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Merge pull request #361 from UweBonnes/gpio_swd 

Speed up bitbanging SWD/JTAG
This commit is contained in:
Gareth McMullin 2018-07-07 13:00:32 +12:00 committed by GitHub
parent d4d24c256c 7a7266a0f7
commit 46b681e050
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
12 changed files with 246 additions and 47 deletions
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124
src/platforms/common/swdptap.c
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@ -18,19 +18,24 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/* This file implements the low-level SW-DP interface. */
/* This file implements the SW-DP interface. */
#include "general.h"
#include "swdptap.h"
enum {
SWDIO_STATUS_FLOAT = 0,
SWDIO_STATUS_DRIVE
};
int swdptap_init(void)
{
return 0;
}
static void swdptap_turnaround(uint8_t dir)
static void swdptap_turnaround(int dir)
{
static uint8_t olddir = 0;
static int olddir = SWDIO_STATUS_FLOAT;
/* Don't turnaround if direction not changing */
if(dir == olddir) return;
@ -40,11 +45,12 @@ static void swdptap_turnaround(uint8_t dir)
DEBUG("%s", dir ? "\n-> ":"\n<- ");
#endif
if(dir)
if(dir == SWDIO_STATUS_FLOAT)
SWDIO_MODE_FLOAT();
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_clear(SWCLK_PORT, SWCLK_PIN);
if(!dir)
if(dir == SWDIO_STATUS_DRIVE)
SWDIO_MODE_DRIVE();
}
@ -52,10 +58,11 @@ bool swdptap_bit_in(void)
{
uint16_t ret;
swdptap_turnaround(1);
swdptap_turnaround(SWDIO_STATUS_FLOAT);
ret = gpio_get(SWDIO_PORT, SWDIO_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_clear(SWCLK_PORT, SWCLK_PIN);
#ifdef DEBUG_SWD_BITS
@ -65,16 +72,119 @@ bool swdptap_bit_in(void)
return ret != 0;
}
uint32_t
swdptap_seq_in(int ticks)
{
uint32_t index = 1;
uint32_t ret = 0;
int len = ticks;
swdptap_turnaround(SWDIO_STATUS_FLOAT);
while (len--) {
int res;
res = gpio_get(SWDIO_PORT, SWDIO_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
if (res)
ret |= index;
index <<= 1;
gpio_clear(SWCLK_PORT, SWCLK_PIN);
}
#ifdef DEBUG_SWD_BITS
for (int i = 0; i < len; i++)
DEBUG("%d", (ret & (1 << i)) ? 1 : 0);
#endif
return ret;
}
bool
swdptap_seq_in_parity(uint32_t *ret, int ticks)
{
uint32_t index = 1;
uint8_t parity = 0;
uint32_t res = 0;
bool bit;
int len = ticks;
swdptap_turnaround(SWDIO_STATUS_FLOAT);
while (len--) {
bit = gpio_get(SWDIO_PORT, SWDIO_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
if (bit) {
res |= index;
parity ^= 1;
}
index <<= 1;
gpio_clear(SWCLK_PORT, SWCLK_PIN);
}
bit = gpio_get(SWDIO_PORT, SWDIO_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
if (bit)
parity ^= 1;
gpio_clear(SWCLK_PORT, SWCLK_PIN);
#ifdef DEBUG_SWD_BITS
for (int i = 0; i < len; i++)
DEBUG("%d", (res & (1 << i)) ? 1 : 0);
#endif
*ret = res;
return parity;
}
void swdptap_bit_out(bool val)
{
#ifdef DEBUG_SWD_BITS
DEBUG("%d", val);
#endif
swdptap_turnaround(0);
swdptap_turnaround(SWDIO_STATUS_DRIVE);
gpio_set_val(SWDIO_PORT, SWDIO_PIN, val);
gpio_clear(SWCLK_PORT, SWCLK_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_clear(SWCLK_PORT, SWCLK_PIN);
}
void
swdptap_seq_out(uint32_t MS, int ticks)
{
int data = MS & 1;
#ifdef DEBUG_SWD_BITS
for (int i = 0; i < ticks; i++)
DEBUG("%d", (MS & (1 << i)) ? 1 : 0);
#endif
swdptap_turnaround(SWDIO_STATUS_DRIVE);
while (ticks--) {
gpio_set_val(SWDIO_PORT, SWDIO_PIN, data);
MS >>= 1;
data = MS & 1;
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_clear(SWCLK_PORT, SWCLK_PIN);
}
}
void
swdptap_seq_out_parity(uint32_t MS, int ticks)
{
uint8_t parity = 0;
int data = MS & 1;
#ifdef DEBUG_SWD_BITS
for (int i = 0; i < ticks; i++)
DEBUG("%d", (MS & (1 << i)) ? 1 : 0);
#endif
swdptap_turnaround(SWDIO_STATUS_DRIVE);
while (ticks--) {
gpio_set_val(SWDIO_PORT, SWDIO_PIN, data);
parity ^= MS;
MS >>= 1;
gpio_set(SWCLK_PORT, SWCLK_PIN);
data = MS & 1;
gpio_clear(SWCLK_PORT, SWCLK_PIN);
}
gpio_set_val(SWDIO_PORT, SWDIO_PIN, parity & 1);
gpio_clear(SWCLK_PORT, SWCLK_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_set(SWCLK_PORT, SWCLK_PIN);
gpio_clear(SWCLK_PORT, SWCLK_PIN);
}

