#endif
#include <jtag/interface.h>
+#include <jtag/swd.h>
#include <jtag/commands.h>
#include <termios.h>
#define CMD_READ_ADCS 0x03
/*#define CMD_TAP_SHIFT 0x04 // old protocol */
#define CMD_TAP_SHIFT 0x05
+#define CMD_ENTER_RWIRE 0x05
#define CMD_ENTER_OOCD 0x06
#define CMD_UART_SPEED 0x07
#define CMD_JTAG_SPEED 0x08
+#define CMD_RAW_PERIPH 0x40
+#define CMD_RAW_SPEED 0x60
+#define CMD_RAW_MODE 0x80
+
+/* raw-wire mode configuration */
+#define CMD_RAW_CONFIG_HIZ 0x00
+#define CMD_RAW_CONFIG_3V3 0x08
+#define CMD_RAW_CONFIG_2W 0x00
+#define CMD_RAW_CONFIG_3W 0x04
+#define CMD_RAW_CONFIG_MSB 0x00
+#define CMD_RAW_CONFIG_LSB 0x02
/* Not all OSes have this speed defined */
#if !defined(B1000000)
SERIAL_FAST = 1
};
+enum {
+ SPEED_RAW_5_KHZ = 0x0,
+ SPEED_RAW_50_KHZ = 0x1,
+ SPEED_RAW_100_KHZ = 0x2,
+ SPEED_RAW_400_KHZ = 0x3
+};
+
+/* SWD mode specific */
+static bool swd_mode;
+static int queued_retval;
+static char swd_features;
+
static const cc_t SHORT_TIMEOUT = 1; /* Must be at least 1. */
static const cc_t NORMAL_TIMEOUT = 10;
static enum tap_state last_tap_state = TAP_RESET;
+/* SWD interface */
+static int buspirate_swd_init(void);
+static void buspirate_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk);
+static void buspirate_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk);
+static int buspirate_swd_switch_seq(enum swd_special_seq seq);
+static int buspirate_swd_run_queue(void);
/* TAP interface */
static void buspirate_tap_init(void);
static void buspirate_tap_make_space(int scan, int bits);
static void buspirate_reset(int trst, int srst);
+static void buspirate_set_feature(int, char, char);
+static void buspirate_set_mode(int, char);
+static void buspirate_set_speed(int, char);
/* low level interface */
+static void buspirate_bbio_enable(int);
static void buspirate_jtag_reset(int);
-static void buspirate_jtag_enable(int);
static unsigned char buspirate_jtag_command(int, char *, int);
static void buspirate_jtag_set_speed(int, char);
static void buspirate_jtag_set_mode(int, char);
static void buspirate_jtag_set_feature(int, char, char);
static void buspirate_jtag_get_adcs(int);
+/* low level two-wire interface */
+static void buspirate_swd_set_speed(int, char);
+static void buspirate_swd_set_feature(int, char, char);
+static void buspirate_swd_set_mode(int, char);
+
/* low level HW communication interface */
static int buspirate_serial_open(char *port);
static int buspirate_serial_setspeed(int fd, char speed, cc_t timeout);
return ERROR_JTAG_INIT_FAILED;
}
- buspirate_jtag_enable(buspirate_fd);
+ buspirate_bbio_enable(buspirate_fd);
- if (buspirate_baudrate != SERIAL_NORMAL)
- buspirate_jtag_set_speed(buspirate_fd, SERIAL_FAST);
+ if (swd_mode || buspirate_baudrate != SERIAL_NORMAL)
+ buspirate_set_speed(buspirate_fd, SERIAL_FAST);
- LOG_INFO("Buspirate Interface ready!");
+ LOG_INFO("Buspirate %s Interface ready!", swd_mode ? "SWD" : "JTAG");
- buspirate_tap_init();
- buspirate_jtag_set_mode(buspirate_fd, buspirate_pinmode);
- buspirate_jtag_set_feature(buspirate_fd, FEATURE_VREG,
+ if (!swd_mode)
+ buspirate_tap_init();
+
+ buspirate_set_mode(buspirate_fd, buspirate_pinmode);
+ buspirate_set_feature(buspirate_fd, FEATURE_VREG,
