329 lines
22 KiB
HTML
329 lines
22 KiB
HTML
<!DOCTYPE HTML>
|
|
<html lang="en" class="sidebar-visible no-js">
|
|
<head>
|
|
<!-- Book generated using mdBook -->
|
|
<meta charset="UTF-8">
|
|
<title>Flashing - MicroRust</title>
|
|
<meta content="text/html; charset=utf-8" http-equiv="Content-Type">
|
|
<meta name="description" content="">
|
|
<meta name="viewport" content="width=device-width, initial-scale=1">
|
|
<meta name="theme-color" content="#ffffff" />
|
|
|
|
<link rel="shortcut icon" href="../favicon.png">
|
|
<link rel="stylesheet" href="../css/variables.css">
|
|
<link rel="stylesheet" href="../css/general.css">
|
|
<link rel="stylesheet" href="../css/chrome.css">
|
|
<link rel="stylesheet" href="../css/print.css" media="print">
|
|
|
|
<!-- Fonts -->
|
|
<link rel="stylesheet" href="../FontAwesome/css/font-awesome.css">
|
|
<link href="https://fonts.googleapis.com/css?family=Open+Sans:300italic,400italic,600italic,700italic,800italic,400,300,600,700,800" rel="stylesheet" type="text/css">
|
|
<link href="https://fonts.googleapis.com/css?family=Source+Code+Pro:500" rel="stylesheet" type="text/css">
|
|
|
|
<!-- Highlight.js Stylesheets -->
|
|
<link rel="stylesheet" href="../highlight.css">
|
|
<link rel="stylesheet" href="../tomorrow-night.css">
|
|
<link rel="stylesheet" href="../ayu-highlight.css">
|
|
|
|
<!-- Custom theme stylesheets -->
|
|
|
|
|
|
|
|
</head>
|
|
<body class="light">
|
|
<!-- Provide site root to javascript -->
|
|
<script type="text/javascript">var path_to_root = "../";</script>
|
|
|
|
<!-- Work around some values being stored in localStorage wrapped in quotes -->
|
|
<script type="text/javascript">
|
|
try {
|
|
var theme = localStorage.getItem('mdbook-theme');
|
|
var sidebar = localStorage.getItem('mdbook-sidebar');
|
|
|
|
if (theme.startsWith('"') && theme.endsWith('"')) {
|
|
localStorage.setItem('mdbook-theme', theme.slice(1, theme.length - 1));
|
|
}
|
|
|
|
if (sidebar.startsWith('"') && sidebar.endsWith('"')) {
|
|
localStorage.setItem('mdbook-sidebar', sidebar.slice(1, sidebar.length - 1));
|
|
}
|
|
} catch (e) { }
|
|
</script>
|
|
|
|
<!-- Set the theme before any content is loaded, prevents flash -->
|
|
<script type="text/javascript">
|
|
var theme;
|
|
try { theme = localStorage.getItem('mdbook-theme'); } catch(e) { }
|
|
if (theme === null || theme === undefined) { theme = 'light'; }
|
|
document.body.className = theme;
|
|
document.querySelector('html').className = theme + ' js';
|
|
</script>
|
|
|
|
<!-- Hide / unhide sidebar before it is displayed -->
|
|
<script type="text/javascript">
|
|
var html = document.querySelector('html');
|
|
var sidebar = 'hidden';
|
|
if (document.body.clientWidth >= 1080) {
|
|
try { sidebar = localStorage.getItem('mdbook-sidebar'); } catch(e) { }
|
|
sidebar = sidebar || 'visible';
|
|
}
|
|
html.classList.remove('sidebar-visible');
|
|
html.classList.add("sidebar-" + sidebar);
|
|
</script>
|
|
|
|
<nav id="sidebar" class="sidebar" aria-label="Table of contents">
|
|
<ol class="chapter"><li class="affix"><a href="../index.html">Introduction</a></li><li class="affix"><a href="../background/index.html">Background</a></li><li class="affix"><a href="../requirements/index.html">Requirements</a></li><li><a href="../hardware/index.html"><strong aria-hidden="true">1.</strong> Meet your hardware</a></li><li><a href="../setup/index.html"><strong aria-hidden="true">2.</strong> Development environment setup</a></li><li><ol class="section"><li><a href="../setup/LINUX.html"><strong aria-hidden="true">2.1.