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CodeWarrior Target Resident Kernel Reference

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1. Return Values This message causes CodeWarrior TRK to return this value registerData void An array of register values The size of each element depends on the size of the registers themselves If the registers are 2 bytes wide then a new value starts every 2 bytes If the registers are 4 bytes wide a new value starts every 4 bytes The maximum length of this array is 2048 bytes Error Codes CodeWarrior TRK can return these error codes kDSReplyCWDSError An unknown error occurred while processing the request kDSReplyCWDSException An exception was thrown while processing the request kDSReplyInvalidRegisterRange The specified register range is invalid kDSReplyNotStopped The target application is running and must be stopped before the debugger issues this request kDSReplyPacketSizeError The length of the message is less than the minimum for a message of that type kDSReplyUnsupportedOptionError The specified value of the options field is unsupported Remarks After receiving a ReadRegisters request CodeWarrior TRK reads the specified sequence of registers from the processor returning the resulting values to the debugger CodeWarrior TRK attempts to catch and handle any access exceptions that occur while reading CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 5 o L Messages Sent by Debugger NOTE For information a
2. 0x17 0x18 x DSReplyBreakpointsFull kDSReplyBreakpointConflict The breakpoint resources hardware or software are exhausted The requested breakpoint conflicts with an existing breakpoint 0x20 0x21 kDSReplyOsError x DSReplyInvalidProcessId General OS error The request specified an invalid process 0x22 kDSReplyInvalidThreadId The request specified an invalid thread CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc Debug Message Interface Level CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 36 Freescale Semiconductor Inc Chapter 4 Customizing CodeWarrior TRK This chapter shows how to customize Code Warrior TRK to work with new target boards The table below lists the customization sections in this chapter and indicates whether each section describes a required customization The table below marks customizations that you must always do or must always examine and consider as required customizations Table 4 1 Required CodeWarrior TRK customizations Customization Section Customization Required Customizing CodeWarrior TRK Initializations Yes Modifying Serial Communication Functions Yes Modifying Existing UART Drivers Yes Changing the Data Transmission Rate Yes Customizing CodeWarrior TRK to be Interrupt Driven No Customizing the C
3. d Customizing CPU Speed When using serial polling Code Warrior TRK does not respond to messages from the debugger while the target application is running However when using interrupt driven communication Code Warrior TRK responds as follows to an interrupt received from the debugger 1 Stops the target application from running 2 Places the data from the serial line in a message buffer 3 Checks whether the received message is a request or a notification NOTE Rather than accessing the message buffer directly Code Warrior TRK calls TransportIrgHandler when a UART interrupt occurs and read varrpol1 When ready to receive input 4 Resumes running the target application 5 For a request executes the request received from the debugger unless the request cannot execute while a target application executes In this case CodeWarrior TRK returns an error and the debugger must stop the target application before resending the request If CodeWarrior TRK currently does not support interrupt driven communication for a particular target board you can customize CodeWarrior TRK to do so For any target board for which CodeWarrior TRK uses interrupt driven communication set the value of rrx_TrawsporT_1NT_DRIVEN to 1 In addition depending on the target board you may need to define a transport interrupt key so that CodeWarrior TRK can identify the interrupt that corresponds to the communication transport Ensure that the serial
4. msgcmd h 6 9 DoReset The poreset function re initializes Code Warrior TRK and resets the board hardware in response to a Reset request from the debugger DSError DoReset MessageBuffer b b The message buffer that contains the Reset request and the reply to the request The Reset request message does not contain input arguments For more information see Reset Returns None Remarks Calls the reset code segment which is the starting point for CodeWarrior TRK initialization Sends an acknowledgment to the debugger before resetting because DoReset does not resume control after calling reset Source File msghndlr c Board specific No See Also CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 82 Freescale Semiconductor Inc AAA A A AA aaa Chapter 6 CodeWarrior TRK Function Reference e _reset Reset 6 10 DoStep The postep function steps into or over target application instructions as specified by the options argument of the Step request message received from the debugger DSError DoStep MessageBuffer b b The message buffer that contains the Step request and the reply to the request For information about the arguments contained in this message see Step Returns Returns a pserror error code Remarks This list describes what poscep o does based on the value of the options input argument passed as part of the Step request message kDSStepSingle
5. ReadUARTString SuppAccessFile SwapAndGo TargetAccessMemory TargetAddExceptionInfo TargetAddStopInfo TargetContinue TargetFlushCache TargetInterrupt TargetAccessDefault TargetAccessExtended1 TargetAccessExtended2 TargetAccessFP TargetSingleStep TargetStepOutOfRange TargetSupportMask TargetVersions TerminateUART TransportlrqHandler ValidMemory32 WriteUART1 Write UARTN WriteUARTString CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 75 DoConneci 6 1 _reset Resets the board and initializes Code Warrior TRK Remarks The _ reset o function calls functions that initialize processor specific and board specific items to reset the board The reset function also can contain additional initializations After the initializations _reset 0 jumps to start NOTE You must always examine _reset to determine whether to modify it when customizing Code Warrior TRK for a new target board For more information see Code Warrior TRK Initializations and Customizing Code Warrior TRK Initializations Source File For source file information see the processor specific appendixes in this manual Board specific Yes 6 2 DoConnect Responds to a Connect request from the debugger DSError DoConnect MessageBuffer b b The message buffer that contains the Connect request and th
6. C Changing Data Transmission Rate 47 Changing Maximum Message Length 46 Changing ReadMemory Related Code 43 Changing SupportMask Related Code 44 Changing Versions Related Code 45 Changing WriteMemory Related Code 44 Checksum Values 24 CodeWarrior TRK Architecture 3 CodeWarrior TRK Communications 9 CodeWarrior TRK Concepts 3 CodeWarrior TRK Core 3 CodeWarrior TRK Data Frames 22 CodeWarrior TRK Execution States 4 CodeWarrior TRK Function Reference 75 CodeWarrior TRK Initializations 7 CodeWarrior TRK Memory Layout 16 CodeWarrior TRK RAM Sections 7 Command Sets 57 Conditions under which AppTRK Must Be Modified 123 Connect 52 Continue 53 CPUType 54 Creating AppTRK for a Non Freescale Linux Image 122 Customizing Checksum Values 47 Customizing CodeWarrior TRK 37 Customizing CodeWarrior TRK Initializations 38 Customizing CodeWarrior TRK to be Interrupt Driven 4 Customizing CPU Speed 42 Customizing Debug Services 43 Customizing Exception Handling 47 Customizing Memory Locations 46 Customizing Serial Communications 38 Customizing Target Board Name 48 Customizing usr put config h for Debugging 48 Index D Data Transmission Rate 27 Debug Message Interface Level 30 Debug Message Interface Reference 57 Differences Between AppTRK and CodeWarrior TRK 117 DoConnect 76 DoContinue 77 DoCPUType 78 DoFlushCache 78 DoNotifyStopped 79 DoReadMemory 80 DoReadRegisters 87 DoReset 82 DoStep 83
7. Causes nostep to call the processor specific function Targetsinglestep 0 Which steps the number of steps specified in the message kDSStepOutOfRange Causes nostep to call the processor specific function TargetstepoutOfRange 0 Which runs the code until the PC program counter is outside the range of values specified in the message Source File msghndlr c Board specific No See Also TargetSingleStep CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 83 A DoStop TargetStepOutOfRange e Step 6 11 DoStop Responds to a Stop request from the debugger DSError DoStop MessageBuffer b b The message buffer that contains the Stop request and the reply to the request The Stop request message does not contain input arguments For more information see Stop Returns Returns a pserror error code Remarks This function stops running the target application and sets the running flag to false For more information see CodeWarrior TRK Execution States Source File msghndlr c Board specific No See Also Stop 6 12 DoSupportMask The pesupportwask function sends a vector that indicates which messages Code Warrior TRK supports in response to a SupportMask request from the debugger DSError DoSupportMask MessageBuffer b CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 84 Freescale Semiconductor Inc Chap
8. DoStop 84 DoSupportMask 54 DoVersions 85 DoWriteMemory 86 DoWriteRegisters 87 E Encoding Single Byte Checksum Values 24 Escape Sequences 27 F FlushCache 55 Framing Level 27 InitializeIntDrivenUART 89 InitializeUART 90 InterruptHandler 90 Introduction 9 Message Length 32 Message Queues 5 Messages Sent by CodeWarrior TRK 70 Messages Sent by Debugger 57 Modifying AppTRK 2 Modifying Existing UART Drivers 39 Modifying Serial Communication Functions 38 N NAK Messages 34 CodeWarrior Target Resident Kernel Reference Freescale Semiconductor Inc 125 Index NotifyException 70 TargetSupportMask 109 NotifyStopped 71 TargetVersions 110 TerminateUART 11 O TransportIrqHandler 1 2 Transport Level 20 Other Code Warrior Documentation Other Documentation U Overview of this Manual 9 Using AppTRK 118 P Using Multi byte Checksum Values 27 Preventing Transmission Failure 30 V R ValidMemory32 12 Verifying Single Byte Checksum Values 25 ReadFile 72 Versions 65 ReadMemory 57 ReadRegisters 58 W ReadUARTI 92 ReadUARTNO 92 What is AppTRK 117 ReadUARTPoll 97 WriteFile 73 ReadUARTString 93 WriteMemory 67 Related Documentation 70 WriteRegisters 68 Reliable Message Delivery 28 Write UARTIO 114 Reply Messages 32 Write UARTNO 1 4 Request and Notification Handling 16 Write UARTStringO 115 Request and Notification Messages 31 Reset 60 Responding to a NAK Re
9. Remarks None See Also DoNotifyStopped e TargetAddExceptionInfo TargetAddStopInfo TargetInterrupt 5 3 2 NotifyStopped Notifies the debugger that CodeWarrior TRK reached a breakpoint or completed a step command Command Set Primary command set level 1 Fields This message contains these fields o Hed Sum CI command ui8 kDSNotifyStopped defined in the msgcma h file target defined info target specific The value of this field which provides state information about the target board differs for each target processor Usually this field contains information such as the value of the PC program counter and the corresponding instruction For more information see TargetAddStopInfo CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 71 ATA ES Messages Sent by CodeWarrior TRK Return Values None Remarks None See Also TargetInterrupt e TargetAddStopInfo 5 3 3 ReadFile Requests that the debugger read data from a file for the target application If the file is stdin the data is input from a console window Command Set Extended command set level 2 Fields This message contains these fields Ped Sm CI command ui8 kDSReadFile defined in the msgcma h file file handle ui32 The handle of the file to read stdin has a predefined handle For more information see the DSFileHandle defi
10. By default CodeWarrior TRK uses a one byte checksum value for error checking when it frames messages For more information see Checksum Values NOTE This customization is not required For more information see Customizing CodeWarrior TRK CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 47 Customizing Target Board Name However you can specify that the Code Warrior TRK use a two or four byte checksum value to increase the probability of finding transmission errors To do so change the value of the rcss1rs1zz variable in this file and recompile the Code Warrior TRK CWTRKDir Export serframe h NOTE If you are using the Code Warrior debugger do not change the length of the checksum value Using a two or four byte checksum value requires More computation time when creating and verifying the checksum values Global data space for a lookup table A two byte checksum value requires 512 bytes a four byte checksum value requires 1024 bytes 4 8 Customizing Target Board Name The name of the target board displays in the startup welcome message for CodeWarrior TRK To customize the target board name define the constant ps_TarceT_NAME in target h as a string value that reflects the name of your target board NOTE This customization is not required For more information see Customizing CodeWarrior TRK 4 9 Customizing usr_put_config h for Debugging The usr put_conf
11. CAES Versions Remed La E A N E 45 443 Changing Maximum Message Lera as 46 CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 4 Freescale Semiconductor Inc Section number Title Page AS Customizme Memory Loc aia 46 46 Customize Exception Hal EE EE R ERN 47 AT AROS CRES NAMES ad do lr 47 to Castomizme Parga Board aaa da goa 48 49 e ica cea eiiiai ia neiaa aiin a aS 48 Chapter 5 Debug Message Interface Reference Sl a o T 51 32 Messages Sent DY DED S268 T 51 Sebel ORME O e 24 A m 33 DAR CPU pt rr E E RE NA AE N TA S 54 St E e ara AAA E E T 39 Sar icon ais MC Ean a A C IND u cil c ec 58 WIE c c 9 P 60 P SPU err C 61 uw a AS AA AAA 63 KCN SPPON da a 64 EE 0i mm 65 Sebel 2 WIEN nr T 66 o2 LS WIG IG BUR A ios 68 3 2 Messages Sent by CodeWartor TR ai 70 A A aeesild EEE E E EE see netic inaicas 70 EUCK MEE ripe ros aiii 71 a TORR H 72 Sod 4 1 P NS 73 CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 5 Section number Title Page Chapter 6 CodeWarrior TRK Function Reference A HM mM TEE 75 MEN OP C IRE Nr E NT 76 da TOC pais TI C
12. PEUT m T ida 108 637 Tarsetsupnhort VSERUL pi pbi A RA Aa 109 UK Targa VES qM 110 A EE 111 GAD Transportir a 2 e 112 ME ANITA sd fp t 112 ne dc D uri m 113 Co SR REUS me 114 o Honc USE TSE e ardid 115 Chapter 7 AppTRK Reference FANE EAT E 117 72 Differences Between APpTRE and Cola TRA ta 117 Ta Vaig APPIR E iia 118 TA Moodie A i 121 75 Creating AppTRK for a Non Freescale Lings ra ali 122 76 Conditions under which AppTRK Must Be Modified ia ecu secutis iran canes 123 CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc Chapter 1 Introduction Code Warrior TRK is a target resident kernel that is an on target debug monitor for the CodeWarrior debugger This manual describes CodeWarrior TRK and explains how to customize it for use with different hardware configurations This chapter includes these topics Overview of this Manual Related Documentation 1 1 Overview of this Manual This manual describes CodeWarrior TRK and explains how to customize it for use with your hardware configuration The table below describes the information contained in each chapter of this manual NOTE In addition to the ch
13. Reference cpuMinor ui8 The minor CPU type which indicates the particular processor within the processor family bigEndian ui8 A value of 1 indicates that the board uses the big endian byte order a value of 0 indicates that the board uses the little endian byte order defaultTypeSize ui8 The size of the registers in the default register block fpTypeSize ui8 The size of the registers in the floating point register block If there are no floating point registers this return value is O extendedl1TypeSize ui8 The size of the registers in the first block of extended registers If there are no extended registers this return value is O extended2TypeSize ui8 The size of the registers in the second block of extended registers If there is no second block of extended registers this return value is O Error Codes CodeWarrior TRK can return these error codes kDSReplyPacketSizeError The length of the message is less than the minimum for a message of that type kDSReplyCWDSError An unknown error occurred while processing the request Handler Function DoCPUType See Also DoCPUType 5 2 4 FlushCache Requests that Code Warrior TRK flush all cache entries corresponding to the specified memory range and possibly others depending on the particular target board For more information see your default implementation of Code Warrior TRK CodeWarrior Target Resident Kernel
14. Title Page E o o oe O A tiene 24 324 Reliable Mesta Dil e in 28 2241 Responding toa NAM Reply Mesta used tpi eise leere teta ue pe iio 28 324 2 Inesponding When No Reply Message is ReCeived vic scsdccensseesasercaataciecdpsveosaseapassasicoendeiebeoaxisuassusaacds 29 E Preventing T nsinssion Falu AAA Tm 30 33 Debus Messace Interlace La A AA 30 3301 Reeve se ad Nouficanon Mestat S ino e decidi du iua NER a i 31 Cx PNE T E ec E A E E T 31 ada BVE RISE a E A 31 ls INIESSARE Len ii 32 E o A 32 Joal ACE UOI oru rr RETE 32 33 22 MAR NES 34 Chapter 4 Customizing CodeWarrior TRK 4 Cistengna togeWaror TRE ab ese esos ud p e Rte MEI iae ER CR CM EU n d MM ERE E 38 A2 Customize senal a NT ee e e copaeecuuscabacduntedncage sed Lon leedu ua chatacubeapaesandecGsastaneiess 38 A24 Modifying Serial Communication Fanlo 38 Aa Modifying Existime UART DYE a did bid eddie dba dide pio iilii iue ptor ii 39 422 Building TI TLCS oes UART DVE ur ard obire Hae monea aa eian aniei 40 423 Changing Data Transmission Rd A a 41 42 44 Customizing CodeWarrior TRK o be Interrupt DA insna iedeen iiir 41 4 2 CIAO ARA 42 qat SMS beni Zits Depus Setenil dept adiu e quts 43 SAI Changing keaiMemory Related Codi id 43 44 2 Chunemo WnteMemory Related o ra a AAA NAAA 44 143 Changing upportMask Related Codi anani aaaea rer e iE araia 44 ALAA
