Bootloader Firmware Update Protocol and Procedure
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1 MODULE FOR STEPPER MOTORS Bootloader Firmware Update Protocol and Procedure Valid for TMCM-1110 steprocker This application note will give a brief overview of the firmware update procedure and the communication protocol supported by the bootloader. Table of Contents 1 Introduction Bootloader-Commands TMCL_Boot TMCL_GetVersion TMCL_BootEraseAll TMCL_BootWriteBuffer TMCL_BootWritePage TMCL_BootGetChecksum TMCL_BootReadMemory TMCL_BootStartAppl TMCL_BootGetInfo Firmware Update Procedure Disclaimer Revision History Document Revision Introduction With most TRINAMIC modules the software running on the microprocessor of a module consists of two parts, a bootloader and the firmware itself. Whereas the bootloader is installed during production and testing at TRINAMIC and usually remains untouched throughout the whole lifetime of the module, the firmware can be updated by the user. During firmware updates the bootloader supports communication with the host and transfer of the new firmware to the internal flash memory of the microcontroller on the module. After power-on or module reset the bootloader code will be executed first. The bootloader will verify the checksum of the firmware in flash memory in order to decide whether a valid firmware is installed. In case the checksum is invalid the bootloader will remain active and listen to the communication on the serial port for further instructions. In case the checksum is valid the bootloader will start the application firmware. The bootloader can also be activated from the firmware (command TMCL_Boot) in order to initiate a firmware update. Bootloader commands used for firmware updates are described in the following chapters. The basic communication protocol supported by the bootloader is the same as used for standard TMCL communication with the application firmware. TRINAMIC Motion Control GmbH & Co. KG Hamburg, Germany
2 Application note 022 (Ref / 2012-MAR-19) 2 2 Bootloader-Commands 2.1 TMCL_Boot Opcode 242 Type 0x81 (Magic Code) Motor/Bank 0x92 (Magic Code) Value 0xA3B4C5D6 This command will switch from firmware execution to bootloader execution. This is necessary in order to perform a firmware update as the update procedure is done by the bootloader. In case the bootloader code is already being executed this command will have no effect. The application firmware must support this command, as otherwise it will not be possible to perform a firmware update without any user intervention on the steprocker board. If a custom firmware for the steprocker does not support this command it will be necessary to use the jumpers to switch to the bootloader. In contrast to standard TMCL commands there will be no reply. 2.2 TMCL_GetVersion Opcode 136 Type 0 = as string 1 = binary This command returns the bootloader software version. In case a value in binary format is requested the reply will contain the following data (32bit): - first byte: module number high byte - second byte: module number low byte - third byte: version number high byte - fourth byte: version number low byte In case a string is requested it will return 1110B TMCL_BootEraseAll Opcode 200 This command erases the currently installed firmware. This command has to be issued just once before a new firmware is installed. Please note that erasing the flash memory may take some time.
3 Application note 022 (Ref / 2012-MAR-19) TMCL_BootWriteBuffer Opcode 201 Type Index into the programming buffer (0..255). Value 4 bytes (one 32-Bit-word) This command is used to fill the temporary page programming buffer. It writes a 32 bit word to the buffer at the position specified by the type parameter. Using this command up to 256 words can be written to the buffer (i.e. up to 1024 bytes). After the temporary buffer has been filled a flash memory page can be programmed using the command TMCL_BootWritePage (refer to chapter 2.5). Depending on the MCU used on the module the page size might be smaller, and thus not all 256 word can be used (e.g. on the current version of the steprocker the page size is 512 bytes, and so the temporary buffer can only hold up to 128 words). 2.5 TMCL_BootWritePage Opcode 202 Value Physical memory address (must be within the page that is to be programmed) The TMCL_BootWritePage command copies the contents of the temporary buffer to the flash memory page specified by the physical flash memory address in the value field. Please note that programming a memory page may take some time. 2.6 TMCL_BootGetChecksum Opcode 203 Value Last address Using this instruction the checksum of specified flash memory area will be calculated. Calculation will always start at the lowest possible application firmware address. It will end at the specified address. The specified address has to be an absolute memory address. The calculated checksum is a 32bit value. All memory values (bytes) inside the specified address range will be added up and the lower 32bit of the result will be returned (reply data, value field).
