Release Notes for the QNX Neutrino 6.4.0 BSP for Atmel AT91SAM9RL64-EK Board#

System requirements#

Target system#

Host development system#

Getting Started#

Step 1: Connect your hardware#

Connect the DEBUG port of the AT91SAM9RL64 board to the first serial port of your windows machine. Install the SAM-BA application provided by Atmel. Connect the board with Windows Machine using USB Cable.

Step 2: Build the BSP#

You can build an OS image from the source code or the binary components contained in a BSP package. For instructions about building an OS image, please refer to the chapter Working with a BSP in the Building Embedded Systems manual. After Building the BSP three bin files will be created in images directory.
mkflashimage script creates a combined IPL/IFS image as ipl-ifs-at91sam9rl64.bin
The mkflashimage script:

# script to build a binary IPL and boot image for ATMEL AT91SAM9RL64 Evaluation Kit board

# NOTE the image (ipl-ifs-at91sam9rl64.bin) must be built as binary, i.e. [virtual=armle,binary] in the buildfile 
set -v

#   Convert IPL into BINARY format
${QNX_HOST}/usr/bin/ntoarm-objcopy --input-format=elf32-littlearm --output-format=binary ../install/armle/boot/sys/ipl-at91sam9xx-at91sam9rl64 ipl-tmp-at91sam9rl64.bin

mkrec -s16k -ffull -r ipl-tmp-at91sam9rl64.bin > ipl-at91sam9rl64.bin

#   Combine the BINARY IPL with the BINARY OS Image
cat ./ipl-at91sam9rl64.bin ./ifs-at91sam9rl64.bin > ipl-ifs-at91sam9rl64.bin

#   Cleaning up temporary files
rm -f *tmp*

Step 3A: Download the Bootable IFS image.#

The Boot Program integrates different programs that manage download and/or upload into the different memories of the product. First, it initializes the Debug Unit serial port (DBGU) and the USB High Speed Device Port.

Install and setup SAM-BA#

1. Install "AT91-ISP v1.12.exe" .

2. Intall "ActiveTcl8." i.e.TCL environment which is used by SAM-BA (any other TCL environment can also be used) .

3. Remove jumpers J13 .

4. Connect serial cable with windows machine, and use any serial port application such as teraterm or hyperterminal, and attach it with COM device, with baud rate set as 115200.

5. Restart the board, hyperterminal will be showing following message .


6. Connect usb cable with windows machine, It will prompt with a new usb hardware found message, and will try to install the corresponding driver.

7. Check device has enumerated properly by looking into device manager .

8. Enable jumpers J13.

9. Start SAM-BA 2.6 with \usb\ARM0 as connection.

Loading the IFS image using SAM-BA#

Press the reset button, now on your terminal you will see output as follows:

QNX Neutrino Initial Program Loader for ATMEL AT91SAM9RL-EK
Press 'D' to download an OS image from serial port, using sendnto utility
Press 'F' to Boot an OS image from SPI/SERIAL flash
ATMEL AT45DB642D SPI Flash detected.

QNX IFS image detected on page: 00000010 Offset: 00000220 Size: 005C0240
found image, calling image setup...
image_setup OK, calling image start...

PIO init : DBGU, USART, Audio(AC97), NAND, LCD.
CPU0: Dcache: 128x32 WB
CPU0: Icache: 128x32
CPU0: 41069265: arm926 rev 5 100MHz
elf_map: 1M va=fe000000 pa=20100000 sz=00100000
elf_map: 1M va=fe000000 pa=20100000 sz=00100000
Header size=0x0000009c, Total Size=0x00000508, #Cpu=1, Type=4
Section:system_private offset:0x000001f0 size:0x00000068
  syspage ptr user:fc404000 kernel:fc404000
  cpupage ptr user:fc404808 kernel:fc404808 spacing:84
  kdebug info:00000000 callback:00000000
  boot pgms: idx=0
    0) base paddr:20110000 start addr:fe03d838
  ramsize:00000000 pagesize:00001000
Section:qtime offset:0x00000148 size:0x00000060
  boot:00000000 CPS:00000000002faf08 rate/scale:320000000/-15 intr:1
Section:callout offset:0x000000a0 size:0x00000048
  reboot:fc404680 power:fc4046a0
  timer_load:fc4046b4 reload:fc4046dc value:fc404708
  0) display:fc404728 poll:fc40474c break:fc404770
  1) display:00000000 poll:00000000 break:00000000
Section:cpuinfo offset:0x000001a8 size:0x00000020
  0) cpu:41069265 flags:40000000 speed:00000064 cache i/d:1/0 name:53
Section:cacheattr offset:0x000004c8 size:0x00000040
  0) flags:32 size:0020 #lines:0080 control:fc404508 next:255
  1) flags:11 size:0020 #lines:0080 control:fc40455c next:255
Section:meminfo offset:0x00000508 size:0x00000000
Section:asinfo offset:0x00000328 size:0x00000160
  0000) 0000000000000000-00000000ffffffff o:ffff a:0010 p:100 c:00000000 n:21
  0020) 0000000020000000-0000000023ffffff o:0000 a:0017 p:100 c:00000000 n:28
  0040) 0000000000000000-00000000ffffffff o:ffff a:0010 p:100 c:00000000 n:21
  0060) 0000000020000000-0000000023ffffff o:0040 a:0007 p:100 c:00000000 n:32
  0080) 000000002010e108-00000000206c023f o:0000 a:0005 p:100 c:00000000 n:60
  00a0) 0000000020100000-000000002010e107 o:0000 a:0007 p:100 c:00000000 n:68
  00c0) 000000002010e108-00000000206c023f o:0000 a:0007 p:100 c:00000000 n:76
  00e0) 0000000020000000-0000000020007fff o:0020 a:0007 p:100 c:00000000 n:84
  0100) 000000002001085c-00000000200fffff o:0020 a:0007 p:100 c:00000000 n:84
  0120) 00000000206c0240-0000000023dcffff o:0020 a:0007 p:100 c:00000000 n:84
  0140) 0000000023fd0000-0000000023ffffff o:0020 a:0007 p:100 c:00000000 n:84
Section:hwinfo offset:0x000002e0 size:0x00000048
  0) size:3 tag:3 isize:3, iname:0, owner:65535, kids:1
  12) size:3 tag:17 isize:3, iname:9, owner:0, kids:1
  24) size:3 tag:3 isize:3, iname:37, owner:12, kids:1
  36) size:4 tag:46 isize:4, iname:41, owner:24, kids:0
     00 00 00 00
Section:typed_strings offset:0x00000258 size:0x00000028
  off:0 type:5 string:'AT91SAM9RL64'
  off:20 type:2 string:'localhost'
Section:strings offset:0x00000280 size:0x00000060
  [0]'hw' [3]'Group' [9]'unknown' [17]'Bus' [21]'memory' [28]'ram' [32]'1to1'
  [37]'rtc' [41]'NONE' [46]'Device' [53]'arm926' [60]'imagefs' [68]'startup'
  [76]'bootram' [84]'sysram'
Section:intrinfo offset:0x00000488 size:0x00000040
  0) vector_base:00000000, #vectors:32, cascade_vector:7fffffff
     cpu_intr_base:00000000, cpu_intr_stride:0, flags:0000
      id => flags:8000, size:002c, rtn:fc4045c8
     eoi => flags:9000, size:0028, rtn:fc4045f4
     mask:fc40461c, unmask:fc404640, config:00000000
Section:smp offset:0x00000508 size:0x00000000
Section:pminfo offset:0x00000508 size:0x00000000
Section:mdriver offset:0x00000508 size:0x00000000
Section:boxinfo offset:0x000001c8 size:0x00000028
Section:cpu offset:0x00000128 size:0x00000020
  page_flush:fc40458c page_flush_deferred:fc4045c4
  upte_ro:00000aae upte_rw:00000ffe
  kpte_ro:0000000e kpte_rw:0000055e
  mmu_cr1:00051078 set:0000317f clr:00000000 -> 0005317f

