1 /***************************************************************************
3 * Copyright (C) 2010 by David Brownell
5 * This program is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
10 * This program is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
15 * You should have received a copy of the GNU General Public License
16 * along with this program; if not, write to the
17 * Free Software Foundation, Inc.,
18 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
19 ***************************************************************************/
23 * Utilities to support ARM "Serial Wire Debug" (SWD), a low pin-count debug
24 * link protocol used in cases where JTAG is not wanted. This is coupled to
25 * recent versions of ARM's "CoreSight" debug framework. This specific code
26 * is a transport level interface, with "target/arm_adi_v5.[hc]" code
27 * understanding operation semantics, shared with the JTAG transport.
29 * Single-DAP support only.
31 * for details, see "ARM IHI 0031A"
32 * ARM Debug Interface v5 Architecture Specification
33 * especially section 5.3 for SWD protocol
35 * On many chips (most current Cortex-M3 parts) SWD is a run-time alternative
36 * to JTAG. Boards may support one or both. There are also SWD-only chips,
37 * (using SW-DP not SWJ-DP).
39 * Even boards that also support JTAG can benefit from SWD support, because
40 * usually there's no way to access the SWO trace view mechanism in JTAG mode.
41 * That is, trace access may require SWD support.
50 #include "arm_adi_v5.h"
51 #include <helper/time_support.h>
53 #include <transport/transport.h>
54 #include <jtag/interface.h>
58 /* YUK! - but this is currently a global.... */
59 extern struct jtag_interface
*jtag_interface
;
62 static void swd_finish_read(struct adiv5_dap
*dap
)
64 const struct swd_driver
*swd
= jtag_interface
->swd
;
65 if (dap
->last_read
!= NULL
) {
66 swd
->read_reg(dap
, swd_cmd(true, false, DP_RDBUFF
), dap
->last_read
);
67 dap
->last_read
= NULL
;
71 static int swd_queue_dp_write(struct adiv5_dap
*dap
, unsigned reg
,
73 static int swd_queue_dp_read(struct adiv5_dap
*dap
, unsigned reg
,
76 static void swd_clear_sticky_errors(struct adiv5_dap
*dap
)
78 const struct swd_driver
*swd
= jtag_interface
->swd
;
81 swd
->write_reg(dap
, swd_cmd(false, false, DP_ABORT
),
82 STKCMPCLR
| STKERRCLR
| WDERRCLR
| ORUNERRCLR
);
85 static int swd_run_inner(struct adiv5_dap
*dap
)
87 const struct swd_driver
*swd
= jtag_interface
->swd
;
90 retval
= swd
->run(dap
);
92 if (retval
!= ERROR_OK
) {
94 dap
->do_reconnect
= true;
100 static int swd_connect(struct adiv5_dap
*dap
)
105 /* FIXME validate transport config ... is the
106 * configured DAP present (check IDCODE)?
107 * Is *only* one DAP configured?
112 /* Note, debugport_init() does setup too */
113 jtag_interface
->swd
->switch_seq(dap
, JTAG_TO_SWD
);
115 dap
->do_reconnect
= false;
117 swd_queue_dp_read(dap
, DP_IDCODE
, &idcode
);
119 /* force clear all sticky faults */
120 swd_clear_sticky_errors(dap
);
122 status
= swd_run_inner(dap
);
124 if (status
== ERROR_OK
) {
125 LOG_INFO("SWD IDCODE %#8.8" PRIx32
, idcode
);
126 dap
->do_reconnect
= false;
128 dap
->do_reconnect
= true;
133 static inline int check_sync(struct adiv5_dap
*dap
)
135 return do_sync
? swd_run_inner(dap
) : ERROR_OK
;
138 static int swd_check_reconnect(struct adiv5_dap
*dap
)
140 if (dap
->do_reconnect
)
141 return swd_connect(dap
);
146 static int swd_queue_ap_abort(struct adiv5_dap
*dap
, uint8_t *ack
)
148 const struct swd_driver
*swd
= jtag_interface
->swd
;
151 swd
->write_reg(dap
, swd_cmd(false, false, DP_ABORT
),
152 DAPABORT
| STKCMPCLR
| STKERRCLR
| WDERRCLR
| ORUNERRCLR
);
153 return check_sync(dap
);
156 /** Select the DP register bank matching bits 7:4 of reg. */
157 static void swd_queue_dp_bankselect(struct adiv5_dap
*dap
, unsigned reg
)
159 uint32_t select_dp_bank
= (reg
& 0x000000F0) >> 4;
161 if (reg
== DP_SELECT
)
164 if (select_dp_bank
== dap
->dp_bank_value
)
167 dap
->dp_bank_value
= select_dp_bank
;