15. a varterror error code Remarks The readuartstring function terminates the string in the output buffer with a null 10 character Consequently the output buffer must be one byte longer than the length of the string The readuartstring function returns after reading a terminating character from the input or when the buffer overflows If the input stream stops ReaduarTstring does not time out NOTE The readuartstring function calls reaavarri consequently ReadUARTString executes correctly as long as Reaauarti does Source File uart c Board specific No See Also ReadUARTI 6 23 SuppAccessFile Creates and sends a ReadFile or WriteFile message to the debugger These messages instruct the debugger to read data from a file or write data to a file on the host DSError SuppAccessFile ui32 file handle ui8 data size t count DSIOResult io result bool need reply bool read CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 94 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference file handle The handle of the file to be read or written stain stdout and stderr have predefined handles For more information see the definition of psrileHandle iN msgcmd h data Data to be read or written to the file count Pointer to the size of the data to be read or written in bytes On return points to the size of the data that was read or written io_re
16. also can send requests to CodeWarrior TRK After receiving a request from the debugger the CodeWarrior TRK core examines the fields of the message to determine which handler function to call The CodeWarrior TRK core then sends the request to the corresponding handler function which extracts any needed values from the message and executes the request Some messages contain values that CodeWarrior TRK passes to its handler functions as parameters For more information see Debug Message Interface Reference and CodeWarrior TRK Function Reference CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 30 Freescale Semiconductor Inc E Chapter 3 CodeWarrior TRK Communications CodeWarrior TRK and the debugger send reply messages in response to each received request or notification message Some reply messages contain only an acknowledgement and an error code others contain additional return values For more information see Reply Messages and Debug Message Interface Reference This section contains these topics e Request and Notification Messages e Reply Messages 3 3 1 Request and Notification Messages The debug message interface specifies the format of each request and notification message in terms of the fields included in a message and the arrangement of the fields In general a message starts with an identifier byte that identifies the message type Zero or more arguments follow the identifier byte depending on the me
17. amount of RAM that the stack occupies 2 2 2 Target Application RAM Sections Specify target application memory sections so that they do not overwrite the CodeWarrior TRK memory sections For more information see CodeWarrior TRK RAM Sections One good way to specify the target application memory sections is to place the code and data sections in low memory below the code and data sections of the CodeWarrior TRK You then can place the stack of the target application below the stack of CodeWarrior TRK You must allow enough room for the CodeWarrior TRK stack to grow downward For more information see Customizing Memory Locations 2 3 CodeWarrior TRK Initializations CodeWarrior TRK begins initializing when _reseto executes The _reset function calls init PYOCessor CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 17 A CodeWarrior TRK Initializations The _ init_processor assembly language code initializes processor specific items For example init processor can perform such functions as clearing the cache and the TLB translation lookaside buffer init board The in it boara assembly language code initializes board specific items Examples include initializing the central control registers and disabling all interrupts start The _start assembly language code starts the runtime code If needed you can place code for other initializations i
18. constants These constants which specify the version numbers of the kernel reside in a processor specific file CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 45 Customizing Memory Locations Ds KERNEL MAJOR VERSION Ds KERNEL MINOR VERSION NOTE For more information see the processor specific appendixes in this manual These constants which specify the version numbers of the protocol reside in msgcma n DS PROTOCOL MAJOR VERSION DS PROTOCOL MINOR VERSION NOTE If you are using the CodeWarrior debugger do not change the protocol version numbers For more information see Versions DoVersions and TargetVersions 4 4 5 Changing Maximum Message Length By default the maximum length of a debug message is 2176 bytes This length includes 2048 bytes for the data block when reading and writing from memory or registers before adding escape sequences and 128 bytes for any additional items in the message NOTE This customization is not required For more information see Customizing CodeWarrior TRK You can change the maximum length by changing the value of the variable kMessageBuffersize in the file msgbuf n and recompiling Code Warrior TRK NOTE If you are using the CodeWarrior debugger do not change the maximum message length 4 5 Customizing Memory Locations You can customize the memory locations of both CodeWarrior TRK and of your t
19. current checksum value in the order received CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 25 Framing Level 3 Check whether the final calculated value is oxrr If it is the message arrived correctly Otherwise an error occurred in transmission However this algorithm does not find all transmission errors When the end frame flag arrives the receiver omits its value from the checksum value Consequently the last calculation adds the received checksum value to the checksum value the receiver was calculating The sender complemented the received checksum value before sending it Adding any number to its complement yields the value oxrr This fact allows the algorithm to determine whether the data arrived correctly The listing below shows a C function that demonstrates how to verify a message encoded with its checksum value Listing 3 2 Verifying a Message Using a One Byte Checksum Value typedef unsigned char Boolean define TRUE 1 define FALSE 0 Boolean VerifyMessageIntegrity ui8 currentChar FCS Loop through characters until we hit the end flag FCS 0x00 while EndFlag currentChar GetNextChar FCS currentChar We have just passed over the encoded complement of the original FCS If this message matched the original the FCS value should now be OxFF return FCS OxFF CodeWarrior Target Resident Kernel Referen
20. error code Remarks To build the notification message Donotifystopped Calls targetaddstopinfo OF TargetAddExceptionInfo depending on which kind of notification is being sent Source File notify c Board specific CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 79 AAA IA DoReadMemory No See Also e TargetAddExceptionInfo e TargetAddStopInfo NotifyStopped msgcmd h 6 7 DoReadMemory Reads a section of memory from the target board in response to a ReadMemory request from the debugger DSError DoReadMemory MessageBuffer b b The message buffer that contains the ReadMemory request and the reply to the request For information about the arguments contained in this message see ReadMemory Returns Returns a pserror error code Remarks The poreadMemory function checks that the specified memory addresses are within the 32 bit range and that the range of addresses is valid for the target hardware NOTE The poreadMemory function does not support extended memory addresses The noreadMemory function calls targetaccessMemory Source File msghndlr c Board specific No See Also TargetAccessMemory e ReadMemory CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 80 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference 6 8 DoReadRegisters Reads a sequence of regist
21. exist ACK acknowledgment messages and NAK no acknowledgment messages NOTE Although reply messages are defined on the debug message interface level the framing level also uses reply messages to ensure reliable message transmission ACK messages confirm that the receiver correctly received the preceding message NAK messages indicate that the receiver did not correctly receive the preceding message For more information see Reply Messages To ensure reliable transmission of messages the receiver must respond correctly to transmission failures Two indications of a failed transmission exist The receiver sends a NAK reply to the sender The receiver does not send a reply to the sender 3 2 4 1 Responding to a NAK Reply Message The sender can receive a NAK reply for these reasons CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 28 Freescale Semiconductor Inc AAA AA AAA A Chapter 3 CodeWarrior TRK Communications The receiver did not receive the CodeWarrior TRK data frame correctly The format of the CodeWarrior TRK data frame was incorrect In the first instance the sender resends the original message In the second instance the sender must correct any errors in the format of the data frame before resending the message For a list of possible errors see NAK Messages Examine the code that creates and sends the data frame If needed change that code to correct the CodeWarrior TRK data f
22. if you are using the UART library to allow the MSL library to send output to the console you must also change these functions ReadUARTI TerminateUART This file prototypes the UART functions in this section CWTRKDir Export UART h NOTE For information about the MSL library to use with your target board see the Targeting manual for your target processor 4 2 2 Modifying Existing UART Drivers CodeWarrior TRK provides configurable driver code for TI TL16C552a works with most 16552 compatible UARTS NOTE This is a required customization For more information see Customizing CodeWarrior TRK CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 39 Customizing Serial Communications 4 2 2 1 Building TI TL16C552a UART Driver This driver is located in this directory CWTRKDir Transport uart tli6c552a To build the driver L ON Include the relevant driver files in a separate library project that builds a library You will include the resulting library in your CodeWarrior TRK project Include these driver files tli6c552a c main driver code One of these two files t116c552a A c for channel A of dual channel UARTs c116c552a B c for channel B of dual channel UARTS uart c board stub c Copy the driver configuration file t116c552a_config_sample h to your local project directory Change the name of the driver configuration file 11
23. important differences n most situations you do not need to change AppTRK source code CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 117 EE Using AppTRK AppTRK does not interact directly with the hardware Instead AppTRK uses the API of the embedded Linux operating system As a result once Freescale creates an embedded Linux board support package BSP for a given development board AppTRK automatically works on this board Each time you power up your board you must reconfigure the link between AppTRK and the CodeWarrior debugger CodeWarrior TRK communicates with the debugger over a serial or Ethernet connection using an asynchronous protocol Once configured this setup requires no changes AppTRK communicates with the debugger over an Ethernet connection using the TCP IP protocol Because the development board s Ethernet port forgets its IP address each time the board is powered off you must reassign this address each time you power up the board Each time you reboot embedded Linux you must launch AppTRK Because AppTRK is just another Linux application you must launch AppTRK each time you reboot the board unless you configure the Linux to automatically start the AppTRK To do so configure the IP address and start the AppTRK on a default port NOTE For detailed instructions on working with the AppTRK package refer the SDK user manual The document is availabl
24. more information about these messages definitions of all mMessagecommanarp values and message specific constants Export msgemd h The message descriptions include such information as fields sent in the original message the name of the handler function for the message and any return values CodeWarrior TRK and the debugger place return values for a request in a separate reply message For more information see Reply Messages The debugger can send these messages Connect Continue CPUType e FlushCache Reset ReadMemory ReadRegisters e Step e Stop e SupportMask Versions WriteMemory WriteRegisters 5 2 1 Connect Requests that CodeWarrior TRK begin a debug session Command Set Primary command set level 1 Fields This message contains this field EA AAA CA MEE command ui8 kDSConnect defined in the msgemd h file CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 52 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference Return Values None Error Codes None Remarks The debugger sends this request once at the beginning of each debug session Handler Function DoConnect See Also DoConnect 5 2 2 Continue Requests that CodeWarrior TRK start running the target application Command Set Primary command set level 1 Fields This message contains this field EA EA O E en command ui8 kDSContinue defined in the m
25. resumes execution and CodeWarrior TRK reenters the event waiting state CodeWarrior TRK again remains in the message handling state until the debugger sends a Continue or Step request Then CodeWarrior TRK returns to the event waiting state and the target application begins executing again The figure below shows the state diagram for CodeWarrior TRK CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 14 Freescale Semiconductor Inc Chapter 2 CodeWarrior TRK Concepts Reset Request Recelved Communication or Support Request Exception Recelved Stop Request Received Sets running flag to zero Step Continue Hardware Message Handling pana Event Waiting Reset gt initialization CodeWarrior TRK Context har pa de Target Application Context queue is empty Breakpoint or Error Exception Received YES NO Sets running flag to zero Stepping Multiple Lines amp Not Completed Figure 2 1 CodeWarrior TRK State Diagram 2 1 3 Message Queues While in the message handling state CodeWarrior TRK constantly monitors the serial line for incoming requests and stores each one in an incoming message queue CodeWarrior TRK also maintains another message queue for outgoing messages To send a message to the debugger CodeWarrior TRK places the message in the outgoing message queue and continues processing The message is sent as soon as the serial line is free The message queues
26. serve two important purposes First the queues are buffers between the debugger and CodeWarrior TRK which run on different hardware platforms These buffers keep faster hardware from outrunning slower hardware which keeps requests and replies from being dropped lost Second the message queues allow CodeWarrior TRK to use an event driven design The CodeWarrior TRK core centrally dispatches all communication with the debugger which passes first through the messages queues The figure below shows how data flows through CodeWarrior TRK when it is in the message handling state including the message queues described in this section In the event waiting state CodeWarrior TRK is inactive while waiting for the next exception to occur The message queues are not dependent on the target board configuration CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 15 CodeWarrior TRK Memory Layout LI LI LI Host PC l CodeWarrior TRK LI LI H DoReadMemory DoWriteRegisters DoContinue one CodeWarrior TRK i age Queue Core LI MMM 9 pispatches maniy and messages a Comman 4 Cin ive aden Hendier H Output 1 Message LI Debugger Running on host TargetreadMemory TargetWriteFP Legend TargetContinue im Processor or Board Specific Code Figure 2 2 CodeWarrior TRK Data Flow Diagram 2 1 4 Request and Notifica
27. the value ox7e that allows the receiver to distinguish one frame from another to the beginning and end of the Code Warrior TRK data frame The figure below shows how Code Warrior TRK and the debugger create a Code Warrior TRK data frame Message ReadRegisters MessagelD 0x12 Arguments options 0x00 firstRegister 101 0x0065 lastRegister 126 0x0076 Original Debug Message Structure Build a CodeWarrior TRK Data Frame 1 Arrange message byte order in big endian Message ones ovez ores ones oes ones A Lon om oo oes 000 ove interface Level 2 Calculate one byte checksum value append checksum value to end of message E 0x12 OXOO OXOO 0x65 0x00 Ox7e Oxt5 compiement of 0x5 0x0aj Framing Level Message eyes area oves eves oves owe Fone oc oco oes 009 owe 002 3 Apply escape sequence to reserved byte values in message Message oxi oxoo oxo 05 ooo oxra coros Oxoa 4 Add start and end frame flags to beginning and end of data trame Message Stan Flag Bytei Byte2 Bytes Bytes Bytes Ghar Bytes cneckeum End Flag Gxe oxi2 oxoo oxoo oxes ooo ox7d yomooo xoa oe Figure 3 2 Creating a CodeWarrior TRK Data Frame CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 23 Framing Level 3 2 2 Checksum Values The sender places a one two or four b
28. 0 06 2015 98 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference Builds a notifystoppea message when notifying the debugger that the target application stopped DSError TargetAddStopInfo MessageBuffer b b The message buffer that contains the NotifyStopped notification For information about the arguments contained in this message see NotifyStopped Returns Returns a pserror error code Remarks The contents of the message buffer differs depending on the processor Examples of information that the message can contain follow The PC Program Counter at the time the exception was generated The instruction at that value of the PC The exception ID Examine the CodeWarrior TRK source code to see the specific information returned for your target processor Source File targimpl c Board specific No See Also DoNotifyStopped NotifyStopped 6 28 TargetContinue The rargetcontinue function starts the target application running and then blocks until control returns to CodeWarrior TRK because a relevant exception occurred DSError TargetContinue MessageBuffer b CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 99 LTE TargetFlushCache This message buffer has no input parameters and no reply message For more information see Continue Returns Returns a pszrror error code Remarks The rargetcontinue f
