <nuttx/input/kbd_codec.h>
void kbd_specpress(enum kbd_keycode_e keycode, FAR struct lib_outstream_s *stream
Description:
Denotes a special key press event. Put one special keyboard command into the
output stream.
Input Parameters:
keycode : The command to be added to the output stream. The enumeration enum
kbd_keycode_e keycode identifies all commands known to the system.
stream : An instance of lib_outstream_s to perform the actual low-level put
operation.
Returned Value:
None.
kbd_specrel()
Function Prototype:
#include <nuttx/streams.h>
#include <nuttx/input/kbd_codec.h>
void kbd_specrel(enum kbd_keycode_e keycode, FAR struct lib_outstream_s *stream);
Description:
Denotes a special key release event. Put one special keyboard command into the
output stream.
Input Parameters:
keycode : The command to be added to the output stream. The enumeration enum
kbd_keycode_e keycode identifies all commands known to the system.
stream : An instance of lib_outstream_s to perform the actual low-level put
operation.
Returned Value:
None.
2. Application Decoding Interfaces. These are user interfaces to decode the values returned by
the keyboard/keypad driver.
kbd_decode()
Function Prototype:
#include <nuttx/streams.h>
#include <nuttx/input/kbd_codec.h>
int kbd_decode(FAR struct lib_instream_s *stream, FAR struct kbd_getstate_s *state, FA
Description:
Get one byte of data or special command from the driver provided input buffer.
Input Parameters:
Returned Value:
KBD_PRESS (0): Indicates the successful receipt of normal, keyboard data. This
corresponds to a keypress event. The returned value in pch is a simple byte of text or
control data.
KBD_RELEASE (1): Indicates a key release event. The returned value in pch is the
byte of text or control data corresponding to the released key.
KBD_SPECPRESS (2): Indicates the successful receipt of a special keyboard
command. The returned value in pch is a value from enum kbd_getstate_s .
KBD_SPECREL (3): Indicates a special command key release event. The returned
value in pch is a value from enum kbd_getstate_s .
KBD_ERROR ( EOF ): An error has getting the next character (reported by the
stream ). Normally indicates the end of file.
I/O Streams. Notice the use of the abstract I/O streams in these interfaces. These stream interfaces
are defined in include/nuttx/streams.h .
include/nuttx/fs/fs.h . All structures and APIs needed to work with block drivers are provided in
this header file.
struct block_operations . Each block device driver must implement an instance of struct
block_operations . That structure defines a call table with the following methods:
User Access. Users do not normally access block drivers directly, rather, they access block
drivers indirectly through the mount() API. The mount() API binds a block driver instance with a
file system and with a mountpoint. Then the user may use the block driver to access the file
system on the underlying media. Example: See the cmd_mount() implementation in
apps/nshlib/nsh_fscmds.c .
Accessing a Character Driver as a Block Device. See the loop device at drivers/loop.c .
Example: See the cmd_losetup() implementation in apps/nshlib/nsh_fscmds.c .
Accessing a Block Driver as Character Device. See the Block-to-Character (BCH) conversion
logic in drivers/bch/ . Example: See the cmd_dd() implementation in apps/nshlib/nsh_ddcmd.c .
In addition to this, there are also specialized "drivers" that can be used only within the OS logic itself
and are not accessible to application logic. These specialized drivers are discussed in the following
paragraphs.
include/nuttx/net/netdev.h . All structures and APIs needed to work with Ethernet drivers are
provided in this header file. The structure struct net_driver_s defines the interface and is passed
to the network via netdev_register() .
include/nuttx/spi/spi.h . All structures and APIs needed to work with SPI drivers are provided in
this header file.
struct spi_ops_s . Each SPI device driver must implement an instance of struct spi_ops_s .
That structure defines a call table with the following methods:
Binding SPI Drivers. SPI drivers are not normally directly accessed by user code, but are
usually bound to another, higher level device driver. See for example, int
mmcsd_spislotinitialize(int minor, int slotno, FAR struct spi_dev_s *spi) in
drivers/mmcsd/mmcsd_spi.c . In general, the binding sequence is:
1. Get an instance of struct spi_dev_s from the hardware-specific SPI device driver, and
2. Provide that instance to the initialization method of the higher level device driver.
include/nuttx/i2c/i2c.h . All structures and APIs needed to work with I2C drivers are provided in
this header file.
