topic Re: Re: K60 Bootloader AN4368 in Kinetis Microcontrollers

K60 Bootloader AN4368

mruetti — Fri, 20 Jun 2014 13:28:59 GMT

I would like to test the USB bootloader on my TWR-K60D100M+TWR-SER. I'm using CW 10.2 and MQX 3.8.

I have the AN 4368 and the associated example projects (kinetis_k60 and mfs_usb_twrk60n512). The good think is that I can compile both examples w/o errors. The bootloader itself is running too and it is possible to insert an USB stick and to get an image copied (mfs_usb_twrk60n512). But the copied image doesn't work. I only get the message "User application is running..." but nothing happens.

The strange thing is that if I'm using the pre-compiled example (mfs_usb_twrk60n512) everything is working well. This leads me to the conclusion that the bootloader itself is ok.

I changed the applications intflash.lcf file to

MEMORY

{

vectorrom (RX): ORIGIN = 0x00010000, LENGTH = 0x00000400

# cfmprotrom (R): ORIGIN = 0x00010400, LENGTH = 0x00000020

rom (RX): ORIGIN = 0x00010420, LENGTH = 0x0006FBE0 # Code + Const data

ram (RW): ORIGIN = 0x1FFF0000, LENGTH = 0x00020000 # SRAM - RW data

...

What do I miss???

Thank you

Mario

Re: K60 Bootloader AN4368

Carlos_Musich — Wed, 25 Jun 2014 01:16:12 GMT

Hi Mario,

It is also necessary to set #define MQX_ROM_VECTORS 0 in user_config.h and recompile MQX libraries.

BR,

Carlos

Re: Re: K60 Bootloader AN4368

mruetti — Tue, 15 Jul 2014 14:22:54 GMT

Hi Carlos

I set the #define MQX_ROM_VECTORS 0 in user_config.h and I recompiled my libs (bsp, psp, shell and example). It doesn't work.

I had a look into the S19 file and I think this looks good - at least it starts at address 0x10000:

S0 030000FC

S3 51 00010000 FFFB 0020 9183 0100 FD730100FD730100FD730100FD730100FD73010000000000000000000000 .... 30100FD7301009D

...

Debugging the bootloader I can see the addresses from above again:

	New_sp = IMAGE_ADDR[0]; --> 0x2000FBFF
	New_pc = IMAGE_ADDR[1]; --> 0x00018391

The assembler code uses this addresses and jumps to the given memory location where some code is executed. But not mine which should show some printf's...

Other ideas?

Thank you

Mario

Re: Re: K60 Bootloader AN4368

ARQuattr — Sun, 07 Sep 2014 17:56:41 GMT

Hi Mario, I'm having the same problem as you. Did you figure out the issue?

Re: Re: K60 Bootloader AN4368

mruetti — Tue, 16 Sep 2014 14:58:52 GMT

Hi Angelo

Can you describe your problems?

Re: Re: Re: K60 Bootloader AN4368

admin — Mon, 06 Oct 2014 15:58:30 GMT

Hi:

I have developed a BootLoader based on Application Note AN-4368.

The BootLoader works: I can load a simple application with interrupts and vectors in Flash.

The problem arises when I try to load a Bootable MQX-based program:

I modified the Linker Command File…

(${MQX_ROOT_DIR}\lib\DLG_V2.cw10gcc\debug\bsp\BootIntFlash.ld)

MEMORY

{

vectorrom (RX): ORIGIN = 0x0000C000, LENGTH = 0x00000410

/* cfmprotrom (R): ORIGIN = 0x00000400, LENGTH = 0x00000020 */

rom (RX): ORIGIN = 0x0000C420, LENGTH = (0x0007FFFF-0xC420) /* Code + Const data */

ram (RW): ORIGIN = 0x1FFF0000, LENGTH = 0x00020000 /* SRAM - RW data */

/* kernel space starts after RAM variables (Location of MQX Kernel data + MQX heap) */

end_of_kd (RW): ORIGIN = 0x2000FFF0, LENGTH = 0x00000000

/* Boot stack reused by MQX Kernel data */

bstack (RW): ORIGIN = 0x2000FA00, LENGTH = 0x00000200 /* Boot stack */

end_bstack (RW): ORIGIN = 0x2000FC00, LENGTH = 0x00000000 /* Boot stack end address requires 4B alignment */

