boards/frdm-common: Introduce frdm-common for shared files for all FRDM boards

boards/frdm-common/Makefile.include

@@ -0,0 +1,46 @@
+# set default port depending on operating system
+PORT_LINUX ?= /dev/ttyACM0
+
+export FFLAGS = flash-elf
+
+# Use the shared OpenOCD configuration
+# Using dap or jlink depends on which firmware the OpenSDA debugger is running
+export FRDM_IFACE ?= dap
+#export FRDM_IFACE ?= jlink
+
+# OpenOCD v0.10.0 and newer have built-in support for disabling the Kinetis
+# watchdog automatically. However, current stable releases of Ubuntu and Debian
+# have only version 0.9.0 and older OpenOCD packages (Ubuntu 17.04, Debian Jessie)
+# Set this to 0 to avoid the extra manual step of disabling the watchdog.
+export USE_OLD_OPENOCD ?= 1
+
+ifeq (1,$(USE_OLD_OPENOCD))
+# We need special handling of the watchdog if we want to speed up the flash
+# verification by using the MCU to compute the image checksum after flashing.
+# wdog-disable.bin is a precompiled binary which will disable the watchdog and
+# return control to the debugger (OpenOCD)
+export OPENOCD_PRE_VERIFY_CMDS += \
+  -c 'load_image $(RIOTCPU)/kinetis_common/dist/wdog-disable.bin 0x20000000 bin' \
+  -c 'resume 0x20000000'
+export OPENOCD_EXTRA_INIT
+
+.PHONY: flash
+flash: $(RIOTCPU)/kinetis_common/dist/wdog-disable.bin
+
+# Reset the default goal.
+.DEFAULT_GOAL :=
+
+export OPENOCD_CONFIG ?= $(RIOTBOARD)/frdm-common/dist/old-openocd-$(FRDM_IFACE)-$(CPU_FAMILY).cfg
+endif
+
+# Configuration for OpenOCD v0.10.0 and newer
+export OPENOCD_CONFIG ?= $(RIOTBOARD)/frdm-common/dist/openocd-$(FRDM_IFACE)-$(CPU_FAMILY).cfg
+
+# Check the flash configuration field before flashing
+export PRE_FLASH_CHECK_SCRIPT = $(RIOTCPU)/kinetis_common/dist/check-fcfield-elf.sh
+
+# setup serial terminal
+include $(RIOTMAKE)/tools/serial.inc.mk
+
+# this board uses openocd
+include $(RIOTMAKE)/tools/openocd.inc.mk

boards/frdm-common/dist/old-openocd-dap-kx.cfg

@@ -0,0 +1,48 @@
+#
+# Freescale Kinetis Kxx devices on a CMSIS-DAP adapter
+#
+source [find interface/cmsis-dap.cfg]
+
+source [find target/swj-dp.tcl]
+
+if { [info exists CHIPNAME] } {
+    set _CHIPNAME $CHIPNAME
+} else {
+    set _CHIPNAME kx
+}
+
+if { [info exists CPUTAPID] } {
+    set _CPUTAPID $CPUTAPID
+} else {
+    set _CPUTAPID 0x2ba01477
+}
+
+set _TARGETNAME $_CHIPNAME.cpu
+
+swj_newdap $_CHIPNAME cpu -irlen 4 -expected-id $_CPUTAPID
+
+target create $_TARGETNAME cortex_m -chain-position $_CHIPNAME.cpu
+
+$_CHIPNAME.cpu configure -event examine-start { puts "START..." ; }
+
+# It is important that "kinetis mdm check_security" is called for
+# 'examine-end' event and not 'eximine-start'. Calling it in 'examine-start'
+# causes "kinetis mdm check_security" to fail the first time openocd
+# calls it when it tries to connect after the CPU has been power-cycled.
+$_CHIPNAME.cpu configure -event examine-end {
+    kinetis mdm check_security
+}
+
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size 0x1000 -work-area-backup 0
+
+flash bank $_CHIPNAME.flash kinetis 0 0 0 0 $_TARGETNAME
+
+cortex_m reset_config sysresetreq
+#reset_config srst_only srst_nogate connect_assert_srst
+
+adapter_khz 1000
+
+$_TARGETNAME configure -event gdb-attach {
+  halt
+}
+$_TARGETNAME configure -rtos auto

