Bootloader rework

bootloaders/zero/Makefile

@@ -1,29 +1,174 @@
-IDE_PATH="../../../../.."
-ARM_GCC_PATH=$(IDE_PATH)/hardware/tools/gcc-arm-none-eabi-4.8.3-2014q1/bin
-CC=$(ARM_GCC_PATH)/arm-none-eabi-gcc
-CFLAGS=-mthumb -mcpu=cortex-m0plus -Wall -c -g -Os -w -std=gnu99 -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500
-LDFLAGS=-mthumb -mcpu=cortex-m0plus -Wall -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols
-BLD_EXTA_FLAGS=-D__SAMD21G18A__
+# Copyright (c) 2015 Atmel Corporation/Thibaut VIARD.  All right reserved.
+# Copyright (c) 2015 Arduino LLC.  All right reserved.
+#
+# This library is free software; you can redistribute it and/or
+# modify it under the terms of the GNU Lesser General Public
+# License as published by the Free Software Foundation; either
+# version 2.1 of the License, or (at your option) any later version.
+#
+# This library is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public
+# License along with this library; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+# -----------------------------------------------------------------------------
+# Paths
+ifeq ($(OS),Windows_NT)
+
+  # Are we using mingw/msys/msys2/cygwin?
+  ifeq ($(TERM),xterm)
+# this is the path coming with night build
+#		T=$(shell cygpath -u $(LOCALAPPDATA))
+# this is the path till 1.6.5 r5
+		T=$(shell cygpath -u $(APPDATA))
+    MODULE_PATH?=$(T)/Arduino15/packages/arduino
+    ARM_GCC_PATH?=$(MODULE_PATH)/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin/arm-none-eabi-
+    RM=rm
+    SEP=/
+  else
+# this is the path coming with night build
+#    MODULE_PATH?=$(LOCALAPPDATA)/Arduino15/packages/arduino
+# this is the path till 1.6.5 r5
+    MODULE_PATH?=$(APPDATA)/Arduino15/packages/arduino
+    ARM_GCC_PATH?=$(MODULE_PATH)/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin/arm-none-eabi-
+    RM=rm
+    SEP=\\
+  endif
+else
+    UNAME_S := $(shell uname -s)
+
+    ifeq ($(UNAME_S),Linux)
+			MODULE_PATH?=$HOME/.arduino15/packages/arduino
+			ARM_GCC_PATH?=$(MODULE_PATH)/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin/arm-none-eabi-
+      RM=rm
+	    SEP=/
+    endif
+
+    ifeq ($(UNAME_S),Darwin)
+			MODULE_PATH?=$HOME/Library/Arduino15/packages/arduino/
+			ARM_GCC_PATH?=$(MODULE_PATH)/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin/arm-none-eabi-
+      RM=rm
+	    SEP=/
+    endif
+endif
+
 BUILD_PATH=build
-INCLUDES=-I$(IDE_PATH)/hardware/tools/CMSIS/CMSIS/Include/ -I$(IDE_PATH)/hardware/tools/CMSIS/Device/ATMEL/ -I./drivers/ -I./utils/ -I./utils/preprocessor/ -I./utils/interrupt 
-SOURCES=main.c sam_ba_monitor.c startup_samd21.c usart_sam_ba.c drivers/cdc_enumerate.c drivers/uart_driver.c utils/interrupt/interrupt_sam_nvic.c 
+
+# -----------------------------------------------------------------------------
+# Tools
+CC=$(ARM_GCC_PATH)gcc
+OBJCOPY=$(ARM_GCC_PATH)objcopy
+NM=$(ARM_GCC_PATH)nm
+SIZE=$(ARM_GCC_PATH)size
+
+# -----------------------------------------------------------------------------
+# Compiler options
+CFLAGS=-mthumb -mcpu=cortex-m0plus -Wall -c -std=gnu99 -ffunction-sections -fdata-sections -nostdlib -nostartfiles --param max-inline-insns-single=500
+ifdef DEBUG
+CFLAGS+=-g3 -O1 -DDEBUG=1
+else
+CFLAGS+=-Os -DDEBUG=0
+endif
+CFLAGS_EXTRA?=-D__SAMD21G18A__ -DUSB_PID_LOW=0x4D -DUSB_PID_HIGH=0x00
+INCLUDES=-I"$(MODULE_PATH)/tools/CMSIS/4.0.0-atmel/CMSIS/Include/" -I"$(MODULE_PATH)/tools/CMSIS/4.0.0-atmel/Device/ATMEL/"
+
+# -----------------------------------------------------------------------------
+# Linker options
+LDFLAGS=-mthumb -mcpu=cortex-m0plus -Wall -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--unresolved-symbols=report-all
+LDFLAGS+=-Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols --specs=nano.specs --specs=nosys.specs
+
+# -----------------------------------------------------------------------------
+# Source files and objects
+SOURCES= \
+board_driver_led.c \
+board_driver_serial.c \
+board_driver_usb.c \
+board_init.c \
+board_startup.c \
+main.c \
+sam_ba_usb.c \
+sam_ba_cdc.c \
+sam_ba_monitor.c \
+sam_ba_serial.c
+
 OBJECTS=$(addprefix $(BUILD_PATH)/, $(SOURCES:.c=.o))
+DEPS=$(addprefix $(BUILD_PATH)/, $(SOURCES:.c=.d))
 
