tcl/board: add SAMD11 Xplained Pro evaluation board

[openocd.git] / src / flash / nor / at91samd.c

/***************************************************************************
 *   Copyright (C) 2013 by Andrey Yurovsky                                 *
 *   Andrey Yurovsky <yurovsky@gmail.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 2 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/>. *
 ***************************************************************************/

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include "imp.h"
#include "helper/binarybuffer.h"

#include <target/cortex_m.h>

#define SAMD_NUM_PROT_BLOCKS    16
#define SAMD_PAGE_SIZE_MAX      1024

#define SAMD_FLASH                      ((uint32_t)0x00000000)  /* physical Flash memory */
#define SAMD_USER_ROW           ((uint32_t)0x00804000)  /* User Row of Flash */
#define SAMD_PAC1                       0x41000000      /* Peripheral Access Control 1 */
#define SAMD_DSU                        0x41002000      /* Device Service Unit */
#define SAMD_NVMCTRL            0x41004000      /* Non-volatile memory controller */

#define SAMD_DSU_STATUSA        1               /* DSU status register */
#define SAMD_DSU_DID            0x18            /* Device ID register */
#define SAMD_DSU_CTRL_EXT       0x100           /* CTRL register, external access */

#define SAMD_NVMCTRL_CTRLA              0x00    /* NVM control A register */
#define SAMD_NVMCTRL_CTRLB              0x04    /* NVM control B register */
#define SAMD_NVMCTRL_PARAM              0x08    /* NVM parameters register */
#define SAMD_NVMCTRL_INTFLAG    0x18    /* NVM Interupt Flag Status & Clear */
#define SAMD_NVMCTRL_STATUS             0x18    /* NVM status register */
#define SAMD_NVMCTRL_ADDR               0x1C    /* NVM address register */
#define SAMD_NVMCTRL_LOCK               0x20    /* NVM Lock section register */

#define SAMD_CMDEX_KEY          0xA5UL
#define SAMD_NVM_CMD(n)         ((SAMD_CMDEX_KEY << 8) | (n & 0x7F))

/* NVMCTRL commands.  See Table 20-4 in 42129F–SAM–10/2013 */
#define SAMD_NVM_CMD_ER         0x02            /* Erase Row */
#define SAMD_NVM_CMD_WP         0x04            /* Write Page */
#define SAMD_NVM_CMD_EAR        0x05            /* Erase Auxilary Row */
#define SAMD_NVM_CMD_WAP        0x06            /* Write Auxilary Page */
#define SAMD_NVM_CMD_LR         0x40            /* Lock Region */
#define SAMD_NVM_CMD_UR         0x41            /* Unlock Region */
#define SAMD_NVM_CMD_SPRM       0x42            /* Set Power Reduction Mode */
#define SAMD_NVM_CMD_CPRM       0x43            /* Clear Power Reduction Mode */
#define SAMD_NVM_CMD_PBC        0x44            /* Page Buffer Clear */
#define SAMD_NVM_CMD_SSB        0x45            /* Set Security Bit */
#define SAMD_NVM_CMD_INVALL     0x46            /* Invalidate all caches */

/* NVMCTRL bits */
#define SAMD_NVM_CTRLB_MANW 0x80

/* Known identifiers */
#define SAMD_PROCESSOR_M0       0x01
#define SAMD_FAMILY_D           0x00
#define SAMD_FAMILY_L           0x01
#define SAMD_FAMILY_C           0x02
#define SAMD_SERIES_20          0x00
#define SAMD_SERIES_21          0x01
#define SAMD_SERIES_22          0x02
#define SAMD_SERIES_10          0x02
#define SAMD_SERIES_11          0x03
#define SAMD_SERIES_09          0x04

/* Device ID macros */
#define SAMD_GET_PROCESSOR(id) (id >> 28)
#define SAMD_GET_FAMILY(id) (((id >> 23) & 0x1F))
#define SAMD_GET_SERIES(id) (((id >> 16) & 0x3F))
#define SAMD_GET_DEVSEL(id) (id & 0xFF)

