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annotate doc/Target-utils @ 695:8d7dcfd9df53

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loadtools: missing #include <unistd.h> in tpinterf modules
author Mychaela Falconia <falcon@freecalypso.org>
date Wed, 11 Mar 2020 18:21:22 +0000
parents bdaa4e7c9c05
children ff3d8167fa94
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1 FreeCalypso target-utils suite
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2 ==============================
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3
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4 We have a suite of standalone programs and specialized code pieces that run on
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5 the Calypso ARM7 processor, but are not regular operational phone or modem
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6 firmware; this suite of code bits is called target-utils, maintained and
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7 distributed together with FreeCalypso host tools. The primary reason for the
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8 coupling between FC host tools and target-utils is that the target-utils suite
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9 provides the loadagent target program for fc-loadtool and fc-xram host tools,
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10 as well as compalstage code pieces needed for operating on Compal phones.
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11
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12 Most programs in the target-utils suite are meant to execute out of RAM
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13 (specifically, the Calypso chip's internal RAM or IRAM for short), loaded and
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14 run via fc-iram or fc-compalram - they are not meant to be flashed. As of this
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15 writing, the following run-from-RAM programs are available:
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16
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17 buzplayer Player for buzzer melodies, used by fc-buzplay
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18 c139explore Mot C139 hardware exploration program
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19 calversion Calypso version ID tool, primarily for the DSP ROM version
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20 dspdump Calypso DSP ROM dump tool
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21 helloapp Hello-world program
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22 loadagent Flash manipulation and XRAM loading agent
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23 pirexplore Pirelli DP-L10 hardware exploration program
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24 simtest Low-level exerciser for the SIM interface hardware
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25
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26 Aside from c139explore which is built as a binary to be loaded via fc-compalram
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27 (Compal's bootloader protocol), all of the above programs are built as S-record
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28 images to be loaded via fc-iram. Once loaded via the respective serial code
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29 download protocol, each of the listed programs runs interactively, listening
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30 for and executing commands given over the serial port. The specific set of
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31 available commands is different for each program as relevant to its function,
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32 but the command framework is common across the target-utils suite. The command
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33 interface is text-based, such that each program can be driven manually by a
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34 human operator once fc-iram or fc-compalram has dropped into the tty pass-thru
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35 mode, but this same text-based command interface can also be driven by other
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36 programs: fc-loadtool and fc-xram drive loadagent, and fc-buzplay drives
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37 buzplayer.
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38
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39 Code architecture and execution environment
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40 ===========================================
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41
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42 Our target-utils suite is built with the GNU toolchain (gcc+binutils), not TI's
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43 proprietary TMS470 compiler. Because all of target-utils are meant to run out
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44 of IRAM rather than flash or XRAM, we compile all code in ARM mode (not Thumb),
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45 and we build without interworking support (no -mthumb-interwork): the ARMv4T
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46 architecture implemented by the ARM7TDMI core in the Calypso does not support
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47 penalty-free ARM/Thumb interworking, thus ARM-only code without interworking
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48 support is the most efficient option for execution out of IRAM.
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49
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50 Selection of UART for communication
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51 ===================================
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52
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53 All target-utils programs are interactive, listening for text commands given
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54 over a serial port. But which UART? The Calypso chip has two UARTs, called
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55 MODEM and IrDA in the chip docs - which of the two should be used for host
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56 communication? The answer is a trick original to FreeCalypso: most of our
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57 target-utils programs that are meant to be loaded via fc-iram expect to be
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58 loaded specifically via the Calypso boot ROM and not in some other way, and
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59 they look at some of the IRAM variables left behind by the boot ROM code. The
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60 boot ROM listens on both UARTs for an interrupt-boot sequence, and once it
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61 receives that sequence on one of the UARTs, it remembers which UART it was and
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62 uses that same UART for the rest of the serial code download protocol. We read
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63 that same variable set by the boot ROM, which depends on the boot ROM version.
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64 To handle different Calypso boot ROM versions, we read the 16-bit word at 0x1FFE
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65 (the last 16 bits of the boot ROM image) where TI put the boot ROM version
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66 number, and we support boot ROM versions 0200 (Calypso C05 rev B silicon) and
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67 0300 (Calypso C035 silicon). Most target-utils programs won't work (will fail
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68 to select the UART for communication) if the boot ROM is some unsupported
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69 version or missing altogether, or if the boot ROM is there, but didn't do the
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70 loading.
