T89C51CC01_06

Features • Protocol – CAN Used as a Physical Layer – 7 ISP CAN Identifiers – Relocatable ISP CAN Identifiers – Autobaud • In-System Programming – Read/Write Flash and EEPROM Memories – Read Device ID – Full-chip Erase – Read/Write Configuration Bytes – Security Setting from ISP Command – Remote Application Start Command • In-Application Programming/Self-Programming – Read/Write Flash and EEPROM Memories – Read Device ID – Block Erase – Read/Write Configuration Bytes – Bootloader Start CAN Microcontrollers T89C51CC01 CAN Bootloader Description This document describes the CAN bootloader functionalities as well as the CAN protocol to efficiently perform operations on the on-chip Flash (EEPROM) memories. Additional information on the T89C51CC01 product can be found in the T89C51CC01 datasheet and the T89C51CC01 Errata sheet available on the Atmel web site, www.atmel.com. The bootloader software package (source code and binary) currently used for production is available from the Atmel web site. Bootloader Revision Revisions 1.0.4 and higher Purpose of Modifications First release Date 02/12/2001 Rev. 4210D–CAN–05/06 1 Functional Description In-System Programming Capability The T89C51CC01 Bootloader facilitates In-System Programming and In-Application Programming. In-System Programming allows the user to program or reprogram a microcontroller onchip Flash memory without removing it from the system and without the need of a preprogrammed application. The CAN bootloader can manage a communication with a host through the CAN network. It can also access and perform requested operations on the on-chip Flash memory. In-Application Programming or SelfProgramming Capability In-Application Programming (IAP) allows the reprogramming of a microcontroller onchip Flash memory without removing it from the system and while the embedded application is running. The CAN bootloader contains some Application Programming Interface routines named API routines allowing IAP by using the user’s firmware. Block Diagram This section describes the different parts of the bootloader. Figure 1 shows the on-chip bootloader and IAP processes. Figure 1. Bootloader Process Description On-chip External Host via the CAN Protocol Communication User Application ISP Communication Management IAP User Call Management Flash Memory Management Flash Memory 2 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader ISP Communication Management The purpose of this process is to manage the communication and its protocol between the on-chip bootloader and an external device (host). The on-chip bootloader implements a CAN protocol (see Section “Protocol”, page 10). This process translates serial communication frames (CAN) into Flash memory accesses (read, write, erase...). Several Application Program Interface (API) calls are available to the application program to selectively erase and program Flash pages. All calls are made through a common interface (API calls) included in the bootloader. The purpose of this process is to translate the application request into internal Flash Memory operations. This process manages low level accesses to the Flash memory (performs read and write accesses). User Call Management Flash Memory Management Bootloader Configuration Configuration and Manufacturer Information The following table lists Configuration and Manufacturer byte information used by the bootloader. This information can be accessed through a set of API or ISP commands. Mnemonic BSB SBV SSB EB CANBT1 CANBT2 CANBT3 NNB CRIS Manufacturer ID1: Family Code ID2: Product Name ID3: Product Revision Description Boot Status Byte Software Boot Vector Software Security Byte Extra Byte CAN Bit Timing 1 CAN Bit Timing 2 CAN Bit Timing 3 Node Number Byte CAN Relocatable Identifier Segment Default Value FFh FCh FFh FFh FFh FFh FFh FFh 00h 58h D7h BBh FFh 3 4210D–CAN–05/06 Mapping and Default Value of Hardware Security Byte The 4 Most Significant Byte (MSB) of the Hardware Byte can be read/written by software (this area is called Fuse bits). The 4 (Least Significant Byte) LSB can only be read by software and written by hardware in parallel mode (with parallel programmer devices). Bit Position 7 6 5 4 3 2 1 0 Mnemonic X2B BLJB Reserved Reserved Reserved LB2 LB1 LB0 Default Value U P U U U P U U To lock the chip (see datasheet) Description To start in x1 mode To map the boot area in code area between F800h-FFFFh Note: 1. U: Unprogram = 1 P: Program = 0 Security The bootloader has Software Security Byte (SSB) to protect itself from user access or ISP access. The Software Security Byte (SSB) protects from ISP accesses. The