/* Bits to mask out lockbits in user row */
#define NVMUSERROW_LOCKBIT_MASK ((uint64_t)0x0000FFFFFFFFFFFF)

struct samd_part {
        uint8_t id;
        const char *name;
        uint32_t flash_kb;
        uint32_t ram_kb;
};

/* Known SAMD09 parts. DID reset values missing in RM, see
 * https://github.com/avrxml/asf/blob/master/sam0/utils/cmsis/samd09/include/ */
static const struct samd_part samd09_parts[] = {
        { 0x0, "SAMD09D14A", 16, 4 },
        { 0x7, "SAMD09C13A", 8, 4 },
};

/* Known SAMD10 parts */
static const struct samd_part samd10_parts[] = {
        { 0x0, "SAMD10D14AMU", 16, 4 },
        { 0x1, "SAMD10D13AMU", 8, 4 },
        { 0x2, "SAMD10D12AMU", 4, 4 },
        { 0x3, "SAMD10D14ASU", 16, 4 },
        { 0x4, "SAMD10D13ASU", 8, 4 },
        { 0x5, "SAMD10D12ASU", 4, 4 },
        { 0x6, "SAMD10C14A", 16, 4 },
        { 0x7, "SAMD10C13A", 8, 4 },
        { 0x8, "SAMD10C12A", 4, 4 },
};

/* Known SAMD11 parts */
static const struct samd_part samd11_parts[] = {
        { 0x0, "SAMD11D14AMU", 16, 4 },
        { 0x1, "SAMD11D13AMU", 8, 4 },
        { 0x2, "SAMD11D12AMU", 4, 4 },
        { 0x3, "SAMD11D14ASU", 16, 4 },
        { 0x4, "SAMD11D13ASU", 8, 4 },
        { 0x5, "SAMD11D12ASU", 4, 4 },
        { 0x6, "SAMD11C14A", 16, 4 },
        { 0x7, "SAMD11C13A", 8, 4 },
        { 0x8, "SAMD11C12A", 4, 4 },
};

/* Known SAMD20 parts. See Table 12-8 in 42129F–SAM–10/2013 */
static const struct samd_part samd20_parts[] = {
        { 0x0, "SAMD20J18A", 256, 32 },
        { 0x1, "SAMD20J17A", 128, 16 },
        { 0x2, "SAMD20J16A", 64, 8 },
        { 0x3, "SAMD20J15A", 32, 4 },
        { 0x4, "SAMD20J14A", 16, 2 },
        { 0x5, "SAMD20G18A", 256, 32 },
        { 0x6, "SAMD20G17A", 128, 16 },
        { 0x7, "SAMD20G16A", 64, 8 },
        { 0x8, "SAMD20G15A", 32, 4 },
        { 0x9, "SAMD20G14A", 16, 2 },
        { 0xA, "SAMD20E18A", 256, 32 },
        { 0xB, "SAMD20E17A", 128, 16 },
        { 0xC, "SAMD20E16A", 64, 8 },
        { 0xD, "SAMD20E15A", 32, 4 },
        { 0xE, "SAMD20E14A", 16, 2 },
};

/* Known SAMD21 parts. */
static const struct samd_part samd21_parts[] = {
        { 0x0, "SAMD21J18A", 256, 32 },
        { 0x1, "SAMD21J17A", 128, 16 },
        { 0x2, "SAMD21J16A", 64, 8 },
        { 0x3, "SAMD21J15A", 32, 4 },
        { 0x4, "SAMD21J14A", 16, 2 },
        { 0x5, "SAMD21G18A", 256, 32 },
        { 0x6, "SAMD21G17A", 128, 16 },
        { 0x7, "SAMD21G16A", 64, 8 },
        { 0x8, "SAMD21G15A", 32, 4 },
        { 0x9, "SAMD21G14A", 16, 2 },
        { 0xA, "SAMD21E18A", 256, 32 },
        { 0xB, "SAMD21E17A", 128, 16 },
        { 0xC, "SAMD21E16A", 64, 8 },
        { 0xD, "SAMD21E15A", 32, 4 },
        { 0xE, "SAMD21E14A", 16, 2 },

