git.sur5r.net Git - openocd/blob - src/flash/nor/at91samd.c

   1 /***************************************************************************
   2  *   Copyright (C) 2013 by Andrey Yurovsky                                 *
   3  *   Andrey Yurovsky <yurovsky@gmail.com>                                  *
   4  *                                                                         *
   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.                                   *
   9  *                                                                         *
  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.                          *
  14  *                                                                         *
  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  ***************************************************************************/
  20
  21 #ifdef HAVE_CONFIG_H
  22 #include "config.h"
  23 #endif
  24
  25 #include "imp.h"
  26
  27 #define SAMD_NUM_SECTORS        16
  28
  29 #define SAMD_FLASH                      0x00000000      /* physical Flash memory */
  30 #define SAMD_DSU                        0x41002000      /* Device Service Unit */
  31 #define SAMD_NVMCTRL            0x41004000      /* Non-volatile memory controller */
  32
  33 #define SAMD_DSU_DID            0x18            /* Device ID register */
  34
  35 #define SAMD_NVMCTRL_CTRLA              0x00    /* NVM control A register */
  36 #define SAMD_NVMCTRL_CTRLB              0x04    /* NVM control B register */
  37 #define SAMD_NVMCTRL_PARAM              0x08    /* NVM parameters register */
  38 #define SAMD_NVMCTRL_INTFLAG    0x18    /* NVM Interupt Flag Status & Clear */
  39 #define SAMD_NVMCTRL_STATUS             0x18    /* NVM status register */
  40 #define SAMD_NVMCTRL_ADDR               0x1C    /* NVM address register */
  41 #define SAMD_NVMCTRL_LOCK               0x20    /* NVM Lock section register */
  42
  43 #define SAMD_CMDEX_KEY          0xA5UL
  44 #define SAMD_NVM_CMD(n)         ((SAMD_CMDEX_KEY << 8) | (n & 0x7F))
  45
  46 /* NVMCTRL commands.  See Table 20-4 in 42129F–SAM–10/2013 */
  47 #define SAMD_NVM_CMD_ER         0x02            /* Erase Row */
  48 #define SAMD_NVM_CMD_WP         0x04            /* Write Page */
  49 #define SAMD_NVM_CMD_EAR        0x05            /* Erase Auxilary Row */
  50 #define SAMD_NVM_CMD_WAP        0x06            /* Write Auxilary Page */
  51 #define SAMD_NVM_CMD_LR         0x40            /* Lock Region */
  52 #define SAMD_NVM_CMD_UR         0x41            /* Unlock Region */
  53 #define SAMD_NVM_CMD_SPRM       0x42            /* Set Power Reduction Mode */
  54 #define SAMD_NVM_CMD_CPRM       0x43            /* Clear Power Reduction Mode */
  55 #define SAMD_NVM_CMD_PBC        0x44            /* Page Buffer Clear */
  56 #define SAMD_NVM_CMD_SSB        0x45            /* Set Security Bit */
  57 #define SAMD_NVM_CMD_INVALL     0x46            /* Invalidate all caches */
  58
  59 /* Known identifiers */
  60 #define SAMD_PROCESSOR_M0       0x01
  61 #define SAMD_FAMILY_D           0x00
  62 #define SAMD_SERIES_20          0x00
  63 #define SAMD_SERIES_21          0x01
  64
  65 struct samd_part {
  66         uint8_t id;
  67         const char *name;
  68         uint32_t flash_kb;
  69         uint32_t ram_kb;
  70 };
  71
  72 /* Known SAMD20 parts. See Table 12-8 in 42129F–SAM–10/2013 */
  73 static const struct samd_part samd20_parts[] = {
  74         { 0x0, "SAMD20J18A", 256, 32 },
  75         { 0x1, "SAMD20J17A", 128, 16 },
  76         { 0x2, "SAMD20J16A", 64, 8 },
  77         { 0x3, "SAMD20J15A", 32, 4 },
  78         { 0x4, "SAMD20J14A", 16, 2 },
  79         { 0x5, "SAMD20G18A", 256, 32 },
  80         { 0x6, "SAMD20G17A", 128, 16 },
  81         { 0x7, "SAMD20G16A", 64, 8 },
  82         { 0x8, "SAMD20G15A", 32, 4 },
  83         { 0x9, "SAMD20G14A", 16, 2 },
  84         { 0xB, "SAMD20E17A", 128, 16 },
  85         { 0xC, "SAMD20E16A", 64, 8 },
