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infinity: Fix disabling watchdog

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- watchdog is timed out before disabling it by mbed startup
- old booloader disable watchdog while new(2015/01) doesn't
This commit is contained in:
Jun Wako 2015-03-22 10:51:30 +09:00
parent d23d95381a
commit 0d222db31f
5 changed files with 400 additions and 4 deletions
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2
keyboard/infinity/mbed-infinity.mk
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@ -19,7 +19,7 @@ OBJECTS += \
$(OBJDIR)/mbed-infinity/cmsis_nvic.o \
$(OBJDIR)/mbed-infinity/system_MK20D5.o \
$(OBJDIR)/mbed-infinity/USBHAL_KL25Z.o \
$(OBJDIR)/libraries/mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/TOOLCHAIN_GCC_ARM/startup_MK20D5.o \
$(OBJDIR)/mbed-infinity/startup_MK20D5.o \
$(OBJDIR)/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_K20D50M/analogin_api.o \
$(OBJDIR)/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_K20D50M/gpio_api.o \
$(OBJDIR)/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_K20D50M/gpio_irq_api.o \

44
keyboard/infinity/mbed-infinity/README
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@ -37,3 +37,47 @@ Clock enable:
SIM_SCGC4[USBOTG] = 1
Infinity bootloader change
==========================
After @2c7542e(2015/01) Infinity bootloader doesn't disable watchdog timer and keyboard firmware has to do it itself. mbed disables watchdog in startup sequence but unfortunately timer is timed out bofore that.
We have to do that in earlier phase of mbed startup sequence.
mbed starup sequence files:
mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/TOOLCHAIN_GCC_ARM/startup_M20D5.s
mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/system_MK20D5.c
Infinity booloader change commit:
https://github.com/kiibohd/controller/commit/2c7542e2e7f0b8a99edf563dc53164fe1a439483
discussion:
https://geekhack.org/index.php?topic=41989.msg1686616#msg1686616
WORKAROUND
----------
Call SystemInit early in Reset_Handler.
$ diff -u ../../mbed-sdk/libraries/mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/TOOLCHAIN_GCC_ARM/startup_MK20D5.s mbed-infinity
--- ../../mbed-sdk/libraries/mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/TOOLCHAIN_GCC_ARM/startup_MK20D5.s 2015-03-22 10:33:22.779866000 +0900
+++ mbed-infinity/startup_MK20D5.s 2015-03-22 10:32:56.483866000 +0900
@@ -147,6 +147,8 @@
* __etext: End of code section, i.e., begin of data sections to copy from.
* __data_start__/__data_end__: RAM address range that data should be
* copied to. Both must be aligned to 4 bytes boundary. */
+ ldr r0, =SystemInit
+ blx r0
ldr r1, =__etext
ldr r2, =__data_start__
@@ -161,8 +163,6 @@
.Lflash_to_ram_loop_end:
- ldr r0, =SystemInit
- blx r0
ldr r0, =_start
bx r0
.pool

259
keyboard/infinity/mbed-infinity/startup_MK20D5.s Normal file
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@ -0,0 +1,259 @@
/* File: startup_MK20D5.s
* Purpose: startup file for Cortex-M4 devices. Should use with
* GCC for ARM Embedded Processors
* Version: V1.3
* Date: 08 Feb 2012
*
* Copyright (c) 2012, ARM Limited
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the ARM Limited nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL ARM LIMITED BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
.syntax unified
.arch armv7-m
.section .stack
.align 3
#ifdef __STACK_SIZE
.equ Stack_Size, __STACK_SIZE
#else
.equ Stack_Size, 0x400
#endif
.globl __StackTop
.globl __StackLimit
__StackLimit:
.space Stack_Size
.size __StackLimit, . - __StackLimit
__StackTop:
.size __StackTop, . - __StackTop
.section .heap
.align 3
#ifdef __HEAP_SIZE
.equ Heap_Size, __HEAP_SIZE
#else
.equ Heap_Size, 0xC00
#endif
