drivers/jtag/jlink: support SWD mode
Quick attempt at SWD support, closely modelled after ftdi. Change-Id: I25140d80c5be7b2f8f0e2ef722a4ba4df0da4cf3 Signed-off-by: Brian Campbell <Brian.Campbell@ed.ac.uk> Signed-off-by: Paul Fertser <fercerpav@gmail.com> Reviewed-on: http://openocd.zylin.com/2141 Tested-by: jenkins Reviewed-by: Nemui Trinomius <nemuisan_kawausogasuki@live.jp> Reviewed-by: Andreas Fritiofson <andreas.fritiofson@gmail.com>
This commit is contained in:
Paul Fertser
Andreas Fritiofson
parent
e2b1f06f93
commit
6733253219
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@ -29,6 +29,7 @@
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#endif
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#include <jtag/interface.h>
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#include <jtag/swd.h>
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#include <jtag/commands.h>
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#include "libusb_common.h"
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@ -201,6 +202,11 @@ static char *jlink_hw_type_str[] = {
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"J-Link Pro",
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};
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#define JLINK_TIF_JTAG 0
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#define JLINK_TIF_SWD 1
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#define JLINK_SWD_DIR_IN 0
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#define JLINK_SWD_DIR_OUT 1
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/* Queue command functions */
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static void jlink_end_state(tap_state_t state);
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static void jlink_state_move(void);
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@ -211,6 +217,9 @@ static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
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static void jlink_reset(int trst, int srst);
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static void jlink_simple_command(uint8_t command);
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static int jlink_get_status(void);
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static int jlink_swd_run_queue(struct adiv5_dap *dap);
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static void jlink_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data);
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static int jlink_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq);
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/* J-Link tap buffer functions */
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static void jlink_tap_init(void);
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@ -254,6 +263,9 @@ static uint16_t pids[] = { 0x0101, 0x0102, 0x0103, 0x0104, 0x0105, 0 };
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static uint32_t jlink_caps;
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static uint32_t jlink_hw_type;
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static int queued_retval;
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static bool swd_mode;
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/* 256 byte non-volatile memory */
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struct jlink_config {
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uint8_t usb_address;
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@ -529,11 +541,17 @@ static int jlink_init(void)
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*
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* Segger recommends to select interface necessarily as a part of init process,
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* in case any previous session leaves improper interface selected.
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*
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* Until SWD implemented, select only JTAG interface here.
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*/
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int retval;
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if (jlink_caps & (1<<EMU_CAP_SELECT_IF))
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jlink_select_interface(0);
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retval = jlink_select_interface(swd_mode ? JLINK_TIF_SWD : JLINK_TIF_JTAG);
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else
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retval = swd_mode ? ERROR_JTAG_DEVICE_ERROR : ERROR_OK;
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if (retval != ERROR_OK) {
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LOG_ERROR("Selected transport mode is not supported.");
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return ERROR_JTAG_INIT_FAILED;
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}
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LOG_INFO("J-Link JTAG Interface ready");
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@ -541,11 +559,19 @@ static int jlink_init(void)
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jtag_sleep(3000);
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jlink_tap_init();
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/* v5/6 jlink seems to have an issue if the first tap move
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* is not divisible by 8, so we send a TLR on first power up */
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for (i = 0; i < 8; i++)
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jlink_tap_append_step(1, 0);
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jlink_tap_execute();
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if (!swd_mode) {
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/* v5/6 jlink seems to have an issue if the first tap move
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* is not divisible by 8, so we send a TLR on first power up */
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for (i = 0; i < 8; i++)
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jlink_tap_append_step(1, 0);
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jlink_tap_execute();
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}
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if (swd_mode)
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jlink_swd_switch_seq(NULL, JTAG_TO_SWD);
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else
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jlink_swd_switch_seq(NULL, SWD_TO_JTAG);
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jlink_swd_run_queue(NULL);
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return ERROR_OK;
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}
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@ -1294,10 +1320,50 @@ static const struct command_registration jlink_command_handlers[] = {
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COMMAND_REGISTRATION_DONE
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};
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static int jlink_swd_init(void)
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{
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LOG_INFO("JLink SWD mode enabled");
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swd_mode = true;
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return ERROR_OK;
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}
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static void jlink_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
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{
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assert(!(cmd & SWD_CMD_RnW));