command ‘Program Software Security Bit’ can only write a higher priority level. There are three levels of security: • Level 0: NO_SECURITY (FFh) This is the default level. From level 0, one can write level 1 or level 2. Level 1: WRITE_SECURITY (FEh) In this level it is impossible to write in the Flash memory, BSB and SBV. The Bootloader returns ID_ERROR message. From level 1, one can write only level 2. Level 2: RD_WR_SECURITY (FCh) Level 2 forbids all read and write accesses to/from the Flash memory. The Bootloader returns ID_ERROR message. • • Only a full chip erase command can reset the software security bits. Level 0 Flash/EEPROM Fuse bit BSB & SBV & EB SSB Manufacturer info Bootloader info Erase block Full chip erase Blank check Any access allowed Any access allowed Any access allowed Any access allowed Read only access allowed Read only access allowed Allowed Allowed Allowed Level 1 Read only access allowed Read only access allowed Read only access allowed Write level2 allowed Read only access allowed Read only access allowed Not allowed Allowed Allowed Level 2 All access not allowed All access not allowed All access not allowed Read only access allowed All access not allowed All access not allowed Not allowed Allowed Allowed 4 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Software Boot Vector The Software Boot Vector (SBV) forces the execution of a user bootloader starting at address [SBV]00h in the application area (FM0). The way to start this user bootloader is described in Section “Boot Process”. Figure 2. Software Boot Vector CAN Bootloader User Bootloader Application [SBV]00h FM1 FM0 FLIP Software Program FLIP is a PC software program running under Windows® 9x/2000/XP Windows NT® and LINUX® that supports all Atmel Flash microcontroller and CAN protocol communication media. Several CAN dongles are supported by FLIP (for Windows). This software program is available free of charge from the Atmel web site. 5 4210D–CAN–05/06 In-System Programming ISP allows the user to program or reprogram a microcontroller’s on-chip Flash memory through the CAN network without removing it from the system and without the need of a pre-programmed application. This section describes how to start the CAN bootloader and the higher level protocols over the CAN. Boot Process The bootloader can be activated in two ways: • • Hardware condition Regular boot process Hardware Condition The Hardware conditions (EA = 1, PSEN = 0) during the RESET falling edge force the on-chip bootloader execution. In this way the bootloader can be carried out whatever the user Flash memory content. As PSEN is an output port in normal operating mode (running user application or bootloader code) after reset, it is recommended to release PSEN after falling edge of reset signal. The hardware conditions are sampled at reset signal falling edge, thus they can be released at any time when reset input is low. 6 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Figure 3. Regular Boot Process RESET Hardware Boot Process b it E N B O O T in A U XR 1 R eg is te r is in itia lize d with B LJ B inv erte d ENBOOT = 1 P C = F 8 00 h F C O N = 0 0h H ard wa re C o nd itio n No ENBOO T = 0 P C = 00 00 h Yes Yes B LJ B = 1 ENBOO T = 1 P C = F 80 0h FCO N = F0h No Software Boot Process F C O N = 00 h Y es No S B V < 7F h No Yes S ta rt A p p lica tio n S tart U se r B o o tloa d er S tart B o o tloa de r 7 4210D–CAN–05/06 Physical Layer The CAN is used to transmit information has the following configuration: • • • Standard Frame CAN format 2.0A (identifier 11-bit) Frame: Data Frame Baud rate: autobaud is performed by the bootloader CAN Controller Initialization Two ways are possible to initialize the CAN controller: • • • • Use the software autobaud Use the user configuration stored in the CANBT1, CANBT2 and CANBT3 EB = FFh: the autobaud is performed. EB not equal to FFh: the CANBT1:2:3 are used. The selection between these two solutions is made with EB: CANBT1:3 and EB can be modified by user through a set of API or with ISP commands. The figure below describes the CAN controller flow. Figure 4. CAN Controller Initialization CAN Controller Initialization EB = FFh Yes No Read CANBT1 Value Read CANBT2 Value Read CANBT3 Value Yes CANBTx = FFh x=(1,3) No Configure the CAN Controller CAN Error Yes Set the CAN Controller in Autobaud Mode No Autobaud OK Yes No CAN Macro Initialized 8 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader CAN Autobaud The following table shows the auto baud performance for a point-to-point connection in X1 mode. 8 MHz 20K 100K 125K 250K 500K 1M 11.059 MHz 12 MHz 16 MHz 20 MHz 22.1184 MHz 24 MHz 25 MHz 32 MHz 40 MHz – – – – – – Note: ‘–’ indicates an impossible configuration. CAN Autobaud Limitation The CAN Autobaud implemented in the bootloader is efficient only in point-to-point connection. Because in a point-to-point connection, the transmit CAN message is repeated until a hardware acknowledge is done by the receiver. The bootloader can acknowledge an incoming CAN frame only if a configuration is found. This functionality is not guaranteed on a network with several CAN nodes. 