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71
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72 The exceptions are as follows:
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73
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74 * c139explore always uses the MODEM UART as appropriate for Mot C139;
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75
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76 * flash-boot-test (a flashable program described later in this article) always
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77 uses the IrDA UART;
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78
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79 * helloapp is built in 3 versions: helloapp-bootrom.srec, helloapp-irda.srec
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80 and helloapp-modem.srec. The first version depends on the boot ROM like
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81 other programs, the other two versions are built as fixed-IrDA or fixed-MODEM.
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82
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83 Other boot ROM and fc-iram dependencies
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84 =======================================
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85
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86 There are two other ways in which target-utils programs that are meant to be
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87 loaded via fc-iram depend on the Calypso boot ROM:
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88
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89 1) The Calypso gets its clock input from the RF section of the GSM device, and
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90 the RF block can feed either 13 MHz or 26 MHz to the Calypso - some GSM RF
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91 transceiver chips require 13 MHz (TI Clara), others require 26 MHz (TI Rita
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92 and Silabs Aero II), yet others can work with either clock (Silabs Aero+),
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93 and some use a 26 MHz crystal but have the option of feeding either 13 or
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94 26 MHz to the Calypso (Aero II). The Calypso initially boots without knowing
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95 what clock frequency it is running at, but then it needs to be told via a
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96 register setting what the input clock frequency is, so that all peripherals
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97 (both GSM-specific and general-purpose) always run at 13 MHz.
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98
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99 When the Calypso boot process is interrupted and diverted to serial code
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100 download in the boot ROM, the boot ROM code autodetects whether the CLKTCXO
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101 input runs at 13 MHz or 26 MHz (it tries both register bit settings until
521
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102 the serial '<' characters sent by the host at 19200 baud are received
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103 correctly), and if the CLKTCXO input is 26 MHz, the VCLKOUT_DIV2 bit is set
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104 in the FFFF:FD02 register. Most of our target-utils programs have no hard-
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105 coded knowledge of the 13 MHz vs. 26 MHz board hardware configuration and
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106 rely on the Calypso boot ROM to set the division control bits in the
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107 FFFF:FD02 register correctly for the autodetected clock.
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108
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109 2) The boot ROM allows the serial download host (fc-iram in our case) to
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110 configure the Calypso DPLL, allowing the ARM7 core to run at its maximum
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111 frequency of 52 MHz on Calypso C035 or 39 MHz on the older Calypso C05
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112 silicon. None of our target-utils programs do their own DPLL setup, instead
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113 they run with whatever they were booted with - therefore, in order for the
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114 IRAM programs to run at their intended fastest speed, the correct -h option
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115 needs to be given to fc-iram, selecting a hardware parameter file with the
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116 right pll-config setting.
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117
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118 Delay loop timing
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119 =================
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120
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121 There are a few places in target-utils where a delay of some specific duration
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122 needs to be inserted. In most cases the requirement is for a certain minimum
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123 delay, with more delay time being harmless except for inefficiency, but there
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124 is one case (SPCA552E chip initialization in pirexplore) where the delay
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125 requirement is strict: if the delays are too short or too long, the LCD doesn't
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126 work. In target-utils all of these delays are implemented with CPU-cycle-count
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127 delay loops that are calibrated at software design time; if the code runs out
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128 of IRAM and the ARM7 core runs at 52 MHz, the delays will be exactly as
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129 designed, otherwise they will be longer. In the case of pirexplore the strict
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130 timing requirement is satisfied by loading and running the program via fc-iram
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131 -h pirelli, resulting in the correct 52 MHz clock configuration; in all other
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132 cases running at a frequency below 52 MHz or running out of flash (the
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133 flash-boot-test special case) produces longer-than-needed delays.