    /* SAMR21 parts have integrated SAMD21 with a radio */
        { 0x19, "SAMR21G18A", 256, 32 },
        { 0x1A, "SAMR21G17A", 128, 32 },
        { 0x1B, "SAMR21G16A",  64, 32 },
        { 0x1C, "SAMR21E18A", 256, 32 },
        { 0x1D, "SAMR21E17A", 128, 32 },
        { 0x1E, "SAMR21E16A",  64, 32 },

    /* SAMD21 B Variants (Table 3-7 from rev I of datasheet) */
        { 0x20, "SAMD21J16B", 64, 8 },
        { 0x21, "SAMD21J15B", 32, 4 },
        { 0x23, "SAMD21G16B", 64, 8 },
        { 0x24, "SAMD21G15B", 32, 4 },
        { 0x26, "SAMD21E16B", 64, 8 },
        { 0x27, "SAMD21E15B", 32, 4 },
};

/* Known SAML21 parts. */
static const struct samd_part saml21_parts[] = {
        { 0x00, "SAML21J18A", 256, 32 },
        { 0x01, "SAML21J17A", 128, 16 },
        { 0x02, "SAML21J16A", 64, 8 },
        { 0x05, "SAML21G18A", 256, 32 },
        { 0x06, "SAML21G17A", 128, 16 },
        { 0x07, "SAML21G16A", 64, 8 },
        { 0x0A, "SAML21E18A", 256, 32 },
        { 0x0B, "SAML21E17A", 128, 16 },
        { 0x0C, "SAML21E16A", 64, 8 },
        { 0x0D, "SAML21E15A", 32, 4 },
        { 0x0F, "SAML21J18B", 256, 32 },
        { 0x10, "SAML21J17B", 128, 16 },
        { 0x11, "SAML21J16B", 64, 8 },
        { 0x14, "SAML21G18B", 256, 32 },
        { 0x15, "SAML21G17B", 128, 16 },
        { 0x16, "SAML21G16B", 64, 8 },
        { 0x19, "SAML21E18B", 256, 32 },
        { 0x1A, "SAML21E17B", 128, 16 },
        { 0x1B, "SAML21E16B", 64, 8 },
        { 0x1C, "SAML21E15B", 32, 4 },

    /* SAMR30 parts have integrated SAML21 with a radio */
        { 0x1E, "SAMR30G18A", 256, 32 },
        { 0x1F, "SAMR30E18A", 256, 32 },
};

/* Known SAML22 parts. */
static const struct samd_part saml22_parts[] = {
        { 0x00, "SAML22N18A", 256, 32 },
        { 0x01, "SAML22N17A", 128, 16 },
        { 0x02, "SAML22N16A", 64, 8 },
        { 0x05, "SAML22J18A", 256, 32 },
        { 0x06, "SAML22J17A", 128, 16 },
        { 0x07, "SAML22J16A", 64, 8 },
        { 0x0A, "SAML22G18A", 256, 32 },
        { 0x0B, "SAML22G17A", 128, 16 },
        { 0x0C, "SAML22G16A", 64, 8 },
};

/* Known SAMC20 parts. */
static const struct samd_part samc20_parts[] = {
        { 0x00, "SAMC20J18A", 256, 32 },
        { 0x01, "SAMC20J17A", 128, 16 },
        { 0x02, "SAMC20J16A", 64, 8 },
        { 0x03, "SAMC20J15A", 32, 4 },
        { 0x05, "SAMC20G18A", 256, 32 },
        { 0x06, "SAMC20G17A", 128, 16 },
        { 0x07, "SAMC20G16A", 64, 8 },
        { 0x08, "SAMC20G15A", 32, 4 },
        { 0x0A, "SAMC20E18A", 256, 32 },
        { 0x0B, "SAMC20E17A", 128, 16 },
        { 0x0C, "SAMC20E16A", 64, 8 },
        { 0x0D, "SAMC20E15A", 32, 4 },
};

/* Known SAMC21 parts. */
static const struct samd_part samc21_parts[] = {
        { 0x00, "SAMC21J18A", 256, 32 },
        { 0x01, "SAMC21J17A", 128, 16 },
        { 0x02, "SAMC21J16A", 64, 8 },
        { 0x03, "SAMC21J15A", 32, 4 },
        { 0x05, "SAMC21G18A", 256, 32 },
        { 0x06, "SAMC21G17A", 128, 16 },
        { 0x07, "SAMC21G16A", 64, 8 },
        { 0x08, "SAMC21G15A", 32, 4 },
        { 0x0A, "SAMC21E18A", 256, 32 },
        { 0x0B, "SAMC21E17A", 128, 16 },
        { 0x0C, "SAMC21E16A", 64, 8 },
        { 0x0D, "SAMC21E15A", 32, 4 },
};

