16878 0100 Titl BootS Loader.fm5
Contents
1. LEREEREEEREEREEREEREEEDELELIULLLIZJ3313232222292 8 Z UE UR ER BES Jetez Bootstrap Loader Enter If on the target The target now waits until the MOTOROLA S records have been transfered over the term Select Transfer Send Text file dialogue box and select the file containing the MOTOROAL S records IBL IDC J2 W 1IEIT BRENT CE CEJHI 73 3 Mauss Puxqpxs dad Ds 1 20 0 Ma COUR Diem Xil kE IREE Eien d wE 1 APE FLAEH Tore FLER re FUN eres Cn rx ia 3 CCC TL LL LE LL LL EUER RE UR EE UE RUE RH EE EU BREBIBE i en progressicg FLAME PHaexry PINE prags tha PETET bertan mar cpcls B B mrear Thir may damas che berkahe and vill cersagsamriw Laure ha B Board Uae Ju tO org MATH Ceu dd Tht ADDED MELLER RAP Ba LI B ure to Samoel d Tunnib operation ES 2 14 44 222 22222222 2 22 22 S EE E ERE 2 98 PEP Modular Computers Page 7 Bootstrap Loader CECE Sar rpcla B preer Thir mky degen che Deorloadar and vill cersagsamrly Laure Tha EST OL Fik OL or MANN Oe TE AREURT FEET EE BEF Ba LI ope2. Modular Computers a Bootstrap Loader A software package for on site programming of FLASH devices Manual Order Nr 16878 User s Manual Index 0110 Modular Computers Preface Revision History Bootstrap Loader Index Comment Date Initiator 0100 First Issue September 1997 acb 0110 Load remove of OS 9 modules Jan 1998 mf This document contains proprietary information of PEP Modular Computers It may not be copied or transmitted by any means passed to others or stored in any retrieval system or media without the prior consent of PEP Modular Computers or its authorized agents The information in this document is to the best of our knowledge entirely correct However PEP Modular Computers cannot accept liability for any inaccuracies or the consequences thereof nor for any liability arising from the use or application of any circuit product or example shown in this document PEP Modular Computers reserve the right to change modify or improve this document or the product described herein as seen fit by PEP Modular Computers without further notice 2 08 PEP Modular Computers Page 0 1 Bootstrap Loader Preface r Page 0 2 PEP Modular Computers 2 08 Table Of Contents Bootstrap Loader Table of Contents Chapter 1 000000007 0 FRIFOHWCIIDH LE Chapter 999999990000009 2 PN ME i rer 2 2 2 Enter
3. lt file gt bootloader filename o lt file gt output filename s lt size gt size of FLASH in Kbytes 256 512 1024 2048 4096 V verbose flag help message Note To get images for VM62 VM642 VM662 use board type VM42 Note The possible size of FLASH depends on the chosen board type Page 16 PEP Modular Computers 2 98 Bootstrap Loader Appendix C Bootstrap Loader Start 1 sec BREAK Signal On CPUs without an ABORT button the Bootstrap Loader will enter the command mode on detecting a BREAK character of at least one second length at the terminal connector Since not all terminals are capable of generating a BREAK signal lasting for one second the modification described below helps achieve it One possibility to generate the BREAK character is to use a special adapter This adapter contains a switch which can dis connect the sending line from the host to the target and connect the disconnected line from the target to the DTR line of the host CTS on target The DTR line of the host has the level of a BREAK character This switch may be integrated at any position in the connection line as long as the DTR CTS line is connected to the host After setting the target the adapter should be configured so that 1 3 is shorted On CPUs containing a user LED the LED indicates that the Bootstrap Loader is looking for the BREAK After two flashes the adapter can be configured to 1 2 and immediately the startmenu should appear
4. g the VxWorks file bootrom hex The serial connection should run at 19200 Baud The following steps must be performed Host Under MSDOS configure the COM 2 port to the correct parameters mode com2 baud 19200 parity n data 8 stop 1 Target pf ser0 19200 If o 4000000 Host type bootrom hex gt com2 2 7 Monitoring programming progress In both examples the programming can be monitored over the term port The characters displayed have the following meaning er Read S record valid and in range et Protected sector touched ee Erase sector c Copy to buffer program later ep Program record None of the above characters indicate an error The first sector which includes Reset SP PC and the last sector which includes the Bootstrap Loader itself are protected These sectors are not immediately programmed like the other sectors The contents of these protected sectors are buffered in RAM and programmed at the end of the operation This is done to limit the time the Bootstrap Loader itself is not in FLASH or not startable because if the Bootstrap Loader crashes during this critical period of time it will not start again afterwards Page 4 PEP Modular Computers 2 98 Bootstrap Loader WARNING When programming FLASH memory NEVER press the RESET button or cycle power This may damage the Bootstrap Loader and will consequently leave the board unusable due to damaged FLASH contents The ABORT button may be use
