boards/arduino-mkr: feather-m0: sodaq-*: provide stdio over USB and setup automatic flash with bossa by aabadie · Pull Request #12304 · RIOT-OS/RIOT

aabadie · 2019-09-26T06:32:14Z

Contribution description

This PR provides stdio over USB to all Arduino MKR boards and setup the reset in bootloader mode like it's done with Arduino IDE.

In Arduino, the application resets in bootloader mode when the stdio is opened at 1200 baud.
In this PR, the hook function is implemented in board.c but the actual connection with cdc_acm_stdio is done in the cdc_acm_stdio module only when the RESET_IN_BOOTLOADER module is loaded. This might not be the cleanest solution but it works. Any better suggestion is welcome of course.

To be able to reset in bootloader, there are other tricks:

open the serial at 1200 baud with stty
force the bootloader mode after reset: this code was taken from @ynezz who commented about it in boards/feather-m0: initial support #7510. His code is here. I just readapted it for this PR.
Adapted the build system in order to add a delay after preflash command (to let some time for the board to reset in bootloader mode)

I'm testing this PR with arduino-mkrfox1200 but it should work the same with other mkr boards. It's also easily adaptable to SODAQ and Feather-M0 boards.

Testing procedure

Just build/flash/term any application with an Arduino MKR board plugged via USB : the board is automatically flashed and stdio is printed (shell works as well).

Issues/PRs references

Based on (the awesome) #11085 to get the stdio over USB feature.

keestux · 2019-09-26T18:21:26Z

@aabadie This PR is currently just for arduino-mkr boards. Given the fact that all Sodaq boards (in RIOT) are fully compatible with Arduino Zero (and MKR) I foresee code duplication. What can do to support Sodaq boards (and perhaps others as well) in this PR?

aabadie · 2019-09-26T18:47:40Z

Given the fact that all Sodaq boards (in RIOT) are fully compatible with Arduino Zero (and MKR) I foresee code duplication

I know, the reset_in_bootloader function could be duplicated but this was also in my plans: provide a common directory for "sam0 with Arduino bootloader" boards. Of course, Feather-M0, SODAQ and maybe one Arduino (I think @dylad owns one) should also take advantage of this.

For the moment, this PR is just here as a POC of this feature so others can start test it and give feedback/review the code. It's just that I did that for MKR because there's already a common directory for those ones :)

dylad · 2019-09-26T18:54:30Z

@aabadie for reference, the board I have is the Seeeduino LoraWAN
(I plan to add it to RIOT one day...)

aabadie · 2019-09-26T19:00:10Z

Nice board @dylad :)

@keestux, I'll try to adapt this PR so that it's easy to reuse the reset_in_bootloader function in other similar boards.

keestux · 2019-09-26T19:36:19Z

@aabadie If I understand correctly it erases the first page after the bootloader and then does a hard reset. I must say, I'm not a fan of erasing to force entering the bootloader.

An alternative is to mimic the double tap to reset. After a double reset it enters the bootloader too. You only have to write a magic number (0x07738135) at the last uint32_t in RAM (i.e. 0x20007FFCul of a SAMD21).

aabadie · 2019-09-26T19:40:20Z

An alternative is to mimic the double tap to reset. After a double reset it enters the bootloader too. You only have to write a magic number (0x07738135) at the last uint32_t in RAM (i.e. 0x20007FFCul of a SAMD21).

Thanks! That looks much cleaner indeed. I'll give this a try.

keestux · 2019-09-26T20:59:20Z

With a quick hack on my sodaq-autonomo board I could repeatedly flash, with the reset_in_bootloader trick. Also using the "double tap" method to reset. In other words, this POC is working.

BTW, I used these make defines BOSSA_ARDUINO_PREFLASH=1 PREFLASH_DELAY=1 and tests/usbus_cdc_acm_stdio as a test app.

aabadie · 2019-09-30T10:50:24Z

@keestux, I implemented your reset in bootloader suggestion (which is in fact what is done by the Arduino bootloader when double tapping) and it works very well.
In the meantime, I added a way to simply reset the board, without going into bootloader mode. My goal was to address @fjmolinas concerns about automatic tests but unfortunately, after a reset the virtual com port is closed and reopened which breaks the test target. This is a similar problem we had with cc2538 based boards. Maybe there's a workaround ?

Now I'll try to factorize this feature and make use of it with Feather-M0/SODAQ boards.

aabadie · 2019-09-30T15:30:04Z

Now I'll try to factorize this feature and make use of it with Feather-M0/SODAQ boards.

Done. I added a common module for managing the "reset in bootloader" and "reset in application" actions. This module also provides the bossa configuration for flashing the boards.
This common module is used by all SODAQ boards (some factorization could be done here btw), Feather M0 and all Arduino MKR boards.

dylad · 2019-09-30T19:30:22Z

This common module is used by all SODAQ boards (some factorization could be done here btw), Feather M0 and all Arduino MKR boards.

Is there a chance to put arduino-zero on the list ?

aabadie · 2019-09-30T19:34:10Z

Is there a chance to put arduino-zero on the list ?