struct i2c_ops_s . Each I2C device driver must implement an instance of struct i2c_ops_s . That
structure defines a call table with the following methods:
int transfer(FAR struct i2c_master_s *dev, FAR struct i2c_msg_s *msgs, int count);
Binding I2C Drivers. I2C drivers are not normally directly accessed by user code, but are usually
bound to another, higher level device driver. In general, the binding sequence is:
1. Get an instance of struct i2c_master_s from the hardware-specific I2C device driver, and
2. Provide that instance to the initialization method of the higher level device driver.
include/nuttx/video/fb.h . All structures and APIs needed to work with frame buffer drivers are
provided in this header file.
struct fb_vtable_s . Each frame buffer device driver must implement an instance of struct
fb_vtable_s . That structure defines a call table with the following methods:
Get information about the video controller configuration and the configuration of each color plane.
The following are provided only if the video hardware supports RGB color mapping:
The following are provided only if the video hardware supports a hardware cursor:
Binding Frame Buffer Drivers. Frame buffer drivers are not normally directly accessed by user
code, but are usually bound to another, higher level device driver. In general, the binding
sequence is:
1. Get an instance of struct fb_vtable_s from the hardware-specific frame buffer device driver,
and
2. Provide that instance to the initialization method of the higher level device driver.
Examples: arch/sim/src/up_framebuffer.c . See also the usage of the frame buffer driver in the
graphics/ directory.
6.3.5 LCD Drivers
include/nuttx/lcd/lcd.h . Structures and APIs needed to work with LCD drivers are provided in
this header file. This header file also depends on some of the same definitions used for the frame
buffer driver as provided in include/nuttx/video/fb.h .
struct lcd_dev_s . Each LCD device driver must implement an instance of struct lcd_dev_s .
That structure defines a call table with the following methods:
Get information about the LCD video controller configuration and the configuration of each LCD
color plane.
The following are provided only if the video hardware supports RGB color mapping:
The following are provided only if the video hardware supports a hardware cursor:
Get the LCD panel power status (0: full off - CONFIG_LCD_MAXPOWER : full on). On backlit
LCDs, this setting may correspond to the backlight setting.
Enable/disable LCD panel power (0: full off - CONFIG_LCD_MAXPOWER : full on). On backlit
LCDs, this setting may correspond to the backlight setting.
Binding LCD Drivers. LCD drivers are not normally directly accessed by user code, but are
usually bound to another, higher level device driver. In general, the binding sequence is:
1. Get an instance of struct lcd_dev_s from the hardware-specific LCD device driver, and
2. Provide that instance to the initialization method of the higher level device driver.
include/nuttx/mtd/mtd.h . All structures and APIs needed to work with MTD drivers are provided
in this header file.
struct mtd_dev_s . Each MTD device driver must implement an instance of struct mtd_dev_s .
That structure defines a call table with the following methods:
ssize_t (*bread)(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks, FAR uint8_t
*buffer);
ssize_t (*bwrite)(FAR struct mtd_dev_s *dev, off_t startblock, size_t nblocks, FAR const
uint8_t *buffer);
Some devices may support byte oriented reads (optional). Most MTD devices are inherently block
oriented so byte-oriented accesses are not supported. It is recommended that low-level drivers
not support read() if it requires buffering.
ssize_t (*read)(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes, FAR uint8_t *buffer);
Some devices may also support byte oriented writes (optional). Most MTD devices are inherently
block oriented so byte-oriented accesses are not supported. It is recommended that low-level
drivers not support read() if it requires buffering. This interface is only available if
CONFIG_MTD_BYTE_WRITE is defined.
ssize_t (*write)(FAR struct mtd_dev_s *dev, off_t offset, size_t nbytes, FAR const uint8_t
*buffer);
int (*ioctl)(FAR struct mtd_dev_s *dev, int cmd, unsigned long arg);
Binding MTD Drivers. MTD drivers are not normally directly accessed by user code, but are
usually bound to another, higher level device driver. In general, the binding sequence is:
1. Get an instance of struct mtd_dev_s from the hardware-specific MTD device driver, and
2. Provide that instance to the initialization method of the higher level device driver.
include/nuttx/sdio.h . All structures and APIs needed to work with SDIO drivers are provided in
this header file.
struct sdio_dev_s . Each SDIO device driver must implement an instance of struct sdio_dev_s .
