* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
- * along with this program; if not, write to the *
- * Free Software Foundation, Inc., *
- * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
+ * along with this program. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
-#ifndef SWD_H
-#define SWD_H
+#ifndef OPENOCD_JTAG_SWD_H
+#define OPENOCD_JTAG_SWD_H
#include <target/arm_adi_v5.h>
/* SWD_ACK_* bits are defined in <target/arm_adi_v5.h> */
+/*
+ * The following sequences are updated to
+ * ARM(tm) Debug Interface v5 Architecture Specification ARM IHI 0031E
+ */
+
/**
- * Line reset.
+ * SWD Line reset.
*
- * Line reset is at least 50 SWCLK cycles with SWDIO driven high, followed
- * by at least one idle (low) cycle.
+ * SWD Line reset is at least 50 SWCLK cycles with SWDIO driven high,
+ * followed by at least two idle (low) cycle.
+ * Bits are stored (and transmitted) LSB-first.
*/
static const uint8_t swd_seq_line_reset[] = {
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x03
+ /* At least 50 SWCLK cycles with SWDIO high */
+ 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+ /* At least 2 idle (low) cycles */
+ 0x00,
};
-static const unsigned swd_seq_line_reset_len = 51;
+static const unsigned swd_seq_line_reset_len = 64;
/**
* JTAG-to-SWD sequence.
* high, putting either interface logic into reset state, followed by a
* specific 16-bit sequence and finally a line reset in case the SWJ-DP was
* already in SWD mode.
+ * Bits are stored (and transmitted) LSB-first.
*/
static const uint8_t swd_seq_jtag_to_swd[] = {
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x7b, 0x9e,
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x0f,
+ /* At least 50 TCK/SWCLK cycles with TMS/SWDIO high */
+ 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+ /* Switching sequence from JTAG to SWD */
+ 0x9e, 0xe7,
+ /* At least 50 TCK/SWCLK cycles with TMS/SWDIO high */
+ 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+ /* At least 2 idle (low) cycles */
+ 0x00,
};
-static const unsigned swd_seq_jtag_to_swd_len = 118;
+static const unsigned swd_seq_jtag_to_swd_len = 136;
/**
* SWD-to-JTAG sequence.
*
* The SWD-to-JTAG sequence is at least 50 TCK/SWCLK cycles with TMS/SWDIO
* high, putting either interface logic into reset state, followed by a
- * specific 16-bit sequence and finally at least 5 TCK cycles to put the
- * JTAG TAP in TLR.
+ * specific 16-bit sequence and finally at least 5 TCK/SWCLK cycles with
+ * TMS/SWDIO high to put the JTAG TAP in Test-Logic-Reset state.
+ * Bits are stored (and transmitted) LSB-first.
*/
static const uint8_t swd_seq_swd_to_jtag[] = {
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf3, 0x9c, 0xff
+ /* At least 50 TCK/SWCLK cycles with TMS/SWDIO high */
+ 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+ /* Switching sequence from SWD to JTAG */
+ 0x3c, 0xe7,
+ /* At least 5 TCK/SWCLK cycles with TMS/SWDIO high */
+ 0xff,
};
-static const unsigned swd_seq_swd_to_jtag_len = 71;
+static const unsigned swd_seq_swd_to_jtag_len = 80;
/**
* SWD-to-dormant sequence.
*
* This is at least 50 SWCLK cycles with SWDIO high to put the interface
* in reset state, followed by a specific 16-bit sequence.
+ * Bits are stored (and transmitted) LSB-first.
*/
static const uint8_t swd_seq_swd_to_dormant[] = {
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xf3, 0x8e, 0x03
+ /* At least 50 SWCLK cycles with SWDIO high */
+ 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+ /* Switching sequence from SWD to dormant */
+ 0xbc, 0xe3,
};
-static const unsigned swd_seq_swd_to_dormant_len = 66;
+static const unsigned swd_seq_swd_to_dormant_len = 72;
/**
* Dormant-to-SWD sequence.
