CMSIS-DAP protocol fixes and other stuff
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e81ab81edb
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c1b3c26299
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@ -1642,10 +1642,12 @@ uint32_t DAP_ProcessCommand(const uint8_t *request, uint8_t *response) {
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*response++ = *request;
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//printf("dap cmd=%02hhx\n", *request);
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switch (*request++) {
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case ID_DAP_Info:
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num = DAP_Info(*request, response+1);
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*response = (uint8_t)num;
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//printf("cmd info\n");
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return ((2U << 16) + 2U + num);
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case ID_DAP_HostStatus:
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@ -1752,9 +1754,11 @@ uint32_t DAP_ProcessCommand(const uint8_t *request, uint8_t *response) {
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default:
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*(response-1) = ID_DAP_Invalid;
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//printf("cmd invalid\n");
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return ((1U << 16) | 1U);
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}
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//printf("cmd end\n");
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return ((1U << 16) + 1U + num);
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}
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@ -4,10 +4,14 @@
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#define BSP_INFO_H_
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/*#define USB_VID 0x2e8a*/ /* Raspberry Pi */
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#define USB_VID 0xcafe /* TinyUSB */
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/*#define USB_VID 0xcafe*/ /* TinyUSB */
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/*#define USB_VID 0x1209*/ /* Generic */
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/*#define USB_VID 0x1d50*/ /* OpenMoko */
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#define USB_PID 0x1312
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/*#define USB_PID 0x1312*/
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/* openFPGAloader silliness */
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#define USB_VID 0x0d28 /* NXP */
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#define USB_PID 0x0204 /* ARM mbed */
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// TODO: other RP2040 boards
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#define INFO_BOARDNAME "RP2040 Pico"
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@ -17,20 +17,24 @@
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int jtagsm = -1, jtagoffset = -1;
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void PORT_OFF(void) {
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if (jtagsm) {
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//printf("disable\n");
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if (jtagsm >= 0) {
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pio_sm_set_enabled(PINOUT_JTAG_PIO_DEV, jtagsm, false);
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pio_sm_unclaim(PINOUT_JTAG_PIO_DEV, jtagsm);
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}
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if (jtagoffset)
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if (jtagoffset >= 0) {
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pio_remove_program(PINOUT_JTAG_PIO_DEV, &dap_jtag_program, jtagoffset);
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}
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jtagoffset = jtagsm = -1;
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if (swdsm) {
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if (swdsm >= 0) {
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pio_sm_set_enabled(PINOUT_JTAG_PIO_DEV, swdsm, false);
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pio_sm_unclaim(PINOUT_JTAG_PIO_DEV, swdsm);
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}
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if (swdoffset)
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if (swdoffset >= 0) {
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pio_remove_program(PINOUT_JTAG_PIO_DEV, &dap_swd_program, swdoffset);
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}
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swdoffset = swdsm = -1;
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sio_hw->gpio_oe_clr = PINOUT_SWCLK_MASK | PINOUT_SWDIO_MASK |
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PINOUT_TDI_MASK //| PINOUT_TDO_MASK
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@ -85,16 +89,16 @@ void PORT_JTAG_SETUP(void) {
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| PINOUT_nTRST_MASK | PINOUT_nRESET_MASK;
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}*/
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void JTAG_Sequence(uint32_t info, const uint8_t* tdi, uint8_t* tdo) {
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/*void JTAG_Sequence(uint32_t info, const uint8_t* tdi, uint8_t* tdo) {
