+// SPDX-License-Identifier: GPL-2.0-or-later
+
/***************************************************************************
* Copyright (C) 2006 by Magnus Lundin
* lundin@mlu.mine.nu
*
* Copyright (C) 2009-2010 by David Brownell
*
- * 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.,
- * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ * Copyright (C) 2020-2021, Ampere Computing LLC *
***************************************************************************/
/**
* @file
* This file implements JTAG transport support for cores implementing
- the ARM Debug Interface version 5 (ADIv5).
+ the ARM Debug Interface version 5 (ADIv5) and version 6 (ADIv6).
*/
#ifdef HAVE_CONFIG_H
#include "arm.h"
#include "arm_adi_v5.h"
#include <helper/time_support.h>
+#include <helper/list.h>
+#include <jtag/swd.h>
+/*#define DEBUG_WAIT*/
/* JTAG instructions/registers for JTAG-DP and SWJ-DP */
-#define JTAG_DP_ABORT 0x8
-#define JTAG_DP_DPACC 0xA
-#define JTAG_DP_APACC 0xB
-#define JTAG_DP_IDCODE 0xE
+#define JTAG_DP_ABORT 0xF8
+#define JTAG_DP_DPACC 0xFA
+#define JTAG_DP_APACC 0xFB
+#define JTAG_DP_IDCODE 0xFE
/* three-bit ACK values for DPACC and APACC reads */
-#define JTAG_ACK_OK_FAULT 0x2
-#define JTAG_ACK_WAIT 0x1
+#define JTAG_ACK_WAIT 0x1 /* ADIv5 and ADIv6 */
+#define JTAG_ACK_OK_FAULT 0x2 /* ADIv5 */
+#define JTAG_ACK_FAULT 0x2 /* ADIv6 */
+#define JTAG_ACK_OK 0x4 /* ADIV6 */
+
+static int jtag_ap_q_abort(struct adiv5_dap *dap, uint8_t *ack);
+
+#ifdef DEBUG_WAIT
+static const char *dap_reg_name(struct adiv5_dap *dap, uint8_t instr, uint16_t reg_addr)
+{
+ char *reg_name = "UNK";
+
+ if (instr == JTAG_DP_DPACC) {
+ switch (reg_addr) {
+ case DP_ABORT:
+ reg_name = "ABORT";
+ break;
+ case DP_CTRL_STAT:
+ reg_name = "CTRL/STAT";
+ break;
+ case DP_SELECT:
+ reg_name = "SELECT";
+ break;
+ case DP_RDBUFF:
+ reg_name = "RDBUFF";
+ break;
+ case DP_DLCR:
+ reg_name = "DLCR";
+ break;
+ default:
+ reg_name = "UNK";
+ break;
+ }
+ }
+
+ if (instr == JTAG_DP_APACC) {
+ if (reg_addr == MEM_AP_REG_CSW(dap))
+ reg_name = "CSW";
+ else if (reg_addr == MEM_AP_REG_TAR(dap))
+ reg_name = "TAR";
+ else if (reg_addr == MEM_AP_REG_TAR64(dap))
+ reg_name = "TAR64";
+ else if (reg_addr == MEM_AP_REG_DRW(dap))
+ reg_name = "DRW";
+ else if (reg_addr == MEM_AP_REG_BD0(dap))
+ reg_name = "BD0";
+ else if (reg_addr == MEM_AP_REG_BD1(dap))
+ reg_name = "BD1";
+ else if (reg_addr == MEM_AP_REG_BD2(dap))
+ reg_name = "BD2";
+ else if (reg_addr == MEM_AP_REG_BD3(dap))
+ reg_name = "BD3";
+ else if (reg_addr == MEM_AP_REG_CFG(dap))
+ reg_name = "CFG";
+ else if (reg_addr == MEM_AP_REG_BASE(dap))
+ reg_name = "BASE";
+ else if (reg_addr == MEM_AP_REG_BASE64(dap))
+ reg_name = "BASE64";
+ else if (reg_addr == AP_REG_IDR(dap))
+ reg_name = "IDR";
+ else
+ reg_name = "UNK";
+ }
+
+ return reg_name;
+}
+#endif
+
+struct dap_cmd {
+ struct list_head lh;
+ uint8_t instr;
+ uint16_t reg_addr;
+ uint8_t rnw;
+ uint8_t *invalue;
+ uint8_t ack;
+ uint32_t memaccess_tck;
+ uint64_t dp_select;
+
+ struct scan_field fields[2];
+ uint8_t out_addr_buf;
+ uint8_t invalue_buf[4];
+ uint8_t outvalue_buf[4];
+};
+
+#define MAX_DAP_COMMAND_NUM 65536
+
+struct dap_cmd_pool {
+ struct list_head lh;
+ struct dap_cmd cmd;
+};
+
+static void log_dap_cmd(struct adiv5_dap *dap, const char *header, struct dap_cmd *el)
+{
+#ifdef DEBUG_WAIT
+ const char *ack;
+ switch (el->ack) {
+ case JTAG_ACK_WAIT: /* ADIv5 and ADIv6 */
+ ack = "WAIT";
+ break;
+ case JTAG_ACK_OK_FAULT: /* ADIv5, same value as JTAG_ACK_FAULT */
+ /* case JTAG_ACK_FAULT: */ /* ADIv6 */
+ if (is_adiv6(dap))
+ ack = "FAULT";
+ else
+ ack = "OK";
+ break;
+ case JTAG_ACK_OK: /* ADIv6 */
+ if (is_adiv6(dap)) {
+ ack = "OK";
+ break;
+ }
+ /* fall-through */
+ default:
+ ack = "INVAL";
+ break;
+ }
+ LOG_DEBUG("%s: %2s %6s %5s 0x%08x 0x%08x %2s", header,
+ el->instr == JTAG_DP_APACC ? "AP" : "DP",
+ dap_reg_name(dap, el->instr, el->reg_addr),
+ el->rnw == DPAP_READ ? "READ" : "WRITE",
+ buf_get_u32(el->outvalue_buf, 0, 32),
+ buf_get_u32(el->invalue, 0, 32),
+ ack);
+#endif
+}
+
+static int jtag_limit_queue_size(struct adiv5_dap *dap)
+{
+ if (dap->cmd_pool_size < MAX_DAP_COMMAND_NUM)
