flash: Added support for Freescale Kinetis KE family.

Tested with MKE04Z8VTG4, MKE02Z64VLC4 and MKE02Z64VLD2.

Change-Id: I606e32a2746a3b96d3e50f3656ba78d40c41c1ea
Signed-off-by: Ivan Meleca <ivan@artekit.eu>
Reviewed-on: http://openocd.zylin.com/3380
Tested-by: jenkins
Reviewed-by: Tomas Vanek <vanekt@fbl.cz>

contrib/loaders/flash/kinetis_ke/Makefile

@@ -0,0 +1,19 @@
+BIN2C = ../../../../src/helper/bin2char.sh
+
+ARM_CROSS_COMPILE ?= arm-none-eabi-
+ARM_AS      ?= $(ARM_CROSS_COMPILE)as
+ARM_OBJCOPY ?= $(ARM_CROSS_COMPILE)objcopy
+
+arm: kinetis_ke_flash.inc kinetis_ke_watchdog.inc
+
+kinetis_ke_%.elf: kinetis_ke_%.s
+	$(ARM_AS) $< -o $@
+
+kinetis_ke_%.bin: kinetis_ke_%.elf
+	$(ARM_OBJCOPY) -Obinary $< $@
+
+kinetis_ke_%.inc: kinetis_ke_%.bin
+	$(BIN2C) < $< > $@
+
+clean:
+	-rm -f *.elf *.bin *.inc

contrib/loaders/flash/kinetis_ke/kinetis_ke_flash.inc

@@ -0,0 +1,15 @@
+/* Autogenerated with ../../../../src/helper/bin2char.sh */
+0x16,0x68,0x00,0x2e,0xfe,0xd0,0x55,0x68,0xb5,0x42,0xf9,0xd0,0x2f,0x4e,0x30,0x27,
+0x37,0x70,0x2f,0x4e,0x00,0x27,0x37,0x70,0x2e,0x4e,0x06,0x27,0x37,0x70,0x07,0x0c,
+0x2d,0x4e,0x37,0x70,0x2a,0x4e,0x01,0x27,0x37,0x70,0xc7,0xb2,0x2a,0x4e,0x37,0x70,
+0x07,0x0a,0x28,0x4e,0x37,0x70,0x26,0x4e,0x02,0x27,0x37,0x70,0x6f,0x78,0x25,0x4e,
+0x37,0x70,0x2f,0x78,0x24,0x4e,0x37,0x70,0x21,0x4e,0x03,0x27,0x37,0x70,0xef,0x78,
+0x20,0x4e,0x37,0x70,0xaf,0x78,0x20,0x4e,0x37,0x70,0x01,0x39,0x04,0x30,0x04,0x35,
+0x9d,0x42,0x01,0xd3,0x15,0x1c,0x08,0x35,0x00,0x29,0x1b,0xd0,0x16,0x68,0xae,0x42,
+0x18,0xd0,0x17,0x4e,0x04,0x27,0x37,0x70,0x6f,0x78,0x16,0x4e,0x37,0x70,0x2f,0x78,
+0x15,0x4e,0x37,0x70,0x12,0x4e,0x05,0x27,0x37,0x70,0xef,0x78,0x11,0x4e,0x37,0x70,
+0xaf,0x78,0x11,0x4e,0x37,0x70,0x01,0x39,0x04,0x30,0x04,0x35,0x9d,0x42,0x01,0xd3,
+0x15,0x1c,0x08,0x35,0x09,0x4e,0x80,0x27,0x37,0x70,0x08,0x4e,0x36,0x78,0x3e,0x42,
+0xfb,0xd0,0x30,0x27,0x3e,0x42,0x04,0xd1,0x00,0x26,0x55,0x60,0x00,0x29,0x02,0xd0,
+0x9e,0xe7,0x00,0x20,0x50,0x60,0x30,0x1c,0x00,0xbe,0xc0,0x46,0x00,0x00,0x00,0x00,
+0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,