4
src/platforms/f4discovery/platform.c
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@ -78,7 +78,9 @@ void platform_init(void)
GPIOC_OSPEEDR |= 0xA20;
gpio_mode_setup(JTAG_PORT, GPIO_MODE_OUTPUT,
GPIO_PUPD_NONE,
TMS_PIN | TCK_PIN | TDI_PIN);
TCK_PIN | TDI_PIN);
gpio_mode_setup(JTAG_PORT, GPIO_MODE_INPUT,
GPIO_PUPD_NONE, TMS_PIN);
gpio_mode_setup(TDO_PORT, GPIO_MODE_INPUT,
GPIO_PUPD_NONE,

4
src/platforms/hydrabus/platform.c
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@ -63,7 +63,9 @@ void platform_init(void)
GPIOC_OSPEEDR |= 0xA20;
gpio_mode_setup(JTAG_PORT, GPIO_MODE_OUTPUT,
GPIO_PUPD_NONE,
TMS_PIN | TCK_PIN | TDI_PIN);
TCK_PIN | TDI_PIN);
gpio_mode_setup(JTAG_PORT, GPIO_MODE_INPUT,
GPIO_PUPD_NONE, TMS_PIN);
gpio_mode_setup(TDO_PORT, GPIO_MODE_INPUT,
GPIO_PUPD_NONE,

2
src/platforms/launchpad-icdi/platform.c
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@ -62,7 +62,7 @@ platform_init(void)
gpio_enable_ahb_aperture();
gpio_mode_setup(TMS_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, TMS_PIN);
gpio_mode_setup(TMS_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, TMS_PIN);
gpio_mode_setup(TCK_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, TCK_PIN);
gpio_mode_setup(TDI_PORT, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, TDI_PIN);
gpio_mode_setup(TDO_PORT, GPIO_MODE_INPUT, GPIO_PUPD_NONE, TDO_PIN);

5
src/platforms/native/platform.c
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@ -113,6 +113,11 @@ void platform_init(void)
gpio_set_mode(JTAG_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL,
TMS_DIR_PIN | TMS_PIN | TCK_PIN | TDI_PIN);
gpio_set_mode(JTAG_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL,
TMS_DIR_PIN | TCK_PIN | TDI_PIN);
gpio_set_mode(JTAG_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_INPUT_FLOAT, TMS_PIN);
/* This needs some fixing... */
/* Toggle required to sort out line drivers... */
gpio_port_write(GPIOA, 0x8102);