/* Each family of parts contains a parts table in the DEVSEL field of DID.  The
 * processor ID, family ID, and series ID are used to determine which exact
 * family this is and then we can use the corresponding table. */
struct samd_family {
        uint8_t processor;
        uint8_t family;
        uint8_t series;
        const struct samd_part *parts;
        size_t num_parts;
        uint64_t nvm_userrow_res_mask; /* protect bits which are reserved, 0 -> protect */
};

/* Known SAMD families */
static const struct samd_family samd_families[] = {
        { SAMD_PROCESSOR_M0, SAMD_FAMILY_D, SAMD_SERIES_20,
                samd20_parts, ARRAY_SIZE(samd20_parts),
                (uint64_t)0xFFFF01FFFE01FF77 },
        { SAMD_PROCESSOR_M0, SAMD_FAMILY_D, SAMD_SERIES_21,
                samd21_parts, ARRAY_SIZE(samd21_parts),
                (uint64_t)0xFFFF01FFFE01FF77 },
        { SAMD_PROCESSOR_M0, SAMD_FAMILY_D, SAMD_SERIES_09,
                samd09_parts, ARRAY_SIZE(samd09_parts),
                (uint64_t)0xFFFF01FFFE01FF77 },
        { SAMD_PROCESSOR_M0, SAMD_FAMILY_D, SAMD_SERIES_10,
                samd10_parts, ARRAY_SIZE(samd10_parts),
                (uint64_t)0xFFFF01FFFE01FF77 },
        { SAMD_PROCESSOR_M0, SAMD_FAMILY_D, SAMD_SERIES_11,
                samd11_parts, ARRAY_SIZE(samd11_parts),
                (uint64_t)0xFFFF01FFFE01FF77 },
        { SAMD_PROCESSOR_M0, SAMD_FAMILY_L, SAMD_SERIES_21,
                saml21_parts, ARRAY_SIZE(saml21_parts),
                (uint64_t)0xFFFF03FFFC01FF77 },
        { SAMD_PROCESSOR_M0, SAMD_FAMILY_L, SAMD_SERIES_22,
                saml22_parts, ARRAY_SIZE(saml22_parts),
                (uint64_t)0xFFFF03FFFC01FF77 },
        { SAMD_PROCESSOR_M0, SAMD_FAMILY_C, SAMD_SERIES_20,
                samc20_parts, ARRAY_SIZE(samc20_parts),
                (uint64_t)0xFFFF03FFFC01FF77 },
        { SAMD_PROCESSOR_M0, SAMD_FAMILY_C, SAMD_SERIES_21,
                samc21_parts, ARRAY_SIZE(samc21_parts),
                (uint64_t)0xFFFF03FFFC01FF77 },
};

struct samd_info {
        uint32_t page_size;
        int num_pages;
        int sector_size;
        int prot_block_size;

        bool probed;
        struct target *target;
};


/**
 * Gives the family structure to specific device id.
 * @param id The id of the device.
 * @return On failure NULL, otherwise a pointer to the structure.
 */
static const struct samd_family *samd_find_family(uint32_t id)
{
        uint8_t processor = SAMD_GET_PROCESSOR(id);
        uint8_t family = SAMD_GET_FAMILY(id);
        uint8_t series = SAMD_GET_SERIES(id);

        for (unsigned i = 0; i < ARRAY_SIZE(samd_families); i++) {
                if (samd_families[i].processor == processor &&
                        samd_families[i].series == series &&
                        samd_families[i].family == family)
                        return &samd_families[i];
        }

        return NULL;
}

/**
 * Gives the part structure to specific device id.
 * @param id The id of the device.
 * @return On failure NULL, otherwise a pointer to the structure.
 */
static const struct samd_part *samd_find_part(uint32_t id)
{
        uint8_t devsel = SAMD_GET_DEVSEL(id);
        const struct samd_family *family = samd_find_family(id);
        if (family == NULL)
                return NULL;

