Merge pull request #174 from ChuckM/sam4l

Target Driver for Atmetl AT91SAM4L target

src/Makefile

@@ -48,6 +48,7 @@ SRC =			\
 	nrf51.c		\
 	platform.c	\
 	sam3x.c		\
+	sam4l.c	\
 	samd.c		\
 	stm32f1.c	\
 	stm32f4.c	\

src/gdb_main.c

@@ -96,7 +96,6 @@ int gdb_main_loop(struct target_controller *tc, bool in_syscall)
 	int size;
 	bool single_step = false;
 
-	DEBUG("Entring GDB protocol main loop\n");
 	/* GDB protocol main loop */
 	while(1) {
 		SET_IDLE_STATE(1);

src/platforms/common/swdptap.c

@@ -36,7 +36,9 @@ static void swdptap_turnaround(uint8_t dir)
 	if(dir == olddir) return;
 	olddir = dir;
 
+#ifdef DEBUG_SWD_BITS
 	DEBUG("%s", dir ? "\n-> ":"\n<- ");
+#endif
 
 	if(dir)
 		SWDIO_MODE_FLOAT();
@@ -56,14 +58,18 @@ bool swdptap_bit_in(void)
 	gpio_set(SWCLK_PORT, SWCLK_PIN);
 	gpio_clear(SWCLK_PORT, SWCLK_PIN);
 
+#ifdef DEBUG_SWD_BITS
 	DEBUG("%d", ret?1:0);
+#endif
 
 	return ret != 0;
 }
 
 void swdptap_bit_out(bool val)
 {
+#ifdef DEBUG_SWD_BITS
 	DEBUG("%d", val);
+#endif
 
 	swdptap_turnaround(0);
 

src/target/cortexm.c

@@ -262,6 +262,7 @@ bool cortexm_probe(ADIv5_AP_t *ap)
 	PROBE(lpc15xx_probe);
 	PROBE(lpc43xx_probe);
 	PROBE(sam3x_probe);
+	PROBE(sam4l_probe);
 	PROBE(nrf51_probe);
 	PROBE(samd_probe);
 	PROBE(lmi_probe);
@@ -442,6 +443,11 @@ static void cortexm_reset(target *t)
 	target_mem_write32(t, CORTEXM_AIRCR,
 	                   CORTEXM_AIRCR_VECTKEY | CORTEXM_AIRCR_SYSRESETREQ);
 
+	/* If target needs to do something extra (see Atmel SAM4L for example) */
+	if (t->extended_reset != NULL) {
+		t->extended_reset(t);
+	}
+
 	/* Poll for release from reset */
 	while (target_mem_read32(t, CORTEXM_DHCSR) & CORTEXM_DHCSR_S_RESET_ST);
 