</strong> Linux</a></li><li><a href="../setup/WINDOWS.html"><strong aria-hidden="true">2.2.</strong> Windows</a></li><li><a href="../setup/MACOS.html"><strong aria-hidden="true">2.3.</strong> macOS</a></li><li><a href="../setup/VERIFY.html"><strong aria-hidden="true">2.4.</strong> Verify the installation</a></li></ol></li><li><a href="../getting-started/00.00.README.html"><strong aria-hidden="true">3.</strong> Getting started</a></li><li><ol class="section"><li><a href="../getting-started/01.00.BUILD.html"><strong aria-hidden="true">3.1.</strong> Building</a></li><li><a href="../getting-started/02.00.FLASH.html" class="active"><strong aria-hidden="true">3.2.</strong> Flashing</a></li><li><a href="../getting-started/03.00.DEBUG.html"><strong aria-hidden="true">3.3.</strong> Debugging</a></li><li><a href="../getting-started/04.00.SOLUTION.html"><strong aria-hidden="true">3.4.</strong> Solution</a></li></ol></li><li><a href="../hello-world/00.00.README.html"><strong aria-hidden="true">4.</strong> Hello world</a></li><li><ol class="section"><li><a href="../hello-world/01.00.SEMIHOSTING.html"><strong aria-hidden="true">4.1.</strong> Semihosting</a></li><li><a href="../hello-world/02.00.UART.html"><strong aria-hidden="true">4.2.</strong> Serial communication</a></li><li><ol class="section"><li><a href="../hello-world/02.01.NIX.html"><strong aria-hidden="true">4.2.1.</strong> *nix</a></li><li><a href="../hello-world/02.02.WINDOWS.html"><strong aria-hidden="true">4.2.2.</strong> Windows</a></li></ol></li><li><a href="../hello-world/03.00.LED.html"><strong aria-hidden="true">4.3.</strong> GPIO and LEDs</a></li><li><ol class="section"><li><a href="../hello-world/03.01.SOLUTION.html"><strong aria-hidden="true">4.3.1.</strong> Solution</a></li></ol></li></ol></li><li><a href="../choice/00.00.README.html"><strong aria-hidden="true">5.</strong> Choose Your Own Adventure</a></li><li><a href="../microbit/00.00.README.html"><strong aria-hidden="true">6.</strong> micro:bit HAL basics</a></li><li><ol class="section"><li><a href="../microbit/01.00.BUTTONS.html"><strong aria-hidden="true">6.1.</strong> Buttons</a></li><li><a href="../microbit/02.00.DELAY.html"><strong aria-hidden="true">6.2.</strong> Delays</a></li><li><a href="../microbit/03.00.DISPLAY.html"><strong aria-hidden="true">6.3.</strong> Display</a></li></ol></li><li><a href="../serial/00.00.README.html"><strong aria-hidden="true">7.</strong> Serial UART - Blocking</a></li><li><ol class="section"><li><a href="../serial/01.00.ECHO.html"><strong aria-hidden="true">7.1.</strong> Echo Server</a></li><li><ol class="section"><li><a href="../serial/01.01.THEORY.html"><strong aria-hidden="true">7.1.1.</strong> Theory</a></li><li><a href="../serial/01.02.ECHO.html"><strong aria-hidden="true">7.1.2.</strong> Solution</a></li></ol></li><li><a href="../serial/02.00.html"><strong aria-hidden="true">7.2.</strong> Exercises</a></li><li><ol class="section"><li><a href="../serial/02.01.html"><strong aria-hidden="true">7.2.1.</strong> Reverse echo</a></li><li><ol class="section"><li><a href="../serial/02.01.SOLUTION.html"><strong aria-hidden="true">7.2.1.1.</strong> Solution</a></li></ol></li><li><a href="../serial/02.02.html"><strong aria-hidden="true">7.2.2.</strong> Countdown</a></li><li><ol class="section"><li><a href="../serial/02.02.SOLUTION.html"><strong aria-hidden="true">7.2.2.1.</strong> Solution</a></li></ol></li><li><a href="../serial/02.04.html"><strong aria-hidden="true">7.2.3.</strong> Quiz</a></li><li><ol class="section"><li><a href="../serial/02.04.SOLUTION.html"><strong aria-hidden="true">7.2.3.1.