* sequence, followed by 4 TCK/SWCLK cycles with TMS/SWDIO low, followed by
* a specific protocol-dependent activation code. For SWD the activation code
* is an 8-bit sequence. The sequence ends with a line reset.
+ * Bits are stored (and transmitted) LSB-first.
*/
static const uint8_t swd_seq_dormant_to_swd[] = {
+ /* At least 8 SWCLK cycles with SWDIO high */
0xff,
+ /* Selection alert sequence */
0x92, 0xf3, 0x09, 0x62, 0x95, 0x2d, 0x85, 0x86,
0xe9, 0xaf, 0xdd, 0xe3, 0xa2, 0x0e, 0xbc, 0x19,
- 0x10, 0xfa, 0xff, 0xff, 0xff, 0xff, 0xff, 0x3f
+ /*
+ * 4 SWCLK cycles with SWDIO low ...
+ * + SWD activation code 0x1a ...
+ * + at least 8 SWCLK cycles with SWDIO high
+ */
+ 0xa0, /* ((0x00) & GENMASK(3, 0)) | ((0x1a << 4) & GENMASK(7, 4)) */
+ 0xf1, /* ((0x1a >> 4) & GENMASK(3, 0)) | ((0xff << 4) & GENMASK(7, 4)) */
+ 0xff,
+ /* At least 50 SWCLK cycles with SWDIO high */
+ 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+ /* At least 2 idle (low) cycles */
+ 0x00,
};
-static const unsigned swd_seq_dormant_to_swd_len = 199;
-
-enum swd_special_seq {
- LINE_RESET,
- JTAG_TO_SWD,
- SWD_TO_JTAG,
- SWD_TO_DORMANT,
- DORMANT_TO_SWD,
+static const unsigned swd_seq_dormant_to_swd_len = 224;
+
+/**
+ * JTAG-to-dormant sequence.
+ *
+ * This is at least 5 TCK cycles with TMS high to put the interface
+ * in test-logic-reset state, followed by a specific 31-bit sequence.
+ * Bits are stored (and transmitted) LSB-first.
+ */
+static const uint8_t swd_seq_jtag_to_dormant[] = {
+ /* At least 5 TCK cycles with TMS high */
+ 0xff,
+ /*
+ * Still one TCK cycle with TMS high followed by 31 bits JTAG-to-DS
+ * select sequence 0xba, 0xbb, 0xbb, 0x33,
+ */
+ 0x75, /* ((0xff >> 7) & GENMASK(0, 0)) | ((0xba << 1) & GENMASK(7, 1)) */
+ 0x77, /* ((0xba >> 7) & GENMASK(0, 0)) | ((0xbb << 1) & GENMASK(7, 1)) */
+ 0x77, /* ((0xbb >> 7) & GENMASK(0, 0)) | ((0xbb << 1) & GENMASK(7, 1)) */
+ 0x67, /* ((0xbb >> 7) & GENMASK(0, 0)) | ((0x33 << 1) & GENMASK(7, 1)) */
+};
+static const unsigned swd_seq_jtag_to_dormant_len = 40;
+
+/**
+ * Dormant-to-JTAG sequence.
+ *
+ * This is at least 8 TCK/SWCLK cycles with TMS/SWDIO high to abort any ongoing
+ * selection alert sequence, followed by a specific 128-bit selection alert
+ * sequence, followed by 4 TCK/SWCLK cycles with TMS/SWDIO low, followed by
+ * a specific protocol-dependent activation code. For JTAG there are two
+ * possible activation codes:
+ * - "JTAG-Serial": 12 bits 0x00, 0x00
+ * - "Arm CoreSight JTAG-DP": 8 bits 0x0a
+ * We use "JTAG-Serial" only, which seams more generic.
+ * Since the target TAP can be either in Run/Test Idle or in Test-Logic-Reset
+ * states, Arm recommends to put the TAP in Run/Test Idle using one TCK cycle
+ * with TMS low. To keep the sequence length multiple of 8, 8 TCK cycle with
+ * TMS low are sent (allowed by JTAG state machine).
