Cortex-M3: cleanup
authorDavid Brownell <dbrownell@users.sourceforge.net>
Mon, 21 Dec 2009 00:33:00 +0000 (16:33 -0800)
committerDavid Brownell <dbrownell@users.sourceforge.net>
Mon, 21 Dec 2009 00:33:00 +0000 (16:33 -0800)
Misc:
 - Introduce some "struct reg" temporaries, for clarity
 - Shorten lines
 - Add some missing whitespace
 - Clean up comments
 - Add notes about some fault handling issues
 - Most of these errata workarounds are for *OLD* chip revisions

Signed-off-by: David Brownell <dbrownell@users.sourceforge.net>
src/target/cortex_m3.c

index 6bc427a..edf9b6f 100644 (file)
 
 /* NOTE:  most of this should work fine for the Cortex-M1 and
  * Cortex-M0 cores too, although they're ARMv6-M not ARMv7-M.
+ *
+ * Although there are some workarounds for errata seen only in r0p0
+ * silicon, such old parts are hard to find and thus not much tested
+ * any longer.
  */
 
 
@@ -138,6 +142,7 @@ static int cortex_m3_clear_halt(struct target *target)
 
        /* Read Debug Fault Status Register */
        mem_ap_read_atomic_u32(swjdp, NVIC_DFSR, &cortex_m3->nvic_dfsr);
+
        /* Clear Debug Fault Status */
        mem_ap_write_atomic_u32(swjdp, NVIC_DFSR, cortex_m3->nvic_dfsr);
        LOG_DEBUG(" NVIC_DFSR 0x%" PRIx32 "", cortex_m3->nvic_dfsr);
@@ -154,10 +159,15 @@ static int cortex_m3_single_step_core(struct target *target)
        /* backup dhcsr reg */
        dhcsr_save = cortex_m3->dcb_dhcsr;
 
-       /* mask interrupts if not done already */
+       /* Mask interrupts before clearing halt, if done already.  This avoids
+        * Erratum 377497 (fixed in r1p0) where setting MASKINTS while clearing
+        * HALT can put the core into an unknown state.
+        */
        if (!(cortex_m3->dcb_dhcsr & C_MASKINTS))
-               mem_ap_write_atomic_u32(swjdp, DCB_DHCSR, DBGKEY | C_MASKINTS | C_HALT | C_DEBUGEN);
-       mem_ap_write_atomic_u32(swjdp, DCB_DHCSR, DBGKEY | C_MASKINTS | C_STEP | C_DEBUGEN);
+               mem_ap_write_atomic_u32(swjdp, DCB_DHCSR,
+                               DBGKEY | C_MASKINTS | C_HALT | C_DEBUGEN);
+       mem_ap_write_atomic_u32(swjdp, DCB_DHCSR,
+                               DBGKEY | C_MASKINTS | C_STEP | C_DEBUGEN);
        LOG_DEBUG(" ");
 
        /* restore dhcsr reg */
@@ -176,10 +186,11 @@ static int cortex_m3_endreset_event(struct target *target)
        struct cortex_m3_fp_comparator *fp_list = cortex_m3->fp_comparator_list;
        struct cortex_m3_dwt_comparator *dwt_list = cortex_m3->dwt_comparator_list;
 
+       /* FIXME handling of DEMCR clobbers vector_catch config ... */
        mem_ap_read_atomic_u32(swjdp, DCB_DEMCR, &dcb_demcr);
        LOG_DEBUG("DCB_DEMCR = 0x%8.8" PRIx32 "",dcb_demcr);
 
-       /* this regsiter is used for emulated dcc channel */
+       /* this register is used for emulated dcc channel */
        mem_ap_write_u32(swjdp, DCB_DCRDR, 0);
 
        /* Enable debug requests */
@@ -190,11 +201,26 @@ static int cortex_m3_endreset_event(struct target *target)
        /* clear any interrupt masking */
        cortex_m3_write_debug_halt_mask(target, 0, C_MASKINTS);
 