9 4210D–CAN–05/06 Protocol Generic CAN Frame Description Identifier Control Data 11-bit 1 byte 8 bytes max • • • Identifier: Identifies the frame (or message). Only the standard mode (11-bit) is used. Control: Contains the DLC information (number of data in Data field) 4-bit. Data: Data field consists of zero to eight bytes. The interpretation within the frame depends on the Identifier field. To describe the ISP CAN Protocol, we use Symbolic name for Identifier, but default values are given. The CAN Protocol manages directly using hardware a checksum and an acknowledge. Note: Command Description This protocol allows to: • • • • • • • Initiate the communication Program the Flash or EEPROM Data Read the Flash or EEPROM Data Program Configuration Information Read Configuration and Manufacturer Information Erase the Flash Start the application Overview of the protocol is detailed in Appendix-A. Several CAN message identifiers are defined to manage this protocol. Identifier Command Effect Value ID_SELECT_NODE ID_PROG_START ID_PROG_DATA ID_DISPLAY_DATA ID_WRITE_COMMAND ID_READ_COMMAND ID_ERROR Open/Close a communication with a node Start a Flash/EEPROM programming Data for Flash/EEPROM programming Display data Write in XAF, or Hardware Byte Read from XAF or Hardware Byte and special data Error message from bootloader only [CRIS]0h [CRIS]1h [CRIS]2h [CRIS]3h [CRIS]4h [CRIS]5h [CRIS]6h It is possible to allocate a new value for CAN ISP identifiers by writing the byte CRIS with the base value for the group of identifier. The maximum value for CRIS is 7Fh and the default CRIS value is 00h. 10 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Figure 5. Identifier Remapping CAN Identifiers 7FFh CAN ISP Identifiers ID_ERROR ID_READ_COMMAND ID_WRITE_COMMAND ID_DISPLAY_DATA ID_PROG_DATA ID_PROG_START ID_SELECT_NODE [CRIS]0h Group of 7CAN Messages Used for Managing CAN ISP 000h Communication Initialization The communication with a device (CAN node) must be opened prior to initiate any ISP communication. To open communication with the device, the Host sends a “connecting” CAN message (ID_SELECT_NODE) with the node number (NNB) passed in parameter. If the node number passed is equal to FFh then the CAN bootloader accepts the communication (Figure 6). Otherwise the node number passed in parameter must be equal to the local Node Number (Figure 7). Figure 6. First Connection Interface Board between PC NNB = FFh (Default Value) and CAN Network Host Node 1 Figure 7. On Network Connection NNB = 00h Node 0 NNB = 01h Node 1 NNB = 03h Node 3 NNB = n Node n Interface Board Between PC and CAN Network Host 11 4210D–CAN–05/06 Before opening a new communication with another device, the current device communication must be closed with its connecting CAN message (ID_SELECT_NODE). Request From Host Identifier Length Data[0] ID_SELECT_NODE 1 num_node Note: num_node is the NNB (Node Number Byte) to which the Host wants to talk to. Answers From Bootloader Identifier Length Data[0] Data[1] Comment 00h ID_SELECT_NODE 2 boot_version 01h Communication close Communication open Note: Data[0] contains the bootloader version. If the communication is closed then all the others messages won’t be managed by bootloader. ID_SELECT_NODE Flow Description Host Send Select Node Message with Node Number in Parameter Bootloader ID_SELECT_NODE Message Wait Select Node OR node select = FFh node select = local node number Time-out 10 ms COMMAND ABORTED state com = com open State com = com open State com = com closed Read Bootloader Version Wait Select Node ID_SELECT_NODE Message COMMAND FINISHED Send Bootloader Version and State of Communication COMMAND FINISHED Example identifier HOST BOOTLOADER Id_select_node Id_select_node length 01 02 data FF 01 01 12 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Programming the Flash or EEPROM Data The ID_PROG_START flow described below shows how to program data in the Flash memory or in the EEPROM data memory. This operation can be executed only with a device previously opened in communication. 1. The first step is to indicate which memory area (Flash or EEPROM data) is selected and the range address to program. 