26/3/2017 HackingtheTeensyV3.

1forSWDDebugging|MCUonEclipse

HackingtheTeensyV3.1for
SWDDebugging
PostedonAugust9,2014byErichStyger

I*love*theFreescaleFreedomboards,andyouprobablyrecognizedthatwithallmyprojectsusing
them.TheFreedomboardsaresmall,inexpensiveandcanbeeasilyextendedwithArduinoshields
whichmakesthemagreatplatformforprototyping.ButsometimesIjustneedanARM
microcontrollerwithsomeheaders,andthenthe85mmx55mmsizeoftheFreedomboardisnot
ideal.Thatsnothingnew,butIrealizedthatyetagainwhenIdidmyAdafruitNeoPixelclock:the
FRDMboardwasratherbulky,evenifhiddenbehindthatclock.Ineedsomethingmuchsmaller:
theTeensyboard!

SizeComparisonFRDMvs.Teensy

MeettheTeensyV3.1Board

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IhavemettheTeensyboardthefirsttimewhenitwasfeaturedonHackaDaywiththe3.0and
laterwiththe3.1version.TheTeensyV3.1board(https://www.pjrc.com/teensy/index.html)isatiny
3517mmboard(Hint:theboardnametellsitall!)withfollowingmainfeatures:

FreescaleK20DX256ARMCortexM4Processor(72MHz,256KByteFLASH,64KByte
SRAM)
MINI54TANBootloaderDevice,anARMCortexM0(seethisthread)whichactsasUSB
Bootloader
ProgButton,connectedtotheNuvotonMINI54TAN
AUserLED,connectedtotheK20
USBportconnectedtotheK20.TheboardsupportsbydefaultUSBdeviceclass,butcanbe
modifiedforUSBhostfunctionality(Ihavenottriedthatyet).
Pinsonouterheadersandlowerpinpads,breadboardfriendly

Teensyv3.1TopSide

Onthebacksidetheboardispreparedfora32kHzoscillatorandUSBhostmode.Additionallyit
featuresaddedpinpadsandvarioustestpoints:

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Teensyv3.1BackSide

Theschematicsarefoundonhttps://www.pjrc.com/teensy/schematic.html.Theboardcostsbelow
US$20andcanbeorderedfrommultiplesources(IorderedminefromAdafruit
(https://www.adafruit.com/products/1625)).

NoDebug?

Sofarsogood.Iwasveryreluctanttoordertheboardbecauseithasaproblem:Itdoes*not*
exposetheJTAG/SWDdebugpins:(.Thatmeans,itisnotpossibletodebugtheARMprocessor
onthatboardwiththeusualJTAG/SWDdebuggingtools.

Maybeitisjustme:IrespecttheArduinowayofprogramming,butitisjustnotthewayI
thinkdevelopmentshouldbedone.Ineedfullcontrolofthehardwarewhichincludesdeep
inspection(debugging)oftheapplication.Becauseinmyexperiencethehardproblems(and
therearemany!)ofembeddeddevelopmentcanonlybesolvedwithgooddebuggingtools.

Instead,aUSBbasedbootloaderisused,theTeensyLoader
(https://www.pjrc.com/teensy/loader.html).Withthatloaderprogramscanbeloadedtotheboard,
butitdoesnotallowmetodebugtheboardbyanynormalmeans.Thattopicisdiscussedinthe
forumstoo(seehttp://forum.pjrc.com/threads/6JTagonTeensy).Sotheboardisopen,butnotthat
bootloaderontheMINI54TANdevice.NothavingtheJTAG/SWDpinsexposedatleastontest
padsonthatgreatboardisdefinitelyapity.

IonlycanspeculatethatPaulStoffregen(https://www.pjrc.com/about/about_us.html)
wanttoprotecttheboardIPfrombeeingcloned,whichIcanunderstand.Butwhynotatleast
exposetestingpadsforJTAG/SWD?

AddingSWDDebugging

WARNING:ofcourse,anychangeoftheTeensyboardlikethiswillvoidanywarranty!

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Lookingattheschematicsandtheboardlayoutunderthemicroscope,itwasclearthatitwouldbe
possibletoaddSWDdebugfunctionalitytoit.AsSWDonlyneeds5pins(GND,3.3V(power
sense),DIO,CLKandReset,itshouldnotbetoohardtorouteittoastandard10pinSWD/JTAG
header:

SWDHeaderPinout(Source:FRDMKl25ZSchematics)

SoIcheckedtheschematics(https://www.pjrc.com/teensy/schematic.html),andallthesignalsare
available,andSWD_CLKisonPTA0,andSWD_DIOisonPTA3:

Tokeepthingssimple,IonlyusedtheSWDpins,andnotthetwoadditionalonesforJTAG
(PTA1_JTAGTDIandPTA2_JTAGTDO),butthatwouldbecertainlydoablewithtwoextra
wires.

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Teensyv3.1SchematicwithSWDPins(Source:basedon
https://www.pjrc.com/teensy/schematic.html)

Interestingly,theUSBDPandDMpinsare*not*connectedtotheMINI54TANdevice,butit
managesthebootloadingtotheK20throughUSB?IbeliveuponpressoftheProgbutton,the
MINI54TANprogramsasmallUSBbootloaderprogramtotheK20whichthenrunstheupdate?
WouldbeaninterestingapproachjusttouseasingleUSBconnector.

