1 /***************************************************************************
2 * Copyright (C) 2011 by Mathias Kuester *
3 * Mathias Kuester <kesmtp@freenet.de> *
5 * Copyright (C) 2011 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
8 * revised: 4/25/13 by brent@mbari.org [DCC target request support] *
10 * This program is free software; you can redistribute it and/or modify *
11 * it under the terms of the GNU General Public License as published by *
12 * the Free Software Foundation; either version 2 of the License, or *
13 * (at your option) any later version. *
15 * This program is distributed in the hope that it will be useful, *
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
18 * GNU General Public License for more details. *
20 * You should have received a copy of the GNU General Public License *
21 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
22 ***************************************************************************/
28 #include "jtag/interface.h"
29 #include "jtag/jtag.h"
30 #include "jtag/hla/hla_transport.h"
31 #include "jtag/hla/hla_interface.h"
32 #include "jtag/hla/hla_layout.h"
34 #include "algorithm.h"
36 #include "breakpoints.h"
37 #include "target_type.h"
40 #include "arm_semihosting.h"
41 #include "target_request.h"
43 #define savedDCRDR dbgbase /* FIXME: using target->dbgbase to preserve DCRDR */
45 #define ARMV7M_SCS_DCRSR DCB_DCRSR
46 #define ARMV7M_SCS_DCRDR DCB_DCRDR
48 static inline struct hl_interface_s *target_to_adapter(struct target *target)
50 return target->tap->priv;
53 static int adapter_load_core_reg_u32(struct target *target,
54 uint32_t regsel, uint32_t *value)
57 struct hl_interface_s *adapter = target_to_adapter(target);
59 LOG_DEBUG("%s", __func__);
61 /* NOTE: we "know" here that the register identifiers used
62 * in the v7m header match the Cortex-M3 Debug Core Register
63 * Selector values for R0..R15, xPSR, MSP, and PSP.
66 case ARMV7M_REGSEL_R0 ... ARMV7M_REGSEL_PSP:
67 /* read a normal core register */
68 retval = adapter->layout->api->read_reg(adapter->handle, regsel, value);
70 if (retval != ERROR_OK) {
71 LOG_ERROR("JTAG failure %i", retval);
72 return ERROR_JTAG_DEVICE_ERROR;
74 LOG_DEBUG("load from core reg %" PRIu32 " value 0x%" PRIx32 "", regsel, *value);
77 case ARMV7M_REGSEL_FPSCR:
78 /* Floating-point Status and Registers */
79 retval = target_write_u32(target, ARMV7M_SCS_DCRSR, regsel);
80 if (retval != ERROR_OK)
82 retval = target_read_u32(target, ARMV7M_SCS_DCRDR, value);
83 if (retval != ERROR_OK)
85 LOG_DEBUG("load from FPSCR value 0x%" PRIx32, *value);
88 case ARMV7M_REGSEL_S0 ... ARMV7M_REGSEL_S31:
89 /* Floating-point Status and Registers */
90 retval = target_write_u32(target, ARMV7M_SCS_DCRSR, regsel);
91 if (retval != ERROR_OK)
93 retval = target_read_u32(target, ARMV7M_SCS_DCRDR, value);
94 if (retval != ERROR_OK)
96 LOG_DEBUG("load from FPU reg S%d value 0x%" PRIx32,
97 (int)(regsel - ARMV7M_REGSEL_S0), *value);
100 case ARMV7M_REGSEL_PMSK_BPRI_FLTMSK_CTRL:
101 retval = adapter->layout->api->read_reg(adapter->handle, ARMV7M_REGSEL_PMSK_BPRI_FLTMSK_CTRL, value);
102 if (retval != ERROR_OK)
