* 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.,
- * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
***************************************************************************/
/**
#include <jtag/swd.h>
+static bool do_sync;
+static void swd_finish_read(struct adiv5_dap *dap)
+{
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ if (dap->last_read) {
+ swd->read_reg(swd_cmd(true, false, DP_RDBUFF), dap->last_read, 0);
+ dap->last_read = NULL;
+ }
+}
+static int swd_queue_dp_write(struct adiv5_dap *dap, unsigned reg,
+ uint32_t data);
static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
- uint32_t *data)
+ uint32_t *data);
+
+static void swd_clear_sticky_errors(struct adiv5_dap *dap)
{
- // REVISIT status return vs ack ...
- return swd->read_reg(swd_cmd(true, false, reg), data);
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+
+ swd->write_reg(swd_cmd(false, false, DP_ABORT),
+ STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR, 0);
}
-static int swd_queue_idcode_read(struct adiv5_dap *dap,
- uint8_t *ack, uint32_t *data)
+static int swd_run_inner(struct adiv5_dap *dap)
{
- int status = swd_queue_dp_read(dap, DP_IDCODE, data);
- if (status < 0)
- return status;
- *ack = status;
- // ??
- return ERROR_OK;
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ int retval;
+
+ retval = swd->run();
+
+ if (retval != ERROR_OK) {
+ /* fault response */
+ dap->do_reconnect = true;
+ }
+
+ return retval;
}
-static int (swd_queue_dp_write)(struct adiv5_dap *dap, unsigned reg,
- uint32_t data)
+static int swd_connect(struct adiv5_dap *dap)
{
- // REVISIT status return vs ack ...
- return swd->write_reg(swd_cmd(false, false, reg), data);
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ uint32_t dpidr = 0xdeadbeef;
+ int status;
+
+ /* FIXME validate transport config ... is the
+ * configured DAP present (check IDCODE)?
+ * Is *only* one DAP configured?
+ *
+ * MUST READ DPIDR
+ */
+
+ /* Check if we should reset srst already when connecting, but not if reconnecting. */
+ if (!dap->do_reconnect) {
+ enum reset_types jtag_reset_config = jtag_get_reset_config();
+
+ if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
+ if (jtag_reset_config & RESET_SRST_NO_GATING)
+ adapter_assert_reset();
+ else
+ LOG_WARNING("\'srst_nogate\' reset_config option is required");
+ }
+ }
+
+
+ int64_t timeout = timeval_ms() + 500;
+
+ do {
+ /* Note, debugport_init() does setup too */
+ swd->switch_seq(JTAG_TO_SWD);
+
+ /* Clear link state, including the SELECT cache. */
+ dap->do_reconnect = false;
+ dap_invalidate_cache(dap);
+
+ status = swd_queue_dp_read(dap, DP_DPIDR, &dpidr);
+ if (status == ERROR_OK) {
+ status = swd_run_inner(dap);
+ if (status == ERROR_OK)
+ break;
+ }
+
+ alive_sleep(1);
+
+ } while (timeval_ms() < timeout);
+
+ if (status != ERROR_OK) {
+ LOG_ERROR("Error connecting DP: cannot read IDR");
+ return status;
+ }
+
+ LOG_INFO("SWD DPIDR %#8.8" PRIx32, dpidr);
+
+ do {
+ dap->do_reconnect = false;
+
+ /* force clear all sticky faults */
+ swd_clear_sticky_errors(dap);
+
+ status = swd_run_inner(dap);
+ if (status != ERROR_WAIT)
+ break;
+
+ alive_sleep(10);
+
+ } while (timeval_ms() < timeout);
+
+ /* IHI 0031E B4.3.2:
+ * "A WAIT response must not be issued to the ...
+ * ... writes to the ABORT register"
+ * swd_clear_sticky_errors() writes to the ABORT register only.
+ *
+ * Unfortunately at least Microchip SAMD51/E53/E54 returns WAIT
+ * in a corner case. Just try if ABORT resolves the problem.
+ */
+ if (status == ERROR_WAIT) {
+ LOG_WARNING("Connecting DP: stalled AP operation, issuing ABORT");
+
+ dap->do_reconnect = false;
+
+ swd->write_reg(swd_cmd(false, false, DP_ABORT),
+ DAPABORT | STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR, 0);
+ status = swd_run_inner(dap);
+ }
+
+ if (status == ERROR_OK)
+ status = dap_dp_init(dap);
+
+ return status;
}
+static int swd_send_sequence(struct adiv5_dap *dap, enum swd_special_seq seq)
+{
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+
+ return swd->switch_seq(seq);
+}
-static int (swd_queue_ap_read)(struct adiv5_dap *dap, unsigned reg,
- uint32_t *data)
+static inline int check_sync(struct adiv5_dap *dap)
{
- // REVISIT APSEL ...
