Merge pull request #2982 from gebart/pr/openocd-verify-watchdog

kinetis_common: Disable watchdog between flashing and verifying image

boards/mulle/Makefile.include

@@ -124,11 +124,26 @@ export DEBUGGER = $(RIOTBASE)/dist/tools/openocd/openocd.sh
 export DEBUGSERVER = $(RIOTBASE)/dist/tools/openocd/openocd.sh
 export RESET = $(RIOTBASE)/dist/tools/openocd/openocd.sh
 export TERMFLAGS += -p "$(PORT)"
-export FFLAGS = flash $(OPENOCD_EXTRA_INIT)
+export FFLAGS = flash
-export DEBUGGER_FLAGS = debug $(OPENOCD_EXTRA_INIT)
+export DEBUGGER_FLAGS = debug
-export DEBUGSERVER_FLAGS = debug-server $(OPENOCD_EXTRA_INIT)
+export DEBUGSERVER_FLAGS = debug-server
-export RESET_FLAGS = reset $(OPENOCD_EXTRA_INIT)
+export RESET_FLAGS = reset
 
+# 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-hex.sh
+
+.PHONY: flash
+flash: $(RIOTCPU)/kinetis_common/dist/wdog-disable.bin
+
+# Reset the default goal.
+.DEFAULT_GOAL :=
 
 # define build specific options
 CPU_USAGE = -mcpu=cortex-m4

boards/mulle/dist/openocd/mulle-programmer-0.60.conf

@@ -43,6 +43,16 @@ source [find target/k60.cfg]
 flash bank $_CHIPNAME.pflash.0 kinetis 0x00000000 0x20000 0 4 $_TARGETNAME
 flash bank $_CHIPNAME.pflash.1 kinetis 0x00020000 0x20000 0 4 $_TARGETNAME
 
+# Work-area is a space in RAM used for flash programming
+# By default use 16kB
+if { [info exists WORKAREASIZE] } {
+    set  _WORKAREASIZE $WORKAREASIZE
+} else {
+    set  _WORKAREASIZE 0x4000
+}
+
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
 # The following section makes new gdb connections cause the MCU to do a system
 # reset, in order to be in a known state.
 # Comment this out in order to be able to debug an already started program.

boards/mulle/dist/openocd/mulle-programmer-0.70.conf

@@ -42,6 +42,16 @@ source [find target/k60.cfg]
 flash bank $_CHIPNAME.pflash.0 kinetis 0x00000000 0x40000 0 4 $_TARGETNAME
 flash bank $_CHIPNAME.pflash.1 kinetis 0x00040000 0x40000 0 4 $_TARGETNAME
 
+# Work-area is a space in RAM used for flash programming
+# By default use 16kB
+if { [info exists WORKAREASIZE] } {
+    set  _WORKAREASIZE $WORKAREASIZE
+} else {
+    set  _WORKAREASIZE 0x4000
+}
+
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
 # The following section makes new gdb connections cause the MCU to do a system
 # reset, in order to be in a known state.
 # Comment this out in order to be able to debug an already started program.

boards/pba-d-01-kw2x/Makefile.include

@@ -23,24 +23,46 @@ export AS = $(PREFIX)as
 export LINK = $(PREFIX)gcc
 export SIZE = $(PREFIX)size
 export OBJCOPY = $(PREFIX)objcopy
+export OPENOCD ?= openocd
+export DBG ?= $(PREFIX)gdb
 export TERMPROG = $(RIOTBASE)/dist/tools/pyterm/pyterm
-export FLASHER = $(RIOTBOARD)/$(BOARD)/dist/flash.sh
+export FLASHER = $(RIOTBASE)/dist/tools/openocd/openocd.sh
-export DEBUGGER = $(RIOTBOARD)/$(BOARD)/dist/debug.sh
+export DEBUGGER = $(RIOTBASE)/dist/tools/openocd/openocd.sh
-export RESET = $(RIOTBOARD)/$(BOARD)/dist/reset.sh
+export DEBUGSERVER = $(RIOTBASE)/dist/tools/openocd/openocd.sh
-export DEBUGSERVER = openocd
+export RESET = $(RIOTBASE)/dist/tools/openocd/openocd.sh
+
+.PHONY: flash
+flash: $(RIOTCPU)/kinetis_common/dist/wdog-disable.bin
+
+# Reset the default goal.
+.DEFAULT_GOAL :=
+
 
