Application Note, V 1.1, November 2008 AP32132 TriCore AUDO-F Flash Download Using Bootstrap Loader Microcontrollers Edition 2008-11 Published by Infineon Technologies AG, St.-Martin-Strasse 53, 81669 München, Germany © Infineon Technologies AG 2008. All Rights Reserved. LEGAL DISCLAIMER: THE INFORMATION GIVEN IN THIS APPLICATION NOTE IS GIVEN AS A HINT FOR THE IMPLEMENTATION OF THE INFINEON TECHNOLOGIES COMPONENT ONLY AND SHALL NOT BE REGARDED AS ANY DESCRIPTION OR WARRANTY OF A CERTAIN FUNCTIONALITY, CONDITION OR QUALITY OF THE INFINEON TECHNOLOGIES COMPONENT. THE RECIPIENT OF THIS APPLICATION NOTE MUST VERIFY ANY FUNCTION DESCRIBED HEREIN IN THE REAL APPLICATION. INFINEON TECHNOLOGIES HEREBY DISCLAIMS ANY AND ALL WARRANTIES AND LIABILITIES OF ANY KIND (INCLUDING WITHOUT LIMITATION WARRANTIES OF NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS OF ANY THIRD PARTY) WITH RESPECT TO ANY AND ALL INFORMATION GIVEN IN THIS APPLICATION NOTE. Information For further information on technology, delivery terms and conditions and prices please contact your nearest Infineon Technologies Office (www.infineon.com). Warnings Due to technical requirements components may contain dangerous substances. For information on the types in question please contact your nearest Infineon Technologies Office. Infineon Technologies Components may only be used in life-support devices or systems with the express written approval of Infineon Technologies. Life support devices or systems are intended to be implanted in the human body, or to support and/or maintain and sustain and/or protect human life. If they fail, it is reasonable to assume that the health of the user or other persons may be endangered. TC1767, TC1797, TC1736 Revision History: V 1.1, 2008-11 Previous Version(s): none Version Subjects (major changes since last revision) V1.0 Initial release for TC1767, TC1797 and TC1736 V1.1 Additional support for flash programming via CAN interface We Listen to Your Comments Any information within this document that you feel is wrong, unclear or missing at all? Your feedback will help us to continuously improve the quality of this document. Please send your proposal (including a reference to this document) to: [email protected] AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Introduction 1 Introduction The TriCore microcontrollers of the AUDO Future (AUDO-F) family TC1767, TC1797 and TC1736 have a built-in Bootstrap Loading (BSL) mechanism that can be used for flash programming (readers can refer to the BootROM chapter of the User's Manual). However, the TriCore family does not provide any hard coded Bootstrap Loader routines for flash programming (small programs embedded in the BootROM to carry out flash functions, e.g. writing, reading, erasing, verification, etc.). Thus, a flash loader program providing flash programming routines must be implemented by the user. In TriCore family, Asynchronous Serial Interface (ASC) BSL and Controller Area Network (CAN) BSL are supported. This example will demonstrate Bootstrap Loading using both interfaces. The target device is connected to a PC via one of the interfaces. The flash loader system demonstrated in this application note consists of two parts: • • The flash loader program is sent to the target device using the built-in Bootstrap Loading mechanism. Once sent and executed, the flash loader program establishes a communication protocol to receive commands from a HOST program (a program running on the PC that controls the flash programming of the target device). The HOST program running on a PC uses the communication protocol defined by the flash loader. It sends flash programming commands and the code bytes to be programmed. The HOST program may vary with the specific application it is used for. Thus, the HOST program in this application note is considered to be an example. The flash loader programs for ASC and CAN BSL are developed for two arbitrary toolchains: • • Tasking VX-toolset for Tricore v3.0r1(http://www.tasking.com/tricore). HighTec GNU Toolchain for Tricore v3.4.5.1 (http://www.hightec-rt.com. The project files for both toolchains provided in this example are completely independent from each other. The user can choose either toolchain. As an example flash program, the project LED_Blinking, which toggles some LEDs controlled by Port 5, is provided for both toolchains as well. The file LED_Blinking.hex can be downloaded to flash memory. Note: Depending on the application, toggling Port 5 of the target device might not always be suitable. The TriLoad HOST program is developed in Microsoft Visual C++ 6.0. TriLoad supports both the ASC and CAN interface. TriLoad also supports flash programming for TriCore devices other than the AUDO-F family. Upon program start, the user must specify which device shall be programmed. Application Note 1 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Introduction In general, this example includes the following source code, which will be introduced in detail in later sections. • • • • • • • • • • • In the folder .\Tasking\Loader2, ASC BSL Loader 2 (both the source files and the HEX file developed using TASKING VX-TriCore Toolset) is provided. In the folder .\GNU\Loader2, ASC BSL Loader 2 (both the source files and the HEX file developed using the HighTec GNU TriCore Compiler) is provided. In the folder .\Tasking\Loader3, ASC BSL Loader 3 (both the source files and the HEX file developed using TASKING VX-TriCore Toolset) is provided. In the folder .\GNU\Loader3, ASC BSL Loader 3 (both the source files and the HEX file developed using the HighTec GNU TriCore Compiler) is provided. In the folder .\Tasking\CANLoader, CAN BSL Loader (both the source files and the HEX file developed using TASKING VX-TriCore Toolset) is provided. In the folder .\GNU\CANLoader, CAN BSL Loader (both the source files and the HEX file developed using the HighTec GNU TriCore Compiler) is provided. In the folder .\Tasking\LED_Blinking the flash example program (both the source files and the HEX file developed using the TASKING VX-TriCore Toolset) is provided. In the folder .\GNU\LED_Blinking the flash example program (both the source files and the HEX file developed using the HighTec GNU TriCore Compiler) is provided. In the folder .\Tasking\LED_Blinking_SPRAM the SPRAM example code (both the source files and the HEX file developed using the TASKING VX-TriCore Toolset) is provided. In the folder .\GNU\LED_Blinking_SPRAM the SPRAM example code (both the source files and the HEX file developed using the HighTec GNU TriCore Compiler) is provided. In the folder .