.globl __HeapBase
.globl __HeapLimit
__HeapBase:
.if Heap_Size
.space Heap_Size
.endif
.size __HeapBase, . - __HeapBase
__HeapLimit:
.size __HeapLimit, . - __HeapLimit
.section .isr_vector
.align 2
.globl __isr_vector
__isr_vector:
.long __StackTop /* Top of Stack */
.long Reset_Handler /* Reset Handler */
.long NMI_Handler /* NMI Handler */
.long HardFault_Handler /* Hard Fault Handler */
.long MemManage_Handler /* MPU Fault Handler */
.long BusFault_Handler /* Bus Fault Handler */
.long UsageFault_Handler /* Usage Fault Handler */
.long 0 /* Reserved */
.long 0 /* Reserved */
.long 0 /* Reserved */
.long 0 /* Reserved */
.long SVC_Handler /* SVCall Handler */
.long DebugMon_Handler /* Debug Monitor Handler */
.long 0 /* Reserved */
.long PendSV_Handler /* PendSV Handler */
.long SysTick_Handler /* SysTick Handler */
/* External interrupts */
.long DMA0_IRQHandler /* 0: Watchdog Timer */
.long DMA1_IRQHandler /* 1: Real Time Clock */
.long DMA2_IRQHandler /* 2: Timer0 / Timer1 */
.long DMA3_IRQHandler /* 3: Timer2 / Timer3 */
.long DMA_Error_IRQHandler /* 4: MCIa */
.long 0 /* 5: MCIb */
.long FTFL_IRQHandler /* 6: UART0 - DUT FPGA */
.long Read_Collision_IRQHandler /* 7: UART1 - DUT FPGA */
.long LVD_LVW_IRQHandler /* 8: UART2 - DUT FPGA */
.long LLW_IRQHandler /* 9: UART4 - not connected */
.long Watchdog_IRQHandler /* 10: AACI / AC97 */
.long I2C0_IRQHandler /* 11: CLCD Combined Interrupt */
.long SPI0_IRQHandler /* 12: Ethernet */
.long I2S0_Tx_IRQHandler /* 13: USB Device */
.long I2S0_Rx_IRQHandler /* 14: USB Host Controller */
.long UART0_LON_IRQHandler /* 15: Character LCD */
.long UART0_RX_TX_IRQHandler /* 16: Flexray */
.long UART0_ERR_IRQHandler /* 17: CAN */
.long UART1_RX_TX_IRQHandler /* 18: LIN */
.long UART1_ERR_IRQHandler /* 19: I2C ADC/DAC */
.long UART2_RX_TX_IRQHandler /* 20: Reserved */
.long UART2_ERR_IRQHandler /* 21: Reserved */
.long ADC0_IRQHandler /* 22: Reserved */
.long CMP0_IRQHandler /* 23: Reserved */
.long CMP1_IRQHandler /* 24: Reserved */
.long FTM0_IRQHandler /* 25: Reserved */
.long FTM1_IRQHandler /* 26: Reserved */
.long CMT_IRQHandler /* 27: Reserved */
.long RTC_IRQHandler /* 28: Reserved - CPU FPGA CLCD */
.long RTC_Seconds_IRQHandler /* 29: Reserved - CPU FPGA */
.long PIT0_IRQHandler /* 30: UART3 - CPU FPGA */
.long PIT1_IRQHandler /* 31: SPI Touchscreen - CPU FPGA */
.long PIT2_IRQHandler
.long PIT3_IRQHandler
.long PDB0_IRQHandler
.long USB0_IRQHandler
.long USBDCD_IRQHandler
.long TSI0_IRQHandler
.long MCG_IRQHandler
.long LPTimer_IRQHandler
.long PORTA_IRQHandler
.long PORTB_IRQHandler
.long PORTC_IRQHandler
.long PORTD_IRQHandler
.long PORTE_IRQHandler
.long SWI_IRQHandler
.size __isr_vector, . - __isr_vector
.section .text.Reset_Handler
.thumb
.thumb_func
.align 2
.globl Reset_Handler
.type Reset_Handler, %function
Reset_Handler:
/* Loop to copy data from read only memory to RAM. The ranges
* of copy from/to are specified by following symbols evaluated in
* linker script.
* __etext: End of code section, i.e., begin of data sections to copy from.
* __data_start__/__data_end__: RAM address range that data should be
* copied to. Both must be aligned to 4 bytes boundary. */
ldr r0, =SystemInit
blx r0
ldr r1, =__etext
ldr r2, =__data_start__
ldr r3, =__data_end__
.Lflash_to_ram_loop:
cmp r2, r3
ittt lt
ldrlt r0, [r1], #4
strlt r0, [r2], #4
blt .Lflash_to_ram_loop
.Lflash_to_ram_loop_end:
ldr r0, =_start
bx r0
.pool
.size Reset_Handler, . - Reset_Handler
.text
/* Macro to define default handlers. Default handler
* will be weak symbol and just dead loops. They can be
* overwritten by other handlers */
.macro def_default_handler handler_name
.align 1
.thumb_func
.weak \handler_name
.type \handler_name, %function
\handler_name :
b .