 # define build specific options
-CPU_USAGE = -mcpu=cortex-m4
+export CPU_USAGE = -mcpu=cortex-m4
-FPU_USAGE =
+export FPU_USAGE =
 export CFLAGS += -ggdb -g3 -std=gnu99 -Os -Wall -Wstrict-prototypes $(CPU_USAGE) $(FPU_USAGE) -mlittle-endian -mthumb -mthumb-interwork -nostartfiles
 export CFLAGS += -ffunction-sections -fdata-sections -fno-builtin
+
 export ASFLAGS += -ggdb -g3 $(CPU_USAGE) $(FPU_USAGE) -mlittle-endian
 export LINKFLAGS += -g3 -ggdb -std=gnu99 $(CPU_USAGE) $(FPU_USAGE) -mlittle-endian -static -lgcc -mthumb -mthumb-interwork -nostartfiles
 export LINKFLAGS += -T$(LINKERSCRIPT)
-export OFLAGS = -O binary
+
-export FFLAGS = $(HEXFILE)
+export FFLAGS = flash-elf
-export DEBUGGER_FLAGS = $(RIOTBOARD)/$(BOARD)/dist/gdb.conf $(ELFFILE)
+export DEBUGGER_FLAGS = debug
+export DEBUGSERVER_FLAGS = debug-server
+export RESET_FLAGS = reset
 export TERMFLAGS = -p $(PORT)
+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
 
 # use newLib nano-specs if available
 ifeq ($(shell $(LINK) -specs=nano.specs -E - 2>/dev/null >/dev/null </dev/null ; echo $$?),0)

boards/pba-d-01-kw2x/dist/debug.sh

@@ -1,38 +0,0 @@
-#!/bin/bash
-
-# Based on iot-lab_M3 debug.sh script.
-# Author: Jonas Remmert j.remmert@phytec.de
-
-red='\033[0;31m'
-green='\033[0;32m'
-NC='\033[0m'
-
-openocd -f "$RIOTBASE/boards/pba-d-01-kw2x/dist/mkw22d512.cfg" \ #"${RIOTBOARD}/${BOARD}/dist/mkw22d512.cfg" \
-    -c "tcl_port 6333" \
-    -c "telnet_port 4444" \
-    -c "init" \
-    -c "targets" \
-    -c "reset halt" \
-    -l /dev/null &
-
-# save pid to terminate afterwards
-OCD_PID=$?
-
-# needed for openocd to set up
-sleep 1
-
-retval=$(arm-none-eabi-readelf -x .fcfield $2  | awk '/0x00000400/ {print $2 $3 $4 $5}')
-unlocked_fcfield="fffffffffffffffffffffffffeffffff"
-
-if [ "$retval" == "$unlocked_fcfield" ]; then
-echo -e "Flash configuration tested...${green} [OK]${NC}"
-arm-none-eabi-gdb -tui --command=${1} ${2}
-#cgdb -d arm-none-eabi-gdb --command=${1} ${2}
-
-else
-echo "Hexdump, .fcfield of $2"
-retval=$(arm-none-eabi-readelf -x .fcfield $2)
-echo $retval
-echo -e "Fcfield not fitting to MKW22Dxxx, danger of bricking the device during flash...${red} [ABORT]${NC}"
-fi
-kill ${OCD_PID}

boards/pba-d-01-kw2x/dist/flash.sh

@@ -1,52 +0,0 @@
-#!/bin/bash
-
-# Based on iot-lab_M3 debug.sh script.
-# Author: Jonas Remmert j.remmert@phytec.de
-
-elffile=`echo $1 | sed 's/.hex/.elf/'`
-
-red='\033[0;31m'
-green='\033[0;32m'
-NC='\033[0m'
-
-echo The file: $elffile will be flashed to the board: $BOARD .
-#echo Press y to proceed, v to proceed with verify or any other key to abort.
-#read x
-
-retval=$(arm-none-eabi-readelf -x .fcfield $elffile  | awk '/0x00000400/ {print $2 $3 $4 $5}')
-unlocked_fcfield="fffffffffffffffffffffffffeffffff"
-
-if [ "$retval" != "$unlocked_fcfield" ]; then
-echo "Hexdump, .fcfield of $elffile"
-retval=$(arm-none-eabi-readelf -x .fcfield $elffile)
-echo $retval
-echo -e "Fcfield not fitting to MKW2xDxxx, danger of bricking the device during flash...${red} [ABORT]${NC}"
-exit 0
-fi
-echo -e "Flash configuration tested...${green} [OK]${NC}"
-
-
-# flash without verify
-#if [ $x = "y" ] || [ $x = "v" ];# -o $x -eq v ];
-#then
-echo -e "${red}Flashing device, do not disconnect or reset the target until this script exits!!!${NC}"
-openocd -f "$RIOTBASE/boards/pba-d-01-kw2x/dist/mkw22d512.cfg" \
-        -c "init" \
-        -c "reset halt" \
-        -c "flash write_image erase $elffile" \
-        -c "reset run" \
-        -c "exit"
-#fi
-
-# verify
-#if [ "$x" = "v" ];
-#then
-#echo -e "${red}Flashing device, do not disconnect or reset the target until this script exits!!!${NC}"
-#openocd -f "$RIOTBASE/boards/pba-d-01-kw2x/dist/mkw22d512.cfg" \
-#        -c "init" \
-#        -c "reset halt" \
-#        -c "verify_image $elffile" \
-#        -c "reset run" \
-#        -c "exit"
-#fi
-echo -e "${green}done...${NC}"

