Krzysztof Sitko / Bootloader_K05

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.

Dependencies:   mbed-dev

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

FreescaleIAP/FreescaleIAP.cpp

Committer:
Dot
Date:
2016-07-19
Revision:
20:fdb5c9abc4f2
Parent:
18:c9396799d565

File content as of revision 20:fdb5c9abc4f2:

#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_0x7268"))) 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_0x7300"))) 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_0x7500"))) 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_0x7600"))) 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_0x7700"))) 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_0x7800"))) 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_0x7900"))) 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_0x7A00"))) 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_0x7B00"))) 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;
}