2. The second step is to transmit the data. The bootloader programs on a page of 128 bytes basis when it is possible. The host must take care of the following: • • The data to program transmitted within a CAN frame are in the same page. To transmit 8 data bytes in CAN message when it is possible 3. To start the programming operation, the Host sends a “start programming” CAN message (ID_PROG_START) with the area memory selected in data[0], the start address and the end address passed in parameter. Requests from Host Identifier Length Data[0] Data[1] Data[2] Data[3] Data[4] 00h ID_PROG_START 5 01h address_start address_end Notes: 1. Data[0] chooses the area to program: - 00h: Flash - 01h: EEPROM data 2. Address_start gives the start address of the programming command. 3. Address_end gives the last address of the programming command. Answers from Bootloader The device has two possible answers: • • If the chip is protected from program access an “Error” CAN message is sent (see Section “Error Message Description”, page 22). Otherwise an acknowledge is sent. Identifier Length ID_PROG_START 0 The second step of the programming operation is to send data to program. Request from Host To send data to program, the Host sends a ‘programming data’ CAN message (ID_PROG_DATA) with up to 8 data by message and must wait for the answer of the device before sending the next data to program. Identifier Length Data[0] ... Data[7] ID_PROG_DATA up to 8 x ... x 13 4210D–CAN–05/06 Answers from Bootloader The device has two possible answers: • • If the device is ready to receive new data, it sends a “programming data” CAN message (ID_PROG_DATA) with the result Command_new passed in parameter. If the device has finished the programming, it sends a “programming data” CAN message (ID_PROG_DATA) with the result Command_ok passed in parameter. Identifier Length Data[0] Description 00h ID_PROG_DATA 1 01h 02h Command OK Command fail Command new data ID_PROG_DATA Flow Description Host Send prog_start message with addresses Bootloader ID_PROG_START Message Wait Prog start OR Wait ERROR COMMAND ABORTED Wait Prog Start SSB = Level 0 ID_ERROR Message ID_PROG_START Message Send ERROR Send ProgStart Send prog_data message with 8 datas ID_PROG_DATA Message Wait Data prog Column Latch Full All bytes received Wait Programming All bytes received OR Wait COMMAND_N ID_PROG_DATA Message Send COMMAND_NEW_DATA ID_PROG_DATA Message Wait COMMAND_OK COMMAND FINISHED Send COMMAND_OK COMMAND FINISHED 14 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Example Programming Data (write 55h from 0000h to 0008h in the flash) identifier HOST BOOTLOADER HOST BOOTLOADER HOST BOOTLOADER Id_prog_start Id_prog_start Id_prog_data Id_prog_data Id_prog_data Id_prog_data control 05 00 08 01 01 01 00 data 00 00 00 08 55 02 55 00 55 55 55 55 55 55 55 // command_new_data // command_ok data Programming Data (write 55h from 0000h to 0008h in the flash)with SSB in write security identifier HOST BOOTLOADER Id_prog_start Id_error control 04 01 00 00 00 08 00 // error_security Reading the Flash or EEPROM Data The ID_DISPLAY_DATA flow described below allows the user to read data in the Flash memory or in the EEPROM data memory. A blank check command on the Flash memory is possible with this flow. This operation can be executed only with a device previously opened in communication. To start the reading operation, the Host sends a “Display Data” CAN message (Id_display_data) with the area memory selected, the start address and the end address passed in parameter. The device splits into block of 8 bytes data to transfer to the Host if the number of data to display is greater than 8 data bytes. Requests from Host Identifier Length Data[0] Data[1] Data[2] Data[3] Data[4] 00h ID_DISPLAY_DATA 5 01h 02h address_start address_end Notes: 1. Data[0] selects the area to read and the operation - 00h: Display Flash - 01h: Blank Check on the Flash - 02h: Display EEPROM data 2. The Address_start gives the start address to read. 3. The Address_end gives the last address to read. Answers from Bootloader The device has two possible answers: • • If the chip is protected from read access an “Error” CAN message is sent (see Section “Error Message Description”, page 22). Otherwise: for a display command the device starts to send the data up to 8 by frame to the host. For a blank check command, the device sends a result OK or the first address not erased. 