JTAG ID scanning works!

CMakeLists.txt

@@ -32,6 +32,7 @@ if(FAMILY STREQUAL "rp2040")
   target_sources(${PROJECT} PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
     ${CMAKE_CURRENT_SOURCE_DIR}/src/pio_sbw.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/tap.c
   )
 
  # Example include

src/main.c

@@ -9,7 +9,9 @@
 #include <hardware/gpio.h>
 #include <pico/stdlib.h>
 #include <pico/binary_info.h>
+
 #include "pio_sbw.h"
+#include "tap.h"
 
 void printbuf(const uint8_t* buf, size_t size) {
     for (size_t i = 0; i < size; ++i)
@@ -30,7 +32,7 @@ int main() {
     bool s = sbw_init();
     printf("%s\n", s ? "inited" : "failure");
 
-    uint8_t tdi = 0x0f, tdo = 0;
+    /*uint8_t tdi = 0x0f, tdo = 0;
     sbw_sequence(8, true, &tdi, &tdo);
     printf("seq done, tdo=%02x\n", tdo);
 
@@ -49,7 +51,14 @@ int main() {
 
     printf("doing a tclk burst now!\n");
     sbw_tclk_burst(16);
-    printf("done.\n");
+    printf("done.\n");*/
+
+    sbw_tap_reset();
+    sbw_check_fuse();
+
+    uint8_t id = sbw_tap_shift_ir(0xff/*IR_BYPASS*/);
+
+    printf("JTAG ID=%02x\n", id);
 
     return 0;
 }

src/pio_sbw.c

@@ -24,24 +24,50 @@ void sbw_preinit(void) {
     // TEST low for >0.025us <7us: latch on "we want SBW" signal
     // TEST high again for >1 us: ready to SBW
 
-    gpio_put(PINOUT_SBW_TCK , false);
+    //gpio_put(PINOUT_SBW_TCK , false);
+    gpio_put(PINOUT_SBW_TDIO, true );
     gpio_put(PINOUT_SBW_TDIO, false);
     gpio_set_dir(PINOUT_SBW_TCK , true);
     gpio_set_dir(PINOUT_SBW_TDIO, true);
     gpio_set_function(PINOUT_SBW_TCK , GPIO_FUNC_SIO);
     gpio_set_function(PINOUT_SBW_TDIO, GPIO_FUNC_SIO);
 
-    // TCK, TDIO now low
+    /*// TCK, TDIO now low
-    busy_wait_us_32(150); // reset debug state while keeping CPU in reset
+    busy_wait_ms(4);//busy_wait_us_32(150); // reset debug state while keeping CPU in reset
 
     gpio_put(PINOUT_SBW_TCK , true ); // we want a debugger
     busy_wait_us_32(1);
     gpio_put(PINOUT_SBW_TDIO, true ); // we want SBW
-    busy_wait_us_32(1);
+    busy_wait_ms(20);//busy_wait_us_32(1);
     gpio_put(PINOUT_SBW_TCK , false); // latch "we want SBW"
     busy_wait_us_32(3);
     gpio_put(PINOUT_SBW_TCK , true ); // start SBW stuff
-    busy_wait_us_32(100); // wait a bit more
+    busy_wait_ms(5);//busy_wait_us_32(100); // wait a bit more*/
+
+    gpio_put(PINOUT_SBW_TCK , false);
+    gpio_put(PINOUT_SBW_TDIO, true);
+    busy_wait_ms(4); // reset TEST logic
+    gpio_put(PINOUT_SBW_TDIO, true);
+    busy_wait_us_32(1);
+    gpio_put(PINOUT_SBW_TCK , true);
+    busy_wait_ms(20); // activate TEST logic
+
+    // "phase 1"
+    gpio_put(PINOUT_SBW_TDIO, true);
+    busy_wait_us_32(60);
+
+    // "phase 2"
+    gpio_put(PINOUT_SBW_TCK , false);
+
+    // "phase 3"
+    busy_wait_us_32(1);
+
+    // "phase 4"
+    gpio_put(PINOUT_SBW_TCK , true);
+    busy_wait_us_32(60);
+
+    // "phase 5"
+    busy_wait_ms(5);
 }
 
 int sbw_piosm = -1, sbw_offset = -1;