}

SECTIONS

{

__INTERNAL_SRAM_BASE = 0x1FFF0000;

__INTERNAL_SRAM_SIZE = 0x00020000;

__INTERNAL_FLASH_BASE = 0x00000000;

__INTERNAL_FLASH_SIZE = 0x00080000;

__INTERNAL_FLEXNVM_BASE = 0;

__INTERNAL_FLEXNVM_SIZE = 0;

__EXTERNAL_MRAM_BASE = 0x70000000;

__EXTERNAL_MRAM_SIZE = 0x00080000;

__EXTERNAL_MRAM_ROM_BASE = 0x70000000;

__EXTERNAL_MRAM_ROM_SIZE = 0x00000000;

__EXTERNAL_MRAM_RAM_BASE = 0x70000000;

__EXTERNAL_MRAM_RAM_SIZE = 0x00080000;

__EXTERNAL_LCD_BASE = 0x60000000;

__EXTERNAL_LCD_SIZE = 0x1FFFF;

__EXTERNAL_LCD_DC_BASE = 0x60010000;

/* MQX link time configurations */

__DEFAULT_PROCESSOR_NUMBER = 1;

__DEFAULT_INTERRUPT_STACK_SIZE = 1024;

__KERNEL_DATA_VERIFY_ENABLE = 0; /* Test SDRAM read/write */

/* Flashx configurations */

__FLASHX_SECT_SIZE = 0x800;

.vectors :

{

__vector_table = .;

__VECTOR_TABLE_ROM_START = __vector_table;

KEEP(*(.vectors_rom))

. = ALIGN (0x4);

} > vectorrom

.cfmprotect :

{

KEEP(*(.cfmconfig))

. = ALIGN (0x4);

} > cfmprotrom

I modified the user_config.h (MQX_ROM_VECTOR false).

After problems with the WatchDog and other components in PE…

Finally The BootLoader Starts, check the existence off user App, Read The initial Stack and Program Counter and Jumps to execute de user App.

The Call Stack is this (user App Code):

PRB_MQX41 ATTACH [CodeWarrior]

ARM Processors, PRB_MQX41.elf (Suspended)

Thread [ID: 0x0] (Suspended)

4 (AsmSection)() dispatch.S:95 0x0000c420

3 _mqx() mqx.c:342 0x0001089e

2 main() mqx_main.c:67 0x00014494

1 __thumb_startup() __arm_start.c:279 0x00020eec

C:\DLG_V54\PRB_MQX41\DLG_V2_Boot\PRB_MQX41.elf (10/6/14 5:39 PM)

The user App completes all the steps in the function _mqx (), the last call in this function is “_sched_start_internal ()”;

The first instruction in “_sched_start_internal () is, svc SVC_RUN_SCHED

(formerly SWI) is “Supervisor Call”

The SVC vector (11) is at Offset 2c. In the ram_vector the vector points to 0xc455 (_svc_handler) but the processor Reset in this instruction…

… This is my ram_vector

ram_vector 0x1fff0000 0x1fff0000

[0 ... 99] 0x1fff0000

[0] 0x2000fc00 0x1fff0000

[1] 0x0000d6fd 0x1fff0004

[2] 0x0001438d 0x1fff0008

[3] 0x0001438d 0x1fff000c

[4] 0x0001438d 0x1fff0010

[5] 0x0001438d 0x1fff0014

[6] 0x0001438d 0x1fff0018

[7] 0x00000000 0x1fff001c

[8] 0x00000000 0x1fff0020

[9] 0x00000000 0x1fff0024

[10] 0x00000000 0x1fff0028

[11] 0x0000c455 0x1fff002c

[12] 0x0001438d 0x1fff0030

[13] 0x00000000 0x1fff0034

… this is the listing..

0000c454 <_svc_handler>:

END * ------------------------------------------------ ------------------------- * /

ASM_PUBLIC_BEGIN (_svc_handler)

ASM_PUBLIC_FUNC (_svc_handler)

ASM_LABEL (_svc_handler)

i cpsid.n

C454: i cpsid B672

tst lr, # 0x4 / * test EXC_RETURN number in LR bit 2 * /

C456: 0f04 f01e tst.w lr, # 4

ite eq / * if zero (equal) then * /

c45a: ite bf0c eq

mrseq r1, MSP / * Main Stack was used, put MSP in R1 * /

c45c: f3ef mrseq 8108 r1, MSP

mrsne r1, PSP / * else, Process Stack was used, put PSP in R1 * /

C460: 8109 f3ef mrsne r1, PSP

…and the VTOR register is 0x1ffff0000

In the bit Fields presentation 0x3ffe00

¿Any Idea?

Re: K60 Bootloader AN4368

mruetti — Sat, 11 Oct 2014 17:24:31 GMT

Hi Benitoar

Sorry for the late answer. I had a similar problem but I couldnt remember the solution. Have a look at this thread: _sched_start_internal crash (svc). I installed the new interrupt handler that is described here: A Processor Expert Component to Help with Hard Faults | MCU on Eclipse. (I only used the interrupt handler). After trapping into the interrupt this handler shows the pc of the problematic code in register r1, Using the disassembly view of the debugger you can find the source line.

If I remember right in my case the initialization of dma failed somehow.

I hope that helps

Mario