That structure defines a call table with the following methods:
Mutual exclusion:
#ifdef CONFIG_SDIO_MUXBUS
int (*lock)(FAR struct sdio_dev_s *dev, bool lock);
#endif
Initialization/setup:
Command/Status/Data Transfer:
Event/Callback support:
DMA support:
int (*dmarecvsetup)(FAR struct sdio_dev_s *dev, FAR uint8_t *buffer, size_t buflen);
int (*dmasendsetup)(FAR struct sdio_dev_s *dev, FAR const uint8_t *buffer, size_t buflen);
Binding SDIO Drivers. SDIO drivers are not normally directly accessed by user code, but are
usually bound to another, higher level device driver. In general, the binding sequence is:
1. Get an instance of struct sdio_dev_s from the hardware-specific SDIO device driver, and
2. Provide that instance to the initialization method of the higher level device driver.
include/nuttx/usb/usbhost.h . All structures and APIs needed to work with USB host-side
drivers are provided in this header file.
struct usbhost_driver_s and struct usbhost_connection_s . Each USB host controller driver
must implement an instance of struct usbhost_driver_s and struct usbhost_connection_s : struct
usbhost_driver_s provides the interface between the USB host driver and the USB class driver;
struct usbhost_connection_s provides the interface between the USB host driver and platform-
specific connection management and device enumeration logic. These structures are defined in
include/nuttx/usb/usbhost.h .
Examples: arch/arm/src/lpc17xx_40xx/lpc17_40_usbhost.c ,
arch/arm/src/stm32/stm32_otgfshost.c , arch/arm/src/sama5/sam_ohci.c , and
arch/arm/src/sama5/sam_ehci.c .
struct usbhost_class_s . Each USB host class driver must implement an instance of struct
usbhost_class_s . This structure is also defined in include/nuttx/usb/usbhost.h .
Examples: drivers/usbhost/usbhost_storage.c
USB Host Class Driver Registry. The NuttX USB host infrastructure includes a registry. During
its initialization, each USB host class driver must call the interface, usbhost_registerclass() in
order add its interface to the registry. Later, when a USB device is connected, the USB host
controller will look up the USB host class driver that is needed to support the connected device in
this registry.
Detection and Enumeration of Connected Devices. Each USB host device controller supports
two methods that are used to detect and enumeration newly connected devices (and also detect
disconnected devices):
Enumerate the device connected to a root hub port. As part of this enumeration process, the
driver will (1) get the device's configuration descriptor, (2) extract the class ID info from the
configuration descriptor, (3) call usbhost_findclass( ) to find the class that supports this
device, (4) call the create() method on the struct usbhost_registry_s interface to get a
class instance, and finally (5) call the connect() method of the struct usbhost_class_s
interface. After that, the class is in charge of the sequence of operations.
Binding USB Host-Side Drivers. USB host-side controller drivers are not normally directly
accessed by user code, but are usually bound to another, higher level USB host class driver. The
class driver exports the standard NuttX device interface so that the connected USB device can be
accessed just as with other, similar, on-board devices. For example, the USB host mass storage
class driver ( drivers/usbhost/usbhost_storage.c ) will register a standard, NuttX block driver
interface (like /dev/sda ) that can be used to mount a file system just as with any other other block
driver instance. In general, the binding sequence is:
1. Each USB host class driver includes an initialization entry point that is called from the
application at initialization time. This driver calls usbhost_registerclass() during this
initialization in order to makes itself available in the event the device that it supports is
connected.
2. Each application must include a waiter thread thread that (1) calls the USB host controller
driver's wait() to detect the connection of a device, and then (2) call the USB host controller
driver's enumerate method to bind the registered USB host class driver to the USB host
controller driver.
Examples: The function nsh_waiter() in the file boards/arm/lpc17xx_40xx/olimex-
lpc1766stk/src/lpc17_40_appinit.c .
3. As part of its operation during the binding operation, the USB host class driver will register
an instances of a standard NuttX driver under the /dev directory. To repeat the above
example, the USB host mass storage class driver ( drivers/usbhost/usbhost_storage.c ) will
register a standard, NuttX block driver interface (like /dev/sda ) that can be used to mount a
file system just as with any other other block driver instance.
include/nuttx/usb/usbdev.h . All structures and APIs needed to work with USB device-side
drivers are provided in this header file.
struct usbdev_s . Each USB device controller driver must implement an instance of struct
usbdev_s . This structure is defined in include/nuttx/usb/usbdev.h .
