(I have implemented Teensy images using MBED, uTasker and TeensyDuino, compiled with a variety of toolkits but always loaded into Teensy boards using the Teensy loader.) The Teensy loader that Paul wrote for the Teensy 3.x is one supporting program that allows images to be programmed into Teensys no matter how they were compiled. The reason that's important is that there are many ways to load images into boards. Next answer: Most people don't think of the world has having "mbed boards", but rather boards/processors that are supported by the MBED programming/RTOS environment. This structure applies to every Teensy 3.x. Both forms of Teensy loader accept images in "hex format", then use Paul's HalfKay protocol to transfer the data to the RAM-based bootloader to program the main processor's flash. Supporting that, Paul wrote and maintains the graphical Teensy loader, and there is an additional CLI loader that he wrote and is maintained by the forum community. There are multiple variations on three common themes, so it's a bit confusing at the beginning.ġ) PJRC: Support processor sets up a RAM-executing bootloader to accept images over USB using HalfKay Ģ) FRDM (and some others): Support processor always available, accepts images either using USB storage file-writing or CMSIS-DAP ģ) Classical debugger providers (Keil, PEMicro, etc) where a debug dongle uses JTAG or SWD to program flash.įirst answer: Yes, Paul's bootloader accepts data using the HalfKay protocol. If only the Teensy 3.5/3.6 and Ethernet were available when were starting development. I use Teensys as ultra-programmable signal generators, and general support. We have been developing a pretty serious distributed industrial data acquisition/control system using FRDM boards for prototyping, and it's been reliable, powerful and convenient. Te FRDM connects a UART on the support processor to a UART on the K64, and when the host interacts with the abstract communication model "serial" port provided by the support processor, it tunnels the bytes to and from the main processor.įinally, the support processor supports CMSIS-DAP debug protocol for the classical debugging that are often required to get past knotty problems in the application. The act of writing data to that "file" causes the support processor to use the SWD facility in the K64 to program its flash. The host computer can load a new flash image into the K64 by opening and writing a file with the ".bin" extension to the virtual filesystem provided by the support processor. The FRDM board's support processor remains connected to its USB port at all times, and provides CMSIS-DAP, and a virtual serial port, and a virtual USB storage partition. That bootloader then takes control of the main processor to allow it to accept flash images from the host. The support processor in the Teensy (MKL-02), when triggered by the program button, uses the SWD (serial wire debug) facility in the main processor to load a bootloader into the main processor's RAM. Both Teensy and thhe FRDM have an additional processor to support downloading those programs and to support the "unbrickability" that is the hallmark of Paul's Teensy. The FRDM board has a structure similar to Teensy: The processor that we all use, write programs for and has the peripherals (accel, etc.), is the K64.
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