drivers/cmsis-dap: port to common SWD framework
Valgrind-tested. Comparison of flashing performance on an FRDM-KL25Z board running mbed CMSIS-DAP variant, 5MHz clock, old driver: wrote 28096 bytes from file demo.elf in 26.833590s (1.023 KiB/s) verified 27264 bytes in 1.754972s (15.171 KiB/s) this implementation: wrote 28096 bytes from file demo.elf in 3.691939s (7.432 KiB/s) verified 27264 bytes in 0.598987s (44.450 KiB/s) Also tested "Keil ULINK-ME CMSIS-DAP" with an STM32F100 target, 5MHz clock, results reading from flash, old driver: dumped 131072 bytes in 98.445305s (1.300 KiB/s) this implementation: dumped 131072 bytes in 8.242686s (15.529 KiB/s) Change-Id: Ic64d3124b1d6cd9dd1016445bb627c71e189ae95 Signed-off-by: Paul Fertser <fercerpav@gmail.com> Reviewed-on: http://openocd.zylin.com/2356 Tested-by: jenkins Reviewed-by: Spencer Oliver <spen@spen-soft.co.uk>__archive__
Paul Fertser
Spencer Oliver
parent
1bc6a81138
commit
ef02b69b14
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@ -1801,8 +1801,6 @@ void adapter_assert_reset(void)
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jtag_add_reset(0, 1);
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} else if (transport_is_swd())
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swd_add_reset(1);
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else if (transport_is_cmsis_dap())
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swd_add_reset(1); /* FIXME */
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else if (get_current_transport() != NULL)
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LOG_ERROR("reset is not supported on %s",
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get_current_transport()->name);
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@ -1816,8 +1814,6 @@ void adapter_deassert_reset(void)
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jtag_add_reset(0, 0);
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else if (transport_is_swd())
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swd_add_reset(0);
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else if (transport_is_cmsis_dap())
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swd_add_reset(0); /* FIXME */
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else if (get_current_transport() != NULL)
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LOG_ERROR("reset is not supported on %s",
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get_current_transport()->name);
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@ -1,4 +1,7 @@
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/***************************************************************************
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* Copyright (C) 2014 by Paul Fertser *
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* fercerpav@gmail.com *
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* *
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* Copyright (C) 2013 by mike brown *
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* mike@theshedworks.org.uk *
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* *
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@ -33,12 +36,6 @@
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#include <hidapi.h>
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#ifdef _DEBUG_JTAG_IO_
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#define DEBUG_IO(expr...) LOG_DEBUG(expr)
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#else
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#define DEBUG_IO(expr...) do {} while (0)
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#endif
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/*
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* See CMSIS-DAP documentation:
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* Version 0.01 - Beta.
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@ -155,6 +152,17 @@ struct cmsis_dap {
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uint8_t mode;
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};
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struct pending_transfer_result {
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uint8_t cmd;
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uint32_t data;
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void *buffer;
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};
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static int pending_transfer_count, pending_queue_len;
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static struct pending_transfer_result *pending_transfers;
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static int queued_retval;
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static struct cmsis_dap *cmsis_dap_handle;
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static int cmsis_dap_usb_open(void)
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@ -263,6 +271,8 @@ static int cmsis_dap_usb_open(void)
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int packet_size = PACKET_SIZE;
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/* atmel cmsis-dap uses 512 byte reports */
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/* TODO: HID report descriptor should be parsed instead of
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* hardcoding a match by VID */
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if (target_vid == 0x03eb)
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packet_size = 512 + 1;
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@ -282,18 +292,13 @@ static void cmsis_dap_usb_close(struct cmsis_dap *dap)
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hid_close(dap->dev_handle);
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hid_exit();
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if (cmsis_dap_handle->packet_buffer)
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free(cmsis_dap_handle->packet_buffer);
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if (cmsis_dap_handle) {
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free(cmsis_dap_handle);
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cmsis_dap_handle = NULL;
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}
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if (cmsis_dap_serial) {
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free(cmsis_dap_serial);
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cmsis_dap_serial = NULL;
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}
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free(cmsis_dap_handle->packet_buffer);
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free(cmsis_dap_handle);
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cmsis_dap_handle = NULL;
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free(cmsis_dap_serial);