contrib/loaders/flash/kinetis_ke/kinetis_ke_flash.s

@@ -0,0 +1,184 @@
+/***************************************************************************
+ *   Copyright (C) 2015 by Ivan Meleca                                     *
+ *   ivan@artekit.eu                                                       *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program 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 General Public License for more details.                          *
+ ***************************************************************************/
+
+	/* Params:
+	 * r0 = flash destination address, status
+	 * r1 = longword count
+	 * r2 = workarea start address
+	 * r3 = workarea end address
+	 */
+
+	.text
+	.cpu cortex-m0plus
+	.code 16
+	.thumb_func
+
+	.align	2
+
+	/* r5 = rp
+	 * r6 = wp, tmp
+	 * r7 = tmp
+	 */
+
+wait_fifo:
+	ldr 	r6, [r2, #0]	/* read wp */
+	cmp 	r6, #0			/* abort if wp == 0 */
+	beq 	exit
+	ldr 	r5, [r2, #4]	/* read rp */
+	cmp 	r5, r6			/* wait until rp != wp */
+	beq 	wait_fifo
+
+	ldr		r6, fstat		/* Clear error flags */
+	mov		r7, #48
+	strb	r7, [r6]
+
+	ldr		r6, fccobix		/* FCCOBIX = 0 */
+	mov		r7, #0
+	strb	r7, [r6]
+
+	ldr 	r6, fccobhi		/* Program FLASH command */
+	mov		r7, #6			/* FCCOBHI = 6 */
+	strb	r7, [r6]
+
+	lsr		r7, r0, #16		/* FCCOBLO = flash destination address >> 16 */
+	ldr		r6, fccoblo
+	strb	r7, [r6]
+
+	ldr		r6, fccobix		/* Index for lower byte address bits[15:0] */
+	mov		r7, #1
+	strb	r7, [r6]		/* FCCOBIX = 1*/
+
+	uxtb	r7, r0			/* Memory address bits[15:0] */
+	ldr 	r6, fccoblo
+	strb	r7, [r6]		/* FCCOBLO = flash destination address */
+
+	lsr		r7, r0, #8
+	ldr		r6, fccobhi
+	strb	r7, [r6]		/* FCCOBHI = flash destination address >> 8 */
+
+	ldr		r6, fccobix		/* FCCOBIX = 2 */
+	mov		r7, #2
+	strb	r7, [r6]
+
+	ldrb	r7, [r5, #1]	/* FCCOBHI = rp >> 8 */
+	ldr		r6, fccobhi
+	strb	r7, [r6]
+
+	ldrb	r7, [r5]		/* FCCOBLO = rp */
+	ldr 	r6, fccoblo
+	strb	r7, [r6]
+
+	ldr		r6, fccobix		/* FCCOBIX = 3 */
+	mov		r7, #3
+	strb	r7, [r6]
+
+	ldrb	r7, [r5, #3]	/* FCCOBHI = rp >> 24 */
+	ldr		r6, fccobhi
+	strb	r7, [r6]
+
+	ldrb	r7, [r5, #2]	/* FCCOBLO = rp >> 16 */
+	ldr		r6, fccoblo
+	strb	r7, [r6]
+
+	sub		r1, r1, #1		/* Two words (4 bytes) queued, decrement counter */
+	add		r0, r0, #4		/* flash address += 4 */
+	add		r5, r5, #4		/* rp += 4 */
+
+	cmp     r5, r3			/* Wrap? */
+	bcc     no_wrap
+	mov     r5, r2
+	add   	r5, r5, #8
+
+no_wrap:
+	cmp		r1, #0			/* Done? */
+	beq		execute
+
+	ldr 	r6, [r2, #0]	/* read wp */
+	cmp 	r6, r5
+	beq		execute			/* execute if rp == wp */
+
+	ldr		r6, fccobix		/* FCCOBIX = 4 */
+	mov		r7, #4
+	strb	r7, [r6]
+
+	ldrb	r7, [r5, #1]	/* FCCOBHI = rp >> 8 */
+	ldr		r6, fccobhi
+	strb	r7, [r6]
+
+	ldrb	r7, [r5]		/* FCCOBLO = rp */
+	ldr 	r6, fccoblo
+	strb	r7, [r6]
+
+	ldr		r6, fccobix		/* FCCOBIX = 5 */
+	mov		r7, #5
+	strb	r7, [r6]
+
+	ldrb	r7, [r5, #3]	/* FCCOBHI = rp >> 24 */
+	ldr		r6, fccobhi
+	strb	r7, [r6]
+
+	ldrb	r7, [r5, #2]	/* FCCOBLO = rp >> 16 */
+	ldr		r6, fccoblo
+	strb	r7, [r6]
+
+	sub		r1, r1, #1		/* Two words (4 bytes) queued, decrement counter */
+	add		r0, r0, #4		/* flash address += 4 */
+	add		r5, r5, #4		/* rp += 4 */
+
+	cmp     r5, r3			/* Wrap? */
+	bcc     execute
+	mov     r5, r2
+	add   	r5, r5, #8
+
+execute:
+	ldr		r6, fstat		/* Launch the command */
+	mov		r7, #128
+	strb	r7, [r6]
+
+wait_busy:
+	ldr		r6, fstat
+	ldrb	r6, [r6]		/* Wait until finished */
+	tst		r6, r7
+	beq		wait_busy
+
+	mov		r7, #48			/* Check error */
+	tst		r6, r7
+	bne		error
+
+	mov		r6, #0			/* Clear error */
+
+	str     r5, [r2, #4]	/* Store rp */
+
+	cmp		r1, #0			/* Done? */
+	beq		done
+	b		wait_fifo
+
+error:
+	mov		r0, #0
+	str     r0, [r2, #4]    /* set rp = 0 on error */
+
+done:
+	mov		r0, r6			/* Set result code */
+	bkpt    #0
+
+	.align	2
+fstat:
+	.word	0
+fccobix:
+	.word	0
+fccobhi:
+	.word	0
+fccoblo:
+	.word	0