\TriLoad an example HOST program that demonstrates the whole process of flash programming. The project files can be compiled with Microsoft Visual C++ 6.0. Application Note 2 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader ASC Bootstrap Loading 2 ASC Bootstrap Loading The communication between PC and the target device is established via the ASC interface. Figure 2-1 shows a hardware setup for this application, in which the following two pins are used as RxD and TxD, respectively. • • receive pin RxD at pin P3.0 (TC1767, TC1736) or P5.0 (TC1797) respectively transmit pin TxD at pin P3.1(TC1767, TC1736) or P5.1 (TC1797) respectively PC COM Port RxD RxD TxD TxD Target TriCore GND Figure 2-1 The connection between a PC and the target system for TriCore Bootstrap Loading The flash loader itself is divided into two parts: Loader 21) and Loader 3. The bootloader procedure is shown in Figure 2-2. 1) The built-in Bootstrap Loading mechanism handles the first interaction between PC and target device and can be considered as Loader 1. Application Note 3 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader ASC Bootstrap Loading PC (HOST) Bootstrap Loader Initialize Serial Interface Send 0x00 Send 0xD5 Send Loader 2 (128 bytes) Call Loader 2 Loader 2 Send Loader 3 (4896 bytes) Send 0x55, Checksum Call Loader 3 Loader 3 Send Command (refer to Chapter 5) Flash Routines Call Flash Routine Response Code (refer to Chapter 5) Figure 2-2 The bootloader procedure for flash programming To run this program, the first step is to make the target device enter BSL mode. Application Note 4 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader ASC Bootstrap Loading ASC Bootstrap Loader mode is entered upon a device reset, if the following values are applied at the configuration pins P0[7:0] of Port 0: P0[7:0] = 10101xx0 The configuration pins are usually connected to a DIP switch on the TriCore board. Assuming that P0.7 is connected to switch pin 1 and the remaining pins accordingly (as for TriBoard, EasyKit and EBeam board), the DIP switch configuration looks as follows: Figure 2-3 DIP switch configuration on the TriCore board for ASC BSL. “On” means high level signal at the pin. After entering Bootstrap Loader mode, the device switches the clock system from initial PLL Freerunning Mode (VCO base frequency) to Prescaler Mode with a frequency divider of 1. Hence the system frequency becomes equal to the frequency of an external crystal which must be obligatorily connected between XTAL1/XTAL2 pins, if a Bootstrap Loader mode is selected upon power-on. The crystal frequency must be at least 10 MHz. Further on, the HOST sends 0x00. Based on this byte, the baud rate used by the PC will be automatically detected by the target device. The TriCore device supports baud rates of up to 115200 bits/s. The ASC interface will be initialized for 8 data bits and 1 stop bit. Once the baud rate is detected and the ASC interface is configured, 0xD5 is sent back to the PC in case of success. Then the Bootstrap Loader enters a loop and waits to receive exactly 128 bytes from the HOST. These 128 bytes represent the secondary loader (Loader 2) and will be stored at the beginning of PMI Scratchpad RAM (SPRAM, base address 0xD4000000). Once Loader 2 received, the BootROM jumps to the start address of the secondary loader: Loader 2 is executed. In this application note Loader 2 is stored in the file loader2.hex. Its functionality is to receive further bytes from the PC and store them in SPRAM (following its own code section at address 0xD4000080). The file loader3.hex contains this further received code (Loader 3). After Loader 3 is downloaded to SPRAM and executed, it will first establish the communication between PC and the target device and then carry out flash operations. Application Note 5 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader ASC Bootstrap Loading 2.1 Loader 2 Before the Loader 2 can receive further bytes from the PC, a basic device initialization needs to be done. Due to the size constraint of 128 bytes, this startup code must be as small as possible. Once the device jumps to address 0xD4000000, its configuration status is as follows: • • • • • • The ENDINIT bit is cleared1). System control registers that are protected by the ENDINIT feature can be modified. The watchdog timer is enabled, which means that the device will be reset if the watchdog timer is not disabled within a certain period of time. The serial interface ASC0 is configured. The baud rate is the same as calculated by the BootROM code. The clock system has been reset from Precaler Mode to PLL Freerunning Mode. Thus, the device runs with a different clock frequency than the frequency used for baud rate calculation, which means that the actual baud rate does not match anymore the baud rate used by the PC COM interface. Stack pointers and Context Save Areas (CSA) are not initialized. Interrupt and trap vectors are not defined. Based on the above conditions, Loader 2 does the following initialization: • • • The clock system is reset to Prescaler Mode since the baud rate calculation of the ASC0 interface was based on the clock frequency in Prescaler Mode. The frequency divider that decreases the system frequency is disabled by setting it to 0. The according clock system registers can be modified since the ENDINIT bit is cleared. The watchdog timer is disabled. The watchdog timer register can be modified as well since the ENDINIT bit is cleared. The ENDINIT bit is set. Subsequently the code enters a loop waiting to receive exactly 48962) (0x1320, size of Loader 3) bytes which are stored in SPRAM starting from address 0xD4000080. Each byte written to memory is read back and the XOR sum with the previous bytes is calculated. After reception of the 4896 bytes, the Loader 2 sends 0x55 and XOR checksum to the PC. Finally a jump to address 0xD4000080 is performed in order to execute Loader 3. The entire code is contained in the files Loader2.c (Tasking) and Loader2.s (GNU). 1) Some system control registers are protected by the ENDINIT feature. These registers can only be modified, if the ENDINIT bit is cleared. Please refer to the ENDINIT function description in the User’s Manual. 2) The actual code size of Loader 3 is less than 4896 bytes. Please refer to Chapter 2.2 for further details. Application Note 6 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader ASC Bootstrap Loading 2.1.1 Tasking Project Settings Since the code size of Loader 2 is limited to 128 bytes, the startup code automatically created by Tasking must be replaced by the user startup code (function __initdevice). The code does neither define any stack, nor initializes the stack pointer. Hence, the usage of function calls is not possible. Therefore functions are defined as inline. Beside the default configuration the Tasking project settings need to be configured as follows: • • • • • • • C/C++ Build -> Processor -> AUDO Future Family -> Check TC17671) C/C++ Build -> Settings -> C/C++ Compiler -> Allocation -> Threshold for putting data in __near: 0 C/C++ Compiler -> Optimization -> Optimization level: 0 - None Linker -> Output Format: Check Generate Intel Hex format file, Size of addresses: 4 Linker -> Libraries: Uncheck Link default libraries Linker -> Miscellaneous: Uncheck Include debugger synchronization utility The Linker Script Language file Loader2.lsl defines 128 bytes in SPRAM memory of type rom starting from address 0xD4000000. This meets the size constraint of 128 bytes required by the target device and the user will be informed of an exceedance already during compilation. The reset start address is set to 0xD4000000. 