boards/pba-d-01-kw2x/dist/gdb.conf

@@ -1,4 +0,0 @@
-target remote localhost:3333
-monitor reset halt
-set print pretty
-set arm force-mode thumb

boards/pba-d-01-kw2x/dist/reset.sh

@@ -1,6 +0,0 @@
-#!/bin/bash
-
-openocd -f "$RIOTBASE/boards/pba-d-01-kw2x/dist/mkw22d512.cfg" \
-    -c "init" \
-    -c "reset run" \
-    -c "shutdown"

cpu/kinetis_common/Makefile.include

@@ -9,3 +9,10 @@ export UNDEF += $(BINDIR)kinetis_common/startup.o
 
 # add the CPU specific fault handlers for the linker
 export UNDEF += $(BINDIR)kinetis_common/fault_handlers.o
+
+# Define a recipe to build the watchdog disable binary, used when flashing
+$(RIOTCPU)/kinetis_common/dist/wdog-disable.bin: $(RIOTCPU)/kinetis_common/dist/wdog-disable.s
+	$(AD)$(MAKE) -C $(RIOTCPU)/kinetis_common/dist/ $(notdir $@)
+
+# Reset the default goal to not make wdog-disable.bin the default target.
+.DEFAULT_GOAL :=

cpu/kinetis_common/dist/Makefile

@@ -0,0 +1,9 @@
+wdog-disable.bin: wdog-disable.o
+	arm-none-eabi-objcopy -O binary -j .text.wdog_disable -S -g $^ $@
+
+wdog-disable.o: wdog-disable.s
+	arm-none-eabi-as -mthumb -o $@ $^
+
+.PHONY: clean
+clean:
+	@rm wdog-disable.o

cpu/kinetis_common/dist/README.md

@@ -0,0 +1,15 @@
+K60 tools
+=========
+
+This directory contains tools for working with K60 CPUs.
+
+Watchdog disable
+----------------
+
+wdog-disable.bin is a location-independent watchdog disable function with a breakpoint instruction at the end. Useful for disabling the watchdog directly from OpenOCD.
+
+Usage:
+
+    openocd -c 'reset halt' \
+      -c 'load_image wdog-disable.bin 0x20000000 bin' \
+      -c 'resume 0x20000000' # watchdog is disabled and core halted

cpu/kinetis_common/dist/check-fcfield-elf.sh

@@ -0,0 +1,24 @@
+#!/bin/sh
+#
+# Anti brick check script for Freescale Kinetis MCUs.
+#
+# This script is supposed to be called from RIOTs
+# unified OpenOCD script (dist/tools/openocd/openocd.sh).
+#
+# @author       Jonas Remmert <j.remmert@phytec.de>
+# @author       Johann Fischer <j.fischer@phytec.de>
+
+ELFFILE=$1
+
+RETVAL=$(arm-none-eabi-readelf -x .fcfield $ELFFILE  | awk '/0x00000400/ {print $2 $3 $4 $5}')
+UNLOCKED_FCFIELD="fffffffffffffffffffffffffeffffff"
+
+if [ "$RETVAL" != "$UNLOCKED_FCFIELD" ]; then
+    echo "Danger of bricking the device during flash!"
+    echo "Flash configuration field of $ELFFILE:"
+    arm-none-eabi-readelf -x .fcfield $ELFFILE
+    echo "Abort flash procedure!"
+    exit 1
+fi
+echo "$ELFFILE is fine."
+exit 0