-       /* Enable trace and dwt */
+       /* Enable trace and DWT; trap hard and bus faults.
+        *
+        * REVISIT why trap those two?  And why trash the vector_catch
+        * config, instead of preserving it?  Catching HARDERR and BUSERR
+        * will interfere with code that handles those itself...
+        */
        mem_ap_write_u32(swjdp, DCB_DEMCR, TRCENA | VC_HARDERR | VC_BUSERR);
-       /* Monitor bus faults */
+
+       /* Monitor bus faults as such (instead of as generic HARDERR), but
+        * leave memory management and usage faults disabled.
+        *
+        * REVISIT setting BUSFAULTENA interferes with code which relies
+        * on the default setting.  Why do it?
+        */
        mem_ap_write_u32(swjdp, NVIC_SHCSR, SHCSR_BUSFAULTENA);
 
+       /* Paranoia: evidently some (early?) chips don't preserve all the
+        * debug state (including FBP, DWT, etc) across reset...
+        */
+
        /* Enable FPB */
        target_write_u32(target, FP_CTRL, 3);
        cortex_m3->fpb_enabled = 1;
@@ -308,6 +334,7 @@ static int cortex_m3_debug_entry(struct target *target)
        struct cortex_m3_common *cortex_m3 = target_to_cm3(target);
        struct armv7m_common *armv7m = &cortex_m3->armv7m;
        struct swjdp_common *swjdp = &armv7m->swjdp_info;
+       struct reg *r;
 
        LOG_DEBUG(" ");
 
@@ -327,7 +354,8 @@ static int cortex_m3_debug_entry(struct target *target)
                        armv7m->read_core_reg(target, i);
        }
 
-       xPSR = buf_get_u32(armv7m->core_cache->reg_list[ARMV7M_xPSR].value, 0, 32);
+       r = armv7m->core_cache->reg_list + ARMV7M_xPSR;
+       xPSR = buf_get_u32(r->value, 0, 32);
 
 #ifdef ARMV7_GDB_HACKS
        /* FIXME this breaks on scan chains with more than one Cortex-M3.
@@ -336,14 +364,14 @@ static int cortex_m3_debug_entry(struct target *target)
        /* copy real xpsr reg for gdb, setting thumb bit */
        buf_set_u32(armv7m_gdb_dummy_cpsr_value, 0, 32, xPSR);
        buf_set_u32(armv7m_gdb_dummy_cpsr_value, 5, 1, 1);
-       armv7m_gdb_dummy_cpsr_reg.valid = armv7m->core_cache->reg_list[ARMV7M_xPSR].valid;
-       armv7m_gdb_dummy_cpsr_reg.dirty = armv7m->core_cache->reg_list[ARMV7M_xPSR].dirty;
+       armv7m_gdb_dummy_cpsr_reg.valid = r->valid;
+       armv7m_gdb_dummy_cpsr_reg.dirty = r->dirty;
 #endif
 
        /* For IT instructions xPSR must be reloaded on resume and clear on debug exec */
        if (xPSR & 0xf00)
        {
-               armv7m->core_cache->reg_list[ARMV7M_xPSR].dirty = armv7m->core_cache->reg_list[ARMV7M_xPSR].valid;
+               r->dirty = r->valid;
                cortex_m3_store_core_reg_u32(target, ARMV7M_REGISTER_CORE_GP, 16, xPSR &~ 0xff);
        }
 
@@ -355,7 +383,8 @@ static int cortex_m3_debug_entry(struct target *target)
        }
        else
        {
-               armv7m->core_mode = buf_get_u32(armv7m->core_cache->reg_list[ARMV7M_CONTROL].value, 0, 1);
+               armv7m->core_mode = buf_get_u32(armv7m->core_cache
+                               ->reg_list[ARMV7M_CONTROL].value, 0, 1);
                armv7m->exception_number = 0;
        }
 