168 select_dp_bank
|= dap
->ap_current
| dap
->ap_bank_value
;
170 swd_queue_dp_write(dap
, DP_SELECT
, select_dp_bank
);
173 static int swd_queue_dp_read(struct adiv5_dap
*dap
, unsigned reg
,
176 const struct swd_driver
*swd
= jtag_interface
->swd
;
179 int retval
= swd_check_reconnect(dap
);
180 if (retval
!= ERROR_OK
)
183 swd_queue_dp_bankselect(dap
, reg
);
184 swd
->read_reg(dap
, swd_cmd(true, false, reg
), data
);
186 return check_sync(dap
);
189 static int swd_queue_dp_write(struct adiv5_dap
*dap
, unsigned reg
,
192 const struct swd_driver
*swd
= jtag_interface
->swd
;
195 int retval
= swd_check_reconnect(dap
);
196 if (retval
!= ERROR_OK
)
199 swd_finish_read(dap
);
200 swd_queue_dp_bankselect(dap
, reg
);
201 swd
->write_reg(dap
, swd_cmd(false, false, reg
), data
);
203 return check_sync(dap
);
206 /** Select the AP register bank matching bits 7:4 of reg. */
207 static void swd_queue_ap_bankselect(struct adiv5_dap
*dap
, unsigned reg
)
209 uint32_t select_ap_bank
= reg
& 0x000000F0;
211 if (select_ap_bank
== dap
->ap_bank_value
)
214 dap
->ap_bank_value
= select_ap_bank
;
215 select_ap_bank
|= dap
->ap_current
| dap
->dp_bank_value
;
217 swd_queue_dp_write(dap
, DP_SELECT
, select_ap_bank
);
220 static int swd_queue_ap_read(struct adiv5_dap
*dap
, unsigned reg
,
223 const struct swd_driver
*swd
= jtag_interface
->swd
;
226 int retval
= swd_check_reconnect(dap
);
227 if (retval
!= ERROR_OK
)
230 swd_queue_ap_bankselect(dap
, reg
);
231 swd
->read_reg(dap
, swd_cmd(true, true, reg
), dap
->last_read
);
232 dap
->last_read
= data
;
234 return check_sync(dap
);
237 static int swd_queue_ap_write(struct adiv5_dap
*dap
, unsigned reg
,
240 const struct swd_driver
*swd
= jtag_interface
->swd
;
243 int retval
= swd_check_reconnect(dap
);
244 if (retval
!= ERROR_OK
)
247 swd_finish_read(dap
);
248 swd_queue_ap_bankselect(dap
, reg
);
249 swd
->write_reg(dap
, swd_cmd(false, true, reg
), data
);
251 return check_sync(dap
);
254 /** Executes all queued DAP operations. */
255 static int swd_run(struct adiv5_dap
*dap
)
257 swd_finish_read(dap
);
258 return swd_run_inner(dap
);
261 const struct dap_ops swd_dap_ops
= {
264 .queue_dp_read
= swd_queue_dp_read
,
265 .queue_dp_write
= swd_queue_dp_write
,
266 .queue_ap_read
= swd_queue_ap_read
,
267 .queue_ap_write
= swd_queue_ap_write
,
268 .queue_ap_abort
= swd_queue_ap_abort
,
273 * This represents the bits which must be sent out on TMS/SWDIO to
274 * switch a DAP implemented using an SWJ-DP module into SWD mode.
275 * These bits are stored (and transmitted) LSB-first.
277 * See the DAP-Lite specification, section 2.2.5 for information
278 * about making the debug link select SWD or JTAG. (Similar info
279 * is in a few other ARM documents.)
281 static const uint8_t jtag2swd_bitseq
[] = {
282 /* More than 50 TCK/SWCLK cycles with TMS/SWDIO high,
283 * putting both JTAG and SWD logic into reset state.
285 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
286 /* Switching sequence enables SWD and disables JTAG
287 * NOTE: bits in the DP's IDCODE may expose the need for
288 * an old/obsolete/deprecated sequence (0xb6 0xed).
291 /* More than 50 TCK/SWCLK cycles with TMS/SWDIO high,
292 * putting both JTAG and SWD logic into reset state.
294 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
298 * Put the debug link into SWD mode, if the target supports it.
299 * The link's initial mode may be either JTAG (for example,
300 * with SWJ-DP after reset) or SWD.
302 * @param target Enters SWD mode (if possible).
304 * Note that targets using the JTAG-DP do not support SWD, and that
305 * some targets which could otherwise support it may have have been
306 * configured to disable SWD signaling
308 * @return ERROR_OK or else a fault code.
310 int dap_to_swd(struct target
*target
)
312 struct arm
*arm
= target_to_arm(target
);
316 LOG_ERROR("SWD mode is not available");
320 LOG_DEBUG("Enter SWD mode");
322 /* REVISIT it's ugly to need to make calls to a "jtag"
323 * subsystem if the link may not be in JTAG mode...