cpu/kinetis_common/dist/check-fcfield-hex.sh

@@ -0,0 +1,36 @@
+#!/bin/sh
+#
+# Flash configuration field check script for Freescale Kinetis MCUs.
+#
+# This script is supposed to be called from RIOTs
+# unified OpenOCD script (dist/tools/openocd/openocd.sh).
+#
+# Syntax: check-fcfield-hex.sh $HEXFILE
+#
+# @author       Jonas Remmert <j.remmert@phytec.de>
+# @author       Johann Fischer <j.fischer@phytec.de>
+# @author       Joakim Gebart <joakim.gebart@eistec.se>
+
+if [ $# -ne 1 ]; then
+    echo "Usage: $0 HEXFILE"
+    echo "Checks the flash configuration field protection bits to avoid flashing a locked image to a Kinetis MCU (protection against accidental bricking)."
+    exit 2
+fi
+
+HEXFILE="$1"
+FCFIELD_START='0x400'
+FCFIELD_END='0x410'
+FCFIELD_AWK_REGEX='^ 0400 '
+
+ACTUAL_FCFIELD=$(arm-none-eabi-objdump --start-address=${FCFIELD_START} --stop-address=${FCFIELD_END} ${HEXFILE} -s | awk -F' ' "/${FCFIELD_AWK_REGEX}/ { print \$2 \$3 \$4 \$5; }")
+EXPECTED_FCFIELD="fffffffffffffffffffffffffeffffff"
+
+if [ "${ACTUAL_FCFIELD}" != "${EXPECTED_FCFIELD}" ]; then
+    echo "Danger of bricking the device during flash!"
+    echo "Flash configuration field of ${HEXFILE}:"
+    arm-none-eabi-objdump --start-address=${FCFIELD_START} --stop-address=${FCFIELD_END} ${HEXFILE} -s
+    echo "Abort flash procedure!"
+    exit 1
+fi
+echo "${HEXFILE} is not locked."
+exit 0

cpu/kinetis_common/dist/wdog-disable.s

@@ -0,0 +1,33 @@
+/*
+ * Copyright (C) 2015 Eistec AB
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/* GCC ARM assembler */
+
+    .text
+    .thumb
+    .align 2
+
+/* Public functions declared in this file */
+    .global  wdog_disable
+
+.section .text.wdog_disable
+.thumb_func
+.func
+wdog_disable:
+    movw r0, #0x200e
+    movw r1, #0xc520
+    movt r0, #0x4005
+    strh r1, [r0, #0]
+    movw r1, #0xd928
+    strh r1, [r0, #0]
+    movw r0, #0x2000
+    movs r1, #0xd2
+    movt r0, #0x4005
+    strh r1, [r0, #0]
+    bkpt #0
+.endfunc

dist/tools/openocd/openocd.sh

@@ -23,6 +23,17 @@
 #
 #               options:
 #               HEXFILE: path to the hex file that is flashed
+#               PRE_FLASH_CHECK_SCRIPT: a command to run before flashing to
+#               verify the integrity of the image to be flashed. HEXFILE is
+#               passed as an argument to this command.
+#
+# flash-elf:    flash a given ELF file to the target.
+#
+#               options:
+#               ELFFILE: path to the ELF file that is flashed
+#               PRE_FLASH_CHECK_SCRIPT: a command to run before flashing to
+#               verify the integrity of the image to be flashed. ELFFILE is
+#               passed as an argument to this command.
 #
 # debug:        starts OpenOCD as GDB server in the background and
 #               connects to the server with the GDB client specified by
@@ -33,6 +44,7 @@
 #               TCL_PORT:       port opened for TCL connections
 #               TELNET_PORT:    port opened for telnet connections
 #               TUI:            if TUI!=null, the -tui option will be used
+#               ELFFILE:        path to the ELF file to debug
 #
 # debug-server: starts OpenOCD as GDB server, but does not connect to
 #               to it with any frontend. This might be useful when using
@@ -117,19 +129,61 @@ test_tui() {
 do_flash() {
     test_config
     test_hexfile
+    if [ -n "${PRE_FLASH_CHECK_SCRIPT}" ]; then
+        sh -c "${PRE_FLASH_CHECK_SCRIPT} '${HEXFILE}'"
+        RETVAL=$?
+        if [ $RETVAL -ne 0 ]; then
+            echo "pre-flash checks failed, status=$RETVAL"
+            exit $RETVAL
+        fi
+    fi
     # flash device
-    ${OPENOCD} -f "${OPENOCD_CONFIG}" \
+    sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
-            "$@" \
+            ${OPENOCD_EXTRA_INIT} \
-            -c "tcl_port 0" \
+            -c 'tcl_port 0' \
-            -c "telnet_port 0" \
+            -c 'telnet_port 0' \
-            -c "gdb_port 0" \
+            -c 'gdb_port 0' \
-            -c "init" \
+            -c 'init' \
-            -c "targets" \
+            -c 'targets' \
-            -c "reset halt" \
+            -c 'reset halt' \
-            -c "program ${HEXFILE} verify" \
+            ${OPENOCD_PRE_FLASH_CMDS} \
-            -c "reset run" \
+            -c 'flash write_image erase \"${HEXFILE}\"' \
-            -c "shutdown"
+            -c 'reset halt' \
-    echo "Done flashing"
+            ${OPENOCD_PRE_VERIFY_CMDS} \
+            -c 'verify_image \"${HEXFILE}\"' \
+            -c 'reset run' \
+            -c 'shutdown'"
+    echo 'Done flashing'
+}
+
+do_flash_elf() {
+    test_config
+    test_elffile
+    if [ -n "${PRE_FLASH_CHECK_SCRIPT}" ]; then
+        sh -c "${PRE_FLASH_CHECK_SCRIPT} '${ELFFILE}'"
+        RETVAL=$?
+        if [ $RETVAL -ne 0 ]; then
+            echo "pre-flash checks failed, status=$RETVAL"
+            exit $RETVAL
+        fi
+    fi
+    # flash device
+    sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
+            ${OPENOCD_EXTRA_INIT} \
+            -c 'tcl_port 0' \
+            -c 'telnet_port 0' \
+            -c 'gdb_port 0' \
+            -c 'init' \
+            -c 'targets' \
+            -c 'reset halt' \
+            ${OPENOCD_PRE_FLASH_CMDS} \
+            -c 'flash write_image erase \"${ELFFILE}\"' \
+            -c 'reset halt' \
+            ${OPENOCD_PRE_VERIFY_CMDS} \
+            -c 'verify_image \"${ELFFILE}\"' \
+            -c 'reset run' \
+            -c 'shutdown'"
+    echo 'Done flashing'
 }
 