1) In the case that another AUDO-F device is used, the same setting TC1767 applies. Application Note 7 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader ASC Bootstrap Loading 2.1.2 GNU Project Settings The HighTec GNU settings for the Loader 2 project define one build target RAM. The output file Loader2.elf is created in the subdirectory RAM. If build target RAM does not exist, the user must create it to comply with the following project settings. Beside the default configuration the build options for this build target must be configured as follows: • • • • • • • • • • RAM -> Compiler settings: Check Do not link against the default crt0.s RAM -> Compiler settings: Check Do not link against standard system startup files RAM -> Compiler settings -> Check Optimize generated code (for size) RAM -> Compiler settings -> Check Tricore 17671) RAM -> Linker settings -> Other linker options, add line:-Wl,Loader2.ld -nocrt0 nostartfiles RAM -> Linker settings -> Other linker options, add line: -mcpu=tc17671) RAM -> Linker settings -> Other linker options, add line: -T Loader2.ld RAM -> Linker settings -> Other linker options, add line: -Wl,-Map,mapfile.lst RAM -> Pre/post build steps -> Post-build steps: tricore-objcopy -O ihex RAM/Loader2.elf RAM/Loader2.hex RAM -> Pre/post build steps -> Post-build steps: tricore-objdump -t RAM/Loader2.elf The final output file Loader2.hex is created in the subdirectory .\RAM. The linker description file Loader2.ld in the project’s root directory defines the entire available memory of the TC17671) device. The only memory used is the SPRAM code memory 0xD4000000 - 0xD4000080. The startup section is located at address 0xD4000000. 1) In the case that another AUDO-F device is used, the same setting applies. Application Note 8 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader ASC Bootstrap Loading 2.2 Loader 3 Loader 3 implements the flash routines and establishes the communication between PC and the target device. Since Loader 2 provides only a simple initialization of the device, the following further initialization steps are done at startup of Loader 3: • • • Set the stack pointers for user and interrupt stack, initialize the call depth counter, initialize the CSA list. These steps permit the usage of regular function calls. It is implemented in the file ctr0.s which is a modified version of the default HighTec startup code. For the Tasking variant of Loader 3, the startup code is contained in the file cstart.c. The main part of Loader 3 (main.c) implements flash routines providing the following features: • • • • • • • Erase flash sectors1), program flash pages1), verify a programmed flash page, protect PFlash1), program SPRAM memory, execute flash user code starting from address 0xA0000000, execute SPRAM user code starting from address 0xD4001400. The flash protection enables a write protection of PFlash. Erase or program attempts result in a protection error, if flash is protected. Upon receiving the protection command, the protection status of the flash is checked. Unprotected flash memory will be protected using two 32bit user-passwords. Protected flash memory will be unprotected using the same passwords. Protection of DFlash is not possible. Warning: For AUDO-F devices, the flash protection and unprotection can be performed up to 4 times only. For erasing and programming flash, the sector and page address must be specified respectively. An invalid address (e.g. an address that is not within the flash boundaries) results in an address error. The memory organization for TC1767, TC1797 and TC1736 is described in Chapter 4. Flash user code is executed starting from the PFlash base address 0xA0000000. Since Loader 2 and Loader 3 occupy the first 0x1400 bytes in SPRAM, programming SPRAM is only possible starting from address 0xD4001400. Thus, SPRAM user code is executed starting from this address. Loader 3 defines a communication protocol to receive commands from the PC. Based on the command received, the corresponding flash routine is executed. The communication structure is described in Chapter 5. 1) Please refer to Chapter 4, Flash Memory Organization Application Note 9 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader ASC Bootstrap Loading 2.2.1 Tasking Project Settings Beside the default configuration the Tasking project settings for Loader 3 need to be configured as follows: • • • • • • • • C/C++ Build -> Processor -> AUDO Future Family -> Check TC17671) C/C++ Build -> Settings -> C/C++ Compiler -> Allocation -> Threshold for putting data in __near: 0 C/C++ Compiler -> Optimization -> Optimization level: 1 - Optimize C/C++ Compiler -> Optimization -> Trade-off between speed and size: Level4 Size Linker -> Output Format: Check Generate Intel Hex format file, Size of addresses: 4 Linker -> Libraries: Uncheck Link default libraries Linker -> Miscellaneous: Uncheck Include debugger synchronization utility The Linker Script Language file Loader3.lsl defines 4896 (0x1320) bytes in SPRAM memory of type rom starting from address 0xD4000080 and 68 Kbytes in LDRAM of type ram starting from address 0xD0000000. CSA, stack, heap and global variables are located in LDRAM. The reset start address is set to 0xD4000080. Note: The actual code size of Loader 3 is less than the assumed 0x1320 bytes, which permits changes of the code. If a changed Loader 3 exceeds the size of 0x1320 bytes, Loader 2 must be adapted to this size. A new starting address for SPRAM user code (see Chapter 5.4) must be taken care of. 1) In the case that another AUDO-F device is used, the same setting applies. Application Note 10 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader ASC Bootstrap Loading 2.2.2 GNU Project Settings The HighTec GNU settings for Loader 3 project define one build target RAM. The output file Loader3.elf is created in the subdirectory RAM. If build target RAM does not exist, the user must create it to comply with the following project settings. Beside the default configuration the build options for this build target must be configured as follows: • • • • • • • • • • RAM -> Compiler settings: Check Do not link against the default crt0.s RAM -> Compiler settings: Check Do not link against standard system startup files RAM -> Compiler settings -> Check Optimize generated code (for size) RAM -> Compiler settings -> Check Tricore 17671) RAM -> Linker settings -> Other linker options, add line: -Wl,Loader3.ld -nocrt0 nostartfiles RAM -> Linker settings -> Other linker options, add line: -mcpu=tc17671) RAM -> Linker settings -> Other linker options, add line: -T Loader3.ld RAM -> Linker settings -> Other linker options, add line: -Wl,-Map,mapfile.lst RAM -> Pre/post build steps -> Post-build steps: tricore-objcopy -O ihex RAM/Loader3.elf RAM/Loader3.hex RAM -> Pre/post build steps -> Post-build steps: tricore-objdump -t RAM/Loader3.elf The final output file Loader3.hex is created in the subdirectory .