4 Application note 022 (Ref / 2012-MAR-19) TMCL_BootReadMemory Opcode 204 Value Address (has to be a multiple of 4) Using this instruction the contents of the flash memory can be read back. Always a chunk of 4 bytes will be read. These contents will be returned (reply data, value field). With this command the specified address has to be the absolute memory address starting at 0x , also. During a firmware update it is normally not needed to use this command. It is just there for debugging purposes (e.g. when developing an own update tool). 2.8 TMCL_BootStartAppl Opcode 205 This command will start the application firmware in the flash memory. 2.9 TMCL_BootGetInfo Opcode 206 Type 0 = get size of flash memory page 1 = get start address of application firmware 2 = get size of flash memory (incl. Bootloader area) This command will return a number of different module specific parameters (Parameter depending on Type field). For the steprocker equipped with a Samsung S3FN41 microcontroller the following values will be returned: - Size of each flash page: 512 bytes - Start address for application firmware: 0x Size of flash memory: bytes One should always query these values using this command and not rely on fixed values, as future products might be equipped with different versions of the MCU that might have a different memory size.
5 Application note 022 (Ref / 2012-MAR-19) 5 3 Firmware Update Procedure The following steps describe the proposed firmware update procedure. Note: in order to eliminate the effort for reading and decoding *.hex-files on the PC containing the new firmware one might also use *.bin files that can be generated by entering make bin instead of make hex. 1. Load new firmware into PC memory and calculate checksum (add-up all byte values and use the lower 32bit of the result). It should be verified that the new firmware file actually has been generated for the connected module. This can be done by searching for the version string inside the firmware file (format: <module number>#.## - with #.## being the new firmware version number) 2. Send command TMCL_Boot to module. Please note: there will be no response from the module for this command. 3. Get size of flash memory and page size using TMCL_BootGetInfo. 4. Erase flash memory using command TMCL_BootEraseAll. Erasing flash memory might take several seconds. The reply for this command will be sent at the end of this process! 5. Transfer new firmware to module using TMCL_BootWriteBuffer and TMCL_BootWritePage commands. Flash memory has to be filled page by page. First, fill the temporary buffer with as many 32 bit words as a page can hold (page size read using TMCL_BootEraseAll divided by four). Then, issue a TMCL_BootWritePage command with the start address of the page to be programmed. Repeat this until the entire firmware file has been transferred. 6. Get checksum from module using command TMCL_BootGetChecksum. The end address being sent with this command has to be 0x length of new firmware. 7. Verify checksum from the module against checksum calculated when firmware has been loaded from file (in step 1). 8. In case both checksums are identically the update process has been successful. In this case the length of the new firmware (32bit value) has to be written to flash memory address 0x0003fff8 (flash memory size 8) and the checksum (32bit value) to flash memory address 0x0003fffc (flash memory size -4). Do this by first writing the length to index 126 and the checksum to index 127 of the temporary buffer using TMCL_BootWriteBuffer commands. Afterwards, issue a TMCL_BootWritePage command with address 0x0003fe The new firmware can be started using command TMCL_BootStartAppl. 10. In case checksums are not identical steps 8 and 9 must not be executed. The firmware update procedure should be repeated then. In case the firmware update procedure was interrupted (power loss etc.) the procedure can be repeated. The bootloader will detect that there is no valid firmware in flash memory (checksum not correct) and will not start the incomplete firmware after power-up.
6 Application note 022 (Ref / 2012-MAR-19) 6 4 Disclaimer TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Motion Control GmbH & Co. KG. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. Information given in this update protocol is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use. Specifications are subject to change without notice. All trademarks used are property of their respective owners. 5 Revision History 5.1 Document Revision Version Date Author OK Olav Kahlbaum SD Sonja Dwersteg Description FEB-13 OK Initial version MAR-19 SD New design Table 1: Document revisions
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