Krzysztof Sitko
A fork of Erik Olieman's bootloader for the KL05Z32. The bootloader is placed in the 29th sector allowing for 28kB of program memory. The 32nd sector is left empty after the bootloader to allow for use of the non volatile storage without the risk of overwriting it during serial firmware update.
Fork of
Bootloader_K64F
by 
Erik -
This is a simple boot loader which resides at the end of the flash banks of your uController. It has be ported to work with the KL05Z. Porting the code to another Free scale uController requires the following changes:
Step 1 Change the address of the following function address
If your uController of choice has a flash size other than 32kB then you will likely want to change the addresses of following functions (current addresses displayed).
bootloader.cpp 0x7000 bootloader 0x7080 setupserial 0x70A0 write FreescaleIAP.cpp 0x7268 erase_sector 0x7300 program_flash 0x7500 flash_size 0x7600 program_word 0x7700 run_command 0x7800 check_boundary 0x7900 check_align 0x7A00 verify_erased 0x7B00 check_error
Step 2 Follow the serial_api HAL file of your target
You will be unable to access anything that you don't define yourself in the bootloader. For this reason you need to create a function for serial. Look up and follow your target's serial_api.c file.
__attribute__((section(".ARM.__at_0x7080"))) static void setupserial(void) {
//Setup USBRX/USBTX pins (PTB1/PTB2)
//Enable Port B Clock
SIM->SCGC5 |= 1 <<SIM_SCGC5_PORTB_SHIFT;
//Select MCGFLLCLK clock
SIM->SOPT2 |= 1 <<SIM_SOPT2_UART0SRC_SHIFT;
//Select Pins PB1 & PB2 to their ALT3 function (RX & TX respectively)
PORTB->PCR[1] = (PORTB->PCR[1] & ~0x700) | (3 << 8);
PORTB->PCR[2] = (PORTB->PCR[2] & ~0x700) | (3 << 8);
//Set UART0 Clock to be enabled
SIM->SCGC4 |= SIM_SCGC4_UART0_MASK;
//Set UART Baud Rate Register
//Value's gathered expirimentally
UART0->BDH = 1;
UART0->BDL = 56;
//Enable UART0
UART0->C2 |= (UARTLP_C2_RE_MASK | UARTLP_C2_TE_MASK);
}
To set the correct baudrate you need to determine the right values for BDH & BDL registers for your clock speed. An easy way to do that is by simply printing them with the clock speed that you want like so:
#include "mbed.h"
Serial pc(USBTX, USBrX);
int main()
{
while (1) {
pc.printf("BDH: %d \n", UART0->BDH); // print the value of BDH Register
pc.printf("BDL: %d \n", UART0->BDL); // print the value of BDL Register
pc.printf("SOPT2: %d \n", SIM->SOPT2); // print the value of SOPT2 Register
pc.printf("SCGC5: %d \n", SIM->SCGC5); // print the value of SCGC5 Register
pc.printf("SCGC4: %d \n", SIM->SCGC4); // print the value of SCGC4 Register
pc.printf("C2: %d \n", UART0->C2); // print the value of C2 Register
pc.printf("C4: %d \n", UART0->C4); // print the value of C4 Register
wait(.5);
}
}
Step 3 Include bootloader.cpp in your first firmware
Before you can update firmware using serial you first must update the firmware using SWD along with the bootloader included in your binary.
#include "mbed.h"
extern void bootloader(void);
//...
main(){
//...
bootloader();
}
Step 4 Include reference to bootloader in serial updates
Once the bootloader is on the uControler you should not include the bootloader in binaries that you want to update over serial. Instead you can access the bootloader by using the following:
#include "mbed.h"
void *(*bootloader)(void) = (void *(*)(void))0x7001; //Address of bootloader + 1 (For some reason)
//...
main(){
//...
bootloader();
}
IF YOU ARE PROGRAMMING USING A PROGRAMMER (SWD OR JTAG) AND NOT SERIAL MAKE SURE TO INCLUDE THE BOOTLOADER OR OTHERWISE IT WILL MOST LIKELY BE ERASED OR OVERWRITTEN
Revision 8:00cefe0d59ed, committed 2016-04-23
- Comitter:
- Sissors
- Date:
- Sat Apr 23 18:24:07 2016 +0000
- Parent:
- 7:4ab0430d06e3
- Child:
- 9:56ed3a56ecc3
- Commit message:
- Basic functionality works over HTTP!