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uint32_t n = info & JTAG_SEQUENCE_TCK;
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if (n == 0) n = 64;
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printf("seq hi 0x%lx\n", info);
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printf("%s", "tdi: ");
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for (size_t j = 0; j < ((n + 7) >> 3); ++j) {
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printf("0x%x ", ((const uint8_t*)tdi)[j]);
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}
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// printf("seq hi 0x%lx\n", info);
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//
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// printf("%s", "tdi: ");
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// for (size_t j = 0; j < ((n + 7) >> 3); ++j) {
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// printf("0x%x ", ((const uint8_t*)tdi)[j]);
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// }
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if (info & JTAG_SEQUENCE_TMS) PIN_SWDIO_TMS_SET();
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else PIN_SWDIO_TMS_CLR();
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@ -117,17 +121,32 @@ void JTAG_Sequence(uint32_t info, const uint8_t* tdi, uint8_t* tdo) {
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n = info & JTAG_SEQUENCE_TCK;
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if (n == 0) n = 64;
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if (info & JTAG_SEQUENCE_TDO) {
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printf("%s", "\ntdo: ");
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for (size_t j = 0; j < ((n + 7) >> 3); ++j) {
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printf("0x%x ", ((const uint8_t*)tdo)[j]);
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// if (info & JTAG_SEQUENCE_TDO) {
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// printf("%s", "\ntdo: ");
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// for (size_t j = 0; j < ((n + 7) >> 3); ++j) {
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// printf("0x%x ", ((const uint8_t*)tdo)[j]);
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// }
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// printf("%c", '\n');
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// } else printf("%s", "\nno tdo\n");
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}*/
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void jtag_tms_seq(uint32_t count, const uint8_t* data) {
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for (size_t i = 0; i < count; ++i) {
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uint8_t byte = data[i >> 3],
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bit = (byte >> (i & 7)) & 1;
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if (bit) PIN_SWDIO_TMS_SET();
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else PIN_SWDIO_TMS_CLR();
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PIN_SWCLK_TCK_CLR();
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PIN_DELAY_SLOW(DAP_Data.clock_delay);
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PIN_SWCLK_TCK_SET();
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PIN_DELAY_SLOW(DAP_Data.clock_delay);
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}
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printf("%c", '\n');
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} else printf("%s", "\nno tdo\n");
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}
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#else
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void PORT_JTAG_SETUP(void) {
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//printf("jtag setup\n");
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resets_hw->reset &= ~(RESETS_RESET_IO_BANK0_BITS | RESETS_RESET_PADS_BANK0_BITS);
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/* set to default high level */
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@ -167,14 +186,19 @@ void PORT_JTAG_SETUP(void) {
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iobank0_hw->io[PINOUT_JTAG_nTRST].ctrl = GPIO_FUNC_SIO << IO_BANK0_GPIO0_CTRL_FUNCSEL_LSB;
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iobank0_hw->io[PINOUT_JTAG_nRESET].ctrl = GPIO_FUNC_SIO << IO_BANK0_GPIO0_CTRL_FUNCSEL_LSB;
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if (jtagsm == -1) jtagsm = pio_claim_unused_sm(PINOUT_JTAG_PIO_DEV, true);
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if (jtagsm == -1) jtagsm = pio_claim_unused_sm(PINOUT_JTAG_PIO_DEV, false);
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if (jtagoffset == -1)
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jtagoffset = pio_add_program(PINOUT_JTAG_PIO_DEV, &dap_jtag_program);
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dap_jtag_program_init(PINOUT_JTAG_PIO_DEV, jtagsm, jtagoffset,
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50*1000, PINOUT_JTAG_TCK, PINOUT_JTAG_TDI, PINOUT_JTAG_TDO);
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}
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#define JTAG_SEQUENCE_NO_TMS 0x80000u /* should be large enough */
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void JTAG_Sequence(uint32_t info, const uint8_t* tdi, uint8_t* tdo) {
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//printf("jtag seq\n");
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//pio_sm_set_enabled(PINOUT_JTAG_PIO_DEV, jtagsm, true);