(buspirate_vreg == 1) ? ACTION_ENABLE : ACTION_DISABLE);
- buspirate_jtag_set_feature(buspirate_fd, FEATURE_PULLUP,
+ buspirate_set_feature(buspirate_fd, FEATURE_PULLUP,
(buspirate_pullup == 1) ? ACTION_ENABLE : ACTION_DISABLE);
buspirate_reset(0, 0);
static int buspirate_quit(void)
{
LOG_INFO("Shutting down buspirate.");
- buspirate_jtag_set_mode(buspirate_fd, MODE_HIZ);
+ buspirate_set_mode(buspirate_fd, MODE_HIZ);
+ buspirate_set_speed(buspirate_fd, SERIAL_NORMAL);
- buspirate_jtag_set_speed(buspirate_fd, SERIAL_NORMAL);
buspirate_jtag_reset(buspirate_fd);
buspirate_serial_close(buspirate_fd);
if (buspirate_fd == -1)
return ERROR_OK;
+ /* unavailable in SWD mode */
+ if (swd_mode)
+ return ERROR_OK;
+
/* send the command */
buspirate_jtag_get_adcs(buspirate_fd);
if (atoi(CMD_ARGV[0]) == 1) {
/* enable led */
- buspirate_jtag_set_feature(buspirate_fd, FEATURE_LED,
+ buspirate_set_feature(buspirate_fd, FEATURE_LED,
ACTION_ENABLE);
} else if (atoi(CMD_ARGV[0]) == 0) {
/* disable led */
- buspirate_jtag_set_feature(buspirate_fd, FEATURE_LED,
+ buspirate_set_feature(buspirate_fd, FEATURE_LED,
ACTION_DISABLE);
} else {
LOG_ERROR("usage: buspirate_led <1|0>");
COMMAND_REGISTRATION_DONE
};
+static const struct swd_driver buspirate_swd = {
+ .init = buspirate_swd_init,
+ .switch_seq = buspirate_swd_switch_seq,
+ .read_reg = buspirate_swd_read_reg,
+ .write_reg = buspirate_swd_write_reg,
+ .run = buspirate_swd_run_queue,
+};
+
+static const char * const buspirate_transports[] = { "jtag", "swd", NULL };
+
struct jtag_interface buspirate_interface = {
.name = "buspirate",
.execute_queue = buspirate_execute_queue,
.commands = buspirate_command_handlers,
+ .transports = buspirate_transports,
+ .swd = &buspirate_swd,
.init = buspirate_init,
.quit = buspirate_quit
};
tap_pending_scans_num++;
}
-/*************** jtag wrapper functions *********************/
+/*************** wrapper functions *********************/
/* (1) assert or (0) deassert reset lines */
static void buspirate_reset(int trst, int srst)
LOG_DEBUG("trst: %i, srst: %i", trst, srst);
if (trst)
- buspirate_jtag_set_feature(buspirate_fd,
- FEATURE_TRST, ACTION_DISABLE);
+ buspirate_set_feature(buspirate_fd, FEATURE_TRST, ACTION_DISABLE);
else
- buspirate_jtag_set_feature(buspirate_fd,
- FEATURE_TRST, ACTION_ENABLE);
+ buspirate_set_feature(buspirate_fd, FEATURE_TRST, ACTION_ENABLE);
if (srst)
- buspirate_jtag_set_feature(buspirate_fd,
- FEATURE_SRST, ACTION_DISABLE);
+ buspirate_set_feature(buspirate_fd, FEATURE_SRST, ACTION_DISABLE);
+ else
+ buspirate_set_feature(buspirate_fd, FEATURE_SRST, ACTION_ENABLE);
+}
+
+static void buspirate_set_feature(int fd, char feat, char action)
+{
+ if (swd_mode)
+ buspirate_swd_set_feature(fd, feat, action);
else
- buspirate_jtag_set_feature(buspirate_fd,
- FEATURE_SRST, ACTION_ENABLE);
+ buspirate_jtag_set_feature(fd, feat, action);
+}
+
+static void buspirate_set_mode(int fd, char mode)
+{
+ if (swd_mode)
+ buspirate_swd_set_mode(fd, mode);
+ else
+ buspirate_jtag_set_mode(fd, mode);
+}
+
+static void buspirate_set_speed(int fd, char speed)
+{
+ if (swd_mode)
+ buspirate_swd_set_speed(fd, speed);
+ else
+ buspirate_jtag_set_speed(fd, speed);
+}
+
+