3.3VandGNDareeasilyavailableonthebacksideoftheTeensy:

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3.3V,GNDandResetonTeensy3.1

ForSWD_CLKandSWD_DIOtherearenoeasyaccessiblepads.Butaninspectionofthe
layoutoftheboardsuggestedtocutthetracestotheMINI54TANandsolderwiresdirectlyto
theK20pads.

TheideatoremovetheMINI54TANandtouseitspadshasbeenconsidered.Butthenthis
wouldbeanonrevertiblechange(oratleastnoteasy).Socuttwotracesandwiresomewires
soundsthebetterapproach.Maybecuttingisnotnecessary,butIdidtoisolateitjustincase.

SWDDIOandCLKTracesonTeensyV3.1

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NOTE:asdiscussedinthecommentssectionofthispost,thereisan*easier*waytogetSWD
debuggingfortheTeensy3.1,withouttheneedtocutwires:TheideaistopulldowntheResetline
oftheTANchip.Theresetlineislocatednearbythepin1onthebacksideoftheboard.Installa
jumpertoputthatlinetoGNDtoenableSWDdebugging:).

TANResetPad

Withthis,wiresgetsolderedonthemicrocontrollerK20pads(usesolderingfluxandheadthepin
withawirewrapwire):

SWD_CLKandSWD_DIOWiresSolderedtotheK20Pins

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ThencutthetracestotheMINI54TAN:

CutTracestoMINI54TAN

TriedtouseSWDwithoutcuttingthetwolines,butthisdoesnotwork.Soindeed,thelineshas
tobecut,astheMiniTANisaffectingtheSWDcommunication.

Comparedtothepreviousstep,the3.3V,GNDandResetwiresonthebacksideoftheboardare
easy:

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SolderedWiresonBackofTeensy3.1

Nextstepistoconnectthewirestothenormal25pinSWD/JTAGpinheader(oranadaptertoit).
Ihadaheaderwithcableathand,Idecidedtosolderthewirestoheader.

Thepinpitchisrathersmall.NexttimeIbettercreateasmalladapterPCBwhichwouldmake
solderingeasier.

Solderedwiresto25pinSWDJTAGHeader

PinsonSWDJTAGHeader

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Withthis,IwasabletodebugtheTeensyV3.1withanormalJTAG/SWDhardwaredebuggingtool,
andwithinminutesIhadaProcessorExpertblinkingLEDprogrammadewithEclipseplusGNU
ARMtoolchainrunningontheTeensy:

DebuggingtheBlinkyonTeensy3.1withaP&EMultilink

Nowwiththisthatboardisfinallyusefulforme:IcandebugwithmyfavoriteEclipsetools:).

Summary

TheTeensyV3.1isafabulousboard,withaprocessorIlove:anARMCortexM4powerfulformost
ofmyprojects.Theboardistinyandsmall.ThebadthingisthattheusualJTAG/SWDpinsarenot
availableeitherontheoutsideorontestpads,makingJTAG/SWDdebuggingnotpossibleby
default.Butwithsomehackingandgoodsolderingskills,aTeensyboardcanbeturnedintoaboard
whichtalkswithaJTAG/SWDcablelikeaP&EMultilinkorSeggerJLink.Andthentheboardcan
beutilizedwithanIDElikeCodeWarrior,KinetisDesignStudiooraDIYEclipseARMToolchain:).

MywishisthatfutureTeensyboardshaveatleastthefootprintofastandard25JTAG/SWD
headeronit,withsomeisolationtraces.ThatwayIcansolderaheader,cutafewtracesandI

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haveaboardIcandebugwiththetoolsImusedto.AndifIhaveanextrawish:Replacethe
MINI54TANwithaKinetisK20runningOpenSDAv2.1asontheFreedomboards,andtheTeensy
wouldbetheperfectboardforme:asmallandtinyopensourceboardwithanopensource
bootloaderandfirmware

Timetousethatboardnowformyprojects.

HappyTeensing

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R ELATED

ProofofConcept:Open USBCDCwiththeTeensy UsingtheFreescale

SourceARMSWDDebug 3.1Board Freedom(FRDMKL43Z)
andGeneralPurpose In"Boards" toDebugotherBoards
Board In"ARM"
In"ARM"

ThisentrywaspostedinARM,Boards,Debugging,Embedded,Freescale,Tips&Tricksand
taggedDebugging,Freescale,OpenSDA,Tips&TricksbyErichStyger.Bookmarkthe
permalink[https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/]
.

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AboutErichStyger
Embeddedismypassion....
ViewallpostsbyErichStyger

65THOUGHTSONHACKINGTHETEENSYV3.1FORSWDDEBUGGING

Manuel
onAugust9,2014at18:36said:

Hi,Erich.
Greatsite.

IfIreplacetheTeensy3.1MINI54TANwithaKinetisK20fromtheFreedomboardrunning
OpenSDAv2.1,woulditworkatthistime?

Weneedtoaskprjctodoanupgradetoteensy3.1withSWD.

Thanks,Manuel.

Like

ErichStyger
onAugust9,2014at18:52said:

HiManuel,
yes,thatwouldwork(butthefootprintoftheMINI54TANwouldnotbethesame,so
youcannotswapthisoutwithoutaboardchange).
IalreadyhaveaskedprjcforSWDsupport,andIknowothershadaskedthesame
ifIbrowsetheforum).Imwondering:whynotjustmakeaTeensycompatibleboard,
butwithaK20andOpenSDAv2onit?Myestimatewouldbethatsuchaboardin
100500quantitiesshouldbedoableinthe$1015range.