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float div = (float)clock_get_hz(clk_sys) / (4 * DAP_Data.clock_freq);
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if (div < 2) div = 2;
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else if (div > 65536) div = 65536;
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@ -185,8 +209,10 @@ void JTAG_Sequence(uint32_t info, const uint8_t* tdi, uint8_t* tdo) {
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uint32_t n = info & JTAG_SEQUENCE_TCK;
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if (n == 0) n = 64;
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//if (!(n & JTAG_SEQUENCE_NO_TMS)) {
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if (info & JTAG_SEQUENCE_TMS) PIN_SWDIO_TMS_SET();
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else PIN_SWDIO_TMS_CLR();
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//}
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io_wo_8* tx = (io_wo_8*)&PINOUT_JTAG_PIO_DEV->txf[jtagsm];
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io_ro_8* rx = (io_ro_8*)&PINOUT_JTAG_PIO_DEV->rxf[jtagsm];
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@ -196,9 +222,9 @@ void JTAG_Sequence(uint32_t info, const uint8_t* tdi, uint8_t* tdo) {
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//printf("n=%lu bytelen=%lu last_shift=%lu\n", n, bytelen, last_shift);
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uint32_t txremain = bytelen,
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rxremain = last_shift ? bytelen : (bytelen + 1);
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/*printf("txremain=%lu rxremain=%lu\n", txremain, rxremain);
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//printf("txremain=%lu rxremain=%lu\n", txremain, rxremain);
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printf("%s", "tdi: ");
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/*printf("%s", "tdi: ");
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for (size_t j = 0; j < ((n + 7) >> 3); ++j) {
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printf("0x%x ", ((const uint8_t*)tdi)[j]);
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}
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@ -238,6 +264,54 @@ void JTAG_Sequence(uint32_t info, const uint8_t* tdi, uint8_t* tdo) {
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}
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printf("%c", '\n');
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} else printf("%s", "no tdo\n");*/
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//pio_sm_set_enabled(PINOUT_JTAG_PIO_DEV, jtagsm, false);
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}
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void jtag_tms_seq(uint32_t count, const uint8_t* data) {
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//printf("jtag tms seq\n");
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// work around openFPGAloader bug (how did this even get here?)
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if (DAP_Data.clock_delay == 0) {
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DAP_Data.clock_delay = 8;
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}
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/*pio_sm_set_out_pins(PINOUT_JTAG_PIO_DEV, jtagsm, PINOUT_JTAG_TMS, 1);
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pio_sm_set_set_pins(PINOUT_JTAG_PIO_DEV, jtagsm, PINOUT_JTAG_TMS, 1);
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pio_sm_set_pins(PINOUT_JTAG_PIO_DEV, jtagsm, gpio_get(PINOUT_JTAG_TMS)?1:0);
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gpio_set_function(PINOUT_JTAG_TMS, GPIO_FUNC_PIO0 + ((PINOUT_JTAG_PIO_DEV == pio0) ? 0 : 1));
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for (uint32_t i = 0, n; i < count; i += n) {
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n = count - i;
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if (n == 0) break;
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if (n > 64) n = 64;
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n &= JTAG_SEQUENCE_TCK;
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JTAG_Sequence(n | JTAG_SEQUENCE_NO_TMS, data, NULL);
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}
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gpio_put(PINOUT_JTAG_TMS, data[(count >> 3)] & (1 << (count & 7)));
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gpio_set_function(PINOUT_JTAG_TMS, GPIO_FUNC_SIO);
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pio_sm_set_out_pins(PINOUT_JTAG_PIO_DEV, jtagsm, PINOUT_JTAG_TDI, 1);
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pio_sm_set_set_pins(PINOUT_JTAG_PIO_DEV, jtagsm, PINOUT_JTAG_TDI, 1);*/
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// FIXME: above doesn't seem to work somehow -- so fall back to bit-banging
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const uint8_t tdibit = 0xff;
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PIN_SWCLK_TCK_SET();
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gpio_set_function(PINOUT_JTAG_TMS, GPIO_FUNC_SIO);
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gpio_set_function(PINOUT_JTAG_TCK, GPIO_FUNC_SIO);
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for (size_t i = 0; i < count; ++i) {
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uint8_t byte = data[i >> 3],
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bit = byte & (1 << (i & 7));//(byte >> (i & 7)) & 1;