15 4210D–CAN–05/06 Answer to a read command: Identifier Length Data[n] ID_DISPLAY_DATA n x Answer to a blank check command: Identifier Length Data[0] Data[1] Description 0 ID_DISPLAY_DATA 2 Address_start - Blank Check OK Flow Description Host Send Display_data Message with Addresses or Blank Check Bootloader ID_DISPLAY_DATA Message Wait Display Data OR Wait ERROR COMMAND ABORTED SSB = Level 2 ID_ERROR Message Send ERROR Blank Command Read Data All Data Read nb Max by Frame OR Wait Data Display ID_DISPLAY_DATA Message Send Data Read Verify Memory All Data Read All Data Read COMMAND FINISHED COMMAND FINISHED Blank Check OR Wait COMMAND_OK COMMAND FINISHED Wait COMMAND_OK COMMAND FINISHED ID_DISPLAY_DATA Message ID_DISPLAY_DATA Message Send COMMAND_OK Send COMMAND_OK 16 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader ID_DISPLAY_DATA Example Display Data (from 0000h to 0008h) identifier HOST BOOTLOADER BOOTLOADER Id_display_data Id_display_data Id_display_data control 05 08 01 00 55 55 data 00 55 00 00 08 55 55 55 55 55 55 Blank Check identifier HOST BOOTLOADER Id_display_data Id_display_data control 05 00 data 01 00 00 00 08 // Command ok Programming Configuration Information The ID_WRITE_COMMAND flow described below allows the user to program Configuration Information regarding the bootloader functionality. This operation can be executed only with a device previously opened in communication. The Configuration Information can be divided in two groups: • Boot Process Configuration: – – – • BSB SBV Fuse bits (BLJB and X2 bits) (see Section “Mapping and Default Value of Hardware Security Byte”, page 4) BTC_1, BTC_2, BTC_3 SSB EB NNB CRIS The CAN protocol configuration bytes are taken into account only after the next reset. CAN Protocol Configuration: – – – – – Note: To start the programming operation, the Host sends a “write” CAN message (ID_WRITE_COMMAND) with the area selected, the value passed in parameter. Take care that the Program Fuse bit command programs the 4 Fuse bits at the same time. 17 4210D–CAN–05/06 Requests from Host Identifier Length Data[0] Data[1] Data[2] Description 00h 01h 05h 06h 3 ID_WRITE_COMMAND 1Dh 1Eh 1Fh 20h 3 02h 00h value 01h 1Ch value write value in BSB write value in SBV write value in SSB write value in EB write value in BTC_1 write value in BTC_2 write value in BTC_3 write value in NNB write value in CRIS write value in Fuse bits Answers from Bootloader The device has two possible answers: • • If the chip is protected from program access an “Error” CAN message is sent (see Section “Error Message Description”, page 22). Otherwise an acknowledge “Command OK“ is sent. Identifier Length Data[0] Description ID_WRITE_COMMAND 1 00h Command OK ID_WRITE_COMMAND Flow Description Host Send Write_Command Bootloader ID_WRITE_COMMAND Message Wait Write_Command OR Wait ERROR_SECURITY COMMAND ABORTED NO_SECURITY ID_ERROR Message Send ERROR_SECURITY Write Data Wait COMMAND_OK COMMAND FINISHED ID_WRITE_COMMAND Message Send COMMAND_OK COMMAND FINISHED 18 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Example Write BSB at 88h identifier HOST BOOTLOADER Id_write_command Id_write_command control 03 01 01 00 data 00 88 // command_ok Write Fuse bit at Fxh identifier HOST BOOTLOADER Id_write_command Id_write_command control 02 01 02 00 data F0 // command_ok Reading Configuration Information or Manufacturer Information The ID_READ_COMMAND flow described below allows the user to read the configuration or manufacturer information. This operation can be executed only with a device previously opened in communication. To start the reading operation, the Host sends a “Read Command” CAN message (ID_READ_COMMAND) with the information selected passed in data field. Requests from Host Identifier Length Data[0] Data[1] Description 00h 2 00h 01h 02h 00h 01h 05h 06h 1Ch ID_READ_COMMAND 2 01h 1Dh 1Eh 1Fh 20h 30h 31h 60h 61h 2 02h 00h Read Bootloader version Read Device ID1 Read Device ID2 Read BSB Read SBV Read SSB Read EB Read BTC_1 Read BTC_2 Read BTC_3 Read NNB Read CRIS Read Manufacturer Code Read Family Code Read Product Name Read Product Revision Read HSB (Fuse bits) 19 4210D–CAN–05/06 Answers from Bootloader The device has two possible answers: • • If the chip is protected from read access an “Error” CAN message is sent (see Section “Error Message Description”). Otherwise: the device answers with a Read Answer CAN message (ID_READ_COMMAND). Identifier Length Data[n] ID_READ_COMMAND 1 value Flow Description Host Send READ_COM Message Bootloader ID_READ_COMMAND Message Wait Read_Com OR Wait ERROR_SECURITY COMMAND ABORTED RD_WR_SECURITY ID_ERROR Message Send ERROR_SECURITY Read Data Wait Value of Data COMMAND FINISHED ID_READ_COMMAND Message Send Data Read COMMAND FINISHED Example Read Bootloader Version identifier HOST BOOTLOADER