+/*************** swd lowlevel functions ********************/
+
+static void buspirate_swd_set_speed(int fd, char speed)
+{
+ int ret;
+ char tmp[1];
+
+ LOG_DEBUG("Buspirate speed setting in SWD mode defaults to 400 kHz");
+
+ /* speed settings */
+ tmp[0] = CMD_RAW_SPEED | SPEED_RAW_400_KHZ;
+ buspirate_serial_write(fd, tmp, 1);
+ ret = buspirate_serial_read(fd, tmp, 1);
+ if (ret != 1) {
+ LOG_ERROR("Buspirate did not answer correctly");
+ exit(-1);
+ }
+ if (tmp[0] != 1) {
+ LOG_ERROR("Buspirate did not reply as expected to the speed change command");
+ exit(-1);
+ }
+}
+
+static void buspirate_swd_set_mode(int fd, char mode)
+{
+ int ret;
+ char tmp[1];
+
+ /* raw-wire mode configuration */
+ if (mode == MODE_HIZ)
+ tmp[0] = CMD_RAW_MODE | CMD_RAW_CONFIG_LSB;
+ else
+ tmp[0] = CMD_RAW_MODE | CMD_RAW_CONFIG_LSB | CMD_RAW_CONFIG_3V3;
+
+ buspirate_serial_write(fd, tmp, 1);
+ ret = buspirate_serial_read(fd, tmp, 1);
+ if (ret != 1) {
+ LOG_ERROR("Buspirate did not answer correctly");
+ exit(-1);
+ }
+ if (tmp[0] != 1) {
+ LOG_ERROR("Buspirate did not reply as expected to the configure command");
+ exit(-1);
+ }
+}
+
+static void buspirate_swd_set_feature(int fd, char feat, char action)
+{
+ int ret;
+ char tmp[1];
+
+ switch (feat) {
+ case FEATURE_TRST:
+ LOG_DEBUG("Buspirate TRST feature not available in SWD mode");
+ return;
+ case FEATURE_LED:
+ LOG_ERROR("Buspirate LED feature not available in SWD mode");
+ return;
+ case FEATURE_SRST:
+ swd_features = (action == ACTION_ENABLE) ? swd_features | 0x02 : swd_features & 0x0D;
+ break;
+ case FEATURE_PULLUP:
+ swd_features = (action == ACTION_ENABLE) ? swd_features | 0x04 : swd_features & 0x0B;
+ break;
+ case FEATURE_VREG:
+ swd_features = (action == ACTION_ENABLE) ? swd_features | 0x08 : swd_features & 0x07;
+ break;
+ default:
+ LOG_DEBUG("Buspirate unknown feature %d", feat);
+ return;
+ }
+
+ tmp[0] = CMD_RAW_PERIPH | swd_features;
+ buspirate_serial_write(fd, tmp, 1);
+ ret = buspirate_serial_read(fd, tmp, 1);
+ if (ret != 1) {
+ LOG_DEBUG("Buspirate feature %d not supported in SWD mode", feat);
+ } else if (tmp[0] != 1) {
+ LOG_ERROR("Buspirate did not reply as expected to the configure command");
+ exit(-1);
+ }
}
/*************** jtag lowlevel functions ********************/
-static void buspirate_jtag_enable(int fd)
+static void buspirate_bbio_enable(int fd)
{
int ret;
+ char command;
+ const char *mode_answers[2] = { "OCD1", "RAW1" };
+ const char *correct_ans = NULL;
char tmp[21] = { [0 ... 20] = 0x00 };
int done = 0;
int cmd_sent = 0;
- LOG_DEBUG("Entering binary mode");
+ if (swd_mode) {
+ command = CMD_ENTER_RWIRE;
+ correct_ans = mode_answers[1];
+ } else {
+ command = CMD_ENTER_OOCD;
+ correct_ans = mode_answers[0];
+ }
+
+ LOG_DEBUG("Entering binary mode, that is %s", correct_ans);
buspirate_serial_write(fd, tmp, 20);
usleep(10000);
- /* reads 1 to n "BBIO1"s and one "OCD1" */
+ /* reads 1 to n "BBIO1"s and one "OCD1" or "RAW1" */
while (!done) {
ret = buspirate_serial_read(fd, tmp, 4);
if (ret != 4) {
}
if (cmd_sent == 0) {
cmd_sent = 1;
- tmp[0] = CMD_ENTER_OOCD;
+ tmp[0] = command;
ret = buspirate_serial_write(fd, tmp, 1);
if (ret != 1) {
LOG_ERROR("error reading");
exit(-1);
}
}