528
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134
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135 Common interactive commands
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136 ===========================
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137
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138 The exact set of implemented commands is different for each target-utils
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139 program, including commands specific to each program's unique function, but the
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140 following basic commands are included in most programs:
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141
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142 abbinit Initialize ABB communication
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143 abbpage2 Unlock access to ABB register page 2
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144 abbr pg reg Read ABB register <reg> on page <pg>
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145 abbw pg reg val Write <val> into register <reg> on page <pg>
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146 dump hex-start hex-len Display a human-oriented memory dump in hex and ASCII
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147 jump addr Jump to given address with BX
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148 poweroff Execute Iota ABB soft poweroff (DEVOFF)
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149 r8 addr Read an 8-bit register or memory location
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150 r16 addr Read a 16-bit register or memory location
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151 r32 addr Read a 32-bit register or memory location
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152 w8 addr data Write an 8-bit register or memory location
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153 w16 addr data Write a 16-bit register or memory location
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154 w32 addr data Write a 32-bit register or memory location
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155
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156 For further details, please refer to the source code - if you are playing with
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157 such low-level components, you need to put on the hat of a developer rather
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158 than a mere user.
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159
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160 ABB support in target-utils
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161 ===========================
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162
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163 Our target-utils suite includes code for initializing and executing SPI
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164 communication with the Iota ABB device (TWL3014 or TWL3025), Calypso's analog
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165 and power management companion chip. Only Iota ABB type is supported, not
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166 Omega/Nausica or Syren. The primary reason for having this infrastructure is
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167 to be able to perform a soft poweroff operation, i.e., to return the Calypso
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168 phone or modem to its switched-off state after flashing or various standalone
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169 debug operations, but once implemented, this same ABB SPI communication
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170 infrastructure is also used in model-specific hardware exploration utilities
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171 for functions like keypad backlight and vibrator control which are implemented
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172 via the ABB on some models, and it is used in simtest to control the part of
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173 the SIM interface that resides in the Iota ABB.
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174
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175 Aside from specialized programs like c139explore that are specific to target
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176 devices known to use the Iota ABB, most target-utils programs do not execute
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177 any ABB or SPI communication code (not even initialization) until they receive
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178 one of the ABB commands: abbinit, abbr, abbw or poweroff. This way if someone
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179 comes across a Calypso device that has a different ABB type or needs to debug a
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180 board with broken ABB communication, one can explore other functions without
532
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181 touching ABB commands. (simtest is another exception: even though it is not
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182 specific to one particular target device like c139explore, its main function of
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183 exercising the SIM interface depends on the Iota ABB, thus it is restricted to
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184 Calypso+Iota targets.)
528
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185
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186 The abb_init() function invoked by the abbinit command may be invoked multiple
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187 times: it maintains an internal flag remembering if the initialization steps
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188 have already been done or not, and repeated invokations do nothing. User-
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189 friendly abbr, abbw and poweroff commands invoke abb_init() internally, but the
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190 special abbpage2 command does not - if you are interested in exploring the
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191 undocumented register page 2, you need to execute abbinit manually first, then
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192 abbpage2, then explore with abbr and abbw.
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193
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194 poweroff operation details: VRPCAUX and VRPCDEV
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195 ===============================================
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196
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197 The abb_power_off() function invoked by the poweroff command performs the
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198 following sequence of steps:
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199
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200 * Calls abb_init() to establish ABB communication in the case that it hasn't
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201 already been done;
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202
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203 * Executes the magic writes to TAPCTRL and TAPREG registers that unlock access
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204 to register page 2 - this step is factored out into the abb_unlock_page2()
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diff changeset
205 function which is also accessible as the abbpage2 command;
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diff changeset
206
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207 * Writes 0x007 into the undocumented VRPCAUX register to clear the erratic
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diff changeset
208 state that will be there if we got booted via nTESTRESET rather than PWON;
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209
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210 * Flushes all UART output, i.e., waits for it to finish going out on the wire;
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211
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212 * Writes 0x001 into the VRPCDEV register, which is the actual DEVOFF command.
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diff changeset
213
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diff changeset
214 The step of writing into VRPCAUX and its prerequisite page 2 unlock steps are a
81a3fc069301 doc/Target-utils: ABB support documented
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diff changeset
215 recent addition as of fc-host-tools-r11; these steps have been added to fix the
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diff changeset
216 erratic behaviour that was occurring on TI/FC development boards (D-Sample and
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diff changeset
217 FCDEV3B) when fc-loadtool (or fc-iram with some specialized target-utils
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diff changeset
218 program) was entered via the RESET button rather than PWON, followed by the
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diff changeset
219 soft poweroff operation and another switch-on via PWON. For more details,
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diff changeset
220 please refer to the Calypso-test-reset article in the freecalypso-docs
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diff changeset
221 repository.