 NAME=samd21_sam_ba
-EXECUTABLE=$(NAME).bin
+ELF=$(NAME).elf
+BIN=$(NAME).bin
+HEX=$(NAME).hex
 
-SLASH=/
-BSLASH=$(EMPTY)\$(EMPTY)
+ifneq "test$(AVRSTUDIO_EXE_PATH)" "test"
+AS_BUILD=copy_for_atmel_studio
+AS_CLEAN=clean_for_atmel_studio
+else
+AS_BUILD=
+AS_CLEAN=
+endif
 
-all: $(SOURCES) $(EXECUTABLE)
-
-$(EXECUTABLE): $(OBJECTS) 
-	$(CC) -L$(BUILD_PATH) $(LDFLAGS) -Os -Wl,--gc-sections -save-temps  -Tsamd21j18a_flash.ld -Wl,-Map,$(BUILD_PATH)/$(NAME).map --specs=nano.specs --specs=nosys.specs -o $(BUILD_PATH)/$(NAME).elf $(OBJECTS) -Wl,--start-group -lm -Wl,--end-group
-	$(ARM_GCC_PATH)/arm-none-eabi-objcopy -O binary $(BUILD_PATH)/$(NAME).elf $@
+
+all: print_info $(SOURCES) $(BIN) $(HEX) $(AS_BUILD)
+
+$(ELF): Makefile $(BUILD_PATH) $(OBJECTS)
+	@echo ----------------------------------------------------------
+	@echo Creating ELF binary
+	"$(CC)" -L. -L$(BUILD_PATH) $(LDFLAGS) -Os -Wl,--gc-sections -save-temps -Tbootloader_samd21x18.ld -Wl,-Map,"$(BUILD_PATH)/$(NAME).map" -o "$(BUILD_PATH)/$(ELF)" -Wl,--start-group $(OBJECTS) -lm -Wl,--end-group
+	"$(NM)" "$(BUILD_PATH)/$(ELF)" >"$(BUILD_PATH)/$(NAME)_symbols.txt"
+	"$(SIZE)" --format=sysv -t -x $(BUILD_PATH)/$(ELF)
+
+$(BIN): $(ELF)
+	@echo ----------------------------------------------------------
+	@echo Creating flash binary
+	"$(OBJCOPY)" -O binary $(BUILD_PATH)/$< $@
+
+$(HEX): $(ELF)
+	@echo ----------------------------------------------------------
+	@echo Creating flash binary
+	"$(OBJCOPY)" -O ihex $(BUILD_PATH)/$< $@
 