  86         { 0xD, "SAMD20E15A", 32, 4 },
  87         { 0xE, "SAMD20E14A", 16, 2 },
  88 };
  89
  90 /* Known SAMD21 parts. */
  91 static const struct samd_part samd21_parts[] = {
  92         { 0x0, "SAMD21J18A", 256, 32 },
  93         { 0x1, "SAMD21J17A", 128, 16 },
  94         { 0x2, "SAMD21J16A", 64, 8 },
  95         { 0x3, "SAMD21J15A", 32, 4 },
  96         { 0x4, "SAMD21J14A", 16, 2 },
  97         { 0x5, "SAMD21G18A", 256, 32 },
  98         { 0x6, "SAMD21G17A", 128, 16 },
  99         { 0x7, "SAMD21G16A", 64, 8 },
 100         { 0x8, "SAMD21G15A", 32, 4 },
 101         { 0x9, "SAMD21G14A", 16, 2 },
 102         { 0xA, "SAMD21E18A", 256, 32 },
 103         { 0xB, "SAMD21E17A", 128, 16 },
 104         { 0xC, "SAMD21E16A", 64, 8 },
 105         { 0xD, "SAMD21E15A", 32, 4 },
 106         { 0xE, "SAMD21E14A", 16, 2 },
 107 };
 108
 109 /* Each family of parts contains a parts table in the DEVSEL field of DID.  The
 110  * processor ID, family ID, and series ID are used to determine which exact
 111  * family this is and then we can use the corresponding table. */
 112 struct samd_family {
 113         uint8_t processor;
 114         uint8_t family;
 115         uint8_t series;
 116         const struct samd_part *parts;
 117         size_t num_parts;
 118 };
 119
 120 /* Known SAMD families */
 121 static const struct samd_family samd_families[] = {
 122         { SAMD_PROCESSOR_M0, SAMD_FAMILY_D, SAMD_SERIES_20,
 123                 samd20_parts, ARRAY_SIZE(samd20_parts) },
 124         { SAMD_PROCESSOR_M0, SAMD_FAMILY_D, SAMD_SERIES_21,
 125                 samd21_parts, ARRAY_SIZE(samd21_parts) },
 126 };
 127
 128 struct samd_info {
 129         uint32_t page_size;
 130         int num_pages;
 131         int sector_size;
 132
 133         bool probed;
 134         struct target *target;
 135         struct samd_info *next;
 136 };
 137
 138 static struct samd_info *samd_chips;
 139
 140 static const struct samd_part *samd_find_part(uint32_t id)
 141 {
 142         uint8_t processor = (id >> 28);
 143         uint8_t family = (id >> 24) & 0x0F;
 144         uint8_t series = (id >> 16) & 0xFF;
 145         uint8_t devsel = id & 0xFF;
 146
 147         for (unsigned i = 0; i < ARRAY_SIZE(samd_families); i++) {
 148                 if (samd_families[i].processor == processor &&
 149                         samd_families[i].series == series &&
 150                         samd_families[i].family == family) {
 151                         for (unsigned j = 0; j < samd_families[i].num_parts; j++) {
 152                                 if (samd_families[i].parts[j].id == devsel)
 153                                         return &samd_families[i].parts[j];
 154                         }
 155                 }
 156         }
 157
 158         return NULL;
 159 }
 160
 161 static int samd_protect_check(struct flash_bank *bank)
 162 {
 163         int res;
 164         uint16_t lock;
 165
 166         res = target_read_u16(bank->target,
 167                         SAMD_NVMCTRL + SAMD_NVMCTRL_LOCK, &lock);
 168         if (res != ERROR_OK)
 169                 return res;
 170
 171         /* Lock bits are active-low */
 172         for (int i = 0; i < bank->num_sectors; i++)
 173                 bank->sectors[i].is_protected = !(lock & (1<<i));
 174
 175         return ERROR_OK;
 176 }
 177
 178 static int samd_probe(struct flash_bank *bank)
 179 {
 180         uint32_t id, param;
 181         int res;
 182         struct samd_info *chip = (struct samd_info *)bank->driver_priv;
 183         const struct samd_part *part;
 184
 185         if (chip->probed)
 186                 return ERROR_OK;
 187
 188         res = target_read_u32(bank->target, SAMD_DSU + SAMD_DSU_DID, &id);
 189         if (res != ERROR_OK) {
 190                 LOG_ERROR("Couldn't read Device ID register");
 191                 return res;
 192         }
 193
 194         part = samd_find_part(id);
 195         if (part == NULL) {