@@ -404,8 +433,11 @@ static int cortex_m3_poll(struct target *target)
 
        if (target->state == TARGET_RESET)
        {
-               /* Cannot switch context while running so endreset is called with target->state == TARGET_RESET */
-               LOG_DEBUG("Exit from reset with dcb_dhcsr 0x%" PRIx32 "", cortex_m3->dcb_dhcsr);
+               /* Cannot switch context while running so endreset is
+                * called with target->state == TARGET_RESET
+                */
+               LOG_DEBUG("Exit from reset with dcb_dhcsr 0x%" PRIx32,
+                               cortex_m3->dcb_dhcsr);
                cortex_m3_endreset_event(target);
                target->state = TARGET_RUNNING;
                prev_target_state = TARGET_RUNNING;
@@ -498,11 +530,13 @@ static int cortex_m3_soft_reset_halt(struct target *target)
        uint32_t dcb_dhcsr = 0;
        int retval, timeout = 0;
 
-       /* Enter debug state on reset, cf. end_reset_event() */
-       mem_ap_write_u32(swjdp, DCB_DEMCR, TRCENA | VC_HARDERR | VC_BUSERR | VC_CORERESET);
+       /* Enter debug state on reset; see end_reset_event() */
+       mem_ap_write_u32(swjdp, DCB_DEMCR,
+                       TRCENA | VC_HARDERR | VC_BUSERR | VC_CORERESET);
 
-       /* Request a reset */
-       mem_ap_write_atomic_u32(swjdp, NVIC_AIRCR, AIRCR_VECTKEY | AIRCR_VECTRESET);
+       /* Request a core-only reset */
+       mem_ap_write_atomic_u32(swjdp, NVIC_AIRCR,
+                       AIRCR_VECTKEY | AIRCR_VECTRESET);
        target->state = TARGET_RESET;
 
        /* registers are now invalid */
@@ -513,15 +547,23 @@ static int cortex_m3_soft_reset_halt(struct target *target)
                retval = mem_ap_read_atomic_u32(swjdp, DCB_DHCSR, &dcb_dhcsr);
                if (retval == ERROR_OK)
                {
-                       mem_ap_read_atomic_u32(swjdp, NVIC_DFSR, &cortex_m3->nvic_dfsr);
-                       if ((dcb_dhcsr & S_HALT) && (cortex_m3->nvic_dfsr & DFSR_VCATCH))
+                       mem_ap_read_atomic_u32(swjdp, NVIC_DFSR,
+                                       &cortex_m3->nvic_dfsr);
+                       if ((dcb_dhcsr & S_HALT)
+                                       && (cortex_m3->nvic_dfsr & DFSR_VCATCH))
                        {
-                               LOG_DEBUG("system reset-halted, dcb_dhcsr 0x%" PRIx32 ", nvic_dfsr 0x%" PRIx32 "", dcb_dhcsr, cortex_m3->nvic_dfsr);
+                               LOG_DEBUG("system reset-halted, DHCSR 0x%08x, "
+                                       "DFSR 0x%08x",
+                                       (unsigned) dcb_dhcsr,
+                                       (unsigned) cortex_m3->nvic_dfsr);
                                cortex_m3_poll(target);
+                               /* FIXME restore user's vector catch config */
                                return ERROR_OK;
                        }
                        else
-                               LOG_DEBUG("waiting for system reset-halt, dcb_dhcsr 0x%" PRIx32 ", %i ms", dcb_dhcsr, timeout);
+                               LOG_DEBUG("waiting for system reset-halt, "
+                                       "DHCSR 0x%08x, %d ms",
+                                       (unsigned) dcb_dhcsr, timeout);
                }
                timeout++;
                alive_sleep(1);
@@ -549,6 +591,7 @@ static int cortex_m3_resume(struct target *target, int current,
        struct armv7m_common *armv7m = target_to_armv7m(target);
        struct breakpoint *breakpoint = NULL;
        uint32_t resume_pc;
+       struct reg *r;
 
        if (target->state != TARGET_HALTED)
        {
@@ -565,30 +608,40 @@ static int cortex_m3_resume(struct target *target, int current,
 