 $(BUILD_PATH)/%.o: %.c
-	-@mkdir -p $(@D)
-	$(CC) $(CFLAGS) $(BLD_EXTA_FLAGS) $(INCLUDES) $< -o $@
-
-clean:
-	del $(EXECUTABLE) $(subst /,\,$(OBJECTS)) $(subst /,\,$(BUILD_PATH)/$(NAME).*)
+	@echo ----------------------------------------------------------
+	@echo Compiling $< to $@
+	"$(CC)" $(CFLAGS) $(CFLAGS_EXTRA) $(INCLUDES) $< -o $@
+	@echo ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+
+$(BUILD_PATH):
+	@echo ----------------------------------------------------------
+	@echo Creating build folder
+	-mkdir $(BUILD_PATH)
+
+print_info:
+	@echo ----------------------------------------------------------
+	@echo Compiling bootloader using
+	@echo BASE PATH = $(MODULE_PATH)
+	@echo GCC  PATH = $(ARM_GCC_PATH)
+#	@echo OS        = $(OS)
+#	@echo SHELL     = $(SHELL)
+#	@echo TERM      = $(TERM)
+#	"$(CC)" -v
+#	env
+
+copy_for_atmel_studio: $(BIN) $(HEX)
+	@echo ----------------------------------------------------------
+	@echo Atmel Studio detected, copying ELF to project root for debug
+	cp $(BUILD_PATH)/$(ELF) .
+
+clean_for_atmel_studio:
+	@echo ----------------------------------------------------------
+	@echo Atmel Studio detected, cleaning ELF from project root
+	-$(RM) ./$(ELF)
+
+clean: $(AS_CLEAN)
+	@echo ----------------------------------------------------------
+	@echo Cleaning project
+	-$(RM) $(BIN)
+	-$(RM) $(HEX)
+	-$(RM) $(BUILD_PATH)/*.*
+	-rmdir $(BUILD_PATH)
+
+.phony: print_info $(BUILD_PATH)

bootloaders/zero/README.md

@@ -0,0 +1,75 @@
+# Arduino Zero Bootloader
+
+## 1- Prerequisites
+
+The project build is based on Makefile system.
+Makefile is present at project root and try to handle multi-platform cases.
+
+Multi-plaform GCC is provided by ARM here: https://launchpad.net/gcc-arm-embedded/+download
+
+Atmel Studio contains both make and ARM GCC toolchain. You don't need to install them in this specific use case.
+
+### Windows
+
+* Native command line
+Make binary can be obtained here: http://gnuwin32.sourceforge.net/packages/make.htm
+
+* Cygwin/MSys/MSys2/Babun/etc...
+It is available natively in all distributions.
+
+* Atmel Studio
+An Atmel Studio **7** Makefile-based project is present at project root, just open samd21_sam_ba.atsln file in AS7.
+
+### Linux
+
+Make is usually available by default.
+
+### OS X
+
+Make is available through XCode package.
+
+
+## 2- Selecting available SAM-BA interfaces
+
+By default both USB and UART are made available, but this parameter can be modified in sam_ba_monitor.h, line 31:
+
+Set the define SAM_BA_INTERFACE to
+* SAM_BA_UART_ONLY for only UART interface
+* SAM_BA_USBCDC_ONLY for only USB CDC interface
+* SAM_BA_BOTH_INTERFACES for enabling both the interfaces
+
+## 3- Behaviour
+
+This bootloader implements the double-tap on Reset button.
+By quickly pressing this button two times, the board will reset and stay in bootloader, waiting for communication on either USB or USART.
+
+The USB port in use is the USB Native port, close to the Reset button.
+The USART in use is the one available on pins D0/D1, labelled respectively RX/TX. Communication parameters are a baudrate at 115200, 8bits of data, no parity and 1 stop bit (8N1).
+
+## 4- Description
+
+**Pinmap**
+
+The following pins are used by the program :
+PA25 : input/output (USB DP)
+PA24 : input/output (USB DM)
+PA11 : input (USART RX)
+PA10 : output (USART TX)
+
+The application board shall avoid driving the PA25, PA24, PB23 and PB22 signals while the boot program is running (after a POR for example).
+
+**Clock system**
+
+CPU runs at 48MHz from Generic Clock Generator 0 on DFLL48M.
+
+Generic Clock Generator 1 is using external 32kHz oscillator and is the source of DFLL48M.
+
+USB and USART are using Generic Clock Generator 0 also.
+
+**Memory Mapping**
+
+Bootloader code will be located at 0x0 and executed before any applicative code.
+
+Applications compiled to be executed along with the bootloader will start at 0x2000 (see linker script bootloader_samd21x18.ld).
+
+Before jumping to the application, the bootloader changes the VTOR register to use the interrupt vectors of the application @0x2000.<- not required as application code is taking care of this.