</strong> Solution</a></li></ol></li></ol></li></ol></li><li><a href="../display/00.00.README.html"><strong aria-hidden="true">8.</strong> LED display</a></li><li><ol class="section"><li><a href="../display/01.00.THEORY.html"><strong aria-hidden="true">8.1.</strong> Theory</a></li><li><a href="../display/02.00.PROBLEM.html"><strong aria-hidden="true">8.2.</strong> Problem</a></li><li><ol class="section"><li><a href="../display/02.01.LAYOUT.html"><strong aria-hidden="true">8.2.1.</strong> Layout</a></li><li><a href="../display/02.02.DELAY.html"><strong aria-hidden="true">8.2.2.</strong> Delays</a></li><li><a href="../display/02.03.MULT.html"><strong aria-hidden="true">8.2.3.</strong> Multiplexing</a></li></ol></li><li><a href="../display/03.00.SOLUTION.html"><strong aria-hidden="true">8.3.</strong> Solution</a></li><li><ol class="section"><li><a href="../display/03.01.LAYOUT.html"><strong aria-hidden="true">8.3.1.</strong> Layout</a></li><li><a href="../display/03.02.MULT.html"><strong aria-hidden="true">8.3.2.</strong> Multiplexing</a></li><li><a href="../display/03.03.FULL.html"><strong aria-hidden="true">8.3.3.</strong> Full Solution</a></li></ol></li></ol></li><li><a href="../sensors/00.00.README.html"><strong aria-hidden="true">9.</strong> WIP - Sensors and I²C</a></li><li><a href="../nb/00.00.README.html"><strong aria-hidden="true">10.</strong> WIP - Non-blocking</a></li><li><a href="../nb/00.00.README.html"><strong aria-hidden="true">11.</strong> WIP - Interrupts</a></li><li><a href="../rtfm/00.00.README.html"><strong aria-hidden="true">12.</strong> WIP - Real time</a></li><li><a href="../hal/00.00.README.html"><strong aria-hidden="true">13.</strong> WIP - Creating a HAL</a></li><li class="affix"><a href="../appendix/explore.html">Explore</a></li><li class="affix"><a href="../appendix/gdb.html">GDB cheatsheet</a></li><li class="affix"><a href="../appendix/troubleshooting.html">General troubleshooting</a></li></ol>
|
|
</nav>
|
|
|
|
<div id="page-wrapper" class="page-wrapper">
|
|
|
|
<div class="page">
|
|
|
|
<div id="menu-bar" class="menu-bar">
|
|
<div id="menu-bar-sticky-container">
|
|
<div class="left-buttons">
|
|
<button id="sidebar-toggle" class="icon-button" type="button" title="Toggle Table of Contents" aria-label="Toggle Table of Contents" aria-controls="sidebar">
|
|
<i class="fa fa-bars"></i>
|
|
</button>
|
|
<button id="theme-toggle" class="icon-button" type="button" title="Change theme" aria-label="Change theme" aria-haspopup="true" aria-expanded="false" aria-controls="theme-list">
|
|
<i class="fa fa-paint-brush"></i>
|
|
</button>
|
|
<ul id="theme-list" class="theme-popup" aria-label="Themes" role="menu">
|
|
<li role="none"><button role="menuitem" class="theme" id="light">Light <span class="default">(default)</span></button></li>
|
|
<li role="none"><button role="menuitem" class="theme" id="rust">Rust</button></li>
|
|
<li role="none"><button role="menuitem" class="theme" id="coal">Coal</button></li>
|
|
<li role="none"><button role="menuitem" class="theme" id="navy">Navy</button></li>
|
|
<li role="none"><button role="menuitem" class="theme" id="ayu">Ayu</button></li>
|
|
</ul>
|
|
|
|
<button id="search-toggle" class="icon-button" type="button" title="Search. (Shortkey: s)" aria-label="Toggle Searchbar" aria-expanded="false" aria-keyshortcuts="S" aria-controls="searchbar">
|
|
<i class="fa fa-search"></i>
|
|
</button>
|
|
|
|
</div>
|
|
|
|
<h1 class="menu-title">MicroRust</h1>
|
|
|
|
<div class="right-buttons">
|
|
<a href="../print.html" title="Print this book" aria-label="Print this book">
|
|