        if (debug_execution)
        {
+               r = armv7m->core_cache->reg_list + ARMV7M_PRIMASK;
+
                /* Disable interrupts */
-               /* We disable interrupts in the PRIMASK register instead of masking with C_MASKINTS,
-                * This is probably the same issue as Cortex-M3 Errata  377493:
-                * C_MASKINTS in parallel with disabled interrupts can cause local faults to not be taken. */
-               buf_set_u32(armv7m->core_cache->reg_list[ARMV7M_PRIMASK].value, 0, 32, 1);
-               armv7m->core_cache->reg_list[ARMV7M_PRIMASK].dirty = 1;
-               armv7m->core_cache->reg_list[ARMV7M_PRIMASK].valid = 1;
+               /* We disable interrupts in the PRIMASK register instead of
+                * masking with C_MASKINTS.  This is probably the same issue
+                * as Cortex-M3 Erratum 377493 (fixed in r1p0):  C_MASKINTS
+                * in parallel with disabled interrupts can cause local faults
+                * to not be taken.
+                *
+                * REVISIT this clearly breaks non-debug execution, since the
+                * PRIMASK register state isn't saved/restored...  workaround
+                * by never resuming app code after debug execution.
+                */
+               buf_set_u32(r->value, 0, 1, 1);
+               r->dirty = true;
+               r->valid = true;
 
                /* Make sure we are in Thumb mode */
-               buf_set_u32(armv7m->core_cache->reg_list[ARMV7M_xPSR].value, 0, 32,
-                       buf_get_u32(armv7m->core_cache->reg_list[ARMV7M_xPSR].value, 0, 32) | (1 << 24));
-               armv7m->core_cache->reg_list[ARMV7M_xPSR].dirty = 1;
-               armv7m->core_cache->reg_list[ARMV7M_xPSR].valid = 1;
+               r = armv7m->core_cache->reg_list + ARMV7M_xPSR;
+               buf_set_u32(r->value, 24, 1, 1);
+               r->dirty = true;
+               r->valid = true;
        }
 
        /* current = 1: continue on current pc, otherwise continue at <address> */
+       r = armv7m->core_cache->reg_list + 15;
        if (!current)
        {
-               buf_set_u32(armv7m->core_cache->reg_list[15].value, 0, 32, address);
-               armv7m->core_cache->reg_list[15].dirty = 1;
-               armv7m->core_cache->reg_list[15].valid = 1;
+               buf_set_u32(r->value, 0, 32, address);
+               r->dirty = true;
+               r->valid = true;
        }
 
-       resume_pc = buf_get_u32(armv7m->core_cache->reg_list[15].value, 0, 32);
+       resume_pc = buf_get_u32(r->value, 0, 32);
 
        armv7m_restore_context(target);
 
@@ -639,6 +692,7 @@ static int cortex_m3_step(struct target *target, int current,
        struct armv7m_common *armv7m = &cortex_m3->armv7m;
        struct swjdp_common *swjdp = &armv7m->swjdp_info;
        struct breakpoint *breakpoint = NULL;
+       struct reg *pc = armv7m->core_cache->reg_list + 15;
 
        if (target->state != TARGET_HALTED)
        {
@@ -648,13 +702,12 @@ static int cortex_m3_step(struct target *target, int current,
 
        /* current = 1: continue on current pc, otherwise continue at <address> */
        if (!current)
-               buf_set_u32(cortex_m3->armv7m.core_cache->reg_list[15].value,
-                               0, 32, address);
+               buf_set_u32(pc->value, 0, 32, address);
 
        /* the front-end may request us not to handle breakpoints */
        if (handle_breakpoints) {
-               breakpoint = breakpoint_find(target, buf_get_u32(armv7m
-                               ->core_cache->reg_list[15].value, 0, 32));
+               breakpoint = breakpoint_find(target,
+                               buf_get_u32(pc->value, 0, 32));
                if (breakpoint)
                        cortex_m3_unset_breakpoint(target, breakpoint);
        }
@@ -675,12 +728,16 @@ static int cortex_m3_step(struct target *target, int current,
        if (breakpoint)
                cortex_m3_set_breakpoint(target, breakpoint);
 