Arduino-zero doesn't need this since it comes with an on-board edbg debugger. In fact, the board is called genuino zero. I have another official Arduino version which also has the edbg debugger.

dylad · 2019-09-30T19:49:11Z

Arduino-zero doesn't need this since it comes with an on-board edbg debugger. In fact, the board is called genuino zero. I have another official Arduino version which also has the edbg debugger.

True but the story of arduino-zero is a bit complicate: arduino-zero could be use for arduino M0 Pro (with an embedded EDBG) but you have the small arduino-m0 which is basically a cheap little brother with the very same pinout, chip, etc. except there is no embedded debugger so BOSSA is mandatory.

aabadie · 2019-10-01T06:51:09Z

Tested this PR on feather-m0, sodaq-autonomo and sodaq-explorer. All worked. So I guess we are good once #11085 is merged and the cdc_acm_stdio hook (hack?) is validated :)

aabadie · 2019-10-01T09:29:00Z

Rebased, now that #11085 is merged!

aabadie · 2019-10-01T09:30:25Z

Note to myself: some board documentation have to be updated (feather-m0 and maybe some sodaq boards as well).

miri64 · 2020-03-17T19:07:23Z

wouldn't it make sense to also include the feather-nrf52840 in this PR?

This PR only targets boards running samd21 and flashed using bossa. I think the feather-nrf52840 is flashed using nrfutil or maybe adafruit-nrfutil like the Clue (see #13276).

But it is also providing the framework for stdio over USB.

aabadie · 2020-03-18T08:02:08Z

it is also providing the framework for stdio over USB.

In the current state, this board is flashed using JLink and stdio is available via stdio_rtt. If we want to add the option to use the preflashed bootloader + stdio over USB, there are other things to add (ROM_OFFSET, flasher tool, reset magic number, etc), all unrelated to this PR but rather related to #13276 I guess.
The reset in bootloader magic number/strategy is certainly different since this board is based on nrf52840, not samd21.
Note also that I don't have the hardware to determine what flasher tool to use (nrfutil or adafruit-nrfutil or something else?). With Adafruit-clue, I checked the logs of the Arduino IDE to see what command was used.
I would do all this in a follow-up PR if you don't mind.

fjmolinas

I still have two main issues with this PR:

Use of DEFAULT_MODULE for stdio, this does not properly work, but is currently the best solution for what is being attempted. I'll try to open an issue to state all the isues with DEFAULT_MODULE.
FEATURES_REQUIRED += bootloader_arduino means adding +5k of code for every application even if not requiring usb or stdio. Would be nice to be able to disable it somehow from an application without having to go into application code. This is again not evident to do with out current build_system tools and layout.

But these are all build-system related concerns, the code itself works well for me. I'm going to count these issues as out of scope and move on with the review.

Usability wise I think it makes sense adding:

diff --git a/Makefile.include b/Makefile.include
index e75eaa15e..daff60db3 100644
--- a/Makefile.include
+++ b/Makefile.include
@@ -675,7 +675,7 @@ flash: all $(FLASHDEPS)
 flash-only: $(FLASHDEPS)
        $(flash-recipe)
 
-preflash: $(BUILD_BEFORE_FLASH)
+preflash: all $(PREFLASHDEPS)
        $(PREFLASHER) $(PREFFLAGS)

BUILD_BEFORE_FLASH is never used and PREFLASHDEPS makes more sense IMO. This is needed otherwise preflash-delay is called while building. Maybe that is not an issue?

Also I've been trying to run make flash test on some application, seems like TESTRUNNER_CONNECT_DELAY needs to be set much higher or these BOARDs, but even with that it seems if I do make test the reset called before opening the terminal usually make connection to the terminal fail.

Basically in general 2s does not seem like enough delay, but at least for locally the delay needed seems to be very high, but this might be some setup issue, what kind of behaviour do you get @aabadie?

pkg/yxml/Makefile

sys/include/net/gnrc/netif.h

fjmolinas · 2020-03-18T07:56:19Z

sys/usb/usbus/cdc/acm/cdc_acm_stdio.c

                       _cdc_tx_buf_mem, sizeof(_cdc_tx_buf_mem));
+#ifdef MODULE_ARDUINO_BOOTLOADER
+    usbus_cdc_acm_set_coding_cb(&cdcacm, _coding_cb);
+#endif


Can be fixed later if need arises.

boards/common/samd21-arduino-bootloader/Makefile.include

fjmolinas · 2020-03-18T09:48:05Z

You can squash @aabadie !

This module implements the 2 functions called when requesting a board 'reset in application' and 'board reset in bootloader' actions. This module will also configure the behaviour of bossa flasher and has a dependency on USBUS CDC ACM module for providing STDIO over USB

This provides automatic reflash/reset and stdio over USB for this board

- bootloader_arduino cannot be used if stdio_cdc_acm is not used - stdio_cdc_acm is disabled when other stdio modules are already used

This option is null by default but is useful when used with boards exposing their stdio over USB

Samd21 based boards using the Arduino bootloader and stdio over usb by default doesn't have enough RAM to run the test in its default configuration (1000 timers)

fjmolinas

Just to re-state what I said before, two things that will need to be improved in the future.