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//JTAG_Sequence(1 | (bit ? JTAG_SEQUENCE_TMS : 0), &tdibit, NULL);
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if (bit) PIN_SWDIO_TMS_SET();
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else PIN_SWDIO_TMS_CLR();
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PIN_SWCLK_TCK_CLR();
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PIN_DELAY_SLOW(DAP_Data.clock_delay);
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PIN_SWCLK_TCK_SET();
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PIN_DELAY_SLOW(DAP_Data.clock_delay);
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}
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gpio_set_function(PINOUT_JTAG_TCK, GPIO_FUNC_PIO0);
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}
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#endif
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@ -270,6 +344,7 @@ static void jtag_seq(uint32_t num, int tms, const void* tdi, void* tdo) {
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}
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uint32_t JTAG_ReadIDCode(void) {
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//printf("jtag readID\n");
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// tdi=NULL: ~~0xff!~~ repeat last-seen bit, ignore otherwise
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// tdo=NULL: ignore
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jtag_seq(1, JTAG_SEQUENCE_TMS, NULL, NULL);
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@ -310,6 +385,7 @@ uint32_t JTAG_ReadIDCode(void) {
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}
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void JTAG_IR(uint32_t ir) {
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//printf("jtag IR\n");
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jtag_seq(2,JTAG_SEQUENCE_TMS, NULL, NULL);
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jtag_seq(2,0, NULL, NULL);
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uint64_t v = ~(uint64_t)0;
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@ -411,7 +487,7 @@ static uint8_t xfer_base(uint32_t request, uint32_t* data, bool check_ack) {
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exit:
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jtag_seq(1,JTAG_SEQUENCE_TMS, NULL, NULL);
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jtag_seq(1,0, NULL, NULL);
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PIN_TDI_OUT(1); // TODO: TDI HI (no clk)
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PIN_TDI_OUT(1); // TDI HI (no clk)
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if (request & DAP_TRANSFER_TIMESTAMP) DAP_Data.timestamp = TIMESTAMP_GET();
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if (check_ack) jtag_seq(DAP_Data.transfer.idle_cycles, 0, NULL, NULL);
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return (uint8_t)ack;
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@ -525,10 +601,12 @@ exit:
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}
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void JTAG_WriteAbort(uint32_t data) {
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//printf("jtag wrabort\n");
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xfer_base(0 /* write,A2=0,A3=0 */, &data, false);
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}
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uint8_t JTAG_Transfer(uint32_t request, uint32_t* data) {
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//printf("jtag xfer\n");
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return xfer_base(request, data, true);
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}
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//#endif
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@ -33,6 +33,7 @@ static inline void dap_jtag_program_init(PIO pio, uint sm, uint offset,
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uint16_t freq, uint pin_tck, uint pin_tdi, uint pin_tdo) {
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pio_sm_config c = dap_jtag_program_get_default_config(offset);
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sm_config_set_out_pins(&c, pin_tdi, 1);
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//sm_config_set_set_pins(&c, pin_tdi, 1);
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sm_config_set_in_pins(&c, pin_tdo);
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sm_config_set_sideset_pins(&c, pin_tck);
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// (shift to left, autopush/pull, threshold=nbits)
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@ -101,6 +101,7 @@ void SWD_Sequence (uint32_t info, const uint8_t *swdo, uint8_t *swdi) {
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#else
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void PORT_SWD_SETUP(void) {
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//printf("swd setup\n");
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resets_hw->reset &= ~(RESETS_RESET_IO_BANK0_BITS | RESETS_RESET_PADS_BANK0_BITS);
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/* set to default high level */
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@ -114,7 +115,7 @@ void PORT_SWD_SETUP(void) {
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iobank0_hw->io[PINOUT_SWCLK].ctrl = GPIO_FUNC_SIO << IO_BANK0_GPIO0_CTRL_FUNCSEL_LSB;