\RAM. The linker description file Loader3.ld in the project’s root directory defines the entire available memory of the TC17671) device. The only memory used is the SPRAM code memory 0xD4000080 - 0xD4001400 and the internal LDRAM with a size of 68 Kbytes starting from address 0xD0000000. CSA, stack, heap and global variables are located in LDRAM. Note: The actual code size of Loader 3 is less than the assumed 0x1320 bytes, which permits changes of the code. If a changed Loader 3 exceeds the size of 0x1320 bytes, Loader 2 must be adapted to this size. A new starting address for SPRAM user code (see Chapter 5.4) must be taken care of. 1) In the case that another AUDO-F device is used, the same setting applies. Application Note 11 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader CAN Bootstrap Loading 3 CAN Bootstrap Loading The communication between PC and the target device is established via the CAN interface. Since the regular PC does not have any CAN-Bus interface, a USB-to-CAN bridge is used. The TriLoad HOST program example uses the Infineon XC164CM UCAN start kit for this purpose. 1 Target CAN Connector 2 USB Connector 3 COM LED (yellow) 4 RUN LED (green) 5 USER LED (red) Figure 3-1 Infineon XC164CM UCAN start kit used as USB-to-CAN bridge The target device is connected to the start kit via the Target CAN Connector. 1 +5V 2 DIO3 3 CAN2L 4 CAN2H 5 AIN1 Figure 3-2 6 GND 7 CAN1H 8 CAN1L 9 DIO2 10 DIO1 Target CAN Connector of the XC164CM UCAN start kit The following pins must be connected: • • CAN1L of the start kit to the CAN0L pin of the target device board. CAN1H of the start kit to the CAN0H pin of the target device board. Figure 3-3 shows a hardware setup for this application. PC USB Port XC164CM UCAN start kit CAN-BUS CAN1L CAN0L CAN1H CAN0H Target TriCore CAN Transceiver GND Figure 3-3 Hardware setup for flash programming using TriLoad Application Note 12 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader CAN Bootstrap Loading The USB-to-CAN transceiver in the XC164CM UCAN start kit is automatically started by TriLoad. The blinking red LED indicates the running application. The start kit should be the only USB device connected to the PC. Note: The TriLoad example code is developed for the XC164CM UCAN start kit only. If another USB-to-CAN bridge is used, the TriLoad routines to send and receive CAN messages must be adapted. The flash loader program CANLoader is independent from the USB-to-CAN bridge. The bootloader procedure is shown in Figure 3-4. PC (HOST) Bootstrap Loader Setup CAN Interface Send CAN Initialization Frame Send CAN Acknowledge Frame Send CANLoader (5120 bytes in 640 Data Frames) Call CANLoader CANLoader Send Command (refer to Chapter 5) Flash Routines Call Flash Routine Response Code (refer to Chapter 5) Figure 3-4 The bootloader procedure for flash programming CAN Bootstrap Loader mode is entered upon a device reset, if the following values are applied at the configuration pins P0[7:0] of Port 0: P0[7:0] = 010xxxx0 Application Note 13 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader CAN Bootstrap Loading The configuration pins are usually connected to a DIP switch on the TriCore board. Assuming that P0.0 is connected to switch pin 1 and the remaining pins accordingly (as for TriBoard, EasyKit and EBeam board), the DIP switch configuration looks as follows: Figure 3-5 DIP switch configuration on the TriCore board for CAN BSL. “On” means high level signal at the pin. After entering Bootstrap Loader mode, the device switches the clock system from initial PLL Freerunning Mode (VCO base frequency) to Prescaler Mode with a frequency divider of 1. Hence the system frequency becomes equal to the frequency of an external crystal which must be obligatorily connected between XTAL1/XTAL2 pins, if a Bootstrap Loader mode is selected upon power-on. The crystal frequency must be at least 10 MHz. Further on, the HOST sends the Initialization CAN Frame to the device. The CAN-Bus baud rate used by the HOST is automatically detected based on this frame. Initialization Frame Parameter Description Identifier 11-bit, don’t care DLC = 8 Data Length Code: 8 bytes within this CAN frame Data Byte 0 0x55 Data Byte 1 0x55 Data Byte 2 Acknowledge Message Identifier ACKID, low byte Data Byte 3 Acknowledge Message Identifier ACKID, high byte Data Byte 4 Data Message Count DMSGC, low byte Data Byte 5 Data Message Count DMSGC, high byte Data Byte 6 Data Message Identifier DMSGID, low byte Data Byte 7 Data Message Identifier DMSGID, high byte Data Message Count DMSGC specifies the number of CAN Data Frames sent subsequently to the device. Data Message Identifier DMSGID specifies the identifier that all subsequent CAN Data Frames must carry. The identifier will be internally stored in the device and every Application Note 14 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader CAN Bootstrap Loading incoming CAN Data Frame will be checked for the same identifier. Only 11 bit out of the 16 bit are stored internally as identifier: The upper 3 bits of the 16-bit-word will be disregarded and the remaining word will be right-shifted by 2. This yields the 11-bit-identifier. After reception of a correct initialization frame, the device sends back the Acknowledge Frame. Acknowledge Frame Parameter Description Identifier Acknowledge Message Identifier ACKID as received by data bytes [3:2] of the initialization frame DLC = 4 Data Length Code: 4 bytes within this CAN frame Data Byte 0/1 Contents of bit-timing register Data Byte 2/3 Copy of acknowledge identifier from initialization frame After the device has sent the acknowledge frame, it enters a loop waiting to receive exactly the number of CAN Data Frames specified by DMSGC. Each data frame carries 8 bytes of data content. Data Frame Parameter Description Identifier Data Message Identifier DMSGID as sent by data bytes [7:6] of the initialization frame and transformed as described above DLC = 8 Data Length Code: 8 bytes within this CAN frame Data Byte 0..7 Data bytes, assigned to increasing destination addresses in SPRAM DMSGC specifies the number of 640 data frames (5120 bytes). These 51201) (0x1400) bytes represent the CANLoader program and will be stored at the beginning of PMI Scratchpad RAM (SPRAM, base address 0xD4000000). Once CANLoader received, the BootROM jumps to its start address: CANLoader is executed. In this application note, CANLoader is stored in the file CANLoader.hex. Note: The UCAN USB-to-CAN bridge does not