        for (unsigned i = 0; i < family->num_parts; i++) {
                if (family->parts[i].id == devsel)
                        return &family->parts[i];
        }

        return NULL;
}

static int samd_protect_check(struct flash_bank *bank)
{
        int res, prot_block;
        uint16_t lock;

        res = target_read_u16(bank->target,
                        SAMD_NVMCTRL + SAMD_NVMCTRL_LOCK, &lock);
        if (res != ERROR_OK)
                return res;

        /* Lock bits are active-low */
        for (prot_block = 0; prot_block < bank->num_prot_blocks; prot_block++)
                bank->prot_blocks[prot_block].is_protected = !(lock & (1u<<prot_block));

        return ERROR_OK;
}

static int samd_get_flash_page_info(struct target *target,
                uint32_t *sizep, int *nump)
{
        int res;
        uint32_t param;

        res = target_read_u32(target, SAMD_NVMCTRL + SAMD_NVMCTRL_PARAM, &param);
        if (res == ERROR_OK) {
                /* The PSZ field (bits 18:16) indicate the page size bytes as 2^(3+n)
                 * so 0 is 8KB and 7 is 1024KB. */
                if (sizep)
                        *sizep = (8 << ((param >> 16) & 0x7));
                /* The NVMP field (bits 15:0) indicates the total number of pages */
                if (nump)
                        *nump = param & 0xFFFF;
        } else {
                LOG_ERROR("Couldn't read NVM Parameters register");
        }

        return res;
}

static int samd_probe(struct flash_bank *bank)
{
        uint32_t id;
        int res;
        struct samd_info *chip = (struct samd_info *)bank->driver_priv;
        const struct samd_part *part;

        if (chip->probed)
                return ERROR_OK;

        res = target_read_u32(bank->target, SAMD_DSU + SAMD_DSU_DID, &id);
        if (res != ERROR_OK) {
                LOG_ERROR("Couldn't read Device ID register");
                return res;
        }

        part = samd_find_part(id);
        if (part == NULL) {
                LOG_ERROR("Couldn't find part corresponding to DID %08" PRIx32, id);
                return ERROR_FAIL;
        }

        bank->size = part->flash_kb * 1024;

        res = samd_get_flash_page_info(bank->target, &chip->page_size,
                        &chip->num_pages);
        if (res != ERROR_OK) {
                LOG_ERROR("Couldn't determine Flash page size");
                return res;
        }

        /* Sanity check: the total flash size in the DSU should match the page size
         * multiplied by the number of pages. */
        if (bank->size != chip->num_pages * chip->page_size) {
                LOG_WARNING("SAMD: bank size doesn't match NVM parameters. "
                                "Identified %" PRIu32 "KB Flash but NVMCTRL reports %u %" PRIu32 "B pages",
                                part->flash_kb, chip->num_pages, chip->page_size);
        }

        /* Erase granularity = 1 row = 4 pages */
        chip->sector_size = chip->page_size * 4;

        /* Allocate the sector table */
        bank->num_sectors = chip->num_pages / 4;
        bank->sectors = alloc_block_array(0, chip->sector_size, bank->num_sectors);
        if (!bank->sectors)
                return ERROR_FAIL;

        /* 16 protection blocks per device */
        chip->prot_block_size = bank->size / SAMD_NUM_PROT_BLOCKS;

        /* Allocate the table of protection blocks */
        bank->num_prot_blocks = SAMD_NUM_PROT_BLOCKS;
        bank->prot_blocks = alloc_block_array(0, chip->prot_block_size, bank->num_prot_blocks);
        if (!bank->prot_blocks)
                return ERROR_FAIL;

        samd_protect_check(bank);

        /* Done */
        chip->probed = true;