19
src/platforms/native/platform.h
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@ -108,20 +108,27 @@
#define LED_IDLE_RUN LED_1
#define LED_ERROR LED_2
# define SWD_CR GPIO_CRL(SWDIO_PORT)
# define SWD_CR_MULT (1 << (4 << 2))
#define TMS_SET_MODE() do { \
gpio_set(TMS_DIR_PORT, TMS_DIR_PIN); \
gpio_set_mode(TMS_PORT, GPIO_MODE_OUTPUT_50_MHZ, \
GPIO_CNF_OUTPUT_PUSHPULL, TMS_PIN); \
} while(0)
#define SWDIO_MODE_FLOAT() do { \
gpio_set_mode(SWDIO_PORT, GPIO_MODE_INPUT, \
GPIO_CNF_INPUT_FLOAT, SWDIO_PIN); \
gpio_clear(SWDIO_DIR_PORT, SWDIO_DIR_PIN); \
uint32_t cr = SWD_CR; \
cr &= ~(0xf * SWD_CR_MULT); \
cr |= (0x4 * SWD_CR_MULT); \
GPIO_BRR(SWDIO_DIR_PORT) = SWDIO_DIR_PIN; \
SWD_CR = cr; \
} while(0)
#define SWDIO_MODE_DRIVE() do { \
gpio_set(SWDIO_DIR_PORT, SWDIO_DIR_PIN); \
gpio_set_mode(SWDIO_PORT, GPIO_MODE_OUTPUT_50_MHZ, \
GPIO_CNF_OUTPUT_PUSHPULL, SWDIO_PIN); \
uint32_t cr = SWD_CR; \
cr &= ~(0xf * SWD_CR_MULT); \
cr |= (0x1 * SWD_CR_MULT); \
GPIO_BSRR(SWDIO_DIR_PORT) = SWDIO_DIR_PIN; \
SWD_CR = cr; \
} while(0)
#define UART_PIN_SETUP() do { \
gpio_set_mode(USBUSART_PORT, GPIO_MODE_OUTPUT_2_MHZ, \

2
src/platforms/stlink/platform.c
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@ -63,7 +63,7 @@ void platform_init(void)
}
/* Setup GPIO ports */
gpio_set_mode(TMS_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, TMS_PIN);
GPIO_CNF_INPUT_FLOAT, TMS_PIN);
gpio_set_mode(TCK_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, TCK_PIN);
gpio_set_mode(TDI_PORT, GPIO_MODE_OUTPUT_50_MHZ,

22
src/platforms/stlink/platform.h
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@ -71,16 +71,24 @@
#define PLATFORM_HAS_TRACESWO 1
#define NUM_TRACE_PACKETS (128) /* This is an 8K buffer */
# define SWD_CR GPIO_CRH(SWDIO_PORT)
# define SWD_CR_MULT (1 << ((14 - 8) << 2))
#define TMS_SET_MODE() \
gpio_set_mode(TMS_PORT, GPIO_MODE_OUTPUT_50_MHZ, \
GPIO_CNF_OUTPUT_PUSHPULL, TMS_PIN);
#define SWDIO_MODE_FLOAT() \
gpio_set_mode(SWDIO_PORT, GPIO_MODE_INPUT, \
GPIO_CNF_INPUT_FLOAT, SWDIO_PIN);
#define SWDIO_MODE_DRIVE() \
gpio_set_mode(SWDIO_PORT, GPIO_MODE_OUTPUT_50_MHZ, \
GPIO_CNF_OUTPUT_PUSHPULL, SWDIO_PIN);
#define SWDIO_MODE_FLOAT() do { \
uint32_t cr = SWD_CR; \
cr &= ~(0xf * SWD_CR_MULT); \
cr |= (0x4 * SWD_CR_MULT); \
SWD_CR = cr; \
} while(0)
#define SWDIO_MODE_DRIVE() do { \
uint32_t cr = SWD_CR; \
cr &= ~(0xf * SWD_CR_MULT); \
cr |= (0x1 * SWD_CR_MULT); \
SWD_CR = cr; \
} while(0)
#define UART_PIN_SETUP() \
gpio_set_mode(USBUSART_PORT, GPIO_MODE_OUTPUT_2_MHZ, \
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, USBUSART_TX_PIN);