src/target/sam4l.c

@@ -0,0 +1,398 @@
+/*
+ *
+ * This file is part of the Black Magic Debug project.
+ *
+ * Copyright (C) 2016  Chuck McManis <cmcmanis@mcmanis.com>
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/* This file implements Atmel SAM4 target specific functions for detecting
+ * the device, providing the XML memory map and Flash memory programming.
+ *
+ * Supported devices: SAM4L2, SAM4L4, SAM4L8
+ */
+
+#include "general.h"
+#include "target.h"
+#include "target_internal.h"
+#include "cortexm.h"
+
+/*
+ * Flash Controller defines
+ */
+#define FLASHCALW_BASE				0x400A0000
+
+/* Flash Control Register */
+#define	FLASHCALW_FCR				(FLASHCALW_BASE + 0x00)
+#define	FLASHALCW_FCR_WS1OPT		(1 << 7)
+#define	FLASHALCW_FCR_FWS			(1 << 6)
+#define	FLASHALCW_FCR_ECCE			(1 << 4)
+#define	FLASHALCW_FCR_PROGE			(1 << 3)
+#define	FLASHALCW_FCR_LOCKE			(1 << 2)
+#define	FLASHALCW_FCR_FRDY			(1 << 0)
+
+/* Flash Command Register */
+#define	FLASHCALW_FCMD				(FLASHCALW_BASE + 0x04)
+#define FLASHCALW_FCMD_KEY_MASK		0xff
+#define FLASHCALW_FCMD_KEY_SHIFT	24
+#define FLASHCALW_FCMD_PAGEN_MASK	0xffff
+#define FLASHCALW_FCMD_PAGEN_SHIFT	8
+#define FLASHCALW_FCMD_CMD_MASK		0x3f
+#define FLASHCALW_FCMD_CMD_SHIFT	0
+
+#define FLASH_CMD_NOP		0
+#define FLASH_CMD_WP		1	/* Write Page */
+#define FLASH_CMD_EP		2	/* Erase Page */
+#define FLASH_CMD_CPB		3	/* Clear Page Buffer */
+#define FLASH_CMD_LP		4	/* Lock page region */
+#define FLASH_CMD_UP		5	/* Unlock page region */
+#define FLASH_CMD_EA		6	/* Erase All */
+#define FLASH_CMD_WGPB		7	/* Write General Purpose Fuse Bit */
+#define FLASH_CMD_EGPB		8	/* Erase General Purpose Fuse Bit */
+#define FLASH_CMD_SSB		9	/* Set Security Fuses */
+#define FLASH_CMD_PGPFB		10	/* Program General Purpose Fuse Byte */
+#define FLASH_CMD_EAGPF		11	/* Erase All GP Fuses */
+#define FLASH_CMD_QPR		12	/* Quick Page Read (erase check) */
+#define FLASH_CMD_WUP		13	/* Write User Page */
+#define FLASH_CMD_EUP		14	/* Erase User Page */
+#define FLASH_CMD_QPRUP		15	/* Quick Page Read User Page */
+#define FLASH_CMD_HSEN		16	/* High Speed Enable */
+#define FLASH_CMD_HSDIS		17	/* High Speed Disable */
+
+/* Flash Status Register */
+#define FLASHCALW_FSR				(FLASHCALW_BASE + 0x08)
+#define FLASHCALW_FSR_LOCK(x)		(1 << (16 + (x)))
+#define FLASHCALW_FSR_ECCERR		(1 << 9)
+#define FLASHCALW_FSR_ECCERR2		(1 << 8)
+#define FLASHCALW_FSR_HSMODE		(1 << 6)
+#define FLASHCALW_FSR_QPRR			(1 << 5)
+#define FLASHCALW_FSR_SECURITY		(1 << 4)
+#define FLASHCALW_FSR_PROGE			(1 << 3)
+#define FLASHCALW_FSR_LOCKE			(1 << 2)
+#define FLASHCALW_FSR_FRDY			(1 << 0)
+
+/* Flash Parameter Register */
+#define FLASHCALW_FPR				(FLASHCALW_BASE + 0x0a)
+#define FLASHCALW_FPR_PSZ_MASK		0x7	/* page size */
+#define FLASHCALW_FPR_PSZ_SHIFT		8
+#define FLASHCALW_FPR_FSZ_MASK		0xf	/* flash size */
+#define FLASHCALW_FPR_FSZ_SHIFT		0
+
+/* Flash Version Register */
+#define FLASHCALW_FVR				(FLASHCALW_BASE + 0x10)
+#define FLASHCALW_FVR_VARIANT_MASK	0xf
+#define FLASHCALW_FVR_VARIANT_SHIFT	16
+#define FLASHCALW_FVR_VERSION_MASK	0xfff
+#define FLASHCALW_FVR_VERSION_SHIFT	0
+
+/* Flash General Purpose Registers (high) */
+#define FLASHCALW_FGPFRHI			(FLASHCALW_BASE + 0x14)
+/* Flash General Purpose Registers (low) */