 196                 LOG_ERROR("Couldn't find part correspoding to DID %08" PRIx32, id);
 197                 return ERROR_FAIL;
 198         }
 199
 200         res = target_read_u32(bank->target,
 201                         SAMD_NVMCTRL + SAMD_NVMCTRL_PARAM, &param);
 202         if (res != ERROR_OK) {
 203                 LOG_ERROR("Couldn't read NVM Parameters register");
 204                 return res;
 205         }
 206
 207         bank->size = part->flash_kb * 1024;
 208
 209         chip->sector_size = bank->size / SAMD_NUM_SECTORS;
 210
 211         /* The PSZ field (bits 18:16) indicate the page size bytes as 2^(3+n) so
 212          * 0 is 8KB and 7 is 1024KB. */
 213         chip->page_size = (8 << ((param >> 16) & 0x7));
 214         /* The NVMP field (bits 15:0) indicates the total number of pages */
 215         chip->num_pages = param & 0xFFFF;
 216
 217         /* Sanity check: the total flash size in the DSU should match the page size
 218          * multiplied by the number of pages. */
 219         if (bank->size != chip->num_pages * chip->page_size) {
 220                 LOG_WARNING("SAMD: bank size doesn't match NVM parameters. "
 221                                 "Identified %uKB Flash but NVMCTRL reports %u %uB pages",
 222                                 part->flash_kb, chip->num_pages, chip->page_size);
 223         }
 224
 225         /* Allocate the sector table */
 226         bank->num_sectors = SAMD_NUM_SECTORS;
 227         bank->sectors = calloc(bank->num_sectors, sizeof((bank->sectors)[0]));
 228         if (!bank->sectors)
 229                 return ERROR_FAIL;
 230
 231         /* Fill out the sector information: all SAMD sectors are the same size and
 232          * there is always a fixed number of them. */
 233         for (int i = 0; i < bank->num_sectors; i++) {
 234                 bank->sectors[i].size = chip->sector_size;
 235                 bank->sectors[i].offset = i * chip->sector_size;
 236                 /* mark as unknown */
 237                 bank->sectors[i].is_erased = -1;
 238                 bank->sectors[i].is_protected = -1;
 239         }
 240
 241         samd_protect_check(bank);
 242
 243         /* Done */
 244         chip->probed = true;
 245
 246         LOG_INFO("SAMD MCU: %s (%uKB Flash, %uKB RAM)", part->name,
 247                         part->flash_kb, part->ram_kb);
 248
 249         return ERROR_OK;
 250 }
 251
 252 static int samd_protect(struct flash_bank *bank, int set, int first, int last)
 253 {
 254         int res;
 255         struct samd_info *chip = (struct samd_info *)bank->driver_priv;
 256
 257         for (int s = first; s <= last; s++) {
 258                 /* Load an address that is within this sector (we use offset 0) */
 259                 res = target_write_u32(bank->target, SAMD_NVMCTRL + SAMD_NVMCTRL_ADDR,
 260                                 s * chip->sector_size);
 261                 if (res != ERROR_OK)
 262                         return res;
 263
 264                 /* Tell the controller to lock that sector */
 265                 res = target_write_u16(bank->target,
 266                                 SAMD_NVMCTRL + SAMD_NVMCTRL_CTRLA,
 267                                 SAMD_NVM_CMD(SAMD_NVM_CMD_LR));
 268                 if (res != ERROR_OK)
 269                         return res;
 270         }
 271
 272         samd_protect_check(bank);
 273
 274         return ERROR_OK;
 275 }
 276
 277 static bool samd_check_error(struct flash_bank *bank)
 278 {
 279         int ret;
 280         bool error;
 281         uint16_t status;
 282
 283         ret = target_read_u16(bank->target,
 284                         SAMD_NVMCTRL + SAMD_NVMCTRL_STATUS, &status);
 285         if (ret != ERROR_OK) {
 286                 LOG_ERROR("Can't read NVM status");
 287                 return true;
 288         }
 289
 290         if (status & 0x001C) {
 291                 if (status & (1 << 4)) /* NVME */
 292                         LOG_ERROR("SAMD: NVM Error");
