+ if (status == ERROR_WAIT) {
+ LOG_WARNING("Connecting DP: stalled AP operation, issuing ABORT");
+
+ dap->do_reconnect = false;
+
+ swd->write_reg(swd_cmd(false, false, DP_ABORT),
+ DAPABORT | STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR, 0);
+ status = swd_run_inner(dap);
+ }
+
+ if (status == ERROR_OK)
+ status = dap_dp_init(dap);
+
+ return status;
+}
+
+static int swd_send_sequence(struct adiv5_dap *dap, enum swd_special_seq seq)
+{
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+
+ return swd->switch_seq(seq);
+}
+
+static inline int check_sync(struct adiv5_dap *dap)
+{
+ return do_sync ? swd_run_inner(dap) : ERROR_OK;
+}
+
+static int swd_check_reconnect(struct adiv5_dap *dap)
+{
+ if (dap->do_reconnect)
+ return swd_connect(dap);
+
+ return ERROR_OK;
+}
+
+static int swd_queue_ap_abort(struct adiv5_dap *dap, uint8_t *ack)
+{
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+
+ swd->write_reg(swd_cmd(false, false, DP_ABORT),
+ DAPABORT | STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR, 0);
+ return check_sync(dap);
+}
+
+/** Select the DP register bank matching bits 7:4 of reg. */
+static int swd_queue_dp_bankselect(struct adiv5_dap *dap, unsigned reg)
+{
+ /* Only register address 4 is banked. */
+ if ((reg & 0xf) != 4)
+ return ERROR_OK;
+
+ uint32_t select_dp_bank = (reg & 0x000000F0) >> 4;
+ uint32_t sel = select_dp_bank
+ | (dap->select & (DP_SELECT_APSEL | DP_SELECT_APBANK));
+
+ if (sel == dap->select)
+ return ERROR_OK;
+
+ dap->select = sel;
+
+ int retval = swd_queue_dp_write(dap, DP_SELECT, sel);
+ if (retval != ERROR_OK)
+ dap->select = DP_SELECT_INVALID;
+
+ return retval;
+}
+
+static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
+ uint32_t *data)
+{
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+
+ int retval = swd_check_reconnect(dap);
+ if (retval != ERROR_OK)
+ return retval;
+
+ retval = swd_queue_dp_bankselect(dap, reg);
+ if (retval != ERROR_OK)
+ return retval;
+
+ swd->read_reg(swd_cmd(true, false, reg), data, 0);
+
+ return check_sync(dap);
+}
+
+static int swd_queue_dp_write(struct adiv5_dap *dap, unsigned reg,
+ uint32_t data)
+{
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+
+ int retval = swd_check_reconnect(dap);
+ if (retval != ERROR_OK)
+ return retval;
+
+ swd_finish_read(dap);
+ if (reg == DP_SELECT) {
+ dap->select = data & (DP_SELECT_APSEL | DP_SELECT_APBANK | DP_SELECT_DPBANK);
+
+ swd->write_reg(swd_cmd(false, false, reg), data, 0);
+
+ retval = check_sync(dap);
+ if (retval != ERROR_OK)
+ dap->select = DP_SELECT_INVALID;
+
+ return retval;
+ }
+
+ retval = swd_queue_dp_bankselect(dap, reg);
+ if (retval != ERROR_OK)
+ return retval;
+
+ swd->write_reg(swd_cmd(false, false, reg), data, 0);
+
+ return check_sync(dap);
+}
+
+/** Select the AP register bank matching bits 7:4 of reg. */
+static int swd_queue_ap_bankselect(struct adiv5_ap *ap, unsigned reg)
+{
+ struct adiv5_dap *dap = ap->dap;
+ uint32_t sel = ((uint32_t)ap->ap_num << 24)
+ | (reg & 0x000000F0)
+ | (dap->select & DP_SELECT_DPBANK);
+
+ if (sel == dap->select)
+ return ERROR_OK;
+
+ dap->select = sel;
+
+ int retval = swd_queue_dp_write(dap, DP_SELECT, sel);
+ if (retval != ERROR_OK)
+ dap->select = DP_SELECT_INVALID;
+
+ return retval;
+}
+
+static int swd_queue_ap_read(struct adiv5_ap *ap, unsigned reg,
+ uint32_t *data)
+{
+ struct adiv5_dap *dap = ap->dap;
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+
+ int retval = swd_check_reconnect(dap);
+ if (retval != ERROR_OK)
+ return retval;
+
+ retval = swd_queue_ap_bankselect(ap, reg);
+ if (retval != ERROR_OK)
+ return retval;
+
+ swd->read_reg(swd_cmd(true, true, reg), dap->last_read, ap->memaccess_tck);
+ dap->last_read = data;
+
+ return check_sync(dap);
+}
+
+static int swd_queue_ap_write(struct adiv5_ap *ap, unsigned reg,
+ uint32_t data)
+{
+ struct adiv5_dap *dap = ap->dap;
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+ assert(swd);
+
+ int retval = swd_check_reconnect(dap);
+ if (retval != ERROR_OK)
+ return retval;
+
+ swd_finish_read(dap);
+ retval = swd_queue_ap_bankselect(ap, reg);
+ if (retval != ERROR_OK)
+ return retval;
+
+ swd->write_reg(swd_cmd(false, true, reg), data, ap->memaccess_tck);
+
+ return check_sync(dap);
+}
+
+/** Executes all queued DAP operations. */
+static int swd_run(struct adiv5_dap *dap)
+{
+ swd_finish_read(dap);
+ return swd_run_inner(dap);
+}
+
+/** Put the SWJ-DP back to JTAG mode */
+static void swd_quit(struct adiv5_dap *dap)
+{
+ const struct swd_driver *swd = adiv5_dap_swd_driver(dap);
+
+ swd->switch_seq(SWD_TO_JTAG);
+ /* flush the queue before exit */
+ swd->run();
+}
+
+const struct dap_ops swd_dap_ops = {
+ .connect = swd_connect,
+ .send_sequence = swd_send_sequence,
+ .queue_dp_read = swd_queue_dp_read,
+ .queue_dp_write = swd_queue_dp_write,
+ .queue_ap_read = swd_queue_ap_read,
+ .queue_ap_write = swd_queue_ap_write,
+ .queue_ap_abort = swd_queue_ap_abort,
+ .run = swd_run,
+ .quit = swd_quit,