Like

Mevon
onAugust18,2014at06:45said:

HelloEveryone!

THISPOSTISAWESOME!!Ithinkthatonethingwouldbenicetodoisa
cheaperteensy3.2withaSWD/jtagportinsteadofamini54tanchip,that
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woulddothetrickandmaybesellitalreadyprogrammedwithwitha
openSDAfirmwaresoyoucanuseonetodebuganotherone(ifpjrccould
sell2unitsfor20$orso)OronecouldusetheMCHCKtocreatean
opensdaprobe(https://mchck.org/about/)butstillpeoplearegoingtomiss
allthearduinolibrariesandsimpleprogrammingide.Personnaly,Inever
likedusingarduinoinmorecomplex(thensimplepollingfunctions)projects
becausehavingmorethenonefileopenisproblematicbutKDSandCW
reallybringthepowerofEclipsetotheIDE.Thiswriteupisgreat,thankyou
Erich!

Mevon

Like

ErichStyger
onAugust18,2014at07:56said:

Thanks
ImthinkingofcreatingaboardliketheTeensy3.1,butwithoutthe
MINI54TANchip:instead,therewouldbeanormal25SWD/JTAGheader
sothatboardcanbeprogrammedlikeanyothernormalboard.Imthinkingof
puttingaK20OpenSDAcircuitonthatboard:thatwayIcandebugthat
boardliketheFRDMboardsoverUSBwithOpenSDA.ThatDebugcircuit
wouldbeonthatboardinawaythatitispossibletobreakitapartfromthe
board:soyoucanbreaktheboardintotwoboards:thenIhaveanormal
boardwithJTAG/SWDinterface,andaOpenSDAboardIcanusefor
debugginganyboardswithOpenSDA.Ithinkitwouldbedoabletohavethat
waytwoboards(ateensylikeboardandaOpenSDAboard)forbelow
US$20.Butitwillbeallaboutquantities.Theretherewouldbeinterestfor
about100boardsofthatkind,whoknows?

Like

HillbillyInjunear
onAugust9,2014at20:12said:

Whatagreatcutelittleboard.Thanksforfiguringouthowtouseitforus.
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IfoneneedsmoredigitalI/Os,hemightconsiderusingtheMAX695xserieschips(SPIor
I2C,20or28I/Os).IamcurrentlybuildingatestdeviceusingtwoMAX6957chipschained
together.Itgivesme56(!)customconfigurableI/OswithjustfourMCUpins(usingSPI.).
(TheMAX6957canalsodriveLEDsupto4mAperpin.)

ConnectoneortwoofthosechipstoatinyTeensyboardandonecangetalotof
processingpowerinatinyspace.

Likedby1person

ErichStyger
onAugust9,2014at21:29said:

yes,averycuteboard.IhavecreatedafolderonGitHubwhereIwillpostmy
projects:
https://github.com/ErichStyger/mcuoneclipse/tree/master/Examples/Eclipse/Teensy

Like

HillbillyInjunear
onAugust10,2014at02:50said:

Regardingcuttingtraces,Ihavefoundthatifonecutsthetraceataverysharpangle
(insteadofperpendiculartothetrace),onecanfrequentlyrollthetraceupoutoftheway
temporarily.Thisoftenallowsonetogentlysolderthetracebackintoplacewithoutusing
anyjumperwires.Onecanuseascalpel,Xactoknife,orevenafinelysharpenednail,ifone
iscareful.

Thisisnotarecomended,butsometimesnecessary,formofcomponentlevel
troubleshooting.

Like

ErichStyger
onAugust10,2014at06:22said:

Thatsagreattrick!Ihaveusuallycutthetraceperpendiculartothetrace,asnarrow
aspossible.Toresolderit,Iremovedthesoldermaskalittletoexposethetrace

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surfaceoneachsideandthenappliedsolder.Ithinkcuttingitataverysharpangle
willmakeiteveneasiertosolder.Andyes,Ihaveusedthatwayoftroubleshooting
manytimestoo

Like

jcribeiro82
onAugust21,2014at13:23said:

HelloErichStyger,

Greatblog!

ImnowtestingourfirstKinetisMK22FX512VLK12customcontrollerboard.
InourdesignweincludedaSWDprogrammingconnector(VCC,GND,SWD_DIO,
SWD_CLK,RESET).ThesepinsareconnectedtothePEMicroMultilinkUniversal
(firmwarev6.10)PortB(TVCC,GND,TMS/SWD_DIO,TCK/SWD_CLK).

AfterseveralattemptsusingtheSWDinterfaceIalwaysgetaDeviceissecuremessage
onCW10.6andKDS1.1.0.Thisisthesamebehaviorasdescribedhere
(https://community.freescale.com/thread/318552).
NooneinthecommunitywasabletouseSWDinterfaceonMCUsthathaveJTAG/SWD
option.TheystatethatKL05,whichisSWDonly,worked
TheirsolutionwastoswitchtoJTAGmodeaddingTDIandTDO.
IalsomanagedtotweaktheboardandIaddedTDIandTDO.Itworks,butImlookingfora
waytouseSWDinterface.
TheKinetisusesJTAGatresetstate,buttheycanswitchfromJTAGtoSWDmodeusing
asequenceonTMSandTCK,sotheMultilinkshouldbeabletosendthiscommand.
(referencemanualpage2109.2.1JTAGtoSWDchangesequence)

ItseamsthatonlyyouweresuccessfullyusingSWDonK20usingtheMultilink
programmer.