105 LOG_DEBUG("load from special reg PRIMASK/BASEPRI/FAULTMASK/CONTROL value 0x%" PRIx32, *value);
109 return ERROR_COMMAND_SYNTAX_ERROR;
115 static int adapter_store_core_reg_u32(struct target *target,
116 uint32_t regsel, uint32_t value)
119 struct armv7m_common *armv7m = target_to_armv7m(target);
120 struct hl_interface_s *adapter = target_to_adapter(target);
122 LOG_DEBUG("%s", __func__);
125 case ARMV7M_REGSEL_R0 ... ARMV7M_REGSEL_PSP:
126 retval = adapter->layout->api->write_reg(adapter->handle, regsel, value);
128 if (retval != ERROR_OK) {
131 LOG_ERROR("JTAG failure");
132 r = armv7m->arm.core_cache->reg_list + regsel; /* TODO: don't use regsel as register index */
134 return ERROR_JTAG_DEVICE_ERROR;
136 LOG_DEBUG("write core reg %" PRIu32 " value 0x%" PRIx32 "", regsel, value);
139 case ARMV7M_REGSEL_FPSCR:
140 /* Floating-point Status and Registers */
141 retval = target_write_u32(target, ARMV7M_SCS_DCRDR, value);
142 if (retval != ERROR_OK)
144 retval = target_write_u32(target, ARMV7M_SCS_DCRSR, ARMV7M_REGSEL_FPSCR | DCRSR_WnR);
145 if (retval != ERROR_OK)
147 LOG_DEBUG("write FPSCR value 0x%" PRIx32, value);
150 case ARMV7M_REGSEL_S0 ... ARMV7M_REGSEL_S31:
151 /* Floating-point Status and Registers */
152 retval = target_write_u32(target, ARMV7M_SCS_DCRDR, value);
153 if (retval != ERROR_OK)
155 retval = target_write_u32(target, ARMV7M_SCS_DCRSR, regsel | DCRSR_WnR);
156 if (retval != ERROR_OK)
158 LOG_DEBUG("write FPU reg S%d value 0x%" PRIx32,
159 (int)(regsel - ARMV7M_REGSEL_S0), value);
162 case ARMV7M_REGSEL_PMSK_BPRI_FLTMSK_CTRL:
163 adapter->layout->api->write_reg(adapter->handle, ARMV7M_REGSEL_PMSK_BPRI_FLTMSK_CTRL, value);
165 LOG_DEBUG("write special reg PRIMASK/BASEPRI/FAULTMASK/CONTROL value 0x%" PRIx32, value);
169 return ERROR_COMMAND_SYNTAX_ERROR;
175 static int adapter_examine_debug_reason(struct target *target)
177 if ((target->debug_reason != DBG_REASON_DBGRQ)
178 && (target->debug_reason != DBG_REASON_SINGLESTEP)) {
179 target->debug_reason = DBG_REASON_BREAKPOINT;
185 static int hl_dcc_read(struct hl_interface_s *hl_if, uint8_t *value, uint8_t *ctrl)
188 int retval = hl_if->layout->api->read_mem(hl_if->handle,
189 DCB_DCRDR, 1, sizeof(dcrdr), (uint8_t *)&dcrdr);
190 if (retval == ERROR_OK) {
191 *ctrl = (uint8_t)dcrdr;
192 *value = (uint8_t)(dcrdr >> 8);
194 LOG_DEBUG("data 0x%x ctrl 0x%x", *value, *ctrl);
197 /* write ack back to software dcc register
198 * to signify we have read data */
199 /* atomically clear just the byte containing the busy bit */
200 static const uint8_t zero;
201 retval = hl_if->layout->api->write_mem(hl_if->handle, DCB_DCRDR, 1, 1, &zero);
207 static int hl_target_request_data(struct target *target,
208 uint32_t size, uint8_t *buffer)
210 struct hl_interface_s *hl_if = target_to_adapter(target);
215 for (i = 0; i < (size * 4); i++) {
216 int err = hl_dcc_read(hl_if, &data, &ctrl);
226 static int hl_handle_target_request(void *priv)
228 struct target *target = priv;
231 if (!target_was_examined(target))
233 struct hl_interface_s *hl_if = target_to_adapter(target);
235 if (!target->dbg_msg_enabled)
238 if (target->state == TARGET_RUNNING) {
242 err = hl_dcc_read(hl_if, &data, &ctrl);