+ return ERROR_OK;
+
+ return dap_run(dap);
+}
+
+static struct dap_cmd *dap_cmd_new(struct adiv5_dap *dap, uint8_t instr,
+ uint16_t reg_addr, uint8_t rnw,
+ uint8_t *outvalue, uint8_t *invalue,
+ uint32_t memaccess_tck)
+{
+
+ struct dap_cmd_pool *pool = NULL;
+
+ if (list_empty(&dap->cmd_pool)) {
+ pool = calloc(1, sizeof(struct dap_cmd_pool));
+ if (!pool)
+ return NULL;
+ } else {
+ pool = list_first_entry(&dap->cmd_pool, struct dap_cmd_pool, lh);
+ list_del(&pool->lh);
+ }
+
+ INIT_LIST_HEAD(&pool->lh);
+ dap->cmd_pool_size++;
+
+ struct dap_cmd *cmd = &pool->cmd;
+ INIT_LIST_HEAD(&cmd->lh);
+ cmd->instr = instr;
+ cmd->reg_addr = reg_addr;
+ cmd->rnw = rnw;
+ if (outvalue)
+ memcpy(cmd->outvalue_buf, outvalue, 4);
+ cmd->invalue = (invalue) ? invalue : cmd->invalue_buf;
+ cmd->memaccess_tck = memaccess_tck;
+
+ return cmd;
+}
+
+static void dap_cmd_release(struct adiv5_dap *dap, struct dap_cmd *cmd)
+{
+ struct dap_cmd_pool *pool = container_of(cmd, struct dap_cmd_pool, cmd);
+ if (dap->cmd_pool_size > MAX_DAP_COMMAND_NUM)
+ free(pool);
+ else
+ list_add(&pool->lh, &dap->cmd_pool);
+
+ dap->cmd_pool_size--;
+}
+
+static void flush_journal(struct adiv5_dap *dap, struct list_head *lh)
+{
+ struct dap_cmd *el, *tmp;
+
+ list_for_each_entry_safe(el, tmp, lh, lh) {
+ list_del(&el->lh);
+ dap_cmd_release(dap, el);
+ }
+}
+
+static void jtag_quit(struct adiv5_dap *dap)
+{
+ struct dap_cmd_pool *el, *tmp;
+ struct list_head *lh = &dap->cmd_pool;
+
+ list_for_each_entry_safe(el, tmp, lh, lh) {
+ list_del(&el->lh);
+ free(el);
+ }
+}
/***************************************************************************
*
*
***************************************************************************/
+static int adi_jtag_dp_scan_cmd(struct adiv5_dap *dap, struct dap_cmd *cmd, uint8_t *ack)
+{
+ struct jtag_tap *tap = dap->tap;
+ int retval;
+
+ retval = arm_jtag_set_instr(tap, cmd->instr, NULL, TAP_IDLE);
+ if (retval != ERROR_OK)
+ return retval;
+
+ /* Scan out a read or write operation using some DP or AP register.
+ * For APACC access with any sticky error flag set, this is discarded.
+ */
+ cmd->fields[0].num_bits = 3;
+ buf_set_u32(&cmd->out_addr_buf, 0, 3, ((cmd->reg_addr >> 1) & 0x6) | (cmd->rnw & 0x1));
+ cmd->fields[0].out_value = &cmd->out_addr_buf;
+ cmd->fields[0].in_value = (ack) ? ack : &cmd->ack;
+
+ /* NOTE: if we receive JTAG_ACK_WAIT, the previous operation did not
+ * complete; data we write is discarded, data we read is unpredictable.
+ * When overrun detect is active, STICKYORUN is set.
+ */
+
+ cmd->fields[1].num_bits = 32;
+ cmd->fields[1].out_value = cmd->outvalue_buf;
+ cmd->fields[1].in_value = cmd->invalue;
+
+ jtag_add_dr_scan(tap, 2, cmd->fields, TAP_IDLE);
+
+ /* Add specified number of tck clocks after starting AP register
+ * access or memory bus access, giving the hardware time to complete
+ * the access.
+ * They provide more time for the (MEM) AP to complete the read ...
+ * See "Minimum Response Time" for JTAG-DP, in the ADIv5/ADIv6 spec.
+ */
+ if (cmd->instr == JTAG_DP_APACC && cmd->memaccess_tck != 0)
+ jtag_add_runtest(cmd->memaccess_tck, TAP_IDLE);
+
+ return ERROR_OK;
+}
+
+static int adi_jtag_dp_scan_cmd_sync(struct adiv5_dap *dap, struct dap_cmd *cmd, uint8_t *ack)
+{
+ int retval;
+
+ retval = adi_jtag_dp_scan_cmd(dap, cmd, ack);
+ if (retval != ERROR_OK)
+ return retval;
+
+ return jtag_execute_queue();
+}
+
/**
* Scan DPACC or APACC using target ordered uint8_t buffers. No endianness
- * conversions are performed. See section 4.4.3 of the ADIv5 spec, which
+ * conversions are performed. See section 4.4.3 of the ADIv5/ADIv6 spec, which
* discusses operations which access these registers.
*
- * Note that only one scan is performed. If RnW is set, a separate scan
+ * Note that only one scan is performed. If rnw is set, a separate scan
* will be needed to collect the data which was read; the "invalue" collects
* the posted result of a preceding operation, not the current one.
*
* @param instr JTAG_DP_APACC (AP access) or JTAG_DP_DPACC (DP access)
* @param reg_addr two significant bits; A[3:2]; for APACC access, the
* SELECT register has more addressing bits.