Canyoupleasehelpusfindwhatcanbewrong?

Like

ErichStyger
onAugust21,2014at16:39said:

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Thanks
IhavenothadanyproblemsatleastwiththeP&EMultilinktotalktoaK20inSWD
mode(asyouseewiththeTeensy),aswellwithmyownboards.Notsurewhatit
is,butIguessitmustbesomethingwiththeelectricallinesasmentionedinthat
forumpostyoureferenced?

Like

JosRibeiro
onAugust21,2014at19:59said:

HiErich,

Thankyouforyourreply.
Whatcanbesodifferentfromallotherboards?
1TeensydoesnthaveaResetpullupresistor.OK,Iwilltrywithoutit,but
itwasaFreescalerecommendationtouseRandC.Ihavealreadyremoved
thecapacitorandotherAmitKumarsrecommendationsintheforum.BTW
hewasnotabletodebugusingSWDtoo

2Multilinkfirmwareversion:6.10.Whatisyours?

3PORTBvsPORTG?Thosepinsareshortedbetweenthose
connectors,soitmakesnosense

4IDEKDS1.1.0andCW10.6.WhatIDEareyouusing?

5ImusingaK22vsK20.Didyoutestitonothermodels?

Like

ErichStyger
onAugust21,2014at20:28said:

HiJos,
1.Yes,havearesetpullupplusaC:thatmakesitmorerobustagainst
noise.ButifyourresistoristoolowortheCistoohigh,thenthedebugger
willnotbeabletopulltheresetlinelow.Removeitforyoutests.
2.Notsure(Imawayfrommydesk),butImusingthelatest(it
automaticallyupdatesit)
3.shouldnotmatter
4.ImusingKDS,CW10.6andstock(DIY)Eclipse

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5.UsingitonaK20andaK22(https://mcuoneclipse.com/2014/07/26/zumo
robotwithwifiandgps/)

Like

ShubhamPaul
onOctober31,2015at15:34said:

Hello,
IhaveprogrammedmyMK22DX256VLF5customboardwithKeilusingtheSWD
portoftheOpenSDAcircuitry(oftheFRDM25klzboard).SoIthinktheopenSDA
circuitrycanalsobeusedinasimilarwayUSINGKEILtoprogramyour
MK22FX512VLK12.

Like

ErichStyger
onOctober31,2015at18:53said:

Yes,youcanuseKeilforthiskindofthingstoo,oranyotherdebuggerwhich
caninterfacetotheOpenSDAcircuit.

Like

Mevon
onAugust22,2014at20:12said:

HiEveryone!

OnethingIfindwithmostteensyusersistheneedforrobustusbapplicationlikemsd,
eitherashostordevice.Iwasjustwondering,andImonlypostingbecauseitsa
suggestionnotarequest,isiftheMINI54TANinterfearingwiththeusbapplicationofthe
K20.IknowwhenIworkedontheteensybackinspringicouldntgetthecputowork
correctly.mostlybecauseofwrongcpuconfigurationinProcessorExpertandsomeother
bugsIfoundoutlaterwiththeusbhostcomponent(72MHzconfigvs96Mhz

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overclocking)butatthetimeIwasconsideringtheMINI54TANasapotentialsourceof
bugsforusbapplications.Also,anotherthingIwouldliketofindoutisifitspossibleto
generatetheHEXwithCW_IDEorKDS,anddownloaditintheteensywiththe
Teensyduinoexecutable.Thiswouldbeniceifyoudonthavethebudgettobuyexpensive
jtag/swdprobeordonthavetheskillstoprogram/createonewithanotherdevboard.Iknow
KDSseemstohavebetterconfigurationpossibilitieswiththeeclipsepartandgenerating
theHEXiseasierbutIdontknowifitsanIntelHexorMotorolaHexthatisgenerated(S19
vsiHex).Justsaying,butthisthreadisawesome!ThankyouErichforthiswork!

Mevon

Like

ErichStyger
onAugust22,2014at20:24said:

HiMevon,
accordingtotheschematics,theMINI54TANisnotconnectedtotheUSBbus
(USB_DMandUSB_DP),sothisreallyshouldnotinterferwiththeK20drivingthe
USB.IhadnotimeyettorunUSBcodeontheK20,butthisiscertainlysometingI
plantodo.IbelieveafterthePROGswitchispressed,theMINI54TANistaking
controlovertheK20withitsJTAG/SWDconnections.Ithinkitthenwilldownload
someUSBcodetotheK20thatway,andafterthattheK20isrunningthatUSB
protocoltothehostdevice,withtthatspecialprogrammingtool(Ihaveneverused,
btw).Imnotsurethatfileformatsthatprogrammingtooltakesasinput,butIdoubt
itisanormalS19orBINfile(notsure).Icannotverifythisasonmyboard
intentionallythatMINI54TANisnowoutofservice:).Itisveryeasytocreateeither
S19(MotorolaS19)orIntelHex(iHex)filesbothwithCodeWarriororKDS(Iposted
articlesaboutthis).
Thanks!

Like

Joe
onSeptember16,2014at22:38said:

IsitnecessarytocuttheMINI54TANsSWDtraces?Lookingatthetracesontheofficial
Teensypinoutphotos,itlooksliketheMINI54TANsRESETpin(pin2accordingtothe
schematicimage,andassumingthedotonthechipispin1)isroutedouttoatestpadon
thebottomoftheboard(immediatelyabovethe1silkscreenonthebottom).Perhapsits
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possibletopullthepinup/downandremovetheMINI54TANsinfluenceontheSWDlines
(assumingtheMINI54TANspinsgoHiZduringreset)?