<i id="print-button" class="fa fa-print"></i>
|
|
</a>
|
|
<a href="https://github.com/droogmic/microrust" class="icon-button" title="Go to GitHub repo" aria-label="Link to GitHub repo">
|
|
<i id="github-button" class="fa fa-github"></i>
|
|
</a>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
|
|
<div id="search-wrapper" class="hidden">
|
|
<form id="searchbar-outer" class="searchbar-outer">
|
|
<input type="search" name="search" id="searchbar" name="searchbar" placeholder="Search this book ..." aria-controls="searchresults-outer" aria-describedby="searchresults-header">
|
|
</form>
|
|
<div id="searchresults-outer" class="searchresults-outer hidden">
|
|
<div id="searchresults-header" class="searchresults-header"></div>
|
|
<ul id="searchresults">
|
|
</ul>
|
|
</div>
|
|
</div>
|
|
|
|
|
|
<!-- Apply ARIA attributes after the sidebar and the sidebar toggle button are added to the DOM -->
|
|
<script type="text/javascript">
|
|
document.getElementById('sidebar-toggle').setAttribute('aria-expanded', sidebar === 'visible');
|
|
document.getElementById('sidebar').setAttribute('aria-hidden', sidebar !== 'visible');
|
|
Array.from(document.querySelectorAll('#sidebar a')).forEach(function(link) {
|
|
link.setAttribute('tabIndex', sidebar === 'visible' ? 0 : -1);
|
|
});
|
|
</script>
|
|
|
|
<div id="content" class="content">
|
|
<main>
|
|
<a class="header" href="#flashing" id="flashing"><h1>Flashing</h1></a>
|
|
<p>Flashing is the process of moving our program into the microcontroller's (persistent) memory. Once flashed, the microcontroller will execute the flashed program every time it is powered on.</p>
|
|
<p>In this case, our <code>rustled</code> program will be the only program in the microcontroller memory. By this I mean that there's nothing else running on the microcontroller: no OS, no daemon, nothing. <code>rustled</code> has full control over the device. This is what is meant by <em>bare-metal</em> programming.</p>
|
|
<dl>
|
|
<dt>OS</dt>
|
|
<dd>operating system</dd>
|
|
<dt>Daemon</dt>
|
|
<dd>program running in the background</dd>
|
|
</dl>
|
|
<p>Connect the micro:bit to your computer and run the following commands on a new terminal.</p>
|
|
<p>We need to give OCD the name of the interfaces we are using:</p>
|
|
<pre><code class="language-console">$ # All
|
|
$ # Windows: remember that you need an extra `-s %PATH_TO_OPENOCD%\<version>\scripts`
|
|
$ openocd -f interface/cmsis-dap.cfg -f target/nrf51.cfg
|
|
</code></pre>
|
|
<p>The program will block; leave that terminal open.</p>
|
|
<p>Now it's a good time to explain what this command is actually doing.</p>
|
|
<p>I mentioned that the micro:bit actually has two microcontrollers.
|
|
One of them is used as a USB interface and programmer/debugger.
|
|
This microcontroller is connected to the target microcontroller using a Serial Wire Debug (SWD) interface
|
|
(this interface is an ARM standard so you'll run into it when dealing with other Cortex-M based microcontrollers).
|
|
This SWD interface can be used to flash and debug a microcontroller.
|
|
It uses the CMSIS-DAP protocol for host debugging of application programs.
|
|
It will appear as a USB device when you connect the micro:bit to your laptop.</p>
|
|
<p>As for OpenOCD,
|
|
it's software that provides some services like a <em>GDB server</em>
|
|
on top of USB devices that expose a debugging protocol like SWD or JTAG.</p>
|
|
<blockquote>
|
|
<p>GDB: The <strong>G</strong>NU <strong>d</strong>e<strong>b</strong>ugger will allow us to debug our software
|
|
by controlling the execution of our program.