contrib/loaders/flash/kinetis_ke/kinetis_ke_watchdog.inc

@@ -0,0 +1,4 @@
+/* Autogenerated with ../../../../src/helper/bin2char.sh */
+0x07,0x4b,0x7f,0x22,0x1d,0x78,0x5c,0x78,0x2a,0x40,0x06,0x4d,0x98,0x88,0xd9,0x88,
+0x5d,0x80,0x05,0x4d,0x5d,0x80,0x5c,0x70,0x98,0x80,0xd9,0x80,0x1a,0x70,0x00,0xbe,
+0x00,0x20,0x05,0x40,0xc5,0x20,0x00,0x00,0xd9,0x28,0x00,0x00,

contrib/loaders/flash/kinetis_ke/kinetis_ke_watchdog.s

@@ -0,0 +1,47 @@
+/***************************************************************************
+ *   Copyright (C) 2015 by Ivan Meleca                                     *
+ *   ivan@artekit.eu                                                       *
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ *   This program 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 General Public License for more details.                          *
+ ***************************************************************************/
+
+	.text
+	.cpu cortex-m0plus
+	.code 16
+	.thumb_func
+
+	.align	2
+
+	ldr		r3, wdog_cs1
+	mov		r2, #127
+	ldrb	r5, [r3]
+	ldrb	r4, [r3, #1]
+	and		r2, r5
+	ldr		r5, unlock1
+	ldrh	r0, [r3, #4]
+	ldrh	r1, [r3, #6]
+	strh	r5, [r3, #2]
+	ldr		r5, unlock2
+	strh	r5, [r3, #2]
+	strb	r4, [r3, #1]
+	strh	r0, [r3, #4]
+	strh	r1, [r3, #6]
+	strb	r2, [r3]
+	bkpt	#0
+
+	.align	2
+
+wdog_cs1:
+	.word	0x40052000	// Watchdog Control and Status Register 1
+unlock1:
+	.word	0x20C5		// 1st unlock word
+unlock2:
+	.word	0x28D9		// 2nd unlock word