246 /* check if we have data */
247 if (ctrl & (1 << 0)) {
250 /* we assume target is quick enough */
252 err = hl_dcc_read(hl_if, &data, &ctrl);
256 request |= (data << 8);
257 err = hl_dcc_read(hl_if, &data, &ctrl);
261 request |= (data << 16);
262 err = hl_dcc_read(hl_if, &data, &ctrl);
266 request |= (data << 24);
267 target_request(target, request);
274 static int adapter_init_arch_info(struct target *target,
275 struct cortex_m_common *cortex_m,
276 struct jtag_tap *tap)
278 struct armv7m_common *armv7m;
280 LOG_DEBUG("%s", __func__);
282 armv7m = &cortex_m->armv7m;
283 armv7m_init_arch_info(target, armv7m);
285 armv7m->load_core_reg_u32 = adapter_load_core_reg_u32;
286 armv7m->store_core_reg_u32 = adapter_store_core_reg_u32;
288 armv7m->examine_debug_reason = adapter_examine_debug_reason;
289 armv7m->stlink = true;
291 target_register_timer_callback(hl_handle_target_request, 1,
292 TARGET_TIMER_TYPE_PERIODIC, target);
297 static int adapter_init_target(struct command_context *cmd_ctx,
298 struct target *target)
300 LOG_DEBUG("%s", __func__);
302 armv7m_build_reg_cache(target);
303 arm_semihosting_init(target);
307 static int adapter_target_create(struct target *target,
310 LOG_DEBUG("%s", __func__);
311 struct adiv5_private_config *pc = target->private_config;
312 if (pc != NULL && pc->ap_num > 0) {
313 LOG_ERROR("hla_target: invalid parameter -ap-num (> 0)");
314 return ERROR_COMMAND_SYNTAX_ERROR;
317 struct cortex_m_common *cortex_m = calloc(1, sizeof(struct cortex_m_common));
318 if (cortex_m == NULL) {
319 LOG_ERROR("No memory creating target");
323 adapter_init_arch_info(target, cortex_m, target->tap);
328 static int adapter_load_context(struct target *target)
330 struct armv7m_common *armv7m = target_to_armv7m(target);
331 int num_regs = armv7m->arm.core_cache->num_regs;
333 for (int i = 0; i < num_regs; i++) {
335 struct reg *r = &armv7m->arm.core_cache->reg_list[i];
337 armv7m->arm.read_core_reg(target, r, i, ARM_MODE_ANY);
343 static int adapter_debug_entry(struct target *target)
345 struct hl_interface_s *adapter = target_to_adapter(target);
346 struct armv7m_common *armv7m = target_to_armv7m(target);
347 struct arm *arm = &armv7m->arm;
352 /* preserve the DCRDR across halts */
353 retval = target_read_u32(target, DCB_DCRDR, &target->savedDCRDR);
354 if (retval != ERROR_OK)
357 retval = armv7m->examine_debug_reason(target);
358 if (retval != ERROR_OK)
361 adapter_load_context(target);
363 /* make sure we clear the vector catch bit */
364 adapter->layout->api->write_debug_reg(adapter->handle, DCB_DEMCR, TRCENA);
367 xPSR = buf_get_u32(r->value, 0, 32);
369 /* Are we in an exception handler */
371 armv7m->exception_number = (xPSR & 0x1FF);
373 arm->core_mode = ARM_MODE_HANDLER;
374 arm->map = armv7m_msp_reg_map;
376 unsigned control = buf_get_u32(arm->core_cache
377 ->reg_list[ARMV7M_CONTROL].value, 0, 3);
379 /* is this thread privileged? */
380 arm->core_mode = control & 1
381 ? ARM_MODE_USER_THREAD
384 /* which stack is it using? */
386 arm->map = armv7m_psp_reg_map;
388 arm->map = armv7m_msp_reg_map;
390 armv7m->exception_number = 0;
393 LOG_DEBUG("entered debug state in core mode: %s at PC 0x%08" PRIx32 ", target->state: %s",