60
src/platforms/stm32/jtagtap.c
View File

@ -66,3 +66,63 @@ inline uint8_t jtagtap_next(uint8_t dTMS, uint8_t dTDI)
return ret != 0;
}
void jtagtap_tms_seq(uint32_t MS, int ticks)
{
gpio_set_val(TDI_PORT, TDI_PIN, 1);
int data = MS & 1;
while(ticks) {
gpio_set_val(TMS_PORT, TMS_PIN, data);
gpio_set(TCK_PORT, TCK_PIN);
MS >>= 1;
data = MS & 1;
ticks--;
gpio_clear(TCK_PORT, TCK_PIN);
}
}
void
jtagtap_tdi_tdo_seq(uint8_t *DO, const uint8_t final_tms, const uint8_t *DI, int ticks)
{
uint8_t index = 1;
gpio_set_val(TMS_PORT, TMS_PIN, 0);
uint8_t res = 0;
while(ticks > 1) {
gpio_set_val(TDI_PORT, TDI_PIN, *DI & index);
gpio_set(TCK_PORT, TCK_PIN);
if (gpio_get(TDO_PORT, TDO_PIN)) {
res |= index;
}
if(!(index <<= 1)) {
*DO = res;
res = 0;
index = 1;
DI++; DO++;
}
ticks--;
gpio_clear(TCK_PORT, TCK_PIN);
}
gpio_set_val(TMS_PORT, TMS_PIN, final_tms);
gpio_set_val(TDI_PORT, TDI_PIN, *DI & index);
gpio_set(TCK_PORT, TCK_PIN);
if (gpio_get(TDO_PORT, TDO_PIN)) {
res |= index;
}
*DO = res;
gpio_clear(TCK_PORT, TCK_PIN);
}
void
jtagtap_tdi_seq(const uint8_t final_tms, const uint8_t *DI, int ticks)
{
uint8_t index = 1;
while(ticks--) {
gpio_set_val(TMS_PORT, TMS_PIN, ticks? 0 : final_tms);
gpio_set_val(TDI_PORT, TDI_PIN, *DI & index);
gpio_set(TCK_PORT, TCK_PIN);
if(!(index <<= 1)) {
index = 1;
DI++;
}
gpio_clear(TCK_PORT, TCK_PIN);
}
}

8
src/platforms/swlink/platform.c
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@ -57,11 +57,11 @@ void platform_init(void)
data |= AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_OFF;
AFIO_MAPR = data;
/* Setup JTAG GPIO ports */
gpio_set_mode(TMS_PORT, GPIO_MODE_OUTPUT_10_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, TMS_PIN);
gpio_set_mode(TCK_PORT, GPIO_MODE_OUTPUT_10_MHZ,
gpio_set_mode(TMS_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_INPUT_FLOAT, TMS_PIN);
gpio_set_mode(TCK_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, TCK_PIN);
gpio_set_mode(TDI_PORT, GPIO_MODE_OUTPUT_10_MHZ,
gpio_set_mode(TDI_PORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, TDI_PIN);
gpio_set_mode(TDO_PORT, GPIO_MODE_INPUT,