- * @param RnW false iff outvalue will be written to the DP or AP
+ * @param rnw false iff outvalue will be written to the DP or AP
* @param outvalue points to a 32-bit (little-endian) integer
* @param invalue NULL, or points to a 32-bit (little-endian) integer
* @param ack points to where the three bit JTAG_ACK_* code will be stored
+ * @param memaccess_tck number of idle cycles to add after AP access
*/
-/* FIXME don't export ... this is a temporary workaround for the
- * mem_ap_read_buf_u32() mess, until it's no longer JTAG-specific.
- */
-int adi_jtag_dp_scan(struct adiv5_dap *dap,
- uint8_t instr, uint8_t reg_addr, uint8_t RnW,
- uint8_t *outvalue, uint8_t *invalue, uint8_t *ack)
+static int adi_jtag_dp_scan(struct adiv5_dap *dap,
+ uint8_t instr, uint16_t reg_addr, uint8_t rnw,
+ uint8_t *outvalue, uint8_t *invalue,
+ uint32_t memaccess_tck, uint8_t *ack)
{
- struct arm_jtag *jtag_info = dap->jtag_info;
- struct scan_field fields[2];
- uint8_t out_addr_buf;
-
- arm_jtag_set_instr(jtag_info, instr, NULL, TAP_IDLE);
-
- /* Scan out a read or write operation using some DP or AP register.
- * For APACC access with any sticky error flag set, this is discarded.
- */
- fields[0].num_bits = 3;
- buf_set_u32(&out_addr_buf, 0, 3, ((reg_addr >> 1) & 0x6) | (RnW & 0x1));
- fields[0].out_value = &out_addr_buf;
- fields[0].in_value = ack;
-
- /* NOTE: if we receive JTAG_ACK_WAIT, the previous operation did not
- * complete; data we write is discarded, data we read is unpredictable.
- * When overrun detect is active, STICKYORUN is set.
- */
-
- fields[1].num_bits = 32;
- fields[1].out_value = outvalue;
- fields[1].in_value = invalue;
+ struct dap_cmd *cmd;
+ int retval;
- jtag_add_dr_scan(jtag_info->tap, 2, fields, TAP_IDLE);
+ cmd = dap_cmd_new(dap, instr, reg_addr, rnw, outvalue, invalue, memaccess_tck);
+ if (cmd)
+ cmd->dp_select = dap->select;
+ else
+ return ERROR_JTAG_DEVICE_ERROR;
- /* Add specified number of tck clocks after starting memory bus
- * access, giving the hardware time to complete the access.
- * They provide more time for the (MEM) AP to complete the read ...
- * See "Minimum Response Time" for JTAG-DP, in the ADIv5 spec.
- */
- if ((instr == JTAG_DP_APACC)
- && ((reg_addr == AP_REG_DRW)
- || ((reg_addr & 0xF0) == AP_REG_BD0))
- && (dap->memaccess_tck != 0))
- jtag_add_runtest(dap->memaccess_tck,
- TAP_IDLE);
+ retval = adi_jtag_dp_scan_cmd(dap, cmd, ack);
+ if (retval == ERROR_OK)
+ list_add_tail(&cmd->lh, &dap->cmd_journal);
- return ERROR_OK;
+ return retval;
}
/**
* must be different).
*/
static int adi_jtag_dp_scan_u32(struct adiv5_dap *dap,
- uint8_t instr, uint8_t reg_addr, uint8_t RnW,
- uint32_t outvalue, uint32_t *invalue, uint8_t *ack)
+ uint8_t instr, uint16_t reg_addr, uint8_t rnw,
+ uint32_t outvalue, uint32_t *invalue,
+ uint32_t memaccess_tck, uint8_t *ack)
{
uint8_t out_value_buf[4];
int retval;
+ uint64_t sel = (reg_addr >> 4) & DP_SELECT_DPBANK;
+
+ /* No need to change SELECT or RDBUFF as they are not banked */
+ if (instr == JTAG_DP_DPACC && reg_addr != DP_SELECT && reg_addr != DP_RDBUFF
+ && (!dap->select_valid || sel != (dap->select & DP_SELECT_DPBANK))) {
+ /* Use the AP part of dap->select regardless of dap->select_valid:
+ * if !dap->select_valid
+ * dap->select contains a speculative value likely going to be used
+ * in the following swd_queue_ap_bankselect() */
+ sel |= dap->select & SELECT_AP_MASK;
+
+ LOG_DEBUG_IO("DP BANK SELECT: %" PRIx32, (uint32_t)sel);
+
+ buf_set_u32(out_value_buf, 0, 32, (uint32_t)sel);
+ retval = adi_jtag_dp_scan(dap, JTAG_DP_DPACC,
+ DP_SELECT, DPAP_WRITE, out_value_buf, NULL, 0, NULL);
+ if (retval != ERROR_OK)
+ return retval;
+
+ dap->select = sel;
+ dap->select_valid = true;
+ }
buf_set_u32(out_value_buf, 0, 32, outvalue);
- retval = adi_jtag_dp_scan(dap, instr, reg_addr, RnW,
- out_value_buf, (uint8_t *)invalue, ack);
+ retval = adi_jtag_dp_scan(dap, instr, reg_addr, rnw,
+ out_value_buf, (uint8_t *)invalue, memaccess_tck, ack);
if (retval != ERROR_OK)
return retval;
return retval;
}
-/**
- * Utility to write AP registers.