Ofcourse,ifthegoalweretoallowtheboardtobeusedasateensyagain,itwouldbecome
importanttofigureoutexactlyhowtheMINI54TANhandlesprogrammingandmakesure
thereisntanybootloaderontheK20whichmustbepreserved.IthinktheTeensyduino
downloadincludesalinkerscriptfortheK20whichcouldbeexaminedtodetermineany
areasofmemorythatwouldneedtobeprotected(orjustbackedupbeforeSWD
programming).

Like

ErichStyger
onSeptember17,2014at15:55said:

HiJoe,yes,Iwasthinkingaboutthesame.ButIhavenotinvestedanytimeinthis,
asIdidnotplantocontinuetousetheMINI54TANformyapplication.

Like

MaxP.
onApril14,2015at23:14said:

First,Erich,thanksforthegreatpost.Icannowdohardwarelevel
debuggingwithmyTeensy3.1,whichcanbeextremelyhandy.Joy!

Iwantedtosaythatindeed,allonehastodoisgroundtheTANRSTlineto
disabletheTANchip.Thereisnoreasontocutanytracesatall(mightas
welljustpulltheTANchipoffifyoudontneedit,IMHO ).

ThelittlesolderpadJoementionsabove(rightnexttothe#1pinholeonthe
backoftheTeensy)istheTANRSTlinesoIjustranajumperwirefrom
there,andwheneverIwanttouseSWDIsimplyconnectthatjumperto
ground.ObviouslythisdisabledthebootloaderandTeensybuttonentirely,so
toreflashsomefirmwarewiththenormalmethodyouhavetoremovethe
RSTgroundjumperandrestarttheTeensyboard(removethenapplypower).

ImusingtheSWDinterfacefoundonthecheapSTM32F4Discoveryboard
(alreadyhadthat).IuseWindows,withthefreeGDBserverfromSTMicro,
eabinonegdbfromYagarto,andEclipseLuna/CDT.(Forsomereasonthe
gdbexecutablefromWinGCC4.xdoesntseemtoworkaswell.)Iactually
haventtriedloadinganyfirmwareusingthismethod,yet.ButotherwiseI
havefullbreakpointcontrol,stepdebugging,canpauseandrestartthe
firmware,viewlocalsandglobals,etc.Fantastic!

https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 19/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

Cheers,
Max

Like

ErichStyger
onApril15,2015at08:46said:

HiMax,
EXCELLENT!Ishouldhavethoughtaboutthatmyselftoo.KeepingtheTAN
deviceinresetisindeedamuchbetterapproach,thanksforsharingthat
greatsolution

Like

Constantin
onMarch28,2015at00:07said:

Greatarticle.Ihaveafewquestionsandacomment.

Firstthequestion:DoyouthinkthereareanyissueswiththeMiniTan54beingactivewhile
youaredebugging,loading,etc?Forexample,thewayIreadtheschematic,oneofthe
GPIOpinsontheMiniTan54isbeingusedtotogglepin26(RESET)ontheMK20.

Presumably,yourdebugger/flashdevicewouldpullresethigh,therebyconflictingwiththe
outputfromtheGPIOpin.Howtodealwiththat?Wouldasimple1Kresistorinserieswith
theMiniTAN54resetsignalallowthedrawtobesufficientlylowtoavoiddamage?Thisis
similartotheSerialportsolutionthattheArduinoUnouses.

Then,whattodowithSWD_DIOandSWD_CLK?Sameissue,butmuchhigherclock
frequencies!

Asformycomment,IdprefertheTeensytousethelittleareathereistomakeroomfora
tagconnectSWDcable.Theyuseverylittlespaceandcostnothingbuttheconnector
hardware,whichiswhyIamconsideringthemformyTeensyDIYdesigns.

https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 20/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

Like
ErichStyger
onMarch28,2015at08:36said:

HiConstantin,
theresetlineisLOWactive,andpulledup.SotheMiniTANkeepsthatpinfloating.
UsingSWDwiththatresetlineisnoaproblem.ButyouhavetocutthetwoSWD
linesasshowninthispost,astheMiniTANisaffectingthecommuniction.Weare
buildinganadapterboardfortheTeensywithtwojumpersonittoisolateSWD_DIO
andSWD_CLK.Youreallyneedtoseparatethesignalsforpropercommunication.

Like

Pingback:USBCDCwiththeTeensy3.1Board|MCUonEclipse

Mark
onApril16,2015at23:59said:

HiallTeensyHackers!

IamsonderingwhethersomeonewhooftneusestheTeensyforbothSWDandNini54
programmingcouldhelptoverifyapotentialproblemthattheMini54has?
Thesubjectisdiscussedheretowardstheendofthethread:
https://forum.pjrc.com/threads/27457Needhelpwithabootloader

Itissuspectedthatthereisaprobemwiththeloaderifthechipissecured(0x40c=0xff)
andthattheMini54cantrecoverfromitcausingtheboardtobecomebrickedalthoughit
isnotreallyso.
IdontdaredothetestonmysingleboardsinceIdontwanttohavetobuildaprogrammer
torecover,ifitisthecase.
Doesanyonethereforehavethepossibilitytocommandamasseraseofthechipandsee
whethertheoriginalprogrammercanhandlethatstate?Asyouknown,normaldebuggers
willsimplysaythatitissecuredandunsecureitandsoyouhavenorisk.Itwouldhelp
clearupapotentialissuethatcouldbecausingaparentlybrickedTeensystobelost.