Examples: arch/arm/src/dm320/dm320_usbdev.c ,
arch/arm/src/lpc17xx_40xx/lpc17_40_usbdev.c , arch/arm/src/lpc214x/lpc214x_usbdev.c ,
arch/arm/src/lpc313x/lpc313x_usbdev.c , and arch/arm/src/stm32/stm32_usbdev.c .
struct usbdevclass_driver_s . Each USB device class driver must implement an instance of
struct usbdevclass_driver_s . This structure is also defined in include/nuttx/usb/usbdev.h .
Binding USB Device-Side Drivers. USB device-side controller drivers are not normally directly
accessed by user code, but are usually bound to another, higher level USB device class driver.
The class driver is then configured to export the USB device functionality. In general, the binding
sequence is:
1. Each USB device class driver includes an initialization entry point that is called from the
application at initialization time.
2. These initialization functions called the driver API, usbdev_register() . This driver function
will bind the USB class driver to the USB device controller driver, completing the
initialization.
6.4 SYSLOG
6.4.1 SYSLOG Interfaces
The NuttX SYSLOG is an architecture for getting debug and status information from the system. The
syslogging interfaces are defined in the header file include/syslog.h . The primary interface to
SYSLOG sub-system is the function syslog() and, to a lesser extent, its companion vsyslog() :
Function Prototypes:
#include <syslog.h>
int syslog(int priority, FAR const IPTR char *format, ...);
void vsyslog(int priority, FAR const IPTR char *src, va_list ap);
Description: syslog() generates a log message. The priority argument is formed by ORing the facility
and the level values (see include/syslog.h ). The remaining arguments are a format, as in printf() and
any arguments to the format.
The NuttX implementation does not support any special formatting characters beyond those supported
by printf() .
The function vsyslog() performs the same task as syslog() with the difference that it takes a set of
arguments which have been obtained using the stdarg variable argument list macros.
6.4.1.3 setlogmask()
The additional setlogmask() interface can use use to filter SYSLOG output:
Function Prototype:
#include <syslog.h>
int setlogmask(int mask);
Description: The setlogmask() function sets the logmask and returns the previous mask. If the mask
argument is zerio, the current logmask is not modified.
Per OpenGroup.org "If the maskpri argument is 0, the current log mask is not modified." In this
implementation, the value zero is permitted in order to disable all SYSLOG levels.
REVISIT: Per POSIX the SYSLOG mask should be a per-process value but in NuttX, the scope of the
mask is dependent on the nature of the build:
Flat Build: There is one, global SYSLOG mask that controls all output.
Protected Build: There are two SYSLOG masks. One within the kernel that controls only kernel
output. And one in user-space that controls only user SYSLOG output.
Kernel Build: The kernel build is compliant with the POSIX requirement: There will be one mask
for for each user process, controlling the SYSLOG output only form that process. There will be a
separate mask accessible only in the kernel code to control kernel SYSLOG output.
The above are all standard interfaces as defined at OpenGroup.org. Those interfaces are available for
use by application software. The remaining interfaces discussed in this section are non-standard, OS-
internal interfaces.
In NuttX, syslog output is really synonymous to debug output and, therefore, the debugging interface
macros defined in the header file include/debug.h are also syslogging interfaces. Those macros are
simply wrappers around syslog() . The debugging interfaces differ from the syslog interfaces in that:
They do not take a priority parameter; the priority is inherent in the debug macro name.
They decorate the output stream with information such as the file name
Each debug macro has a base name that represents the priority and a prefix that represents the sub-
system. Each macro is individually initialized by both priority and sub-system. For example, uerr() is
the macro used for error level messages from the USB subsystem and is enabled with
CONFIG_DEBUG_USB_ERROR .
The base debug macro names, their priority, and configuration variable are summarized below:
info() . The info() macro is the lowest priority (LOG_INFO ) and is intended to provide general
information about the flow of program execution so that you can get an overview of the behavior
of the program. info() is often very chatty and voluminous and usually more information than you
may want to see. The info() macro is controlled via CONFIG_DEBUG_subsystem_INFO
warn() . The warn() macro has medium priority (LOG_WARN ) and is controlled by
CONFIG_DEBUG_subsystem_WARN . The warn() is intended to note exceptional or
unexpected conditions that might be potential errors or, perhaps, minor errors that easily
recovered.
In the NuttX SYSLOG implementation, the underlying device logic the supports the SYSLOG output is
referred to as a SYSLOG channel. Each SYSLOG channel is represented by an interface defined in
include/nuttx/syslog/syslog.h :
struct syslog_channel_s
{
/* I/O redirection methods */
6.4.2.1 syslog_channel()
Function Prototype:
#include <nuttx/syslog/syslog.h>
int syslog_channel(FAR const struct syslog_channel_s *channel);
Description: Configure the SYSLOG function to use the provided channel to generate SYSLOG
output.