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jlink_swd_queue_cmd(dap, cmd, NULL, value);
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}
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static void jlink_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
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{
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assert(cmd & SWD_CMD_RnW);
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jlink_swd_queue_cmd(dap, cmd, value, 0);
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}
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static int_least32_t jlink_swd_frequency(struct adiv5_dap *dap, int_least32_t hz)
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{
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if (hz > 0)
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jlink_speed(hz);
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return hz;
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}
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static const struct swd_driver jlink_swd = {
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.init = jlink_swd_init,
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.frequency = jlink_swd_frequency,
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.switch_seq = jlink_swd_switch_seq,
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.read_reg = jlink_swd_read_reg,
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.write_reg = jlink_swd_write_reg,
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.run = jlink_swd_run_queue,
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};
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static const char * const jlink_transports[] = { "jtag", "swd", NULL };
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struct jtag_interface jlink_interface = {
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.name = "jlink",
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.commands = jlink_command_handlers,
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.transports = jtag_only,
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.transports = jlink_transports,
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.swd = &jlink_swd,
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.execute_queue = jlink_execute_queue,
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.speed = jlink_speed,
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@ -1312,6 +1378,7 @@ struct jtag_interface jlink_interface = {
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static unsigned tap_length;
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/* In SWD mode use tms buffer for direction control */
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static uint8_t tms_buffer[JLINK_TAP_BUFFER_SIZE];
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static uint8_t tdi_buffer[JLINK_TAP_BUFFER_SIZE];
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static uint8_t tdo_buffer[JLINK_TAP_BUFFER_SIZE];
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@ -1320,7 +1387,7 @@ struct pending_scan_result {
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int first; /* First bit position in tdo_buffer to read */
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int length; /* Number of bits to read */
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struct scan_command *command; /* Corresponding scan command */
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uint8_t *buffer;
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void *buffer;
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};
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#define MAX_PENDING_SCAN_RESULTS 256
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@ -1465,6 +1532,184 @@ static int jlink_tap_execute(void)
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return ERROR_OK;
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}
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static void fill_buffer(uint8_t *buf, uint32_t val, uint32_t len)
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{
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unsigned int tap_pos = tap_length;
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while (len > 32) {
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buf_set_u32(buf, tap_pos, 32, val);
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len -= 32;
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tap_pos += 32;
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}
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if (len)
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buf_set_u32(buf, tap_pos, len, val);
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}
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static void jlink_queue_data_out(const uint8_t *data, uint32_t len)
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{
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const uint32_t dir_out = 0xffffffff;
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if (data)
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bit_copy(tdi_buffer, tap_length, data, 0, len);
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else
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fill_buffer(tdi_buffer, 0, len);
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fill_buffer(tms_buffer, dir_out, len);
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tap_length += len;
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}
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static void jlink_queue_data_in(uint32_t len)
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{
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const uint32_t dir_in = 0;
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fill_buffer(tms_buffer, dir_in, len);
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tap_length += len;
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}
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static int jlink_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
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{
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const uint8_t *s;
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unsigned int s_len;
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switch (seq) {
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case LINE_RESET:
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LOG_DEBUG("SWD line reset");
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s = swd_seq_line_reset;
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s_len = swd_seq_line_reset_len;
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break;
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case JTAG_TO_SWD:
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LOG_DEBUG("JTAG-to-SWD");
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s = swd_seq_jtag_to_swd;
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s_len = swd_seq_jtag_to_swd_len;
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break;
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case SWD_TO_JTAG:
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LOG_DEBUG("SWD-to-JTAG");
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s = swd_seq_swd_to_jtag;
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s_len = swd_seq_swd_to_jtag_len;
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break;
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default:
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LOG_ERROR("Sequence %d not supported", seq);
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return ERROR_FAIL;
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}
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jlink_queue_data_out(s, s_len);