+#define FLASHCALW_FGPFRLO			(FLASHCALW_BASE + 0x18)
+
+static void sam4l_extended_reset(target *t);
+static int sam4l_flash_erase(struct target_flash *f, target_addr addr, size_t len);
+static int sam4l_flash_write_buf(struct target_flash *f, target_addr dest,
+									const void *src, size_t len);
+
+/* why Atmel couldn't make it sequential ... */
+static const size_t __ram_size[16] = {
+	48 * 1024,		/*  0: 48K */
+	1 * 1024,		/*  1: 1K */
+	2 * 1024,		/*  2: 2K */
+	6 * 1024,		/*  3: 6K */
+	24 * 1024,		/*  4: 24K */
+	4 * 1024,		/*  5: 4K */
+	80 * 1024,		/*  6: 80K */
+	160 * 1024,		/*  7: 160K */
+	8 * 1024,		/*  8: 8K */
+	16 * 1024,		/*  9: 16K */
+	32 * 1024,		/* 10: 32K */
+	64 * 1024,		/* 11: 64K */
+	128 * 1024,		/* 12: 128K */
+	256 * 1024,		/* 13: 256K */
+	96 * 1024,		/* 14: 96K */
+	512 * 1024		/* 15: 512K */
+};
+
+static const size_t __nvp_size[16] = {
+	0,				/*  0: none */
+	8 * 1024,		/*  1: 8K */
+	16 * 1024,		/*  2: 16K */
+	32 * 1024,		/*  3: 32K */
+	0,				/*  4: reserved */
+	64 * 1024,		/*  5: 64K */
+	0,				/*  6: reserved */
+	128 * 1024,		/*  7: 128K */
+	0,				/*  8: reserved */
+	256 * 1024,		/*  9: 256K */
+	512 * 1024,		/* 10: 512K */
+	0,				/* 11: reserved */
+	1024 * 1024,	/* 12: 1024K (1M) */
+	0,				/* 13: reserved */
+	2048 * 1024,	/* 14: 2048K (2M) */
+	0				/* 15: reserved */
+};
+
+
+/* All variants of 4L have a 512 byte page */
+#define SAM4L_PAGE_SIZE 512
+#define SAM4L_ARCH		0xb0
+#define SAM4L_CHIPID_CIDR	0x400E0740
+#define CHIPID_CIDR_ARCH_MASK		0xff
+#define CHIPID_CIDR_ARCH_SHIFT		20
+#define CHIPID_CIDR_SRAMSIZ_MASK	0xf
+#define CHIPID_CIDR_SRAMSIZ_SHIFT	16
+#define CHIPID_CIDR_NVPSIZ_MASK		0xf
+#define CHIPID_CIDR_NVPSIZ_SHIFT	8
+
+
+/* Arbitrary time to wait for FLASH controller to be ready */
+#define FLASH_TIMEOUT	10000
+
+/*
+ * Populate a target_flash struct with the necessary function pointers
+ * and constants to describe our flash.
+ */
+static void sam4l_add_flash(target *t, uint32_t addr, size_t length)
+{
+	struct target_flash *f = calloc(1, sizeof(struct target_flash));
+	f->start = addr;
+	f->length = length;
+	f->blocksize = SAM4L_PAGE_SIZE;
+	f->erase = sam4l_flash_erase;
+	f->write = target_flash_write_buffered;
+	f->done = target_flash_done_buffered;
+	f->write_buf = sam4l_flash_write_buf;
+	f->buf_size = SAM4L_PAGE_SIZE;
+	f->erased = 0xff;
+	/* add it into the target structures flash chain */
+	target_add_flash(t, f);
+}
+
+/* Return size of RAM */
+static size_t sam_ram_size(uint32_t idcode) {
+	return __ram_size[((idcode >> CHIPID_CIDR_SRAMSIZ_SHIFT) & CHIPID_CIDR_SRAMSIZ_MASK)];
+}
+
+/* Return size of FLASH */
+static size_t sam_nvp_size(uint32_t idcode) {
+	return __nvp_size[((idcode >> CHIPID_CIDR_NVPSIZ_SHIFT) & CHIPID_CIDR_NVPSIZ_MASK)];
+}
+
+#define SMAP_BASE	0x400a3000
+#define SMAP_CR		(SMAP_BASE + 0x00)
+#define SMAP_SR		(SMAP_BASE + 0x04)
+#define SMAP_SR_DONE	(1 << 0)
+#define SMAP_SR_HCR		(1 << 1)
+#define SMAP_SR_BERR	(1 << 2)
+#define SMAP_SR_FAIL	(1 << 3)
+#define SMAP_SR_LCK		(1 << 4)
+#define SMAP_SR_EN		(1 << 8)
+#define SMAP_SR_PROT	(1 << 9)
+#define SMAP_SR_DBGP	(1 << 10)
+
+
+#define SMAP_SCR	(SMAP_BASE + 0x08)
+#define SMAP_ADDR	(SMAP_BASE + 0x0c)
+#define SMAP_LEN	(SMAP_BASE + 0x10)