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cmsis_dap_serial = NULL;
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free(pending_transfers);
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pending_transfers = NULL;
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return;
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}
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@ -302,7 +307,7 @@ static void cmsis_dap_usb_close(struct cmsis_dap *dap)
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static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
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{
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/* Pad the rest of the TX buffer with 0's */
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memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
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memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
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/* write data to device */
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int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
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@ -449,7 +454,7 @@ static int cmsis_dap_cmd_DAP_Disconnect(void)
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return ERROR_OK;
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}
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static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16_t retry)
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static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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@ -457,10 +462,10 @@ static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_TFER_CONFIGURE;
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buffer[2] = idle;
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buffer[3] = delay & 0xff;
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buffer[4] = (delay >> 8) & 0xff;
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buffer[5] = retry & 0xff;
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buffer[6] = (retry >> 8) & 0xff;
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buffer[3] = retry_count & 0xff;
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buffer[4] = (retry_count >> 8) & 0xff;
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buffer[5] = match_retry & 0xff;
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buffer[6] = (match_retry >> 8) & 0xff;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
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if (retval != ERROR_OK || buffer[1] != DAP_OK) {
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@ -510,75 +515,139 @@ static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
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}
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#endif
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static int queued_retval;
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static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
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static int cmsis_dap_swd_run_queue(struct adiv5_dap *dap)
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{
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
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if (queued_retval != ERROR_OK) {
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LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
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goto skip;
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}
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if (!pending_transfer_count)
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goto skip;
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size_t idx = 0;
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buffer[idx++] = 0; /* report number */
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buffer[idx++] = CMD_DAP_TFER;
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buffer[idx++] = 0x00; /* DAP Index */
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buffer[idx++] = pending_transfer_count;
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for (int i = 0; i < pending_transfer_count; i++) {
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uint8_t cmd = pending_transfers[i].cmd;
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uint32_t data = pending_transfers[i].data;
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LOG_DEBUG("%s %s reg %x %"PRIx32,
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cmd & SWD_CMD_APnDP ? "AP" : "DP",
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cmd & SWD_CMD_RnW ? "read" : "write",
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(cmd & SWD_CMD_A32) >> 1, data);
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/* When proper WAIT handling is implemented in the
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* common SWD framework, this kludge can be
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* removed. However, this might lead to minor
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* performance degradation as the adapter wouldn't be
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* able to automatically retry anything (because ARM
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* has forgotten to implement sticky error flags
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* clearing). See also comments regarding
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* cmsis_dap_cmd_DAP_TFER_Configure() and
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* cmsis_dap_cmd_DAP_SWD_Configure() in
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* cmsis_dap_init().
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*/
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if (!(cmd & SWD_CMD_RnW) &&
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!(cmd & SWD_CMD_APnDP) &&
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(cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
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(data & CORUNDETECT)) {
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LOG_DEBUG("refusing to enable sticky overrun detection");
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data &= ~CORUNDETECT;
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}
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buffer[idx++] = (cmd >> 1) & 0x0f;
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if (!(cmd & SWD_CMD_RnW)) {
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buffer[idx++] = (data) & 0xff;
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buffer[idx++] = (data >> 8) & 0xff;
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buffer[idx++] = (data >> 16) & 0xff;
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buffer[idx++] = (data >> 24) & 0xff;