Read SBV identifier HOST BOOTLOADER Id_read_command Id_read_command control 02 01 01 F5 data 01 // SBV = F5h Id_read_command Id_read_command control 02 01 data 00 55 00 // Bootloader version 55h Read Fuse bit identifier HOST BOOTLOADER Id_read_command Id_read_command control 01 01 02 F0 // Fuse bit = F0h data 20 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Erasing the Flash The ID_WRITE_COMMAND flow described below allows the user to erase the Flash memory. This operation can be executed only with a device previously opened in communication. Two modes of Flash erasing are possible: • • Full Chip erase Block erase The Full Chip erase command erases the whole Flash (32 Kbytes) and sets some Configuration Bytes to their default values: • • • BSB = FFh SBV = FFh SSB = FFh (NO_SECURITY) The Block erase command erases only a part of the Flash. Three Blocks are defined in the T89C51CC01: • • • block0 (from 0000h to 1FFFh) block1 (from 2000h to 3FFFh) block2 (from 4000h to 7FFFh) To start t he erasing operation, the Host sends a “write” CA N mes sage (ID_WRITE_COMMAND). Requests from Host Identifier Length Data[0] Data[1] Description 00h 20h ID_WRITE_COMMAND 2 00h 40h FFh Erase block0 (0K to 8K) Erase block1 (8K to 16K) Erase block2 (16K to 32K) Full chip erase Answers from Bootloader As the Program Configuration Information flows, the erase block command has two possible answers: • • If the chip is protected from program access an “Error” CAN message is sent (see Section “Error Message Description”, page 22). Otherwise an acknowledge is sent. The full chip erase is always executed whatever the Software Security Byte value is. On a full chip erase command an acknowledge “Command OK” is sent. Identifier Length Data[0] Description ID_WRITE_COMMAND 1 00h Command OK 21 4210D–CAN–05/06 Example Full Chip Erase identifier HOST BOOTLOADER Id_write_command Id_write_command control 02 01 data 00 00 FF // command_ok Starting the Application The ID_WRITE_COMMAND flow described below allows to start the application directly from the bootloader upon a specific command reception. This operation can be executed only with a device previously opened in communication. Two options are possible: • Start the application with a reset pulse generation (using watchdog). When the device receives this command, the watchdog is enabled and the bootloader enters a waiting loop until the watchdog resets the device. Take care that if an external reset chip is used, the reset pulse in output may be wrong and in this case the reset sequence is not correctly executed. Start the application without reset A jump at the address 0000h is used to start the application without reset. • To start the ap plication , th e Host sends a “Start Ap plication ” CAN messa ge (ID_WRITE_COMMAND) with the corresponding option passed in parameter. Requests from Host Identifier Length Data[0] Data[1] Data[2] Data[3] Description 2 ID_WRITE_COMMAND 4 03h 00h - - Start Application with a reset pulse generation Start Application with a jump at “address” 01h address Answer from Bootloader Example No answer is returned by the device. Start application identifier HOST BOOTLOADER Id_write_command No answer control 04 data 03 01 00 00 Error Message Description The error message is implemented to report when an action required is not possible. • At the moment only the security error is implemented and only the device can answer this kind of CAN message (ID_ERROR). Identifier Length Data[0] Description ID_ERROR 1 00h Software Security Error 22 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader In-Application Programming/Selfprogramming The IAP allows to reprogram a microcontroller on-chip Flash memory without removing it from the system and while the embedded application is running. The user application can call Application Programming Interface (API) routines allowing IAP. These API are executed by the bootloader. To call the corresponding API, the user must use a set of Flash_api routines which can be linked with the application. Example of Flash_api routines are available on the Atmel web site on the software application note: C Flash Drivers for the T89C51CC01CA for Keil Compilers The Flash_api routines on the package work only with the CAN bootloader. The Flash_api routines are listed in Appendix-B. API Call Process The application selects an API by setting the 4 variables available when the Flash_api library is linked to the application. These four variables are located in RAM at fixed address: • • • • api_command: 1Ch api_value: 1Dh api_dph: 1Eh api_dpl: 1Fh All calls are made through a common interface “USER_CALL” at the address FFC0h. The jump at the USER_CALL must be done by LCALL instruction to be able to comeback in the application. Before jump at the USER_CALL, the bit ENBOOT in AUXR1 register must be set. Constraints The interrupts are not disabled by the bootloader. Interrupts must be disabled by user prior to jump to the USER_CALL, then re-enabled when returning. Interrupts must also be disabled before accessing EEPROM data then re-enabled after. The user must take care of hardware watchdog before launching a Flash operation. For more information regarding the Flash writing time see the T89C51CC01 datasheet. 