openocd/src/target/adi_v5_cmsis_dap.c

/***************************************************************************
 *   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;
}