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openocd/src/target/adi_v5_cmsis_dap.c

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/***************************************************************************
* 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_queue_ap_abort)(struct adiv5_dap *dap, uint8_t *ack)
{
LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_ap_abort");
/* FIXME: implement this properly cmsis-dap has DAP_WriteABORT()
* for now just hack @ everything */
return jtag_interface->swd->write_reg(
(CMSIS_CMD_DP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(DP_ABORT)), 0x1e);
}
static int cmsis_dap_queue_dp_read(struct adiv5_dap *dap, unsigned reg, uint32_t *data)
{
LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_dp_read %d", reg);
int retval = jtag_interface->swd->read_reg(
(CMSIS_CMD_DP | CMSIS_CMD_READ | CMSIS_CMD_A32(reg)), data);
if (retval != ERROR_OK) {
/* fault response */
uint8_t ack = retval & 0xff;
cmsis_dap_queue_ap_abort(dap, &ack);
}
return retval;
}
static int cmsis_dap_queue_idcode_read(struct adiv5_dap *dap, uint8_t *ack, uint32_t *data)
{
LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_idcode_read");
int retval = cmsis_dap_queue_dp_read(dap, DP_IDCODE, data);
if (retval != ERROR_OK)
return retval;
*ack = retval;
return ERROR_OK;
}
static int (cmsis_dap_queue_dp_write)(struct adiv5_dap *dap, unsigned reg, uint32_t data)
{
LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_dp_write %d 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;
}
int retval = jtag_interface->swd->write_reg(
(CMSIS_CMD_DP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(reg)), data);
if (retval != ERROR_OK) {
/* fault response */
uint8_t ack = retval & 0xff;
cmsis_dap_queue_ap_abort(dap, &ack);
}
return retval;
}
/** 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;
return cmsis_dap_queue_dp_write(dap, DP_SELECT, select_ap_bank);
}
static int (cmsis_dap_queue_ap_read)(struct adiv5_dap *dap, unsigned reg, uint32_t *data)
{
LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_ap_read %d", reg);
int retval = cmsis_dap_ap_q_bankselect(dap, reg);
if (retval != ERROR_OK)
return retval;
retval = jtag_interface->swd->read_reg(
(CMSIS_CMD_AP | CMSIS_CMD_READ | CMSIS_CMD_A32(reg)), data);
if (retval != ERROR_OK) {
/* fault response */
uint8_t ack = retval & 0xff;
cmsis_dap_queue_ap_abort(dap, &ack);
}
return retval;
}
static int (cmsis_dap_queue_ap_write)(struct adiv5_dap *dap, unsigned reg, uint32_t data)
{
LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_ap_write %d 0x%08" PRIx32, reg, data);
/* TODO: CSW_DBGSWENABLE (bit31) causes issues for some targets
* disable until we find out why */
if (reg == AP_REG_CSW)
data &= ~CSW_DBGSWENABLE;
int retval = cmsis_dap_ap_q_bankselect(dap, reg);
if (retval != ERROR_OK)
return retval;
retval = jtag_interface->swd->write_reg(
(CMSIS_CMD_AP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(reg)), data);
if (retval != ERROR_OK) {
/* fault response */
uint8_t ack = retval & 0xff;
cmsis_dap_queue_ap_abort(dap, &ack);
}
return retval;
}
static int (cmsis_dap_queue_ap_read_block)(struct adiv5_dap *dap, unsigned reg,
uint32_t blocksize, uint8_t *buffer)
{
LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_ap_read_block 0x%08" PRIx32, blocksize);
int retval = jtag_interface->swd->read_block(
(CMSIS_CMD_AP | CMSIS_CMD_READ | CMSIS_CMD_A32(AP_REG_DRW)),
blocksize, buffer);
if (retval != ERROR_OK) {
/* fault response */
uint8_t ack = retval & 0xff;
cmsis_dap_queue_ap_abort(dap, &ack);
}
return retval;
}
/** Executes all queued DAP operations. */
static int cmsis_dap_run(struct adiv5_dap *dap)
{
LOG_DEBUG("CMSIS-ADI: cmsis_dap_run");
/* FIXME: for now the CMSIS-DAP interface hard-wires a zero-size queue. */
return ERROR_OK;
}
const struct dap_ops cmsis_dap_ops = {
.is_swd = true,
.queue_idcode_read = cmsis_dap_queue_idcode_read,
.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_read_block = cmsis_dap_queue_ap_read_block,
.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(1);
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: cmsis_dap_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
uint8_t ack;
status = cmsis_dap_queue_idcode_read(dap, &ack, &idcode);
if (status == ERROR_OK)
LOG_INFO("IDCODE 0x%08" PRIx32, idcode);
/* force clear all sticky faults */
cmsis_dap_queue_ap_abort(dap, &ack);
/* 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;
}
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