5. the process cannot be aborted 2 9 BootWaitTime The command bw can be used to display change the current BootWaitTime Available delays are 1 2 5 10 20 50 sec onds CPUs without an user LED or without an ABORT button have a BootWaitTime of at least 5 seconds The Bootstrap Loader refuses setting a BootWaitTime of 1 2 seconds Note The BootWaitTime is stored in the boot section of the serial EEPROM or RTC This section is validated with a CRC code to avoid the setting of random parameters If the CRC of the Boot section is not valid changing the BootWaitTime has no effect because the bw command does not validate an invalid CRC to avoid undesired side effects In this case the default of 5 seconds is always used On CPU equipped with a RTC which holds the BootWaitTime there is no CRC value included To validate an invalid CRC the appropriate utility from an operating system must be used e g ee config from OS 9 2 98 PEP Modular Computers Page 5 Bootstrap Loader 2 10 ISaGRAF Start Flag The command si can be used to display change the setting of the ISaGRAF Start Flag Valid values are 0 and 1 See pep vdme wri on ISaGRAF Workbench for more information about the usage of this flag Note The ISaGRAF Start Flag is stored in the boot section of the serial EEPROM or RTC This section is validated with a CRC code to avoid the setting of random parameters If the CRC of the Boot section is not valid changing the ISaGRAF Sta
6. 9 List Modules METTE 13 4 10 Remove Modes antennes 14 Appendices Appendix A ISaGRAF applications on CM 302 s 15 A I List Modules 0 00000 15 A 2 Remove Modules amount 15 A 3 Load and Update Modules ccsssscssicascernsatrstecisarvenataslaveiacanastncians 15 Appendix B Utility 1 16 Appendix C Bootstrap Loader Start 1 sec BREAK Signal 16 PEP Modular Computers 2 08 Bootstrap Loader BOOTSTRAP LOADER FOR VM 30 VM 162 VM 172 VM 6 62 VM 6 42 VSBC 32 IUC 22 V IUC VSBC 4 SMART 1 0 AND SMART II CM302 1 Introduction The Bootstrap Loader is a stand alone software located in FLASH memory which allows the user to safely update the con tents of the FLASH and delay the boot process for a specified time The Bootstrap Loader has the capability of programming FLASH memory from MOTOROLA S RECORDS or from an absolute memory address If the programmed image does not work the Bootstrap Loader can be entered again The mem ory contents can be examined and another programming cycle initiated The Bootstrap Loader is delivered already installed on PEP s CPU boards equipped with FLASH devices Please read this user manual before reprogramming any FLASH memory WARNING When programming FLASH memory NEVER press the RESET button or switch off the main power This may damage the Bootstrap Loader and will consequently leave the board unusable due to corrupt FLASH contents Howeve
7. E memory board with battery backup FLASH or EPROM population 2 4 Programming with Motorola S Records Programming is done with the Jf command The Zf command accepts S1 S2 and S3 records Operation is terminated by the appropriate S9 S8 or S7 record Other types of records are ignored The checksum of every record is checked bad records are refused by the Bootstrap Loader The address range of every record is also checked records that try to overwrite the Bootstrap Loader are refused Additionally every record must match the programmable area exactly To give the user an overview of the available ranges the startup banner includes address information If SI or S2 record input is preferred please note that these records only include 16 and 24 bit wide addresses Therefore in order to reach the FLASH area an address offset must be specified using the o option of the Zf command Addition ally it must ensured that the code is not larger than the covered address range Note The If command cannot be used to program Motorola S records to RAM areas For sending programming data the lower term or upper serO RJ12 front panel connectors can be used The serO port should be preferred because in this configuration it is possible to monitor the progress of the operation via the term port If not otherwise specified sectors which are not touched by the programming operation are not erased If you want to erase all sectors while progr