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}
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}
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queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
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if (queued_retval != ERROR_OK)
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goto skip;
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idx = 2;
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uint8_t ack = buffer[idx] & 0x07;
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if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
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LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
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ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
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queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
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goto skip;
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}
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idx++;
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if (pending_transfer_count != buffer[1])
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LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
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pending_transfer_count, buffer[1]);
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for (int i = 0; i < buffer[1]; i++) {
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if (pending_transfers[i].cmd & SWD_CMD_RnW) {
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static uint32_t last_read;
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uint32_t data = le_to_h_u32(&buffer[idx]);
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uint32_t tmp = data;
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idx += 4;
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LOG_DEBUG("Read result: %"PRIx32, data);
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/* Imitate posted AP reads */
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if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
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((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
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tmp = last_read;
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last_read = data;
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}
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if (pending_transfers[i].buffer)
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*(uint32_t *)pending_transfers[i].buffer = tmp;
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}
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}
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skip:
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pending_transfer_count = 0;
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int retval = queued_retval;
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queued_retval = ERROR_OK;
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return retval;
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}
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static void cmsis_dap_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data)
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{
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if (pending_transfer_count == pending_queue_len) {
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/* Not enough room in the queue. Run the queue. */
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queued_retval = cmsis_dap_swd_run_queue(dap);
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}
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if (queued_retval != ERROR_OK)
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return;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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int retval;
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uint32_t val;
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DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8, cmd);
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_TFER;
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buffer[2] = 0x00;
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buffer[3] = 0x01;
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buffer[4] = cmd;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
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/* TODO - need better response checking */
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if (retval != ERROR_OK || buffer[1] != 0x01) {
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LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
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queued_retval = buffer[2];
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return;
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pending_transfers[pending_transfer_count].data = data;
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pending_transfers[pending_transfer_count].cmd = cmd;
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if (cmd & SWD_CMD_RnW) {
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/* Queue a read transaction */
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pending_transfers[pending_transfer_count].buffer = dst;
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}
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val = le_to_h_u32(&buffer[3]);
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DEBUG_IO("0x%08" PRIx32, val);
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if (value)
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*value = val;
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queued_retval = retval;
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pending_transfer_count++;
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}
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static void cmsis_dap_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
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{
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if (queued_retval != ERROR_OK)
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return;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_TFER;
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buffer[2] = 0x00;
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buffer[3] = 0x01;
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buffer[4] = cmd;
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buffer[5] = (value) & 0xff;
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buffer[6] = (value >> 8) & 0xff;
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buffer[7] = (value >> 16) & 0xff;
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buffer[8] = (value >> 24) & 0xff;