394 arm_mode_name(arm->core_mode),
395 buf_get_u32(arm->pc->value, 0, 32),
396 target_state_name(target));
401 static int adapter_poll(struct target *target)
403 enum target_state state;
404 struct hl_interface_s *adapter = target_to_adapter(target);
405 struct armv7m_common *armv7m = target_to_armv7m(target);
406 enum target_state prev_target_state = target->state;
408 state = adapter->layout->api->state(adapter->handle);
410 if (state == TARGET_UNKNOWN) {
411 LOG_ERROR("jtag status contains invalid mode value - communication failure");
412 return ERROR_TARGET_FAILURE;
415 if (prev_target_state == state)
418 if (prev_target_state == TARGET_DEBUG_RUNNING && state == TARGET_RUNNING)
421 target->state = state;
423 if (state == TARGET_HALTED) {
425 int retval = adapter_debug_entry(target);
426 if (retval != ERROR_OK)
429 if (prev_target_state == TARGET_DEBUG_RUNNING) {
430 target_call_event_callbacks(target, TARGET_EVENT_DEBUG_HALTED);
432 if (arm_semihosting(target, &retval) != 0)
435 target_call_event_callbacks(target, TARGET_EVENT_HALTED);
438 LOG_DEBUG("halted: PC: 0x%08" PRIx32, buf_get_u32(armv7m->arm.pc->value, 0, 32));
444 static int hl_assert_reset(struct target *target)
447 struct hl_interface_s *adapter = target_to_adapter(target);
448 struct armv7m_common *armv7m = target_to_armv7m(target);
449 bool use_srst_fallback = true;
451 LOG_DEBUG("%s", __func__);
453 enum reset_types jtag_reset_config = jtag_get_reset_config();
455 bool srst_asserted = false;
457 if ((jtag_reset_config & RESET_HAS_SRST) &&
458 (jtag_reset_config & RESET_SRST_NO_GATING)) {
459 res = adapter_assert_reset();
460 srst_asserted = true;
463 adapter->layout->api->write_debug_reg(adapter->handle, DCB_DHCSR, DBGKEY|C_DEBUGEN);
465 /* only set vector catch if halt is requested */
466 if (target->reset_halt)
467 adapter->layout->api->write_debug_reg(adapter->handle, DCB_DEMCR, TRCENA|VC_CORERESET);
469 adapter->layout->api->write_debug_reg(adapter->handle, DCB_DEMCR, TRCENA);
471 if (jtag_reset_config & RESET_HAS_SRST) {
472 if (!srst_asserted) {
473 res = adapter_assert_reset();
475 if (res == ERROR_COMMAND_NOTFOUND)
476 LOG_ERROR("Hardware srst not supported, falling back to software reset");
477 else if (res == ERROR_OK) {
478 /* hardware srst supported */
479 use_srst_fallback = false;
483 if (use_srst_fallback) {
484 /* stlink v1 api does not support hardware srst, so we use a software reset fallback */
485 adapter->layout->api->write_debug_reg(adapter->handle, NVIC_AIRCR, AIRCR_VECTKEY | AIRCR_SYSRESETREQ);
488 res = adapter->layout->api->reset(adapter->handle);
493 /* registers are now invalid */
494 register_cache_invalidate(armv7m->arm.core_cache);
496 if (target->reset_halt) {
497 target->state = TARGET_RESET;
498 target->debug_reason = DBG_REASON_DBGRQ;
500 target->state = TARGET_HALTED;
506 static int hl_deassert_reset(struct target *target)
508 enum reset_types jtag_reset_config = jtag_get_reset_config();
510 LOG_DEBUG("%s", __func__);
512 if (jtag_reset_config & RESET_HAS_SRST)
513 adapter_deassert_reset();
515 target->savedDCRDR = 0; /* clear both DCC busy bits on initial resume */