src/tap.c

@@ -0,0 +1,85 @@
+
+#include "pio_sbw.h"
+
+#include "tap.h"
+
+// FIXME: TDI in run-test/idle ALWAYS TCLK value??
+
+void sbw_tap_reset(void) {
+    // TDI always 1
+    // TMS=1,1,1,1,1,1    -- reset TAP state to initial
+    // TMS=0              -- test-logic-reset to run-test/idle
+    // TMS=1,0,1,0,1      -- perform fuse check
+    // TMS=1,0            -- back to run-test/idle
+
+    //const uint16_t tms_seq = 0x1abf;//0x3f | (0<<6) | (0x15 << 7) | (0x1 << 12);
+    const uint8_t tms_seq[2] = {0xbf,0x1a};
+    sbw_tms_sequence(14, true, tms_seq);
+}
+
+void sbw_check_fuse(void) {
+    // TDI always 1
+    // TMS=01010110
+    const uint8_t tms_seq = 0x6a;
+    sbw_tms_sequence(8, true, &tms_seq);
+}
+
+static uint8_t bitswap(uint8_t in) {
+    static const uint8_t lut[16] = {
+        0x0, 0x8, 0x4, 0xc, 0x2, 0xa, 0x6, 0xe,
+        0x1, 0x9, 0x5, 0xd, 0x3, 0xb, 0x7, 0xf
+    };
+
+    return (lut[in&0xf] << 4) | lut[in>>4];
+}
+static inline uint16_t bitswap16(uint16_t in) {
+    return ((uint16_t)bitswap(in & 0xff) << 8) | bitswap(in >> 8);
+}
+
+uint16_t sbw_tap_shift_dr(uint16_t newdr) {
+    // DR content is MSB-first instead of LSB-first (IR is the latter)
+    // except the PIO already does bitswaps, so we need to do it for the IR instead
+    newdr = /*bitswap16(*/newdr/*)*/;
+
+    // 100: run-test/idle -> select-dr-scan -> capture-dr -> shift-dr
+    const uint8_t tms_seq = 0x01;
+    sbw_tms_sequence(3, true, &tms_seq);
+
+    // 15 data bits with TMS=0
+    // 1 data bit with TMS=1 (to exit1-dr)
+    uint16_t res = 0;
+    uint8_t newdr2 = newdr >> 15, resb = 0;
+    sbw_sequence(15, false, (const uint8_t*)&newdr, (uint8_t*)&res); // FIXME: little-endian-only
+    sbw_sequence( 1, true , &newdr2, &resb);
+    res |= (uint16_t)resb << 15;
+
+    // TMS=1 (to update-dr)
+    // TMS=0 (to run-test/idle)
+    const uint8_t tms_seq_2 = 0x01;
+    sbw_tms_sequence(2, true, &tms_seq_2);
+
+    return /*bitswap16(*/res/*)*/;
+}
+
+uint8_t sbw_tap_shift_ir(uint8_t newir) {
+    newir = bitswap(newir);
+
+    // 1100: run-test/idle -> select-dr-scan -> select-ir-scan -> capture-ir -> shift-ir
+    const uint8_t tms_seq = 0x03;
+    sbw_tms_sequence(4, true, &tms_seq);
+
+    // 7 data bits with TMS=0
+    // 1 data bit with TMS=1 (to exit1-ir)
+    uint8_t res = 0, resb = 0, newir2 = newir >> 7;
+    sbw_sequence(7, false, &newir , &res );
+    sbw_sequence(1, true , &newir2, &resb);
+    res |= resb << 7;
+
+    // TMS=1 (to update-ir)
+    // TMS=0 (to run-test/idle)
+    const uint8_t tms_seq_2 = 0x01;
+    sbw_tms_sequence(2, true, &tms_seq_2);
+
+    return bitswap(res);
+}
+

src/tap.h

@@ -0,0 +1,22 @@
+
+#ifndef SBW_TAP_H_
+#define SBW_TAP_H_
+
+// move to run-test/idle. typically this is done by sending a single TMS=0
+// cycle, but the MSP430 has an extra JTAG fuse check that needs to be done
+void sbw_tap_reset(void);
+// more fuse checking stuff
+void sbw_check_fuse(void);
+
+// write IR contents. starts and ends in run-test/idle
+uint8_t sbw_tap_shift_ir(uint8_t newir);
+// read current IR contents. starts and ends in run-test/idle
+//uint8_t sbw_tap_read_ir(void);
+
+// write DR contents. starts and ends in run-test/idle
+uint16_t sbw_tap_shift_dr(uint16_t newdr);
+// read current DR contents. starts and ends in run-test/idle
+static inline uint16_t sbw_tap_read_dr(void) { return sbw_tap_shift_dr(0x0000); }
+
+#endif
+