.size \handler_name, . - \handler_name
.endm
def_default_handler NMI_Handler
def_default_handler HardFault_Handler
def_default_handler MemManage_Handler
def_default_handler BusFault_Handler
def_default_handler UsageFault_Handler
def_default_handler SVC_Handler
def_default_handler DebugMon_Handler
def_default_handler PendSV_Handler
def_default_handler SysTick_Handler
def_default_handler Default_Handler
.macro def_irq_default_handler handler_name
.weak \handler_name
.set \handler_name, Default_Handler
.endm
def_irq_default_handler DMA0_IRQHandler
def_irq_default_handler DMA1_IRQHandler
def_irq_default_handler DMA2_IRQHandler
def_irq_default_handler DMA3_IRQHandler
def_irq_default_handler DMA_Error_IRQHandler
def_irq_default_handler FTFL_IRQHandler
def_irq_default_handler Read_Collision_IRQHandler
def_irq_default_handler LVD_LVW_IRQHandler
def_irq_default_handler LLW_IRQHandler
def_irq_default_handler Watchdog_IRQHandler
def_irq_default_handler I2C0_IRQHandler
def_irq_default_handler SPI0_IRQHandler
def_irq_default_handler I2S0_Tx_IRQHandler
def_irq_default_handler I2S0_Rx_IRQHandler
def_irq_default_handler UART0_LON_IRQHandler
def_irq_default_handler UART0_RX_TX_IRQHandler
def_irq_default_handler UART0_ERR_IRQHandler
def_irq_default_handler UART1_RX_TX_IRQHandler
def_irq_default_handler UART1_ERR_IRQHandler
def_irq_default_handler UART2_RX_TX_IRQHandler
def_irq_default_handler UART2_ERR_IRQHandler
def_irq_default_handler ADC0_IRQHandler
def_irq_default_handler CMP0_IRQHandler
def_irq_default_handler CMP1_IRQHandler
def_irq_default_handler FTM0_IRQHandler
def_irq_default_handler FTM1_IRQHandler
def_irq_default_handler CMT_IRQHandler
def_irq_default_handler RTC_IRQHandler
def_irq_default_handler RTC_Seconds_IRQHandler
def_irq_default_handler PIT0_IRQHandler
def_irq_default_handler PIT1_IRQHandler
def_irq_default_handler PIT2_IRQHandler
def_irq_default_handler PIT3_IRQHandler
def_irq_default_handler PDB0_IRQHandler
def_irq_default_handler USB0_IRQHandler
def_irq_default_handler USBDCD_IRQHandler
def_irq_default_handler TSI0_IRQHandler
def_irq_default_handler MCG_IRQHandler
def_irq_default_handler LPTimer_IRQHandler
def_irq_default_handler PORTA_IRQHandler
def_irq_default_handler PORTB_IRQHandler
def_irq_default_handler PORTC_IRQHandler
def_irq_default_handler PORTD_IRQHandler
def_irq_default_handler PORTE_IRQHandler
def_irq_default_handler SWI_IRQHandler
def_irq_default_handler DEF_IRQHandler
/* Flash protection region, placed at 0x400 */
.text
.thumb
.align 2
.section .kinetis_flash_config_field,"a",%progbits
kinetis_flash_config:
.long 0xffffffff
.long 0xffffffff
.long 0xffffffff
.long 0xfffffffe
.end

82
keyboard/infinity/tool/README
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@ -2,7 +2,7 @@ OpenOCD config files for Kinetis
================================
http://nemuisan.blog.bai.ne.jp/?eid=192848#OPENOCD
These are needed for SWD debug and programing bootloader. To flash keyboard firmware use 'dfu-util'.
These are needed for debug and programing bootloader with SWD. To flash keyboard firmware use 'dfu-util'.
Flash security of Freescale kinetis
-----------------------------------
@ -21,5 +21,83 @@ Flash bootloader:
Infinity SWD pinout
-------------------
SWD pins are placed next to reset button; SWD_CLK, SWD_DIO, GND, VCC from top.
SWD pins are placed next to reset button; SWD_CLK, SWD_DIO, GND, 5V from top.
Note that RESET is also needed to get full control with OpenOCD.