- } else if (strncmp(tmp, "OCD1", 4) == 0)
+ } else if (strncmp(tmp, correct_ans, 4) == 0)
done = 1;
else {
LOG_ERROR("Buspirate did not answer correctly! "
if (line[0] != 0)
LOG_DEBUG("%s", line);
}
+
+/************************* SWD related stuff **********/
+
+static int buspirate_swd_init(void)
+{
+ LOG_INFO("Buspirate SWD mode enabled");
+ swd_mode = true;
+
+ return ERROR_OK;
+}
+
+static int buspirate_swd_switch_seq(enum swd_special_seq seq)
+{
+ const uint8_t *sequence;
+ int sequence_len;
+ char tmp[64];
+
+ switch (seq) {
+ case LINE_RESET:
+ LOG_DEBUG("SWD line reset");
+ sequence = swd_seq_line_reset;
+ sequence_len = DIV_ROUND_UP(swd_seq_line_reset_len, 8);
+ break;
+ case JTAG_TO_SWD:
+ LOG_DEBUG("JTAG-to-SWD");
+ sequence = swd_seq_jtag_to_swd;
+ sequence_len = DIV_ROUND_UP(swd_seq_jtag_to_swd_len, 8);
+ break;
+ case SWD_TO_JTAG:
+ LOG_DEBUG("SWD-to-JTAG");
+ sequence = swd_seq_swd_to_jtag;
+ sequence_len = DIV_ROUND_UP(swd_seq_swd_to_jtag_len, 8);
+ break;
+ default:
+ LOG_ERROR("Sequence %d not supported", seq);
+ return ERROR_FAIL;
+ }
+
+ /* FIXME: all above sequences fit into one pirate command for now
+ * but it may cause trouble later
+ */
+
+ tmp[0] = 0x10 + ((sequence_len - 1) & 0x0F);
+ memcpy(tmp + 1, sequence, sequence_len);
+
+ buspirate_serial_write(buspirate_fd, tmp, sequence_len + 1);
+ buspirate_serial_read(buspirate_fd, tmp, sequence_len + 1);
+
+ return ERROR_OK;
+}
+
+static uint8_t buspirate_swd_write_header(uint8_t cmd)
+{
+ char tmp[8];
+ int to_send;
+
+ tmp[0] = 0x10; /* bus pirate: send 1 byte */
+ tmp[1] = cmd; /* swd cmd */
+ tmp[2] = 0x07; /* ack __x */
+ tmp[3] = 0x07; /* ack _x_ */
+ tmp[4] = 0x07; /* ack x__ */
+ tmp[5] = 0x07; /* write mode trn_1 */
+ tmp[6] = 0x07; /* write mode trn_2 */
+
+ to_send = ((cmd & SWD_CMD_RnW) == 0) ? 7 : 5;
+ buspirate_serial_write(buspirate_fd, tmp, to_send);
+
+ /* read ack */
+ buspirate_serial_read(buspirate_fd, tmp, 2); /* drop pirate command ret vals */
+ buspirate_serial_read(buspirate_fd, tmp, to_send - 2); /* ack bits */
+
+ return tmp[2] << 2 | tmp[1] << 1 | tmp[0];
+}
+
+static void buspirate_swd_idle_clocks(uint32_t no_bits)
+{
+ uint32_t no_bytes;
+ char tmp[20];
+
+ no_bytes = (no_bits + 7) / 8;
+ memset(tmp + 1, 0x00, sizeof(tmp) - 1);
+
+ /* unfortunately bus pirate misbehaves when clocks are sent in parts
+ * so we need to limit at 128 clock cycles
+ */
+ if (no_bytes > 16)
+ no_bytes = 16;
+
+ while (no_bytes) {
+ uint8_t to_send = no_bytes > 16 ? 16 : no_bytes;
+ tmp[0] = 0x10 + ((to_send - 1) & 0x0F);
+
+ buspirate_serial_write(buspirate_fd, tmp, to_send + 1);
+ buspirate_serial_read(buspirate_fd, tmp, to_send + 1);
+
+ no_bytes -= to_send;
+ }
+}
+
+static void buspirate_swd_clear_sticky_errors(void)
+{
+ buspirate_swd_write_reg(swd_cmd(false, false, DP_ABORT),
+ STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR, 0);
+}
+
+static void buspirate_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
+{
+ char tmp[16];
+
+ LOG_DEBUG("buspirate_swd_read_reg");
+ assert(cmd & SWD_CMD_RnW);
+
+ if (queued_retval != ERROR_OK) {
+ LOG_DEBUG("Skip buspirate_swd_read_reg because queued_retval=%d", queued_retval);
+ return;
+ }
+
+ cmd |= SWD_CMD_START | SWD_CMD_PARK;
