infinity: Fix disabling watchdog

- watchdog is timed out before disabling it by mbed startup
- old booloader disable watchdog while new(2015/01) doesn't

5 files changed, 400 insertions, 4 deletions

diff --git a/keyboard/infinity/mbed-infinity.mk b/keyboard/infinity/mbed-infinity.mk
index f5fd2c997..d4603010e 100644
--- a/keyboard/infinity/mbed-infinity.mk
+++ b/keyboard/infinity/mbed-infinity.mk
@@ -19,7 +19,7 @@ OBJECTS += \
 	$(OBJDIR)/mbed-infinity/cmsis_nvic.o \
 	$(OBJDIR)/mbed-infinity/system_MK20D5.o \
 	$(OBJDIR)/mbed-infinity/USBHAL_KL25Z.o \
-	$(OBJDIR)/libraries/mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/TOOLCHAIN_GCC_ARM/startup_MK20D5.o \
+	$(OBJDIR)/mbed-infinity/startup_MK20D5.o \
 	$(OBJDIR)/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_K20D50M/analogin_api.o \
 	$(OBJDIR)/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_K20D50M/gpio_api.o \
 	$(OBJDIR)/libraries/mbed/targets/hal/TARGET_Freescale/TARGET_K20D50M/gpio_irq_api.o \
diff --git a/keyboard/infinity/mbed-infinity/README b/keyboard/infinity/mbed-infinity/README
index b0d226f79..43051c900 100644
--- a/keyboard/infinity/mbed-infinity/README
+++ b/keyboard/infinity/mbed-infinity/README
@@ -37,3 +37,47 @@ Clock enable:
     SIM_SCGC4[USBOTG] = 1
 