 do_debug() {
@@ -138,15 +192,15 @@ do_debug() {
     test_ports
     test_tui
     # start OpenOCD as GDB server
-    ${OPENOCD} -f "${OPENOCD_CONFIG}" \
+    sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
-            "$@" \
+            ${OPENOCD_EXTRA_INIT} \
-            -c "tcl_port ${TCL_PORT}" \
+            -c 'tcl_port ${TCL_PORT}' \
-            -c "telnet_port ${TELNET_PORT}" \
+            -c 'telnet_port ${TELNET_PORT}' \
-            -c "gdb_port ${GDB_PORT}" \
+            -c 'gdb_port ${GDB_PORT}' \
-            -c "init" \
+            -c 'init' \
-            -c "targets" \
+            -c 'targets' \
-            -c "reset halt" \
+            -c 'reset halt' \
-            -l /dev/null &
+            -l /dev/null" &
     # save PID for terminating the server afterwards
     OCD_PID=$?
     # connect to the GDB server
@@ -159,27 +213,27 @@ do_debugserver() {
     test_config
     test_ports
     # start OpenOCD as GDB server
-    ${OPENOCD} -f "${OPENOCD_CONFIG}" \
+    sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
-            "$@" \
+            ${OPENOCD_EXTRA_INIT} \
-            -c "tcl_port ${TCL_PORT}" \
+            -c 'tcl_port ${TCL_PORT}' \
-            -c "telnet_port ${TELNET_PORT}" \
+            -c 'telnet_port ${TELNET_PORT}' \
-            -c "gdb_port ${GDB_PORT}" \
+            -c 'gdb_port ${GDB_PORT}' \
-            -c "init" \
+            -c 'init' \
-            -c "targets" \
+            -c 'targets' \
-            -c "reset halt"
+            -c 'reset halt'"
 }
 
 do_reset() {
     test_config
     # start OpenOCD and invoke board reset
-    ${OPENOCD} -f "${OPENOCD_CONFIG}" \
+    sh -c "${OPENOCD} -f '${OPENOCD_CONFIG}' \
-            "$@" \
+            ${OPENOCD_EXTRA_INIT} \
-            -c "tcl_port 0" \
+            -c 'tcl_port 0' \
-            -c "telnet_port 0" \
+            -c 'telnet_port 0' \
-            -c "gdb_port 0" \
+            -c 'gdb_port 0' \
-            -c "init" \
+            -c 'init' \
-            -c "reset run" \
+            -c 'reset run' \
-            -c "shutdown"
+            -c 'shutdown'"
 }
 
 #
@@ -193,6 +247,10 @@ case "${ACTION}" in
     echo "### Flashing Target ###"
     do_flash "$@"
     ;;
+  flash-elf)
+    echo "### Flashing Target ###"
+    do_flash_elf "$@"
+    ;;
   debug)
     echo "### Starting Debugging ###"
     do_debug "$@"