Thanks

Mark

Like
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26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

Pingback:ProofofConcept:OpenSourceARMSWDDebugandGeneralPurposeBoard|
MCUonEclipse

ArturoArellano
onJune25,2015at00:01said:

Hi!Thankyouforthisexcellentpost!

ImamnewtotheJTAG/SWDinterfacesbutIhavebeenworkingwiththeteensy3.1and
arduinoIDEforawhile.

Ineedtouploadthe.hexfilegeneratedfromtheIDEtotheteensywithaJLink.Doesthe
methoddescribedaboveisusefulforme?Oritisonlyfordebuggingpurposes?

Doyouthinkthe.hexfilegeneratedbytheIDEwilljustworkwithanyotherchanges?

Thanks!

Like

ErichStyger
onJune25,2015at13:59said:

HiArturo,
yes,withthismethodyoucanuploadorprogramanyfilesusingtheJLink.
Itshallworkwithoutanychanges.

Like

garetbiglow
onAugust11,2016at20:22said:

YoudonthavetomodifytheTeensylinkertoremovethememoryoffsetor
anything?Doesntthelinkercreateablockthatthebootloadersitsin?Id
liketoalsoupload.HEX(generatedbyTeensyduino)viaJTAG.

Like

https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 22/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

ErichStyger
onAugust11,2016at20:40said:

No,thereisnobootloaderontheKinetis.Thebootloading/bootstrappingis
donebytheMINI54TAN.Soyoucanuseanormalhexfilesandprogramit
withSWD/JTAG.ImnotsureifTeensyduinoaddssomeextrastuff,butitis
defitelynotneeded.IusednormalIDEslikeIAR,KeilandKinetisDesign
StudiotoprogramtheTeensywithit.IdidnothadtouseTeensyduinoatall.

Like

RonaldArias
onAugust5,2015at16:26said:

ThankyouverymuchforallyourpostErich,theyhavebeenveryusefultostartwith
Freescale.

IvebeenusingTeensy3.1foraprojectandIneededdebuggingcapabilities,sobasedon
anotherofyourpostsImadethenecessaryhardwarechangesandnow,Icandebug
TeensyusingUSBDM+codewarriorandFRDMKL25Zcard.Sofarsogood.

Buttherecamethefirstquestion,whyunliketheFREEDOMboards,teensywasnot
programmedafterdebugging?.Andnow,Ivebeenaweektryingtoprogramtheteensycard
withoutsuccess.

MyfirstapproachwastouseCodewarriorFlashProgrammer(flashfiletotarget),soI
chosethissettings:

*MyteensyboardhasaK20DX256VLH7*

FlashconfigurationfileK20DX256M7.xml
filetoflash.elfoutputfile
offset0x0
Eraseoptions(Connection):Selectiveerase(bysector)
thenEraseandProgram

Butthisisthemessageoftheconsole:

https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 23/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

Imagesizeis0bytes,nothingtoerase.
Nothingtoerase.Nosectorsselected
Erasecommandsucceeded
cmdwin::fl::write

Usingrestrictedaddressrange0x10000000to0x10007FFF
ProgrammingfileC:\xxxxxx.elf
Autodetectionissuccessful
fileisoftypeElfformat

0BytesProgrammed,CheckRestrictedAddressRange
ProgramCommandSuccedded

ThenItriedwiththe.hexfileandnothinghappendagain.Somysecondapproachwasto
usetheARMFlashprogrammerfromUSBDM,butItcantDetecttheDevice:

[Nomatchingdevice]

Iknowthispostisopenforayearnow,butIllbeverygratefulifyoucangivemesometip
orinformationtoprogramtheteensyflashusingakl25zfreedomboard,asitisdifficultfor
metoaffordaSeggerjlinkorsimilar.

Like

ErichStyger
onAugust5,2015at19:57said:

IbelieveyourproblemcouldbeUSBDM.CanyoutryusingtheSeggerJLink
firmwareinstead.UseKinetisDesignStudio(insteadofCodeWarrior)asKDSis
newerandthisiswhatImworkingwithtoo.
Asfortheimagesizeis0bytes,thisindicatesthatyour.elffileiseitheremptyor
corrupted?

Like

RonaldArias
onAugust6,2015at21:28said:

HiErich,ItriedwithSeggerJLinkfirmwareanditsworkingperfect,Ican
nowtoprogramtheTeensyflashanddebuggingfaster.

Thankyouverymuchforallyourpostandtips,fantasticjob!

Like
https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 24/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

MarioGongora
onOctober27,2015at18:18said:

HiErich,IamusinganARMmicrocontrollerMK20DX256VLH7,whichistheprocessorthat
Teensy3.0containsonboard.

FirstIwasusingTeensy3.0,butlikeyouIwanttouseotherprogramationanddebugging
tools,soIdecidedtodesignmyownPCBwiththismicrocontroller.Iamtryingtoprogram
bySWDtoolinCodeWarrior10.6Icanseeyoudevelopasimilardebugging/programming
solutionhackingtheteensy3.0.

ActuallyIamusingmultilinkuniversaltoolfromPEmicro,butmyproblemisthatCode
Warriordoesntrecognizethetarget(ARMMK20DX256VLH7),everythingseemsok,
compliewithoutwarnings(justasimpleLEDprogram).