Changed in this revision
--- a/Bootloader/bootloader.h Sat Apr 23 15:10:04 2016 +0000
+++ b/Bootloader/bootloader.h Sat Apr 23 18:24:07 2016 +0000
@@ -1,87 +1,106 @@
+#include "mbed.h"
+#include "EthernetInterface.h"
+#include "rtos.h"
+
#define START_ADDRESS 0x80000
#define NUM_SECTORS 120
#define SECTOR_SIZE 4096
-#define BUFFER_SIZE 16
-#define TIMEOUT 10000000
+#define BUFFER_SIZE 1024
+
+//Bootloader functions
int *(*program_flash_boot)(int, char*, unsigned int) = (int *(*)(int, char*, unsigned int))0x795C9;
int *(*erase_sector_boot)(int) = (int *(*)(int))0x79465;
void *(*bootloader)(int) = (void *(*)(int))0x79121;
+
static void write(char *value)
{
- int i = 0;
- //Loop through string and send everything
- while(*(value+i) != '\0') {
- while(!(UART0->S1 & UART_S1_TDRE_MASK));
- UART0->D = *(value+i);
- i++;
- }
+ int i = 0;
+ //Loop through string and send everything
+ while(*(value+i) != '\0') {
+ while(!(UART0->S1 & UART_S1_TDRE_MASK));
+ UART0->D = *(value+i);
+ i++;
}
-
+}
-void write_flash(void) {
- __disable_irq();
+//Getting the new binary
+void write_flash(void)
+{
+
printf("Erasing flash!\r\n");
for (int i = 0; i < NUM_SECTORS; i++)
erase_sector_boot(START_ADDRESS + i * SECTOR_SIZE);
-
+
+ printf("Connecting ethernet\r\n");
+ EthernetInterface eth;
+ eth.init(); //Use DHCP
+ eth.connect();
+ printf("IP Address is %s\r\n", eth.getIPAddress());
+
+ TCPSocketConnection sock;
+ sock.connect("192.168.0.18", 80);
+ printf("Connected to mbed\r\n");
+ char http_cmd[] = "HEAD /loader_test.bin HTTP/1.1\r\nHost: 192.168.0.18 80\r\n\r\n";
+ sock.send_all(http_cmd, sizeof(http_cmd)-1);
+ printf("Send head request\r\n");
+
char buffer[BUFFER_SIZE];
- uint32_t count = 0;
- uint8_t buffercount = 0;
- uint32_t timeout = 0;
-
- //Wait until data is sent
- while(!(UART0->S1 & UART_S1_RDRF_MASK));
-
- //Data receive loop
- while(1) {
- //Check if there is new data
- if (UART0->S1 & UART_S1_RDRF_MASK) {
- //Place data in buffer
- buffer[buffercount] = UART0->D;
- buffercount++;
-
- //Reset timeout
- timeout = 0;
+ printf("Receiving head (hihi)\r\n");
+ int headlength = sock.receive(buffer, sizeof(buffer));
+ if (headlength == BUFFER_SIZE) {
+ printf("Head exceeded expected maximum, loading will fail\r\n");
+ while(1);
+ }
+ sock.close();
+ wait(2);
+ sock.connect("192.168.0.18", 80);
+
+ char http_cmd2[] = "GET /loader_test.bin HTTP/1.1\r\nHost: 192.168.0.18 80\r\n\r\n";
+
+ sock.send_all(http_cmd2, sizeof(http_cmd2)-1);
+ printf("Send get request\r\n");
+ if (sock.receive(buffer, headlength) != headlength) {
+ printf("No response\r\n");
+ while(1);
+ }
- //We write per BUFFER_SIZE chars
- if (buffercount == BUFFER_SIZE) {
- //NMI Handler is at bytes 8-9-10-11, we overwrite this to point to bootloader function
-
- //Program the buffer into the flash memory