+ uint8_t ack = buspirate_swd_write_header(cmd);
+
+ /* do a read transaction */
+ tmp[0] = 0x06; /* 4 data bytes */
+ tmp[1] = 0x06;
+ tmp[2] = 0x06;
+ tmp[3] = 0x06;
+ tmp[4] = 0x07; /* parity bit */
+ tmp[5] = 0x21; /* 2 turnaround clocks */
+
+ buspirate_serial_write(buspirate_fd, tmp, 6);
+ buspirate_serial_read(buspirate_fd, tmp, 6);
+
+ /* store the data and parity */
+ uint32_t data = (uint8_t) tmp[0];
+ data |= (uint8_t) tmp[1] << 8;
+ data |= (uint8_t) tmp[2] << 16;
+ data |= (uint8_t) tmp[3] << 24;
+ int parity = tmp[4] ? 0x01 : 0x00;
+
+ LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
+ ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
+ cmd & SWD_CMD_APnDP ? "AP" : "DP",
+ cmd & SWD_CMD_RnW ? "read" : "write",
+ (cmd & SWD_CMD_A32) >> 1,
+ data);
+
+ switch (ack) {
+ case SWD_ACK_OK:
+ if (parity != parity_u32(data)) {
+ LOG_DEBUG("Read data parity mismatch %x %x", parity, parity_u32(data));
+ queued_retval = ERROR_FAIL;
+ return;
+ }
+ if (value)
+ *value = data;
+ if (cmd & SWD_CMD_APnDP)
+ buspirate_swd_idle_clocks(ap_delay_clk);
+ return;
+ case SWD_ACK_WAIT:
+ LOG_DEBUG("SWD_ACK_WAIT");
+ buspirate_swd_clear_sticky_errors();
+ return;
+ case SWD_ACK_FAULT:
+ LOG_DEBUG("SWD_ACK_FAULT");
+ queued_retval = ack;
+ return;
+ default:
+ LOG_DEBUG("No valid acknowledge: ack=%d", ack);
+ queued_retval = ack;
+ return;
+ }
+}
+
+static void buspirate_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
+{
+ char tmp[16];
+
+ LOG_DEBUG("buspirate_swd_write_reg");
+ assert(!(cmd & SWD_CMD_RnW));
+
+ if (queued_retval != ERROR_OK) {
+ LOG_DEBUG("Skip buspirate_swd_write_reg because queued_retval=%d", queued_retval);
+ return;
+ }
+
+ cmd |= SWD_CMD_START | SWD_CMD_PARK;
+ uint8_t ack = buspirate_swd_write_header(cmd);
+
+ /* do a write transaction */
+ tmp[0] = 0x10 + ((4 + 1 - 1) & 0xF); /* bus pirate: send 4+1 bytes */
+ buf_set_u32((uint8_t *) tmp + 1, 0, 32, value);
+ /* write sequence ends with parity bit and 7 idle ticks */
+ tmp[5] = parity_u32(value) ? 0x01 : 0x00;
+
+ buspirate_serial_write(buspirate_fd, tmp, 6);
+ buspirate_serial_read(buspirate_fd, tmp, 6);
+
+ LOG_DEBUG("%s %s %s reg %X = %08"PRIx32,
+ ack == SWD_ACK_OK ? "OK" : ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK",
+ cmd & SWD_CMD_APnDP ? "AP" : "DP",
+ cmd & SWD_CMD_RnW ? "read" : "write",
+ (cmd & SWD_CMD_A32) >> 1,
+ value);
+
+ switch (ack) {
+ case SWD_ACK_OK:
+ if (cmd & SWD_CMD_APnDP)
+ buspirate_swd_idle_clocks(ap_delay_clk);
+ return;
+ case SWD_ACK_WAIT:
+ LOG_DEBUG("SWD_ACK_WAIT");
+ buspirate_swd_clear_sticky_errors();
+ return;
+ case SWD_ACK_FAULT:
+ LOG_DEBUG("SWD_ACK_FAULT");
+ queued_retval = ack;
+ return;
+ default:
+ LOG_DEBUG("No valid acknowledge: ack=%d", ack);
+ queued_retval = ack;
+ return;
+ }
+}
+
+static int buspirate_swd_run_queue(void)
+{
+ LOG_DEBUG("buspirate_swd_run_queue");
+ /* A transaction must be followed by another transaction or at least 8 idle cycles to
+ * ensure that data is clocked through the AP. */
+ buspirate_swd_idle_clocks(8);
+
+ int retval = queued_retval;
+ queued_retval = ERROR_OK;
+ LOG_DEBUG("SWD queue return value: %02x", retval);
+ return retval;
+}
+
+
projects / openocd / commitdiff