doc/openocd.texi

@@ -5248,6 +5248,33 @@ Command disables watchdog timer.
 @end deffn
 @end deffn
 
+@deffn {Flash Driver} kinetis_ke
+@cindex kinetis_ke
+KE members of the Kinetis microcontroller family from Freescale include
+internal flash and use ARM Cortex M0+. The driver automatically recognizes
+the KE family and sub-family using the chip identification register, and
+autoconfigures itself.
+
+@example
+flash bank $_FLASHNAME kinetis_ke 0 0 0 0 $_TARGETNAME
+@end example
+
+@deffn Command {kinetis_ke mdm check_security}
+Checks status of device security lock. Used internally in examine-end event.
+@end deffn
+
+@deffn Command {kinetis_ke mdm mass_erase}
+Issues a complete Flash erase via the MDM-AP.
+This can be used to erase a chip back to its factory state.
+Command removes security lock from a device (use of SRST highly recommended).
+It does not require the processor to be halted.
+@end deffn
+
+@deffn Command {kinetis_ke disable_wdog}
+Command disables watchdog timer.
+@end deffn
+@end deffn
+
 @deffn {Flash Driver} fm4
 All members of the FM4 microcontroller family from Spansion (formerly Fujitsu)
 include internal flash and use ARM Cortex-M4 cores.

src/flash/nor/Makefile.am

@@ -46,6 +46,7 @@ NOR_DRIVERS = \
 	fm4.c \
 	dsp5680xx_flash.c \
 	kinetis.c \
+	kinetis_ke.c \
 	numicro.c \
 	nrf51.c \
 	mrvlqspi.c \

src/flash/nor/drivers.c

@@ -55,6 +55,7 @@ extern struct flash_driver dsp5680xx_flash;
 extern struct flash_driver fm3_flash;
 extern struct flash_driver fm4_flash;
 extern struct flash_driver kinetis_flash;
+extern struct flash_driver kinetis_ke_flash;
 extern struct flash_driver efm32_flash;
 extern struct flash_driver mdr_flash;
 extern struct flash_driver numicro_flash;
@@ -104,6 +105,7 @@ static struct flash_driver *flash_drivers[] = {
 	&fm4_flash,
 	&dsp5680xx_flash,
 	&kinetis_flash,
+	&kinetis_ke_flash,
 	&efm32_flash,
 	&mdr_flash,
 	&numicro_flash,

tcl/target/ke02.cfg

@@ -0,0 +1,6 @@
+#
+# Freescale Kinetis KE02 devices
+#
+
+set CHIPNAME ke02
+source [find target/kex.cfg]

tcl/target/ke04.cfg

@@ -0,0 +1,6 @@
+#
+# Freescale Kinetis KE04 devices
+#
+
+set CHIPNAME ke04
+source [find target/kex.cfg]

tcl/target/ke06.cfg

@@ -0,0 +1,6 @@
+#
+# Freescale Kinetis KE06 devices
+#
+
+set CHIPNAME ke06
+source [find target/kex.cfg]

tcl/target/kex.cfg

@@ -0,0 +1,58 @@
+#
+# Freescale Kinetis KE series devices
+#
+
+source [find target/swj-dp.tcl]
+
+if { [info exists CHIPNAME] } {
+    set _CHIPNAME $CHIPNAME
+} else {
+    set _CHIPNAME ke
+}
+
+# Work-area is a space in RAM used for flash programming
+# By default use 1kB
+if { [info exists WORKAREASIZE] } {
+   set _WORKAREASIZE $WORKAREASIZE
+} else {
+   set _WORKAREASIZE 0x400
+}
+
+if { [info exists CPUTAPID] } {
+    set _CPUTAPID $CPUTAPID
+} else {
+   if { [using_jtag] } {
+      set _CPUTAPID 0x4ba00477
+   } {
+      set _CPUTAPID 0x2ba01477
+   }
+}
+
+swj_newdap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
+
+set _TARGETNAME $_CHIPNAME.cpu
+target create $_TARGETNAME cortex_m -chain-position $_CHIPNAME.cpu
+
+$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
+
+set _FLASHNAME $_CHIPNAME.flash
+flash bank $_FLASHNAME kinetis_ke 0 0 0 0 $_TARGETNAME
+
+adapter_khz 1000
+
+reset_config srst_nogate
+
+if {![using_hla]} {
+
+   # It is important that "kinetis_ke mdm check_security" is called for
+   # 'examine-end' event and not 'eximine-start'. Calling it in 'examine-start'
+   # causes "kinetis_ke mdm check_security" to fail the first time openocd
+   # calls it when it tries to connect after the CPU has been power-cycled.
+   $_CHIPNAME.cpu configure -event examine-end {
+      kinetis_ke mdm check_security
+   }
+
+   # if srst is not fitted use SYSRESETREQ to
+   # perform a soft reset
+   cortex_m reset_config sysresetreq
+}