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blackmagic/src/target/adiv5_swdp.c

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/*
* 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>
* Copyright (C) 2020- 2021 Uwe Bonnes (bon@elektron.ikp.physik.tu-darmstadt.de)
*
* 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 the SW-DP specific functions of the
* ARM Debug Interface v5 Architecure Specification, ARM doc IHI0031A.
*/
#include "general.h"
#include "exception.h"
#include "adiv5.h"
#include "target.h"
#include "target_internal.h"
unsigned int make_packet_request(uint8_t RnW, uint16_t addr)
{
bool APnDP = addr & ADIV5_APnDP;
addr &= 0xff;
unsigned int request = 0x81; /* Park and Startbit */
if(APnDP) request ^= 0x22;
if(RnW) request ^= 0x24;
addr &= 0xC;
request |= (addr << 1) & 0x18;
if((addr == 4) || (addr == 8))
request ^= 0x20;
return request;
}
/* Provide bare DP access functions without timeout and exception */
static void dp_line_reset(ADIv5_DP_t *dp)
{
dp->seq_out(0xFFFFFFFF, 32);
dp->seq_out(0x0FFFFFFF, 32);
}
bool firmware_dp_low_write(ADIv5_DP_t *dp, uint16_t addr, const uint32_t data)
{
unsigned int request = make_packet_request(ADIV5_LOW_WRITE, addr & 0xf);
dp->seq_out(request, 8);
int res = dp->seq_in(3);
dp->seq_out_parity(data, 32);
return (res != 1);
}
/* Try first the dormant to SWD procedure.
* If target id given, scan DPs 0 .. 15 on that device and return.
* Otherwise
*/
int adiv5_swdp_scan(uint32_t targetid)
{
volatile struct exception e;
static bool scan_multidrop = true;
ADIv5_DP_t idp = {
.dp_low_write = firmware_dp_low_write,
.error = firmware_swdp_error,
.dp_read = firmware_swdp_read,
.low_access = firmware_swdp_low_access,
.abort = firmware_swdp_abort,
};
ADIv5_DP_t *initial_dp = &idp;
target_list_free();
if (swdptap_init(initial_dp))
return -1;
/* DORMANT-> SWD sequence*/
initial_dp->seq_out(0xFFFFFFFF, 32);
initial_dp->seq_out(0xFFFFFFFF, 32);
/* 128 bit selection alert sequence for SW-DP-V2 */
initial_dp->seq_out(0x6209f392, 32);
initial_dp->seq_out(0x86852d95, 32);
initial_dp->seq_out(0xe3ddafe9, 32);
initial_dp->seq_out(0x19bc0ea2, 32);
/* 4 cycle low,
* 0x1a Arm CoreSight SW-DP activation sequence
* 20 bits start of reset another reset sequence*/
initial_dp->seq_out(0x1a0, 12);
uint32_t idcode = 0;
volatile uint32_t target_id = 0;
if (!targetid || !initial_dp->dp_low_write) {
/* No targetID given on the command line or probe can not
* handle multi-drop. Try to read ID */
dp_line_reset(initial_dp);
TRY_CATCH (e, EXCEPTION_ALL) {
idcode = initial_dp->dp_read(initial_dp, ADIV5_DP_IDCODE);
}
if (e.type || initial_dp->fault) {
scan_multidrop = false;
DEBUG_WARN("Trying old JTAG to SWD sequence\n");
initial_dp->seq_out(0xFFFFFFFF, 32);
initial_dp->seq_out(0xFFFFFFFF, 32);
initial_dp->seq_out(0xE79E, 16); /* 0b0111100111100111 */
dp_line_reset(initial_dp);
initial_dp->fault = 0;
TRY_CATCH (e, EXCEPTION_ALL) {
idcode = initial_dp->dp_read(initial_dp, ADIV5_DP_IDCODE);
}
if (e.type || initial_dp->fault) {
DEBUG_WARN("No usable DP found\n");
return -1;
}
}
if ((idcode & ADIV5_DP_VERSION_MASK) == ADIV5_DPv2) {
scan_multidrop = true;
/* Read TargetID. Can be done with device in WFI, sleep or reset!*/
adiv5_dp_write(initial_dp, ADIV5_DP_SELECT, 2);
target_id = adiv5_dp_read(initial_dp, ADIV5_DP_CTRLSTAT);
adiv5_dp_write(initial_dp, ADIV5_DP_SELECT, 0);
DEBUG_INFO("TARGETID %08" PRIx32 "\n", target_id);
switch (target_id) {
case 0x01002927: /* RP2040 */
/* Release evt. handing RESCUE DP reset*/
adiv5_dp_write(initial_dp, ADIV5_DP_CTRLSTAT, 0);
break;
}
if (!initial_dp->dp_low_write) {
DEBUG_WARN("CMSIS_DAP < V1.2 can not handle multi-drop!\n");