        LOG_INFO("SAMD MCU: %s (%" PRIu32 "KB Flash, %" PRIu32 "KB RAM)", part->name,
                        part->flash_kb, part->ram_kb);

        return ERROR_OK;
}

static int samd_check_error(struct target *target)
{
        int ret, ret2;
        uint16_t status;

        ret = target_read_u16(target,
                        SAMD_NVMCTRL + SAMD_NVMCTRL_STATUS, &status);
        if (ret != ERROR_OK) {
                LOG_ERROR("Can't read NVM status");
                return ret;
        }

        if ((status & 0x001C) == 0)
                return ERROR_OK;

        if (status & (1 << 4)) { /* NVME */
                LOG_ERROR("SAMD: NVM Error");
                ret = ERROR_FLASH_OPERATION_FAILED;
        }

        if (status & (1 << 3)) { /* LOCKE */
                LOG_ERROR("SAMD: NVM lock error");
                ret = ERROR_FLASH_PROTECTED;
        }

        if (status & (1 << 2)) { /* PROGE */
                LOG_ERROR("SAMD: NVM programming error");
                ret = ERROR_FLASH_OPER_UNSUPPORTED;
        }

        /* Clear the error conditions by writing a one to them */
        ret2 = target_write_u16(target,
                        SAMD_NVMCTRL + SAMD_NVMCTRL_STATUS, status);
        if (ret2 != ERROR_OK)
                LOG_ERROR("Can't clear NVM error conditions");

        return ret;
}

static int samd_issue_nvmctrl_command(struct target *target, uint16_t cmd)
{
        int res;

        if (target->state != TARGET_HALTED) {
                LOG_ERROR("Target not halted");
                return ERROR_TARGET_NOT_HALTED;
        }

        /* Issue the NVM command */
        res = target_write_u16(target,
                        SAMD_NVMCTRL + SAMD_NVMCTRL_CTRLA, SAMD_NVM_CMD(cmd));
        if (res != ERROR_OK)
                return res;

        /* Check to see if the NVM command resulted in an error condition. */
        return samd_check_error(target);
}

/**
 * Erases a flash-row at the given address.
 * @param target Pointer to the target structure.
 * @param address The address of the row.
 * @return On success ERROR_OK, on failure an errorcode.
 */
static int samd_erase_row(struct target *target, uint32_t address)
{
        int res;

        /* Set an address contained in the row to be erased */
        res = target_write_u32(target,
                        SAMD_NVMCTRL + SAMD_NVMCTRL_ADDR, address >> 1);

        /* Issue the Erase Row command to erase that row. */
        if (res == ERROR_OK)
                res = samd_issue_nvmctrl_command(target,
                                address == SAMD_USER_ROW ? SAMD_NVM_CMD_EAR : SAMD_NVM_CMD_ER);

        if (res != ERROR_OK)  {
                LOG_ERROR("Failed to erase row containing %08" PRIx32, address);
                return ERROR_FAIL;
        }

        return ERROR_OK;
}

/**
 * Returns the bitmask of reserved bits in register.
 * @param target Pointer to the target structure.
 * @param mask Bitmask, 0 -> value stays untouched.
 * @return On success ERROR_OK, on failure an errorcode.
 */
static int samd_get_reservedmask(struct target *target, uint64_t *mask)
{
        int res;
        /* Get the devicetype */
        uint32_t id;
        res = target_read_u32(target, SAMD_DSU + SAMD_DSU_DID, &id);
        if (res != ERROR_OK) {
                LOG_ERROR("Couldn't read Device ID register");
                return res;
        }
        const struct samd_family *family;
        family = samd_find_family(id);
        if (family == NULL) {
                LOG_ERROR("Couldn't determine device family");
                return ERROR_FAIL;
        }
        *mask = family->nvm_userrow_res_mask;
        return ERROR_OK;
}

static int read_userrow(struct target *target, uint64_t *userrow)
{
        int res;
        uint8_t buffer[8];

        res = target_read_memory(target, SAMD_USER_ROW, 4, 2, buffer);
        if (res != ERROR_OK)
                return res;

        *userrow = target_buffer_get_u64(target, buffer);
        return ERROR_OK;
}

/**
 * Modify the contents of the User Row in Flash. The User Row itself
 * has a size of one page and contains a combination of "fuses" and
 * calibration data. Bits which have a value of zero in the mask will
 * not be changed. Up to now devices only use the first 64 bits.
 * @param target Pointer to the target structure.
 * @param value_input The value to write.
 * @param value_mask Bitmask, 0 -> value stays untouched.
 * @return On success ERROR_OK, on failure an errorcode.
 */
static int samd_modify_user_row_masked(struct target *target,
                uint64_t value_input, uint64_t value_mask)
{
        int res;
        uint32_t nvm_ctrlb;
        bool manual_wp = true;