Input Parameters:
Returned Value:
Zero ( OK )is returned on success. A negated errno value is returned on any failure.
The initial, default SYSLOG channel is established with statically initialized global variables so that
some level of SYSLOG output may be available immediately upon reset. This initialized data is in the
file drivers/syslog/syslog_channel.c . The initial SYSLOG capability is determined by the selected
SYSLOG channel:
Serial Console. If the serial implementation provides the low-level character output function
up_putc() , then that low level serial output is available as soon as the serial device has been
configured.
For all other SYSLOG channels, all SYSLOG output goes to the bit- bucket until the SYSLOG
channel device has been initialized.
The syslog channel device is initialized when the bring-up logic calls syslog_initialize() :
6.4.2.3 syslog_initialize()
Function Prototype:
#include <nuttx/syslog/syslog.h>
#ifndef CONFIG_ARCH_SYSLOG
int syslog_initialize(enum syslog_init_e phase);
#else
# define syslog_initialize(phase)
#endif
Description: One power up, the SYSLOG facility is non-existent or limited to very low-level output.
This function is called later in the initialization sequence after full driver support has been initialized. It
installs the configured SYSLOG drivers and enables full SYSLOG capability.
If CONFIG_ARCH_SYSLOG is selected, then the architecture-specific logic will provide its own
SYSLOG device initialize which must include as a minimum a call to syslog_channel() to use the
device.
Input Parameters:
Returned Value: Zero ( OK ) is returned on success; a negated errno value is returned on any failure.
Different types of SYSLOG devices have different OS initialization requirements. Some are available
immediately at reset, some are available after some basic OS initialization, and some only after OS is
fully initialized. In order to satisfy these different initialization requirements, syslog_initialize() is called
twice from the boot-up logic:
syslog_initialize() is called again from nx_start() when the full OS initialization has completed,
just before the application main entry point is spawned. In this case, syslog_initialize() is called
with the argument SYSLOG_INIT_LATE .
There are other types of SYSLOG channel devices that may require even further initialization. For
example, the file SYSLOG channel (described below) cannot be initialized until the necessary file
systems have been mounted.
As a general statement, SYSLOG output only supports //normal// output from NuttX tasks. However, for
debugging purposes, it is also useful to get SYSLOG output from interrupt level logic. In an embedded
system, that is often where the most critical operations are performed.
There are three conditions under which SYSLOG output generated from interrupt level processing can
a included the SYSLOG output stream:
up_putc() is able to generate debug output in any context because it disables serial
interrupts and polls the hardware directly. These polls may take many milliseconds and
during that time, all interrupts are disable within the interrupt handler. This, of course,
interferes with the real-time behavior of the RTOS.
The output generated by up_putc() is immediate and in real-time. The normal SYSLOG
output, on the other hand, is buffered in the serial driver and may be delayed with respect to
the immediate output by many lines. Therefore, the interrupt level SYSLOG output provided
through up_putc() is grossly out of synchronization with other debug output
2. In-Memory Buffering. If the RAMLOG SYSLOG channel is supported, then all SYSLOG output is
buffered in memory. Interrupt level SYSLOG output is no different than normal SYSLOG output in
this case.
3. Serialization Buffer. A final option is the use the an interrupt buffer to buffer the interrupt level
SYSLOG output. In this case:
SYSLOG output generated from interrupt level process in not sent to the SYSLOG channel
immediately. Rather, it is buffered in the interrupt serialization buffer.
Later, when the next normal syslog output is generated, it will first empty the content of the
interrupt buffer to the SYSLOG device in the proper context. It will then be followed by the
normal syslog output. In this case, the interrupt level SYSLOG output will interrupt the
normal output stream and the interrupt level SYSLOG output will be inserted into the correct
position in the SYSLOG output when the next normal SYLOG output is generated.
The typical SYSLOG device is the system console. If you are using a serial console, for example, then
the SYSLOG output will appear on that serial port.
This SYSLOG channel is automatically selected by syslog_initialize() in the LATE initialization phase
based on configuration options. The configuration options that affect this channel selection include:
CONFIG_DEV_CONSOLE . This setting indicates that the system supports a console device,
i.e., that the character device /dev/console exists.