/* E.g. CMSIS_DAP < V1.2 can not handle multi-drop!*/
scan_multidrop = false;
}
} else {
scan_multidrop = false;
}
} else {
target_id = targetid;
}
volatile int nr_dps = (scan_multidrop) ? 16: 1;
volatile uint32_t dp_targetid;
for (volatile int i = 0; i < nr_dps; i++) {
if (scan_multidrop) {
dp_line_reset(initial_dp);
dp_targetid = (i << 28) | (target_id & 0x0fffffff);
initial_dp->dp_low_write(initial_dp, ADIV5_DP_TARGETSEL,
dp_targetid);
TRY_CATCH (e, EXCEPTION_ALL) {
idcode = initial_dp->dp_read(initial_dp, ADIV5_DP_IDCODE);
}
if (e.type || initial_dp->fault) {
continue;
}
} else {
dp_targetid = target_id;
}
ADIv5_DP_t *dp = (void*)calloc(1, sizeof(*dp));
if (!dp) { /* calloc failed: heap exhaustion */
DEBUG_WARN("calloc: failed in %s\n", __func__);
continue;
}
memcpy(dp, initial_dp, sizeof(ADIv5_DP_t));
dp->idcode = idcode;
dp->targetid = dp_targetid;
adiv5_dp_init(dp);
}
return target_list?1:0;
}
uint32_t firmware_swdp_read(ADIv5_DP_t *dp, uint16_t addr)
{
if (addr & ADIV5_APnDP) {
adiv5_dp_low_access(dp, ADIV5_LOW_READ, addr, 0);
return adiv5_dp_low_access(dp, ADIV5_LOW_READ,
ADIV5_DP_RDBUFF, 0);
} else {
return firmware_swdp_low_access(dp, ADIV5_LOW_READ, addr, 0);
}
}
uint32_t firmware_swdp_error(ADIv5_DP_t *dp)
{
if ((dp->fault && (dp->idcode & ADIV5_DP_VERSION_MASK) == ADIV5_DPv2) &&
dp->dp_low_write) {
/* On protocoll error target gets deselected.
* With DP Change, another target needs selection.
* => Reselect with right target! */
dp_line_reset(dp);
dp->dp_low_write(dp, ADIV5_DP_TARGETSEL, dp->targetid);
dp->dp_read(dp, ADIV5_DP_IDCODE);
/* Exception here is unexpected, so do not catch */
}
uint32_t err, clr = 0;
err = adiv5_dp_read(dp, ADIV5_DP_CTRLSTAT) &
(ADIV5_DP_CTRLSTAT_STICKYORUN | ADIV5_DP_CTRLSTAT_STICKYCMP |
ADIV5_DP_CTRLSTAT_STICKYERR | ADIV5_DP_CTRLSTAT_WDATAERR);
if(err & ADIV5_DP_CTRLSTAT_STICKYORUN)
clr |= ADIV5_DP_ABORT_ORUNERRCLR;
if(err & ADIV5_DP_CTRLSTAT_STICKYCMP)
clr |= ADIV5_DP_ABORT_STKCMPCLR;
if(err & ADIV5_DP_CTRLSTAT_STICKYERR)
clr |= ADIV5_DP_ABORT_STKERRCLR;
if(err & ADIV5_DP_CTRLSTAT_WDATAERR)
clr |= ADIV5_DP_ABORT_WDERRCLR;
adiv5_dp_write(dp, ADIV5_DP_ABORT, clr);
dp->fault = 0;
return err;
}
uint32_t firmware_swdp_low_access(ADIv5_DP_t *dp, uint8_t RnW,
uint16_t addr, uint32_t value)
{
uint32_t request = make_packet_request(RnW, addr);
uint32_t response = 0;
uint32_t ack = SWDP_ACK_WAIT;
platform_timeout timeout;
if ((addr & ADIV5_APnDP) && dp->fault)
return 0;
platform_timeout_set(&timeout, 250);
do {
dp->seq_out(request, 8);
ack = dp->seq_in(3);
if (ack == SWDP_ACK_FAULT) {
/* On fault, abort the request and repeat */
dp->error(dp);
}
} while ((ack == SWDP_ACK_WAIT || ack == SWDP_ACK_FAULT) && !platform_timeout_is_expired(&timeout));
if (ack == SWDP_ACK_WAIT) {
dp->abort(dp, ADIV5_DP_ABORT_DAPABORT);
dp->fault = 1;
return 0;
}
if (ack == SWDP_ACK_FAULT) {
dp->fault = 1;
return 0;
}
if (ack != SWDP_ACK_OK)
raise_exception(EXCEPTION_ERROR, "SWDP invalid ACK");
if (RnW) {
if (dp->seq_in_parity(&response, 32)) { /* Give up on parity error */
dp->fault = 1;
raise_exception(EXCEPTION_ERROR, "SWDP Parity error");
}
} else {
dp->seq_out_parity(value, 32);
/* ARM Debug Interface Architecture Specification ADIv5.0 to ADIv5.2
* tells to clock the data through SW-DP to either :
* - immediate start a new transaction
* - continue to drive idle cycles
* - or clock at least 8 idle cycles
*
* Implement last option to favour correctness over
* slight speed decrease
*/
dp->seq_out(0, 8);
}
return response;
}
void firmware_swdp_abort(ADIv5_DP_t *dp, uint32_t abort)
{
adiv5_dp_write(dp, ADIV5_DP_ABORT, abort);
}
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