- */
-static inline int adi_jtag_ap_write_check(struct adiv5_dap *dap,
- uint8_t reg_addr, uint8_t *outvalue)
+static int adi_jtag_finish_read(struct adiv5_dap *dap)
{
- return adi_jtag_dp_scan(dap, JTAG_DP_APACC, reg_addr, DPAP_WRITE,
- outvalue, NULL, NULL);
+ int retval = ERROR_OK;
+
+ if (dap->last_read) {
+ retval = adi_jtag_dp_scan_u32(dap, JTAG_DP_DPACC,
+ DP_RDBUFF, DPAP_READ, 0, dap->last_read, 0, NULL);
+ dap->last_read = NULL;
+ }
+
+ return retval;
}
static int adi_jtag_scan_inout_check_u32(struct adiv5_dap *dap,
- uint8_t instr, uint8_t reg_addr, uint8_t RnW,
- uint32_t outvalue, uint32_t *invalue)
+ uint8_t instr, uint16_t reg_addr, uint8_t rnw,
+ uint32_t outvalue, uint32_t *invalue, uint32_t memaccess_tck)
{
int retval;
/* Issue the read or write */
retval = adi_jtag_dp_scan_u32(dap, instr, reg_addr,
- RnW, outvalue, NULL, NULL);
+ rnw, outvalue, NULL, memaccess_tck, NULL);
if (retval != ERROR_OK)
return retval;
/* For reads, collect posted value; RDBUFF has no other effect.
* Assumes read gets acked with OK/FAULT, and CTRL_STAT says "OK".
*/
- if ((RnW == DPAP_READ) && (invalue != NULL))
+ if ((rnw == DPAP_READ) && (invalue)) {
retval = adi_jtag_dp_scan_u32(dap, JTAG_DP_DPACC,
- DP_RDBUFF, DPAP_READ, 0, invalue, &dap->ack);
- return retval;
+ DP_RDBUFF, DPAP_READ, 0, invalue, 0, NULL);
+ if (retval != ERROR_OK)
+ return retval;
+ }
+
+ return jtag_execute_queue();
}
-static int jtagdp_transaction_endcheck(struct adiv5_dap *dap)
+static int jtagdp_overrun_check(struct adiv5_dap *dap)
{
int retval;
- uint32_t ctrlstat;
+ struct dap_cmd *el, *tmp, *prev = NULL;
+ int found_wait = 0;
+ int64_t time_now;
+ LIST_HEAD(replay_list);
- /* too expensive to call keep_alive() here */
-
-#if 0
- /* Danger!!!! BROKEN!!!! */
- adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
- DP_CTRL_STAT, DPAP_READ, 0, &ctrlstat);
- /* Danger!!!! BROKEN!!!! Why will jtag_execute_queue() fail here????
- R956 introduced the check on return value here and now Michael Schwingen reports
- that this code no longer works....
-
- https://lists.berlios.de/pipermail/openocd-development/2008-September/003107.html
- */
- if ((retval = jtag_execute_queue()) != ERROR_OK)
- {
- LOG_ERROR("BUG: Why does this fail the first time????");
+ /* make sure all queued transactions are complete */
+ retval = jtag_execute_queue();
+ if (retval != ERROR_OK)
+ goto done;
+
+ /* skip all completed transactions up to the first WAIT */
+ list_for_each_entry(el, &dap->cmd_journal, lh) {
+ /*
+ * JTAG_ACK_OK_FAULT (ADIv5) and JTAG_ACK_FAULT (ADIv6) are equal so
+ * the following statement is checking to see if an acknowledgment of
+ * OK or FAULT is generated for ADIv5 or ADIv6
+ */
+ if (el->ack == JTAG_ACK_OK_FAULT || (is_adiv6(dap) && el->ack == JTAG_ACK_OK)) {
+ log_dap_cmd(dap, "LOG", el);
+ } else if (el->ack == JTAG_ACK_WAIT) {
+ found_wait = 1;
+ break;
+ } else {
+ LOG_ERROR("Invalid ACK (%1x) in DAP response", el->ack);
+ log_dap_cmd(dap, "ERR", el);
+ retval = ERROR_JTAG_DEVICE_ERROR;
+ goto done;
+ }
}
- /* Why??? second time it works??? */
-#endif
- /* Post CTRL/STAT read; discard any previous posted read value
- * but collect its ACK status.
+ /*
+ * If we found a stalled transaction and a previous transaction
+ * exists, check if it's a READ access.
*/
- adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
- DP_CTRL_STAT, DPAP_READ, 0, &ctrlstat);
- if ((retval = jtag_execute_queue()) != ERROR_OK)
- return retval;
+ if (found_wait && el != list_first_entry(&dap->cmd_journal, struct dap_cmd, lh)) {
+ prev = list_entry(el->lh.prev, struct dap_cmd, lh);
+ if (prev->rnw == DPAP_READ) {
+ log_dap_cmd(dap, "PND", prev);
+ /* search for the next OK transaction, it contains
+ * the result of the previous READ */
+ tmp = el;
+ list_for_each_entry_from(tmp, &dap->cmd_journal, lh) {
+ /* The following check covers OK and FAULT ACKs for both ADIv5 and ADIv6 */
+ if (tmp->ack == JTAG_ACK_OK_FAULT || (is_adiv6(dap) && tmp->ack == JTAG_ACK_OK)) {
+ /* recover the read value */
+ log_dap_cmd(dap, "FND", tmp);
+ if (el->invalue != el->invalue_buf) {
+ uint32_t invalue = le_to_h_u32(tmp->invalue);
+ memcpy(el->invalue, &invalue, sizeof(uint32_t));
+ }
+ prev = NULL;
+ break;
+ }
+ }
- dap->ack = dap->ack & 0x7;
-
- /* common code path avoids calling timeval_ms() */
- if (dap->ack != JTAG_ACK_OK_FAULT)
- {
- long long then = timeval_ms();
-
- while (dap->ack != JTAG_ACK_OK_FAULT)
- {
- if (dap->ack == JTAG_ACK_WAIT)
- {
- if ((timeval_ms()-then) > 1000)
- {
- /* NOTE: this would be a good spot
- * to use JTAG_DP_ABORT.