23 4210D–CAN–05/06 API Commands Several types of APIs are available: • • • • • Read/Program Flash and EEPROM data Memory Read Configuration and Manufacturer Information Program Configuration Information Erase Flash Start bootloader Read/Program Flash and EEPROM Data Memory All routines to access EEPROM data are managed directly from the application without using bootloader resources. The bootloader is not used to read the Flash memory. For more details on these routines see the T89C51CC01 datasheet sections “Program/Code Memory” and “EEPROM Data Memory” Two routines are available to program the Flash: – – • __api_wr_code_byte __api_wr_code_page The application program loads the column latches of the Flash then calls the __api_wr_code_byte or __api_wr_code_page see datasheet in section “Program/Code Memory Parameter Settings api_command api_dph api_dpl api_value .” • API Name __api_wr_code_byte __api_wr_code_page 0Dh - - - • Instruction: LCALL FFC0h. No special resources are used by the bootloader during this operation. Note: Read Configuration and Manufacturer Information • Parameter Settings api_command api_dph api_dpl api_value API Name __api_rd_HSB __api_rd_BSB __api_rd_SBV __api_rd_SSB __api_rd_EB __api_rd_CANBTC1 __api_rd_CANBTC2 __api_rd_CANBTC3 __api_rd_NNB __api_rd_CRIS __api_rd_manufacturer __api_rd_device_id1 08h 05h 05h 05h 05h 05h 05h 05h 05h 05h 05h 05h - 00h 00h 01h 05h 06h 1Ch 1Dh 1Eh 1Fh 20h 30h 31h return HSB return BSB return SBV return SSB return EB return CANBTC1 return CANBTC2 return CANBTC3 return NNB return CRIS return manufacturer id return id1 24 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader API Name api_command api_dph api_dpl api_value __api_rd_device_id2 __api_rd_device_id3 __api_rd_bootloader_version 05h 05h 0Eh - 60h 61h 00h return id2 return id3 return value • • Instruction: LCALL FFC0h. At the complete API execution by the bootloader, the value to read is in the api_value variable. No special resources are used by the bootloader during this operation. Note: Program Configuration Information • Parameter Settings api_command api_dph api_dpl api_value API Name __api_clr_BLJB __api_set_BLJB __api_clr_X2 __api_set_X2 __api_wr_BSB __api_wr_SBV __api_wr_SSB __api_wr_EB __api_wr_CANBTC1 __api_wr_CANBTC2 __api_wr_CANBTC3 __api_wr_NNB __api_wr_CRIS 07h 07h 07h 07h 04h 04h 04h 04h 04h 04h 04h 04h 04h - 00h 01h 05h 06h 1Ch 1Dh 1Eh 1Fh 20h (HSB & BFh) | 40h HSB & BFh (HSB & 7Fh) | 80h HSB & 7Fh value to write value to write value to write value to write value to write value to write value to write value to write value to write • Instruction: LCALL FFC0h. 1. See in the T89C51CC01 datasheet the time required for a write operation. 2. No special resources are used by the bootloader during these operations. Note: Erasing the Flash The T89C51CC01 Flash memory is divided in three blocks of 8K Bytes: Block 0: from address 0000h to 1FFFh Block 1: from address 2000h to 3FFFh Block 2: from address 4000h to 7FFFh These three blocks contain 128 pages. • Parameter Settings api_command api_dph api_dpl api_value API Name __api_erase_block0 00h 00h - - 25 4210D–CAN–05/06 API Name api_command api_dph api_dpl api_value __api_erase_block1 __api_erase_block2 00h 00h 20h 40h - • Instruction: LCALL FFC0h. 1. See the T89C51CC01 datasheet for the time required for a write operation and this time must be multiplied by the number of pages. 