 293                 if (status & (1 << 3)) /* LOCKE */
 294                         LOG_ERROR("SAMD: NVM lock error");
 295                 if (status & (1 << 2)) /* PROGE */
 296                         LOG_ERROR("SAMD: NVM programming error");
 297
 298                 error = true;
 299         } else {
 300                 error = false;
 301         }
 302
 303         /* Clear the error conditions by writing a one to them */
 304         ret = target_write_u16(bank->target,
 305                         SAMD_NVMCTRL + SAMD_NVMCTRL_STATUS, status);
 306         if (ret != ERROR_OK)
 307                 LOG_ERROR("Can't clear NVM error conditions");
 308
 309         return error;
 310 }
 311
 312 static int samd_erase_row(struct flash_bank *bank, uint32_t address)
 313 {
 314         int res;
 315         bool error = false;
 316
 317         /* Set an address contained in the row to be erased */
 318         res = target_write_u32(bank->target,
 319                         SAMD_NVMCTRL + SAMD_NVMCTRL_ADDR, address >> 1);
 320         if (res == ERROR_OK) {
 321                 /* Issue the Erase Row command to erase that row */
 322                 res = target_write_u16(bank->target,
 323                                 SAMD_NVMCTRL + SAMD_NVMCTRL_CTRLA,
 324                                 SAMD_NVM_CMD(SAMD_NVM_CMD_ER));
 325
 326                 /* Check (and clear) error conditions */
 327                 error = samd_check_error(bank);
 328         }
 329
 330         if (res != ERROR_OK || error)  {
 331                 LOG_ERROR("Failed to erase row containing %08X" PRIx32, address);
 332                 return ERROR_FAIL;
 333         }
 334
 335         return ERROR_OK;
 336 }
 337
 338 static int samd_erase(struct flash_bank *bank, int first, int last)
 339 {
 340         int res;
 341         int rows_in_sector;
 342         struct samd_info *chip = (struct samd_info *)bank->driver_priv;
 343
 344         if (bank->target->state != TARGET_HALTED) {
 345                 LOG_ERROR("Target not halted");
 346
 347                 return ERROR_TARGET_NOT_HALTED;
 348         }
 349
 350         if (!chip->probed) {
 351                 if (samd_probe(bank) != ERROR_OK)
 352                         return ERROR_FLASH_BANK_NOT_PROBED;
 353         }
 354
 355         /* The SAMD NVM has row erase granularity.  There are four pages in a row
 356          * and the number of rows in a sector depends on the sector size, which in
 357          * turn depends on the Flash capacity as there is a fixed number of
 358          * sectors. */
 359         rows_in_sector = chip->sector_size / (chip->page_size * 4);
 360
 361         /* For each sector to be erased */
 362         for (int s = first; s <= last; s++) {
 363                 /* For each row in that sector */
 364                 for (int r = s * rows_in_sector; r < (s + 1) * rows_in_sector; r++) {
 365                         res = samd_erase_row(bank, r * chip->page_size * 4);
 366                         if (res != ERROR_OK) {
 367                                 LOG_ERROR("SAMD: failed to erase sector %d", s);
 368                                 return res;
 369                         }
 370                 }
 371
 372                 bank->sectors[s].is_erased = 1;
 373         }
 374
 375         return ERROR_OK;
 376 }
 377
 378 /* Write an entire row (four pages) from host buffer 'buf' to row-aligned
 379  * 'address' in the Flash. */
 380 static int samd_write_row(struct flash_bank *bank, uint32_t address,
 381                 const uint8_t *buf)
 382 {
 383         int res;
 384         struct samd_info *chip = (struct samd_info *)bank->driver_priv;
 385
 386         /* Erase the row that we'll be writing to */
 387         res = samd_erase_row(bank, address);
 388         if (res != ERROR_OK)
 389                 return res;
 390
 391         /* Now write the pages in this row. */
 392         for (unsigned int i = 0; i < 4; i++) {
 393                 bool error;