29. 6c552a config sample h tO tli6c552a config h Include the renamed driver configuration file t116c552a_config h in your library project Change the constant values in t116c552a_config h as needed for your target board NOTE You can use ti16c552a_config n to define items such as the base addresses of the two serial ports the speed of the external UART clock and the spacing in bytes between UART registers Examine t116c552a_config h to determine which if any changes to make for your target board Ensure that this UART header file is in your include path cwrgkpir Export UART h Build your library project After you build your library project you must add the library to your CodeWarrior TRK project before building it NOTE For information about building projects see the CodeWarrior IDE User s Guide CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 40 Freescale Semiconductor Inc AAA ATA Chapter 4 Customizing CodeWarrior TRK 4 2 3 Changing Data Transmission Rate Code Warrior TRK can communicate with the debugger at transmission rates between 300 baud and 230 4k baud To change the data transmission rate baud rate set the transmission rate at compile time by setting the constant rrx_Baun_rare to a value of the enumerated type varTBaudrate Then rebuild Code Warrior TRK NOTE This is a required customization For more information see Customizing Code Warrior TRK Set the data tra
30. Asynchronous Receiver Transmitter drivers if necessary The default implementations work with the standard on board serial ports For more information see Modifying Serial Communication Functions You must configure both Code Warrior TRK and the debugger to use the correct data transmission rate baud rate for the serial connection for your target board For more information see Changing the Data Transmission Rate This section contains these topics e Serial Communications Settings Data Transmission Rate 3 1 1 Serial Communications Settings CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 20 Freescale Semiconductor Inc SSS eee Chapter 3 CodeWarrior TRK Communications Your target board must have a serial port so that CodeWarrior TRK can communicate with the debugger running on the host computer For most target boards the data transmission rate when communicating with CodeWarrior TRK is between 300 baud and 230 4k baud For more information see the Targeting manual for your target board or the processor specific appendixes in this manual CodeWarrior TRK usually communicates using these serial settings 8 data bits no parity e stop bit 8N1 However if other supported settings work better for your target board you can use those settings For more information see the Targeting manual for your target processor or the processor specific appendixes of this manual If you cannot find informati
31. CodeWarrior Target Resident Kernel Reference Document Number CWPATRKUG Rev 10 5 0 06 2015 V 4 MN freescale CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc Contents Section number Title Page Chapter 1 Introduction A oo O o 9 L2 BEE DE EA aaa 10 121 Other Code Wamor DocumonldllGlLa ai 10 L wbhchna curii 11 Chapter 2 CodeWarrior TRK Concepts FaMES S Fuudidde cci cur A S 13 211 CodeWarrior TRE br aa DE 22 Code Wamor TRK Execution SEES A 14 21 3 Message ONCS 15 2 1 4 R guest and Noticia Paudblbie enra aean aa EE A E RE TR ARS 16 22 CodeWarrior TRE Memory Layos AAA AAA 16 Zal Code Wamo TRE RAM E os iria 16 22 urget Appicinan RAM SeUHOBD A SEEEN a TENER EE E LT 222 Lode W armor DR Mini pir e p t 17 Chapter 3 CodeWarrior TRK Communications Sl pe Le err 20 3 1 1 Sena Communications EE aa 20 Sele Data Transmission A a 21 Sak cn E A ERE 21 S24 Code Warno TRE Dats Presi id ia 22 E Lr c m tamed eeiiaed 24 22 1 Encoding Single Byte Checksum VA ER aio 24 242 VEU PEE Checkin V AUG acs diac acti sca paste cathe Capp aoe loi cane Rae 225 Suse Meine MB C ecu Val s AA M S DE NUR I ERU IR a OIM P UN Po ti CR DRE 26 CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc Section number
32. DSStepOverCount For more information see the msgcemd h file count ui8 The number of instructions to step over If the value of the options field is xpssteprntonange OF kDSStepOverRange the message contains these fields ma S scription command ui8 kDSStep defined in the msgcmd h file options ui8 This field can contain one of these values kDSStepIntoRange kDSStepOverRange For more information see the msgcemd h file rangeStart ui32 The starting address of the specified memory range Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 61 AAA Messages Sent by Debugger EA AE AA A PA rangeEnd ui32 The end address of the specified memory range Return Values None Error Codes Code Warrior TRK can return these error codes kDSReplyNotStopped The target application is running and must be stopped before the debugger issues this request kDSReplyPacketSizeError The length of the message is less than the minimum for a message of that type kDSReplyParameterError If the debugger is single stepping this error code indicates that the value of the count field is less than one The debugger must step over one or more instructions If the debugger is stepping out of range this error code indicates that the PC program counter is already outs
33. Interface Level NOTE To the framing level a CodeWarrior TRK message is a string of data of a particular length the framing level ignores the internal structure of the message This section contains these topics CodeWarrior TRK Data Frames Checksum Values Escape Sequences Reliable Message Delivery 3 2 1 CodeWarrior TRK Data Frames When communicating over a serial connection CodeWarrior TRK and the debugger transmit all messages in a CodeWarrior TRK data frame A CodeWarrior TRK data frame is a data segment of arbitrary length delimited at its beginning and end by a special framing character The CodeWarrior TRK data frame also contains checksum information used to verify the integrity of the data received Before sending a message CodeWarrior TRK and the debugger place the message in a CodeWarrior TRK data frame as follows 1 Arrange the message in big endian byte order most significant byte first NOTE Step 1 executes at the debug message interface level rather than the framing level as shown in the figure below 2 Calculate a one byte checksum value by default and place the checksum value in a byte at the end of the message 3 Apply an escape sequence to any reserved byte values contained in the message CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 22 Freescale Semiconductor Inc Chapter 3 CodeWarrior TRK Communications 4 Add the start frame end frame flag a byte containing
34. Kernel Reference Rev 10 5 0 06 2015 56 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference 5 2 5 ReadMemory Requests that CodeWarrior TRK read a specified section of memory on the target board Command Set Primary command set level 1 Fields This message contains these fields E gt A AA A A command ui8 kDSReadMemory defined in the msgemd h file options ui8 This field can contain one of these values DS MSG MEMORY SEGMENTED DS MSG MEMORY PROTECTED DS MSG MEMORY USERVIEW For more information see the msgcmd h file length uil6 The length of the memory section a maximum of 2048 bytes start ui32 The starting address of the memory section Return Values This message causes CodeWarrior TRK to return these values Ve Fel _ The length of the data read a maximum of 2048 bytes The data read a maximum of 2048 bytes Error Codes Code Warrior TRK can return these error codes kDSReplyCWDSError An unknown error occurred while processing the request Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 57 AAA M LUN Messages Sent by Debugger kDSReplyCWDSException An exception was thrown while processing the request kDSReplyInvalidMemoryRange The specified memory range is invalid kDSReplyN
35. OWBR Mig enan A r A adie R A 77 87 TOP e a A 78 SOMMER I stopped anisi a deaniataaisiieemnantolaniMelbiae 79 0r DORAMA Rai 80 0o TGR SAE Rais OOo cnra ete rd pube E lata 81 Er POKS caia 82 SIS DO mE 83 SIE Dart REMITTI Kc 84 AZ DOSOProt a ippo cds 84 OL DOVER ROMS SERT 85 Pye Mie RE IO a E E DR Hee 86 DLE DA ET omo qe 87 Je minake Lv e o LB Ne T A 88 PIE AR A poi qp bd ere err ere er eee ere errr A 90 0 18 Interop Hand l rgl ecesiceesspeeicidtet t a RR E E isc 90 A PEE ipee M 9 NUMERI ADR E 92 G21 Regd UARTN ti tems S Pio EEUU R Y ela tapete n Pul naked Saas en UU Reno Lo be cR E Teide ded UA aauU ERR b osE PES rU ected 92 022 Read VARTS E Kassandra id AA AA Add Rc 93 Sa I deri qi pm TU 94 Monge c Inr ELT MNA T AT 95 DNMEME II E roa RT a iAR 96 DEM ME iru rs ipeo c Nee nee C E E E A 98 A de ined pda und cupid eraat ua cute pecu ue iM qu cb PE Osa pan Ka RRE el 98 CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 6 Freescale Semiconductor Inc Section number Title Page A e Rima dee RR 99 UNE CI JEN eR T a 100 A I Aes pi rie cp nM T mE 101 EINE 09 D e L LU NT 102 Ge Tasca NOT Tn TS 103 Doo VI o SP C HM 105 Ora ir it ro o cil ZR aa Guia tubcevadoutaeaeraesaineduaueooia E 106 E A A EE 107 6 30 TT AIC
36. PU Speed Yes Changing ReadMemory Related Code Yes Changing WriteMemory Related Code Yes Changing SupportMask Related Code No Changing Versions Related Code No Changing the Maximum Message Length No Customizing Memory Locations No Customizing Exception Handling No Customizing Checksum Values No Customizing the Target Board Name No Customizing usr_put_config h for Debugging No NOTE Supported reference boards work with CodeWarrior TRK without modification For information about supported reference boards and CodeWarrior TRK implementations for each see the Targeting manual for your CodeWarrior product CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 37 Customizing CodeWarrior TRK Initializations 4 1 Customizing CodeWarrior TRK Initializations You can customize the CodeWarrior TRK initialization sequence for new target boards as follows 1 Examine the existing initialization sequence for your default implementation of CodeWarrior TRK 2 If differences exist between the reference board and your target board add to or change the contents of reset init processor and init boara as needed NOTE This is a required customization For more information see Customizing CodeWarrior TRK For more information see CodeWarrior TRK Initializations 4 2 Customizing Serial Communications Low level communications between CodeWarrior TRK and the debugger occur over a standard serial
37. Range ui32 start ui32 end bool stepOver start The starting address of the range end CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 108 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference The ending address of the range stepOver A Boolean value that instructs Code Warrior TRK to either step into or step over instructions until the PC Program Counter is outside a specified range of values A value of 1 indicates a request to step over a value of O indicates a request to step into Returns Returns a pserror error code Remarks The rargetstepoutofRange function sets up the trace exception After each instruction TargetStepOutofRange Checks whether the PC is outside the specified range of values Source File targimpl c Board specific No See Also DoStep e Step 6 37 TargetSupportMask Returns a mask that indicates which debug messages the current Code Warrior TRK supports DSError TargetSupportMask DSSupportMask mask mask A bit array of 32 bytes where each bit corresponds to the message type Messagecommand1D with an ID matching the position of the bit in the array If the value of the bit is 1 the message is available if the value of the bit is 0 the message is not available For example if kpsreset is available the value of the fourth bit is 1 because xpsreset is the fourth message For more information see msgcmd h Code
38. Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 55 Messages Sent by Debugger Command Set Secondary command set level 2 Fields This message contains these fields Sue Desorption command ui8 kDSFlushCache defined in the msgemd h file options ui8 This field can contain these values which specify the type of cache to flush DS MSG CACHE TYPE INSTRUCTIOND S MSG CACHE TYPE DATADS MSG CA CHE TYPE SECONDARY For more information see the msgcmd h file start ui32 The starting address of the specified memory section in the cache end ui32 The end address of the specified memory section in the cache Error Codes Code Warrior TRK can return these error codes kDSReplyPacketSizeError The length of the message does not equal the minimum for a message of that type kDSReplyNotStopped The target application is running and must be stopped before the debugger issues this request kDSReplyInvalidMemoryRange The specified memory range is invalid kDSReplyUnsupportedOptionError The specified value of the options field is unsupported kDSReplyCWDSError An unknown error occurred while processing the request Remarks To flush more than one type of cache the debugger can OR multiple values before adding the options field to the message Handler Function DoFlushCache See Also DoFlushCache msgcmd h CodeWarrior Target Resident
39. Versions Related Code Source File targimpl c Board specific No See Also DoVersions Versions target h 6 39 TerminateUART Deactivate the serial device UARTError TerminateUART void Returns Returns a varterror error code Remarks The default implementation of Code Warrior TRK does not call this function However you can run an operating system on the target board while you are debugging using Code Warrior TRK When you finish debugging you can use this function to release the UART device so that you can run a different program on the target board NOTE You must implement terminatevart for your target board before attempting to call it Source File uart c Board specific Yes CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 111 AA A AAA TransportirqHandler 6 40 TransportirqHandler Handles a UART interrupt NOTE You must change TransportIrqHandler for new target boards if you are using interrupt driven communication with CodeWarrior TRK asm void TransportIrqHandler void Returns None Remarks The Transport IrqHandler function is part of the UART driver code The CodeWarrior TRK InterruptHandler function calls TransportIrqHandler which disables interrupts while it is running For a serial input interrupt transport trqHandler gets the incoming characters from the UART stores them in a buffer and sets the inp
40. Warrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 109 TargetVersions Returns None Remarks Changing the support mask values does not require changing this function because the values are defined in the file aefauit_supp_mask h For more information see Changing SupportMask Related Code Source File targimpl c Board specific No See Also e DoSupportMask e SupportMask 6 38 TargetVersions Returns a set of four version numbers for the running CodeWarrior TRK build DSError TargetVersions DSVersions versions versions Output variable containing version information for the running CodeWarrior TRK build Returns Returns a psgrrox error code always returns knozrror Remarks The targetversions function replies to the debugger with a set of four version numbers These represent two attributes called kernel and protocol each of which has a major and a minor version number The kernel attribute is the version of the CodeWarrior TRK build The protocol attribute is the version of the debug message interface and low level serial protocols used by CodeWarrior TRK CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 110 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference NOTE If you change Code Warrior TRK or its protocols you can update the kernel and protocol version numbers respectively For more information see Changing
41. age does not contain input arguments For more information see Versions Returns Returns a psgrrox error code Remarks The noversions function replies to the debugger with a set of four version numbers These represent two attributes called kernel and protocol each of which has a major and a minor version number The kernel attribute is the version of the CodeWarrior TRK build The protocol attribute is the version of the debug message interface and low level serial protocols used by CodeWarrior TRK NOTE If you change CodeWarrior TRK or its protocols you can update the kernel and protocol version numbers respectively For more information see Changing Versions Related Code The noversions function calls rargetversions Source File msghndlr c Board specific No See Also TargetVersions Versions 6 14 DoWriteMemory Writes values to a segment of memory on the target board in response to a WriteMemory request from the debugger DSError DoWriteMemory MessageBuffer b CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 86 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference The message buffer that contains the Write Memory request and the reply to the request For information about the arguments contained in this message see Write Memory Returns Returns a pszrror error code Remarks The nomwriteMemory function checks that the specified memory a
42. ale data sheets and or specifications can and do vary in different applications and actual performance may vary over time All operating parameters including typicals must be validated for each customer application by customer s technical experts Freescale does not convey any license under its patent rights nor the rights of others Freescale sells products pursuant to standard terms and conditions of sale which can be found at the following address freescale com SalesTermsandConditions Freescale the Freescale logo CodeWarrior QorlQ QorlQ Qonverge and StarCore are trademarks of Freescale Semiconductor Inc Reg U S Pat amp Tm Off All other product or service names are the property of their respective owners The Power Architecture and Power org word marks and the Power and Power org logos and related marks are trademarks and service marks licensed by Power org 2009 2015 Freescale Semiconductor Inc Document Number CWPATRKUG Revision 10 5 0 06 2015 e Po Oo freescale
43. apters described in the table below this manual may have one or more additional processor specific appendixes depending on the product you purchased Refer to the table of contents in the front of this manual to determine whether your version of this manual contains any processor specific appendixes Table 1 1 Contents of this Manual Introduction this chapter CodeWarrior TRK Concepts Provides an overview of CodeWarrior TRK describes the various tasks CodeWarrior TRK performs and how these tasks are implemented Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 9 VELA AAA Related Documentation Table 1 1 Contents of this Manual continued CodeWarrior TRK Communications Describes the CodeWarrior TRK communication protocol This chapter is useful for debugging CodeWarrior TRK and for those developing software that communicates with CodeWarrior TRK Customizing CodeWarrior TRK Provides details about the specific areas where you can customize or re target CodeWarrior TRK to work with your hardware configuration Debug Message Interface Reference Describes the CodeWarrior TRK debug message interface CodeWarrior TRK Function Reference Describes CodeWarrior TRK functions that may be relevant for developers who wish to customize CodeWarrior TRK to work with new target boards AppTRK Reference Describes the Linux applicat