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int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
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if (buffer[1] != 0x01) {
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LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
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retval = buffer[2];
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}
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queued_retval = retval;
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assert(!(cmd & SWD_CMD_RnW));
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cmsis_dap_swd_queue_cmd(dap, cmd, NULL, value);
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}
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static int cmsis_dap_swd_run(struct adiv5_dap *dap)
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static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
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{
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int retval = queued_retval;
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queued_retval = ERROR_OK;
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return retval;
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assert(cmd & SWD_CMD_RnW);
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cmsis_dap_swd_queue_cmd(dap, cmd, value, 0);
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}
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static int cmsis_dap_get_version_info(void)
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@ -638,125 +707,59 @@ static int cmsis_dap_get_status(void)
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return retval;
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}
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static int cmsis_dap_reset_link(void)
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static int cmsis_dap_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
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{
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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const uint8_t *s;
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unsigned int s_len;
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int retval;
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LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
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LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
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/* reset line with SWDIO high for >50 cycles */
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_SWJ_SEQ;
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buffer[2] = 7 * 8;
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buffer[3] = 0xff;
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buffer[4] = 0xff;
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buffer[5] = 0xff;
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buffer[6] = 0xff;
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buffer[7] = 0xff;
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buffer[8] = 0xff;
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buffer[9] = 0xff;
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int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
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if (retval != ERROR_OK || buffer[1] != DAP_OK)
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return ERROR_FAIL;
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/* 16bit JTAG-SWD sequence */
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_SWJ_SEQ;
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buffer[2] = 2 * 8;
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buffer[3] = 0x9e;
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buffer[4] = 0xe7;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
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if (retval != ERROR_OK || buffer[1] != DAP_OK)
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return ERROR_FAIL;
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/* another reset just incase */
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_SWJ_SEQ;
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buffer[2] = 7 * 8;
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buffer[3] = 0xff;
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buffer[4] = 0xff;
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buffer[5] = 0xff;
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buffer[6] = 0xff;
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buffer[7] = 0xff;
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buffer[8] = 0xff;
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buffer[9] = 0xff;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
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if (retval != ERROR_OK || buffer[1] != DAP_OK)
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return ERROR_FAIL;
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/* 16 cycle idle period */
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_SWJ_SEQ;
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buffer[2] = 2 * 8;
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buffer[3] = 0x00;
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buffer[4] = 0x00;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
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if (retval != ERROR_OK || buffer[1] != DAP_OK)
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return ERROR_FAIL;
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DEBUG_IO("DAP Read IDCODE");
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/* read the id code is always the next sequence */
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_TFER;
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buffer[2] = 0x00;
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buffer[3] = 0x01;
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buffer[4] = 0x02;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
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/* When we are reconnecting, DAP_Connect needs to be rerun, at
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* least on Keil ULINK-ME */
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retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
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CONNECT_SWD : CONNECT_JTAG);
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if (retval != ERROR_OK)
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return retval;
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if (buffer[1] == 0) {
|
||||
LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
|
||||
|
||||
LOG_DEBUG("DAP Reset Target");
|
||||