+#define SMAP_DATA	(SMAP_BASE + 0x14)
+#define SMAP_VERS	(SMAP_BASE + 0x28)
+#define SMAP_CHIPID	(SMAP_BASE + 0xf0)
+#define SMAP_EXTID	(SMAP_BASE + 0xf4)
+#define SMAP_IDR	(SMAP_BASE + 0xfc)
+
+
+/*
+ * The probe function, look where the CIDR register should be, see if
+ * it matches the SAM4L architecture code.
+ *
+ * Figure out from the register how much RAM and FLASH this variant has.
+ */
+bool sam4l_probe(target *t)
+{
+	size_t	ram_size, flash_size;
+
+	DEBUG("\nSAM4L: Probe function called\n");
+	t->idcode = target_mem_read32(t, SAM4L_CHIPID_CIDR);
+	if (((t->idcode >> CHIPID_CIDR_ARCH_SHIFT) & CHIPID_CIDR_ARCH_MASK) == SAM4L_ARCH) {
+		t->driver = "Atmel SAM4L";
+		/* this function says we need to do "extra" stuff after reset */
+		t->extended_reset = sam4l_extended_reset;
+		ram_size = sam_ram_size(t->idcode);
+		target_add_ram(t, 0x20000000, ram_size);
+		flash_size = sam_nvp_size(t->idcode);
+		sam4l_add_flash(t, 0x0, flash_size);
+		DEBUG("\nSAM4L: RAM = 0x%x (%dK), FLASH = 0x%x (%dK)\n",
+			(unsigned int) ram_size, (unsigned int) (ram_size / 1024),
+					(unsigned int) flash_size, (unsigned int)(flash_size / 1024));
+			
+		/* enable SMAP if not, check for HCR and reset if set */
+		sam4l_extended_reset(t);
+		DEBUG("\nSAM4L: SAM4L Selected.\n");
+		if (target_check_error(t)) {
+			DEBUG("SAM4L: target_check_error returned true\n");
+		}
+		return true;
+	}
+	return false;
+}
+
+/*
+ * We've been reset, make sure we take the core out of reset
+ */
+static void
+sam4l_extended_reset(target *t)
+{
+	uint32_t	reg;
+	int i;
+
+	DEBUG("SAM4L: Extended Reset\n");
+	/* enable SMAP in case we're dealing with a non-TCK SRST */
+	target_mem_write32(t, SMAP_CR, 0x1); /* enable SMAP */
+	reg = target_mem_read32(t, SMAP_SR);
+	DEBUG("\nSAM4L: SMAP_SR has 0x%08lx\n", (long unsigned int) reg);
+	if ((reg & SMAP_SR_HCR) != 0) {
+		/* write '1' bit to the status clear register */
+		target_mem_write32(t, SMAP_SCR, SMAP_SR_HCR);
+		/* waiting 250 loops for it to reset is arbitrary, it should happen right away */
+		for (i = 0; i < 250; i++) {
+			reg = target_mem_read32(t, SMAP_SR);
+		}
+		/* not sure what to do if we can't reset that bit */
+		if (i > 249) {
+			DEBUG("\nSAM4L: Reset failed. SMAP_SR has 0x%08lx\n", (long unsigned int) reg);
+		}
+	}
+	/* reset bus error if for some reason SMAP was disabled */
+	target_check_error(t);
+}
+
+/*
+ * sam4l_flash_command
+ *
+ * Helper function, wait for the flash controller to be ready to receive a
+ * command. Then send it the command, page number, and the authorization
+ * key (always 0xA5) in the command register.
+ *
+ * Need the target struct to call the mem_read32 and mem_write32 function
+ * pointers.
+ */
+static int
+sam4l_flash_command(target *t, uint32_t page, uint32_t cmd)
+{
+	uint32_t cmd_reg;
+	uint32_t status;
+	int	timeout;
+	DEBUG("\nSAM4L: sam4l_flash_command: FSR: 0x%08x, page = %d, command = %d\n",
+		(unsigned int)(FLASHCALW_FSR), (int) page, (int) cmd);
+	/* wait for Flash controller ready */
+	for (timeout = 0; timeout < FLASH_TIMEOUT; timeout++) {
+		status = target_mem_read32(t, FLASHCALW_FSR);
+		if (status & FLASHCALW_FSR_FRDY) {
+			break;
+		}
+	}
+	if (timeout == FLASH_TIMEOUT) {
+		DEBUG("\nSAM4L: sam4l_flash_command: Not ready! Status = 0x%08x\n", (unsigned int) status);
