* 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 <helper/log.h>
+#include <target/arm_adi_v5.h>
/* Bits in SWD command packets, written from host to target
* first bit on the wire is START
*/
#define SWD_CMD_START (1 << 0) /* always set */
-#define SWD_CMD_APnDP (1 << 1) /* set only for AP access */
-#define SWD_CMD_RnW (1 << 2) /* set only for read access */
+#define SWD_CMD_APNDP (1 << 1) /* set only for AP access */
+#define SWD_CMD_RNW (1 << 2) /* set only for read access */
#define SWD_CMD_A32 (3 << 3) /* bits A[3:2] of register addr */
#define SWD_CMD_PARITY (1 << 5) /* parity of APnDP|RnW|A32 */
#define SWD_CMD_STOP (0 << 6) /* always clear for synch SWD */
-#define SWD_CMD_PARK (0 << 7) /* not driven by host (pull high) */
+#define SWD_CMD_PARK (1 << 7) /* driven high by host */
/* followed by TRN, 3-bits of ACK, TRN */
-/* pbit16 holds precomputed parity bits for each nibble */
-#define pbit(parity, nibble) ((parity) << (nibble))
-
-static const uint16_t pbit16 =
- pbit(0, 0) | pbit(1, 1) | pbit(1, 2) | pbit(0, 3)
- | pbit(1, 4) | pbit(0, 5) | pbit(0, 6) | pbit(1, 7)
- | pbit(1, 8) | pbit(0, 9) | pbit(0, 0xa) | pbit(1, 0xb)
- | pbit(0, 0xc) | pbit(1, 0xd) | pbit(1, 0xe) | pbit(0, 0xf);
-
-#define nibble_parity(nibble) (pbit16 & pbit(1, (nibble)))
+/*
+ * The SWD subsystem error codes
+ */
+#define ERROR_SWD_FAIL (-400) /** protocol or parity error */
+#define ERROR_SWD_FAULT (-401) /** device returned FAULT in ACK field */
/**
* Construct a "cmd" byte, in lSB bit order, which swd_driver.read_reg()
*/
static inline uint8_t swd_cmd(bool is_read, bool is_ap, uint8_t regnum)
{
- uint8_t cmd = (is_ap ? SWD_CMD_APnDP : 0)
- | (is_read ? SWD_CMD_RnW : 0)
+ uint8_t cmd = (is_ap ? SWD_CMD_APNDP : 0)
+ | (is_read ? SWD_CMD_RNW : 0)
| ((regnum & 0xc) << 1);
/* 8 cmd bits 4:1 may be set */
- if (nibble_parity(cmd >> 1))
+ if (parity_u32(cmd))
cmd |= SWD_CMD_PARITY;
/* driver handles START, STOP, and TRN */
/* SWD_ACK_* bits are defined in <target/arm_adi_v5.h> */
+/**
+ * Test if we can rely on ACK returned by SWD command
+ *
+ * @param cmd Byte constructed by swd_cmd(), START, STOP and TRN are filtered off
+ * @returns true if ACK should be checked, false if should be ignored
+ */
+static inline bool swd_cmd_returns_ack(uint8_t cmd)
+{
+ uint8_t base_cmd = cmd & (SWD_CMD_APNDP | SWD_CMD_RNW | SWD_CMD_A32);
+
+ /* DPv2 does not reply to DP_TARGETSEL write cmd */
+ return base_cmd != swd_cmd(false, false, DP_TARGETSEL);
+}
+
+/**
+ * Convert SWD ACK value returned from DP to OpenOCD error code
+ *
+ * @param ack
+ * @returns error code
+ */
+static inline int swd_ack_to_error_code(uint8_t ack)
+{
+ switch (ack) {
+ case SWD_ACK_OK:
+ return ERROR_OK;
+ case SWD_ACK_WAIT:
+ return ERROR_WAIT;
+ case SWD_ACK_FAULT:
+ return ERROR_SWD_FAULT;
+ default:
+ return ERROR_SWD_FAIL;
+ }
+}
+
/*
- * FOR NOW ... SWD driver ops are synchronous and return ACK
- * status ... no quueueing.
+ * The following sequences are updated to
+ * ARM(tm) Debug Interface v5 Architecture Specification ARM IHI 0031E
+ */
+
+/**
+ * SWD Line reset.
+ *
+ * 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[] = {
+ /* 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 = 64;
+
+/**
+ * JTAG-to-SWD sequence.
+ *
+ * The JTAG-to-SWD 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 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[] = {
+ /* 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 = 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/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[] = {
+ /* 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 = 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[] = {
+ /* 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 = 72;
+
+/**
+ * Dormant-to-SWD sequence.
*
- * Individual ops are request/response, and fast-fail permits much
- * better fault handling. Upper layers may queue if desired.
+ * 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 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,
+ /*
+ * 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 = 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 {
/**
- * Initialize the debug link so it can perform
- * synchronous SWD operations.
- * @param trn value from WCR: how many clocks
- * to not drive the SWDIO line at certain points in
- * the SWD protocol (at least 1 clock).
+ * Initialize the debug link so it can perform SWD operations.
*
* As an example, this would switch a dual-mode debug adapter
* into SWD mode and out of JTAG mode.
- *
- * @return ERROR_OK on success, else a negative fault code.
+ *
+ * @return ERROR_OK on success, else a negative fault code.
*/
- int (*init)(uint8_t trn);
-
-
- /**
- * Synchronous read of an AP or DP register.
- *
- * @param cmd with APnDP/RnW/addr/parity bits
- * @param where to store value to read from register
- *
- * @return SWD_ACK_* code for the transaction
- * or (negative) fault code
- */
- int (*read_reg)(uint8_t cmd, uint32_t *value);
-
- /**
- * Synchronous write of an AP or DP register.
- *
- * @param cmd with APnDP/RnW/addr/parity bits
- * @param value to be written to the register
- *
- * @return SWD_ACK_* code for the transaction
- * or (negative) fault code
- */
- int (*write_reg)(uint8_t cmd, uint32_t value);
-
- /**
- * Synchronous block read of an AP or DP register.
- *
- * @param cmd with APnDP/RnW/addr/parity bits
- * @param number of reads from register to be executed
- * @param buffer to store data read from register
- *
- * @return SWD_ACK_* code for the transaction
- * or (negative) fault code
- */
- int (*read_block)(uint8_t cmd, uint32_t blocksize, uint8_t *buffer);
+ int (*init)(void);
+
+ /**
+ * Queue a special SWDIO sequence.
+ *
+ * @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)(enum swd_special_seq seq);
+
+ /**
+ * Queued read of an AP or DP register.
+ *
+ * @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)(uint8_t cmd, uint32_t *value, uint32_t ap_delay_hint);
+
+ /**
+ * Queued write of an AP or DP register.
+ *
+ * @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)(uint8_t cmd, uint32_t value, uint32_t ap_delay_hint);
+
+ /**
+ * Execute any queued transactions and collect the result.
+ *
+ * @return ERROR_OK on success, Ack response code on WAIT/FAULT
+ * or negative error code on other kinds of failure.
+ */
+ int (*run)(void);
/**
* Configures data collection from the Single-wire
* is normally connected to a microcontroller's UART TX,
* but which may instead be connected to SWO for use in
* collecting ITM (and possibly ETM) trace data.
- *
- * @return ERROR_OK on success, else a negative fault code.
+ *
+ * @return ERROR_OK on success, else a negative fault code.
*/
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