- if (program_flash_boot(count+START_ADDRESS, buffer, BUFFER_SIZE) != 0) {
- write("Error!\r\n");
- break;
- }
-
- //Reset buffercount for next buffer
- write("#");
- buffercount = 0;
- count += BUFFER_SIZE;
+ int count;
+ int ret;
+ int received = 0;
+ while (true) {
+ //printf("Receiving\r\n");
+ ret = sock.receive(&buffer[received], 16-received);
+ received = received + ret;
+ if (ret <= 0) {
+ if (received != 0) {
+ program_flash_boot(count+START_ADDRESS, buffer, 16);
}
- } else {
- //No new data, increase timeout
- timeout++;
+ break;
+ }
+
+ printf("%d\r\n", ret);
+ if (received == 16) {
+ __disable_irq();
+ if (program_flash_boot(count+START_ADDRESS, buffer, 16) != 0) {
+ write("Error!\r\n");
+ while(1);
+ }
+ __enable_irq();
+ count += received;
+ received = 0;
- //We have received no new data for a while, assume we are done
- if (timeout > TIMEOUT) {
- //If there is data left in the buffer, program it
- if (buffercount != 0) {
- for (int i = buffercount; i<BUFFER_SIZE; i++) {
- buffer[i] = 0xFF;
- }
- program_flash_boot(count+START_ADDRESS, buffer, BUFFER_SIZE);
- count += BUFFER_SIZE;
- }
- break; //We should be done programming :D
- }
}
+
+
}
-
- printf("Done writing\r\n");
- printf("Size = %d - %X\r\n", count, count);
+
+ sock.close();
+
+ eth.disconnect();
+ printf("Done\r\n");
bootloader(count);
-
+
}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FreescaleIAP/FreescaleIAP.cpp Sat Apr 23 18:24:07 2016 +0000
@@ -0,0 +1,241 @@
+#include "FreescaleIAP.h"
+
+//#define IAPDEBUG
+
+#ifdef TARGET_K64F
+//For K64F
+# include "MK64F12.h"
+# define USE_ProgramPhrase 1
+# define FTFA FTFE
+# define FTFA_FSTAT_FPVIOL_MASK FTFE_FSTAT_FPVIOL_MASK
+# define FTFA_FSTAT_ACCERR_MASK FTFE_FSTAT_ACCERR_MASK
+# define FTFA_FSTAT_RDCOLERR_MASK FTFE_FSTAT_RDCOLERR_MASK
+# define FTFA_FSTAT_CCIF_MASK FTFE_FSTAT_CCIF_MASK
+# define FTFA_FSTAT_MGSTAT0_MASK FTFE_FSTAT_MGSTAT0_MASK
+#else
+//Different names used on at least the K20:
+# ifndef FTFA_FSTAT_FPVIOL_MASK
+# define FTFA FTFL
+# define FTFA_FSTAT_FPVIOL_MASK FTFL_FSTAT_FPVIOL_MASK
+# define FTFA_FSTAT_ACCERR_MASK FTFL_FSTAT_ACCERR_MASK
+# define FTFA_FSTAT_RDCOLERR_MASK FTFL_FSTAT_RDCOLERR_MASK
+# define FTFA_FSTAT_CCIF_MASK FTFL_FSTAT_CCIF_MASK
+# define FTFA_FSTAT_MGSTAT0_MASK FTFL_FSTAT_MGSTAT0_MASK
+# endif
+#endif
+
+
+enum FCMD {
+ Read1s = 0x01,
+ ProgramCheck = 0x02,
+ ReadResource = 0x03,
+ ProgramLongword = 0x06,
+ ProgramPhrase = 0x07,
+ EraseSector = 0x09,
+ Read1sBlock = 0x40,
+ ReadOnce = 0x41,
+ ProgramOnce = 0x43,
+ EraseAll = 0x44,
+ VerifyBackdoor = 0x45
+ };
+
+inline void run_command(void);
+bool check_boundary(int address, unsigned int length);
+bool check_align(int address);
+IAPCode verify_erased(int address, unsigned int length);
+IAPCode check_error(void);
+IAPCode program_word(int address, char *data);
+