22
src/platforms/swlink/platform.h
View File

@ -58,16 +58,24 @@
#define LED_PORT_UART GPIOC
#define LED_UART GPIO14
# define SWD_CR GPIO_CRH(SWDIO_PORT)
# define SWD_CR_MULT (1 << ((13 - 8) << 2))
#define TMS_SET_MODE() \
gpio_set_mode(TMS_PORT, GPIO_MODE_OUTPUT_50_MHZ, \
GPIO_CNF_OUTPUT_PUSHPULL, TMS_PIN);
#define SWDIO_MODE_FLOAT() \
gpio_set_mode(SWDIO_PORT, GPIO_MODE_INPUT, \
GPIO_CNF_INPUT_FLOAT, SWDIO_PIN);
#define SWDIO_MODE_DRIVE() \
gpio_set_mode(SWDIO_PORT, GPIO_MODE_OUTPUT_50_MHZ, \
GPIO_CNF_OUTPUT_PUSHPULL, SWDIO_PIN);
#define SWDIO_MODE_FLOAT() do { \
uint32_t cr = SWD_CR; \
cr &= ~(0xf * SWD_CR_MULT); \
cr |= (0x4 * SWD_CR_MULT); \
SWD_CR = cr; \
} while(0)
#define SWDIO_MODE_DRIVE() do { \
uint32_t cr = SWD_CR; \
cr &= ~(0xf * SWD_CR_MULT); \
cr |= (0x1 * SWD_CR_MULT); \
SWD_CR = cr; \
} while(0)
#define UART_PIN_SETUP() do { \
AFIO_MAPR |= AFIO_MAPR_USART1_REMAP; \
gpio_set_mode(USBUSART_PORT, GPIO_MODE_OUTPUT_2_MHZ, \

21
src/target/adiv5_swdp.c
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@ -44,7 +44,7 @@ static void adiv5_swdp_abort(ADIv5_DP_t *dp, uint32_t abort);
int adiv5_swdp_scan(void)
{
uint8_t ack;
uint32_t ack;
target_list_free();
ADIv5_DP_t *dp = (void*)calloc(1, sizeof(*dp));
@ -53,12 +53,12 @@ int adiv5_swdp_scan(void)
return -1;
/* Switch from JTAG to SWD mode */
swdptap_seq_out(0xFFFF, 16);
for(int i = 0; i < 50; i++)
swdptap_bit_out(1);
swdptap_seq_out(0xFFFFFFFF, 16);
swdptap_seq_out(0xFFFFFFFF, 32);
swdptap_seq_out(0xFFFFFFFF, 18);
swdptap_seq_out(0xE79E, 16); /* 0b0111100111100111 */
for(int i = 0; i < 50; i++)
swdptap_bit_out(1);
swdptap_seq_out(0xFFFFFFFF, 32);
swdptap_seq_out(0xFFFFFFFF, 18);
swdptap_seq_out(0, 16);
/* Read the SW-DP IDCODE register to syncronise */
@ -122,9 +122,9 @@ static uint32_t adiv5_swdp_low_access(ADIv5_DP_t *dp, uint8_t RnW,
{
bool APnDP = addr & ADIV5_APnDP;
addr &= 0xff;
uint8_t request = 0x81;
uint32_t request = 0x81;
uint32_t response = 0;
uint8_t ack;
uint32_t ack;
platform_timeout timeout;
if(APnDP && dp->fault) return 0;
@ -141,7 +141,7 @@ static uint32_t adiv5_swdp_low_access(ADIv5_DP_t *dp, uint8_t RnW,
do {
swdptap_seq_out(request, 8);
ack = swdptap_seq_in(3);
} while (!platform_timeout_is_expired(&timeout) && ack == SWDP_ACK_WAIT);
} while (ack == SWDP_ACK_WAIT && !platform_timeout_is_expired(&timeout));
if (ack == SWDP_ACK_WAIT)
raise_exception(EXCEPTION_TIMEOUT, "SWDP ACK timeout");
@ -161,9 +161,6 @@ static uint32_t adiv5_swdp_low_access(ADIv5_DP_t *dp, uint8_t RnW,
swdptap_seq_out_parity(value, 32);
}
/* REMOVE THIS */
swdptap_seq_out(0, 8);
return response;
}