- */
- LOG_WARNING("Timeout (1000ms) waiting "
- "for ACK=OK/FAULT "
- "in JTAG-DP transaction");
- return ERROR_JTAG_DEVICE_ERROR;
+ if (prev) {
+ log_dap_cmd(dap, "LST", el);
+
+ /*
+ * At this point we're sure that no previous
+ * transaction completed and the DAP/AP is still
+ * in busy state. We know that the next "OK" scan
+ * will return the READ result we need to recover.
+ * To complete the READ, we just keep polling RDBUFF
+ * until the WAIT condition clears
+ */
+ tmp = dap_cmd_new(dap, JTAG_DP_DPACC,
+ DP_RDBUFF, DPAP_READ, NULL, NULL, 0);
+ if (!tmp) {
+ retval = ERROR_JTAG_DEVICE_ERROR;
+ goto done;
+ }
+ /* synchronously retry the command until it succeeds */
+ time_now = timeval_ms();
+ do {
+ retval = adi_jtag_dp_scan_cmd_sync(dap, tmp, NULL);
+ if (retval != ERROR_OK)
+ break;
+ /* The following check covers OK and FAULT ACKs for both ADIv5 and ADIv6 */
+ if (tmp->ack == JTAG_ACK_OK_FAULT || (is_adiv6(dap) && tmp->ack == JTAG_ACK_OK)) {
+ log_dap_cmd(dap, "FND", tmp);
+ if (el->invalue != el->invalue_buf) {
+ uint32_t invalue = le_to_h_u32(tmp->invalue);
+ memcpy(el->invalue, &invalue, sizeof(uint32_t));
+ }
+ break;
+ }
+ if (tmp->ack != JTAG_ACK_WAIT) {
+ LOG_ERROR("Invalid ACK (%1x) in DAP response", tmp->ack);
+ log_dap_cmd(dap, "ERR", tmp);
+ retval = ERROR_JTAG_DEVICE_ERROR;
+ break;
+ }
+
+ } while (timeval_ms() - time_now < 1000);
+
+ if (retval == ERROR_OK) {
+ /* timeout happened */
+ if (tmp->ack == JTAG_ACK_WAIT) {
+ LOG_ERROR("Timeout during WAIT recovery");
+ dap->select_valid = false;
+ dap->select1_valid = false;
+ /* Keep dap->select unchanged, the same AP and AP bank
+ * is likely going to be used further */
+ jtag_ap_q_abort(dap, NULL);
+ /* clear the sticky overrun condition */
+ adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
+ DP_CTRL_STAT, DPAP_WRITE,
+ dap->dp_ctrl_stat | SSTICKYORUN, NULL, 0);
+ retval = ERROR_JTAG_DEVICE_ERROR;
+ }
}
+
+ /* we're done with this command, release it */
+ dap_cmd_release(dap, tmp);
+
+ if (retval != ERROR_OK)
+ goto done;
+
}
- else
- {
- LOG_WARNING("Invalid ACK %#x "
- "in JTAG-DP transaction",
- dap->ack);
- return ERROR_JTAG_DEVICE_ERROR;
+ /* make el->invalue point to the default invalue
+ * so that we can safely retry it without clobbering
+ * the result we just recovered */
+ el->invalue = el->invalue_buf;
+ }
+ }
+
+ /* move all remaining transactions over to the replay list */
+ list_for_each_entry_safe_from(el, tmp, &dap->cmd_journal, lh) {
+ log_dap_cmd(dap, "REP", el);
+ list_move_tail(&el->lh, &replay_list);
+ }
+
+ /* we're done with the journal, flush it */
+ flush_journal(dap, &dap->cmd_journal);
+
+ /* check for overrun condition in the last batch of transactions */
+ if (found_wait) {
+ LOG_INFO("DAP transaction stalled (WAIT) - slowing down and resending");
+ /* clear the sticky overrun condition */
+ retval = adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
+ DP_CTRL_STAT, DPAP_WRITE,
+ dap->dp_ctrl_stat | SSTICKYORUN, NULL, 0);
+ if (retval != ERROR_OK)
+ goto done;
+
+ /* restore SELECT register first */
+ if (!list_empty(&replay_list)) {
+ el = list_first_entry(&replay_list, struct dap_cmd, lh);
+
+ uint8_t out_value_buf[4];
+ buf_set_u32(out_value_buf, 0, 32, (uint32_t)(el->dp_select));
+
+ tmp = dap_cmd_new(dap, JTAG_DP_DPACC,
+ DP_SELECT, DPAP_WRITE, out_value_buf, NULL, 0);
+ if (!tmp) {
+ retval = ERROR_JTAG_DEVICE_ERROR;
+ goto done;
}
+ list_add(&tmp->lh, &replay_list);
+
+ /* TODO: ADIv6 DP SELECT1 handling */
+
+ dap->select_valid = false;
+ }
- adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
- DP_CTRL_STAT, DPAP_READ, 0, &ctrlstat);
- if ((retval = dap_run(dap)) != ERROR_OK)
- return retval;
- dap->ack = dap->ack & 0x7;
+ list_for_each_entry_safe(el, tmp, &replay_list, lh) {
+ time_now = timeval_ms();
+ do {
+ retval = adi_jtag_dp_scan_cmd_sync(dap, el, NULL);
+ if (retval != ERROR_OK)
+ break;
+ log_dap_cmd(dap, "REC", el);
+ if (el->ack == JTAG_ACK_OK_FAULT || (is_adiv6(dap) && el->ack == JTAG_ACK_OK)) {
+ if (el->invalue != el->invalue_buf) {
+ uint32_t invalue = le_to_h_u32(el->invalue);
+ memcpy(el->invalue, &invalue, sizeof(uint32_t));
+ }
+ break;
+ }
+ if (el->ack != JTAG_ACK_WAIT) {
+ LOG_ERROR("Invalid ACK (%1x) in DAP response", el->ack);
+ log_dap_cmd(dap, "ERR", el);
+ retval = ERROR_JTAG_DEVICE_ERROR;
+ break;
+ }
+ LOG_DEBUG("DAP transaction stalled during replay (WAIT) - resending");
+ /* clear the sticky overrun condition */
+ retval = adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
+ DP_CTRL_STAT, DPAP_WRITE,
+ dap->dp_ctrl_stat | SSTICKYORUN, NULL, 0);
+ if (retval != ERROR_OK)
+ break;
+ } while (timeval_ms() - time_now < 1000);
+
+ if (retval == ERROR_OK) {
+ if (el->ack == JTAG_ACK_WAIT) {
+ LOG_ERROR("Timeout during WAIT recovery");
+ dap->select_valid = false;
+ dap->select1_valid = false;
+ /* Keep dap->select unchanged, the same AP and AP bank
+ * is likely going to be used further */
+ jtag_ap_q_abort(dap, NULL);
+ /* clear the sticky overrun condition */
+ adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
+ DP_CTRL_STAT, DPAP_WRITE,
+ dap->dp_ctrl_stat | SSTICKYORUN, NULL, 0);
+ retval = ERROR_JTAG_DEVICE_ERROR;
+ break;
+ }
+ } else
+ break;
}
}
+ done:
+ flush_journal(dap, &replay_list);
+ flush_journal(dap, &dap->cmd_journal);
+ return retval;
+}
+
+static int jtagdp_transaction_endcheck(struct adiv5_dap *dap)
+{
+ int retval;
+ uint32_t ctrlstat, pwrmask;
+
+ /* too expensive to call keep_alive() here */
+
+ /* Post CTRL/STAT read; discard any previous posted read value
+ * but collect its ACK status.