buffer[0] = 0; /* report number */
|
||||
buffer[1] = CMD_DAP_RESET_TARGET;
|
||||
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
|
||||
LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
|
||||
|
||||
LOG_DEBUG("DAP Write Abort");
|
||||
buffer[0] = 0; /* report number */
|
||||
buffer[1] = CMD_DAP_WRITE_ABORT;
|
||||
buffer[2] = 0x00;
|
||||
buffer[3] = 0x1e/*0x1f*/;
|
||||
buffer[4] = 0x00;
|
||||
buffer[5] = 0x00;
|
||||
buffer[6] = 0x00;
|
||||
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
|
||||
LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
|
||||
|
||||
return 0x80 + buffer[1];
|
||||
switch (seq) {
|
||||
case LINE_RESET:
|
||||
LOG_DEBUG("SWD line reset");
|
||||
s = swd_seq_line_reset;
|
||||
s_len = swd_seq_line_reset_len;
|
||||
break;
|
||||
case JTAG_TO_SWD:
|
||||
LOG_DEBUG("JTAG-to-SWD");
|
||||
s = swd_seq_jtag_to_swd;
|
||||
s_len = swd_seq_jtag_to_swd_len;
|
||||
break;
|
||||
case SWD_TO_JTAG:
|
||||
LOG_DEBUG("SWD-to-JTAG");
|
||||
s = swd_seq_swd_to_jtag;
|
||||
s_len = swd_seq_swd_to_jtag_len;
|
||||
break;
|
||||
default:
|
||||
LOG_ERROR("Sequence %d not supported", seq);
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
LOG_DEBUG("DAP Write Abort");
|
||||
buffer[0] = 0; /* report number */
|
||||
buffer[1] = CMD_DAP_WRITE_ABORT;
|
||||
buffer[2] = 0x00;
|
||||
buffer[3] = 0x1e;
|
||||
buffer[4] = 0x00;
|
||||
buffer[5] = 0x00;
|
||||
buffer[6] = 0x00;
|
||||
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
|
||||
LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
|
||||
buffer[1] = CMD_DAP_SWJ_SEQ;
|
||||
buffer[2] = s_len;
|
||||
bit_copy(&buffer[3], 0, s, 0, s_len);
|
||||
|
||||
return retval;
|
||||
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
|
||||
|
||||
if (retval != ERROR_OK || buffer[1] != DAP_OK)
|
||||
return ERROR_FAIL;
|
||||
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int cmsis_dap_swd_open(void)
|
||||
{
|
||||
int retval;
|
||||
|
||||
DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_open");
|
||||
|
||||
if (cmsis_dap_handle == NULL) {
|
||||
|
||||
/* SWD init */
|
||||
retval = cmsis_dap_usb_open();
|
||||
if (retval != ERROR_OK)
|
||||
|
|
@ -829,6 +832,16 @@ static int cmsis_dap_init(void)
|
|||
if (data[0] == 2) { /* short */
|
||||
uint16_t pkt_sz = data[1] + (data[2] << 8);
|
||||
|
||||
/* 4 bytes of command header + 5 bytes per register
|
||||
* write. For bulk read sequences just 4 bytes are
|
||||
* needed per transfer, so this is suboptimal. */
|
||||
pending_queue_len = (pkt_sz - 4) / 5;
|
||||
pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
|
||||
if (!pending_transfers) {
|
||||
LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
|
||||
/* reallocate buffer */
|
||||
cmsis_dap_handle->packet_size = pkt_sz + 1;
|
||||
|
|
@ -860,14 +873,19 @@ static int cmsis_dap_init(void)
|
|||
|
||||
/* Now try to connect to the target
|
||||
* TODO: This is all SWD only @ present */
|
||||
retval = cmsis_dap_cmd_DAP_SWJ_Clock(100); /* 100kHz */
|
||||
retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
|
||||
if (retval != ERROR_OK)
|
||||
return ERROR_FAIL;
|
||||
|
||||
/* Ask CMSIS-DAP to automatically retry on receiving WAIT for
|
||||
* up to 64 times. This must be changed to 0 if sticky
|
||||
* overrun detection is enabled. */
|
||||
retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
|
||||
if (retval != ERROR_OK)
|
||||
return ERROR_FAIL;
|
||||
retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
|
||||
/* Data Phase (bit 2) must be set to 1 if sticky overrun
|
||||
* detection is enabled */
|
||||
retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
|
||||
if (retval != ERROR_OK)
|
||||
return ERROR_FAIL;
|
||||
|
||||
|
|
@ -887,11 +905,7 @@ static int cmsis_dap_init(void)
|
|||
}
|
||||
}
|
||||
|
||||
retval = cmsis_dap_reset_link();
|
||||
if (retval != ERROR_OK)
|
||||
return ERROR_FAIL;
|
||||
|
||||
cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
|
||||
cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
|
||||
|
||||
LOG_INFO("CMSIS-DAP: Interface ready");
|
||||
|
||||
|
|
@ -985,6 +999,14 @@ static int cmsis_dap_khz(int khz, int *jtag_speed)
|
|||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int_least32_t cmsis_dap_swd_frequency(struct adiv5_dap *dap, int_least32_t hz)
|
||||
{
|
||||
if (hz > 0)
|
||||
cmsis_dap_speed(hz / 1000);
|
||||
|
||||
return hz;
|
||||
}
|
||||
|
||||
COMMAND_HANDLER(cmsis_dap_handle_info_command)
|
||||
{
|
||||
if (cmsis_dap_get_version_info() == ERROR_OK)
|
||||
|
|
@ -1082,12 +1104,14 @@ static const struct command_registration cmsis_dap_command_handlers[] = {
|
|||
|
||||
static const struct swd_driver cmsis_dap_swd_driver = {
|
||||
.init = cmsis_dap_swd_init,
|
||||
.frequency = cmsis_dap_swd_frequency,
|
||||
.switch_seq = cmsis_dap_swd_switch_seq,
|
||||
.read_reg = cmsis_dap_swd_read_reg,
|
||||
.write_reg = cmsis_dap_swd_write_reg,
|
||||
.run = cmsis_dap_swd_run,
|
||||
.run = cmsis_dap_swd_run_queue,
|
||||
};
|
||||
|
||||
const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};
|
||||
static const char * const cmsis_dap_transport[] = { "swd", NULL };
|
||||
|
||||
struct jtag_interface cmsis_dap_interface = {
|
||||
.name = "cmsis-dap",
|
||||
|
|
|
|||
|
|
@ -215,6 +215,5 @@ 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 */
|
||||
|
|
|
|||
|
|
@ -554,8 +554,7 @@ static int jim_newtap_cmd(Jim_GetOptInfo *goi)
|
|||
pTap->chip, pTap->tapname, pTap->dotted_name, goi->argc);
|
||||
|
||||
if (!transport_is_jtag()) {
|
||||
/* SWD or CMSIS-DAP (which is currently SWD-only) doesn't
|
||||
require any JTAG tap parameters */
|
||||
/* SWD doesn't require any JTAG tap parameters */
|
||||
pTap->enabled = true;
|
||||
jtag_tap_init(pTap);
|
||||
return JIM_OK;
|
||||
|
|
|
|||
|
|
@ -93,7 +93,6 @@ ARM_DEBUG_SRC = \
|
|||
arm_adi_v5.c \
|
||||
adi_v5_jtag.c \
|
||||
adi_v5_swd.c \
|
||||
adi_v5_cmsis_dap.c \
|
||||
embeddedice.c \
|
||||
trace.c \
|
||||
etb.c \
|
||||
|
|
|
|||
|
|
@ -1,325 +0,0 @@
|
|||
/***************************************************************************
|
||||
* Copyright (C) 2013 by mike brown *
|
||||
* mike@theshedworks.org.uk *
|
||||
* *
|
||||
* Copyright (C) 2013 by Spencer Oliver *
|
||||
* spen@spen-soft.co.uk *
|
||||
* *
|
||||
* This program is free software; you can redistribute it and/or modify *
|
||||
* it under the terms of the GNU General Public License as published by *
|
||||
* the Free Software Foundation; either version 2 of the License, or *
|
||||
* (at your option) any later version. *
|
||||
* *
|
||||
* This program is distributed in the hope that it will be useful, *
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
||||
* 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. *
|
||||
***************************************************************************/
|
||||
|
||||
/**
|
||||
* @file
|
||||
* Utilities to support ARM "CMSIS-DAP", The CoreSight Debug Access Port.