44. arget application CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 46 Freescale Semiconductor Inc EE Chapter 4 Customizing CodeWarrior TRK NOTE This customization is not required For more information see Customizing CodeWarrior TRK Depending on your target processor you can customize the memory locations used by CodeWarrior TRK by e Modifying variables in the Linker target settings panel in your CodeWarrior TRK project e Modifying the linker command file in your CodeWarrior TRK project For more information see the processor specific appendixes in this manual and the Targeting manual for your target processor To change the location of target application memory sections modify your linker command file The linker command file is the file in your project with the extension 1cr For more information see the Targeting manual for your target processor 4 6 Customizing Exception Handling You can customize exception handling by overriding the default exception handling code so that your application handles some exceptions CodeWarrior TRK must handle certain exceptions in those cases your application must accommodate CodeWarrior TRK if the application also must handle those particular exceptions For more information see the processor specific appendixes in this manual NOTE This customization is not required For more information see Customizing CodeWarrior TRK 4 7 Customizing Checksum Values
45. arks The input string must have a null termination character 10 but this terminating null character is not written to the serial device NOTE The writevartstring function calls writevartx which calls WriteuarT1 0 Consequently writevarTstring executes correctly as long as mritevarmi does Source File uart c Board specific No CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 115 A WriteUARTString See Also e Write UARTIO Write UARTNO CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 116 Freescale Semiconductor Inc Chapter 7 AppTRK Reference This chapter defines what AppTRK is and explains how to use it This chapter includes these topics What is AppTRK e Differences Between AppTRK and Code Warrior TRK Using AppTRK Modifying AppTRK Creating AppTRK for a Non Freescale Linux Image Conditions under which AppTRK Must Be Modified 7 1 What is AppTRK AppTRK is a program that runs on development boards that boot embedded Linux AppTRK is a Linux application that lets the CodeWarrior debugger control other Linux applications running on the board Essentially AppTRK is CodeWarrior TRK transformed into a Linux application hence the name AppTRK 7 2 Differences Between AppTRK and CodeWarrior TRK The main difference between AppTRK and CodeWarrior TRK is that AppTRK is a Linux application However there are other
46. bout registers see the processor specific appendixes in this manual Handler Function DoReadRegisters See Also DoReadRegisters msgcmd h 5 2 7 Reset Requests that CodeWarrior TRK reset the target board Command Set Extended command set level 2 Fields This message contains this field Red S Description command ui8 kDSReset defined in the msgcmd h file Return Values None Error Codes None Remarks After receiving a Reset request CodeWarrior TRK calls its own reset code CodeWarrior TRK restarts and performs all hardware initializations as if the board were being manually reset Handler Function DoReset CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 60 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference See Also DoReset 5 2 8 Step Requests that CodeWarrior TRK let the target application run a specified number of instructions or alternatively until the PC program counter is outside a specified range of values Command Set Extended command set level 2 Fields The fields in this message differ depending on the value of the options field If the value of the options field is kDSStepIntoCount OF kDSStepOverCount the message contains these fields Red Description command ui8 kDSStep defined in the msgcmd h file options ui8 This field can contain one of these values kDSStepIntoCount k
47. bug message or its checksum value can contain bytes equal to these reserved values In this case the sender must create an escape sequence for each such byte before sending the message An escape sequence is a two character sequence composed of a special escape character ox7a followed by a transformation of the original byte value To transform the original character the sender xors the character with the value ox2o as in this line of C code escapedChar originalChar 0x20 CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 27 A A Framing Level NOTE To send a byte with the value of the escape character the sender must first send the escape character followed by the transformation of the original byte A receiver must determine when a message contains an escape sequence After encountering an escape character the receiver performs the same transformation on the byte following the escape character to get the original value of the byte A originalChar escapedChar 0x20 NOTE The sender calculates checksum values for a debug message before creating any escape sequences for the message In addition the sender must create an escape sequence for any byte in a checksum value that contains a reserved byte value 3 2 4 Reliable Message Delivery A receiver sends a reply message in response to every request or notification message from a sender Two kinds of reply messages
48. ce Rev 10 5 0 06 2015 26 Freescale Semiconductor Inc Chapter 3 CodeWarrior TRK Communications 3 2 2 3 Using Multi Byte Checksum Values For multi byte checksum values Code Warrior TRK uses an algorithm called FCS Frame Check Sequence Similar to the one byte checksum value algorithm the FCS algorithms for two and four byte checksum values calculate a single value over the length of the message data However the two and four byte algorithms while more likely to catch communication errors are computationally more expensive than the single byte algorithm The FCS implementations used by Code Warrior TRK are based on the RFC 1662 standard the framing portion of the Point to Point Protocol The RFC 1662 standard is based on the original Fast CRC Cyclic Redundancy Check algorithm The RFC 1662 document and the Code Warrior TRK source code in this file provide details on calculating multi byte FCS values CWTRKDir Export serframe h The sender always adds multi byte FCS values to the data frame using little endian byte order For example to send a 32 bit FCS flag with the value 0x01234567 CodeWarrior TRK or the debugger sends these bytes in the order shown 0x67 0x45 0x23 0x01 3 2 3 Escape Sequences The CodeWarrior TRK communications protocol has these reserved byte values ox7e the start frame end frame flag ox7 the escape character which indicates the beginning of an escape sequence A de
49. connection This section contains these topics Modifying Serial Communication Functions Modifying Existing UART Drivers Changing Data Transmission Rate Customizing CodeWarrior TRK to be Interrupt Driven 4 2 1 Modifying Serial Communication Functions The vart n file declares a set of nine abstract functions that CodeWarrior TRK uses to send and receive serial messages These functions are separated from the main CodeWarrior TRK code so that CodeWarrior TRK can function with new serial drivers easily CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 38 Freescale Semiconductor Inc sss SSS SSS Ss Chapter 4 Customizing CodeWarrior TRK CodeWarrior TRK provides configurable driver code for TI TL16C552a works with most 16552 compatible UARTs In addition many processors include an on chip UART When a supported reference board includes a connection for such a UART CodeWarrior TRK usually provides applicable driver code NOTE This is a required customization For more information see Customizing CodeWarrior TRK If your UART is not compatible with the supplied driver code you must implement your own driver If your UART is compatible with one of the preceding drivers see Modifying Existing UART Drivers If you are using the UART library only to support CodeWarrior TRK you must change these UART functions for new target boards e nitiaizeUART ReadUARTPoll e WriteUARTI However
50. ddresses are within the 32 bit range and that the range of addresses is valid for the target hardware NOTE The powritemMemory function does not support extended memory addresses The powritememory function calls targetaccessMemory Source File msghndlr c Board specific No See Also TargetAccessMemory WriteMemory 6 15 DoWriteRegisters Writes values to a sequence of registers on the target board in response to a WriteRegisters request from the debugger DSError DoWriteRegisters MessageBuffer b b The message buffer that contains the WriteRegisters request and the reply to the request For information about the arguments contained in this message see WriteRegisters Returns Returns a pserror error code Remarks CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 87 InitializelntDrivenUART The powriteRegisters function checks for a valid input sequence The number of the first register must be smaller than the number of the last register in the specified sequence of registers Then powriteRegisters checks the register type Depending on the register type DoWriteRegisters Calls a function as shown in this list kDSRegistersDefault Causes DoWriteRegisters tO call TargetAccessDefault kDSRegistersFP Causes DoWriteRegisters tO call TargetAccessFP kDSRegistersExtended1 Causes DoWriteRegisters tO call TargetAccessExt
51. de After receiving a WriteMemory request CodeWarrior TRK writes the specified data in memory at the specified address To perform this task CodeWarrior TRK calls the function TargetAccessMemory tO write to memory The targetaccessMemory function calls another function validMemory32 that checks whether the addresses to write to are valid for the target board The va1idMemory32 function uses a global variable gmenmap to determine which memory ranges are valid To customize memory checks redefine gmemnMap in the menmap h file NOTE This is a required customization For more information see Customizing Code Warrior TRK For more information see Write Memory TargetAccessMemory and ValidMemory32 4 4 3 Changing SupportMask Related Code After receiving a SupportMask request CodeWarrior TRK calls the rargetsupportMask function The rargetsupportmask function uses a set of board specific variables defined in this file to determine which debug messages your customized version of CodeWarrior TRK supports CWTRKDir Portable default_smask h CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 44 Freescale Semiconductor Inc LLL Chapter 4 Customizing CodeWarrior TRK NOTE This customization is not required For more information see Customizing CodeWarrior TRK Thirty two compile time variables exist each variable is 8 bits wide Each variable is a bit vector where each bit represents on
52. describes the framing portion of the Point to Point Protocol in the Documentation folder of the Code Warrior TRK distribution or on this Web page http andrew2 andrew cmu edu rfc rfc1662 html CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 11 Related Documentation CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 12 Freescale Semiconductor Inc Chapter 2 CodeWarrior TRK Concepts This chapter describes the architecture of Code Warrior TRK and how Code Warrior TRK works This chapter includes these topics e Code Warrior TRK Architecture e Code Warrior TRK Memory Layout e Code Warrior TRK Initializations 2 1 CodeWarrior TRK Architecture This section describes these Code Warrior TRK components e Code Warrior TRK Core CodeWarrior TRK Execution States Request and Notification Handling Message Queues 2 1 1 CodeWarrior TRK Core CodeWarrior TRK contains a core component called the CodeWarrior TRK core that controls its internal state and determines which function should handle a particular debugger request Around this core CodeWarrior TRK has several other modules that perform various tasks The CodeWarrior TRK core is independent of the target board configuration However some handler functions that perform debugging requests are board dependent CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconduc
53. directory cannot be specified for the project location Click Next The Processor page appears Select the target processor for the new project from the Processor list Select a processing model option from the Processing Model group NOTE SMP option is disabled and cannot be selected in the current installation Select AMP One project per core to generate a separate project for each selected core The option will also set the core index for each project based on the core selection Select AMP One build configuration per core to generate one project with multiple targets each containing an lcf file for the specified core Select Application from the Project Output group to create an application with elf extension that includes information required to debug the project Click Next The Build Settings page appears Select a toolchain for Linux applications from the Toolchain group Selected toolchain sets up the default compiler linker and libraries used to build the new project Each toolchain generates code targeted for a specific platform NOTE The current release does not include toolchains for Linux applications by default To add the required Linux build CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 120 Freescale Semiconductor Inc Chapter 7 AppTRK Reference tools support you should install the corresponding service pack for the required target For more information on instal
54. driver that you are using supports interrupt driven serial input If you wrote your own driver code you may have to modify it To modify your driver code you must create your own implementation of these functions for your target board e InitializeIntDrivenUART TransportIrqHandler You can refer to the driver code provided with some of the supported reference boards as examples For more information and for some processors tips on implementing interrupt driven communication see the processor specific appendixes in this manual 4 3 Customizing CPU Speed CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 42 Freescale Semiconductor Inc A zzz zz Ty Chapter 4 Customizing CodeWarrior TRK The value of the cpu_spzzp constant in target n indicates the CPU speed of the target board Set the value of the ceu sese constant to the appropriate speed for your board If you do not know the appropriate speed or the speed is variable a value greater than the maximum speed is acceptable NOTE This is a required customization For more information see Customizing Code Warrior TRK 4 4 Customizing Debug Services Code Warrior TRK provides debug services using a debug message interface that consists of debug requests and debug notifications For more information see Debug Message Interface Reference Some debug messages require related code changes in Code Warrior TRK so that Code Warrior TRK can work w
55. e Return Values None Error Codes CodeWarrior TRK can return this error code kDSReplyError Unknown problem in transmission Remarks None Handler Function DoStop See Also DoStop 5 2 10 SupportMask Requests that CodeWarrior TRK return a list of supported messages Command Set Primary command set level 1 Fields This message contains this field command ui8 kDSSupportMask defined in the msgcmd h file Return Values CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 64 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference This message causes Code Warrior TRK to return these values mask uis 32 A bit array of 32 bytes where each bit corresponds to the message which is of type MessageCommandID with an ID matching the position of the bit in the array protocolLevel ui8 The protocol level supported by CodeWarrior TRK For more information see Command Sets Error Codes CodeWarrior TRK can return these error codes kDSReplyCWDSError An unknown error occurred while processing the request kDSReplyPacketSizeError The length of the message is less than the minimum for a message of that type Remarks If the value of a bit in the masx return value field is 1 the message is available if the value of the bit is O the message is not available For example if knsreset is available the value of the fourt
56. e entire cache of the type specified by the options parameter Source File targimpl c Board specific No See Also DoFlushCache FlushCache 6 30 Targetinterrupt Handles an exception by notifying the debugger DSError TargetInterrupt NubEvent event event The original event triggered by an exception or breakpoint Returns Returns a pszrror error code Remarks CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 101 TargetAccessDefault The rargetinterrupt function which is called when an exception or breakpoint occurs calls DoNotifyStopped to notify the debugger The TargetInterrupt function also sets the running flag to false unless CodeWarrior TRK is stepping through multiple lines and stepping is not complete Source File targimpl c Board specific No See Also DoNotifyStopped 6 31 TargetAccessDefault Reads data from or writes data to a sequence of registers in the default register block DSError TargetAccessDefault unsigned int firstRegister unsigned int lastRegister MessageBuffer b size t registerStorageSize bool read firstRegister The number of the first register in the sequence lastRegister The number of the last register in the sequence b The message buffer that contains the ReadRegisters or WriteRegisters request and the reply to the request For information about the arguments contained in this message s
