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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>
This commit is contained in:
Paul Fertser 2014-10-26 10:51:02 +03:00 committed by Spencer Oliver
parent 1bc6a81138
commit ef02b69b14
7 changed files with 217 additions and 527 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/jtag/core.c
View File

@ -1801,8 +1801,6 @@ void adapter_assert_reset(void)
jtag_add_reset(0, 1);
} else if (transport_is_swd())
swd_add_reset(1);
else if (transport_is_cmsis_dap())
swd_add_reset(1); /* FIXME */
else if (get_current_transport() != NULL)
LOG_ERROR("reset is not supported on %s",
get_current_transport()->name);
@ -1816,8 +1814,6 @@ void adapter_deassert_reset(void)
jtag_add_reset(0, 0);
else if (transport_is_swd())
swd_add_reset(0);
else if (transport_is_cmsis_dap())
swd_add_reset(0); /* FIXME */
else if (get_current_transport() != NULL)
LOG_ERROR("reset is not supported on %s",
get_current_transport()->name);

408
src/jtag/drivers/cmsis_dap_usb.c
View File

@ -1,4 +1,7 @@
/***************************************************************************
* Copyright (C) 2014 by Paul Fertser *
* fercerpav@gmail.com *
* *
* Copyright (C) 2013 by mike brown *
* mike@theshedworks.org.uk *
* *
@ -33,12 +36,6 @@
#include <hidapi.h>
#ifdef _DEBUG_JTAG_IO_
#define DEBUG_IO(expr...) LOG_DEBUG(expr)
#else
#define DEBUG_IO(expr...) do {} while (0)
#endif
/*
* See CMSIS-DAP documentation:
* Version 0.01 - Beta.
@ -155,6 +152,17 @@ struct cmsis_dap {
uint8_t mode;
};
struct pending_transfer_result {
uint8_t cmd;
uint32_t data;
void *buffer;
};
static int pending_transfer_count, pending_queue_len;
static struct pending_transfer_result *pending_transfers;
static int queued_retval;
static struct cmsis_dap *cmsis_dap_handle;
static int cmsis_dap_usb_open(void)
@ -263,6 +271,8 @@ static int cmsis_dap_usb_open(void)
int packet_size = PACKET_SIZE;
/* atmel cmsis-dap uses 512 byte reports */
/* TODO: HID report descriptor should be parsed instead of
* hardcoding a match by VID */
if (target_vid == 0x03eb)
packet_size = 512 + 1;
@ -282,18 +292,13 @@ static void cmsis_dap_usb_close(struct cmsis_dap *dap)
hid_close(dap->dev_handle);
hid_exit();
if (cmsis_dap_handle->packet_buffer)
free(cmsis_dap_handle->packet_buffer);
if (cmsis_dap_handle) {
free(cmsis_dap_handle);
cmsis_dap_handle = NULL;
}
if (cmsis_dap_serial) {
free(cmsis_dap_serial);
cmsis_dap_serial = NULL;
}
free(cmsis_dap_handle->packet_buffer);
free(cmsis_dap_handle);
cmsis_dap_handle = NULL;
free(cmsis_dap_serial);
cmsis_dap_serial = NULL;
free(pending_transfers);
pending_transfers = NULL;
return;
}
@ -302,7 +307,7 @@ static void cmsis_dap_usb_close(struct cmsis_dap *dap)
static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
{
/* Pad the rest of the TX buffer with 0's */
memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
/* write data to device */
int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
@ -449,7 +454,7 @@ static int cmsis_dap_cmd_DAP_Disconnect(void)
return ERROR_OK;
}
static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16_t retry)
static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
{
int retval;
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
@ -457,10 +462,10 @@ static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_TFER_CONFIGURE;
buffer[2] = idle;
buffer[3] = delay & 0xff;
buffer[4] = (delay >> 8) & 0xff;
buffer[5] = retry & 0xff;
buffer[6] = (retry >> 8) & 0xff;
buffer[3] = retry_count & 0xff;
buffer[4] = (retry_count >> 8) & 0xff;
buffer[5] = match_retry & 0xff;
buffer[6] = (match_retry >> 8) & 0xff;
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
