Looking for a small, inexpensive ($25-30) ARM development board (say 120-180 MHz ARM Cortex-M4 with FPU, 512kB-1MB of FLASH and 256 KByte of RAM? Then have a look at the Teensy 3.5 and Teensy 3.6 by PJRC/Paul Stoffregen:
The only problem? it is not possible to debug it :-(. At least not in the traditional sense. This article is about how to change the board to use it with any normal SWD debugging tool e.g. Eclipse and the Segger J-Link :-).
The tinyK20 we have produced at the university for student projects are great: small, inexpensive, can be used for many projects and can be both debugged with normal SWD debuggers and can be even used as a SWD debug probe. However with an NXP K20 (ARM Cortex-M4) running at 50 MHz, 128 KByte of FLASH and 16 KByte of RAM it is are not the most powerful board. So somethinig more powerful would be cool!
The tinyK20 has the option of an micro SD card on the bottom side. Maybe Paul had the same idea, and Hackaday produced an article (http://hackaday.com/2016/08/17/introducing-the-teensy-3-5-and-3-6/) back in August 2016 about two new boards: the Teensy 3.5 and 3.6. The Teensy boards are great (thanks Paul!), but only if using Arduino libraries and the Arduino IDE which never has been an option for me.
Instead, I want to use normal debugging tools like a J-Link. For the Teensy 3.1 I have found a way to do this (see “Hacking the Teensy V3.1 for SWD Debugging“) and we used that for several Teensy boards. But that wiring was not really easy, so we better used the tinyK20 as boards.
SWD Debug Signals on Teensy 3.5/3.6
Now it seemed that Paul finally has added an easier way to to SWD debugging (several asked for that in the forums/community).
“For these new Teensy boards, I added a provision to use the debug signals. See the comments and bottom-side photo on the Kickstarter page. There’s a pin you pull low to tell the bootloader chip to tri-state those signals. Drive that pin high or just disconnect (it has a weak pullup) to return to Teensy’s normal mode.”
And from the Kickstarter (https://www.kickstarter.com/projects/paulstoffregen/teensy-35-and-36/comments?cursor=14211857):
“You’ll be happy to hear those test point are on the bottom side. Look for the pads labeled “DD” and “DC”, for Debug Data and Debug Clock. There’s not a lot of room on the bottom side, so had to abbreviate. You might also notice the “DE” pin, for Debug Enable. This pin as a weak pullup. The idea is you pull it low to tell the MKL02 chip to tri-state the debug pins, so you can control them with whatever debug adaptor you use. Just disconnect or drive the pin high to return the Teensy to its normal functionality.”
Well, that sounds great!
Below is the schematics of the Teensy 3.5/3.6 from https://www.pjrc.com/teensy/schematic.html:
A NXP Kinetis KL02Z acts as the onboard interface and bootloader between the Arduino IDE and the ARM Cortex-M4F on the board. I have marked the relevant signals for debug below (3.3V sense, Reset, GND, DD (Debug Data) and DC (Debug Clock). The DE (Debug Enable) is close to G (GND):
So all what I have to do is to connect DE and G and I should be able to debug it, right?
- Reset: Optional, but good if the debug probe can force a reset to the device. There is no pull-up on the reset line, as the KL02Z seems to use an internal pull-up
- 3.3V: I need that signal routed to the debug probe, as for example the SEGGER J-Link is sensing the voltage to determine the target device voltate to use the correct voltage levels, plus it can sense if the device is powered. Unfortunately, Paul has not put that signal to the row of ‘debug’ singals (DD, DC, DE, G)
- DD: Debug Data, JTAG_TMS, SWD_DIO
- DC: Debug Clock, JTAG_TCLK, SWD_CLK
- DE: Debug Enable, to be pulled down to tristate the KL02Z debug signals
- G: Ground
Adding Debug Connector
The following picture shows the location of the debug signals on the bottom side of the Teensy 3.5 and 3.6:
I added a 2×4 SMD Pin header and a 1×5 pin row on the bottom side:
Connection to SEGGER J-Link
I’m using a SEGGER J-Link to connect to the board. The Segger J-Link has the advantage that I can easily connect the signals. The pin out is available on https://www.segger.com/interface-description.html:
Below the connected the signals to the Segger J-Link:
- 3.3V to pin 1 (VTref)
- Reset to pin 15 (RESET)
- G to pin 4 (GND)
- DE to pin 6 (GND)
- DD to pin 7 (TMS)
- DC to pin 9 (TCK)
It does not work?