57. e in the iso help documents pdf folder of the SDK layout 7 3 Using AppTRK This section shows you how to set up an embedded Linux development environment launch AppTRK and create a CodeWarrior project such that the CodeWarrior debugger and AppTRK can communicate over a TCP IP link To accomplish these tasks follow these steps 1 Build the AppTRK package 2 Include the AppTRK package in the ramdisk NOTE For detailed instructions on how to install the SDK and work with the AppTRK package refer the SDK user CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 118 Freescale Semiconductor Inc ES y Chapter 7 AppTRK Reference manual The document is available in the iso help documents pdf folder of the SDK layout 3 Start the Linux BSP a After the kernel boot is finished start the apptrk agent apptrk 12345 amp b Test that the network configuration is working as expected e Ping the Linux host machine IP from the simulated Linux ping the simulated IP from the Linux machine From the Windows machine try telnet iP address gt 1234 Where lt 1p address gt iS the address of the Linux alias Ethernet device and 1234 is the port on which apptrk is running NOTE You will see some AppTRK information after issuing the telnet command If no information shows up then there might be a problem with the whole network configuration 4 Launch CodeWarrior The WorkSpace Launcher dialog box appears prompti
58. e message in the debug message interface The first variable ps_support_masx_00_07 represents the first eight messages those with numbers 0x00 through 0x7 The second variable ps_supporr_masx_os_oFr represents the next eight messages and so on through ps surronr masx re rr Which represents messages 248 through 255 You can remove support for debug messages that your implementation of CodeWarrior TRK does not support by changing the value of the variables Changing the value of a variable changes the value of the individual bits that correspond to the various debug messages To customize the value of the variables cut and paste the variable definitions from default smask h tO target n and change the definitions as needed NOTE You can also add support for additional messages by changing this set of board specific variables This ability is useful only if you are implementing your own debugger For more information see SupportMask DoSupportMask and TargetSupportMask 4 4 4 Changing Versions Related Code The Versions request causes CodeWarrior TRK to return the major and minor version numbers for CodeWarrior TRK and for the messaging protocol NOTE This customization is not required For more information see Customizing CodeWarrior TRK The default implementation of CodeWarrior TRK through the rargetversions o function uses compile time constants to specify the version numbers To customize CodeWarrior TRK modify the
59. e reply to the request The Connect request message does not contain input arguments For more information see Connect Returns Returns a pszrror error code Remarks Sends an acknowledgment to the debugger Source File CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 76 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference msghndlr c Board specific No See Also Connect 6 3 DoContinue Responds to a Continue request from the debugger DSError DoContinue MessageBuffer b b The message buffer that contains the Continue request and the reply to the request The Continue request message does not contain input arguments For more information see Continue Returns Returns a pserror error code Remarks This procedure swaps in the context of the target application and starts running it again Because nocontinue 18 processor specific most of the work is done in the board level function TargetContinue Source File msghndlr c Board specific No See Also TargetContinue Continue CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 77 Maa LL LLLLLLLLLLLLLLLLLBBLBLLL EIILE L ELELLLLLLLZZ ZINNGZT DoFlushCache 6 4 DoCPUType Responds to a CPUType request from the debugger DSError DoCPUType MessageBuffer b b The message buffer that contains the CPUType request and the reply to the req
60. eBuffer b size t registerStorageSize bool read CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 103 ADA AAA AAA TargetAccessExtended1 firstRegister The number of the first register in the sequence lastRegister The number of the last register in the sequence b The message buffer that contains the ReadRegisters or WriteRegisters request and the reply to the request For information about the arguments contained in this message see ReadRegisters or WriteRegisters NOTE The DoReadRegisters Of DoWriteRegisters functions pass the message buffer to TargetAccessExtendedl registerStorageSize On output the number of bytes read or written a maximum of 2048 bytes read A Boolean variable that instructs CodeWarrior TRK to read the specified registers if the variable is true Otherwise CodeWarrior TRK writes the specified registers Returns Returns a pserror error code Remarks The TargetaccessExtendea1 function verifies the range of the specified registers before accessing them and attempts to catch exceptions that occur while reading from or writing to the registers NOTE For more information about registers see the processor specific appendixes in this manual Source File targimpl c Board specific No See Also DoReadRegisters CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 104 Freescale Semiconductor Inc Chap
61. ecksum Values CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 24 Freescale Semiconductor Inc Chapter 3 CodeWarrior TRK Communications The sender encodes a message using a one byte checksum value as follows 1 Specify an initial value of oxoo 2 Add the value of each character byte in the debug message to the running checksum total 3 Complement the final value 4 Place the checksum value immediately after the debug message in the CodeWarrior TRK data frame The listing below shows a C function that sends a debug message and calculates and sends a one byte checksum value for the message Listing 3 1 Calculating a One Byte Checksum Value define FCSBITSIZE FCS8 Hif FCSBITSIZE FCS8 Definitions for 8 bit simple Frame Check Sequences typedef unsigned char FCSType 8 bit type define PPPINITFCS8 0x00 Initial FCS value define PPPGOODFCS8 OxFF Good final FCS value define PPPINITFCS PPPINITFCS8 Hdefine PPPGOODFCS PPPGOODFCS8 define PPPCOMPFCS OxFF complement FCS value ifdef cplusplus inline FCSType PPPFCS FCSType fcs unsigned char c return fcs c else define PPPFCS fcs c feces c Hendif 3 2 2 2 Verifying Single Byte Checksum Values The receiver verifies a message encoded with a one byte checksum value as follows 1 Specify an initial value of oxoo 2 Until the end frame flag arrives add the value of each received byte to the
62. ed function for the end condition of the step Omitting the evaluation is called stepping over a function This example shows some sample code i 10 i DoSomeProcessing i e Assume the execution process is at the first line of the preceding code i 10 and that each line corresponds to a single machine instruction In that case a request to step over four instructions causes CodeWarrior TRK to step past the final line of the preceding code i The number of lines executed in the DoSomeProcessing function does not affect how many lines CodeWarrior TRK steps through in the main flow of execution NOTE One line of code in a high level language such as C or C sometimes corresponds to more than one machine instruction When the debugger specifies kDSStepIntoCount Of kDSStepIntoRange CodeWarrior TRK does evaluate instructions within a called function for the end condition of the step Evaluating the instructions within the function is called stepping into the function Handler Function DoStep See Also DoStep NotifyStopped msgcmd h 5 2 9 Stop Requests that CodeWarrior TRK stop running the target application Command Set Extended command set level 2 Fields This message contains this field CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 63 Messages Sent by Debugger A AE NENN command ui8 kDSStop defined in the msgcmd h fil
63. ee ReadRegisters or WriteRegisters NOTE The DoReadRegisters Of DoWriteRegisters functions pass the message buffer to TargetAccessDefault registerStorageSize On output the number of bytes read or written a maximum of 2048 bytes CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 102 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference read A Boolean variable that instructs CodeWarrior TRK to read the specified registers if the variable is true Otherwise CodeWarrior TRK writes the specified registers Returns Returns a pserror error code Remarks The targetaccessDefault function verifies the range of the specified registers before accessing them and attempts to catch exceptions that occur while reading or writing the registers The DoReadRegisters Of DoWriteRegisters functions which call TargetAccessDefault place the position pointer at the correct position in the message buffer before calling this function NOTE For more information about registers see the processor specific appendixes in this manual Source File targimpl c Board specific No See Also DoReadRegisters DoWriteRegisters ReadRegisters WriteRegisters 6 32 TargetAccessExtended1 Reads data from or writes data to a sequence of registers in the extendea1 register block DSError TargetAccessExtendedl unsigned int firstRegister unsigned int lastRegister Messag
64. endedl e kDSRegistersExtended2 Causes DoWriteRegisters tO call TargetAccessExtended2 The msgcma n file defines the previously listed register type constants NOTE For more information about register definitions see the processor specific appendixes in this manual Source File msghndlr c Board specific No See Also TargetAccessDefault e TargetAccessExtendedl TargetAccessExtended2 TargetAccessFP WriteRegisters msgcmd h CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 88 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference 6 16 InitializelntDrivenUART Initializes the UART library when using interrupt driven I O UARTError InitializeIntDrivenUART UARTBaudRate baudRate unsigned char intDrivenInput unsigned char intDrivenOutput volatile unsigned char inputPendingPtrRef baudRate The data transmission rate baud rate for the UART intDrivenInput Enables interrupt driven input when set to true intDrivenOutput Enables interrupt driven output when set to true NOTE CodeWarrior TRK uses interrupt driven input but not interrupt driven output inputPendingPtrRef On return a pointer to an input pending flag that the calling function can use to determine whether input arrived When interrupt driven input is disabled the value of this flag is always false Returns Returns a varterror error code Remarks The status of t
65. error code Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 33 Debug Message Interface Level Table 3 2 Possible Error Codes in an ACK Reply Message continued Continue FlushCache ReadMemory ReadRegisters Step WriteMemory WriteRegisters This applies only if CodeWarrior TRK and the debugger are using interrupt driven communication Otherwise CodeWarrior TRK cannot receive any messages while the target application is running 0x03 kDSReplyCWDSError An unknown error occurred while processing the request Some ACK replies contain only two bytes the message type identifier and the error code Replies to requests that expect return values however contain additional data following the second byte The returned data values and their format differs for each message For more information about return values see the descriptions of individual debug messages in Debug Message Interface Reference 3 3 2 2 NAK Messages NAK messages indicate that the receiver did not correctly receive the preceding message In most cases the sender resends the message after receiving a NAK message For more information see Reliable Message Delivery The identifier byte the first byte of a NAK message is the value oxrr kDsrepl1ynax as defined in the Code Warrior TRK header file msgcma n The second byte of the message is a
66. ers from the target board in response to a ReadRegisters request from the debugger DSError DoReadRegisters MessageBuffer b b The message buffer that contains the ReadRegisters request and the reply to the request For information about the arguments contained in this message see ReadRegisters Returns Returns a pserror error code Remarks The noreadregisters function checks for a valid input sequence The number of the first register to read must be smaller than the number of the last register to read Then poreadregisters checks the register type Depending on the register type DoReadRegisters Calls one of these functions kDSRegistersDefault Causes DoReadRegisters tO call TargetAccessDefault kDSRegistersFP Causes DoReadRegisters tO call TargetAccessFP kDSRegistersExtended1 Causes DoReadRegisters tO call TargetAccessExtendedl ba kDSRegistersExtended2 Causes DoReadRegisters tO call TargetAccessExtended2 The msgema h file defines the previously listed register type constants NOTE For more information about register definitions see the processor specific appendixes in this manual Source File CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 81 AAA A DoReset msghndlr c Board specific No See Also TargetAccessDefault TargetAccessFP e TargetAccessExtendedl TargetAccessExtended2 ReadRegisters
67. esident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 69 ATA AAA AI NE Messages Sent by CodeWarrior TRK See Also DoWriteRegisters msgcmd h 5 3 Messages Sent by CodeWarrior TRK This section describes the messages that CodeWarrior TRK can send to the debugger Some messages are notifications others are requests The message descriptions include such information as fields sent in the original message and return values NOTE The message descriptions omit acknowledgements and error codes because the debugger always returns them CodeWarrior TRK can send these messages NotifyException NotifyStopped ReadFile WriteFile 5 3 1 NotifyException Notifies the debugger that an exception occurred on the target board Command Set Primary command set level 1 Fields This message contains these fields _ LL AA defined in the msgcemd h file target defined info target specific The value of this field which provides state information about the target board differs for each target processor CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 70 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference Description Usually this field contains information such as the value of the PC program counter the corresponding instruction and the exception ID For more information see TargetAddExceptionInfo Return Values None
68. essage which are defined in msgemd h Table 3 2 Possible Error Codes in an ACK Reply Message 0x00 kDSReplyNoError The request was handled successfully 0x10 kDSReplyUnsupportedCommandErro The request was of an invalid type You r can query CodeWarrior TRK to determine which requests are supported For more information see SupportMask 0x11 kDSReplyParameterError The values of one or more fields in the message were incorrect These messages can return this error ReadMemory WriteMemory Step 0x12 kDSReplyUnsupportedOptionError Some requests include field values that set certain options This error indicates that the sender passed in an unsupported option value These messages can return this error ReadRegisters WriteRegisters ReadMemory WriteMemory Step 0x13 kDSReplyInvalidMemoryRange The specified memory range is invalid The ReadMemory and WriteMemory messages can return this error 0x14 kDSReplyInvalidRegisterRange The specified register range is invalid The ReadRegisters and WriteRegisters messages can return this error 0x15 kDSReplyCWDSException An exception was generated while processing the request These messages can return this error ReadRegisters WriteRegisters ReadMemory WriteMemory 0x16 kDSReplyNotStopped Some requests are valid only when the target application is stopped If the target application is running these requests reply with the
69. essage of that type Handler Function DoVersions See Also DoVersions CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 66 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference 5 2 12 WriteMemory Requests that CodeWarrior TRK write data to a specified memory location Command Set Primary command set level 1 Fields This message contains these fields po She option command ui8 kDSWriteMemory defined in the msgcma h file options ui8 This field can contain one of these values DS MSG MEMORY SEGMENTED DS MSG MEMORY PROTECTED DS MSG MEMORY USERVIEW For more information see the msgcmd h file length uil6 The length of the data a maximum of 2048 bytes start ui32 The starting address of the destination in memory data ui8 The data to write a maximum of 2048 bytes Return Values This message causes CodeWarrior TRK to return this value length uil6 The amount of memory written Error Codes CodeWarrior TRK can return these error codes kDSReplyCWDSError An unknown error occurred while processing the request kDSReplyCWDSException An exception was thrown while processing the request kDSReplyInvalidMemoryRange The specified memory range is invalid Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semic
70. gment messages and NAK no acknowledgment messages ACK messages confirm that the receiver correctly received the preceding message NAK messages indicate that the receiver did not correctly receive the preceding message This section contains these topics ACK Messages NAK Messages 3 3 2 1 ACK Messages An ACK reply message Confirms that the original message was successfully received Contains an error code that specifies whether the receiver handled the original request successfully If the receiver did not handle the request successfully this error code specifies the problem Contains any return values associated with the original request such as register values for a ReadRegisters request CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 32 Freescale Semiconductor Inc E Chapter 3 CodeWarrior TRK Communications The first byte of an ACK message is the message type identifier in this case the value 0x80 kDsReplyacx as defined in the CodeWarrior TRK header file msgcma h The second byte of an ACK message is an error code specifying whether the receiver handled the request or notification correctly If the receiver handled the original message successfully the value of the error code byte is oxoo the Code Warrior TRK constant kpSReplyNoError If the error code byte contains any other value an error occurred The table below lists all possible values of the error code byte in an ACK m