bootloaders/zero/board_definitions.h

@@ -0,0 +1,72 @@
+/*
+  Copyright (c) 2015 Arduino LLC.  All right reserved.
+  Copyright (c) 2015 Atmel Corporation/Thibaut VIARD.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+  See the GNU Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef _BOARD_DEFINITIONS_H_
+#define _BOARD_DEFINITIONS_H_
+
+/*
+ * If BOOT_DOUBLE_TAP_ADDRESS is defined the bootloader is started by
+ * quickly tapping two times on the reset button.
+ * BOOT_DOUBLE_TAP_ADDRESS must point to a free SRAM cell that must not
+ * be touched from the loaded application.
+ */
+#define BOOT_DOUBLE_TAP_ADDRESS           (0x20007FFCul)
+#define BOOT_DOUBLE_TAP_DATA              (*((volatile uint32_t *) BOOT_DOUBLE_TAP_ADDRESS))
+
+/*
+ * If BOOT_LOAD_PIN is defined the bootloader is started if the selected
+ * pin is tied LOW.
+ */
+//#define BOOT_LOAD_PIN                     PIN_PA21 // Pin 7
+//#define BOOT_LOAD_PIN                     PIN_PA15 // Pin 5
+#define BOOT_PIN_MASK                     (1U << (BOOT_LOAD_PIN & 0x1f))
+
+#define CPU_FREQUENCY                     (48000000ul)
+
+#define BOOT_USART_MODULE                 SERCOM0
+#define BOOT_USART_BUS_CLOCK_INDEX        PM_APBCMASK_SERCOM0
+#define BOOT_USART_PER_CLOCK_INDEX        GCLK_ID_SERCOM0_CORE
+#define BOOT_USART_PAD_SETTINGS           UART_RX_PAD3_TX_PAD2
+#define BOOT_USART_PAD3                   PINMUX_PA11C_SERCOM0_PAD3
+#define BOOT_USART_PAD2                   PINMUX_PA10C_SERCOM0_PAD2
+#define BOOT_USART_PAD1                   PINMUX_UNUSED
+#define BOOT_USART_PAD0                   PINMUX_UNUSED
+
+/* Frequency of the board main oscillator */
+#define VARIANT_MAINOSC	                  (32768ul)
+
+/* Master clock frequency */
+#define VARIANT_MCK			                  CPU_FREQUENCY
+
+#define NVM_SW_CALIB_DFLL48M_COARSE_VAL   (58)
+#define NVM_SW_CALIB_DFLL48M_FINE_VAL     (64)
+
+/*
+ * LEDs definitions
+ */
+#define BOARD_LED_PORT                    (0)
+#define BOARD_LED_PIN                     (17)
+
+#define BOARD_LEDRX_PORT                  (1)
+#define BOARD_LEDRX_PIN                   (3)
+
+#define BOARD_LEDTX_PORT                  (0)
+#define BOARD_LEDTX_PIN                   (27)
+
+#endif // _BOARD_DEFINITIONS_H_

bootloaders/zero/board_driver_led.c

@@ -0,0 +1,22 @@
+/*
+  Copyright (c) 2015 Arduino LLC.  All right reserved.
+  Copyright (c) 2015 Atmel Corporation/Thibaut VIARD.  All right reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+  See the GNU Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include "board_driver_led.h"
+
+