So I tried it out, and I was not able to connect to the board :-(. Looking at the signals it was clear that despite pulling the DE signal low, the Kinetis KL02 keeps sending something to the K64F making it impossible to take over with the J-Link:
It turned out that pulling down the DE signal is still not supported, from https://forum.pjrc.com/threads/42728-Debugging-strategies from 04-24-2017:
“It’s *still* not implemented. Why a year late? Work on Teensy 3.5 & 3.6 (released October 2016) and the USB host library for 3.6 (first release March 2017) pushed that and many other project goals well into 2017. “
So what now? Wait again maybe a year or forever? Luckily, I have found a way, but it is the ‘hard’ way.
Modifying the Teensy 3.5/3.6 for SWD Debugging
WARNING: This modifies the Teensy board, and without a doubt you loose any warranty doing that board change!
Pulling the reset line LOW to keep the KL02Z in reset does not work, as the reset line is shared between the KL02Z and the MK66F/MK64F. As anyway the KL02Z on the board is not of any use for me, the decision was to remove it from the board.
To remove the KL02Z from the board is a bit tricky, below is how Christian Di Battista (thanks!) helped me to get the hardware modification done:
Use something heat resistive and place the board on it:
To get the device easier off, use Flux Gel:
Apply the flux gel on the pins around the KL02Z:
Use a hot air station or anything suitable:
Then heat up the KL02Z until it can be removed. Because it has a bottom ground plate, it might take a while until it can be removed.
Video of the process:
With the KL02Z removed:
There is only one thing missing: the reset line needs now a pull-up to 3.3V. One option would be to add a SMD pull-up resistor (e.g. 4.7K) somewhere on that KL02Z footprint. Another simple and easier option os to add a pull-up to the header near the SD card:
Simplified J-Link Connection
With this, the GND line to DE is not needed any more and can be removed:
💡 If your debug probe does not do any target voltage sensing (as the J-Link does), you don’t need that red Vdd wire. The Reset wire is optional too (but highly recommended), because it is used to reset the target if the processor does not respond on the SWD connection.
And with this, the J-Link SWD protocol is able to take over the ARM Cortex-M4F :-):
Finally, I can debug the Teensy with Eclipse, GDB and standard SWD debug tools:
Waldemar Krasovskyy has sent me another variant how to debug the Teensy (thanks!).
He used a ‘quick and dirty’ variant with two pins shorten on the header to connect to the debug pins:
The two pins then connect to the SWDIO and SWDCLK of the KL02Z:
One of his ideas is to use pogo-pins to make the contacts with the SEGGER J-Link:
With some headers a connection can be made using the Pogo Pins:
Another approach is to use and access the signals routed to the SD card:
Thanks Waldemar for the ideas!
The Teensy is a great board, and Paul Stoffregen does a really great job. But I really don’t understand why he makes it so hard to use his boards for debugging? Maybe others are used to printf() style debugging as a hobby, but to me this is not the adequate way how to develop for an ARM Cortex-M. To use normal SWD debugging tools with the Teensy 3.5 and 3.6 it requires a hardware change, as for the Teensy 3.1 (see https://mcuoneclipse.com/2014/08/09/hacking-the-teensy-v3-1-for-swd-debugging/). Because the DE (Debug Enable) signal does not work, it requires removal of the KL02Z microprocessor from the board. And because the board does not allow the standard SWD debug header, I have to create a custom cable. It works fine, but is not ideal. I really wish Paul would have provided a normal 2×5 SWD debug header or footprint (ideally on the top side): that would make his boards even more useful.
Happy HotAiring 🙂
- SWD debugging the Teensy v3.1: https://mcuoneclipse.com/2014/08/09/hacking-the-teensy-v3-1-for-swd-debugging/
- Teensy v3.5: https://www.pjrc.com/store/teensy35.html
- Teensy v3.6: https://www.pjrc.com/store/teensy36.html