71. h bit is 1 because xpsreset is the fourth message For more information see msgema n Also for information about how the default values are set See target supp mask n and Changing SupportMask Related Code Handler Function DoSupportMask See Also e DoSupportMask msgcmd h 5 2 11 Versions Requests that CodeWarrior TRK return version information Command Set CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 65 Messages Sent by Debugger Primary command set level 1 Fields This message contains this field EAS AU A command ui8 kDSVersions defined in the msgcma h file Return Values This message causes CodeWarrior TRK to return these values kernelMajor ui8 The major version number for CodeWarrior TRK In version 1 2 the kernelMajor is 1 kernelMinor ui8 The minor version number for CodeWarrior TRK In version 1 2 the kernelMinor is 2 protocolMajor ui8 The major version number for the messaging protocol In version 1 2 the protocolMajor is 1 protocolMinor uig The minor version number for the messaging protocol In version 1 2 the protocolMinor is 2 Error Codes Code Warrior TRK can return these error codes Error Code Description kDSReplyCWDSError An unknown error occurred while processing the request kDSReplyPacketSizeError The length of the message is less than the minimum for a m
72. h specifies either a TCP port or a serial device to be used for communication with the host debugger For example AppTRK elf 1234 AppTRK elf dev ttySO To set the baud rate for serial communication use sccy Alternatively AppTRK will use stdin stdout pipes for debug communication if the pipe symbol is specified Using this option AppTRK can be run under ineta For example AppTRK elf CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 122 Freescale Semiconductor Inc Chapter 7 AppTRK Reference 7 6 Conditions under which AppTRK Must Be Modified These are the conditions under which the AppTRK must be modified The same gcc toolchain should be used when compiling both BSP and AppTRK The user must re build AppTRK in case a different gcc is used for building the BSP for example the customer uses a non FSL Linux BSP In this case the user must ensure that the drivers ethernet serial are functional in his BSP The AppTRK communication with the target relies on drivers provided by the BSP CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 123 A ae Conditions under which AppTRK Must Be Modified CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 124 Freescale Semiconductor Inc Index _reset 76 A ACK Messages 32 Alignment 31 AppTRK Reference 117 B Building TI TL16C552a UART Driver 40 Byte Order 3
73. he file a maximum of 2048 bytes file data ui8 The data a maximum of 2048 bytes Return Values This message causes the debugger to return these values CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 73 ERA AAA AAA A Messages Sent by CodeWarrior TRK io result ui8 Standard I O result returned by the debugger kDSIONoError kDSIOError Or kDSIOEOF length uil6 The amount of data written Remarks The startup welcome message is sent as a knswriterile message but it is a special case and does not require a reply See Also mslsupp c targsupp h e SuppAccessFile CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 74 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference This chapter describes Code Warrior TRK functions that may be relevant if you are customizing Code Warrior TRK for new target boards You may have to change functions that this chapter identifies as board specific for new target boards This chapter describes these functions _reset DoConnect DoContinue DoCPUType DoFlushCache DoNotifyStopped DoReadMemory DoReadRegisters DoReset DoStep DoStop DoSupportMask DoVersions DoWriteMemory DoWriteRegisters InitializelntDrivenUART InitializeUART InterruptHandler ReadUARTPoll ReadUART1 ReadUARTN
74. he input pending flag can change at any time unless you mask the serial interrupt Source File For source file information see the processor specific appendixes in this manual Board specific Yes See Also nterruptHandler CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 89 MA IA InitializeUART e SwapAndGo TransportIrqHandler 6 17 InitializeUART Initializes the serial hardware on the target board NOTE You must change tnitializevart for new target boards UARTError InitializeUART UARTBaudRate baudRate baudRate The rate at which CodeWarrior TRK communicates with the debugger The varr n file defines the type varrpaudrate Returns Returns a varterror error code Source File uart c Board specific Yes 6 18 InterruptHandler Handles an interrupt received by Code Warrior TRK void InterruptHandler Returns None Remarks After receiving the interrupt Code Warrior TRK saves the state context of the target application which had been running Code Warrior TRK then restores its own state and handles the interrupt CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 90 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference If the value Of rrx_Transport_tnT_priven is 1 indicating that this Code Warrior TRK is interrupt driven mnterruptHandler first determines whether the
75. he specified registers before accessing them and attempts to catch exceptions that occur while reading the registers NOTE For more information about registers see the processor specific appendixes in this manual Source File targimpl c Board specific No See Also DoReadRegisters DoWriteRegisters ReadRegisters WriteRegisters 6 35 TargetSingleStep Steps into or over a specified number of instructions DSError TargetSingleStep unsigned count bool stepOver CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 107 Haas Be TargetStepOutOfRange count The number of instructions to step over or into stepOver A Boolean value that instructs CodeWarrior TRK to either step into or step over the number of instructions specified by the count parameter A value of 1 indicates a request to step over a value of 0 indicates a request to step into Returns Returns a pserror error code Remarks The targetsinglestep function sets up the trace exception and steps into or over the requested number of instructions After each instruction targetsinglestep checks whether that instruction is the last instruction to step through Source File targimpl c Board specific No See Also DoStep e Step 6 36 TargetStepOutOfRange Runs the target application until the PC Program Counter is outside a specified range of values DSError TargetStepOutOf
76. ide the range specified by the rangeStart and rangeEnd fields kDSReplyUnsupportedOptionError The specified value of the options field is unsupported Remarks After receiving a Step request CodeWarrior TRK steps through one or more instructions This message specifies whether CodeWarrior TRK steps through a specified number of instructions or through all remaining instructions within a specified memory range whether CodeWarrior TRK steps over or into function calls If the value of the options parameter is kDsstepIntoCount OT kDsstepovercount CodeWarrior TRK steps through count instructions in the target application and then returns control to the host If the value of the options parameter is kDSStepIntoRange Of kDSStepOverRange CodeWarrior TRK continues running the program until it encounters an instruction whose address is outside the range specified by rangestart and rangezna Code Warrior TRK then returns control to the host Code Warrior TRK notifies the debugger that the end condition was reached by sending a NotifyStopped notification For more information see NotifyStopped CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 62 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference Using xpsstepovercount and kDsstepoverrange Causes function calls to be counted as a single instruction In other words Code Warrior TRK does not evaluate instructions executed within a call
77. ig h file defines values that are useful when debugging CodeWarrior TRK NOTE This customization is not required For more information see Customizing CodeWarrior TRK You can customize these values DEBUGIO SERIAL CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 48 Freescale Semiconductor Inc Chapter 4 Customizing CodeWarrior TRK When you define pesucro_ser1an Code Warrior TRK writes the debug information to a serial port Code Warrior TRK uses the same serial port as the CodeWarrior TRK requests and notifications Consequently this option works best when debugging manually NOTE Usually you define only besucro_serrar when debugging Code Warrior TRK DEBUGIO RAM When you define pzsucto_ram Code Warrior TRK writes the debug information to a RAM buffer on the target board If you define nesucro_ram you also must define these values which also reside in usr put config h DB START Defines the start of the RAM buffer DB END Defines the end of the RAM buffer DB RAM CONSOLE DUMP If you define besuero_ram you can periodically dump the contents of the RAM buffer to the console stdout by defining ps saw cowsorg pump This ability is useful when using the host plug in to drive CodeWarrior TRK because the debugging output displays in the console window of the debugger NOTE CodeWarrior TRK currently performs a console dump only when the debugger instructs CodeWarrior TRK to step or e
78. interrupt is a communication interrupt If it is mterruptHandler Calls rransportirqHandler tO process the interrupt Otherwise interruptHandler processes the non communication interrupt normally NOTE For some target boards interruptandler is found in a C program file for others interruptHandler resides in an assembly language file and its name differs slightly For more information see the processor specific appendixes Source File For source file information see the processor specific appendixes in this manual Board specific No See Also InitializeIntDrivenUART e SwapAndGo TransportIrqHandler 6 19 ReadUARTPoll Polls the serial device to see whether there is a character to read If there is Readuartro11 reads it otherwise ReaduarTPo11 returns an error NOTE You must change readuartro11 0 for new target boards UARTError ReadUARTPOll char c c Pointer to the output variable for the character read Returns Returns one of these varterror error codes kUARTNoData CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 91 AAA ReadUART1 Indicates that no character was available to read kUARTNOError Indicates that no error occurred Source File uart c Board specific Yes 6 20 ReadUART1 Reads one byte from the serial device UARTError ReadUART1 char c c Pointer to the output variable for the cha
79. ion version of CodeWarrior TRK AppTRK how it differs from the bareboard version of CodeWarrior TRK and how to use AppTRK NOTE For basic information about loading and using Code Warrior TRK with the Code Warrior IDE information that differs among sets of CodeWarrior tools refer to the Targeting manual for your particular target processor If this is your first time customizing the bareboard version of CodeWarrior TRK we recommend you read these chapters in this order CodeWarrior TRK Concepts CodeWarrior TRK Communications Customizing CodeWarrior TRK If you have previously customized the bareboard version of CodeWarrior TRK previously you can proceed directly to the Customizing CodeWarrior TRK To learn about the Linux application version of CodeWarrior TRK read this chapter AppTRK Reference 1 2 Related Documentation This section lists related documentation for CodeWarrior TRK All CodeWarrior manuals mentioned in this section reside in this directory on your CodeWarrior CD CodeWarriorCDNDocumentation CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 10 Freescale Semiconductor Inc Chapter 1 Introduction 1 2 1 Other CodeWarrior Documentation For information about using Code Warrior and Code Warrior TRK with a particular target processor see the Targeting manual for your target processor 1 2 2 Other Documentation You can find the RFC 1662 document which
80. ith your new target board You can also perform some optional customizations This section describes several customizations that you can perform which are related to the debug message interface Changing ReadMemory Related Code Changing WriteMemory Related Code Changing SupportMask Related Code Changing Versions Related Code Changing Maximum Message Length NOTE If you are customizing Code Warrior TRK ensure that you implement all messages in the primary command set For more information see Command Sets 4 4 1 Changing ReadMemory Related Code After receiving a ReadMemory request Code Warrior TRK reads the specified section of memory and returns the result To perform this task CodeWarrior TRK calls TargetAccessMemory tO read memory from the board CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 43 AA Customizing Debug Services The targetaccessMemory function calls another function validMemory32 0 that checks whether the addresses to read are valid for the target board The va1iamemory32 function uses a global variable gvemmap to determine which memory ranges are valid To customize memory checks redefine gmemmap in the menmap h file NOTE This is a required customization For more information see Customizing CodeWarrior TRK For more information see ReadMemory TargetAccessMemory and ValidMemory32 4 4 2 Changing WriteMemory Related Co
81. ling service packs refer to the Service Pack Updater Quickstart available in the lt CodeWarrior Install Dir gt PA folder 16 Click Next The Linux Application Launch Configurations page appears 17 Select New System to create a new Remote system configuration e Select CodeWarrior TRK to use the CodeWarrior Target Resident Kernel TRK protocol to download and control application on the Linux host system NOTE When debugging a Linux application you must use the CodeWarrior TRK to manage the communications interface between the debugger and Linux system n the IP Address textbox enter the IP Address of the Linux host system the project executes on n the Port textbox enter the port number that the debugger will use to communicate to the Linux host system In the Remote Download Path textbox enter the absolute path for the host directory into which the debugger downloads the application 18 Click Finish The wizard creates a Linux application project according to your specifications You can access the project from the CodeWarrior Projects view on the Workbench That s it You have configured your development environment on a simulator using Virtutech Simics for TCP IP communications launched AppTRK such that it can communicate with the CodeWarrior debugger and created a CodeWarrior project configured such that the CodeWarrior debugger can communicate with AppTRK NOTE To start with you can see the CodeWarrior E
82. more information about registers see the processor specific appendixes in this manual Source File targimpl c Board specific No See Also DoReadRegisters DoWriteRegisters ReadRegisters WriteRegisters 6 34 TargetAccessFP Reads data from or writes data to a sequence of registers in the floating point register block DSError TargetAccessFP unsigned int firstRegister unsigned int lastRegister MessageBuffer b size t registerStorageSize bool read firstRegister The number of the first register in the sequence lastRegister The number of the last register in the sequence b The message buffer that contains the ReadRegisters or WriteRegisters request and the reply to the request For information about the arguments contained in this message see ReadRegisters or WriteRegisters CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 106 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference NOTE The DoReadRegisters Of DoWriteRegisters functions pass the message buffer to rargetaccessFP registerStorageSize On output the number of bytes read or written a maximum of 2048 bytes read A Boolean variable that instructs CodeWarrior TRK to read the specified registers if the variable is true Otherwise CodeWarrior TRK writes the specified registers Returns Returns a pserror error code Remarks The targetaccessrp function verifies the range of t
83. n calls validmemory32 0 Which verifies the target addresses based on the memory configuration of the board Source File targimpl c Board specific No See Also DoReadMemory DoWriteMemory e ValidMemory32 e ReadMemory WriteMemory CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 97 AAA AT AAA AAA TargetAddExceptionInfo 6 26 TargetAddExceptionInfo Builds a notifyexception message when notifying the debugger that an exception occurred on the board DSError TargetAddExceptionInfo MessageBuffer b b The message buffer that contains the notifyexception notification For information about the arguments contained in this message see NotifyException Returns Returns a pserror error code Remarks The contents of the message buffer differs depending on the processor Examples of information that the message can contain follow The PC Program Counter at the time the exception was generated The instruction at that value of the PC The exception ID The register definition files define the specific information returned for your target processor For more information about the register definition files and exceptions see the processor specific appendixes in this manual Source File targimpl c Board specific No See Also DoNotifyStopped NotifyException 6 27 TargetAddStopinfo CodeWarrior Target Resident Kernel Reference Rev 10 5
84. n error code The table below lists all possible values of the error code byte in a NAK message which are defined in msgemd h Table 3 3 Possible Error Codes in a NAK Reply Message 0x04 kDSReplyEscapeError An escape character was immediately followed by a start frame end frame flag For more information see Escape Sequences Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 34 Freescale Semiconductor Inc AAA AAA Chapter 3 CodeWarrior TRK Communications Table 3 3 Possible Error Codes in a NAK Reply Message continued 0x02 kDSReplyPacketSizeError The length of the received message was zero 0x05 kDSReplyBadFCS The contents of the CodeWarrior TRK data frame did not match the FCS checksum value For more information see Checksum Values 0x06 kDSReplyOverflow The message exceeded the maximum length of the buffer By default the maximum length of a debug message is 2176 bytes This length includes 2048 bytes for the data block when reading and writing from memory or registers before adding escape sequences and 128 bytes for any additional items in the message You can change the maximum length by changing the value of the variable kMessageBufferSize in the file msgbuf h and recompiling CodeWarrior TRK 0x01 0x07 x DSReplyError x DSReplySequenceMissing Unknown problem in transmission Gap in reply sequence