- // REVISIT status return ...
- return swd->read_reg(swd_cmd(true, true, reg), data);
+ return do_sync ? swd_run_inner(dap) : ERROR_OK;
}
-static int (swd_queue_ap_write)(struct adiv5_dap *dap, unsigned reg,
- uint32_t data)
+static int swd_check_reconnect(struct adiv5_dap *dap)
{
- // REVISIT APSEL ...
- // REVISIT status return ...
- return swd->write_reg(swd_cmd(false, true, reg), data);
+ if (dap->do_reconnect)
+ return swd_connect(dap);
+
+ return ERROR_OK;
}
-static int (swd_queue_ap_abort)(struct adiv5_dap *dap, uint8_t *ack)
+static int swd_queue_ap_abort(struct adiv5_dap *dap, uint8_t *ack)
{
- return ERROR_FAIL;
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+
+ swd->write_reg(swd_cmd(false, false, DP_ABORT),
+ DAPABORT | STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR, 0);
+ return check_sync(dap);
}
-/** Executes all queued DAP operations. */
-static int swd_run(struct adiv5_dap *dap)
+/** Select the DP register bank matching bits 7:4 of reg. */
+static int swd_queue_dp_bankselect(struct adiv5_dap *dap, unsigned reg)
{
- /* for now the SWD interface hard-wires a zero-size queue. */
+ /* Only register address 4 is banked. */
+ if ((reg & 0xf) != 4)
+ return ERROR_OK;
- /* FIXME but we still need to check and scrub
- * any hardware errors ...
- */
- return ERROR_OK;
+ uint32_t select_dp_bank = (reg & 0x000000F0) >> 4;
+ uint32_t sel = select_dp_bank
+ | (dap->select & (DP_SELECT_APSEL | DP_SELECT_APBANK));
+
+ if (sel == dap->select)
+ return ERROR_OK;
+
+ dap->select = sel;
+
+ int retval = swd_queue_dp_write(dap, DP_SELECT, sel);
+ if (retval != ERROR_OK)
+ dap->select = DP_SELECT_INVALID;
+
+ return retval;
}
-const struct dap_ops swd_dap_ops = {
- .is_swd = true,
+static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
+ uint32_t *data)
+{
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
- .queue_idcode_read = swd_queue_idcode_read,
- .queue_dp_read = swd_queue_dp_read,
- .queue_dp_write = swd_queue_dp_write,
- .queue_ap_read = swd_queue_ap_read,
- .queue_ap_write = swd_queue_ap_write,
- .queue_ap_abort = swd_queue_ap_abort,
- .run = swd_run,
-};
+ int retval = swd_check_reconnect(dap);
+ if (retval != ERROR_OK)
+ return retval;
-/*
- * This represents the bits which must be sent out on TMS/SWDIO to
- * switch a DAP implemented using an SWJ-DP module into SWD mode.
- * These bits are stored (and transmitted) LSB-first.
- *
- * See the DAP-Lite specification, section 2.2.5 for information
- * about making the debug link select SWD or JTAG. (Similar info
- * is in a few other ARM documents.)
- */
-static const uint8_t jtag2swd_bitseq[] = {
- /* More than 50 TCK/SWCLK cycles with TMS/SWDIO high,
- * putting both JTAG and SWD logic into reset state.
- */
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
- /* Switching sequence enables SWD and disables JTAG
- * NOTE: bits in the DP's IDCODE may expose the need for
- * an old/obsolete/deprecated sequence (0xb6 0xed).
- */
- 0x9e, 0xe7,
- /* More than 50 TCK/SWCLK cycles with TMS/SWDIO high,
- * putting both JTAG and SWD logic into reset state.
- */
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
-};
+ retval = swd_queue_dp_bankselect(dap, reg);
+ if (retval != ERROR_OK)
+ return retval;
-/**
- * Put the debug link into SWD mode, if the target supports it.
- * The link's initial mode may be either JTAG (for example,
- * with SWJ-DP after reset) or SWD.