Interrupt level SYSLOG output will be lost unless: (1) the interrupt buffer is enabled to support
serialization, or (2) a serial console is used and up_putc() is supported.
NOTE: The console channel uses the fixed character device at /dev/console . The console channel is
not synonymous with stdout (or file descriptor 1). stdout is the current output from a task when, say,
printf() if used. Initially, stdout does, indeed, use the /dev/console device. However, stdout may
subsequently be redirected to some other device or file. This is always the case, for example, when a
transient device is used for a console -- such as a USB console or a Telnet console. The SYSLOG
channel is not redirected as stdout is; the SYSLOG channel will stayed fixed (unless it is explicitly
changed via syslog_channel() ).
The system console device, /dev/console , is a character driver with some special properties. However,
any character driver may be used as the SYSLOG output channel. For example, suppose you have a
serial console on /dev/ttyS0 and you want SYSLOG output on /dev/ttyS1 . Or suppose you support
only a Telnet console but want to capture debug output /dev/ttyS0 .
This SYSLOG device channel is selected with CONFIG_SYSLOG_CHAR and has no other
dependencies. Differences from the SYSLOG console channel include:
CONFIG_SYSLOG_DEVPATH . This configuration option string must be set provide the full path
to the character device to be used.
The forced SYSLOG output always goes to the bit-bucket. This means that interrupt level
SYSLOG output will be lost unless the interrupt buffer is enabled to support serialization.
Files can also be used as the sink for SYSLOG output. There is, however, a very fundamental
difference in using a file as opposed the system console, a RAM buffer, or character device: You must
first mount the file system that supports the SYSLOG file. That difference means that the file SYSLOG
channel cannot be supported during the boot-up phase but can be instantiated later when board level
logic configures the application environment, including mounting of the file systems.
6.4.3.4 syslog_file_channel()
Function Prototype:
#include <nuttx/syslog/syslog.h>
#ifdef CONFIG_SYSLOG_FILE
int syslog_file_channel(FAR const char *devpath);
#endif
Description: Configure to use a file in a mounted file system at devpath as the SYSLOG channel.
This tiny function is simply a wrapper around syslog_dev_initialize() and syslog_channel() . It calls
syslog_dev_initialize() to configure the character file at devpath then calls syslog_channel() to use
that device as the SYSLOG output channel.
File SYSLOG channels differ from other SYSLOG channels in that they cannot be established until after
fully booting and mounting the target file system. This function would need to be called from board-
specific bring-up logic AFTER mounting the file system containing devpath .
SYSLOG data generated prior to calling syslog_file_channel() will, of course, not be included in the
file.
NOTE interrupt level SYSLOG output will be lost in this case unless the interrupt buffer is used.
Input Parameters:
devpath : The full path to the file to be used for SYSLOG output. This may be an existing file or
not. If the file exists, syslog_file_channel() will append new SYSLOG data to the end of the file.
If it does not, then syslog_file_channel() will create the file.
Returned Value: Zero ( OK ) is returned on success; a negated errno value is returned on any failure.
The RAMLOG is a standalone feature that can be used to buffer any character data in memory. There
are, however, special configurations that can be used to configure the RAMLOG as a SYSLOG
channel. The RAMLOG functionality is described in a more general way in the following paragraphs.
The RAM logging driver is a driver that was intended to support debugging output (SYSLOG) when the
normal serial output is not available. For example, if you are using a Telnet or USB serial console, the
debug output will get lost -- or worse. For example, what if you want to debug the network over Telnet?
The RAM logging driver can also accept debug output data from interrupt handler with no special
serialization buffering. As an added benefit, the RAM logging driver is much less invasive. Since no
actual I/O is performed with the debug output is generated, the RAM logger tends to be much faster
and will interfere much less when used with time critical drivers.
The RAM logging driver is similar to a pipe in that it saves the debugging output in a circular buffer in
RAM. It differs from a pipe in numerous details as needed to support logging.
6.4.4.1 dmesg
When the RAMLOG (with SYSLOG) is enabled, a new NuttShell (NSH) command will appear: dmesg .
The dmesg command will dump the contents of the circular buffer to the console (and also clear the
circular buffer).
CONFIG_RAMLOG_SYSLOG : Use the RAM logging device for the SYSLOG interface. If this
feature is enabled, then all debug output will be re-directed to the circular buffer in RAM. This
RAM log can be viewed from NSH using the dmesg command. NOTE: Unlike the limited, generic
character driver SYSLOG device, the RAMLOG can be used to capture debug output from
interrupt level handlers.