+ */
+ retval = adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
+ DP_CTRL_STAT, DPAP_READ, 0, &ctrlstat, 0);
+ if (retval != ERROR_OK)
+ goto done;
+
/* REVISIT also STICKYCMP, for pushed comparisons (nyet used) */
- /* Check for STICKYERR and STICKYORUN */
- if (ctrlstat & (SSTICKYORUN | SSTICKYERR))
- {
- LOG_DEBUG("jtag-dp: CTRL/STAT error, 0x%" PRIx32, ctrlstat);
+ /* Check for STICKYERR */
+ if (ctrlstat & SSTICKYERR) {
+ LOG_DEBUG("jtag-dp: CTRL/STAT 0x%" PRIx32, ctrlstat);
/* Check power to debug regions */
- if ((ctrlstat & 0xf0000000) != 0xf0000000)
- {
- retval = ahbap_debugport_init(dap);
- if (retval != ERROR_OK)
- return retval;
+ pwrmask = CDBGPWRUPREQ | CDBGPWRUPACK | CSYSPWRUPREQ;
+ if (!dap->ignore_syspwrupack)
+ pwrmask |= CSYSPWRUPACK;
+ if ((ctrlstat & pwrmask) != pwrmask) {
+ LOG_ERROR("Debug regions are unpowered, an unexpected reset might have happened");
+ dap->do_reconnect = true;
}
- else
- {
- uint32_t mem_ap_csw, mem_ap_tar;
-
- /* Maybe print information about last intended
- * MEM-AP access; but not if autoincrementing.
- * *Real* CSW and TAR values are always shown.
- */
- if (dap->ap_tar_value != (uint32_t) -1)
- LOG_DEBUG("MEM-AP Cached values: "
- "ap_bank 0x%" PRIx32
- ", ap_csw 0x%" PRIx32
- ", ap_tar 0x%" PRIx32,
- dap->ap_bank_value,
- dap->ap_csw_value,
- dap->ap_tar_value);
-
- if (ctrlstat & SSTICKYORUN)
- LOG_ERROR("JTAG-DP OVERRUN - check clock, "
- "memaccess, or reduce jtag speed");
-
- if (ctrlstat & SSTICKYERR)
- LOG_ERROR("JTAG-DP STICKY ERROR");
-
- /* Clear Sticky Error Bits */
- adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
- DP_CTRL_STAT, DPAP_WRITE,
- dap->dp_ctrl_stat | SSTICKYORUN
- | SSTICKYERR, NULL);
- adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
- DP_CTRL_STAT, DPAP_READ, 0, &ctrlstat);
- if ((retval = dap_run(dap)) != ERROR_OK)
- return retval;
-
- LOG_DEBUG("jtag-dp: CTRL/STAT 0x%" PRIx32, ctrlstat);
-
- retval = dap_queue_ap_read(dap,
- AP_REG_CSW, &mem_ap_csw);
- if (retval != ERROR_OK)
- return retval;
-
- retval = dap_queue_ap_read(dap,
- AP_REG_TAR, &mem_ap_tar);
- if (retval != ERROR_OK)
- return retval;
-
- if ((retval = dap_run(dap)) != ERROR_OK)
- return retval;
- LOG_ERROR("MEM_AP_CSW 0x%" PRIx32 ", MEM_AP_TAR 0x%"
- PRIx32, mem_ap_csw, mem_ap_tar);
- }
- if ((retval = dap_run(dap)) != ERROR_OK)
- return retval;
- return ERROR_JTAG_DEVICE_ERROR;
+ if (ctrlstat & SSTICKYERR)
+ LOG_ERROR("JTAG-DP STICKY ERROR");
+ if (ctrlstat & SSTICKYORUN)
+ LOG_DEBUG("JTAG-DP STICKY OVERRUN");
+
+ /* Clear Sticky Error and Sticky Overrun Bits */
+ retval = adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
+ DP_CTRL_STAT, DPAP_WRITE,
+ dap->dp_ctrl_stat | SSTICKYERR | SSTICKYORUN, NULL, 0);
+ if (retval != ERROR_OK)
+ goto done;
+
+ retval = ERROR_JTAG_DEVICE_ERROR;
}
- return ERROR_OK;
+ done:
+ flush_journal(dap, &dap->cmd_journal);
+ return retval;
}
/*--------------------------------------------------------------------------*/
-static int jtag_idcode_q_read(struct adiv5_dap *dap,
- uint8_t *ack, uint32_t *data)
+static int jtag_connect(struct adiv5_dap *dap)
{