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iobank0_hw->io[PINOUT_SWDIO].ctrl = GPIO_FUNC_SIO << IO_BANK0_GPIO0_CTRL_FUNCSEL_LSB;
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if (swdsm == -1) swdsm = pio_claim_unused_sm(PINOUT_JTAG_PIO_DEV, true);
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if (swdsm == -1) swdsm = pio_claim_unused_sm(PINOUT_JTAG_PIO_DEV, false);
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if (swdoffset == -1)
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swdoffset = pio_add_program(PINOUT_JTAG_PIO_DEV, &dap_swd_program);
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dap_swd_program_init(PINOUT_JTAG_PIO_DEV, swdsm, swdoffset,
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@ -138,6 +139,7 @@ inline static void PIN_SWDIO_SET_PIO(void) {
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}
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void SWD_Sequence(uint32_t info, const uint8_t* swdo, uint8_t* swdi) {
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//printf("swd sequence\n");
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pio_sm_set_enabled(PINOUT_JTAG_PIO_DEV, swdsm, true);
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//busy_wait_us_32(0);
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@ -209,7 +211,8 @@ void SWD_Sequence(uint32_t info, const uint8_t* swdo, uint8_t* swdi) {
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}
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#endif
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void swd_seq(uint32_t count, uint32_t flags, const uint8_t* swdo, uint8_t* swdi) {
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static void swd_seq(uint32_t count, uint32_t flags, const uint8_t* swdo, uint8_t* swdi) {
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//printf("swd seqbase count=%lu\n", count);
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static uint64_t last_bit = ~(uint64_t)0;
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uint64_t devnull = 0;
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@ -245,24 +248,38 @@ void swd_seq(uint32_t count, uint32_t flags, const uint8_t* swdo, uint8_t* swdi)
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uint8_t lastbyte = swdo[((count + 7) >> 3) - 1];
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last_bit = (lastbyte & (1 << (count & 7))) ? ~(uint64_t)0 : (uint64_t)0;
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}
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//printf("swd seqbase end\n");
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}
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void jtag_tms_seq(uint32_t count, const uint8_t* data);
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void SWJ_Sequence(uint32_t count, const uint8_t* data) {
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swd_seq(count, 0, data, NULL);
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//printf("swj sequence\n");
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/*for (uint32_t i = 0, k = 0; i < count; ++i) {
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if ((i & 7) == 0) {
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val = data[k];
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++k;
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// we can't just do a swd_seq() call here, as the debugger might be in JTAG
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// instead of SWD mode.
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if ((swdsm == -1 || swdoffset == -1) && jtagsm >= 0 && jtagoffset >= 0) {
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jtag_tms_seq(count, data); // JTAG mode -- handle in JTAG code
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} else if (swdsm >= 0 && swdoffset >= 0) {
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swd_seq(count, 0, data, NULL); // SWD mode - we can do just this
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} else {
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//printf("E: SWJ_Sequence while not in JTAG or SBW mode\n");
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// welp - can't really report an error to the upper CMSIS-DAP layers
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jtag_tms_seq(count, data); // uses only SIO for now so ¯\_(ツ)_/¯
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}
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swdio = (val >> (i & 7)) & 1;
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// SET SWDIO
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// SWCLK LO; DELAY; SWCLK HI; DELAY
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// hackier but stabler
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/*jtag_tms_seq(count, data);
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if (swdsm != -1 && swdoffset != -1 && jtagsm == -1 && jtagoffset == -1) {
|
||||
gpio_set_function(PINOUT_JTAG_TMS, GPIO_FUNC_PIO0);
|
||||
}*/
|
||||
}
|
||||
|
||||
uint8_t SWD_Transfer(uint32_t request, uint32_t* data) {
|
||||
//printf("swd xfer request=%08lx\n", request);
|
||||
uint32_t parity;
|
||||
uint8_t swdo;
|
||||
|
||||
|
|
@ -275,11 +292,13 @@ uint8_t SWD_Transfer(uint32_t request, uint32_t* data) {
|
|||
|
||||
uint8_t ack = 0;
|
||||
swd_seq(3, SWD_SEQUENCE_DIN, NULL, &ack);
|
||||
//printf(" ack=%hhu\n", ack);
|
||||
|
||||
uint32_t num;
|
||||
switch (ack) {
|
||||
case DAP_TRANSFER_OK:
|
||||
if (request & DAP_TRANSFER_RnW) {
|
||||
//printf(" xfer ok, r\n");
|
||||
uint64_t val = 0;
|
||||
parity = 0;
|
||||
// FIXME: this is little-endian-only!