|
||||
* This is coupled to recent versions of ARM's "CoreSight" debug framework.
|
||||
* This specific code is a transport level interface, with
|
||||
* "target/arm_adi_v5.[hc]" code understanding operation semantics,
|
||||
* shared with the SWD & JTAG transports.
|
||||
*/
|
||||
|
||||
#ifdef HAVE_CONFIG_H
|
||||
#include "config.h"
|
||||
#endif
|
||||
|
||||
#include "arm.h"
|
||||
#include "arm_adi_v5.h"
|
||||
#include <helper/time_support.h>
|
||||
|
||||
#include <transport/transport.h>
|
||||
#include <jtag/interface.h>
|
||||
|
||||
#include <jtag/swd.h>
|
||||
|
||||
#define CMSIS_CMD_DP (0 << 0) /* set only for AP access */
|
||||
#define CMSIS_CMD_AP (1 << 0) /* set only for AP access */
|
||||
#define CMSIS_CMD_READ (1 << 1) /* set only for read access */
|
||||
#define CMSIS_CMD_WRITE (0 << 1) /* set only for read access */
|
||||
#define CMSIS_CMD_A32(n) ((n)&0x0C) /* bits A[3:2] of register addr */
|
||||
#define CMSIS_CMD_VAL_MATCH (1 << 4) /* Value Match */
|
||||
#define CMSIS_CMD_MATCH_MSK (1 << 5) /* Match Mask */
|
||||
|
||||
/* YUK! - but this is currently a global.... */
|
||||
extern struct jtag_interface *jtag_interface;
|
||||
|
||||
static int cmsis_dap_clear_sticky_errors(struct adiv5_dap *dap)
|
||||
{
|
||||
LOG_DEBUG(" ");
|
||||
|
||||
const struct swd_driver *swd = jtag_interface->swd;
|
||||
assert(swd);
|
||||
|
||||
swd->write_reg(dap, (CMSIS_CMD_DP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(DP_ABORT)),
|
||||
STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR);
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int cmsis_dap_queue_ap_abort(struct adiv5_dap *dap, uint8_t *ack)
|
||||
{
|
||||
LOG_DEBUG(" ");
|
||||
|
||||
const struct swd_driver *swd = jtag_interface->swd;
|
||||
assert(swd);
|
||||
|
||||
swd->write_reg(dap, (CMSIS_CMD_DP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(DP_ABORT)),
|
||||
DAPABORT | STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR);
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int cmsis_dap_queue_dp_read(struct adiv5_dap *dap, unsigned reg, uint32_t *data)
|
||||
{
|
||||
LOG_DEBUG("reg = %d", reg);
|
||||
|
||||
const struct swd_driver *swd = jtag_interface->swd;
|
||||
assert(swd);
|
||||
|
||||
swd->read_reg(dap, (CMSIS_CMD_DP | CMSIS_CMD_READ | CMSIS_CMD_A32(reg)), data);
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int (cmsis_dap_queue_dp_write)(struct adiv5_dap *dap, unsigned reg, uint32_t data)
|
||||
{
|
||||
LOG_DEBUG("reg = %d, data = 0x%08" PRIx32, reg, data);
|
||||
|
||||
/* setting the ORUNDETECT bit causes issues for some targets,
|
||||
* disable until we find out why */
|
||||
if (reg == DP_CTRL_STAT) {
|
||||
LOG_DEBUG("disabling overrun detection");
|
||||
data &= ~CORUNDETECT;
|
||||
}
|
||||
|
||||
const struct swd_driver *swd = jtag_interface->swd;
|
||||
assert(swd);
|
||||
|
||||
swd->write_reg(dap, (CMSIS_CMD_DP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(reg)), data);
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
/** Select the AP register bank matching bits 7:4 of reg. */
|
||||
static int cmsis_dap_ap_q_bankselect(struct adiv5_dap *dap, unsigned reg)
|
||||
{
|
||||
uint32_t select_ap_bank = reg & 0x000000F0;
|
||||
|
||||
if (select_ap_bank == dap->ap_bank_value)
|
||||
return ERROR_OK;
|
||||
|
||||