- struct arm_jtag *jtag_info = dap->jtag_info;
- int retval;
- struct scan_field fields[1];
-
- /* This is a standard JTAG operation -- no DAP tweakage */
- retval = arm_jtag_set_instr(jtag_info, JTAG_DP_IDCODE, NULL, TAP_IDLE);
- if (retval != ERROR_OK)
- return retval;
+ dap->do_reconnect = false;
+ return dap_dp_init(dap);
+}
- fields[0].num_bits = 32;
- fields[0].out_value = NULL;
- fields[0].in_value = (void *) data;
+static int jtag_check_reconnect(struct adiv5_dap *dap)
+{
+ if (dap->do_reconnect)
+ return jtag_connect(dap);
- jtag_add_dr_scan(jtag_info->tap, 1, fields, TAP_IDLE);
+ return ERROR_OK;
+}
- jtag_add_callback(arm_le_to_h_u32,
- (jtag_callback_data_t) data);
+static int jtag_send_sequence(struct adiv5_dap *dap, enum swd_special_seq seq)
+{
+ int retval;
- return ERROR_OK;
+ switch (seq) {
+ case JTAG_TO_SWD:
+ retval = jtag_add_tms_seq(swd_seq_jtag_to_swd_len,
+ swd_seq_jtag_to_swd, TAP_INVALID);
+ break;
+ case SWD_TO_JTAG:
+ retval = jtag_add_tms_seq(swd_seq_swd_to_jtag_len,
+ swd_seq_swd_to_jtag, TAP_RESET);
+ break;
+ default:
+ LOG_ERROR("Sequence %d not supported", seq);
+ return ERROR_FAIL;
+ }
+ if (retval == ERROR_OK)
+ retval = jtag_execute_queue();
+ return retval;
}
static int jtag_dp_q_read(struct adiv5_dap *dap, unsigned reg,
uint32_t *data)
{
- return adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
- reg, DPAP_READ, 0, data);
+ int retval = jtag_limit_queue_size(dap);
+ if (retval != ERROR_OK)
+ return retval;
+
+ retval = adi_jtag_dp_scan_u32(dap, JTAG_DP_DPACC, reg,
+ DPAP_READ, 0, dap->last_read, 0, NULL);
+ dap->last_read = data;
+ return retval;
}
static int jtag_dp_q_write(struct adiv5_dap *dap, unsigned reg,
uint32_t data)
{
- return adi_jtag_scan_inout_check_u32(dap, JTAG_DP_DPACC,
- reg, DPAP_WRITE, data, NULL);
+ int retval = jtag_limit_queue_size(dap);
+ if (retval != ERROR_OK)
+ return retval;
+
+ retval = adi_jtag_dp_scan_u32(dap, JTAG_DP_DPACC,
+ reg, DPAP_WRITE, data, dap->last_read, 0, NULL);
+ dap->last_read = NULL;
+ return retval;
}
-/** Select the AP register bank matching bits 7:4 of reg. */
-static int jtag_ap_q_bankselect(struct adiv5_dap *dap, unsigned reg)
+/** Select the AP register bank */
+static int jtag_ap_q_bankselect(struct adiv5_ap *ap, unsigned reg)
{
- uint32_t select_ap_bank = reg & 0x000000F0;
+ int retval;
+ struct adiv5_dap *dap = ap->dap;
+ uint64_t sel;
+
+ if (is_adiv6(dap))
+ sel = ap->ap_num | (reg & 0x00000FF0);
+ else
+ sel = (ap->ap_num << 24) | (reg & ADIV5_DP_SELECT_APBANK);
+
+ uint64_t sel_diff = (sel ^ dap->select) & SELECT_AP_MASK;
+
+ bool set_select = !dap->select_valid || (sel_diff & 0xffffffffull);
+ bool set_select1 = is_adiv6(dap) && dap->asize > 32
+ && (!dap->select1_valid
+ || sel_diff & (0xffffffffull << 32));
+
+ if (set_select && set_select1) {
+ /* Prepare DP bank for DP_SELECT1 now to save one write */
+ sel |= (DP_SELECT1 >> 4) & DP_SELECT_DPBANK;
+ } else {
+ /* Use the DP part of dap->select regardless of dap->select_valid:
+ * if !dap->select_valid
+ * dap->select contains a speculative value likely going to be used
+ * in the following swd_queue_dp_bankselect().