85. n reset immediately before the jump to _start For example sometimes depending on the reference board for which your default implementation of CodeWarrior TRK is targeted _init_boara moves ROM in memory In this case you can directly reset the program counter in _reset following init board The listing below shows the preceding initialization sequence Listing 2 1 CodeWarrior TRK Initialization Sequence reset calls ZINEG processor init board Before jump to start reset can contain other code performs direct initialization Start NOTE The _ reset function either uses the initialization sequence described in this section or contains the initialization code directly In either case the processor specific initializations precede the board specific initializations The board specific initializations then precede any other direct initializations to perform before making the jump to _start Some reference boards use assembly language code that is labeled _reset rather than a C function For information about the location of _reset or _reset see the processor specific appendixes in this manual CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 18 Freescale Semiconductor Inc Chapter 3 CodeWarrior TRK Communications This chapter describes how Code Warrior TRK communicates with the debugger This chapter is useful for debugging when modifying Code Warrior TRK and for developing debugging
86. ng you to select a workspace to use NOTE Click Browse to change the default location for workspace folder You can also select the Use this as the default and do not ask again checkbox to set default or selected path as the default location for storing all your projects 5 Click OK The default workspace is accepted The CodeWarrior IDE launches and the Welcome page appears NOTE The Welcome page appears only if the CodeWarrior IDE or the selected Workspace is opened for the first time Otherwise the Workbench window appears 6 Click Go to Workbench on the Welcome page The workbench window appears 7 Select File gt New gt Power Architecture Project from the CodeWarrior IDE menu bar CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 119 EA el Using AppTRK 10 11 12 13 14 15 The New Power Architecture Project wizard launches and the Create a Power Architecture Project page appears Specify a name for the new project in the Project name text box For example enter the project name as linux_project If you do not want to create your project in the default workspace a Clear the Use default location checkbox b Click Browse and select the desired location from the Browse For Folder dialog box c In the Location text box append the location with the name of the directory in which you want to create your project NOTE An existing
87. nition in msgcmd h length uil6 The length of the data to read from the file a maximum of 2048 bytes Return Values This message causes the debugger to return these values io result ui8 Standard I O result returned by the debugger kDSIONoError kDSIOError Or kDSIOEOF length uil6 The amount of data read file data ui8 The data a maximum of 2048 bytes CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 72 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference Remarks The debugger can return less data than requested but not more For example a console read request usually returns as soon as the user presses Enter After receiving the requested data from the debugger Code Warrior TRK passes the data to the target application See Also mslsupp c targsupp h e SuppAccessFile 5 3 4 WriteFile Requests that the debugger write data from the target application to a file If the file is stdout OF stderr a console window displays the data Command Set Extended command set level 2 Fields This message contains these fields ELE E A ee A O command ui8 kDSWriteFile defined in the msgcmad h file file handle ui32 The handle of the file to write stdout and stderr have predefined handles For more information see the DSFileHandle definition in msgcmd h length uil6 The length of the data to write to t
88. nsmission rate to the fastest speed that your UART can use without losing characters If your board and UART driver support hardware or software flow control set TRK BAUD RATE to the maximum data transmission rate for the UART However if you experience problems while using CodeWarrior TRK try lowering the data transmission rate NOTE UARTBaudRate 1S defined in varr n In the default implementation TRK BAUD rate 1S defined in the file target n You must also set the debugger to communicate at the same data transmission rate as CodeWarrior TRK For more information see the Targeting manual for your target processor and the processor specific appendixes in this manual NOTE The maximum data transmission rate for the Solaris hosted CodeWarrior debugger is 38 4 KB Consequently if you are using the Solaris hosted debugger you must set the data transmission rate in CodeWarrior TRK to 38 4 KB even if the target board accepts a faster rate 4 2 4 Customizing CodeWarrior TRK to be Interrupt Driven Depending on the target board CodeWarrior TRK uses either serial polling or interrupt driven communication to respond to messages sent by the debugger Interrupt driven communication is the default communication method for target boards for which CodeWarrior TRK currently supports that communication method CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 41 PEA
89. on about your board contact technical support 3 1 2 Data Transmission Rate The default implementation of CodeWarrior TRK uses the highest data transmission rate baud rate that the target board can support The data transmission rate varies depending on the target board or serial controller For more information see the Targeting manual for your target processor NOTE The maximum data transmission rate for the Solaris hosted CodeWarrior debugger is 38 4 kilobytes Consequently if you are using the Solaris hosted debugger you must set the data transmission rate in CodeWarrior TRK to 38 4 kilobytes even if the target board accepts a faster rate You can set the data transmission rate so that it is appropriate for your hardware For more information see Changing the Data Transmission Rate 3 2 Framing Level The framing level is responsible for reliably transporting messages between CodeWarrior TRK and the debugger CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 21 AA A rr Framing Level transmits the messages as arbitrarily sized segments of data places each data segment in a CodeWarrior TRK data frame before transmitting the data verifies the contents of each data frame using a checksum The transmitted data consists of messages defined by the debug message interface Each CodeWarrior TRK data frame contains one message For more information see Debug Message
90. onductor Inc 67 A Messages Sent by Debugger kDSReplyNotStopped The target application is running and must be stopped before the debugger issues this request kDSReplyPacketSizeError The length of the message is less than the minimum for a message of that type kDSReplyParameterError The value of the length field is greater than 2048 or the value of the length field is not equal to the size of the data field kDSReplyUnsupportedOptionError The specified value of the options field is unsupported Remarks CodeWarrior TRK attempts to catch and handle any memory access exceptions that occur while writing the data Handler Function DoWriteMemory See Also DoWriteMemory msgcmd h 5 2 13 WriteRegisters Requests that CodeWarrior TRK write data to a specified sequence of registers Command Set Primary command set level 1 Fields This message contains these fields ESA REP NENNEN AA AE A command ui8 kDSWriteRegisters defined in the msgcmd h file options ui8 This field can contain one of these values kDSRegistersDefault kDSRegistersFP e kDSRegistersExtended1 kDSRegistersExtended2 Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 68 Freescale Semiconductor Inc EE ee gt t Chapter 5 Debug Message Interface Reference A Y NN For more information see the msgcmd h file firs
91. ory void Data void virtualAddress size t memorySize MemoryAccessOptions accessOptions bool read Data For a read operation contains the output of the read For a write operation contains a pointer to the data to write virtualAddress CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 96 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference The starting address in memory for the read or write operation memorySize For a read operation this is on input the requested size of the area to read and on output the size of the area read by TargetaccessMemory 0 For a write operation this is on input the requested amount of data to write and on output the amount of data written by TargetAccessMemory accessOptions A value currently not used by the targetaccessMemory function The value while not used by this function is the same value specified for the options field of the ReadMemory and WriteMemory requests For more information see ReadMemory and WriteMemory read A Boolean value that selects a read or write operation A value of TRUE selects a read operation a value of FALSE selects a write operation Returns Returns a pszrror error code Remarks Both boreadMemory and DoWriteMemory Call TargetaccessMemory tO access memory A Boolean parameter passed by the calling function specifies the read or write operation The targetaccessMemory functio
92. otStopped The target application is running and must be stopped before the debugger issues this request kDSReplyPacketSizeError The length of the message is less than the minimum for a message of that type kDSReplyParameterError The value of the 1ength field is greater than 2048 or the value of the 1ength field is not equal to the size of the data field kDSReplyUnsupportedOptionError The specified value of the options field is unsupported Remarks CodeWarrior TRK attempts to catch and handle any memory access exceptions that occur while reading the data Handler Function DoReadMemory See Also DoReadMemory msgcmd h 5 2 6 ReadRegisters Requests that CodeWarrior TRK read a specified sequence of registers on the target board Command Set Primary command set level 1 Fields This message contains these fields command ui8 kDSReadRegisters defined in the msgcma h file options ui8 This field can contain one of these values kDSRegistersDefault Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 58 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference kDSRegistersFP e kDSRegistersExtended1 kDSRegistersExtended2 For more information see the msgemd h file firstRegister uil6 The number of the first register in the sequence lastRegister uil6 The number of the last register in the sequence
93. ply Message 28 Responding When No Reply Message is Received 29 S Serial Communications Settings 20 Step 61 Stop 63 SuppAccessFile 94 SupportMask 64 SwapAndGo 96 T TargetAccessDefault 102 TargetAccessExtended1 103 TargetAccessExtended2 105 TargetAccessFP 106 TargetAccessMemory 96 TargetAddExceptionInfo 98 TargetAddStopInfo 98 Target Application RAM Sections 17 TargetContinue 99 TargetFlushCache 100 TargetInterrupt 0 TargetSingleStep 107 TargetStepOutOfRange 108 CodeWarrior Target Resident Kernel Reference 126 Freescale Semiconductor Inc How to Reach Us Home Page freescale com Web Support freescale com support Information in this document is provided solely to enable system and software implementers to use Freescale products There are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits based on the information in this document Freescale reserves the right to make changes without further notice to any products herein Freescale makes no warranty representation or guarantee regarding the suitability of its products for any particular purpose nor does Freescale assume any liability arising out of the application or use of any product or circuit and specifically disclaims any and all liability including without limitation consequential or incidental damages Typical parameters that may be provided in Freesc
94. racter read Returns Returns a varterror error code Remarks The reaauart1 function waits until a character is available to read or an error occurs NOTE You must change reaavarti for new target boards Source File uart c Board specific Yes 6 21 ReadUARTN CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 92 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference Reads the specified number of bytes from the serial device UARTError ReadUARTN void bytes unsigned long limit bytes Pointer to the output buffer for the data read limit Number of bytes to read and size of output buffer Returns Returns a varterror error code Remarks Returns after reading the specified number of bytes or encountering an error NOTE The reaavartn function calls readuart1 consequently ReadUARTN executes correctly as long as reaauarti does Source File uart c Board specific No See Also ReadUARTI 6 22 ReadUARTString Reads a terminated string from the serial device UARTError ReadUARTString char S unsigned long limit char termChar S Pointer to the output buffer for the string read limit CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 93 AAA AAA NN SuppAccessFile Size of the output buffer termChar Character that signals the end of the string in the input stream Returns Returns
95. rame before resending it 3 2 4 2 Responding When No Reply Message is Received If the sender of a message receives no reply in response an error occurred Possible reasons for the error include a crucial part of the message such as the start frame or end frame flag being transmitted incorrectly or the receiver crashing while servicing the request If the sender does not receive a reply message within a reasonable amount of time the sender must resend the original message What is a reasonable amount of time to wait before resending The amount of time is a sum of these items Amount of time for the original message to traverse the physical link Amount of time for the reply message to traverse the physical link Amount of time for the receiver to process the request The first two items depend on setup of the serial connection The third item is the amount of time for the receiver CodeWarrior TRK or the debugger to send an ACK or NAK reply This amount varies on a message by message basis because different requests require more or less time to complete before sending an ACK reply However no request requires an amount of time that is noticeable to a human NOTE For requests that require a substantial amount of time to process such as the Continue and Step commands CodeWarrior TRK sends an ACK reply before performing the request One third of a second usually works well as an amount of time to wait before resending a me
96. sgcma h file Return Values None Error Codes Code Warrior TRK can return this error code CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 53 AAA E Messages Sent by Debugger kDSReplyNotStopped The target application is running and must be stopped before the debugger issues this request Remarks The debugger sends this request to tell Code Warrior TRK to resume executing the target application After receiving a Continue request CodeWarrior TRK returns to the event waiting state swaps in the context of the target application and resumes executing the target application The target application runs until a relevant exception occurs For more information see CodeWarrior TRK Execution States Handler Function DoContinue See Also DoContinue 5 2 3 CPUType Requests that Code Warrior TRK return CPU related information for the target board Command Set Extended command set level 2 Fields This message contains this field pe IE CI command ui8 kDSCPUType defined in the msgemd h file Return Values This message causes CodeWarrior TRK to return these values cpuMajor ui8 The major CPU type which indicates the processor family of the target board Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 54 Freescale Semiconductor Inc Chapter 5 Debug Message Interface
97. ssage type For more information about the structure of each request and notification message see Debug Message Interface Reference 3 3 1 1 Alignment Message fields contain no padding for alignment purposes When one message field ends the next field begins on the next byte 3 3 1 2 Byte Order Multi byte data in debug messages uses big endian byte order most significant byte first The table below shows examples of data arranged in big endian byte order Table 3 1 Data in Big endian Byte Order uig 0x12 0x12 uil6 0x1234 0x12 0x34 ui32 0x12345678 0x12 0x34 0x56 0x78 uig 0x12 0x34 0x12 0x34 uil 0x1234 0x5678 0x12 0x34 0x56 0x78 Table continues on the next page CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 31 Debug Message Interface Level Table 3 1 Data in Big endian Byte Order continued ui32 0x12345678 0x9ABCDEFO 0x12 0x34 0x56 0x78 0x9A OxBC 0xDE 0xF0 3 3 1 3 Message Length The maximum length of a debug message is 2176 bytes This length includes 2048 bytes for the data block when reading and writing from memory or registers before adding escape sequences and 128 bytes for any additional items in the message 3 3 2 Reply Messages Usually a reply message responds to each debug message sent Two kinds of reply messages exist ACK acknowled
98. ssage when using the CodeWarrior TRK However this amount may sometimes require adjustment CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 29 Debug Message Interface Level 3 2 4 3 Preventing Transmission Failure To help to prevent transmission failure a receiver can ignore any start frame end frame flags that immediately follow each other A sequence of two start frame endframe flags often indicates that a message was sent and badly corrupted the start frame or end frame flag was lost and a copy of the original message was resent Ignoring the second start frame end frame flag encountered allows communications to continue in most cases Conversely interpreting the second flag can disrupt the current communications session irreparably 3 3 Debug Message Interface Level The debug message interface level defines these messages that CodeWarrior TRK and the debugger exchange Requests Notifications Reply messages A request asks the receiving software to perform a task A notification merely sends information to the receiving software For example CodeWarrior TRK can request that the debugger read information from a file and return the information to CodeWarrior TRK by sending a ReadFile request to the debugger CodeWarrior TRK also can send a NotifyException notification to the debugger to inform the debugger that an exception occurred on the target board The debugger