+__attribute__((section(".ARM.__at_0x79420"))) IAPCode erase_sector(int address) {
+ #ifdef IAPDEBUG
+ printf("IAP: Erasing at %x\r\n", address);
+ #endif
+ if (check_align(address))
+ return AlignError;
+
+ //Setup command
+ FTFA->FCCOB0 = EraseSector;
+ FTFA->FCCOB1 = (address >> 16) & 0xFF;
+ FTFA->FCCOB2 = (address >> 8) & 0xFF;
+ FTFA->FCCOB3 = address & 0xFF;
+
+ run_command();
+
+ return check_error();
+}
+
+__attribute__((section(".ARM.__at_0x79420"))) IAPCode program_flash(int address, char *data, unsigned int length) {
+ #ifdef IAPDEBUG
+ printf("IAP: Programming flash at %x with length %d\r\n", address, length);
+ #endif
+ if (check_align(address))
+ return AlignError;
+
+ IAPCode eraseCheck = verify_erased(address, length);
+ if (eraseCheck != Success)
+ return eraseCheck;
+
+ IAPCode progResult;
+#ifdef USE_ProgramPhrase
+ for (int i = 0; i < length; i+=8) {
+ progResult = program_word(address + i, data + i);
+ if (progResult != Success)
+ return progResult;
+ }
+#else
+ for (int i = 0; i < length; i+=4) {
+ progResult = program_word(address + i, data + i);
+ if (progResult != Success)
+ return progResult;
+ }
+#endif
+ return Success;
+}
+
+__attribute__((section(".ARM.__at_0x79420"))) uint32_t flash_size(void) {
+ uint32_t retval = (SIM->FCFG2 & 0x7F000000u) >> (24-13);
+ if (SIM->FCFG2 & (1<<23)) //Possible second flash bank
+ retval += (SIM->FCFG2 & 0x007F0000u) >> (16-13);
+ return retval;
+}
+
+__attribute__((section(".ARM.__at_0x79420"))) IAPCode program_word(int address, char *data) {
+ #ifdef IAPDEBUG
+ #ifdef USE_ProgramPhrase
+ printf("IAP: Programming word at %x, %d - %d - %d - %d - %d - %d - %d - %d\r\n", address, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
+ #else
+ printf("IAP: Programming word at %x, %d - %d - %d - %d\r\n", address, data[0], data[1], data[2], data[3]);
+ #endif
+
+ #endif
+ if (check_align(address))
+ return AlignError;
+#ifdef USE_ProgramPhrase
+ FTFA->FCCOB0 = ProgramPhrase;
+ FTFA->FCCOB1 = (address >> 16) & 0xFF;
+ FTFA->FCCOB2 = (address >> 8) & 0xFF;
+ FTFA->FCCOB3 = address & 0xFF;
+ FTFA->FCCOB4 = data[3];
+ FTFA->FCCOB5 = data[2];
+ FTFA->FCCOB6 = data[1];
+ FTFA->FCCOB7 = data[0];
+ FTFA->FCCOB8 = data[7];
+ FTFA->FCCOB9 = data[6];
+ FTFA->FCCOBA = data[5];
+ FTFA->FCCOBB = data[4];
+#else
+ //Setup command
+ FTFA->FCCOB0 = ProgramLongword;
+ FTFA->FCCOB1 = (address >> 16) & 0xFF;
+ FTFA->FCCOB2 = (address >> 8) & 0xFF;
+ FTFA->FCCOB3 = address & 0xFF;
+ FTFA->FCCOB4 = data[3];
+ FTFA->FCCOB5 = data[2];
+ FTFA->FCCOB6 = data[1];
+ FTFA->FCCOB7 = data[0];
+#endif
+ run_command();
+
+ return check_error();
+}
+
+/* Clear possible flags which are set, run command, wait until done */
+__attribute__((section(".ARM.__at_0x79420"))) inline void run_command(void) {
+ //Clear possible old errors, start command, wait until done
