Updating bootloader to latest Arduino Zero bootloader.

Author: Jim Lindblom

sparkfun/samd/bootloaders/zero/Makefile

@@ -1,35 +1,170 @@
-# SAMD21 BA Bootloader - SparkFun Edit
-# Relies on toolchain installed via Arduino SAMD Board Support
-# Point the IDE path to your Arduino package installer location
-# Windows e.g.: C:/Users/user.name/AppData/Local/Arduino15
-# Mac e.g: /Users/userName/Library/Arduino15
-
-IDE_PATH=C:/Users/user.name/AppData/Local/Arduino15
-ARM_GCC_PATH=$(IDE_PATH)/packages/arduino/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin
-CC=$(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)
+    T=$(shell cygpath -u $(LOCALAPPDATA))
+    MODULE_PATH?=$(T)/Arduino15/packages/arduino
+    RM=rm
+    SEP=/
+  else
+    MODULE_PATH?=$(LOCALAPPDATA)/Arduino15/packages/arduino
+    RM=rm
+    SEP=\\
+  endif
+else
+  UNAME_S := $(shell uname -s)
+
+  ifeq ($(UNAME_S),Linux)
+    MODULE_PATH?=$(HOME)/.arduino15/packages/arduino
+    RM=rm
+    SEP=/
+  endif
+
+  ifeq ($(UNAME_S),Darwin)
+    MODULE_PATH?=$(HOME)/Library/Arduino15/packages/arduino/
+    RM=rm
+    SEP=/
+  endif
+endif
+
+ARM_GCC_PATH?=$(MODULE_PATH)/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin/arm-none-eabi-
 BUILD_PATH=build
-INCLUDES=-I$(IDE_PATH)/packages/arduino/tools/CMSIS/4.0.0-atmel/CMSIS/Include/ -I$(IDE_PATH)/packages/arduino/tools/CMSIS/4.0.0-atmel/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
+
+# -----------------------------------------------------------------------------
+# Boards definitions
+BOARD_ID?=sparkfun_9dof
+NAME?=SparkFun_9DoF_Razor_M0
+#SparkFun_9DoF_Razor
+
+# -----------------------------------------------------------------------------
+# Compiler options
+CFLAGS_EXTRA=-D__SAMD21G18A__ -DBOARD_ID_$(BOARD_ID)
+CFLAGS=-mthumb -mcpu=cortex-m0plus -Wall -c -std=gnu99 -ffunction-sections -fdata-sections -nostdlib -nostartfiles --param max-inline-insns-single=500
+ifdef DEBUG
+  CFLAGS+=-g3 -O1 -DDEBUG=1
+else
+  CFLAGS+=-Os -DDEBUG=0
+endif
+
+ELF=$(NAME).elf
+BIN=$(NAME).bin
+HEX=$(NAME).hex
+
+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)/, $(SOURCES:.c=.d))
+
+ifneq "test$(AVRSTUDIO_EXE_PATH)" "test"
+  AS_BUILD=copy_for_atmel_studio
+  AS_CLEAN=clean_for_atmel_studio
+else
+  AS_BUILD=
+  AS_CLEAN=
+endif
+
 
-NAME=samd21_sam_ba_sparkfun
-EXECUTABLE=$(NAME).bin
+all: print_info $(SOURCES) $(BIN) $(HEX) $(AS_BUILD)
 
-SLASH=/
-BSLASH=$(EMPTY)\$(EMPTY)
+$(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)
 
-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 $@
+$(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)

sparkfun/samd/bootloaders/zero/README.md

@@ -0,0 +1,95 @@
+# 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.
+
+For all builds and platforms you will need to have the Arduino IDE installed and the board support
+package for "Arduino SAMD Boards (32-bits ARM Cortex-M0+)". You can install the latter
+from the former's "Boards Manager" UI.
+
+### 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.
+
+## 5- How to build
+
+If not specified the makefile builds for **Arduino Zero**:
+
+```
+make
+```
+
+if you want to make a custom bootloader for a derivative board you must supply all the necessary information in a `board_definitions_xxx.h` file, and add the corresponding case in `board_definitions.h`.
+For example for the **Arduino MKR1000** we use `board_definitions_arduino_mkr1000.h` and it is build with the following command:
+
+```
+BOARD_ID=arduino_mkr1000 NAME=samd21_sam_ba_arduino_mkr1000 make clean all
+```
+