99. stomize the memory layout information for a new target board change the definition of gMemMap in the memmap h file Source File targimpl c Board specific No See Also memmap h CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 113 A WriteUARTN 6 42 WriteUART1 Writes one byte to the serial device NOTE You must change writevarti for new target boards UARTError WriteUART1 char c e The character to write Returns Returns a varterror error code Source File uart c Board specific Yes See Also WriteUARTN WriteUARTString 6 43 WriteUARTN Writes n bytes to the serial device NOTE The writevuagTN function calls mritevarti consequently WriteUARTN executes correctly as long as writevarti does UARTError WriteUARTN const void bytes unsigned long length bytes Pointer to the input data length The number of bytes to write CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 114 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference Returns Returns a varterror error code Source File uart c Board specific No See Also e Write UARTIO e Write UARTString 6 44 WriteUARTString Writes a character string to the serial device UARTError WriteUARTString const char string string Pointer to the input data Returns Returns a varterror error code Rem
100. sult Pointer to storage for an I O result error code For more information see the definition of DSIOResult N msgemd h need reply If TRUE suppAccessFile Waits for an acknowledgement from the debugger If the debugger sends an invalid acknowledgement or suppaccessFile Waits for the duration of the timeout limit suppaccessriie 0 resends the message read If rruz a ReadFile message is sent If rarse a WriteFile message is sent Returns Returns a pserror error code Remarks None Source File support c Board specific No See Also msgcmd h CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 95 TargetAccessMemory 6 24 SwapAndGo Saves the state context of CodeWarrior TRK restores the state of the target application and continues executing the target application from the PC program counter void SwapAndGo Returns None Remarks The rargetcontinue function calls swapandco to resume running the target application after Code Warrior TRK responds to an interrupt or a message from the debugger Source File For source file information see the processor specific appendixes in this manual Board specific No See Also InitializeIntDrivenUART nterruptHandler TransportIrqHandler 6 25 TargetAccessMemory Reads from or writes to memory in response to a ReadMemory request or a WriteMemory request DSError TargetAccessMem
101. systems to communicate with Code Warrior TRK Code Warrior TRK continuously communicates with the debugger This communication has these levels Transport Level Framing Level Debug Message Interface Level NOTE When describing CodeWarrior TRK communications this chapter uses the terms sender and receiver The sender is the software that currently is sending a message The receiver is the software that currently is receiving a message Both the debugger and CodeWarrior TRK can be either a sender or a receiver depending on the action each is performing at a particular moment The figure below shows the interaction of the communication levels CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 19 Transport Level Host Machine CodeWarrlor Debugger CodeWarrior TRK Debug Message Interface Level 1 cane Framing Level Transport Level Transport Level Serlal Connection Figure 3 1 CodeWarrior TRK Communication Levels 3 1 Transport Level The transport level is the level at which the host machine and the target board send physical signals to and receive physicals signals from each other over a serial cable connection or Ethernet connection For maximum portability the low level code that drives the serial Ethernet controller is separated from the Code Warrior TRK core Code Warrior TRK provides a simple interface that can work with different UART Universal
102. tRegister uil The number of the first register in the sequence lastRegister uil The number of the last register in the sequence registerData ui32 An array of register values The size of each element depends on the size of the registers If the registers are 2 bytes wide then a new value starts every 2 bytes If the registers are 4 bytes wide a new value starts every 4 bytes The maximum length of this array is 2048 bytes Return Values None Error Codes CodeWarrior TRK can return these error codes kDSReplyCWDSError An unknown error occurred while processing the request kDSReplyCWDSException An exception was thrown while processing the request kDSReplyInvalidRegisterRange The specified register range is invalid kDSReplyNotStopped The target application is running and must be stopped before the debugger issues this request kDSReplyPacketSizeError The length of the message is less than the minimum for a message of that type kDSReplyUnsupportedOptionError The specified value of the options field is unsupported Remarks After receiving a WriteRegisters request CodeWarrior TRK writes the specified data into the specified register sequence CodeWarrior TRK attempts to catch and handle any access exceptions that occur while writing NOTE For information about registers see the processor specific appendixes in this manual Handler Function DoWriteRegisters CodeWarrior Target R
103. ter 6 CodeWarrior TRK Function Reference DoWriteRegisters ReadRegisters WriteRegisters 6 33 TargetAccessExtended2 Reads data from or writes data to a sequence of registers in the excenaea2 register block DSError TargetAccessExtended2 unsigned int firstRegister unsigned int lastRegister MessageBuffer b size t registerStorageSize bool read firstRegister The number of the first register in the sequence lastRegister The number of the last register in the sequence b The message buffer that contains the ReadRegisters or WriteRegisters request and the reply to the request For information about the arguments contained in this message see ReadRegisters or WriteRegisters NOTE The DoReadRegisters Of DoWriteRegisters functions pass the message buffer to TargetAccessExtended2 registerStorageSize On output the number of bytes read or written a maximum of 2048 bytes read A Boolean variable that instructs CodeWarrior TRK to read the specified registers if the variable is true Otherwise CodeWarrior TRK writes the specified registers Returns Returns a pserror error code Remarks CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 105 TargetAccessFP The rargetaccessExtended2 function verifies the range of the specified registers before accessing them and attempts to catch exceptions that occur while reading the registers NOTE For
104. ter 6 CodeWarrior TRK Function Reference The message buffer that contains the SupportMask request and the reply to the request The SupportMask request message does not contain input arguments For more information see SupportMask Returns Returns a pserror error code Remarks The DoSupportMask function calls TargetSupportMask which returns a 256 bit vector that indicates which messages of the debug message interface CodeWarrior TRK supports Then posupportmask places the vector in a reply message that CodeWarrior TRK sends to the debugger In the returned bit vector each bit corresponds to the message type wessagecommanarp with an ID matching the position of the bit in the array If the value of the bit is 1 the message is available if the value of the bit is O the message is not available For example if knsreset is available the value of the fourth bit is 1 because knsreset is the fourth message For more information see nsgcna h Source File msghndlr c Board specific No See Also TargetSupportMask e SupportMask 6 13 DoVersions Replies with a set of four version numbers in response to a Versions request from the debugger DSError DoVersions MessageBuffer b CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 85 DoWriteMemory The message buffer that contains the Versions request and the reply to the request The Versions request mess
105. tion Handling A set of handler functions separate from the CodeWarrior TRK core comprises another module of CodeWarrior TRK that handles debugger requests and notifications Board specific information related to handling requests and notifications is in most cases encapsulated within special header files in this directory CWTRKDir Processor ProcessorType Board For more information see Customizing Debug Services 2 2 CodeWarrior TRK Memory Layout This section contains these topics CodeWarrior TRK RAM Sections Target Application RAM Sections CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 16 Freescale Semiconductor Inc Ty Chapter 2 CodeWarrior TRK Concepts 2 2 1 CodeWarrior TRK RAM Sections The table below shows the memory sections that exist in RAM when you run CodeWarrior TRK from ROM Table 2 1 CodeWarrior TRK RAM sections Data The data section includes all read write data in the program When running from a ROM based version of CodeWarrior TRK CodeWarrior TRK copies any initial values from ROM to RAM CodeWarrior TRK uses 6KB of RAM for global data Exception vectors Exception vectors are sections of code executed in the event of a processor exception The processor determines the location of exception vectors For more information see the processor specific appendixes in this manual The stack CodeWarrior TRK requires at least 8KB of RAM for its stack which is also the maximum
106. tor Inc 13 LE cpm 9 i CodeWarrior TRK Architecture 2 1 2 CodeWarrior TRK Execution States CodeWarrior TRK has two main operating states the message handling state and the event waiting state A Reset request or a hardware reset causes CodeWarrior TRK to enter its board initialization state After the board initializations complete CodeWarrior TRK enters its message handling state In this state CodeWarrior TRK continuously services requests from the debugger CodeWarrior TRK is in a continuous loop waiting for requests from the debugger It passes each request that it receives to an appropriate handler function NOTE The target application does not execute while CodeWarrior TRK is in the message handling state When the debugger sends a Continue or Step request CodeWarrior TRK enters its event waiting state While in the event waiting state the target application executes rather than CodeWarrior TRK CodeWarrior TRK remains inactive waiting for a relevant exception When one occurs CodeWarrior TRK stops execution of the target application resumes control of the processor and reenters the message handling state NOTE Usually an exception causes CodeWarrior TRK to begin executing again a context switch and to enter the message handling state However if CodeWarrior TRK currently is processing a multiple line step command the target application resumes control of the processor
107. uest The CPUTYype request message does not contain input arguments For more information see CPUType Returns Returns a DSError error code Remarks The reply message for this function returns relevant information about the CPU and registers of the target board For more information see CPUType Source File msghndlr c Board Specific No See Also msgemd h 6 5 DoFlushCache Responds to a FlushCache request from the debugger DSError DoFlushCache MessageBuffer b b The message buffer that contains the FlushCache request and the reply to the request For information about the arguments contained in this message see FlushCache Returns Returns a pszrrox error code CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 78 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference Remarks The message buffer contains values that specify the range of memory to flush The DoFlushCache function calls TargetFlushCache Source File msghndlr c Board specific No See Also TargetFlushCache e FlushCache msgcmd h 6 6 DoNotifyStopped Notifies the debugger that the target application stopped executing DSError DoNotifyStopped MessageCommandID command command The type of message to send to the debugger which can be one of these kDSNotifyStopped kDSNotifyException See msgcna n for more information about these messages Returns Returns a pszrror
108. unction starts running the program by calling swapanaco and sets the running flag to true When Code Warrior TRK regains control because of an unhandled exception or breakpoint control returns to the Code Warrior TRK core which properly handles the exception Source File targimpl c Board specific No See Also DoContinue Continue e SwapAndGo 6 29 TargetFlushCache Flushes the caches as specified by the input parameters DSError TargetFlushCache ui8 options void start void end options The type of cache to flush start The starting address of the memory to flush in the cache end The ending address of the memory to flush in the cache CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 100 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference Returns Returns a pszrror error code Remarks You may have to modify vaxgecriushcache 0 if you create a new Code Warrior TRK implementation to work with a currently unsupported processor In this case your new version Of targetFlushcache must do one of these Flush the caches as specified by the options start and ena parameters Flush more than the specified amount of cache For example if you choose not to examine the options parameter to see which type of cache to flush you must flush all the caches on the board If you examine the options parameter but not the start and ena parameters you must flush th
109. ut pending flag to true The reaavartro11 function gets the next character from the buffer and clears the input pending flag if the buffer becomes empty When creating your own implementation of Transport IrqHandler do not assume that the registers hold any particular values The transport trqHandler function always must return to the calling function Source File For source file information see the processor specific appendixes in this manual Board specific Yes See Also InitializelntDrivenUARTO InterruptHandler e SwapAndGo 6 41 ValidMemory32 CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 112 Freescale Semiconductor Inc Chapter 6 CodeWarrior TRK Function Reference Verifies the range of addresses for the target board when CodeWarrior TRK reads or writes to memory DSError ValidMemory32 const void addr size t length ValidMemoryOptions readWriteable addr The starting address of the memory segment length The length of the memory segment readWriteable This parameter must be one of these values kValidMemoryReadable kValidMemoryWriteable Returns Returns a pserror error code If the memory segment is valid returns knozrror else returns kInvalidMemory Remarks The va1idMemory32 0 function is not board specific However validMmemory32 uses a global variable called gmenmap which contains board specific memory layout information NOTE To cu
110. xamples projects included in the CodeWarrior layout These include a Fork Thread Shared Library and some other projects 7 4 Modifying AppTRK CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 121 IEA Th Creating AppTRK for a Non Freescale Linux Image A working AppTRK is provided with each Linux BSP you obtain from Freescale On rare occasions however you may want to modify the AppTRK To modify AppTRK and include it in the Linux image running on your development board follow these steps 1 Modify and build the libelf and AppTRK projects NOTE For details on modifying and building an AppTRK package refer the SDK user manual The document is available in the iso help documents pdf folder of the SDK layout 2 Copy the modified apprrx e1 file to the simulated Linux filesystem 3 Redeploy the kernel package for creating the new ramdisk with AppTRK included 4 Boot the kernel with the new ramdisk and start the AppTRK agent That s it You have modified AppTRK and included it in the Linux image running on your development board 7 5 Creating AppTRK for a Non Freescale Linux Image NOTE For details on creating an AppTRK package for a Non Freescale Linux image refer the SDK user manual The document is available in the iso help documents pdf folder of the SDK layout AppTRK is intended to be run from the command line on the target system It accepts one parameter whic
111. xecute the target application In between CodeWarrior TRK stores debugging output until the next opportunity to dump it CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 49 Customizing usr_put_config h for Debugging CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 50 Freescale Semiconductor Inc Chapter 5 Debug Message Interface Reference This chapter describes the debug message interface that is the set of debug messages that the debugger and Code Warrior TRK use to communicate This chapter contains these topics Command Sets Messages Sent by Debugger e Messages Sent by Code Warrior TRK 5 1 Command Sets Each message described in this chapter belongs to either the primary command set level 1 or the extended command set level 2 which the description of the command indicates To function properly the debugger requires all messages in the primary command set However messages in the extended command set while useful are optional NOTE If you are customizing CodeWarrior TRK ensure that you implement all messages in the primary command set 5 2 Messages Sent by Debugger This section describes the messages that the debugger can send to CodeWarrior TRK which are all requests CodeWarrior Target Resident Kernel Reference Rev 10 5 0 06 2015 Freescale Semiconductor Inc 51 Messages Sent by Debugger NOTE See this file for
112. yte checksum value immediately after the debug message as part of the framing process The receiver uses the checksum value to verify the integrity of the data NOTE The sender calculates checksum values for a debug message before creating any escape sequences for the message In addition the sender must create an escape sequence for any byte in a checksum value that contains a reserved byte value For more information see Escape Sequences By default Code Warrior TRK uses a single byte checksum value However you can customize Code Warrior TRK to use a two or four byte checksum value For more information see Customizing Checksum Values The sender calculates a checksum value serially by starting at the beginning of the message with an initial value and updating it for each successive byte of message data This section contains these sections which describe how CodeWarrior TRK and the debugger calculate one two and four byte checksum values Encoding Single Byte Checksum Values Verifying Single Byte Checksum Values Using Multi Byte Checksum Values NOTE CodeWarrior TRK contains implementations for computing checksum values If you are developing your own debugger to communicate with CodeWarrior TRK you may want to borrow your implementation directly from CodeWarrior TRK These source files implement checksums CWTRKDir Export serframe h CWTRKDir Transport protocol rfc_1662 rfcl1662 c 3 2 2 1 Encoding Single Byte Ch

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