2. No special resources are used by the bootloader during these operations. Note: Starting the Bootloader There are two start bootloader routines possible: 1. This routine allows to start at the beginning of the bootloader or after a reset. After calling this routine the regular boot process is performed and the communication must be opened before any action. • • • No special parameter setting Set bit ENBOOT in AUXR1 register Instruction: LJUMP or LCALL at address F800h 2. This routine allows to start the bootloader with the CAN bit configuration of the application and start with the state "communication open". That means the bootloader will return the message “ID_SELECT_NODE” with the field com port open. • • • No special parameter setting Set bit ENBOOT in AUXR1 register Instruction: LJUMP or LCALL at address FF00h 26 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Appendix-A Table 1. Summary of Frames from Host Identifier Length Data[0] Data[1] Data[2] Data[3] Data[4] Description Id_select_node (CRIS:0h) Id_prog_start (CRIS:1h) Id_prog_data (CRIS:2h) 1 num node 00h - - - - Open/Close communication Init Flash programming 5 01h n 00h start_address end_address Init EEPROM programming data[0:8] Data to program Display Flash Data Id_display_data (CRIS:3h) 5 01h 02h start_address end_address Blank Check in Flash Display EEPROM Data 00h 20h 2 00h 40h FFh 00h 01h 05h 06h Id_write_command (CRIS:4h) 3 01h 1Ch 1Dh 1Eh 1Fh 20h 3 2 03h 4 01h 02h 00h 00h - - - Erase block0 (0K to 8K) Erase block1 (8K to 16K) Erase block2 (16K to 32K) Full-chip Erase Write value in BSB Write value in SBV Write value in SSB Write value in EB Write BTC_1 Write BTC_2 Write BTC_3 Write NNB Write CRIS Write value in Fuse (HSB) Start Application with Hardware Reset Start Application by LJMP address value - value address - 27 4210D–CAN–05/06 Table 1. Summary of Frames from Host (Continued) Identifier Length Data[0] Data[1] Data[2] Data[3] Data[4] Description 00h 2 00h 01h 02h 00h 01h 05h 06h 30h Id_read_command (CRIS:5h) 2 01h 31h 60h 61h 1Ch 1Dh 1Eh 1Fh 20h 2 02h 00h - - - Read Bootloader Version Read Device ID1 Read Device ID2 Read BSB Read SBV Read SSB Read EB Read Manufacturer Code Read Family Code Read Product Name Read Product Revision Read BTC_1 Read BTC_2 Read BTC_3 Read NNB Read CRIS Read HSB Table 2. Summary of Frames from Target (Bootloader) Identifier Length Data[0] Data[1] Data[2] Data[3] Data[4] Description Id_select_node (CRIS:0h) Id_prog_start (CIRS:1h) 2 Boot version 00h 01h - n data (n = 0 to 8) - - communication close communication open Command OK Command OK Command fail Command New Data Data read 0 00h Id_prog_data (CRIS:2h) 1 01h 02h n Id_display_data (CRIS:3h) 0 2 Id_write_command (CIRS:4h) Id_read_command (CRIS:5h) 1 - - - - Blank Check OK Blank Check fail Command OK first address not blank 00h - 1 Value - - - Read Value 28 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Table 2. Summary of Frames from Target (Bootloader) (Continued) Identifier Length Data[0] Data[1] Data[2] Data[3] Data[4] Description Id_error (CRIS:6h) 1 00h - - - - Software Security Error 29 4210D–CAN–05/06 Appendix-B Table 3. API Summary Function Name Bootloader Execution api_command api_dph api_dpl api_value __api_rd_code_byte __api_wr_code_byte __api_wr_code_page __api_erase block0 __api_erase block1 __api_erase block2 __api_rd_HSB __api_clr_BLJB __api_set_BLJB __api_clr_X2 __api_set_X2 __api_rd_BSB __api_wr_BSB __api_rd_SBV __api_wr_SBV __api_erase_SBV __api_rd_SSB __api_wr_SSB __api_rd_EB __api_wr_EB __api_rd_CANBTC1 __api_wr_CANBTC1 __api_rd_CANBTC2 __api_wr_CANBTC2 __api_rd_CANBTC3 __api_wr_CANBTC3 __api_rd_NNB __api_wr_NNB __api_rd_CRIS __api_wr_CRIS __api_rd_manufacturer __api_rd_device_id1 no yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes 0Dh 0Dh 00h 00h 00h 08h 07h 07h 07h 07h 05h 04h 05h 04h 04h 05h 04h 05h 04h 05h 04h 05h 04h 05h 04h 05h 04h 05h 04h 05h 05h 00h 20h 40h 00h 00h 00h 01h 01h 01h 05h 05h 06h 06h 1Ch 1Ch 1Dh 1Dh 1Eh 1Eh 1Fh 1Fh 20h 20h 30h 31h return value (HSB & BFh) | 40h HSB & BFh (HSB & 7Fh) | 80h HSB & 7Fh return value value return value value FFh return value value return value value return value value return value value return value value return value value return value value return value return value 30 T89C51CC01 CAN Bootloader 4210D–CAN–05/06 T89C51CC01 CAN Bootloader Table 3. API Summary (Continued) Function Name Bootloader Execution api_command api_dph api_dpl api_value __api_rd_device_id2 __api_rd_device_id3 __api_rd_bootloader_version __api_eeprom_busy __api_rd_eeprom_byte __api_wr_eeprom_byte __api_start_bootloader __api_start_isp yes yes yes no no no no no 05h 05h 0Eh - - 60h 61h 00h - return value return value return value - Document Revision History Changes from 4210C 12/03 to 4210D - 05/06 1. Changes to full chip erase command. 31 4210D–CAN–05/06 Atmel Headquarters Corporate Headquarters 2325 Orchard Parkway San Jose, CA 95131 TEL 1(408) 441-0311 FAX 1(408) 487-2600 Atmel Operations Memory 2325 Orchard Parkway San Jose, CA 95131 TEL 1(408) 441-0311 FAX 1(408) 436-4314 RF/Automotive Theresienstrasse 2 Postfach 3535 74025 Heilbronn, Germany TEL (49) 71-31-67-0 FAX (49) 71-31-67-2340 1150 East Cheyenne Mtn. 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