8. If the LED still flashes reconfigure to 1 3 and wait for another two flashes On CPUs without an user LED wait for approximately 2 seconds and than configure to 1 2 If the starmenu does not appears immediately reconfigure to 1 3 wait for approximately another 2 seconds A Adapter at 15 pin connector on OS 9 side 15 pin male 15 pin female 3RxD 3 4 CTS IDTR LL 4CTS DTR 1 1 2 E 11 5 415 M 515 Normal Operation 1 2 Sending BREAK 1 3 2 98 PEP Modular Computers Page 17 Bootstrap Loader m B Adapter at 25 pin connector on PC side 25 pin male 25 pin female 27D 2mo 1 20 CTSIDTR 1 l 3 19 319 2 25 M 91 25 Normal Operation 1 2 Sending BREAK 1 3 C Adapter at 9 pin connector on PC side 9 pin male 9 pin female 2 TxD 3 3 TxD 4CTSIDTR 1 4CTS DTR 1 1 2 2 5 57 Normal Operation 1 2 Sending BREAK 1 3 Note Always use a serial cable for CTS DTR handshake from the adapter to the host X Note This description stands for x seperate lines Page 18 PEP Modular Computers 2 98
9. amming the c option can be specified along with the f command This is useful for software which searches memory during startup and should not find any old modules e g OS 9 Make sure that the XON XOFF protocol is used on the host side This is a fixed setting and cannot be changed Addition ally make sure that your host does not stop transmission after a number of lines e g OS 9 use the nopause attribute Serial parameters can be modified with the pf command Note On CPUs without a ser0 serial connection the Bootstrap Loader will refuse loading the data from ser0 2 5 Example using OS 9 development system The host is assumed to be an OS 9 development system A serial cable is used to connect the ser0 port of the board to pro gram to 10 of the development system Additionally we assume that we want to program a PEPbug image which is avail able as a file pbVM42 in a binary image format The serial connection should run at 38400 Baud The following steps must be performed 2 98 PEP Modular Computers Page 3 Bootstrap Loader Host xmode t0 baud 38400 nopause iniz tO Target pf ser0 38400 If u Host binex s3 a 4000000 pbVM42 lt 0 2 6 Example using DOS The host is assumed to be a PC with Windows Windows95 or WindowsNT A serial cable is used to connect the ser0 port of the board to program to COM2 of the PC Additionally we assume that we want to program a Motorola S record built for address 0 e
10. d to cancel a running operation q suppresses all messages and warnings except error messages Programming over the term port is also supported but in this case the loader programs in the background by default and the propagation of the process cannot be monitored It is recommended that by default the programming over the ser0 port should be used If the process must be aborted press the ABORT button and try again On CPUs without an ABORT button the process cannot be aborted 2 8 Programming from an Absolute Address The second possibility to program FLASH memory is to program it from an absolute address The image to program must be located in a visible address range for example on the VMEbus A memory card with battery backup FLASH or EPROM can be used to hold the image to program If we assume that the image is located at 0x87000000 and is 0x123456 bytes large we must type the following at the command prompt of the Bootstrap Loader If m 87000000 12123456 The characters which are displayed now have the same meaning as if we are programming from S records but the time needed for each step to complete may be longer because the loader tries to program with the largest possible block size that it can manage Again c can be used to clear untouched sectors Background operation is not supported and it is also not possible to specify an offset The programming cannot be aborted with ABORT Note On CPUs without an ABORT button
11. dule is declined due to an invalid CRC value Note If only one module is in the FLASH this module cannot be updated Note Loading or updating modules from an absolute memory address is not supported 3 5 Example using OS 9 development system The host is assumed to be an OS 9 development system serial cable is used to connect the ser0 port of the board to program to 10 of the development system The serial connection should run at 38400 baud The following steps must be performed to update the sysgo module Host xmode t0 baud 38400 nopause iniz t0 Target pf ser0 38400 Idmod u Host binex s 3 sysgo gt t0 3 6 Example using Hyperterminal from Windows 95 or Windows NT See Example using Hyperterminal from Windows 95 or Windows NT on page 6 point 2 11 Page 10 PEP Modular Computers 2 98 Bootstrap Loader 4 Command Reference 4 1 Boot Wait Syntax bw lt time gt Description Without parameters bw displays the current setting For time 1 2 5 10 20 and 50 may be specified as time in seconds Other values are not supported Note CPUs without an user LED or without an ABORT button have a BootWaitTime of at least 5 seconds The Bootstrap Loader refuses setting a BootWaitTime of 1 2 seconds 4 2 Load Flash Syntax If o lt offset gt u q c m lt adr gt I 2 len Description Without parameters the FLASH is loaded using S records over the term port lt o