InthePEmicroblueandyellowledareilluminatedasitshouldbe.

Couldyouhelpmewiththis?

Thankssomuch!!

BR

Like

ErichStyger
onOctober27,2015at18:49said:

HiMario,
theblueLEDontheMultilinktellsyouthattheUSBdriversonthehostareproperly
installed(multilinkenumerated).TheorangeLEDtellsyouthatthetargethaspower.
SoIguessthereiseithersomethingwrongwithyourwiringtothetarget,oryouare
notusingSWDinthedebugsettings?
Ihopethishelps,
Erich

Like

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26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

rgviva
onDecember30,2015at19:59said:

Thisisgreatinfo!Ineedtoimprovemysolderingskillstobeabletosolderoneoutof64
tqfnpins.doyouneedspecialwiresforthis?

Like

ErichStyger
onDecember31,2015at07:21said:

Youcanusewirewrapwiresorthinwireswhichareusedfortransformators.

Like

BruceBoyes
onApril27,2016at23:27said:

Thisisgreat.Iagreewithyoursentimentsaboutdebugging.Thereareanumberofissuesin
thepopularArduinolibrarieswhichIamchasingrightnow.Theyarejustnotwrittenwiththe
sortofreliabilityandexceptionhandlingwhichcommercialembeddedsystemsassume.
Thanksforpostingthis.

Like

ErichStyger
onApril28,2016at09:47said:

HiBruce,
thatswhywehavedecidedtocreatethetinyK20
(https://mcuoneclipse.com/2015/11/22/dataloggerwithtinyk20board/)sowehave
truedebuggingcapabilitiesoutofthebox

Like
https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 26/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

ChrisShuler
onMay2,2016at13:21said:

HelloErich,
thanksforYourtutorial,ithelpedmealot.
IrunasimpleprograminKDSwithfewintegersanditflashedanddebugedfine.

SomeproblemscamewhenItriedtodebugsomearduinostyleprogramstoKDS.Build
processisdone,flashingmemoryisok,wholeprogramisworkingfinebutwhenitcamesto
debugging,thebreakpointjumpsfromlinetolineinrandomsequence.
WhenItrytolookintosomeexpressionsIgetanerror:
iError:Multipleerrorsreported.\FailedtoexecuteMIcommand:varcreate*iError
messagefromdebuggerbackend:varcreate:unabletocreatevariableobject\Unableto
createvariableobject
MaybeIneedtochangesomesettingsofdebugconfiguration?FornowIcopiedthemfrom
thefirst(simple)program.

CouldYouhelpmewiththis?Sorryformybadenglish.
ThankYouinadvance!
Chris

Like

ErichStyger
onMay2,2016at13:31said:

HiChris,
canyouremoveallbreakpointsandifyouhaveallwatchpoints(thereisa
Breakpointviewwhichlistsallofthem).
Ifthedebuggerjumpsaround,thiscouldbeanindicationthatthedebuginformation
isnotcorrect,oryouarenotdebuggingthecorrectbinaryfile?

Erich

Like

ChrisShuler
onMay2,2016at13:47said:

https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 27/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

IthinkIselectedtherightfile.

Ialsogotapopupmessage:
Nosourceavailablefor
(gdb[28].proc[42000].threadGroup[i1],gdb[28].proc[42000].OSthread[1]).threa
d[1].frame[0]

Maybeistheresomefaultsinmakefile?inwhichpartofitIshouldsearch?
Wherethedebuginformationiscreated?MaybeIdidsomethingwrongin
importing(withsomechanges)makefilefromarduino?

Thanks,
Chris

Like

ErichStyger
onMay2,2016at20:45said:

HiChris,
IdontrememberthatIhaveseenthatmessage.Idontthinkthatsomething
iswronginthemakefile,unlessyouhaveturnedoffdebuginformation?
Canyoumakesureyougeneratedebuginformationwiththeg3option?See
https://gcc.gnu.org/onlinedocs/gcc/DebuggingOptions.html#Debugging
Options

Erich

Like

ChrisShuler
onMay2,2016at13:48said:

andThanksforansweringin10minutes..wow

Like

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26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

nishant
onMay10,2016at07:23said:

Hi,
IhavegeneratedahexfilethroughTeensyduinoIDEandtheprogramusestheaudiolibrary
andsomeotherbasiclibraries.kindlyletmeknowthroughSWDIcanabletoburnthehex
fileinblankK20DX256VLH7processor?..

Like

ErichStyger
onMay10,2016at08:03said:

Hinishant,
seehttps://mcuoneclipse.com/2016/04/19/programmingsrecordswithgnuarm
eclipsedebuggerplugins/howyoucanprogramanybinarywithSWD.
Erich

Like

nishant
onMay10,2016at08:23said:

HiErich,
canyoutellmeaboutthehexfile.

Like

ErichStyger
onMay10,2016at12:39said:

Hinishant,
seehttps://mcuoneclipse.com/2014/04/20/binaryfilesforthembed
bootloaderwitheclipseandgnuarmeclipseplugins/

Like

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26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

nishant
onMay10,2016at13:39said:

Hiall,

Also,onequestioncanweuseISPforMK20DX256VLH7toburnhexfilegeneratedby
Arduinoide.

Like

ErichStyger
onMay11,2016at20:57said:

Hinishant,
ImnotsurewhatyoumeanwithISP?Canyoutellmewhatyoumeanwiththis?