if (retval != ERROR_OK || buffer[1] != DAP_OK) {
@ -510,75 +515,139 @@ static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
}
#endif
static int queued_retval;
static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
static int cmsis_dap_swd_run_queue(struct adiv5_dap *dap)
{
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
if (queued_retval != ERROR_OK) {
LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
goto skip;
}
if (!pending_transfer_count)
goto skip;
size_t idx = 0;
buffer[idx++] = 0; /* report number */
buffer[idx++] = CMD_DAP_TFER;
buffer[idx++] = 0x00; /* DAP Index */
buffer[idx++] = pending_transfer_count;
for (int i = 0; i < pending_transfer_count; i++) {
uint8_t cmd = pending_transfers[i].cmd;
uint32_t data = pending_transfers[i].data;
LOG_DEBUG("%s %s reg %x %"PRIx32,
cmd & SWD_CMD_APnDP ? "AP" : "DP",
cmd & SWD_CMD_RnW ? "read" : "write",
(cmd & SWD_CMD_A32) >> 1, data);
/* When proper WAIT handling is implemented in the
* common SWD framework, this kludge can be
* removed. However, this might lead to minor
* performance degradation as the adapter wouldn't be
* able to automatically retry anything (because ARM
* has forgotten to implement sticky error flags
* clearing). See also comments regarding
* cmsis_dap_cmd_DAP_TFER_Configure() and
* cmsis_dap_cmd_DAP_SWD_Configure() in
* cmsis_dap_init().
*/
if (!(cmd & SWD_CMD_RnW) &&
!(cmd & SWD_CMD_APnDP) &&
(cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
(data & CORUNDETECT)) {
LOG_DEBUG("refusing to enable sticky overrun detection");
data &= ~CORUNDETECT;
}
buffer[idx++] = (cmd >> 1) & 0x0f;
if (!(cmd & SWD_CMD_RnW)) {
buffer[idx++] = (data) & 0xff;
buffer[idx++] = (data >> 8) & 0xff;
buffer[idx++] = (data >> 16) & 0xff;
buffer[idx++] = (data >> 24) & 0xff;
}
}
queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
if (queued_retval != ERROR_OK)
goto skip;
idx = 2;
uint8_t ack = buffer[idx] & 0x07;
if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
goto skip;
}
idx++;
if (pending_transfer_count != buffer[1])
LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
pending_transfer_count, buffer[1]);
for (int i = 0; i < buffer[1]; i++) {
if (pending_transfers[i].cmd & SWD_CMD_RnW) {
static uint32_t last_read;
uint32_t data = le_to_h_u32(&buffer[idx]);
uint32_t tmp = data;
idx += 4;
LOG_DEBUG("Read result: %"PRIx32, data);
/* Imitate posted AP reads */
if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
tmp = last_read;
last_read = data;
}
if (pending_transfers[i].buffer)
*(uint32_t *)pending_transfers[i].buffer = tmp;
}
}
skip:
pending_transfer_count = 0;
int retval = queued_retval;
queued_retval = ERROR_OK;
return retval;
}
static void cmsis_dap_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data)
{
if (pending_transfer_count == pending_queue_len) {
/* Not enough room in the queue. Run the queue. */
queued_retval = cmsis_dap_swd_run_queue(dap);
}
if (queued_retval != ERROR_OK)
return;
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
int retval;
uint32_t val;
DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8, cmd);
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_TFER;
buffer[2] = 0x00;
buffer[3] = 0x01;
buffer[4] = cmd;
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
/* TODO - need better response checking */
if (retval != ERROR_OK || buffer[1] != 0x01) {
LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
queued_retval = buffer[2];
return;
pending_transfers[pending_transfer_count].data = data;
pending_transfers[pending_transfer_count].cmd = cmd;
if (cmd & SWD_CMD_RnW) {
/* Queue a read transaction */
pending_transfers[pending_transfer_count].buffer = dst;
}
val = le_to_h_u32(&buffer[3]);
DEBUG_IO("0x%08" PRIx32, val);
if (value)
*value = val;
queued_retval = retval;
pending_transfer_count++;
}
static void cmsis_dap_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
{
if (queued_retval != ERROR_OK)
return;
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_TFER;
buffer[2] = 0x00;
buffer[3] = 0x01;
buffer[4] = cmd;
buffer[5] = (value) & 0xff;
buffer[6] = (value >> 8) & 0xff;
buffer[7] = (value >> 16) & 0xff;
buffer[8] = (value >> 24) & 0xff;
int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
if (buffer[1] != 0x01) {
LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
retval = buffer[2];
}
queued_retval = retval;
assert(!(cmd & SWD_CMD_RnW));
cmsis_dap_swd_queue_cmd(dap, cmd, NULL, value);
}
static int cmsis_dap_swd_run(struct adiv5_dap *dap)
static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
{
int retval = queued_retval;
queued_retval = ERROR_OK;
return retval;
assert(cmd & SWD_CMD_RnW);
cmsis_dap_swd_queue_cmd(dap, cmd, value, 0);
}
static int cmsis_dap_get_version_info(void)
@ -638,125 +707,59 @@ static int cmsis_dap_get_status(void)
return retval;
}
static int cmsis_dap_reset_link(void)
static int cmsis_dap_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
{
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
const uint8_t *s;
unsigned int s_len;
int retval;
LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
/* reset line with SWDIO high for >50 cycles */
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_SWJ_SEQ;
buffer[2] = 7 * 8;
buffer[3] = 0xff;
buffer[4] = 0xff;
buffer[5] = 0xff;
buffer[6] = 0xff;
buffer[7] = 0xff;
buffer[8] = 0xff;
buffer[9] = 0xff;
int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
if (retval != ERROR_OK || buffer[1] != DAP_OK)
return ERROR_FAIL;
/* 16bit JTAG-SWD sequence */
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_SWJ_SEQ;
buffer[2] = 2 * 8;
buffer[3] = 0x9e;
buffer[4] = 0xe7;
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
if (retval != ERROR_OK || buffer[1] != DAP_OK)
return ERROR_FAIL;
/* another reset just incase */
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_SWJ_SEQ;
buffer[2] = 7 * 8;
buffer[3] = 0xff;
buffer[4] = 0xff;
buffer[5] = 0xff;
buffer[6] = 0xff;
buffer[7] = 0xff;
buffer[8] = 0xff;
buffer[9] = 0xff;
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
if (retval != ERROR_OK || buffer[1] != DAP_OK)
return ERROR_FAIL;
/* 16 cycle idle period */
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_SWJ_SEQ;
buffer[2] = 2 * 8;
buffer[3] = 0x00;
buffer[4] = 0x00;
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
if (retval != ERROR_OK || buffer[1] != DAP_OK)
return ERROR_FAIL;
DEBUG_IO("DAP Read IDCODE");
/* read the id code is always the next sequence */
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_TFER;
buffer[2] = 0x00;
buffer[3] = 0x01;
buffer[4] = 0x02;
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
/* When we are reconnecting, DAP_Connect needs to be rerun, at
* least on Keil ULINK-ME */
retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
CONNECT_SWD : CONNECT_JTAG);
if (retval != ERROR_OK)
return retval;
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",

1
src/jtag/swd.h
View File

@ -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 */

3
src/jtag/tcl.c
View File

@ -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;

1
src/target/Makefile.am
View File

@ -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 \

325
src/target/adi_v5_cmsis_dap.c
View File

@ -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;
}

2
tcl/target/swj-dp.tcl
View File

@ -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
}
}