12. ffset gt is a signed 32 bit offset which is added to every record and can be used to move the S records to the FLASH position Note This option must be used if S1 or S2 records are used u must be used to download over 5670 q suppress all messages except error messages c clears all untouched sectors and leaves no old code fragments For a Load Flash from an absolute address the m l options must be used Note On CPUs without a ser0 serial connection the Bootstrap Loader will refuse a command including the u option 4 5 Memory Display Syntax md adr Description Without parameters specified the FLASH contents starting at the beginning of the programmable FLASH area are dis played This function is not limited to FLASH and other address ranges can be specified Note The ResetPC in FLASH is not identical to the ResetPC from the programming source S records memory block 2 98 PEP Modular Computers Page 11 Bootstrap Loader 4 4 Port Format Syntax pf lt port gt lt baud gt lt bitschar gt lt parity gt lt stops gt 1 Description Without parameters specified the current serial port settings are displayed lt port gt specifies the serial port Valid values are term or serO lt baud gt specifies the baud rate The values 50 75 110 134 5 150 300 600 1200 1800 2000 2400 3600 4800 7200 9600 19200 and 38400 Baud can be specified lt bitschar gt specif
13. ies the bits character Valid values are 7 or 8 lt parity gt specifies if parity should be checked generated The value n specifies none o for odd and e for even parity lt stops gt specifies the stopbits which will be generated Valid values are or 2 Note No spaces are allowed between the options Options must be separated with the 7 Not all options must be specified but the characters must be present to distinguish the different options from each other The sequence can be aborted after every option Note On CPUs without a serO serial connection the Bootstrap Loader will refuse setting ser0 port parameters and will not display ser0 port parameters Examples Setting term to 300 Baud 7 Bits char odd parity and 2 stopbits pf term 300 7 o n Set the bits character field to 7 for ser0 only pf serO 7 Set the stopbits field to 2 for 5610 pf sero 2 4 5 ISaGRAF Start Flag Syntax si lt flag gt Description Without parameters specified the current setting of the ISaGRAF start flag is displayed flag specifies the new setting Valid values are 0 and 1 where 1 means start of ISaGRAF Note The value of this flag has no influence on the behavior of the Bootstrap Loader E Page 12 PEP Modular Computers 2 08 Bootstrap Loader 4 6 Reset System Syntax rs Description This commandexits the Bootstrap Loader and resets the system Itterminates the Bootstrap Loadercommand mode and rese
14. ing the Command Modes srt etra pti 2 qb STU en 3 2 4 Programming with Motorola S Records eee 3 2 5 Example using OS 9 development system 3 2 0 Example 1 1 141 ne ue 4 2 7 Monitoring programming progress sa tuna 4 2 8 Programming from an Absolute Address 5 2 9 nm ananas 5 2 10 ISaGRAF Start Flap e i de pax n asset cta apud 6 2 11 Example using Hyperterminal from Windows 959 or Windows NT9 nr 6 Chapter 05 9 Module 3 0000000000 9 DE CeROArt nes 9 3 2 Display OS 9 ILI m 9 AJ Removing 05 0 Modules siccccivessivesidsstnncracansncsdaastediestaandeiactaachinasaoes 9 2 08 PEP Modular Computers Page TOC 1 Bootstrap Loader 0 Page TOC 2 Table of Contents 3 4 Loading and Updating OS 9 Modules ss 9 3 5 Example using OS 9 development system 10 3 6 Example using Hyperterminal from Windows 959 or Windows NT La cei nt mn a dd 10 Chapter Command Reference iin ve tain vest asa vaa beu e a haeo 11 4 1 Boot WUE E 11 42 Load 1 1 1 1 1 141414141414141 141415 1 1 0000000000 11 4 3 Memory Display essentielle 11 4 4 Pott Format ascendante 12 4 3 ISaGRAF Statt Flag M 12 4 0 Reset Systems 000000 S 13 LT T n 13 4 8 Load and Update Modules 45 eniti vase tad 13 4