- *
- * @param target Enters SWD mode (if possible).
- *
- * Note that targets using the JTAG-DP do not support SWD, and that
- * some targets which could otherwise support it may have have been
- * configured to disable SWD signaling
- *
- * @return ERROR_OK or else a fault code.
- */
-int dap_to_swd(struct target *target)
+ swd->read_reg(swd_cmd(true, false, reg), data, 0);
+
+ return check_sync(dap);
+}
+
+static int swd_queue_dp_write(struct adiv5_dap *dap, unsigned reg,
+ uint32_t data)
{
- struct arm *arm = target_to_arm(target);
- int retval;
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
- LOG_DEBUG("Enter SWD mode");
+ int retval = swd_check_reconnect(dap);
+ if (retval != ERROR_OK)
+ return retval;
- /* REVISIT it's ugly to need to make calls to a "jtag"
- * subsystem if the link may not be in JTAG mode...
- */
+ swd_finish_read(dap);
+ if (reg == DP_SELECT) {
+ dap->select = data & (DP_SELECT_APSEL | DP_SELECT_APBANK | DP_SELECT_DPBANK);
+
+ swd->write_reg(swd_cmd(false, false, reg), data, 0);
+
+ retval = check_sync(dap);
+ if (retval != ERROR_OK)
+ dap->select = DP_SELECT_INVALID;
+
+ return retval;
+ }
+
+ retval = swd_queue_dp_bankselect(dap, reg);
+ if (retval != ERROR_OK)
+ return retval;
+
+ swd->write_reg(swd_cmd(false, false, reg), data, 0);
- retval = jtag_add_tms_seq(8 * sizeof(jtag2swd_bitseq),
- jtag2swd_bitseq, TAP_INVALID);
- if (retval == ERROR_OK)
- retval = jtag_execute_queue();
+ return check_sync(dap);
+}
+
+/** Select the AP register bank matching bits 7:4 of reg. */
+static int swd_queue_ap_bankselect(struct adiv5_ap *ap, unsigned reg)
+{
+ struct adiv5_dap *dap = ap->dap;
+ uint32_t sel = ((uint32_t)ap->ap_num << 24)
+ | (reg & 0x000000F0)
+ | (dap->select & DP_SELECT_DPBANK);
- /* set up the DAP's ops vector for SWD mode. */
- arm->dap->ops = &swd_dap_ops;
+ if (sel == dap->select)
+ return ERROR_OK;
+
+ dap->select = sel;
+
+ int retval = swd_queue_dp_write(dap, DP_SELECT, sel);
+ if (retval != ERROR_OK)
+ dap->select = DP_SELECT_INVALID;
return retval;
}
+static int swd_queue_ap_read(struct adiv5_ap *ap, unsigned reg,
+ uint32_t *data)
+{
+ struct adiv5_dap *dap = ap->dap;
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+ int retval = swd_check_reconnect(dap);
+ if (retval != ERROR_OK)
+ return retval;
-COMMAND_HANDLER(handle_swd_wcr)
+ retval = swd_queue_ap_bankselect(ap, reg);
+ if (retval != ERROR_OK)
+ return retval;
+
+ swd->read_reg(swd_cmd(true, true, reg), dap->last_read, ap->memaccess_tck);
+ dap->last_read = data;
+
+ return check_sync(dap);
+}
+
+static int swd_queue_ap_write(struct adiv5_ap *ap, unsigned reg,
+ uint32_t data)
{
- int retval;
- struct target *target = get_current_target(CMD_CTX);
- struct arm *arm = target_to_arm(target);
-struct adiv5_dap *dap = arm->dap;
- uint32_t wcr;
- unsigned trn, scale = 0;
-
-
- switch (CMD_ARGC) {
- /* no-args: just dump state */
- case 0:
- //retval = swd_queue_dp_read(dap, DP_WCR, &wcr);
- retval = dap_queue_dp_read(dap, DP_WCR, &wcr);
- if (retval == ERROR_OK)
- dap->ops->run(dap);
- if (retval != ERROR_OK) {
- LOG_ERROR("can't read WCR?");
- return retval;
- }
+ struct adiv5_dap *dap = ap->dap;
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
- command_print(CMD_CTX,
- "turnaround=%d, prescale=%d",
- WCR_TO_TRN(wcr),
- WCR_TO_PRESCALE(wcr));
- return ERROR_OK;
+ int retval = swd_check_reconnect(dap);
+ if (retval != ERROR_OK)
+ return retval;
- case 2: /* TRN and prescale */
- COMMAND_PARSE_NUMBER(uint, CMD_ARGV[1], scale);
- if (scale > 7) {
- LOG_ERROR("prescale %d is too big", scale);
- return ERROR_FAIL;
- }
- /* FALL THROUGH */
+ swd_finish_read(dap);
+ retval = swd_queue_ap_bankselect(ap, reg);
+ if (retval != ERROR_OK)
+ return retval;
- case 1: /* TRN only */
- COMMAND_PARSE_NUMBER(uint, CMD_ARGV[0], trn);
- if (trn < 1 || trn > 4) {
- LOG_ERROR("turnaround %d is invalid", trn);
- return ERROR_FAIL;
- }
+ swd->write_reg(swd_cmd(false, true, reg), data, ap->memaccess_tck);
- wcr = ((trn - 1) << 8) | scale;
- /* FIXME
- * write WCR ...