 394
 395                 /* Write the page contents to the target's page buffer.  A page write
 396                  * is issued automatically once the last location is written in the
 397                  * page buffer (ie: a complete page has been written out). */
 398                 res = target_write_memory(bank->target, address, 4,
 399                                 chip->page_size / 4, buf);
 400                 if (res != ERROR_OK) {
 401                         LOG_ERROR("%s: %d", __func__, __LINE__);
 402                         return res;
 403                 }
 404
 405                 error = samd_check_error(bank);
 406                 if (error)
 407                         return ERROR_FAIL;
 408
 409                 /* Next page */
 410                 address += chip->page_size;
 411                 buf += chip->page_size;
 412         }
 413
 414         return res;
 415 }
 416
 417 /* Write partial contents into row-aligned 'address' on the Flash from host
 418  * buffer 'buf' by writing 'nb' of 'buf' at 'row_offset' into the Flash row. */
 419 static int samd_write_row_partial(struct flash_bank *bank, uint32_t address,
 420                 const uint8_t *buf, uint32_t row_offset, uint32_t nb)
 421 {
 422         int res;
 423         struct samd_info *chip = (struct samd_info *)bank->driver_priv;
 424         uint32_t row_size = chip->page_size * 4;
 425         uint8_t *rb = malloc(row_size);
 426         if (!rb)
 427                 return ERROR_FAIL;
 428
 429         assert(row_offset + nb < row_size);
 430         assert((address % row_size) == 0);
 431
 432         /* Retrieve the full row contents from Flash */
 433         res = target_read_memory(bank->target, address, 4, row_size / 4, rb);
 434         if (res != ERROR_OK) {
 435                 free(rb);
 436                 return res;
 437         }
 438
 439         /* Insert our partial row over the data from Flash */
 440         memcpy(rb + (row_offset % row_size), buf, nb);
 441
 442         /* Write the row back out */
 443         res = samd_write_row(bank, address, rb);
 444         free(rb);
 445
 446         return res;
 447 }
 448
 449 static int samd_write(struct flash_bank *bank, const uint8_t *buffer,
 450                 uint32_t offset, uint32_t count)
 451 {
 452         int res;
 453         uint32_t address;
 454         uint32_t nb = 0;
 455         struct samd_info *chip = (struct samd_info *)bank->driver_priv;
 456         uint32_t row_size = chip->page_size * 4;
 457
 458         if (bank->target->state != TARGET_HALTED) {
 459                 LOG_ERROR("Target not halted");
 460
 461                 return ERROR_TARGET_NOT_HALTED;
 462         }
 463
 464         if (!chip->probed) {
 465                 if (samd_probe(bank) != ERROR_OK)
 466                         return ERROR_FLASH_BANK_NOT_PROBED;
 467         }
 468
 469         if (offset % row_size) {
 470                 /* We're starting at an unaligned offset so we'll write a partial row
 471                  * comprising that offset and up to the end of that row. */
 472                 nb = row_size - (offset % row_size);
 473                 if (nb > count)
 474                         nb = count;
 475         } else if (count < row_size) {
 476                 /* We're writing an aligned but partial row. */
 477                 nb = count;
 478         }
 479
 480         address = (offset / row_size) * row_size + bank->base;
 481
 482         if (nb > 0) {
 483                 res = samd_write_row_partial(bank, address, buffer,
 484                                 offset % row_size, nb);
 485                 if (res != ERROR_OK)
 486                         return res;
 487
 488                 /* We're done with the row contents */
 489                 count -= nb;
 490                 offset += nb;
 491                 buffer += row_size;
 492         }
 493
 494         /* There's at least one aligned row to write out. */