15. line is indicated by gap After the last valid module is displayed the command produces a special line giving information about the position and the size of the free FLASH area This line is indicated by gap 3 5 Removing OS 9 Modules Every OS 9 module displayed with smod can be removed with rmmod Removing a module will unrecoverable remove the module from the FLASH The resulting gap in the FLASH is filled by shifting all modules behind the removed module Note At least one module must stay in the FLASH This module cannot be removed Note Removed modules cannot be recovered 3 4 Loading and Updating OS 9 Modules With the command dmod existing OS 9 modules can be updated and new modules can be loaded over the serial connec tions ferm or ser0 using S records Loading a module which is already in the FLASH will remove the existing module from the FLASH Removing a module will unrecoverable remove the module from the FLASH Loading an existing module will always update the existing mod ule in the FLASH There is no check of the module edition number The new module is always programmed behind the last module in the FLASH 2 08 PEP Modular Computers Page 9 Bootstrap Loader Note The maximum size of the binary module which can be loaded or updated is 256 Kbytes If a module greater than 256 kBytes is sent to the Bootstrap Loader each S record which exceeds this size will be refused As a result the loaded mo
16. r the ABORT button may be used to cancel a running operation safely 2 08 PEP Modular Computers Page 1 Bootstrap Loader 2 System Operation 2 1 Startup After system reset the Bootstrap Loader is started It searches the FLASH memory area for a valid start key If this start key is found the Bootstrap Loader checks the BootWaitTime from serial EEPROM or RTC If the entry is valid the con tinuation of the boot process is delayed by this time while flashing the green front panel LED to indicate that the system is alive but waiting for continuation If the entry is not valid a default of 5 seconds is used After the BootWaitTime has passed the program in FLASH is started The Bootstrap Loader has two modes of operation non interactive start mode as described above and the interactive com mand mode For normal board operation only the non interactive start mode is used to start a program in FLASH This is done auto matically without any user interaction The interactive command mode is used to re program the FLASH memory contents or change the BootWaitTime The serial term port operates at 9600 Baud 8 bits character 1 stop bit and no parity 2 2 Entering the Command Mode There are two possible cases If no valid start key was found the Bootstrap Loader s command mode is entered automatically If the user wants to enter the Bootstrap Loader manually e g for re programming the FLASH contents he must use the ABORT bu
17. racion i BOB COTES SUSS CSST CT CCC CO CE CCC CC CCC CCE CEE TC LCC CCS EELE dame Mibu LE After selecting Open the dialogue box disappears and the MOTOROLA S records are transfered As soon as the complete file is sent the prompt of the Bootstrap Loader appears again Note No status information is displayed Page 8 PEP Modular Computers 2 08 Bootstrap Loader 3 OS 9 Module Support 3 1 General The commands lsmod rmmod and Idmod can be used to display delete load and update OS 9 modules on base of a single module The progress of searching loading removing and programming modules can be monitored over the term port None of the displayed characters indicate an error The characters displayed have the following meaning es Valid OS 9 module found er Read S record valid and in range ee Rease sector ep Programm record Note Every OS 9 module contains a header with a parity value and a CRC value for the whole module Both values are checked and only modules having a valid header parity and a valid CRC value are accepted as OS 9 modules 3 2 Display OS 9 Modules The command lsmod displays a list of all valid OS 9 modules in the programmable FLASH area It is always an extended list displayed which is similar to the output of the OS 9 utility mdir e If there is any gap between two modules the command produces a separate line giving information about the position and the size of the gap This
18. rt Flag has no effect because the bw command does not validate an invalid CRC to avoid undesired side effects In this case the default of 5 seconds is always used On CPU equipped with a RTC which holds the ISaGRAF Start Flag there is no CRC value included Note The setting of this flag has no influence on the behaviour of the Bootstrap Loader 2 11 Example using Hyperterminal from Windows 95 or Windows NT The host is assumed to be a PC with Windows 95 or Windows NT A serial cable is used to connect the term port of the board to program to COM2 of the PC Additionally we assume that we want to program a MOTOROLA S record built for the FLASH address of the board The serial connection runs at the default configuration of 9600 baud with no parity and one stopbit The properties should look like the following Ere mia code etha he prac Bebe 0 3 0406 Config re T 2 i G Page 6 PEP Modular Computers 2 98 After entering the Command Mode the following screen should appear 8 Locales H MEL ig wcll en v Ge ee ee EST eS 5m fel FEF Modules FEEREREREERERE ioe eee BAERIBE L F en progrwidreg FLAMI hary BE prags cha PETET barean mar rpcla B year THLE Ry r Clrk We Abd Wlll COQZISSuAEEZNE EEFE TE LI B board uwurable due ro del FLASH comarca The APORT Parte naf Ba f B ure es cancel amp RARES prier