+		return -1; /* Failed */
+	}
+	/* load up the new command */
+	cmd_reg = (cmd & FLASHCALW_FCMD_CMD_MASK) |
+			  ((page & FLASHCALW_FCMD_PAGEN_MASK) << FLASHCALW_FCMD_PAGEN_SHIFT) |
+		  	  (0xA5 << FLASHCALW_FCMD_KEY_SHIFT);
+	DEBUG("\nSAM4L: sam4l_flash_command: Wrting command word 0x%08x\n", (unsigned int) cmd_reg);
+	/* and kick it off */
+	target_mem_write32(t, FLASHCALW_FCMD, cmd_reg);
+	/* don't actually wait for it to finish, the next command will stall if it is not done */
+	return 0;
+}
+
+/*
+ * Write data from 'src' into flash using the algorithim provided by
+ * Atmel in their data sheet.
+ */
+static int
+sam4l_flash_write_buf(struct target_flash *f, target_addr addr, const void *src, size_t len)
+{
+	target *t = f->t;
+	uint32_t *src_data = (uint32_t *)src;
+	uint32_t ndx;
+	uint16_t page;
+	
+	DEBUG("\nSAM4L: sam4l_flash_write_buf: addr = 0x%08lx, len %d\n", (long unsigned int) addr, (int) len);
+	/* This will fail with unaligned writes, the write_buf version */
+	page = addr / SAM4L_PAGE_SIZE;
+
+	if (len != SAM4L_PAGE_SIZE) {
+		return -1;
+	}
+
+	/* clear the page buffer */
+	if (sam4l_flash_command(t, 0, FLASH_CMD_CPB)) {
+		return -1;
+	}
+
+	/* Now fill page buffer with our 512 bytes of data */
+
+	/* I did try to use target_mem_write however that resulted in the
+	 * last 64 bits (8 bytes) to be incorrect on even pages (0, 2, 4, ...)
+	 * since it works this way I've not investigated further.
+	 */
+	for (ndx = 0; ndx < SAM4L_PAGE_SIZE; ndx += 4) {
+		/*
+ 		 * the page buffer overlaps flash, its only 512 bytes long
+		 * and no matter where you write it from it goes to the page
+		 * you point it to. So we don't need the specific address here
+		 * instead we just write 0 - pagelen (512) and that fills our
+		 * buffer correctly.
+		 */
+		target_mem_write32(t, addr+ndx, *src_data);
+		src_data++;
+	}
+	/* write the page */
+	if (sam4l_flash_command(t, page, FLASH_CMD_WP)) {
+		return -1;
+	}
+	return 0;
+}
+
+/*
+ * Erase flash across the addresses specified by addr and len
+ */
+static int
+sam4l_flash_erase(struct target_flash *f, target_addr addr, size_t len)
+{
+	target *t = f->t;
+	uint16_t page;
+
+	DEBUG("SAM4L: flash erase address 0x%08x for %d bytes\n",
+		(unsigned int) addr, (unsigned int) len);
+	/*
+	 *  NB: if addr isn't aligned to a page boundary, or length
+	 * is not an even multiple of page sizes, we may end up
+	 * erasing data we didn't intend to.
+	 */
+
+	while (len) {
+		page = addr / SAM4L_PAGE_SIZE;
+		if (sam4l_flash_command(t, page, FLASH_CMD_EP)) {
+			return -1;
+		}
+		len -= SAM4L_PAGE_SIZE;
+		addr += SAM4L_PAGE_SIZE;
+	}
+	return 0;
+}

src/target/target_internal.h

@@ -99,6 +99,7 @@ struct target_s {
 
 	/* Halt/resume functions */
 	void (*reset)(target *t);
+	void (*extended_reset)(target *t);
 	void (*halt_request)(target *t);
 	enum target_halt_reason (*halt_poll)(target *t, target_addr *watch);
 	void (*halt_resume)(target *t, bool step);
@@ -176,6 +177,7 @@ bool lpc11xx_probe(target *t);
 bool lpc15xx_probe(target *t);
 bool lpc43xx_probe(target *t);
 bool sam3x_probe(target *t);
+bool sam4l_probe(target *t);
 bool nrf51_probe(target *t);
 bool samd_probe(target *t);
 bool kinetis_probe(target *t);