 495         if (count >= row_size) {
 496                 int nr = count / row_size + ((count % row_size) ? 1 : 0);
 497                 unsigned int r = 0;
 498
 499                 for (unsigned int i = address / row_size;
 500                                 (i < (address / row_size) + nr) && count > 0; i++) {
 501                         address = (i * row_size) + bank->base;
 502
 503                         if (count >= row_size) {
 504                                 res = samd_write_row(bank, address, buffer + (r * row_size));
 505                                 /* Advance one row */
 506                                 offset += row_size;
 507                                 count -= row_size;
 508                         } else {
 509                                 res = samd_write_row_partial(bank, address,
 510                                                 buffer + (r * row_size), 0, count);
 511                                 /* We're done after this. */
 512                                 offset += count;
 513                                 count = 0;
 514                         }
 515
 516                         r++;
 517
 518                         if (res != ERROR_OK)
 519                                 return res;
 520                 }
 521         }
 522
 523         return ERROR_OK;
 524 }
 525
 526 FLASH_BANK_COMMAND_HANDLER(samd_flash_bank_command)
 527 {
 528         struct samd_info *chip = samd_chips;
 529
 530         while (chip) {
 531                 if (chip->target == bank->target)
 532                         break;
 533                 chip = chip->next;
 534         }
 535
 536         if (!chip) {
 537                 /* Create a new chip */
 538                 chip = calloc(1, sizeof(*chip));
 539                 if (!chip)
 540                         return ERROR_FAIL;
 541
 542                 chip->target = bank->target;
 543                 chip->probed = false;
 544
 545                 bank->driver_priv = chip;
 546
 547                 /* Insert it into the chips list (at head) */
 548                 chip->next = samd_chips;
 549                 samd_chips = chip;
 550         }
 551
 552         if (bank->base != SAMD_FLASH) {
 553                 LOG_ERROR("Address 0x%08" PRIx32 " invalid bank address (try 0x%08" PRIx32
 554                                 "[at91samd series] )",
 555                                 bank->base, SAMD_FLASH);
 556                 return ERROR_FAIL;
 557         }
 558
 559         return ERROR_OK;
 560 }
 561
 562 COMMAND_HANDLER(samd_handle_info_command)
 563 {
 564         return ERROR_OK;
 565 }
 566
 567 static const struct command_registration at91samd_exec_command_handlers[] = {
 568         {
 569                 .name = "info",
 570                 .handler = samd_handle_info_command,
 571                 .mode = COMMAND_EXEC,
 572                 .help = "Print information about the current at91samd chip"
 573                         "and its flash configuration.",
 574         },
 575         COMMAND_REGISTRATION_DONE
 576 };
 577
 578 static const struct command_registration at91samd_command_handlers[] = {
 579         {
 580                 .name = "at91samd",
 581                 .mode = COMMAND_ANY,
 582                 .help = "at91samd flash command group",
 583                 .usage = "",
 584                 .chain = at91samd_exec_command_handlers,
 585         },
 586         COMMAND_REGISTRATION_DONE
 587 };
 588
 589 struct flash_driver at91samd_flash = {
 590         .name = "at91samd",
 591         .commands = at91samd_command_handlers,
 592         .flash_bank_command = samd_flash_bank_command,
 593         .erase = samd_erase,
 594         .protect = samd_protect,
 595         .write = samd_write,
 596         .read = default_flash_read,
 597         .probe = samd_probe,
 598         .auto_probe = samd_probe,
 599         .erase_check = default_flash_blank_check,
 600         .protect_check = samd_protect_check,
 601 };