provide any high-speed CAN bus connection. The programming procedure using UCAN is slower compared to ASC BSL. 1) The actual code size of CANLoader is less than 5120 bytes. Please refer to Chapter 3.1.1 for further details. Application Note 15 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader CAN Bootstrap Loading 3.1 CANLoader Before the CANLoader can provide flash programming functionality, a further device initialization needs to be done. Once the device jumps to address 0xD4000000, its configuration status is as follows: • • • • • • The ENDINIT bit is cleared1). System control registers that are protected by the ENDINIT feature can be modified. The watchdog timer is enabled, which means that the device will be reset if the watchdog timer is not disabled within a certain period of time. The CAN interface CAN0 is configured. The CAN baud rate is the same as calculated by the BootROM code. The clock system has been reset from Precaler Mode to PLL Freerunning Mode. Thus, the device runs with a different clock frequency than the frequency used for baud rate calculation, which means that the actual baud rate does not match anymore the baud rate used by the HOST CAN interface. Stack pointers and Context Save Areas (CSA) are not initialized. Interrupt and trap vectors are not defined. Based on the above conditions, CANLoader does the following initialization: • • • • • • The clock system is reset to Prescaler Mode since the baud rate calculation of the CAN0 interface was based on the clock frequency in Prescaler Mode. The frequency divider that decreases the system frequency is disabled by setting it to 0. The watchdog timer is disabled. The ENDINIT bit is set. Stack pointers for user and interrupt stack are set. The call depth counter is initialized. The CSA list is initialized. These steps are implemented in the file ctr0.s which is a modified version of the default HighTec startup code. For the Tasking variant of CANLoader, the startup code is basically contained in the file cstart.c. The main part of CANLoader (main.c) implements flash routines providing the following features: • • • • Erase flash sectors2), program flash pages2), verify a programmed flash page, protect PFlash2), 1) Some system control registers are protected by the ENDINIT feature. These registers can only be modified, if the ENDINIT bit is cleared. Please refer to the ENDINIT function description in the User’s Manual. 2) Please refer to Chapter 4, Flash Memory Organization Application Note 16 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader CAN Bootstrap Loading • • • program SPRAM memory, execute flash user code starting from address 0xA0000000, execute SPRAM user code starting from address 0xD4001400. The flash protection enables a write protection of PFlash. Erase or program attempts result in a protection error, if flash is protected. Upon receiving the protection command, the protection status of the flash is checked. Unprotected flash memory will be protected using two 32bit user-passwords. Protected flash memory will be unprotected using the same passwords. Protection of DFlash is not possible. Warning: For AUDO-F devices, the flash protection and unprotection can be performed up to 4 times only. For erasing and programming flash, the sector and page address must be specified respectively. An invalid address (e.g. an address that is not within the flash boundaries) results in an address error. The memory organization for TC1767, TC1797 and TC1736 is described in Chapter 4. Flash user code is executed starting from the PFlash base address 0xA0000000. Since CANLoader occupies the first 0x1400 bytes in SPRAM, programming SPRAM is only possible starting from address 0xD4001400. Thus, SPRAM user code is executed starting from this address. CANLoader defines a communication protocol to receive commands from the PC. Based on the command received, the corresponding flash routine is executed. The communication structure is described in Chapter 5. Application Note 17 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader CAN Bootstrap Loading 3.1.1 Tasking Project Settings Beside the default configuration the Tasking project settings for CANLoader need to be configured as follows: • • • • • • • • C/C++ Build -> Processor -> AUDO Future Family -> Check TC17671) C/C++ Build -> Settings -> C/C++ Compiler -> Allocation -> Threshold for putting data in __near: 0 C/C++ Compiler -> Optimization -> Optimization level: 2 - Optimize more C/C++ Compiler -> Optimization -> Trade-off between speed and size: Level4 Size Linker -> Output Format: Check Generate Intel Hex format file, Size of addresses: 4 Linker -> Libraries: Uncheck Link default libraries Linker -> Miscellaneous: Uncheck Include debugger synchronization utility The Linker Script Language file CANLoader.lsl defines 5120 (0x1400) bytes in SPRAM memory of type rom starting from address 0xD4000000 and 68 Kbytes in LDRAM of type ram starting from address 0xD0000000. CSA, stack, heap and global variables are located in LDRAM. The reset start address is set to 0xD4000000. Note: The actual code size of CANLoader is less than the assumed 0x1400 bytes, which permits changes of the code. If a changed CANLoader exceeds the size of 0x1400 bytes, a new starting address for SPRAM user code (see Chapter 5.4) must be taken care of. 1) In the case that another AUDO-F device is used, the same setting applies. Application Note 18 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader CAN Bootstrap Loading 3.1.2 GNU Project Settings The HighTec GNU settings for CANLoader project define one build target RAM. The output file CANLoader.elf is created in the subdirectory RAM. If build target RAM does not exist, the user must create it to comply with the following project settings. Beside the default configuration the build options for this build target must be configured as follows: • • • • • • • • • • RAM -> Compiler settings: Check Do not link against the default crt0.s RAM -> Compiler settings: Check Do not link against standard system startup files RAM -> Compiler settings -> Check Optimize generated code (for size) RAM -> Compiler settings -> Check Tricore 17671) RAM -> Linker settings -> Other linker options, add line: -Wl,CANLoader.ld -nocrt0 -nostartfiles RAM -> Linker settings -> Other linker options, add line: -mcpu=tc17671) RAM -> Linker settings -> Other linker options, add line: -T CANLoader.ld RAM -> Linker settings -> Other linker options, add line: -Wl,-Map,mapfile.lst RAM -> Pre/post build steps -> Post-build steps: tricore-objcopy -O ihex RAM/CANLoader.elf RAM/CANLoader.hex RAM -> Pre/post build steps -> Post-build steps: tricore-objdump -t RAM/CANLoader.elf The final output file CANLoader.hex is created in the subdirectory .