System page at phys:20010000 user:fc404000 kern:fc404000
Starting next program at vfe03d838
cpu_startnext: cpu0 -> fe03d838
Welcome to QNX Neutrino 6.4 on the Atmel AT91SAM9RL64 Board
Starting DBGU driver...
Starting Serial USART 1 driver ...
Starting SPI driver...
Starting Audio driver...
Starting Graphics driver...
Starting NAND driver...

You can test the OS simply by executing any shell builtin command or any command residing within the OS image (e.g. ls). 

Step 3B: Reprogram the IPL.#

In case if Board is new or IPL gets corrupted, We can reprogram IPL using SAM-BA application.


Summary of driver commands#

The driver command lines below are specific to the Atmel AT91SAM9RL64 board. See the online docs for each driver for additional command-line options and other details.

Note: Some of the following drivers are commented out in the default buildfile. To use the drivers in the target hardware, you'll need to uncomment them in your buildfile, rebuild the image, and load the image into the board.


    startup-at91sam9rl64 -r 0x23dd0000,0x200000,1 -vvvvvvv


    devc-serusart -F -S -u2 -b115200 -c50000000 0xfffb0000^2,6
Required binaries: Command:
    devc-serdebug -e -F -S -b115200 -c50000000 0xfffff200,1
Required binaries:


    spi-master -d at91sam9xx base=0xFFFCC000,irq=13,clock=50000000
Required binaries:


    io-audio -d at91sam9xx_ac97 ioport=0xfffd8000,irq=24
Required binaries:

ETFS NAND flash#

    fs-etfs-at91sam9xx -D addr=0x40000000,board_id=at91sam92rl64-ek -m /fs/etfs
Required binaries:


    devi-at91sam9xx touch
Required binaries:


    devb-mmcsd-at91sam9xx mmcsd ioport=0xFFFA4000,irq=10
Required binaries and libraries:


Required library:


    Photon &
    waitfor /dev/photon
    io-display -dvid=0x0,did=0x0
    pwm &
    pterm -x10 -y10 -h250 -w200 -t"QNX 6.4.0" -K 03 &
    devc-pty &

Required binaries:

Required configuration files:
Note: For more information about these commands, see the Neutrino Utilities Reference.

About graphics#

This driver currently supports the AT91SAM9RL64 integrated LCD controller . It was developed on the Atmel AT91SAM9RL64 Evaluation Board. This is the GF graphics driver is loaded by io-display.

LCD Displays#

You can use the driver configuration file at91sam9xx.conf to other displays.

HW FormatQNX FormatNotes
8-bit8-bit8 bits-per-pixel palette-based
16-bit15-bitQNX framework format is ARGB1555, but MSB is not actually used because the hardware uses only 15 bits
24-bit32-bitactually unpacked 24-bit, meaning the upper 8 bits are not used

Reserving Memory / Memory Restrictions#

The Atmel AT91SMA9RL64 is a UMA system (Unified Memory Architecture). This means there is no dedicated video memory in the system. Surfaces displayed by the LCD controller, and rendered by the CPU, reside in system memory For example to reserve 2 MB of memory:

startup-at91sam9rl64 -r 0x23dd0000,0x200000,1 -vvvvvvv

where 0x23dd0000 is the physical base address of memory, and 0x200000 is the size of memory reserved in bytes.

For a list of options available to the driver please see the at91sam9xx.conf file.