19. ted as ISaGRAF application on the CM 302 Note Do not include any ISaGRAF applications in the image programmed via lf Removing or updating these modules with rmmod or ldmod is not possible A 1 List Modules Due to the fixed location of the ISaGRAF applications in the FLASH there is a gap between the last OS 9 module and the first application The display shows two lines of free FLASH indicated with free The first shows the free FLASH for normal 05 9 modules and the second for ISaGRAF applications A 2 Remove Modules If the name of the module is an ISaGRAF application the module is only searched in the special area of the FLASH A 3 Load and Update Modules Loading a new module or updating an existing ISaGRAF application will always go into the special FLASH area for ISaGRAF applications 2 08 PEP Modular Computers Page 15 Bootstrap Loader Appendix B Utility genflash This utility is included in the PEP Utilities genflash takes the image of the Bootstrap Loader l and an user images i and generates a FLASH image o fora specific board b The output file has the exact size s and contents of the installed FLASHs This image can directly pro grammed into the FLASHs Syntax genflash b lt board gt i lt file gt o lt file gt s lt size gt v Options b lt board gt board type VM30 VM42 VIUC IUC SMART VSBC4 VSBC32PB CM302 i lt file gt filename of user image l
20. ts the complete system generating a system reset with the on board watchdog 4 7 Help Syntax or help Description This command prints the online help page The display of the help text varies between the different CPUS reflecting the difference of the CPUs 4 8 Load and Update Modules Syntax ldmod qu Description Without any parameters the module is loaded or updated using S records over the term port u must be used to download over ser q suppress all messages except error messages Note On CPUs without a ser0 serial connection the Bootstrap Loader will refuse a command including the u option 4 9 List Modules Syntax lsmod Description List all OS 9 modules in the programmable FLASH area The display output is similar to the output of the OS 9 utility mdir e 2 98 PEP Modular Computers Page 13 Bootstrap Loader 4 10 Remove Modules Syntax rmmod q name Description Remove module with the name from the FLASH q suppress all messages except error messages Page 14 PEP Modular Computers 2 08 Bootstrap Loader Appendix A ISaGRAF applications on CM 502 On the CM 302 80 Kbytes of the FLASH are reserved for ISaGRAF applications The commands Idmod Ismod and rmmod have a different behavior on the CM 302 than on the other CPUs concerning the handling of this special FLASH area for ISaGRAF applications Each module with a name according to isa 1 is trea
21. tton on the front panel On CPUs without an ABORT button the Bootstrap Loader will enter the command mode on detecting a BREAK character of at least one second length at the terminal connector Note The ABORT button must not be pushed until the green LED appears because this button generates a NMI and the exception vector tables must be initialized correctly to serve this NMI Pressing the ABORT prior to the green LED leads to HALT in most cases In this case press the RESET button and try again Note The ABORT button must however be pushed before the green LED stops flashing BootWaitTime because system control is passed to the downloaded binary image afterwards The LED is cycled every 0 25 sec so if 1 second is specified as BootWaitTime the LED will only flash 2 times Note CPUs without an user LED or without an ABORT button uses a BootWaitTime of at least 5 seconds CTRL x deletes the complete input line while CTRL a restores the last input line D The start key is a special combination of data appended at the end of the load program or inside the load program itself Page 2 PEP Modular Computers 2 98 Bootstrap Loader 2 3 Preparing the Image The image must be compiled linked to run from the FLASH base address of the CPU The image must start with the Re setSP ResetPC vectors as usual for ROM FLASH images on 68000 processor boards A binary image must be converted to Motorola S records or loaded to a VM
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