\RAM. The linker description file CANLoader.ld in the project’s root directory defines the entire available memory of the TC17671) device. The only memory used is the SPRAM code memory 0xD4000000 - 0xD4001400 and the internal LDRAM with a size of 68 Kbytes starting from address 0xD0000000. CSA, stack, heap and global variables are located in LDRAM. Note: The actual code size of CANLoader is less than the assumed 0x1400 bytes, which permits changes of the code. If a changed CANLoader exceeds the size of 0x1400 bytes, a new starting address for SPRAM user code (see Chapter 5.4) must be taken care of. 1) In the case that another AUDO-F device is used, the same setting applies. Application Note 19 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Flash Memory Organization 4 Flash Memory Organization The devices of the AUDO-F family have at least one Program Memory Unit (PMU0). The following memories belong to the Program Memory Unit: • • PFlash: Flash memory for code or constant data (called Program Flash) DFlash: additional flash memory used for emulation of EEPROM data (called Data Flash) PFlash and DFlash memories are characterized by their sector architecture and by their page structure. Sectors are flash memory partitions of different sizes. The flash modules and sectorization of the AUDO-F devices are shown in the following tables. Flash erasure is sector-wise. Sectors are subdivided into pages. Flash memory programming is page-wise. A PFlash page contains 256 bytes. A DFlash page contains 128 bytes. 4.1 TC1767 In TC1767, the flash module PFlash0 includes 2 MB of PFlash memory. PFlash0 sector Address range Size in bytes 0 0xA0000000 - 0xA0003FFF 0x4000 1 0xA0004000 - 0xA0007FFF 0x4000 2 0xA0008000 - 0xA000DFFF 0x4000 3 0xA000C000 - 0xA000FFFF 0x4000 4 0xA0010000 - 0xA0013FFF 0x4000 5 0xA0014000 - 0xA0017FFF 0x4000 6 0xA0018000 - 0xA001DFFF 0x4000 7 0xA001C000 - 0xA001FFFF 0x4000 8 0xA0020000 - 0xA003FFFF 0x20000 9 0xA0040000 - 0xA007FFFF 0x40000 10 0xA0080000 - 0xA00DFFFF 0x40000 11 0xA00C0000 - 0xA00FFFFF 0x40000 12 0xA0100000 - 0xA013FFFF 0x40000 13 0xA0140000 - 0xA017FFFF 0x40000 14 0xA0180000 - 0xA01DFFFF 0x40000 15 0xA01C0000 - 0xA01FFFFF 0x40000 Application Note 20 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Flash Memory Organization DFlash includes 64 Kbyte of additional data flash memory. DFlash sector Address range Size in bytes 0 0xAFE00000 - 0xAFE07FFF 0x8000 1 0xAFE10000 - 0xAFE17FFF 0x8000 The SPRAM memory is not subdivided into sectors or pages and can be programmed byte-by-byte. TC1767 includes 24 Kbytes of SPRAM in an address range of 0xD4000000 0xD4005FFF. 4.2 TC1797 In TC1797, the flash module PFlash0 includes 2 MB of PFlash memory. PFlash0 sector Address range Size in bytes 0 0xA0000000 - 0xA0003FFF 0x4000 1 0xA0004000 - 0xA0007FFF 0x4000 2 0xA0008000 - 0xA000DFFF 0x4000 3 0xA000C000 - 0xA000FFFF 0x4000 4 0xA0010000 - 0xA0013FFF 0x4000 5 0xA0014000 - 0xA0017FFF 0x4000 6 0xA0018000 - 0xA001DFFF 0x4000 7 0xA001C000 - 0xA001FFFF 0x4000 8 0xA0020000 - 0xA003FFFF 0x20000 9 0xA0040000 - 0xA007FFFF 0x40000 10 0xA0080000 - 0xA00DFFFF 0x40000 11 0xA00C0000 - 0xA00FFFFF 0x40000 12 0xA0100000 - 0xA013FFFF 0x40000 13 0xA0140000 - 0xA017FFFF 0x40000 14 0xA0180000 - 0xA01DFFFF 0x40000 15 0xA01C0000 - 0xA01FFFFF 0x40000 Application Note 21 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Flash Memory Organization DFlash includes 64 Kbyte of additional data flash memory. DFlash sector Address range Size in bytes 0 0xAFE00000 - 0xAFE07FFF 0x8000 1 0xAFE10000 - 0xAFE17FFF 0x8000 In addition to flash module PFlash0, TC1797 includes a second flash module PFlash1, which belongs to Program Memory Unit PMU1. PFlash1 sector Address range Size in bytes 0 0xA0200000 - 0xA0203FFF 0x4000 1 0xA0204000 - 0xA0207FFF 0x4000 2 0xA0208000 - 0xA020DFFF 0x4000 3 0xA020C000 - 0xA020FFFF 0x4000 4 0xA0210000 - 0xA0213FFF 0x4000 5 0xA0214000 - 0xA0217FFF 0x4000 6 0xA0218000 - 0xA021DFFF 0x4000 7 0xA021C000 - 0xA021FFFF 0x4000 8 0xA0220000 - 0xA023FFFF 0x20000 9 0xA0240000 - 0xA027FFFF 0x40000 10 0xA0280000 - 0xA02DFFFF 0x40000 11 0xA02C0000 - 0xA02FFFFF 0x40000 12 0xA0300000 - 0xA033FFFF 0x40000 13 0xA0340000 - 0xA037FFFF 0x40000 14 0xA0380000 - 0xA03DFFFF 0x40000 15 0xA03C0000 - 0xA03FFFFF 0x40000 The SPRAM memory is not subdivided into sectors or pages and can be programmed byte-by-byte. TC1797 includes 40 Kbytes of SPRAM in an address range of 0xD4000000 0xD4009FFF. Application Note 22 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Flash Memory Organization 4.3 TC1736 In TC1736, the flash module PFlash0 includes 1MB of PFlash memory. PFlash0 sector Address range Size in bytes 0 0xA0000000 - 0xA0003FFF 0x4000 1 0xA0004000 - 0xA0007FFF 0x4000 2 0xA0008000 - 0xA000DFFF 0x4000 3 0xA000C000 - 0xA000FFFF 0x4000 4 0xA0010000 - 0xA0013FFF 0x4000 5 0xA0014000 - 0xA0017FFF 0x4000 6 0xA0018000 - 0xA001DFFF 0x4000 7 0xA001C000 - 0xA001FFFF 0x4000 8 0xA0020000 - 0xA003FFFF 0x20000 9 0xA0040000 - 0xA007FFFF 0x40000 10 0xA0080000 - 0xA00DFFFF 0x40000 11 0xA00C0000 - 0xA00FFFFF 0x40000 DFlash includes 32 Kbyte of additional data flash memory. DFlash sector Address range Size in bytes 0 0xAFE00000 - 0xAFE03FFF 0x4000 1 0xAFE10000 - 0xAFE13FFF 0x4000 The SPRAM memory is not subdivided into sectors or pages and can be programmed byte-by-byte. TC1736 includes 8 Kbytes of SPRAM in an address range of 0xD4000000 0xD4001FFF. Application Note 23 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Communication Protocol 5 Communication Protocol The flash loader programs Loader 3 or CANLoader establish a communication structure to receive commands from the PC HOST. The HOST sends commands via transfer blocks. Three types of blocks are defined: 1) Header Block Byte 0 Byte 1 Bytes 2...14 Byte 15 Block Type (0x00) Mode Mode-specific content Checksum The header block has a length of 16 bytes. 2) Data Block Byte 0 Byte 1 Bytes 2...257 Bytes 258...262 Byte 263 Block Type (0x01) Verification option 256 data bytes Not Used Checksum The data block has a length of 264 bytes. 3) EOT Block Byte 0 Bytes 1...14 Byte 15 Block Type (0x02) Not Used Checksum The EOT block has a length of 16 bytes. The action required by the HOST is indicated in the Mode byte of the header block. The flash loader program waits to receive a valid header block and performs the corresponding action. The correct reception of a block is judged by its checksum which is calculated as follows: The XOR sum of all block bytes excluding block type byte and checksum byte itself. The different modes specify the flash routines that will be executed by the loader. The modes and their corresponding communication protocol are described as follows. In ASC BSL mode, all block bytes are sent at once via the UART interface. In CAN BSL mode, each block to be sent must be split into 8-byte-parts and sent in a sequence of CAN Data Frames. This yields 2 CAN frames for Header and EOT block and 33 CAN frames for a Data block. The CAN Data Frames must carry the same identifier as specified in DMSGID (refer to Chapter 3). Application Note 24 