CONFIG_RAMLOG_BUFSIZE : The size of the circular buffer to use. Default: 1024 bytes.
CONFIG_RAMLOG_CRLF : Pre-pend a carriage return before every linefeed that goes into the
RAM log.
Power Management (PM) Sub-System. NuttX supports a simple power management (PM) sub-
system. This sub-system:
Monitors activity from drivers (and from other parts of the system), and
Provides hooks to place drivers (and the whole system) into reduce power modes of operation.
The PM sub-system integrates the MCU idle loop with a collection of device drivers to support:
Low Power Consumption States. Various "sleep" and low power consumption states have various
names and are sometimes used in conflicting ways. In the NuttX PM logic, we will use the following
terminology:
NORMAL
The normal, full power operating mode.
IDLE
This is still basically normal operational mode, the system is, however, IDLE and some simple
simple steps to reduce power consumption provided that they do not interfere with normal
Operation. Simply dimming the a backlight might be an example some that that would be done
when the system is idle.
STANDBY
Standby is a lower power consumption mode that may involve more extensive power
management steps such has disabling clocking or setting the processor into reduced power
consumption modes. In this state, the system should still be able to resume normal activity
almost immediately.
SLEEP
The lowest power consumption mode. The most drastic power reduction measures possible
should be taken in this state. It may require some time to get back to normal operation from
SLEEP (some MCUs may even require going through reset).
These various states are represented with type enum pm_state_e in include/nuttx/power/pm.h .
Power Management Domains. Each PM interfaces includes a integer domain number. By default, only
a single power domain is supported ( CONFIG_PM_NDOMAINS=1 ). But that is configurable; any
number of PM domains can be supported. Multiple PM domains might be useful, for example, if you
would want to control power states associated with a network separately from power states associated
with a user interface.
6.5.2 Interfaces
6.5.2.1 pm_initialize()
Function Prototype:
#include <nuttx/power/pm.h>
void pm_initialize(void);
Description: This function is called by MCU-specific one-time at power on reset in order to initialize the
power management capabilities. This function must be called very early in the initialization sequence
before any other device drivers are initialized (since they may attempt to register with the power
management subsystem).
6.5.2.2 pm_register()
Function Prototype:
#include <nuttx/power/pm.h>
int pm_register(FAR struct pm_callback_s *callbacks);
Description: This function is called by a device driver in order to register to receive power
management event callbacks. Refer to the PM Callback section for more details.
Input Parameters:
callbacks
An instance of struct pm_callback_s providing the driver callback functions.
6.5.2.3 pm_unregister()
Function Prototype:
#include <nuttx/power/pm.h>
int pm_unregister(FAR struct pm_callback_s *callbacks);
Description: This function is called by a device driver in order to unregister previously registered power
management event callbacks. Refer to the PM Callback section for more details.
Input Parameters:
callbacks
An instance of struct pm_callback_s providing the driver callback functions.
6.5.2.4 pm_activity()
Function Prototype:
#include <nuttx/power/pm.h>
void pm_activity(int domain, int priority);
Description: This function is called by a device driver to indicate that it is performing meaningful
activities (non-idle). This increment an activity count and/or will restart a idle timer and prevent entering
reduced power states.
Input Parameters:
domain
Identifies the domain of the new PM activity
priority
Activity priority, range 0-9. Larger values correspond to higher priorities. Higher priority activity
can prevent the system from entering reduced power states for a longer period of time. As an
example, a button press might be higher priority activity because it means that the user is actively
interacting with the device.
Assumptions: This function may be called from an interrupt handler (this is the ONLY PM function that
may be called from an interrupt handler!).
6.5.2.5 pm_checkstate()
Function Prototype:
#include <nuttx/power/pm.h>
enum pm_state_e pm_checkstate(int domain);
Description: This function is called from the MCU-specific IDLE loop to monitor the power
management conditions. This function returns the "recommended" power management state based on
the PM configuration and activity reported in the last sampling periods. The power management state is
not automatically changed, however. The IDLE loop must call pm_changestate() in order to make the
state change.
These two steps are separated because the platform-specific IDLE loop may have additional situational
information that is not available to the PM sub-system. For example, the IDLE loop may know that the
battery charge level is very low and may force lower power states even if there is activity.
NOTE: That these two steps are separated in time and, hence, the IDLE loop could be suspended for a
long period of time between calling pm_checkstate() and pm_changestate() . The IDLE loop may
need to make these calls atomic by either disabling interrupts until the state change is completed.
