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drivers/cmsis-dap: add multidrop capability 

Uses CMSIS-DAP v 1.2 or higher protocol command DAP_SWD_Sequence
to write to DP TARGETSEL register. This write is not acknowledged
by device so we cannot use standard DAP_Transfer

Change-Id: Ib252d09570bcc2282be5f854e0ab9a0dfda06189
Signed-off-by: Tomas Vanek <vanekt@fbl.cz>
Reviewed-on: http://openocd.zylin.com/6117
Tested-by: jenkins
Reviewed-by: Peter Lawrence <majbthrd@gmail.com>
This commit is contained in:
Peter Lawrence 2021-03-19 16:26:52 +01:00 committed by Tomas Vanek
parent 45eff3a806
commit a5471b1b2c
1 changed files with 65 additions and 2 deletions
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67
src/jtag/drivers/cmsis_dap.c
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@ -136,6 +136,7 @@ static bool swd_mode;
/* CMSIS-DAP SWD Commands */
#define CMD_DAP_SWD_CONFIGURE 0x13
#define CMD_DAP_SWD_SEQUENCE 0x1D
/* CMSIS-DAP JTAG Commands */
#define CMD_DAP_JTAG_SEQ 0x14
@ -542,6 +543,45 @@ static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
}
#endif
static int cmsis_dap_metacmd_targetsel(uint32_t instance_id)
{
int retval;
uint8_t *command = cmsis_dap_handle->command;
const uint32_t SEQ_RD = 0x80, SEQ_WR = 0x00;
/* SWD multi-drop requires a transfer ala CMD_DAP_TFER,
but with no expectation of an SWD ACK response. In
CMSIS-DAP v1.20 and v2.00, CMD_DAP_SWD_SEQUENCE was
added to allow this special sequence to be generated.
The purpose of this operation is to select the target
corresponding to the instance_id that is written */
size_t idx = 0;
command[idx++] = CMD_DAP_SWD_SEQUENCE;
command[idx++] = 3; /* sequence count */
/* sequence 0: packet request for TARGETSEL */
command[idx++] = SEQ_WR | 8;
command[idx++] = SWD_CMD_START | swd_cmd(false, false, DP_TARGETSEL) | SWD_CMD_STOP | SWD_CMD_PARK;
/* sequence 1: read Trn ACK Trn, no expectation for target to ACK */
command[idx++] = SEQ_RD | 5;
/* sequence 2: WDATA plus parity */
command[idx++] = SEQ_WR | (32 + 1);
h_u32_to_le(command + idx, instance_id);
idx += 4;
command[idx++] = parity_u32(instance_id);
retval = cmsis_dap_xfer(cmsis_dap_handle, idx);
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP command SWD_Sequence failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
return ERROR_OK;
}
static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
{
uint8_t *command = cmsis_dap_handle->command;
@ -715,7 +755,10 @@ static int cmsis_dap_swd_run_queue(void)
static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
{
if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len) {
bool targetsel_cmd = swd_cmd(false, false, DP_TARGETSEL) == cmd;
if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len
|| targetsel_cmd) {
if (pending_fifo_block_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
@ -729,6 +772,11 @@ static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
if (queued_retval != ERROR_OK)
return;
if (targetsel_cmd) {
cmsis_dap_metacmd_targetsel(data);
return;
}
struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
transfer->data = data;
@ -846,7 +894,7 @@ static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
switch (seq) {
case LINE_RESET:
LOG_DEBUG("SWD line reset");
LOG_DEBUG_IO("SWD line reset");
s = swd_seq_line_reset;
s_len = swd_seq_line_reset_len;
break;
@ -855,11 +903,26 @@ static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
s = swd_seq_jtag_to_swd;
s_len = swd_seq_jtag_to_swd_len;
break;
case JTAG_TO_DORMANT:
LOG_DEBUG("JTAG-to-DORMANT");
s = swd_seq_jtag_to_dormant;
s_len = swd_seq_jtag_to_dormant_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;
case SWD_TO_DORMANT:
LOG_DEBUG("SWD-to-DORMANT");
s = swd_seq_swd_to_dormant;
s_len = swd_seq_swd_to_dormant_len;
break;
case DORMANT_TO_SWD:
LOG_DEBUG("DORMANT-to-SWD");
s = swd_seq_dormant_to_swd;
s_len = swd_seq_dormant_to_swd_len;
break;
default:
LOG_ERROR("Sequence %d not supported", seq);
return ERROR_FAIL;