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Communication Protocol 5.1 Mode 0: Program Flash Page Header Block Byte 0 Byte 1 Byte 2...5 Byte 6...14 Byte 15 Block Type (0x00) Mode (0x00) Page Address Not Used Checksum PageAddress (32bit): Address of the flash page to be programmed. The address must be 256-byte-aligned (128-byte-aligned for DFlash) and in a valid range (see Chapter 4). Otherwise an address error will occur. Byte 2 indicates the highest byte while Byte 5 indicates the lowest byte. After reception of the header block, the device sends either 0x55 as acknowledgement or an error code in case of an invalid block. The loader enters a loop waiting to receive the subsequent data blocks in the following format. The loop is terminated by sending an EOT block to the target device. Data Block Byte 0 Byte 1 Bytes 2...257 Bytes 258...262 Byte 263 Block Type (0x01) Verification option 256 code bytes Not Used Checksum VerificationOption: Set this byte to 0x01 to request a verification of the programmed page bytes. If this byte is 0x00, no verification is performed. Code bytes: Page content. Since a DFlash page contains only 128 bytes, the second 128 bytes are irrelevant and not used in case of DFlash programming. After each received data block, the device sends either 0x55 to the PC as acknowledgement or an error code. EOT Block Byte 0 Bytes 1...14 Byte 15 Block Type (0x02) Not Used Checksum After each received EOT, block the device sends either 0x55 to the PC as acknowledgement or an error code Application Note 25 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Communication Protocol 5.2 Mode 1: Execute User Program in PFlash Header Block Byte 0 Byte 1 Byte 2...14 Byte 15 Block Type (0x00) Mode (0x01) Not Used Check sum The command causes a jump to the flash base address 0xA0000000. The device will exit BSL mode after sending 0x55 as acknowledgement. 5.3 Mode 2: Program SPRAM Header Block Byte 0 Byte 1 Bytes 2...5 Byte 6...14 Byte 15 Block Type (0x00) Mode (0x02) Address Not Used Checksum Address (32bit): Starting address of the SPRAM section to be programmed. The address must be 4-byte-aligned and in a valid range (see Chapter 4). Otherwise an address error will occur. Byte 2 indicates the highest byte while Byte 5 indicates the lowest byte. After reception of the header block, the device sends 0x55 as acknowledgement or an error code in case of an invalid block. The loader enters a loop waiting to receive the subsequent data blocks in the following format. The loop is terminated by sending an EOT block to the target device. Data Block Byte 0 Byte 1 Bytes 2...257 Bytes 258...262 Byte 263 Block Type (0x01) 0x00 256 code bytes Not Used Checksum Code bytes: Data content. The data content of SPRAM is not verified. After each received data block the device sends 0x55 to the PC as acknowledgement or the according error code. Application Note 26 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Communication Protocol EOT Block Byte 0 Bytes 1...14 Byte 15 Block Type (0x02) Not Used Checksum After each received EOT block, the device sends either 0x55 to the PC as acknowledgement or the according error code. 5.4 Mode 3: Execute User Program in SPRAM Header Block Byte 0 Byte 1 Byte 2...14 Byte 15 Block Type (0x00) Mode (0x03) Not Used Check sum The command causes a jump to the SPRAM user code base address 0xD4001400. The device will exit BSL mode after sending 0x55 as acknowledgement. 5.5 Mode 4: Erase Flash Sector Header Block Byte 0 Byte 1 Bytes 2...5 Bytes 6...9 Bytes 10...14 Byte 15 Block Type (0x00) Mode (0x04) Sector Address Sector Size Not Used Check sum SectorAddress (32bit): Address of the flash sector to be erased. The address must be a valid sector address (see Chapter 4), an address error will occur otherwise. Byte 2 indicates the highest address byte while Byte 5 indicates the lowest byte. SectorSize (32bit): Size of the flash sector to be erased. The size must be a valid sector size (see Chapter 4). Byte 6 indicates the highest address byte while Byte 9 indicates the lowest byte. The device sends either 0x55 to the PC as acknowledgement or an error code. Application Note 27 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Communication Protocol 5.6 Mode 6: Protect / Unprotect PFlash Header Block Byte 0 Byte 1 Bytes 2...5 Byte 6...9 Byte 10 Block Type (0x00) Mode (0x06) User User Flash Password1 Password2 Module Byte 11...12 Byte 13-14 Byte 15 Protection Config Check sum Not Used UserPassword1 (32bit): First user password. Byte 2 indicates the highest byte while Byte 5 indicates the lowest byte. UserPassword2 (32bit): Second user password. Byte 6 indicates the highest byte while Byte 9 indicates the lowest byte. FlashModule: PFlash module to be protected: 0 PFlash0 1 PFlash1 X PFlashX ProtectionConfig (16bit): Selection of the flash sectors to be protected. The protection configuration word has the following structure: ProtectionConfig bit scheme 15 0 14 0 13 0 12 11 10 S15/ S13/ S11/ S14 S12 S10 9 8 7 6 5 4 3 2 1 0 S9 S8 S7 S6 S5 S4 S3 S2 S1 S0 Sn = 0: Sector n will not be protected. Sn = 1: Sector n will be protected. Sector 10 - 15 can only be protected in pairs. Note: Not all AUDO-F devices have 16 PFlash sectors. In the case that sector n does not exist, Bit Sn should be set to 0. Please refer to Chapter 4 for detailed information about the flash sectorization. After sending an acknowledgement, the device needs to be reset. All erase or program commands sent to a flash-protected device will cause a protection error. If the PFlash is unprotected, it will be protected after sending this header block. The same block sent with the same passwords to a flash-protected device will unprotect the PFlash. Protection of DFlash is not possible. Warning: For AUDO-F devices, the flash protection and unprotection can be performed up to 4 times only. Application Note 28 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Communication Protocol 5.7 Response Code to the HOST The flash loader program will let the HOST know whether a block has been successfully received and whether the requested flash routine has been successfully executed by sending out a response code. Response Code Description 0x55 Acknowledgement, no error 0xFF Invalid block type 0xFE Invalid mode 0xFD Checksum error 0xFC Invalid address 0xFB Error during flash erasing 0xFA Error during flash programming 0xF9 Verification error 0xF8 Protection error Application Note 29 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader TriLoad - HOST Program Example 6 TriLoad - HOST Program Example The TriLoad HOST program developed in C++ uses the above communication structure (Chapter 5). The file TriLoad_API.cpp contains the API for direct communication with Loader 3 or CANLoader. The API includes the following functions: API Function Description init_uart Initialize PC COM interface init_ucan_uart Initialize PC COM interface and the UCAN XC164CM USB-to-CAN bridge