Input Parameters:
domain
Identifies the PM domain to check
6.5.2.6 pm_changestate()
Function Prototype:
#include <nuttx/power/pm.h>
int pm_changestate(int domain, enum pm_state_e newstate);
Description: This function is used by platform-specific power management logic. It will announce the
power management power management state change to all drivers that have registered for power
management event callbacks.
Input Parameters:
domain
Identifies the domain of the new PM state
newstate
Identifies the new PM state
Returned Value: 0 ( OK ) means that the callback function for all registered drivers returned OK
(meaning that they accept the state change). Non-zero means that one of the drivers refused the state
change. In this case, the system will revert to the preceding state.
Assumptions: It is assumed that interrupts are disabled when this function is called. This function is
probably called from the IDLE loop... the lowest priority task in the system. Changing driver power
management states may result in renewed system activity and, as a result, can suspend the IDLE
thread before it completes the entire state change unless interrupts are disabled throughout the state
change.
6.5.3 Callbacks
The struct pm_callback_s includes the pointers to the driver callback functions. This structure is
defined include/nuttx/power/pm.h . These callback functions can be used to provide power
management information to the driver.
6.5.3.1 prepare()
Function Prototype:
int (*prepare)(FAR struct pm_callback_s *cb, int domain, enum pm_state_e pmstate);
Description: Request the driver to prepare for a new power state. This is a warning that the system is
about to enter into a new power state. The driver should begin whatever operations that may be
required to enter power state. The driver may abort the state change mode by returning a non-zero
value from the callback function.
Input Parameters:
cb
Returned to the driver. The driver version of the callback structure may include additional, driver-
specific state data at the end of the structure.
domain
Identifies the activity domain of the state change
pmstate
Identifies the new PM state
Returned Value: Zero ( OK ) means the event was successfully processed and that the driver is
prepared for the PM state change. Non-zero means that the driver is not prepared to perform the tasks
needed achieve this power setting and will cause the state change to be aborted. NOTE: The
prepare() method will also be called when reverting from lower back to higher power consumption
modes (say because another driver refused a lower power state change). Drivers are not permitted to
return non-zero values when reverting back to higher power consumption modes!
6.5.3.1 notify()
Function Prototype:
#include <nuttx/power/pm.h>
void (*notify)(FAR struct pm_callback_s *cb, int domain, enum pm_state_e pmstate);
Description: Notify the driver of new power state. This callback is called after all drivers have had the
opportunity to prepare for the new power state.
Input Parameters:
cb
Returned to the driver. The driver version of the callback structure may include additional, driver-
specific state data at the end of the structure.
domain
Identifies the activity domain of the state change
pmstate
Identifies the new PM state
Returned Value: None. The driver already agreed to transition to the low power consumption state
when when it returned OK to the prepare() call.
At one time, this section provided a list of all NuttX configuration variables. However, NuttX has since
converted to use the kconfig-frontends tools. Now, the NuttX configuration is determined by a self-
documenting set of Kconfig files.
The current NuttX configuration variables are also documented in separate, auto-generated
configuration variable document. That configuration variable document is generated using the
kconfig2html tool that can be found in the nuttx/tools directory. That tool analyzes the NuttX Kconfig
files and generates excruciatingly boring HTML document.
The latest boring configuration variable documentation can be regenerated at any time using that tool
or, more appropriately, the wrapper script at nuttx/tools/mkconfigvars.sh . That script will generate the
file nuttx/Documentation/NuttXConfigVariables.html .
The version of NuttXConfigVariables.html for the last released version of NuttX can also be found
online.
Appendix B: Trademarks
ARM, ARM7 ARM7TDMI, ARM9, ARM920T, ARM926EJS, Cortex-M3 are trademarks of Advanced
RISC Machines, Limited.
Cygwin is a trademark of Red Hat, Incorporated.
Linux is a registered trademark of Linus Torvalds.
Eagle-100 is a trademark of Micromint USA, LLC.
LPC2148 is a trademark of NXP Semiconductors.
TI is a trade name of Texas Instruments Incorporated.
UNIX is a registered trademark of The Open Group.
VxWorks is a registered trademark of Wind River Systems, Incorporated.
ZDS, ZNEO, Z16F, Z80, and Zilog are a registered trademark of Zilog, Inc.
NOTE: NuttX is not licensed to use the POSIX trademark. NuttX uses the POSIX standard as a
development guideline only.