 
+
+Infinity bootloader change
+==========================
+After @2c7542e(2015/01) Infinity bootloader doesn't disable watchdog timer and keyboard firmware has to do it itself.  mbed disables watchdog in startup sequence but unfortunately timer is timed out bofore that.
+
+We have to do that in earlier phase of mbed startup sequence.
+
+
+mbed starup sequence files:
+mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/TOOLCHAIN_GCC_ARM/startup_M20D5.s
+mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/system_MK20D5.c
+
+Infinity booloader change commit:
+https://github.com/kiibohd/controller/commit/2c7542e2e7f0b8a99edf563dc53164fe1a439483
+
+discussion:
+https://geekhack.org/index.php?topic=41989.msg1686616#msg1686616
+
+
+WORKAROUND
+----------
+Call SystemInit early in Reset_Handler.
+
+$ diff -u ../../mbed-sdk/libraries/mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/TOOLCHAIN_GCC_ARM/startup_MK20D5.s mbed-infinity
+--- ../../mbed-sdk/libraries/mbed/targets/cmsis/TARGET_Freescale/TARGET_K20D50M/TOOLCHAIN_GCC_ARM/startup_MK20D5.s      2015-03-22 10:33:22.779866000 +0900
++++ mbed-infinity/startup_MK20D5.s      2015-03-22 10:32:56.483866000 +0900
+@@ -147,6 +147,8 @@
+  *      __etext: End of code section, i.e., begin of data sections to copy from.
+  *      __data_start__/__data_end__: RAM address range that data should be
+  *      copied to. Both must be aligned to 4 bytes boundary.  */
++    ldr    r0, =SystemInit
++    blx    r0
+
+     ldr    r1, =__etext
+     ldr    r2, =__data_start__
+@@ -161,8 +163,6 @@
+
+ .Lflash_to_ram_loop_end:
+
+-    ldr    r0, =SystemInit
+-    blx    r0
+     ldr    r0, =_start
+     bx    r0
+     .pool
diff --git a/keyboard/infinity/mbed-infinity/startup_MK20D5.s b/keyboard/infinity/mbed-infinity/startup_MK20D5.s
new file mode 100644
index 000000000..7a8d7ba45
--- /dev/null
+++ b/keyboard/infinity/mbed-infinity/startup_MK20D5.s
@@ -0,0 +1,259 @@
+/* File: startup_MK20D5.s
+ * Purpose: startup file for Cortex-M4 devices. Should use with
+ *   GCC for ARM Embedded Processors
+ * Version: V1.3
+ * Date: 08 Feb 2012
+ *
+ * Copyright (c) 2012, ARM Limited
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the ARM Limited nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL ARM LIMITED BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+    .syntax unified
+    .arch armv7-m
+
+    .section .stack
+    .align 3
+#ifdef __STACK_SIZE
+    .equ    Stack_Size, __STACK_SIZE
+#else
+    .equ    Stack_Size, 0x400
+#endif
+    .globl    __StackTop
+    .globl    __StackLimit
+__StackLimit:
+    .space    Stack_Size
+    .size __StackLimit, . - __StackLimit
+__StackTop:
+    .size __StackTop, . - __StackTop
+
+    .section .heap
+    .align 3
+#ifdef __HEAP_SIZE
+    .equ    Heap_Size, __HEAP_SIZE
+#else
+    .equ    Heap_Size, 0xC00
+#endif
+    .globl    __HeapBase
+    .globl    __HeapLimit
+__HeapBase:
+    .if    Heap_Size
+    .space    Heap_Size
+    .endif
+    .size __HeapBase, . - __HeapBase
+__HeapLimit:
+    .size __HeapLimit, . - __HeapLimit
+
+    .section .isr_vector
+    .align 2
+    .globl __isr_vector
+__isr_vector:
+    .long    __StackTop            /* Top of Stack */
+    .long    Reset_Handler         /* Reset Handler */
+    .long    NMI_Handler           /* NMI Handler */
+    .long    HardFault_Handler     /* Hard Fault Handler */
+    .long    MemManage_Handler     /* MPU Fault Handler */
+    .long    BusFault_Handler      /* Bus Fault Handler */
+    .long    UsageFault_Handler    /* Usage Fault Handler */
+    .long    0                     /* Reserved */
+    .long    0                     /* Reserved */
+    .long    0                     /* Reserved */
+    .long    0                     /* Reserved */
+    .long    SVC_Handler           /* SVCall Handler */
+    .long    DebugMon_Handler      /* Debug Monitor Handler */
+    .long    0                     /* Reserved */
+    .long    PendSV_Handler        /* PendSV Handler */