326 retval
= jtag_add_tms_seq(8 * sizeof(jtag2swd_bitseq
),
327 jtag2swd_bitseq
, TAP_INVALID
);
328 if (retval
== ERROR_OK
)
329 retval
= jtag_execute_queue();
331 /* set up the DAP's ops vector for SWD mode. */
332 arm
->dap
->ops
= &swd_dap_ops
;
337 COMMAND_HANDLER(handle_swd_wcr
)
340 struct target
*target
= get_current_target(CMD_CTX
);
341 struct arm
*arm
= target_to_arm(target
);
342 struct adiv5_dap
*dap
= arm
->dap
;
344 unsigned trn
, scale
= 0;
347 /* no-args: just dump state */
349 /*retval = swd_queue_dp_read(dap, DP_WCR, &wcr); */
350 retval
= dap_queue_dp_read(dap
, DP_WCR
, &wcr
);
351 if (retval
== ERROR_OK
)
353 if (retval
!= ERROR_OK
) {
354 LOG_ERROR("can't read WCR?");
358 command_print(CMD_CTX
,
359 "turnaround=%" PRIu32
", prescale=%" PRIu32
,
361 WCR_TO_PRESCALE(wcr
));
364 case 2: /* TRN and prescale */
365 COMMAND_PARSE_NUMBER(uint
, CMD_ARGV
[1], scale
);
367 LOG_ERROR("prescale %d is too big", scale
);
372 case 1: /* TRN only */
373 COMMAND_PARSE_NUMBER(uint
, CMD_ARGV
[0], trn
);
374 if (trn
< 1 || trn
> 4) {
375 LOG_ERROR("turnaround %d is invalid", trn
);
379 wcr
= ((trn
- 1) << 8) | scale
;
382 * then, re-init adapter with new TRN
384 LOG_ERROR("can't yet modify WCR");
387 default: /* too many arguments */
388 return ERROR_COMMAND_SYNTAX_ERROR
;
392 static const struct command_registration swd_commands
[] = {
395 * Set up SWD and JTAG targets identically, unless/until
396 * infrastructure improves ... meanwhile, ignore all
397 * JTAG-specific stuff like IR length for SWD.
399 * REVISIT can we verify "just one SWD DAP" here/early?
402 .jim_handler
= jim_jtag_newtap
,
403 .mode
= COMMAND_CONFIG
,
404 .help
= "declare a new SWD DAP"
408 .handler
= handle_swd_wcr
,
410 .help
= "display or update DAP's WCR register",
411 .usage
= "turnaround (1..4), prescale (0..7)",
414 /* REVISIT -- add a command for SWV trace on/off */
415 COMMAND_REGISTRATION_DONE
418 static const struct command_registration swd_handlers
[] = {
422 .help
= "SWD command group",
423 .chain
= swd_commands
,
425 COMMAND_REGISTRATION_DONE
428 static int swd_select(struct command_context
*ctx
)
432 retval
= register_commands(ctx
, NULL
, swd_handlers
);
434 if (retval
!= ERROR_OK
)
437 const struct swd_driver
*swd
= jtag_interface
->swd
;
439 /* be sure driver is in SWD mode; start
440 * with hardware default TRN (1), it can be changed later
442 if (!swd
|| !swd
->read_reg
|| !swd
->write_reg
|| !swd
->init
) {
443 LOG_DEBUG("no SWD driver?");
447 retval
= swd
->init();
448 if (retval
!= ERROR_OK
) {
449 LOG_DEBUG("can't init SWD driver");
453 /* force DAP into SWD mode (not JTAG) */
454 /*retval = dap_to_swd(target);*/
456 if (ctx
->current_target
) {
457 /* force DAP into SWD mode (not JTAG) */
458 struct target
*target
= get_current_target(ctx
);
459 retval
= dap_to_swd(target
);
465 static int swd_init(struct command_context
*ctx
)
467 struct target
*target
= get_current_target(ctx
);
468 struct arm
*arm
= target_to_arm(target
);
469 struct adiv5_dap
*dap
= arm
->dap
;
470 /* Force the DAP's ops vector for SWD mode.
471 * messy - is there a better way? */
472 arm
->dap
->ops
= &swd_dap_ops
;
474 return swd_connect(dap
);
477 static struct transport swd_transport
= {
479 .select
= swd_select
,
483 static void swd_constructor(void) __attribute__((constructor
));
484 static void swd_constructor(void)
486 transport_register(&swd_transport
);
489 /** Returns true if the current debug session
490 * is using SWD as its transport.
492 bool transport_is_swd(void)
494 return get_current_transport() == &swd_transport
;