init_ASC_BSL Initialize ASC BSL send_loader2 Send the Loader 2 send_loader3 Send the Loader 3 send_CANinit_frame Send the CAN Initialization Frame send_CANdata_frame Send a CAN Data Frame send_CANLoader Send the CANLoader bl_send_header Send header block via ASC interface blCAN_send_header Send header block via CAN interface bl_send_data Send data block via ASC interface blCAN_send_data Send data block via CAN interface bl_send_EOT Send EOT block via ASC interface blCAN_send_EOT Send EOT block via CAN interface bl_erase_flash Erase PFlash/ DFlash sectors bl_download_pflash Download code to PFlash bl_download_dflash Download code to DFlash bl_download_spram Download code to SPRAM make_flash_image Create a flash image from HEX file make_flash_hexfile Generate a dummy HEX file to fill the entire flash. The code is not executable. The main program (TriLoad.cpp) initializes ASC or CAN BSL and sends Loader 2 and Loader 3 or CANLoader respectively to the target device. The user must specify the HEX file to be downloaded and the target memory for programming. Application Note 30 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader TriLoad - HOST Program Example An example HEX file is provided for each memory type: • • • PFlash (led_blinking.hex) DFlash (DFlash_data.hex) SPRAM (led_blinking_SPRAM.hex) If PFlash is protected, the user needs to enter two correct passwords to unprotect the flash. Then the user code is downloaded to PFlash and the flash is protected if desired. Finally the user can execute the downloaded code from either PFlash or SPRAM. The flash erasing procedure is shown in Figure 6-1. The procedure is implemented in the function bl_erase_flash(). The PFlash programming procedure is shown in Figure 6-2. The procedure is implemented in the function bl_download_pflash(). The procedures for DFlash and SPRAM programming are implemented accordingly. Note: TriLoad also supports programming of TriCore devices other than the AUDO-F family. Upon program start, the user must specify which device shall be programmed. The HEX files according to supported TriCore families are included in subfolders (e.g. AUDO-F, AUDO-NG) in the project folder. Start End of file Read HEX line Determine flash sector according to address Sector already erased? yes no mode=4 bl_send_header( ) mark sector as erased End Figure 6-1 Flash erasing procedure implemented in bl_erase_flash() Application Note 31 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader TriLoad - HOST Program Example Start bl_erase_flash ( ) Read HEX line Address continuous? End of file yes no no First cycle? size of write-buffer > 0? yes yes no bl_send_data( ) (send remaining bytes) bl_send_data( ) (send remaining bytes) bl_send_EOT( ) bl_send_EOT( ) mode = 0 bl_send_header( ) End Store bytes from HEX file in write-buffer size of write-buffer >= 256? no yes bl_send_data( ) Delete the first 256 bytes in write-buffer Figure 6-2 Programming procedure implemented in bl_download_pflash() Application Note 32 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader List of Provided Files 7 List of Provided Files The following project files are provided in this application note. 7.1 Tasking VX-toolset for Tricore v3.0r1 Loader 2 (.\Tasking\Loader2): • • • • • Loader2.c Loader2.lsl tc1767.lsl .\Debug\ Loader2.hex additional files automatically generated by Tasking Loader 3 (.\Tasking\Loader3): • • • • • • • cstart.c cstart.h main.c Loader3.lsl tc1767.lsl .\Debug\ Loader3.hex additional files automatically generated by Tasking CANLoader (.\Tasking\CANLoader): • • • • • • • cstart.c cstart.h main.c CANLoader.lsl tc1767.lsl .\Debug\ CANLoader.hex additional files automatically generated by Tasking LED_Blinking (.\Tasking\LED_Blinking): • • • • • • • cstart.c cstart.h main.c LED_Blinking.lsl tc1767.lsl .\Debug\ LED_Blinking.hex additional files automatically generated by Tasking LED_Blinking_SPRAM (.\Tasking\LED_Blinking_SPRAM): • • • • cstart.c cstart.h main.c LED_Blinking_SPRAM.lsl Application Note 33 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader List of Provided Files • • • tc1767.lsl .\Debug\ LED_Blinking_SPRAM.hex additional files automatically generated by Tasking 7.2 HighTec GNU Toolchain for Tricore v3.4.5.1 Loader 2 (.\GNU\Loader2): • • • • • .\src\ Loader2.s .\src\ reg176x.h Loader2.ld .\RAM\ Loader2.hex additional files automatically generated by HighTec Loader 3 (.\GNU\Loader3): • • • • • • .\src\ crt0.s .\src\ main.c .\src\ reg176x.h Loader3.ld .\RAM\ Loader3.hex additional files automatically generated by HighTec CANLoader (.\GNU\CANLoader): • • • • • • .\src\ crt0.s .\src\ main.c .\src\ reg176x.h CANLoader.ld .\RAM\ CANLoader.hex additional files automatically generated by HighTec LED_Blinking (.\GNU\LED_Blinking): • • • • • .\src\ main.c .\src\ reg176x.h LED_Blinking.ld .\ROM\ LED_Blinking.hex additional files automatically generated by HighTec LED_Blinking_SPRAM (.\GNU\LED_Blinking_SPRAM): • • • • • • .\src\ crt0.s .\src\ main.c .\src\ reg176x.h LED_Blinking_SPRAM.ld .\RAM\ LED_Blinking_SPRAM.hex additional files automatically generated by HighTec Application Note 34 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader List of Provided Files 7.3 Microsoft Visual C++ 6.0 TriLoad v1.2, Example HOST program (.\TriLoad): The source files are included in a Microsoft Visual C++ 6.0 project. • • • • • • • • • • • • • • • TriLoad.cpp TriLoad_API.cpp TriLoad_API.h Device_Memory.h .\AUDO-F\ Loader2.hex (needs to be in the C++ project folder) .\AUDO-F\ Loader3.hex (needs to be in the C++ project folder) .\AUDO-F\ CANLoader.hex (needs to be in the C++ project folder) .\AUDO-F\ LED_Blinking.hex (needs to be in the C++ project folder) .\AUDO-F\ LED_Blinking_SPRAM.hex (needs to be in the C++ project folder) .\AUDO-F\ DFlash_data.hex (needs to be in the C++ project folder) FTCJTAG.lib FTCJTAG.dll FTCJTAG.h FTD2XX.dll additional files automatically generated by Microsoft Visual C++ Application Note 35 V 1.1, 2008-11 AP32132 TriCore - AUDO-F Flash Download via Bootstrap Loader Reference Documents 8 Reference Documents Document Description Location TC1767 User’s Manual User’s Manual for the TC1767 device http://www.infineon.com TC1797 User’s Manual User’s Manual for the TC1797 device http://www.infineon.com TC1736 User’s Manual User’s Manual for the TC1736 device http://www.infineon.com ap3208231_tc176x_examples_colle Collection of software ction.pdf examples for TC176x devices http://www.infineon.com tc_v131_instructionset_v__138.pdf Instruction set for TriCore V1.3 and V1.3.1 architecture http://www.infineon.com Infineon FLASH Samples.pdf Reference samples for programming Infineon on-chip flash memory devices http://www.infineon.com U-CAN-XC164CMSystemDescription.pdf System description of the UCAN XC164CM start kit, USB-to-CAN bridge http://www.infineon.com Application Note 36 V 1.1, 2008-11 w w w . i n f i n e o n . c o m Published by Infineon Technologies AG