+    .long    SysTick_Handler       /* SysTick Handler */
+
+    /* External interrupts */
+    .long    DMA0_IRQHandler        /*  0:  Watchdog Timer            */
+    .long    DMA1_IRQHandler        /*  1:  Real Time Clock           */
+    .long    DMA2_IRQHandler       /*  2:  Timer0 / Timer1           */
+    .long    DMA3_IRQHandler       /*  3:  Timer2 / Timer3           */
+    .long    DMA_Error_IRQHandler       /*  4:  MCIa                      */
+    .long    0       /*  5:  MCIb                      */
+    .long    FTFL_IRQHandler      /*  6:  UART0 - DUT FPGA          */
+    .long    Read_Collision_IRQHandler      /*  7:  UART1 - DUT FPGA          */
+    .long    LVD_LVW_IRQHandler      /*  8:  UART2 - DUT FPGA          */
+    .long    LLW_IRQHandler      /*  9:  UART4 - not connected     */
+    .long    Watchdog_IRQHandler       /* 10: AACI / AC97                */
+    .long    I2C0_IRQHandler       /* 11: CLCD Combined Interrupt    */
+    .long    SPI0_IRQHandler       /* 12: Ethernet                   */
+    .long    I2S0_Tx_IRQHandler      /* 13: USB Device                 */
+    .long    I2S0_Rx_IRQHandler      /* 14: USB Host Controller        */
+    .long    UART0_LON_IRQHandler      /* 15: Character LCD              */
+    .long    UART0_RX_TX_IRQHandler    /* 16: Flexray                    */
+    .long    UART0_ERR_IRQHandler        /* 17: CAN                        */
+    .long    UART1_RX_TX_IRQHandler        /* 18: LIN                        */
+    .long    UART1_ERR_IRQHandler        /* 19: I2C ADC/DAC                */
+    .long    UART2_RX_TX_IRQHandler                     /* 20: Reserved                   */
+    .long    UART2_ERR_IRQHandler                     /* 21: Reserved                   */
+    .long    ADC0_IRQHandler                     /* 22: Reserved                   */
+    .long    CMP0_IRQHandler                     /* 23: Reserved                   */
+    .long    CMP1_IRQHandler                     /* 24: Reserved                   */
+    .long    FTM0_IRQHandler                     /* 25: Reserved                   */
+    .long    FTM1_IRQHandler                     /* 26: Reserved                   */
+    .long    CMT_IRQHandler                     /* 27: Reserved                   */
+    .long    RTC_IRQHandler   /* 28: Reserved - CPU FPGA CLCD   */
+    .long    RTC_Seconds_IRQHandler                     /* 29: Reserved - CPU FPGA        */
+    .long    PIT0_IRQHandler      /* 30: UART3    - CPU FPGA        */
+    .long    PIT1_IRQHandler        /* 31: SPI Touchscreen - CPU FPGA */
+    .long    PIT2_IRQHandler
+    .long    PIT3_IRQHandler
+    .long    PDB0_IRQHandler
+    .long    USB0_IRQHandler
+    .long    USBDCD_IRQHandler
+    .long    TSI0_IRQHandler
+    .long    MCG_IRQHandler
+    .long    LPTimer_IRQHandler
+    .long    PORTA_IRQHandler
+    .long    PORTB_IRQHandler
+    .long    PORTC_IRQHandler
+    .long    PORTD_IRQHandler
+    .long    PORTE_IRQHandler
+    .long    SWI_IRQHandler
+    .size    __isr_vector, . - __isr_vector
+
+    .section .text.Reset_Handler
+    .thumb
+    .thumb_func
+    .align 2
+    .globl    Reset_Handler
+    .type    Reset_Handler, %function
+Reset_Handler:
+/*     Loop to copy data from read only memory to RAM. The ranges
+ *      of copy from/to are specified by following symbols evaluated in
+ *      linker script.
+ *      __etext: End of code section, i.e., begin of data sections to copy from.
+ *      __data_start__/__data_end__: RAM address range that data should be
+ *      copied to. Both must be aligned to 4 bytes boundary.  */
+    ldr    r0, =SystemInit
+    blx    r0
+
+    ldr    r1, =__etext
+    ldr    r2, =__data_start__
+    ldr    r3, =__data_end__
+
+.Lflash_to_ram_loop:
+    cmp     r2, r3
+    ittt    lt
+    ldrlt   r0, [r1], #4
+    strlt   r0, [r2], #4
+    blt    .Lflash_to_ram_loop
+
+.Lflash_to_ram_loop_end:
+