Like

nishant
onMay10,2016at14:45said:

Hiall,

TellmewhetherIcando/workbelowornot.

Ihaveaprogramwrittenforteensy3.2inwhichIhaveusedaudio.h,snooze.handsome
basiclibraries,IamcompilingthroughArduinoideandthenIgotahexfile.
ThishexfileIamthinkingofburninginteensy3.2withoutbootloadersoIamplanningto
useSWD.Iwilldothesameconnectionasaboveandthinkingofburningviakeil_u5.

Like

ErichStyger
onMay11,2016at21:03said:

https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 30/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

Yes,youcandownloadIntelHexfilesandS19(MotorolaSRecords).(Idothatwith
theSeggerconnection)andthatworks.Whatdoesnotworkarerawbinaryfiles.
Ihopethishelps?

Like

nishant
onMay19,2016at16:07said:

cananyonetellmewhatisconnectiontopowermk20dx256vlh7.

Like

ErichStyger
onMay20,2016at04:00said:

ThemostobviouswaytopowertheTeensyiswiththeUSBconnector.

Like

tonetagcom
onMay19,2016at16:08said:

cananyonetellmewhatistheinputconnectionformk20dx256vlh7.

Like

ErichStyger
onMay20,2016at04:01said:

Notsurewhatyoumeanwithinputconnection?youcanprettymuchuseanypin
oftheTeensyassomekindofinput.

https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 31/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

Like

tonetagcom
onMay19,2016at16:09said:

alsoiamtryingswmodewithulink2armdebugger,isitokay?..

Like

ErichStyger
onMay20,2016at04:02said:

Idonothaveaulink2ARMDebugprobe,butifithasa10pinARMSWD/JTAG
connector,thatshouldworktoowithadebuggersupportingthatprobe.KDSdoes
notsupportthatprobe.

Like

tonetagcom
onMay19,2016at19:39said:

Andalsopleasetellhowyoudidthatsoldering.
AsImtryingbutitsosmallthatIcantabletodo.

Like

ErichStyger
onMay20,2016at04:03said:

Soldringhasbeendonewithafinesolderingtippluswithisolatatedwireswhichare
usedformotors.

Like

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26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

henk
onNovember1,2016at14:18said:

whatistheminimalhardwareneededtoprogramaMK20DX256VLH7?
isitdoablewiththeOlimexARMUSBOCDHdevice?(Idohavethisdevice)ordoIneed
oneofthoseexpensiveseggerdevices???
IliketocreateapcbwithonlyaMK20DX256VLH7withthemostnecessarycomponents
onitandsomeheaderstoanotherpcb.
(itshouldalsobenicetoprogramwithmbed)

thanks,
Henk

Like

ErichStyger
onNovember1,2016at18:05said:

HiHenk,
TechnicallyyoucanuseanySWD/JTAGcapabledebugdevice,giventhatyouhave
thesupportinourdebugger(e.g.OpenOCDorpyOCD).Myexperiencewith
OpenOCDandpyOCDisthattheyonlyworkforafewdevices,andespecially
OpenOCDisveryslow.TheSeggeronesarenotexpensive:havealookatthe
SEGGEREDUversionwhichisforeducationalornonprofitprojects,worththe
smallamountofmoneybyeverycent.
OtherwiseyoucanuseanyoftheFRDMboardse.g.withmbedtoprogramany
otherdevice.Iwroteseveralarticlesaboutthis,forexample
https://mcuoneclipse.com/2015/08/19/usingthefreescalefreedomfrdmkl43zto
debugotherboards/.
And:youmighthavealookatthetinyK20
(https://mcuoneclipse.com/category/boards/tinyk20/)whichisaMK20DX128withall
theminimalcomponents.
Ihopethishelps,
Erich

Like

henksalomons
onNovember2,2016at22:46said:

https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 33/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

HelloErich,

thanksforyourextensiveanswer
IndeeddeEDUversionisaffordableandIorderedone
IalseorderedtheTWRK20D72M:http://www.nxp.com/products/software
andtools/hardwaredevelopmenttools/towerdevelopmentboards/mcuand
processormodules/kinetismodules/kinetisk2072mhzmcutowersystem
module:TWRK20D72M
todosomedevelopmentandtestingwithseveraldevices.
(Iplanonwiznet5500,mcp23017,pca9685,max7219formyfirstproject)

IwillhavealookatthetinyK20also
thanks,
Henk

Like

paolo
onFebruary18,2017at11:21said:

HelloErich,
Idliketodebugswonteensy3.0,HWpatchsaresimple,
butwhataboutSW?
UsuallyIuseOpenOCDandeclipse,doIneedspecialconfiglike.LDcontainsdifferentsw
relocation?
Anyinfoareappreciate.

regards
Paolo

Like

ErichStyger
onFebruary18,2017at12:50said:

HiPaolo,
becausethereisnospecialbootloaderontheKinetisonTeensy,youcanuseitlike
anyotherKinetis,andnospeciallinkerfileisneeded.
IdohaveaanEclipse(KinetisDesignStudio)projectonGitHubhere:
https://mcuoneclipse.com/2014/08/09/hackingtheteensyv31forswddebugging/ 34/36
26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

https://github.com/ErichStyger/mcuoneclipse/tree/master/Examples/KDS/Teensy_3.
1
Erich

Like

paolo
onMarch3,2017at16:07said:

HiErich,
thanks!

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26/3/2017 HackingtheTeensyV3.1forSWDDebugging|MCUonEclipse

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