boards/frdm-common/dist/old-openocd-jlink-kx.cfg

@@ -0,0 +1,48 @@
+#
+# Freescale Kinetis Kxx devices on a Segger J-Link adapter
+#
+source [find interface/jlink.cfg]
+
+source [find target/swj-dp.tcl]
+
+if { [info exists CHIPNAME] } {
+    set _CHIPNAME $CHIPNAME
+} else {
+    set _CHIPNAME kx
+}
+
+if { [info exists CPUTAPID] } {
+    set _CPUTAPID $CPUTAPID
+} else {
+    set _CPUTAPID 0x2ba01477
+}
+
+set _TARGETNAME $_CHIPNAME.cpu
+
+swj_newdap $_CHIPNAME cpu -irlen 4 -expected-id $_CPUTAPID
+
+target create $_TARGETNAME cortex_m -chain-position $_CHIPNAME.cpu
+
+$_CHIPNAME.cpu configure -event examine-start { puts "START..." ; }
+
+# It is important that "kinetis mdm check_security" is called for
+# 'examine-end' event and not 'eximine-start'. Calling it in 'examine-start'
+# causes "kinetis mdm check_security" to fail the first time openocd
+# calls it when it tries to connect after the CPU has been power-cycled.
+$_CHIPNAME.cpu configure -event examine-end {
+    kinetis mdm check_security
+}
+
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size 0x1000 -work-area-backup 0
+
+flash bank $_CHIPNAME.flash kinetis 0 0 0 0 $_TARGETNAME
+
+cortex_m reset_config sysresetreq
+#reset_config srst_only srst_nogate connect_assert_srst
+
+adapter_khz 1000
+
+$_TARGETNAME configure -event gdb-attach {
+  halt
+}
+$_TARGETNAME configure -rtos auto

boards/frdm-common/dist/openocd-dap-kx.cfg

@@ -0,0 +1,22 @@
+#
+# NXP Kinetis Freedom developer board
+#
+# OpenSDA is the on-board debugger, some boards have a CMSIS-DAP compatible
+# interface, other boards comes pre-flashed with a Segger J-Link compatible
+# firmware. The OpenSDA controller can be re-flashed to provide either of the two.
+# Both interfaces work with OpenOCD, but we need to tell which one we have on
+# our debugger.
+
+# CMSIS-DAP (DAPLink) compatible OpenSDA firmware binary images can be found at:
+# http://www.nxp.com/opensda
+source [find interface/cmsis-dap.cfg]
+
+# Kinetis K series CPUs
+source [find target/kx.cfg]
+
+reset_config srst_only
+
+$_TARGETNAME configure -event gdb-attach {
+  halt
+}
+$_TARGETNAME configure -rtos auto

boards/frdm-common/dist/openocd-jlink-kx.cfg

@@ -0,0 +1,22 @@
+#
+# NXP Kinetis Freedom developer board
+#
+# OpenSDA is the on-board debugger, some boards have a CMSIS-DAP compatible
+# interface, other boards comes pre-flashed with a Segger J-Link compatible
+# firmware. The OpenSDA controller can be re-flashed to provide either of the two.
+# Both interfaces work with OpenOCD, but we need to tell which one we have on
+# our debugger.
+
+# J-Link compatible firmware binaries for OpenSDA can be found at:
+# https://www.segger.com/downloads/jlink#JLinkOpenSDABoardSpecificFirmwares
+source [find interface/jlink.cfg]
+
+# Kinetis K series CPUs
+source [find target/kx.cfg]
+
+reset_config srst_only
+
+$_TARGETNAME configure -event gdb-attach {
+  halt
+}
+$_TARGETNAME configure -rtos auto

boards/frdm-k64f/Makefile.include

@@ -2,30 +2,5 @@
 export CPU = k64f
 export CPU_MODEL = mk64fn1m0vll12
 
-# set default port depending on operating system
-PORT_LINUX ?= /dev/ttyACM0
-PORT_DARWIN ?= $(firstword $(sort $(wildcard /dev/tty.usbmodem*)))
-
-.PHONY: flash
-flash: $(RIOTCPU)/kinetis_common/dist/wdog-disable.bin
-
-# Reset the default goal.
-.DEFAULT_GOAL :=
-
-export FFLAGS = flash-elf
-export TUI = 1
-# We need special handling of the watchdog if we want to speed up the flash
-# verification by using the MCU to compute the image checksum after flashing.
-# wdog-disable.bin is a precompiled binary which will disable the watchdog and
-# return control to the debugger (OpenOCD)
-export OPENOCD_PRE_VERIFY_CMDS += \
-  -c 'load_image $(RIOTCPU)/kinetis_common/dist/wdog-disable.bin 0x20000000 bin' \
-  -c 'resume 0x20000000'
-export OPENOCD_EXTRA_INIT
-export PRE_FLASH_CHECK_SCRIPT = $(RIOTCPU)/kinetis_common/dist/check-fcfield-elf.sh
-
-# setup serial terminal
-include $(RIOTMAKE)/tools/serial.inc.mk
-
-# this board uses openocd
-include $(RIOTMAKE)/tools/openocd.inc.mk
+# Include default FRDM board config
+include $(RIOTBOARD)/frdm-common/Makefile.include

cpu/k64f/Makefile.include

@@ -1,5 +1,6 @@
 # define the CPU architecture for the k64f
 export CPU_ARCH = cortex-m4
+export CPU_FAMILY = kx
 
 # map CPU models to generic Kinetis linkerscript
 LD_MK64FN1M0VLL12 = kinetis_f1024l64u192.ld