+    ldr    r0, =_start
+    bx    r0
+    .pool
+    .size Reset_Handler, . - Reset_Handler
+
+    .text
+/*    Macro to define default handlers. Default handler
+ *    will be weak symbol and just dead loops. They can be
+ *    overwritten by other handlers */
+    .macro    def_default_handler    handler_name
+    .align 1
+    .thumb_func
+    .weak    \handler_name
+    .type    \handler_name, %function
+\handler_name :
+    b    .
+    .size    \handler_name, . - \handler_name
+    .endm
+
+    def_default_handler    NMI_Handler
+    def_default_handler    HardFault_Handler
+    def_default_handler    MemManage_Handler
+    def_default_handler    BusFault_Handler
+    def_default_handler    UsageFault_Handler
+    def_default_handler    SVC_Handler
+    def_default_handler    DebugMon_Handler
+    def_default_handler    PendSV_Handler
+    def_default_handler    SysTick_Handler
+    def_default_handler    Default_Handler
+
+    .macro    def_irq_default_handler    handler_name
+    .weak     \handler_name
+    .set      \handler_name, Default_Handler
+    .endm
+
+    def_irq_default_handler    DMA0_IRQHandler
+    def_irq_default_handler    DMA1_IRQHandler
+    def_irq_default_handler    DMA2_IRQHandler
+    def_irq_default_handler    DMA3_IRQHandler
+    def_irq_default_handler    DMA_Error_IRQHandler
+    def_irq_default_handler    FTFL_IRQHandler
+    def_irq_default_handler    Read_Collision_IRQHandler
+    def_irq_default_handler    LVD_LVW_IRQHandler
+    def_irq_default_handler    LLW_IRQHandler
+    def_irq_default_handler    Watchdog_IRQHandler
+    def_irq_default_handler    I2C0_IRQHandler
+    def_irq_default_handler    SPI0_IRQHandler
+    def_irq_default_handler    I2S0_Tx_IRQHandler
+    def_irq_default_handler    I2S0_Rx_IRQHandler
+    def_irq_default_handler    UART0_LON_IRQHandler
+    def_irq_default_handler    UART0_RX_TX_IRQHandler
+    def_irq_default_handler    UART0_ERR_IRQHandler
+    def_irq_default_handler    UART1_RX_TX_IRQHandler
+    def_irq_default_handler    UART1_ERR_IRQHandler
+    def_irq_default_handler    UART2_RX_TX_IRQHandler
+    def_irq_default_handler    UART2_ERR_IRQHandler
+    def_irq_default_handler    ADC0_IRQHandler
+    def_irq_default_handler    CMP0_IRQHandler
+    def_irq_default_handler    CMP1_IRQHandler
+    def_irq_default_handler    FTM0_IRQHandler
+    def_irq_default_handler    FTM1_IRQHandler
+    def_irq_default_handler    CMT_IRQHandler
+    def_irq_default_handler    RTC_IRQHandler
+    def_irq_default_handler    RTC_Seconds_IRQHandler
+    def_irq_default_handler    PIT0_IRQHandler
+    def_irq_default_handler    PIT1_IRQHandler
+    def_irq_default_handler    PIT2_IRQHandler
+    def_irq_default_handler    PIT3_IRQHandler
+    def_irq_default_handler    PDB0_IRQHandler
+    def_irq_default_handler    USB0_IRQHandler
+    def_irq_default_handler    USBDCD_IRQHandler
+    def_irq_default_handler    TSI0_IRQHandler
+    def_irq_default_handler    MCG_IRQHandler
+    def_irq_default_handler    LPTimer_IRQHandler
+    def_irq_default_handler    PORTA_IRQHandler
+    def_irq_default_handler    PORTB_IRQHandler
+    def_irq_default_handler    PORTC_IRQHandler
+    def_irq_default_handler    PORTD_IRQHandler
+    def_irq_default_handler    PORTE_IRQHandler
+    def_irq_default_handler    SWI_IRQHandler
+    def_irq_default_handler    DEF_IRQHandler
+
+/* Flash protection region, placed at 0x400 */
+    .text
+    .thumb
+    .align 2
+    .section .kinetis_flash_config_field,"a",%progbits
+kinetis_flash_config:
+    .long 0xffffffff
+    .long 0xffffffff
+    .long 0xffffffff
+    .long 0xfffffffe
+
+    .end
diff --git a/keyboard/infinity/tool/README b/keyboard/infinity/tool/README
index 3dd331656..698314e25 100644
--- a/keyboard/infinity/tool/README
+++ b/keyboard/infinity/tool/README
@@ -2,7 +2,7 @@ OpenOCD config files for Kinetis
 ================================
 http://nemuisan.blog.bai.ne.jp/?eid=192848#OPENOCD
 