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return ERROR_OK;
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}
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static int jlink_swd_run_queue(struct adiv5_dap *dap)
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{
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LOG_DEBUG("Executing %d queued transactions", pending_scan_results_length);
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int retval;
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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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/* A transaction must be followed by another transaction or at least 8 idle cycles to
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* ensure that data is clocked through the AP. */
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jlink_queue_data_out(NULL, 8);
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size_t byte_length = DIV_ROUND_UP(tap_length, 8);
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/* There's a comment in jlink_tap_execute saying JLink returns
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* an extra NULL in packet when size of incoming message is a
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* multiple of 64. Someone should verify if that's still the
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* case with the current jlink firmware */
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usb_out_buffer[0] = EMU_CMD_HW_JTAG3;
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usb_out_buffer[1] = 0;
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usb_out_buffer[2] = (tap_length >> 0) & 0xff;
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usb_out_buffer[3] = (tap_length >> 8) & 0xff;
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memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
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memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);
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retval = jlink_usb_message(jlink_handle, 4 + 2 * byte_length,
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byte_length + 1);
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if (retval != ERROR_OK) {
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LOG_ERROR("jlink_swd_run_queue failed USB io (%d)", retval);
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goto skip;
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}
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retval = usb_in_buffer[byte_length];
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if (retval) {
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LOG_ERROR("jlink_swd_run_queue failed, result %d", retval);
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goto skip;
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}
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for (int i = 0; i < pending_scan_results_length; i++) {
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int ack = buf_get_u32(usb_in_buffer, pending_scan_results_buffer[i].first, 3);
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if (ack != SWD_ACK_OK) {
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LOG_ERROR("SWD ack not OK: %d %s", ack,
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ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
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queued_retval = ack;
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goto skip;
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} else if (pending_scan_results_buffer[i].length) {
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uint32_t data = buf_get_u32(usb_in_buffer, 3 + pending_scan_results_buffer[i].first, 32);
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int parity = buf_get_u32(usb_in_buffer, 3 + 32 + pending_scan_results_buffer[i].first, 1);
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if (parity != parity_u32(data)) {
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LOG_ERROR("SWD Read data parity mismatch");
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queued_retval = ERROR_FAIL;
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goto skip;
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}
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if (pending_scan_results_buffer[i].buffer)
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*(uint32_t *)pending_scan_results_buffer[i].buffer = data;
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}
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}
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skip:
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jlink_tap_init();
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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 jlink_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data)
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{
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uint8_t data_parity_trn[DIV_ROUND_UP(32 + 1, 8)];
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if (tap_length + 46 + 8 + dap->memaccess_tck >= sizeof(tdi_buffer) * 8 ||
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pending_scan_results_length == MAX_PENDING_SCAN_RESULTS) {
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/* Not enough room in the queue. Run the queue. */
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queued_retval = jlink_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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cmd |= SWD_CMD_START | SWD_CMD_PARK;
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jlink_queue_data_out(&cmd, 8);
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pending_scan_results_buffer[pending_scan_results_length].first = tap_length;
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if (cmd & SWD_CMD_RnW) {
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/* Queue a read transaction */
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pending_scan_results_buffer[pending_scan_results_length].length = 32;
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pending_scan_results_buffer[pending_scan_results_length].buffer = dst;
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jlink_queue_data_in(1 + 3 + 32 + 1 + 1);
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} else {
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/* Queue a write transaction */
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pending_scan_results_buffer[pending_scan_results_length].length = 0;
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jlink_queue_data_in(1 + 3 + 1);
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buf_set_u32(data_parity_trn, 0, 32, data);
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buf_set_u32(data_parity_trn, 32, 1, parity_u32(data));
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jlink_queue_data_out(data_parity_trn, 32 + 1);
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}
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pending_scan_results_length++;
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/* Insert idle cycles after AP accesses to avoid WAIT */
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if (cmd & SWD_CMD_APnDP)
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jlink_queue_data_out(NULL, dap->memaccess_tck);
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}
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/*****************************************************************************/
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/* JLink USB low-level functions */
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