+ __disable_irq(); //Disable IRQs, preventing IRQ routines from trying to access flash (thanks to https://mbed.org/users/mjr/)
+ FTFA->FSTAT = FTFA_FSTAT_FPVIOL_MASK | FTFA_FSTAT_ACCERR_MASK | FTFA_FSTAT_RDCOLERR_MASK;
+ FTFA->FSTAT = FTFA_FSTAT_CCIF_MASK;
+ while (!(FTFA->FSTAT & FTFA_FSTAT_CCIF_MASK));
+ __enable_irq();
+}
+
+
+
+/* Check if no flash boundary is violated
+ Returns true on violation */
+__attribute__((section(".ARM.__at_0x79420"))) bool check_boundary(int address, unsigned int length) {
+ int temp = (address+length - 1) / SECTOR_SIZE;
+ address /= SECTOR_SIZE;
+ bool retval = (address != temp);
+ #ifdef IAPDEBUG
+ if (retval)
+ printf("IAP: Boundary violation\r\n");
+ #endif
+ return retval;
+}
+
+/* Check if address is correctly aligned
+ Returns true on violation */
+__attribute__((section(".ARM.__at_0x79420"))) bool check_align(int address) {
+ bool retval = address & 0x03;
+ #ifdef IAPDEBUG
+ if (retval)
+ printf("IAP: Alignment violation\r\n");
+ #endif
+ return retval;
+}
+
+/* Check if an area of flash memory is erased
+ Returns error code or Success (in case of fully erased) */
+__attribute__((section(".ARM.__at_0x79420"))) IAPCode verify_erased(int address, unsigned int length) {
+ #ifdef IAPDEBUG
+ printf("IAP: Verify erased at %x with length %d\r\n", address, length);
+ #endif
+
+ if (check_align(address))
+ return AlignError;
+
+ //Setup command
+ FTFA->FCCOB0 = Read1s;
+ FTFA->FCCOB1 = (address >> 16) & 0xFF;
+ FTFA->FCCOB2 = (address >> 8) & 0xFF;
+ FTFA->FCCOB3 = address & 0xFF;
+ FTFA->FCCOB4 = (length >> 10) & 0xFF;
+ FTFA->FCCOB5 = (length >> 2) & 0xFF;
+ FTFA->FCCOB6 = 0;
+
+ run_command();
+
+ IAPCode retval = check_error();
+ if (retval == RuntimeError) {
+ #ifdef IAPDEBUG
+ printf("IAP: Flash was not erased\r\n");
+ #endif
+ return EraseError;
+ }
+ return retval;
+
+}
+
+/* Check if an error occured
+ Returns error code or Success*/
+__attribute__((section(".ARM.__at_0x79420"))) IAPCode check_error(void) {
+ if (FTFA->FSTAT & FTFA_FSTAT_FPVIOL_MASK) {
+ #ifdef IAPDEBUG
+ printf("IAP: Protection violation\r\n");
+ #endif
+ return ProtectionError;
+ }
+ if (FTFA->FSTAT & FTFA_FSTAT_ACCERR_MASK) {
+ #ifdef IAPDEBUG
+ printf("IAP: Flash access error\r\n");
+ #endif
+ return AccessError;
+ }
+ if (FTFA->FSTAT & FTFA_FSTAT_RDCOLERR_MASK) {
+ #ifdef IAPDEBUG
+ printf("IAP: Collision error\r\n");
+ #endif
+ return CollisionError;
+ }
+ if (FTFA->FSTAT & FTFA_FSTAT_MGSTAT0_MASK) {
+ #ifdef IAPDEBUG
+ printf("IAP: Runtime error\r\n");
+ #endif
+ return RuntimeError;
+ }
+ #ifdef IAPDEBUG
+ printf("IAP: No error reported\r\n");
+ #endif
+ return Success;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FreescaleIAP/FreescaleIAP.h Sat Apr 23 18:24:07 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef FREESCALEIAP_H