--------
| ___ o |CLK
||RST| o |DIO
||BTN| o |GND
| --- o |5V
--------
Kinetis sercure state
----------------------
openocd 0.9.0
Warn : *********** ATTENTION! ATTENTION! ATTENTION! ATTENTION! **********
Warn : **** ****
Warn : **** Your Kinetis MCU is in secured state, which means that, ****
Warn : **** with exception for very basic communication, JTAG/SWD ****
Warn : **** interface will NOT work. In order to restore its ****
Warn : **** functionality please issue 'kinetis mdm mass_erase' ****
Warn : **** command, power cycle the MCU and restart OpenOCD. ****
Warn : **** ****
Warn : *********** ATTENTION! ATTENTION! ATTENTION! ATTENTION! **********
Info : MDM: Chip is unsecured. Continuing.
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0xfffffffe msp: 0xfffffffc
auto erase enabled
Info : Probing flash info for bank 0
Warn : flash configuration field erased, please reset the device
wrote 4096 bytes from file kiibohd_bootloader.bin in 2.442562s (1.638 KiB/s)
Info : MDM: Chip is unsecured. Continuing.
Open On-Chip Debugger 0.9.0-dev-00346-g3e1dfdc-dirty (2015-03-21-20:41)
Licensed under GNU GPL v2
For bug reports, read
http://openocd.sourceforge.net/doc/doxygen/bugs.html
Info : only one transport option; autoselect 'cmsis-dap'
Kinetis MUST need Hardware SRST Control to Recover Secure-State!
adapter_nsrst_delay: 200
srst_only separate srst_gates_jtag srst_open_drain connect_deassert_srst
Info : add flash_bank kinetis k20.pflash
cortex_m reset_config sysresetreq
adapter speed: 1000 kHz
srst_only separate srst_nogate srst_open_drain connect_assert_srst
Info : CMSIS-DAP: SWD Supported
Info : CMSIS-DAP: Interface Initialised (SWD)
Info : CMSIS-DAP: FW Version = 1.0
Info : SWCLK/TCK = 0 SWDIO/TMS = 1 TDI = 0 TDO = 0 nTRST = 0 nRESET = 1
Info : Connecting under reset
Info : DAP_SWJ Sequence (reset: 50+ '1' followed by 0)
Info : CMSIS-DAP: Interface ready
Info : clock speed 1000 kHz
Info : IDCODE 0x2ba01477
Warn : Adapter returned success despite SSTICKYERR being set.
Warn : Adapter returned success despite SSTICKYERR being set.
Warn : Adapter returned success despite SSTICKYERR being set.
Warn : Adapter returned success despite SSTICKYERR being set.
Info : k20.cpu: hardware has 6 breakpoints, 4 watchpoints
Info : MDM: Chip is unsecured. Continuing.
Info : MDM: Chip is unsecured. Continuing.
target state: halted
target halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0xfffffffe msp: 0xfffffffc
auto erase enabled
Info : Probing flash info for bank 0
Warn : flash configuration field erased, please reset the device
wrote 4096 bytes from file kiibohd_bootloader.bin in 2.446902s (1.635 KiB/s)
Info : MDM: Chip is unsecured. Continuing.
Info : Halt timed out, wake up GDB.
Error: timed out while waiting for target halted
Runtime Error: tool/k20dx32_flash.cfg:81:
in procedure 'mt_flash'
in procedure 'halt' called at file "tool/k20dx32_flash.cfg", line 81

17
keyboard/infinity/tool/k20dx32_flash.cfg
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@ -2,6 +2,22 @@
# Nemuisan's Special for MK20DN32VFT5,MK20DX32VFT5,MK10DN32VFT5,MK10DX32VFT5
# 0.8.0 has no these procs
proc using_jtag {} {
set _TRANSPORT [ transport select ]
expr { [ string first "jtag" $_TRANSPORT ] != -1 }
}
proc using_swd {} {
set _TRANSPORT [ transport select ]
expr { [ string first "swd" $_TRANSPORT ] != -1 }
}
proc using_hla {} {
set _TRANSPORT [ transport select ]
expr { [ string first "hla" $_TRANSPORT ] != -1 }
}
source [find target/swj-dp.tcl]
if { [info exists CHIPNAME] } {
@ -109,7 +125,6 @@ proc eraser {} {
shutdown
}
#debug_level 3
# HLA doesn't have cortex_m commands
if {![using_hla]} {