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diff changeset
222
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diff changeset
223 If you are interested in doing some experiments of your own with this
81a3fc069301 doc/Target-utils: ABB support documented
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diff changeset
224 undocumented quirk of the Calypso+Iota chipset and the odd behaviour it can
81a3fc069301 doc/Target-utils: ABB support documented
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diff changeset
225 cause, you can do the following:
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diff changeset
226
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227 * To see the content of the undocumented VRPCAUX register resulting from
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diff changeset
228 different boot modes, execute these commands:
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diff changeset
229
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diff changeset
230 abbinit
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diff changeset
231 abbpage2
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diff changeset
232 abbr 2 30
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diff changeset
233
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diff changeset
234 Our abbr and abbw commands support page 2, but if you don't issue the magic
81a3fc069301 doc/Target-utils: ABB support documented
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diff changeset
235 register writes encapsulated in the abbpage2 command, the Iota chip itself
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diff changeset
236 disallows access to page 2.
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diff changeset
237
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diff changeset
238 * To perform a DEVOFF operation without cleaning up VRPCAUX first (to see the
81a3fc069301 doc/Target-utils: ABB support documented
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diff changeset
239 resulting erratic behaviour with your own eyes), do it manually as follows:
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diff changeset
240
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diff changeset
241 abbw 0 30 1
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diff changeset
242
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diff changeset
243 flash-boot-test
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diff changeset
244 ===============
81a3fc069301 doc/Target-utils: ABB support documented
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diff changeset
245
529
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diff changeset
246 In addition to the repertoire of run-from-IRAM (loadable via fc-iram) programs
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
247 that form the main course of target-utils, we have a flashable program called
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
248 flash-boot-test - it will be called FBT for short in this article. FBT is a
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
249 test case for the "main application" in flash, and it can be flashed in the
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
250 place of a regular firmware image for certain very low-level tests. Because it
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
251 runs via the flash boot path and does not get loaded serially, FBT is quite
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
252 hardware-specific by necessity: it assumes a platform with 26 MHz Calypso clock
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
253 input and always uses the IrDA UART for communication (hard-coded). FBT was
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
254 written with FCDEV3B and Openmoko GTA02 boards in mind; it won't work on a
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
255 D-Sample board because of the 13 MHz vs. 26 MHz clock difference.
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
256
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
257 FBT is built in two versions: fbt-mode0.bin and fbt-mode1.bin, differing in the
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
258 magic words at location 0x2000 which tell the Calypso boot ROM how the main
30bec872824a doc/Target-utils: flash-boot-test documented
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diff changeset
259 application in flash should be booted - please refer to the Flash-boot-modes
30bec872824a doc/Target-utils: flash-boot-test documented
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parents: 528
diff changeset
260 article in the freecalypso-docs repository. Only the magic words differ between
30bec872824a doc/Target-utils: flash-boot-test documented
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261 fbt-mode0.bin and fbt-mode1.bin versions; the main body of the code is exactly
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262 the same. Once it receives control from the boot ROM in whichever mode it was
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263 booted in, FBT's own code in main.c does the absolute minimum initialization to
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264 allow serial communication (sets the VCLKOUT_DIV2 bit in the FFFF:FD02 register
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265 and initializes the IrDA UART) and falls into the same interactive mode of
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266 operation (listening for text-based commands) as our various run-from-IRAM
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267 programs, allowing the operator to explore system state as closely out of boot
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268 as possible.
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269
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270 When a main application in flash is booted in mode 1 (with the boot ROM moved
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271 out of the way), the Calypso watchdog timer is running, and our FBT program
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272 does not a perform a watchdog disable step on its own. Therefore, if you flash
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273 fbt-mode1.bin and boot it, you will see it keep endlessly rebooting about every
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274 9 s. To stop this endless reboot cycle, issue a wd (watchdog disable) command:
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275 it is short enough to be easily typed in the available 9 s window. The same
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276 issue does not occur in flash boot mode 0, as the Calypso boot ROM does disable
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277 the watchdog and leaves it disabled when booting mode 0 flash images or serially
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278 downloaded code.
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279
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280 FBT also has a few other commands that have been added to facilitate further
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281 experimentation with the watchdog timer feature of the Calypso chip - please
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282 refer to the source code.