|
|
We will learn more about this a little bit later.</p>
|
|
</blockquote>
|
|
<p>Onto the actual command: those <code>.cfg</code> files we are using instruct OpenOCD to look for</p>
|
|
<ul>
|
|
<li>a CMSIS-DAP USB interface device (<code>interface/cmsis-dap.cfg</code>)</li>
|
|
<li>a nRF51XXX microcontroller target (<code>target/nrf51.cfg</code>) to be connected to the USB interface.</li>
|
|
</ul>
|
|
<p>The OpenOCD output looks like this:</p>
|
|
<pre><code class="language-console">Open On-Chip Debugger 0.10.0
|
|
Licensed under GNU GPL v2
|
|
For bug reports, read
|
|
http://openocd.org/doc/doxygen/bugs.html
|
|
Info : auto-selecting first available session transport "swd". To override use 'transport select <transport>'.
|
|
cortex_m reset_config sysresetreq
|
|
adapter speed: 1000 kHz
|
|
Info : CMSIS-DAP: SWD Supported
|
|
Info : CMSIS-DAP: Interface Initialised (SWD)
|
|
Info : CMSIS-DAP: FW Version = 1.0
|
|
Info : SWCLK/TCK = 1 SWDIO/TMS = 1 TDI = 0 TDO = 0 nTRST = 0 nRESET = 1
|
|
Info : CMSIS-DAP: Interface ready
|
|
Info : clock speed 1000 kHz
|
|
Info : SWD DPIDR 0x0bb11477
|
|
Info : nrf51.cpu: hardware has 4 breakpoints, 2 watchpoints
|
|
</code></pre>
|
|
<p>The "4 breakpoints, 2 watchpoints" part indicates the debugging features the processor has
|
|
available.</p>
|
|
<p>I mentioned that OpenOCD provides a GDB server so let's connect to that right now:</p>
|
|
<pre><code class="language-console">$ arm-none-eabi-gdb -q target/thumbv6m-none-eabi/debug/rustled
|
|
Reading symbols from target/thumbv6m-none-eabi/debug/rustled...done.
|
|
(gdb)
|
|
</code></pre>
|
|
<p>This only opens a GDB shell. To actually connect to the OpenOCD GDB server, use the following
|
|
command within the GDB shell:</p>
|
|
<pre><code class="language-gdb">(gdb) target remote :3333
|
|
Remote debugging using :3333
|
|
0x00000000 in ?? ()
|
|
</code></pre>
|
|
<p>By default OpenOCD's GDB server listens on TCP port 3333 (localhost). This command is connecting to
|
|
that port.</p>
|
|
<p>After entering this command, you'll see new output in the OpenOCD terminal:</p>
|
|
<pre><code class="language-diff"> Info : stm32f3x.cpu: hardware has 4 breakpoints, 2 watchpoints
|
|
+Info : accepting 'gdb' connection on tcp/3333
|
|
+Info : nRF51822-QFAA(build code: H0) 256kB Flash
|
|
</code></pre>
|
|
<p>Almost there. To flash the device, we'll use the <code>load</code> command inside the GDB shell:</p>
|
|
<pre><code class="language-gdb">(gdb) load
|
|
Loading section .vector_table, size 0x188 lma 0x8000000
|
|
Loading section .text, size 0x38a lma 0x8000188
|
|
Loading section .rodata, size 0x8 lma 0x8000514
|
|
Start address 0x8000188, load size 1306
|
|
Transfer rate: 6 KB/sec, 435 bytes/write.