+ * Moreover dap->select_valid should never be false here as a DP bank
+ * is always selected before selecting an AP bank */
+ sel |= dap->select & DP_SELECT_DPBANK;
+ }
- if (select_ap_bank == dap->ap_bank_value)
- return ERROR_OK;
- dap->ap_bank_value = select_ap_bank;
+ if (set_select) {
+ LOG_DEBUG_IO("AP BANK SELECT: %" PRIx32, (uint32_t)sel);
- select_ap_bank |= dap->apsel;
+ retval = jtag_dp_q_write(dap, DP_SELECT, (uint32_t)sel);
+ if (retval != ERROR_OK) {
+ dap->select_valid = false;
+ return retval;
+ }
+ }
+
+ if (set_select1) {
+ LOG_DEBUG_IO("AP BANK SELECT1: %" PRIx32, (uint32_t)(sel >> 32));
+
+ retval = jtag_dp_q_write(dap, DP_SELECT1, (uint32_t)(sel >> 32));
+ if (retval != ERROR_OK) {
+ dap->select1_valid = false;
+ return retval;
+ }
+ }
- return jtag_dp_q_write(dap, DP_SELECT, select_ap_bank);
+ dap->select = sel;
+ return ERROR_OK;
}
-static int jtag_ap_q_read(struct adiv5_dap *dap, unsigned reg,
+static int jtag_ap_q_read(struct adiv5_ap *ap, unsigned reg,
uint32_t *data)
{
- int retval = jtag_ap_q_bankselect(dap, reg);
+ int retval = jtag_limit_queue_size(ap->dap);
+ if (retval != ERROR_OK)
+ return retval;
+
+ retval = jtag_check_reconnect(ap->dap);
+ if (retval != ERROR_OK)
+ return retval;
+ retval = jtag_ap_q_bankselect(ap, reg);
if (retval != ERROR_OK)
return retval;
- return adi_jtag_scan_inout_check_u32(dap, JTAG_DP_APACC, reg,
- DPAP_READ, 0, data);
+ retval = adi_jtag_dp_scan_u32(ap->dap, JTAG_DP_APACC, reg,
+ DPAP_READ, 0, ap->dap->last_read, ap->memaccess_tck, NULL);
+ ap->dap->last_read = data;
+
+ return retval;
}
-static int jtag_ap_q_write(struct adiv5_dap *dap, unsigned reg,
+static int jtag_ap_q_write(struct adiv5_ap *ap, unsigned reg,
uint32_t data)
{
- uint8_t out_value_buf[4];
+ int retval = jtag_limit_queue_size(ap->dap);
+ if (retval != ERROR_OK)
+ return retval;
- int retval = jtag_ap_q_bankselect(dap, reg);
+ retval = jtag_check_reconnect(ap->dap);
if (retval != ERROR_OK)
return retval;
- buf_set_u32(out_value_buf, 0, 32, data);
+ retval = jtag_ap_q_bankselect(ap, reg);
+ if (retval != ERROR_OK)
+ return retval;
- return adi_jtag_ap_write_check(dap, reg, out_value_buf);
+ retval = adi_jtag_dp_scan_u32(ap->dap, JTAG_DP_APACC, reg,
+ DPAP_WRITE, data, ap->dap->last_read, ap->memaccess_tck, NULL);
+ ap->dap->last_read = NULL;
+ return retval;
}
static int jtag_ap_q_abort(struct adiv5_dap *dap, uint8_t *ack)
{
/* for JTAG, this is the only valid ABORT register operation */
- return adi_jtag_dp_scan_u32(dap, JTAG_DP_ABORT,
- 0, DPAP_WRITE, 1, NULL, ack);
+ int retval = adi_jtag_dp_scan_u32(dap, JTAG_DP_ABORT,
+ 0, DPAP_WRITE, 1, NULL, 0, NULL);
+ if (retval != ERROR_OK)
+ return retval;
+
+ return jtag_execute_queue();
}
static int jtag_dp_run(struct adiv5_dap *dap)
{
- return jtagdp_transaction_endcheck(dap);
+ int retval;
+ int retval2 = ERROR_OK;
+
+ retval = adi_jtag_finish_read(dap);
+ if (retval != ERROR_OK)
+ goto done;
+ retval2 = jtagdp_overrun_check(dap);
+ retval = jtagdp_transaction_endcheck(dap);
+
+ done:
+ return (retval2 != ERROR_OK) ? retval2 : retval;
+}
+
+static int jtag_dp_sync(struct adiv5_dap *dap)
+{
+ return jtagdp_overrun_check(dap);
}
/* FIXME don't export ... just initialize as
* part of DAP setup
*/
const struct dap_ops jtag_dp_ops = {
- .queue_idcode_read = jtag_idcode_q_read,
- .queue_dp_read = jtag_dp_q_read,
- .queue_dp_write = jtag_dp_q_write,
- .queue_ap_read = jtag_ap_q_read,
- .queue_ap_write = jtag_ap_q_write,
- .queue_ap_abort = jtag_ap_q_abort,
- .run = jtag_dp_run,
+ .connect = jtag_connect,
+ .send_sequence = jtag_send_sequence,
+ .queue_dp_read = jtag_dp_q_read,
+ .queue_dp_write = jtag_dp_q_write,
+ .queue_ap_read = jtag_ap_q_read,
+ .queue_ap_write = jtag_ap_q_write,
+ .queue_ap_abort = jtag_ap_q_abort,
+ .run = jtag_dp_run,
+ .sync = jtag_dp_sync,
+ .quit = jtag_quit,
};
-
-
-static const uint8_t swd2jtag_bitseq[] = {
- /* More than 50 TCK/SWCLK cycles with TMS/SWDIO high,
- * putting both JTAG and SWD logic into reset state.
- */
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
- /* Switching equence disables SWD and enables JTAG
- * NOTE: bits in the DP's IDCODE can expose the need for
- * the old/deprecated sequence (0xae 0xde).
- */
- 0x3c, 0xe7,
- /* At least 50 TCK/SWCLK cycles with TMS/SWDIO high,
- * putting both JTAG and SWD logic into reset state.
- * NOTE: some docs say "at least 5".
- */
- 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
-};
-
-/** Put the debug link into JTAG mode, if the target supports it.
- * The link's initial mode may be either SWD or JTAG.
- *
- * @param target Enters JTAG mode (if possible).
- *
- * Note that targets implemented with SW-DP do not support JTAG, and
- * that some targets which could otherwise support it may have been
- * configured to disable JTAG signaling
- *
- * @return ERROR_OK or else a fault code.
- */
-int dap_to_jtag(struct target *target)
-{
- int retval;
-
- LOG_DEBUG("Enter JTAG mode");
-
- /* REVISIT it's nasty to need to make calls to a "jtag"
- * subsystem if the link isn't in JTAG mode...
- */
-
- retval = jtag_add_tms_seq(8 * sizeof(swd2jtag_bitseq),
- swd2jtag_bitseq, TAP_RESET);
- if (retval == ERROR_OK)
- retval = jtag_execute_queue();
-
- /* REVISIT set up the DAP's ops vector for JTAG mode. */
-
- return retval;
-}
Code Review / openocd.git / blobdiff