517 return target->reset_halt ? ERROR_OK : target_resume(target, 1, 0, 0, 0);
520 static int adapter_halt(struct target *target)
523 struct hl_interface_s *adapter = target_to_adapter(target);
525 LOG_DEBUG("%s", __func__);
527 if (target->state == TARGET_HALTED) {
528 LOG_DEBUG("target was already halted");
532 if (target->state == TARGET_UNKNOWN)
533 LOG_WARNING("target was in unknown state when halt was requested");
535 res = adapter->layout->api->halt(adapter->handle);
540 target->debug_reason = DBG_REASON_DBGRQ;
545 static int adapter_resume(struct target *target, int current,
546 target_addr_t address, int handle_breakpoints,
550 struct hl_interface_s *adapter = target_to_adapter(target);
551 struct armv7m_common *armv7m = target_to_armv7m(target);
553 struct breakpoint *breakpoint = NULL;
556 LOG_DEBUG("%s %d " TARGET_ADDR_FMT " %d %d", __func__, current,
557 address, handle_breakpoints, debug_execution);
559 if (target->state != TARGET_HALTED) {
560 LOG_WARNING("target not halted");
561 return ERROR_TARGET_NOT_HALTED;
564 if (!debug_execution) {
565 target_free_all_working_areas(target);
566 cortex_m_enable_breakpoints(target);
567 cortex_m_enable_watchpoints(target);
572 buf_set_u32(pc->value, 0, 32, address);
577 if (!breakpoint_find(target, buf_get_u32(pc->value, 0, 32))
578 && !debug_execution) {
579 armv7m_maybe_skip_bkpt_inst(target, NULL);
582 resume_pc = buf_get_u32(pc->value, 0, 32);
584 /* write any user vector flags */
585 res = target_write_u32(target, DCB_DEMCR, TRCENA | armv7m->demcr);
589 armv7m_restore_context(target);
591 /* restore savedDCRDR */
592 res = target_write_u32(target, DCB_DCRDR, target->savedDCRDR);
596 /* registers are now invalid */
597 register_cache_invalidate(armv7m->arm.core_cache);
599 /* the front-end may request us not to handle breakpoints */
600 if (handle_breakpoints) {
601 /* Single step past breakpoint at current address */
602 breakpoint = breakpoint_find(target, resume_pc);
604 LOG_DEBUG("unset breakpoint at " TARGET_ADDR_FMT " (ID: %" PRIu32 ")",
606 breakpoint->unique_id);
607 cortex_m_unset_breakpoint(target, breakpoint);
609 res = adapter->layout->api->step(adapter->handle);
614 cortex_m_set_breakpoint(target, breakpoint);
618 res = adapter->layout->api->run(adapter->handle);
623 target->debug_reason = DBG_REASON_NOTHALTED;
625 if (!debug_execution) {
626 target->state = TARGET_RUNNING;
627 target_call_event_callbacks(target, TARGET_EVENT_RESUMED);
629 target->state = TARGET_DEBUG_RUNNING;
630 target_call_event_callbacks(target, TARGET_EVENT_DEBUG_RESUMED);
636 static int adapter_step(struct target *target, int current,
637 target_addr_t address, int handle_breakpoints)
640 struct hl_interface_s *adapter = target_to_adapter(target);
641 struct armv7m_common *armv7m = target_to_armv7m(target);
642 struct breakpoint *breakpoint = NULL;
643 struct reg *pc = armv7m->arm.pc;
644 bool bkpt_inst_found = false;
646 LOG_DEBUG("%s", __func__);
648 if (target->state != TARGET_HALTED) {
649 LOG_WARNING("target not halted");
650 return ERROR_TARGET_NOT_HALTED;
654 buf_set_u32(pc->value, 0, 32, address);
659 uint32_t pc_value = buf_get_u32(pc->value, 0, 32);
661 /* the front-end may request us not to handle breakpoints */