-These are needed for SWD debug and programing bootloader. To flash keyboard firmware use 'dfu-util'.
+These are needed for debug and programing bootloader with SWD. To flash keyboard firmware use 'dfu-util'.
 
 Flash security of Freescale kinetis
 -----------------------------------
@@ -21,5 +21,83 @@ Flash bootloader:
 
 Infinity SWD pinout
 -------------------
-SWD pins are placed next to reset button; SWD_CLK, SWD_DIO, GND, VCC from top.
+SWD pins are placed next to reset button; SWD_CLK, SWD_DIO, GND, 5V from top.
 Note that RESET is also needed to get full control with OpenOCD.
+
+             --------
+            | ___  o |CLK
+            ||RST| o |DIO
+            ||BTN| o |GND
+            | ---  o |5V
+             --------
+
+
+Kinetis sercure state
+----------------------
+openocd 0.9.0
+
+Warn : *********** ATTENTION! ATTENTION! ATTENTION! ATTENTION! **********
+Warn : ****                                                          ****
+Warn : **** Your Kinetis MCU is in secured state, which means that,  ****
+Warn : **** with exception for very basic communication, JTAG/SWD    ****
+Warn : **** interface will NOT work. In order to restore its         ****
+Warn : **** functionality please issue 'kinetis mdm mass_erase'      ****
+Warn : **** command, power cycle the MCU and restart OpenOCD.        ****
+Warn : ****                                                          ****
+Warn : *********** ATTENTION! ATTENTION! ATTENTION! ATTENTION! **********
+
+
+Info : MDM: Chip is unsecured. Continuing.
+target state: halted
+target halted due to debug-request, current mode: Thread
+xPSR: 0x01000000 pc: 0xfffffffe msp: 0xfffffffc
+auto erase enabled
+Info : Probing flash info for bank 0
+Warn : flash configuration field erased, please reset the device
+wrote 4096 bytes from file kiibohd_bootloader.bin in 2.442562s (1.638 KiB/s)
+Info : MDM: Chip is unsecured. Continuing.
+
+
+
+
+Open On-Chip Debugger 0.9.0-dev-00346-g3e1dfdc-dirty (2015-03-21-20:41)
+Licensed under GNU GPL v2
+For bug reports, read
+        http://openocd.sourceforge.net/doc/doxygen/bugs.html
+Info : only one transport option; autoselect 'cmsis-dap'
+Kinetis MUST need Hardware SRST Control to Recover Secure-State!
+adapter_nsrst_delay: 200
+srst_only separate srst_gates_jtag srst_open_drain connect_deassert_srst
+Info : add flash_bank kinetis k20.pflash
+cortex_m reset_config sysresetreq
+adapter speed: 1000 kHz
+srst_only separate srst_nogate srst_open_drain connect_assert_srst
+Info : CMSIS-DAP: SWD  Supported
+Info : CMSIS-DAP: Interface Initialised (SWD)
+Info : CMSIS-DAP: FW Version = 1.0
+Info : SWCLK/TCK = 0 SWDIO/TMS = 1 TDI = 0 TDO = 0 nTRST = 0 nRESET = 1
+Info : Connecting under reset
+Info : DAP_SWJ Sequence (reset: 50+ '1' followed by 0)
+Info : CMSIS-DAP: Interface ready
+Info : clock speed 1000 kHz
+Info : IDCODE 0x2ba01477
+Warn : Adapter returned success despite SSTICKYERR being set.
+Warn : Adapter returned success despite SSTICKYERR being set.
+Warn : Adapter returned success despite SSTICKYERR being set.
+Warn : Adapter returned success despite SSTICKYERR being set.
+Info : k20.cpu: hardware has 6 breakpoints, 4 watchpoints
+Info : MDM: Chip is unsecured. Continuing.
+Info : MDM: Chip is unsecured. Continuing.
+target state: halted
+target halted due to debug-request, current mode: Thread
+xPSR: 0x01000000 pc: 0xfffffffe msp: 0xfffffffc
+auto erase enabled
+Info : Probing flash info for bank 0
+Warn : flash configuration field erased, please reset the device
+wrote 4096 bytes from file kiibohd_bootloader.bin in 2.446902s (1.635 KiB/s)
+Info : MDM: Chip is unsecured. Continuing.
+Info : Halt timed out, wake up GDB.
+Error: timed out while waiting for target halted
+Runtime Error: tool/k20dx32_flash.cfg:81:
+in procedure 'mt_flash'
+in procedure 'halt' called at file "tool/k20dx32_flash.cfg", line 81
diff --git a/keyboard/infinity/tool/k20dx32_flash.cfg b/keyboard/infinity/tool/k20dx32_flash.cfg
index 714d9991f..1e3deb091 100644
--- a/keyboard/infinity/tool/k20dx32_flash.cfg
+++ b/keyboard/infinity/tool/k20dx32_flash.cfg
@@ -2,6 +2,22 @@
 # Nemuisan's Special for MK20DN32VFT5,MK20DX32VFT5,MK10DN32VFT5,MK10DX32VFT5
 
 
+# 0.8.0 has no these procs
+proc using_jtag {} {
+        set _TRANSPORT [ transport select ]
+        expr { [ string first "jtag" $_TRANSPORT ] != -1 }
+}
+
+proc using_swd {} {
+        set _TRANSPORT [ transport select ]
+        expr { [ string first "swd" $_TRANSPORT ] != -1 }
+}
+
+proc using_hla {} {
+        set _TRANSPORT [ transport select ]
+        expr { [ string first "hla" $_TRANSPORT ] != -1 }
+}
+
 source [find target/swj-dp.tcl]
 
 if { [info exists CHIPNAME] } {
@@ -109,7 +125,6 @@ proc eraser {} {
 	shutdown
 }
 
-
 #debug_level 3
 # HLA doesn't have cortex_m commands 
 if {![using_hla]} {