+#define FREESCALEIAP_H
+
+#include "mbed.h"
+
+#if defined(TARGET_KLXX) | defined(TARGET_K20D50M)
+#define SECTOR_SIZE 1024
+#elif (TARGET_K22F)
+#define SECTOR_SIZE 2048
+#elif defined(TARGET_K64F)
+#define SECTOR_SIZE 4096
+#else
+#warning FreescaleIAP unknown target, using default 1024B
+#define SECTOR_SIZE 1024
+#endif
+
+enum IAPCode {
+ BoundaryError = -99, //Commands may not span several sectors
+ AlignError, //Data must be aligned on longword (two LSBs zero)
+ ProtectionError, //Flash sector is protected
+ AccessError, //Something went wrong
+ CollisionError, //During writing something tried to flash which was written to
+ LengthError, //The length must be multiples of 4
+ RuntimeError,
+ EraseError, //The flash was not erased before writing to it
+ Success = 0
+ };
+
+/** Erase a flash sector
+ *
+ * The size erased depends on the used device
+ *
+ * @param address address in the sector which needs to be erased
+ * @param return Success if no errors were encountered, otherwise one of the error states
+ */
+IAPCode erase_sector(int address);
+
+/** Program flash
+ *
+ * Before programming the used area needs to be erased. The erase state is checked
+ * before programming, and will return an error if not erased.
+ *
+ * @param address starting address where the data needs to be programmed (must be longword alligned: two LSBs must be zero)
+ * @param data pointer to array with the data to program
+ * @param length number of bytes to program (must be a multiple of 4. must be a multiple of 8 when K64F)
+ * @param return Success if no errors were encountered, otherwise one of the error states
+ */
+IAPCode program_flash(int address, char *data, unsigned int length);
+
+/**
+ * Returns size of flash memory
+ *
+ * This is the first address which is not flash
+ *
+ * @param return length of flash memory in bytes
+ */
+uint32_t flash_size(void);
+
+#endif
\ No newline at end of file
--- a/FreescaleIAP/bootloader.cpp Sat Apr 23 15:10:04 2016 +0000
+++ b/FreescaleIAP/bootloader.cpp Sat Apr 23 18:24:07 2016 +0000
@@ -11,14 +11,19 @@
__attribute__((section(".ARM.__at_0x79120"))) void bootloader(int size)
{
+ SysTick->CTRL = 0;
__disable_irq();
+
setupserial();
write("\n\n\rBootloader\r\n");
//Erase all sectors we use for the user program
write("Erasing sectors!\r\n");
- for (int i = 0; i<NUM_SECTORS; i++)
+
+ for (int i = 0; i<NUM_SECTORS; i++) {
+ write("*");
erase_sector(SECTOR_SIZE * i);
+ }
write("Done erasing, reading file!\r\n");
--- a/main.cpp Sat Apr 23 15:10:04 2016 +0000
+++ b/main.cpp Sat Apr 23 18:24:07 2016 +0000
@@ -3,9 +3,12 @@
int main()
{
- printf("\r\nThis is a test!\r\n");
-
- wait(2);
+
+ printf("\r\nTestrun!\r\n");
+ printf("Press any key to continue\r\n");
+ getchar();
+ printf("Starting bootloader\r\n");
+ wait(1);
write_flash();
while(1);
}