-       LOG_DEBUG("target stepped dcb_dhcsr = 0x%" PRIx32 " nvic_icsr = 0x%" PRIx32 "", cortex_m3->dcb_dhcsr, cortex_m3->nvic_icsr);
+       LOG_DEBUG("target stepped dcb_dhcsr = 0x%" PRIx32
+                       " nvic_icsr = 0x%" PRIx32,
+                       cortex_m3->dcb_dhcsr, cortex_m3->nvic_icsr);
 
        cortex_m3_debug_entry(target);
        target_call_event_callbacks(target, TARGET_EVENT_HALTED);
 
-       LOG_DEBUG("target stepped dcb_dhcsr = 0x%" PRIx32 " nvic_icsr = 0x%" PRIx32 "", cortex_m3->dcb_dhcsr, cortex_m3->nvic_icsr);
+       LOG_DEBUG("target stepped dcb_dhcsr = 0x%" PRIx32
+                       " nvic_icsr = 0x%" PRIx32,
+                       cortex_m3->dcb_dhcsr, cortex_m3->nvic_icsr);
        return ERROR_OK;
 }
 
@@ -714,7 +771,8 @@ static int cortex_m3_assert_reset(struct target *target)
        {
                /* Set/Clear C_MASKINTS in a separate operation */
                if (cortex_m3->dcb_dhcsr & C_MASKINTS)
-                       mem_ap_write_atomic_u32(swjdp, DCB_DHCSR, DBGKEY | C_DEBUGEN | C_HALT);
+                       mem_ap_write_atomic_u32(swjdp, DCB_DHCSR,
+                                       DBGKEY | C_DEBUGEN | C_HALT);
 
                /* clear any debug flags before resuming */
                cortex_m3_clear_halt(target);
@@ -723,12 +781,14 @@ static int cortex_m3_assert_reset(struct target *target)
                cortex_m3_write_debug_halt_mask(target, 0, C_HALT);
 
                /* Enter debug state on reset, cf. end_reset_event() */
-               mem_ap_write_u32(swjdp, DCB_DEMCR, TRCENA | VC_HARDERR | VC_BUSERR);
+               mem_ap_write_u32(swjdp, DCB_DEMCR,
+                               TRCENA | VC_HARDERR | VC_BUSERR);
        }
        else
        {
                /* Enter debug state on reset, cf. end_reset_event() */
-               mem_ap_write_atomic_u32(swjdp, DCB_DEMCR, TRCENA | VC_HARDERR | VC_BUSERR | VC_CORERESET);
+               mem_ap_write_atomic_u32(swjdp, DCB_DEMCR,
+                               TRCENA | VC_HARDERR | VC_BUSERR | VC_CORERESET);
        }
 
        /*
@@ -1311,8 +1371,11 @@ static int cortex_m3_store_core_reg_u32(struct target *target,
                retval = cortexm3_dap_write_coreregister_u32(swjdp, value, num);
                if (retval != ERROR_OK)
                {
+                       struct reg *r;
+
                        LOG_ERROR("JTAG failure %i", retval);
-                       armv7m->core_cache->reg_list[num].dirty = armv7m->core_cache->reg_list[num].valid;
+                       r = armv7m->core_cache->reg_list + num;
+                       r->dirty = r->valid;
                        return ERROR_JTAG_DEVICE_ERROR;
                }
                LOG_DEBUG("write core reg %i value 0x%" PRIx32 "", (int)num, value);
@@ -1455,6 +1518,9 @@ struct dwt_reg {
 
 static struct dwt_reg dwt_base_regs[] = {
        { DWT_CTRL, "dwt_ctrl", 32, },
+       /* NOTE that Erratum 532314 (fixed r2p0) affects CYCCNT:  it wrongly
+        * increments while the core is asleep.
+        */
        { DWT_CYCCNT, "dwt_cyccnt", 32, },
        /* plus some 8 bit counters, useful for profiling with TPIU */
 };