- * then, re-init adapter with new TRN
- */
- LOG_ERROR("can't yet modify WCR");
- return ERROR_FAIL;
+ return check_sync(dap);
+}
- default: /* too many arguments */
- return ERROR_COMMAND_SYNTAX_ERROR;
- }
+/** Executes all queued DAP operations. */
+static int swd_run(struct adiv5_dap *dap)
+{
+ swd_finish_read(dap);
+ return swd_run_inner(dap);
}
+/** Put the SWJ-DP back to JTAG mode */
+static void swd_quit(struct adiv5_dap *dap)
+{
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+
+ swd->switch_seq(SWD_TO_JTAG);
+ /* flush the queue before exit */
+ swd->run();
+}
+
+const struct dap_ops swd_dap_ops = {
+ .connect = swd_connect,
+ .send_sequence = swd_send_sequence,
+ .queue_dp_read = swd_queue_dp_read,
+ .queue_dp_write = swd_queue_dp_write,
+ .queue_ap_read = swd_queue_ap_read,
+ .queue_ap_write = swd_queue_ap_write,
+ .queue_ap_abort = swd_queue_ap_abort,
+ .run = swd_run,
+ .quit = swd_quit,
+};
+
static const struct command_registration swd_commands[] = {
{
/*
.mode = COMMAND_CONFIG,
.help = "declare a new SWD DAP"
},
- {
- .name = "wcr",
- .handler = handle_swd_wcr,
- .mode = COMMAND_ANY,
- .help = "display or update DAP's WCR register",
- .usage = "turnaround (1..4), prescale (0..7)",
- },
-
- /* REVISIT -- add a command for SWV trace on/off */
COMMAND_REGISTRATION_DONE
};
.mode = COMMAND_ANY,
.help = "SWD command group",
.chain = swd_commands,
+ .usage = "",
},
COMMAND_REGISTRATION_DONE
};
static int swd_select(struct command_context *ctx)
{
- struct target *target = get_current_target(ctx);
+ /* FIXME: only place where global 'adapter_driver' is still needed */
+ extern struct adapter_driver *adapter_driver;
+ const struct swd_driver *swd = adapter_driver->swd_ops;
int retval;
retval = register_commands(ctx, NULL, swd_handlers);
-
if (retval != ERROR_OK)
return retval;
return ERROR_FAIL;
}
- retval = swd->init(1);
+ retval = swd->init();
if (retval != ERROR_OK) {
LOG_DEBUG("can't init SWD driver");
return retval;
}
- /* force DAP into SWD mode (not JTAG) */
- retval = dap_to_swd(target);
-
return retval;
}
static int swd_init(struct command_context *ctx)
{
- struct target *target = get_current_target(ctx);
- struct arm *arm = target_to_arm(target);
-struct adiv5_dap *dap = arm->dap;
- uint32_t idcode;
- int status;
-
-
- /* FIXME validate transport config ... is the
- * configured DAP present (check IDCODE)?
- * Is *only* one DAP configured?
- *
- * MUST READ IDCODE
- */
-
- /* Note, debugport_init() does setup too */
-
- uint8_t ack;
-
- status = swd_queue_idcode_read(dap, &ack, &idcode);
-
- if (status == ERROR_OK)
- LOG_INFO("SWD IDCODE %#8.8x", idcode);
-
- return status;
-
+ /* nothing done here, SWD is initialized
+ * together with the DAP */
+ return ERROR_OK;
}
static struct transport swd_transport = {
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