|
|
</code></pre>
|
|
<p>And that's it. You'll also see new output in the OpenOCD terminal.</p>
|
|
<pre><code class="language-diff"> Info : flash size = 256kbytes
|
|
+Info : Unable to match requested speed 1000 kHz, using 950 kHz
|
|
+Info : Unable to match requested speed 1000 kHz, using 950 kHz
|
|
+adapter speed: 950 kHz
|
|
+target state: halted
|
|
+target halted due to debug-request, current mode: Thread
|
|
+xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000
|
|
+Info : Unable to match requested speed 8000 kHz, using 4000 kHz
|
|
+Info : Unable to match requested speed 8000 kHz, using 4000 kHz
|
|
+adapter speed: 4000 kHz
|
|
+target state: halted
|
|
+target halted due to breakpoint, current mode: Thread
|
|
+xPSR: 0x61000000 pc: 0x2000003a msp: 0x2000a000
|
|
+Info : Unable to match requested speed 1000 kHz, using 950 kHz
|
|
+Info : Unable to match requested speed 1000 kHz, using 950 kHz
|
|
+adapter speed: 950 kHz
|
|
+target state: halted
|
|
+target halted due to debug-request, current mode: Thread
|
|
+xPSR: 0x01000000 pc: 0x08000194 msp: 0x2000a000
|
|
</code></pre>
|
|
<p>Our program is loaded, we can now run it!</p>
|
|
<pre><code class="language-gdb">(gdb) continue
|
|
Continuing.
|
|
</code></pre>
|
|
<p>Continue runs the program until the next breakpoint.
|
|
This time it blocks, nothing happens.
|
|
This is because all we have in our code is a loop!</p>
|
|
<a class="header" href="#gdbinit" id="gdbinit"><h2><code>.gdbinit</code></h2></a>
|
|
<p>Before we move on though, we are going to add one more file to our project.
|
|
This will automate the last few steps so we don't need to repeatedly do the same actions in gdb:</p>
|
|
<p><code>.gdbinit</code></p>
|
|
<pre><code class="language-gdbinit"># Connects GDB to OpenOCD server port
|
|
target remote :3333
|
|
# (optional) Unmangle function names when debugging
|
|
set print asm-demangle on
|
|
# Load your program, breaks at entry
|
|
load
|
|
# (optional) Add breakpoint at function
|
|
break rustled::main
|
|
# Continue with execution
|
|
continue
|
|
</code></pre>
|
|
<p>Now we can learn how to debug code on the micro:bit.</p>
|
|
|
|
</main>
|
|
|
|
<nav class="nav-wrapper" aria-label="Page navigation">
|
|
<!-- Mobile navigation buttons -->
|
|
|
|
<a rel="prev" href="../getting-started/01.00.BUILD.html" class="mobile-nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
|
|
<i class="fa fa-angle-left"></i>
|
|
</a>
|
|
|
|
|
|
|
|
<a rel="next" href="../getting-started/03.00.DEBUG.html" class="mobile-nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
|
|
<i class="fa fa-angle-right"></i>
|
|
</a>
|
|
|
|
|
|
<div style="clear: both"></div>
|
|
</nav>
|
|
</div>
|
|
</div>
|
|
|
|
<nav class="nav-wide-wrapper" aria-label="Page navigation">
|
|
|
|
<a href="../getting-started/01.00.BUILD.html" class="nav-chapters previous" title="Previous chapter" aria-label="Previous chapter" aria-keyshortcuts="Left">
|
|
<i class="fa fa-angle-left"></i>
|
|
</a>
|
|
|
|
|
|
|
|
<a href="../getting-started/03.00.DEBUG.html" class="nav-chapters next" title="Next chapter" aria-label="Next chapter" aria-keyshortcuts="Right">
|
|
<i class="fa fa-angle-right"></i>
|
|
</a>
|
|
|
|
</nav>
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<script src="../elasticlunr.min.js" type="text/javascript" charset="utf-8"></script>
|
|
<script src="../mark.min.js" type="text/javascript" charset="utf-8"></script>
|
|
<script src="../searcher.js" type="text/javascript" charset="utf-8"></script>
|
|
|
|
|
|
<script src="../clipboard.min.js" type="text/javascript" charset="utf-8"></script>
|
|
<script src="../highlight.js" type="text/javascript" charset="utf-8"></script>
|
|
<script src="../book.js" type="text/javascript" charset="utf-8"></script>
|
|
|
|
<!-- Custom JS scripts -->
|
|
|
|
|
|
|
|
|
|
</body>
|
|
</html>
|