662 if (handle_breakpoints) {
663 breakpoint = breakpoint_find(target, pc_value);
665 cortex_m_unset_breakpoint(target, breakpoint);
668 armv7m_maybe_skip_bkpt_inst(target, &bkpt_inst_found);
670 target->debug_reason = DBG_REASON_SINGLESTEP;
672 armv7m_restore_context(target);
674 /* restore savedDCRDR */
675 res = target_write_u32(target, DCB_DCRDR, target->savedDCRDR);
679 target_call_event_callbacks(target, TARGET_EVENT_RESUMED);
681 res = adapter->layout->api->step(adapter->handle);
686 /* registers are now invalid */
687 register_cache_invalidate(armv7m->arm.core_cache);
690 cortex_m_set_breakpoint(target, breakpoint);
692 adapter_debug_entry(target);
693 target_call_event_callbacks(target, TARGET_EVENT_HALTED);
695 LOG_INFO("halted: PC: 0x%08" PRIx32, buf_get_u32(armv7m->arm.pc->value, 0, 32));
700 static int adapter_read_memory(struct target *target, target_addr_t address,
701 uint32_t size, uint32_t count,
704 struct hl_interface_s *adapter = target_to_adapter(target);
706 if (!count || !buffer)
707 return ERROR_COMMAND_SYNTAX_ERROR;
709 LOG_DEBUG("%s " TARGET_ADDR_FMT " %" PRIu32 " %" PRIu32,
710 __func__, address, size, count);
712 return adapter->layout->api->read_mem(adapter->handle, address, size, count, buffer);
715 static int adapter_write_memory(struct target *target, target_addr_t address,
716 uint32_t size, uint32_t count,
717 const uint8_t *buffer)
719 struct hl_interface_s *adapter = target_to_adapter(target);
721 if (!count || !buffer)
722 return ERROR_COMMAND_SYNTAX_ERROR;
724 LOG_DEBUG("%s " TARGET_ADDR_FMT " %" PRIu32 " %" PRIu32,
725 __func__, address, size, count);
727 return adapter->layout->api->write_mem(adapter->handle, address, size, count, buffer);
730 static const struct command_registration adapter_command_handlers[] = {
732 .chain = arm_command_handlers,
735 .chain = armv7m_trace_command_handlers,
737 COMMAND_REGISTRATION_DONE
740 struct target_type hla_target = {
741 .name = "hla_target",
742 .deprecated_name = "stm32_stlink",
744 .init_target = adapter_init_target,
745 .deinit_target = cortex_m_deinit_target,
746 .target_create = adapter_target_create,
747 .target_jim_configure = adiv5_jim_configure,
748 .examine = cortex_m_examine,
749 .commands = adapter_command_handlers,
751 .poll = adapter_poll,
752 .arch_state = armv7m_arch_state,
754 .target_request_data = hl_target_request_data,
755 .assert_reset = hl_assert_reset,
756 .deassert_reset = hl_deassert_reset,
758 .halt = adapter_halt,
759 .resume = adapter_resume,
760 .step = adapter_step,
762 .get_gdb_arch = arm_get_gdb_arch,
763 .get_gdb_reg_list = armv7m_get_gdb_reg_list,
765 .read_memory = adapter_read_memory,
766 .write_memory = adapter_write_memory,
767 .checksum_memory = armv7m_checksum_memory,
768 .blank_check_memory = armv7m_blank_check_memory,
770 .run_algorithm = armv7m_run_algorithm,
771 .start_algorithm = armv7m_start_algorithm,
772 .wait_algorithm = armv7m_wait_algorithm,
774 .add_breakpoint = cortex_m_add_breakpoint,
775 .remove_breakpoint = cortex_m_remove_breakpoint,
776 .add_watchpoint = cortex_m_add_watchpoint,
777 .remove_watchpoint = cortex_m_remove_watchpoint,
778 .profiling = cortex_m_profiling,