dap->ap_bank_value = select_ap_bank;
|
||||
select_ap_bank |= dap->ap_current;
|
||||
|
||||
cmsis_dap_queue_dp_write(dap, DP_SELECT, select_ap_bank);
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int (cmsis_dap_queue_ap_read)(struct adiv5_dap *dap, unsigned reg, uint32_t *data)
|
||||
{
|
||||
cmsis_dap_ap_q_bankselect(dap, reg);
|
||||
|
||||
LOG_DEBUG("reg = %d", reg);
|
||||
|
||||
const struct swd_driver *swd = jtag_interface->swd;
|
||||
assert(swd);
|
||||
|
||||
swd->read_reg(dap, (CMSIS_CMD_AP | CMSIS_CMD_READ | CMSIS_CMD_A32(reg)), data);
|
||||
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
static int (cmsis_dap_queue_ap_write)(struct adiv5_dap *dap, unsigned reg, uint32_t data)
|
||||
{
|
||||
/* TODO: CSW_DBGSWENABLE (bit31) causes issues for some targets
|
||||
* disable until we find out why */
|
||||
if (reg == AP_REG_CSW)
|
||||
data &= ~CSW_DBGSWENABLE;
|
||||
|
||||
cmsis_dap_ap_q_bankselect(dap, reg);
|
||||
|
||||
LOG_DEBUG("reg = %d, data = 0x%08" PRIx32, reg, data);
|
||||
|
||||
const struct swd_driver *swd = jtag_interface->swd;
|
||||
assert(swd);
|
||||
|
||||
swd->write_reg(dap, (CMSIS_CMD_AP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(reg)), data);
|
||||
|
||||
return ERROR_OK;
|
||||
}
|
||||
|
||||
/** Executes all queued DAP operations. */
|
||||
static int cmsis_dap_run(struct adiv5_dap *dap)
|
||||
{
|
||||
LOG_DEBUG(" ");
|
||||
/*
|
||||
Some debug dongles do more than asked for(e.g. EDBG from
|
||||
Atmel) behind the scene and issuing an AP write
|
||||
may result in more than just APACC SWD transaction, which in
|
||||
turn can possibly set sticky error bit in CTRL/STAT register
|
||||
of the DP(an example would be writing SYSRESETREQ to AIRCR).
|
||||
Such adapters may interpret CMSIS-DAP secification
|
||||
differently and not guarantee to be report those failures
|
||||
via status byte of the return USB packet from CMSIS-DAP, so
|
||||
we need to check CTRL/STAT and if that happens to clear it.
|
||||
Note that once the CMSIS-DAP SWD implementation starts queueing
|
||||
transfers this will cause loss of the transfers after the
|
||||
failed one. At least a warning is printed.
|
||||
*/
|
||||
uint32_t ctrlstat;
|
||||
cmsis_dap_queue_dp_read(dap, DP_CTRL_STAT, &ctrlstat);
|
||||
|
||||
int retval = jtag_interface->swd->run(dap);
|
||||
|
||||
if (retval == ERROR_OK && (ctrlstat & SSTICKYERR))
|
||||
LOG_WARNING("Adapter returned success despite SSTICKYERR being set.");
|
||||
|
||||
if (retval != ERROR_OK || (ctrlstat & SSTICKYERR))
|
||||
cmsis_dap_clear_sticky_errors(dap);
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
const struct dap_ops cmsis_dap_ops = {
|
||||
.is_swd = true,
|
||||
.queue_dp_read = cmsis_dap_queue_dp_read,
|
||||
.queue_dp_write = cmsis_dap_queue_dp_write,
|
||||
.queue_ap_read = cmsis_dap_queue_ap_read,
|
||||
.queue_ap_write = cmsis_dap_queue_ap_write,
|
||||
.queue_ap_abort = cmsis_dap_queue_ap_abort,
|
||||
.run = cmsis_dap_run,
|
||||
};
|
||||
|
||||
static const struct command_registration cmsis_dap_commands[] = {
|
||||
{
|
||||
/*
|
||||
* Set up SWD and JTAG targets identically, unless/until
|
||||
* infrastructure improves ... meanwhile, ignore all
|
||||
* JTAG-specific stuff like IR length for SWD.
|
||||
*
|
||||
* REVISIT can we verify "just one SWD DAP" here/early?