Use of DEFAULT_MODULE for stdio, this does not properly work, but is currently the best solution for what is being attempted. I'll try to open an issue to state all the isues with DEFAULT_MODULE.

FEATURES_REQUIRED += bootloader_arduino means adding +5k of code for every application even if not requiring usb or stdio. Would be nice to be able to disable it somehow from an application without having to go into application code. This is again not evident to do with out current build_system tools and layout.

But these are all build-system related concerns, the code itself works well for me. I'm going to count these issues as out of scope and move on with the review.

Otherwise, tested and works well, I have some issue locally with how much of a TERM_DELAY is needed, but seems to be a local issue for @aabadie its works straight away, and I have encountered similar issues in the past. Otherwise flash and reset are reliable unless the application crashes.

ACK!

benpicco · 2020-03-18T15:52:24Z

Maybe unrelated to this PR, but when a board has a proper VID:PID combination, how do I add that to the board?

I thought adding USB_VID=…, USB_PID=… to the board's Makefile.include should be enough, but that's not working (anymore?).

Directly adding CFLAGS += -DCONFIG_USB_VID=0x… would break the tests.

~~Now is this just an omission or am I missing something here?~~
#13652 should fix this.

aabadie requested review from bergzand, fjmolinas and keestux September 26, 2019 06:32

aabadie added Area: boards Area: Board ports Type: enhancement The issue suggests enhanceable parts / The PR enhances parts of the codebase / documentation labels Sep 26, 2019

fjmolinas mentioned this pull request Sep 30, 2019

boards/arduino-mkrwan1300: add initial support (without LoRa) #8354

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aabadie force-pushed the pr/boards/arduino-mkr_stdio branch from 0d5deb6 to 735099d Compare September 30, 2019 10:46

aabadie force-pushed the pr/boards/arduino-mkr_stdio branch from 735099d to ce874ea Compare September 30, 2019 15:25

aabadie force-pushed the pr/boards/arduino-mkr_stdio branch from ce874ea to ba840bb Compare October 1, 2019 09:28

aabadie added CI: ready for build If set, CI server will compile all applications for all available boards for the labeled PR Area: tools Area: Supplementary tools labels Oct 1, 2019

aabadie force-pushed the pr/boards/arduino-mkr_stdio branch 4 times, most recently from 5d83158 to 8826175 Compare October 1, 2019 11:36

aabadie force-pushed the pr/boards/arduino-mkr_stdio branch from 1ba30ca to a7aebfe Compare March 18, 2020 07:47

fjmolinas reviewed Mar 18, 2020

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fjmolinas mentioned this pull request Mar 18, 2020

pyterm: try to reconnect on SerialException during connect #10482

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aabadie added 3 commits March 18, 2020 10:43

tools/bossa: add and configure preflash-delay when required

accbfbd

sys: add usb_board_reset module

643187c

makefiles: sys/cdc-acm-stdio: provide a reset in bootloader hook

95bf34e

aabadie added 14 commits March 18, 2020 10:52

boards/arduino-mkr: use bootloader_arduino feature

a2c2066

boards/arduino-mkrfox1200: update doc about flash and stdio

8632978

boards/feather-m0: use bootloader_arduino feature

edd4f69

This provides automatic reflash/reset and stdio over USB for this board

boards/feather-m0: update doc about flash and stdio

1ffb78f

boards/sodaq-*: update doc about flash and stdio

8e2c6c3

Makefile.dep: blacklist bootloader_arduino feature when required

eb20cfe

- bootloader_arduino cannot be used if stdio_cdc_acm is not used - stdio_cdc_acm is disabled when other stdio modules are already used

boards/arduino-mkrwan1300: update doc about flash and stdio

1342060

boards/sodaq-*: use bootloader_arduino feature

f5a17a9

dist/testrunner: add optional delay before opening serial

a91c4bf

This option is null by default but is useful when used with boards exposing their stdio over USB

tests/bench_xtimer: update low memory boards list

0e511a6

Samd21 based boards using the Arduino bootloader and stdio over usb by default doesn't have enough RAM to run the test in its default configuration (1000 timers)

sys: periph_uart is required for arduino

182cb87

tests/ssp: blacklist bootloader_arduino feature

4145c19

tests/unittests: blacklist bootloader_arduino feature

012567e

fjmolinas approved these changes Mar 18, 2020

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miri64 mentioned this pull request Mar 18, 2020

feather-nrf52840: use CDC ACM as default STDIO #13649

Merged

fjmolinas mentioned this pull request Mar 18, 2020

Makefile.dep: disable stdio_% modules before they are included #13650

Merged

benpicco mentioned this pull request Mar 18, 2020

boards/serpente: add serpente board #13654

Merged

fjmolinas mentioned this pull request Mar 20, 2020

boards: set samd21-arduino-bootloader as DEFAULT_MODULE #13664

Merged

benpicco mentioned this pull request Apr 14, 2020

Added a new flashing parameter for generic cheap St-link and bluepill(-128kib) boards. #13809

Merged

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Testing procedure

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