+ * Bits are stored (and transmitted) LSB-first.
+ */
+static const uint8_t swd_seq_dormant_to_jtag[] = {
+ /* At least 8 TCK/SWCLK cycles with TMS/SWDIO high */
+ 0xff,
+ /* Selection alert sequence */
+ 0x92, 0xf3, 0x09, 0x62, 0x95, 0x2d, 0x85, 0x86,
+ 0xe9, 0xaf, 0xdd, 0xe3, 0xa2, 0x0e, 0xbc, 0x19,
+ /*
+ * 4 TCK/SWCLK cycles with TMS/SWDIO low ...
+ * + 12 bits JTAG-serial activation code 0x00, 0x00
+ */
+ 0x00, 0x00,
+ /* put the TAP in Run/Test Idle */
+ 0x00,
};
+static const unsigned swd_seq_dormant_to_jtag_len = 160;
struct swd_driver {
/**
*/
int (*init)(void);
- /**
- * Set the SWCLK frequency of the SWD link.
- *
- * The driver should round the desired value, downwards if possible, to
- * the nearest supported frequency. A negative value should be ignored
- * and can be used to query the current setting. If the driver does not
- * support a variable frequency a fixed, nominal, value should be
- * returned.
- *
- * If the frequency is increased, it must not apply before the currently
- * queued transactions are executed. If the frequency is lowered, it may
- * apply immediately.
- *
- * @param dap The DAP controlled by the SWD link.
- * @param hz The desired frequency in Hz.
- * @return The actual resulting frequency after rounding.
- */
- int_least32_t (*frequency)(struct adiv5_dap *dap, int_least32_t hz);
-
/**
* Queue a special SWDIO sequence.
*
- * @param dap The DAP controlled by the SWD link.
* @param seq The special sequence to generate.
* @return ERROR_OK if the sequence was queued, negative error if the
* sequence is unsupported.
*/
- int (*switch_seq)(struct adiv5_dap *dap, enum swd_special_seq seq);
+ int (*switch_seq)(enum swd_special_seq seq);
/**
* Queued read of an AP or DP register.
*
- * @param dap The DAP controlled by the SWD link.
* @param Command byte with APnDP/RnW/addr/parity bits
* @param Where to store value to read from register
+ * @param ap_delay_hint Number of idle cycles that may be
+ * needed after an AP access to avoid WAITs
*/
- void (*read_reg)(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value);
+ void (*read_reg)(uint8_t cmd, uint32_t *value, uint32_t ap_delay_hint);
/**
* Queued write of an AP or DP register.
*
- * @param dap The DAP controlled by the SWD link.
* @param Command byte with APnDP/RnW/addr/parity bits
* @param Value to be written to the register
+ * @param ap_delay_hint Number of idle cycles that may be
+ * needed after an AP access to avoid WAITs
*/
- void (*write_reg)(struct adiv5_dap *dap, uint8_t cmd, uint32_t value);
+ void (*write_reg)(uint8_t cmd, uint32_t value, uint32_t ap_delay_hint);
/**
* Execute any queued transactions and collect the result.
*
- * @param dap The DAP controlled by the SWD link.
* @return ERROR_OK on success, Ack response code on WAIT/FAULT
* or negative error code on other kinds of failure.
*/
- int (*run)(struct adiv5_dap *dap);
+ int (*run)(void);
/**
* Configures data collection from the Single-wire
*
* @return ERROR_OK on success, else a negative fault code.
*/
- int *(*trace)(struct adiv5_dap *dap, bool swo);
+ int *(*trace)(bool swo);
};
int swd_init_reset(struct command_context *cmd_ctx);
-void swd_add_reset(int req_srst);
-
-bool transport_is_swd(void);
-bool transport_is_cmsis_dap(void);
-#endif /* SWD_H */
+#endif /* OPENOCD_JTAG_SWD_H */
projects / fw / openocd / blobdiff