|
||||
*/
|
||||
.name = "newdap",
|
||||
.jim_handler = jim_jtag_newtap,
|
||||
.mode = COMMAND_CONFIG,
|
||||
.help = "declare a new CMSIS-DAP"
|
||||
},
|
||||
COMMAND_REGISTRATION_DONE
|
||||
};
|
||||
|
||||
static const struct command_registration cmsis_dap_handlers[] = {
|
||||
{
|
||||
.name = "cmsis-dap",
|
||||
.mode = COMMAND_ANY,
|
||||
.help = "cmsis_dap command group",
|
||||
.chain = cmsis_dap_commands,
|
||||
},
|
||||
COMMAND_REGISTRATION_DONE
|
||||
};
|
||||
|
||||
static int cmsis_dap_select(struct command_context *ctx)
|
||||
{
|
||||
LOG_DEBUG("CMSIS-ADI: cmsis_dap_select");
|
||||
|
||||
int retval = register_commands(ctx, NULL, cmsis_dap_handlers);
|
||||
|
||||
if (retval != ERROR_OK)
|
||||
return retval;
|
||||
|
||||
/* FIXME: This needs a real overhaul!! FIXME
|
||||
* be sure driver is in SWD mode; start
|
||||
* with hardware default TRN (1), it can be changed later
|
||||
* we use a bogus 'swd' driver to implement cmsis-dap as it is quite similar */
|
||||
|
||||
const struct swd_driver *swd = jtag_interface->swd;
|
||||
if (!swd || !swd->read_reg || !swd->write_reg || !swd->init) {
|
||||
LOG_ERROR("no SWD driver?");
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
retval = swd->init();
|
||||
if (retval != ERROR_OK) {
|
||||
LOG_ERROR("unable to init CMSIS-DAP driver");
|
||||
return retval;
|
||||
}
|
||||
|
||||
return retval;
|
||||
}
|
||||
|
||||
static int cmsis_dap_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;
|
||||
|
||||
LOG_DEBUG("CMSIS-ADI init");
|
||||
|
||||
/* Force the DAP's ops vector for CMSIS-DAP mode.
|
||||
* messy - is there a better way? */
|
||||
arm->dap->ops = &cmsis_dap_ops;
|
||||
|
||||
/* 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 */
|
||||
|
||||
#if 0
|
||||
const struct swd_driver *swd = jtag_interface->swd;
|
||||
if (!swd || !swd->read_reg || !swd->write_reg || !swd->init) {
|
||||
LOG_ERROR("no SWD driver?");
|
||||
return ERROR_FAIL;
|
||||
}
|
||||
|
||||
int retval = swd->init(1);
|
||||
if (retval != ERROR_OK) {
|
||||
LOG_ERROR("unable to init CMSIS-DAP driver");
|
||||
return retval;
|
||||
}
|
||||
#endif
|
||||
|
||||
status = cmsis_dap_queue_dp_read(dap, DP_IDCODE, &idcode);
|
||||
|
||||
if (status == ERROR_OK)
|
||||
LOG_INFO("IDCODE 0x%08" PRIx32, idcode);
|
||||
|
||||
/* force clear all sticky faults */
|
||||
cmsis_dap_clear_sticky_errors(dap);
|
||||
|
||||
/* this is a workaround to get polling working */
|
||||
jtag_add_reset(0, 0);
|
||||
|
||||
return status;
|
||||
}
|
||||
|
||||
static struct transport cmsis_dap_transport = {
|
||||
.name = "cmsis-dap",
|
||||
.select = cmsis_dap_select,
|
||||
.init = cmsis_dap_init,
|
||||
};
|
||||
|
||||
static void cmsis_dap_constructor(void) __attribute__((constructor));
|
||||
static void cmsis_dap_constructor(void)
|
||||
{
|
||||
transport_register(&cmsis_dap_transport);
|
||||
}
|
||||
|
||||
/** Returns true if the current debug session
|
||||
* is using CMSIS-DAP as its transport.
|
||||
*/
|
||||
bool transport_is_cmsis_dap(void)
|
||||
{
|
||||
return get_current_transport() == &cmsis_dap_transport;
|
||||
}
|
||||
|
|
@ -30,7 +30,5 @@ proc swj_newdap {chip tag args} {
|
|||
eval jtag newtap $chip $tag $args
|
||||
} elseif [using_swd] {
|
||||
eval swd newdap $chip $tag $args
|
||||
} elseif [string equal [transport select] "cmsis-dap"] {
|
||||
eval cmsis-dap newdap $chip $tag $args
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue