Initial support for samd hardware and jeff ‘probe’

src/platforms/common/cdcacm.c

@@ -502,7 +502,7 @@ static void cdcacm_set_config(usbd_device *dev, uint16_t wValue)
 	configured = wValue;
 
 	/* GDB interface */
-#if defined(STM32F4) || defined(LM4F)
+#if defined(STM32F4) || defined(LM4F) || defined(SAMD)
 	usbd_ep_setup(dev, 0x01, USB_ENDPOINT_ATTR_BULK,
 	              CDCACM_PACKET_SIZE, gdb_usb_out_cb);
 #else

src/platforms/jeff/Makefile.inc

@@ -0,0 +1,35 @@
+CROSS_COMPILE ?= arm-none-eabi-
+CC = $(CROSS_COMPILE)gcc
+OBJCOPY = $(CROSS_COMPILE)objcopy
+
+
+ifeq ($(DEBUG_ME), 1)
+CFLAGS += -DDEBUG_ME
+endif
+
+CFLAGS += -mthumb -mcpu=cortex-m0plus \
+	-DSAMD -DSAMD21E18 -DBLACKMAGIC -I../libopencm3/include \
+	-Iplatforms/samd -msoft-float -ffunction-sections -fdata-sections -MD
+
+LINKER_SCRIPT="platforms/samd/samd.ld"
+LDFLAGS = -mthumb -mcpu=cortex-m0plus -msoft-float -nostartfiles -lc $(CPU_FLAGS) -nodefaultlibs -T$(LINKER_SCRIPT) -Wl,--gc-sections \
+	-L../libopencm3/lib -lopencm3_samd -lnosys -lm -lgcc
+
+ifeq ($(ENABLE_DEBUG), 1)
+LDFLAGS += --specs=rdimon.specs
+else
+LDFLAGS += --specs=nosys.specs
+endif
+
+VPATH += platforms/samd
+
+SRC +=	cdcacm.c	\
+	timing.c        \
+	traceswo.o      \
+	usbuart.c       \
+
+all:	blackmagic.bin 
+
+host_clean:
+	-$(Q)$(RM) -f blackmagic.bin blackmagic_dfu blackmagic_dfu.bin blackmagic_dfu.hex
+

src/platforms/jeff/platform.c

@@ -0,0 +1,172 @@
+/*
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2018  Flirc Inc.
+ * Written by Jason Kotzin <jasonkotzin@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "general.h"
+#include "gdb_if.h"
+#include "cdcacm.h"
+#include "usbuart.h"
+
+#include <libopencm3/sam/d/nvic.h>
+#include <libopencm3/sam/d/port.h>
+#include <libopencm3/sam/d/gclk.h>
+#include <libopencm3/sam/d/pm.h>
+
+#include <libopencm3/cm3/systick.h>
+#include <libopencm3/cm3/scb.h>
+
+static struct gclk_hw clock = {
+	.gclk0 = SRC_DFLL48M,
+	.gclk1 = SRC_DFLL48M,
+	.gclk2 = SRC_DFLL48M,
+	.gclk3 = SRC_DFLL48M,
+	.gclk4 = SRC_DFLL48M,
+	.gclk5 = SRC_DFLL48M,
+	.gclk6 = SRC_DFLL48M,
+	.gclk7 = SRC_DFLL48M,
+};
+
+extern void trace_tick(void);
+
+uint8_t running_status;
+static volatile uint32_t time_ms;
+
+void sys_tick_handler(void)
+{
+	if(running_status)
+		gpio_toggle(LED_PORT, LED_IDLE_RUN);
+
+	time_ms += 10;
+}
+
+uint32_t platform_time_ms(void)
+{
+	return time_ms;
+}
+
+static void usb_setup(void)
+{
+	/* Enable USB */
+	INSERTBF(PM_APBBMASK_USB, 1, PM->apbbmask);
+
+	/* enable clocking to usb */
+	set_periph_clk(GCLK0, GCLK_ID_USB);
+	periph_clk_en(GCLK_ID_USB, 1);
+
+	gpio_config_special(PORTA, GPIO24, SOC_GPIO_PERIPH_G);
+	gpio_config_special(PORTA, GPIO25, SOC_GPIO_PERIPH_G);
+
+}
+
+static uint32_t timing_init(void)
+{
+	uint32_t cal = 0;
+
+	systick_set_clocksource(STK_CSR_CLKSOURCE_AHB);
+	systick_set_reload(480000);	/* Interrupt us at 10 Hz */
+	systick_interrupt_enable();
+
+	systick_counter_enable();
+	return cal;
+}
+
+void platform_init(void)
+{
+	gclk_init(&clock);
+
+	usb_setup();
+
+	gpio_config_output(LED_PORT, LED_IDLE_RUN, 0);
+	gpio_config_output(TMS_PORT, TMS_PIN, 0);
+	gpio_config_output(TCK_PORT, TCK_PIN, 0);
+	gpio_config_output(TDI_PORT, TDI_PIN, 0);
+
+	/* enable both input and output with pullup disabled by default */
+	PORT_DIRSET(SWDIO_PORT) = SWDIO_PIN;
+	PORT_PINCFG(SWDIO_PORT, SWDIO_PIN_NUM) |= GPIO_PINCFG_INEN | GPIO_PINCFG_PULLEN;
+	gpio_clear(SWDIO_PORT, SWDIO_PIN);
+
+	/* configure swclk_pin as output */
+	gpio_config_output(SWCLK_PORT, SWCLK_PIN, 0);
+	gpio_clear(SWCLK_PORT, SWCLK_PIN);
+
+	gpio_config_input(TDO_PORT, TDO_PIN, 0);
+	gpio_config_output(SRST_PORT, SRST_PIN, GPIO_OUT_FLAG_DEFAULT_HIGH);
+	gpio_set(SRST_PORT, SRST_PIN);
+
+	timing_init();
+
+	//nvic_enable_irq(NVIC_UART0_IRQ);
+	//usbuart_init();
+
+	cdcacm_init();
+}
+
+void platform_srst_set_val(bool assert)
+{
+	volatile int i;
+	if (assert) {
+		gpio_clear(SRST_PORT, SRST_PIN);
+		for(i = 0; i < 10000; i++) asm("nop");
+	} else {
+		gpio_set(SRST_PORT, SRST_PIN);
+	}
+}
+
+bool platform_srst_get_val(void)
+{
+	return gpio_get(SRST_PORT, SRST_PIN) == 0;
+}
+
+void platform_delay(uint32_t ms)
+{
+	platform_timeout timeout;
+	platform_timeout_set(&timeout, ms);
+	while (!platform_timeout_is_expired(&timeout));
+}
+
+const char *platform_target_voltage(void)
+{
+	return "not supported";
+}
+
+char *serialno_read(char *s)
+{
+        int i;
+	volatile uint32_t unique_id = *(volatile uint32_t *)0x0080A00C +
+		*(volatile uint32_t *)0x0080A040 +
+		*(volatile uint32_t *)0x0080A044 +
+		*(volatile uint32_t *)0x0080A048;
+
+        /* Fetch serial number from chip's unique ID */
+        for(i = 0; i < 8; i++) {
+                s[7-i] = ((unique_id >> (4*i)) & 0xF) + '0';
+        }
+
+        for(i = 0; i < 8; i++)
+                if(s[i] > '9')
+                        s[i] += 'A' - '9' - 1;
+	s[8] = 0;
+
+	return s;
+}
+
+void platform_request_boot(void)
+{
+}

src/platforms/jeff/platform.h

@@ -0,0 +1,161 @@
+/*
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2018  Flirc Inc.
+ * Written by Jason Kotzin <jasonkotzin@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef __PLATFORM_H
+#define __PLATFORM_H
+
+#include <libopencm3/sam/d/port.h>
+#include <libopencm3/usb/usbd.h>
+
+#include "timing.h"
+#include "version.h"
+
+//#define PLATFORM_HAS_DEBUG
+//#define USBUART_DEBUG
+
+#define BOARD_IDENT             "Black Magic Probe (Launchpad ICDI), (Firmware " FIRMWARE_VERSION ")"
+#define BOARD_IDENT_DFU		"Black Magic (Upgrade) for Launchpad, (Firmware " FIRMWARE_VERSION ")"
+#define DFU_IDENT               "Black Magic Firmware Upgrade (Launchpad)"
+#define DFU_IFACE_STRING	"lolwut"
+
+extern uint8_t running_status;
+
+#ifdef DEBUG_ME
+
+#define LED_PORT	PORTA
+#define LED_IDLE_RUN	GPIO11
+#define LED_ERROR	GPIO10
+
+#define TMS_PORT	PORTA
+#define TMS_PIN		GPIO7
+
+#define TCK_PORT	PORTA
+#define TCK_PIN		GPIO8
+
+#define TDI_PORT	PORTA
+#define TDI_PIN		GPIO5
+
+#define TDO_PORT	PORTA
+#define TDO_PIN		GPIO4
+
+#define SWO_PORT	PORTA
+#define SWO_PIN		GPIO6
+
+#define SWDIO_PORT	PORTA
+#define SWDIO_PIN	TMS_PIN
+#define SWDIO_PIN_NUM	7
+
+#define SWCLK_PORT	PORTA
+#define SWCLK_PIN	TCK_PIN
+
+#define SRST_PORT	PORTA
+#define SRST_PIN	GPIO6
+
+#else
+
+#define LED_PORT	PORTA
+#define LED_IDLE_RUN	GPIO11
+#define LED_ERROR	GPIO10
+
+#define TMS_PORT	PORTA
+#define TMS_PIN		GPIO31
+
+#define TCK_PORT	PORTA
+#define TCK_PIN		GPIO30
+
+#define TDI_PORT	PORTA
+#define TDI_PIN		GPIO5
+
+#define TDO_PORT	PORTA
+#define TDO_PIN		GPIO4
+
+#define SWO_PORT	PORTA
+#define SWO_PIN		GPIO6
+
+#define SWDIO_PORT	PORTA
+#define SWDIO_PIN	TMS_PIN
+#define SWDIO_PIN_NUM	31
+
+#define SWCLK_PORT	PORTA
+#define SWCLK_PIN	TCK_PIN
+
+#define SRST_PORT	PORTA
+#define SRST_PIN	GPIO26
+#endif
+
+#define TMS_SET_MODE()	{ \
+	gpio_config_output(TMS_PORT, TMS_PIN, 0); \
+}
+
+#define SWDIO_MODE_FLOAT() do { \
+	PORT_DIRCLR(SWDIO_PORT) = SWDIO_PIN; \
+	gpio_set(SWDIO_PORT, SWDIO_PIN); \
+} while(0)
+#define SWDIO_MODE_DRIVE() do { \
+	PORT_DIRSET(SWDIO_PORT) = SWDIO_PIN; \
+} while(0)
+
+/* extern usbd_driver samd21_usb_driver; */
+#define USB_DRIVER	samd21_usb_driver
+#define USB_IRQ		NVIC_USB_IRQ
+#define USB_ISR		usb_isr
+
+#define IRQ_PRI_USB	(2 << 4)
+
+#define INLINE_GPIO
+
+#define gpio_set_val(port, pin, val) do {	\
+	if(val)					\
+		gpio_set((port), (pin));	\
+	else					\
+		gpio_clear((port), (pin));	\
+} while(0)
+
+#ifdef INLINE_GPIO
+static inline void _gpio_set(uint32_t gpioport, uint16_t gpios)
+{
+	PORT_OUTSET(gpioport) = gpios;
+}
+#define gpio_set _gpio_set
+
+static inline void _gpio_clear(uint32_t gpioport, uint16_t gpios)
+{
+	PORT_OUTCLR(gpioport) = gpios;
+}
+#define gpio_clear _gpio_clear
+
+static inline uint16_t _gpio_get(uint32_t gpioport, uint16_t gpios)
+{
+	return (uint32_t)PORT_IN(gpioport) & gpios;
+}
+#define gpio_get _gpio_get
+#endif
+
+#define DEBUG(...)
+
+#define SET_RUN_STATE(state)	{running_status = (state);}
+#define SET_IDLE_STATE(state)	{gpio_set_val(LED_PORT, LED_IDLE_RUN, state);}
+#define SET_ERROR_STATE(state)	{gpio_set_val(LED_PORT, LED_ERROR, state);}
+
+static inline int platform_hwversion(void)
+{
+	        return 0;
+}
+#endif

src/platforms/samd/gdb_if.c

@@ -0,0 +1,103 @@
+/*
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2011  Black Sphere Technologies Ltd.
+ * Written by Gareth McMullin <gareth@blacksphere.co.nz>
+ *
+ * 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 3 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, see <http://www.gnu.org/licenses/>.
+ */
+
+/* This file implements a transparent channel over which the GDB Remote
+ * Serial Debugging protocol is implemented.  This implementation for STM32
+ * uses the USB CDC-ACM device bulk endpoints to implement the channel.
+ */
+
+#include "general.h"
+#include "gdb_if.h"
+#include "cdcacm.h"
+
+#include <libopencm3/usb/usbd.h>
+
+static volatile uint32_t head_out, tail_out;
+static volatile uint32_t count_in;
+static volatile uint8_t buffer_out[16*CDCACM_PACKET_SIZE];
+static volatile uint8_t buffer_in[CDCACM_PACKET_SIZE];
+
+void gdb_if_putchar(unsigned char c, int flush)
+{
+	buffer_in[count_in++] = c;
+	if(flush || (count_in == CDCACM_PACKET_SIZE)) {
+		/* Refuse to send if USB isn't configured, and
+		 * don't bother if nobody's listening */
+		if((cdcacm_get_config() != 1) || !cdcacm_get_dtr()) {
+			count_in = 0;
+			return;
+		}
+		while(usbd_ep_write_packet(usbdev, CDCACM_GDB_ENDPOINT,
+			(uint8_t *)buffer_in, count_in) <= 0);
+		count_in = 0;
+	}
+}
+
+void gdb_usb_out_cb(usbd_device *dev, uint8_t ep)
+{
+	(void)ep;
+	static uint8_t buf[CDCACM_PACKET_SIZE];
+
+	usbd_ep_nak_set(dev, CDCACM_GDB_ENDPOINT, 1);
+        uint32_t count = usbd_ep_read_packet(dev, CDCACM_GDB_ENDPOINT,
+                                        (uint8_t *)buf, CDCACM_PACKET_SIZE);
+
+
+	uint32_t idx;
+	for (idx=0; idx<count; idx++) {
+		buffer_out[head_out++ % sizeof(buffer_out)] = buf[idx];
+	}
+
+	usbd_ep_nak_set(dev, CDCACM_GDB_ENDPOINT, 0);
+}
+
+unsigned char gdb_if_getchar(void)
+{
+
+	while(tail_out == head_out) {
+		/* Detach if port closed */
+		if(!cdcacm_get_dtr())
+			return 0x04;
+
+		while(cdcacm_get_config() != 1);
+	}
+
+	return buffer_out[tail_out++ % sizeof(buffer_out)];
+}
+
+unsigned char gdb_if_getchar_to(int timeout)
+{
+	platform_timeout t;
+	platform_timeout_set(&t, timeout);
+
+	if(head_out == tail_out) do {
+		/* Detach if port closed */
+		if(!cdcacm_get_dtr())
+			return 0x04;
+
+		while(cdcacm_get_config() != 1);
+	} while(!platform_timeout_is_expired(&t) && head_out == tail_out);
+
+	if(head_out != tail_out)
+		return gdb_if_getchar();
+
+	return -1;
+}
+

src/platforms/samd/jtagtap.c

@@ -0,0 +1,43 @@
+#include "general.h"
+#include "jtagtap.h"
+
+int
+jtagtap_init(void)
+{
+	TMS_SET_MODE();
+
+	for(int i = 0; i <= 50; i++) jtagtap_next(1,0);
+	jtagtap_tms_seq(0xE73C, 16);
+	jtagtap_soft_reset();
+
+	return 0;
+}
+
+void
+jtagtap_reset(void)
+{
+#ifdef TRST_PORT
+	volatile int i;
+	gpio_clear(TRST_PORT, TRST_PIN);
+	for(i = 0; i < 10000; i++) asm("nop");
+	gpio_set(TRST_PORT, TRST_PIN);
+#endif
+	jtagtap_soft_reset();
+}
+
+uint8_t
+jtagtap_next(const uint8_t dTMS, const uint8_t dTDI)
+{
+	uint16_t ret;
+
+	gpio_set_val(TMS_PORT, TMS_PIN, dTMS);
+	gpio_set_val(TDI_PORT, TDI_PIN, dTDI);
+	gpio_set(TCK_PORT, TCK_PIN);
+	ret = gpio_get(TDO_PORT, TDO_PIN);
+	gpio_clear(TCK_PORT, TCK_PIN);
+
+	DEBUG("jtagtap_next(TMS = %d, TDI = %d) = %d\n", dTMS, dTDI, ret);
+
+	return ret != 0;
+}
+

src/platforms/samd/samd.ld

@@ -0,0 +1,28 @@
+/*
+ * This file is part of the libopenstm32 project.
+ *
+ * Copyright (C) 2010 Thomas Otto <tommi@viadmin.org>
+ *
+ * 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 3 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, see <http://www.gnu.org/licenses/>.
+ */
+
+/* Define memory regions. */
+MEMORY
+{
+	rom (rx) : ORIGIN = 0x00000000, LENGTH = 256K
+	ram (rwx) : ORIGIN = 0x20000000, LENGTH = 32K 
+}
+
+/* Include the common ld script from libopenstm32. */
+INCLUDE libopencm3_samd.ld

src/platforms/samd/traceswo.c

@@ -0,0 +1,57 @@
+/*
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2018  Flirc Inc.
+ * Written by Jason Kotzin <jasonkotzin@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* This file implements capture of the TRACESWO output.
+ *
+ * ARM DDI 0403D - ARMv7M Architecture Reference Manual
+ * ARM DDI 0337I - Cortex-M3 Technical Reference Manual
+ * ARM DDI 0314H - CoreSight Components Technical Reference Manual
+ */
+
+#include "general.h"
+#include "cdcacm.h"
+
+void traceswo_init(void)
+{
+}
+
+void traceswo_baud(unsigned int baud)
+{
+	baud++;
+}
+
+void trace_buf_push(void)
+{
+}
+
+void trace_buf_drain(usbd_device *dev, uint8_t ep)
+{
+	ep ++;
+	if (dev == NULL)
+		return;
+}
+
+void trace_tick(void)
+{
+}
+
+void TRACEUART_ISR(void)
+{
+}

src/platforms/samd/usbuart.c

@@ -0,0 +1,58 @@
+/*
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2018  Flirc Inc.
+ * Written by Jason Kotzin <jasonkotzin@gmail.com>
+ *
+ * This library is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This library 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 Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with this library.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "general.h"
+#include "cdcacm.h"
+
+#include <libopencm3/cm3/nvic.h>
+#include <libopencm3/cm3/scs.h>
+#include <libopencm3/usb/usbd.h>
+#include <libopencm3/usb/cdc.h>
+
+void usbuart_init(void)
+{
+}
+
+void usbuart_set_line_coding(struct usb_cdc_line_coding *coding)
+{
+	(void) coding;
+}
+
+void usbuart_usb_out_cb(usbd_device *dev, uint8_t ep)
+{
+	(void) dev;
+	(void) ep;
+}
+
+
+void usbuart_usb_in_cb(usbd_device *dev, uint8_t ep)
+{
+	(void) dev;
+	(void) ep;
+}
+
+/*
+ * Read a character from the UART RX and stuff it in a software FIFO.
+ * Allowed to read from FIFO out pointer, but not write to it.
+ * Allowed to write to FIFO in pointer.
+ */
+void USBUART_ISR(void)
+{
+}