|
||||
|
|
@ -295,6 +314,7 @@ uint8_t SWD_Transfer(uint32_t request, uint32_t* data) {
|
|||
|
||||
//PIN_SWDIO_OUT_ENABLE();
|
||||
} else { // write
|
||||
//printf(" xfer ok, w\n");
|
||||
swd_seq(DAP_Data.swd_conf.turnaround, SWD_SEQUENCE_DIN, NULL, NULL);
|
||||
|
||||
//PIN_SWDIO_OUT_ENABLE();
|
||||
|
|
@ -309,36 +329,45 @@ uint8_t SWD_Transfer(uint32_t request, uint32_t* data) {
|
|||
swd_seq(33, 0, (const uint8_t*)&out, NULL);
|
||||
}
|
||||
|
||||
//printf(" set ts\n");
|
||||
if (request & DAP_TRANSFER_TIMESTAMP) DAP_Data.timestamp = TIMESTAMP_GET();
|
||||
|
||||
num = DAP_Data.transfer.idle_cycles;
|
||||
for (uint32_t i = 0; i < num; num += 64) {
|
||||
//printf(" idlecyc=%lu\n", num);
|
||||
for (uint32_t i = 0; i < num; i += 64) {
|
||||
uint64_t swdio = 0;
|
||||
|
||||
uint32_t cyc = num - i;
|
||||
if (cyc > 64) cyc = 64;
|
||||
|
||||
//printf(" sequence of %lu\n", cyc);
|
||||
SWD_Sequence((cyc & SWD_SEQUENCE_CLK), (const uint8_t*)&swdio, NULL);
|
||||
}
|
||||
//printf(" idlecyc end\n");
|
||||
break;
|
||||
case DAP_TRANSFER_WAIT: case DAP_TRANSFER_FAULT:
|
||||
num = DAP_Data.swd_conf.turnaround;
|
||||
if (DAP_Data.swd_conf.data_phase && (request & DAP_TRANSFER_RnW)) {
|
||||
num += 33; // 32 bits + parity
|
||||
}
|
||||
//printf(" wait/fault: %lu\n", num);
|
||||
|
||||
swd_seq(num, SWD_SEQUENCE_DIN, NULL, NULL);
|
||||
|
||||
if (DAP_Data.swd_conf.data_phase && !(request & DAP_TRANSFER_RnW)) {
|
||||
//printf(" w/f dataphase\n");
|
||||
|
||||
uint64_t swdio = 0;
|
||||
swd_seq(33, 0, (const uint8_t*)&swdio, NULL); // 32 data bits + parity
|
||||
}
|
||||
break;
|
||||
default: // protocol error
|
||||
//printf(" proto error\n");
|
||||
swd_seq(DAP_Data.swd_conf.turnaround + 33, SWD_SEQUENCE_DIN, NULL, NULL);
|
||||
break;
|
||||
}
|
||||
|
||||
//printf(" finished\n");
|
||||
PIN_SWDIO_OUT_ENABLE();
|
||||
PIN_SWDIO_SET_PIO();
|
||||
return ack;
|
||||
|
|
|
|||
|
|
@ -36,7 +36,6 @@ void sbw_preinit(bool nrst) {
|
|||
gpio_put(PINOUT_SBW_TCK , true ); // start SBW stuff
|
||||
busy_wait_ms(5);//busy_wait_us_32(100); // wait a bit more*/
|
||||
|
||||
// TODO: test #if 0 & switch over if it works
|
||||
#if 1
|
||||
(void)nrst; // always assumed nrst=false here :/
|
||||
// from slau320 sources
|
||||
|
|
@ -78,6 +77,7 @@ void sbw_preinit(bool nrst) {
|
|||
#else
|
||||
// from MSP430.DLL 'BIOS' (FETUIF?) sources
|
||||
// can handle SBW/JTAG selection and nRST stuff
|
||||
// ... but it doesn't seem to work
|
||||
|
||||
// TEST = TCK
|
||||
// nRESET = TDIO = NMI
|
||||
|
|
|
|||
Loading…
Reference in New Issue