        /* Retrieve the MCU's page size, in bytes. This is also the size of the
         * entire User Row. */
        uint32_t page_size;
        res = samd_get_flash_page_info(target, &page_size, NULL);
        if (res != ERROR_OK) {
                LOG_ERROR("Couldn't determine Flash page size");
                return res;
        }

        /* Make sure the size is sane. */
        assert(page_size <= SAMD_PAGE_SIZE_MAX &&
                page_size >= sizeof(value_input));

        uint8_t buf[SAMD_PAGE_SIZE_MAX];
        /* Read the user row (comprising one page) by words. */
        res = target_read_memory(target, SAMD_USER_ROW, 4, page_size / 4, buf);
        if (res != ERROR_OK)
                return res;

        uint64_t value_device;
        res = read_userrow(target, &value_device);
        if (res != ERROR_OK)
                return res;
        uint64_t value_new = (value_input & value_mask) | (value_device & ~value_mask);

        /* We will need to erase before writing if the new value needs a '1' in any
         * position for which the current value had a '0'.  Otherwise we can avoid
         * erasing. */
        if ((~value_device) & value_new) {
                res = samd_erase_row(target, SAMD_USER_ROW);
                if (res != ERROR_OK) {
                        LOG_ERROR("Couldn't erase user row");
                        return res;
                }
        }

        /* Modify */
        target_buffer_set_u64(target, buf, value_new);

        /* Write the page buffer back out to the target. */
        res = target_write_memory(target, SAMD_USER_ROW, 4, page_size / 4, buf);
        if (res != ERROR_OK)
                return res;

        /* Check if we need to do manual page write commands */
        res = target_read_u32(target, SAMD_NVMCTRL + SAMD_NVMCTRL_CTRLB, &nvm_ctrlb);
        if (res == ERROR_OK)
                manual_wp = (nvm_ctrlb & SAMD_NVM_CTRLB_MANW) != 0;
        else {
                LOG_ERROR("Read of NVM register CTRKB failed.");
                return ERROR_FAIL;
        }
        if (manual_wp) {
                /* Trigger flash write */
                res = samd_issue_nvmctrl_command(target, SAMD_NVM_CMD_WAP);
        } else {
                res = samd_check_error(target);
        }

        return res;
}

/**
 * Modifies the user row register to the given value.
 * @param target Pointer to the target structure.
 * @param value The value to write.
 * @param startb The bit-offset by which the given value is shifted.
 * @param endb The bit-offset of the last bit in value to write.
 * @return On success ERROR_OK, on failure an errorcode.
 */
static int samd_modify_user_row(struct target *target, uint64_t value,
                uint8_t startb, uint8_t endb)
{
        uint64_t mask = 0;
        int i;
        for (i = startb ; i <= endb ; i++)
                mask |= ((uint64_t)1) << i;

        return samd_modify_user_row_masked(target, value << startb, mask);
}

static int samd_protect(struct flash_bank *bank, int set, int first_prot_bl, int last_prot_bl)
{
        int res = ERROR_OK;
        int prot_block;

        /* We can issue lock/unlock region commands with the target running but
         * the settings won't persist unless we're able to modify the LOCK regions
         * and that requires the target to be halted. */
        if (bank->target->state != TARGET_HALTED) {
                LOG_ERROR("Target not halted");
                return ERROR_TARGET_NOT_HALTED;
        }

        for (prot_block = first_prot_bl; prot_block <= last_prot_bl; prot_block++) {
                if (set != bank->prot_blocks[prot_block].is_protected) {
                        /* Load an address that is within this protection block (we use offset 0) */
                        res = target_write_u32(bank->target,
                                                        SAMD_NVMCTRL + SAMD_NVMCTRL_ADDR,
                                                        bank->prot_blocks[prot_block].offset >> 1);
                        if (res != ERROR_OK)
                                goto exit;

                        /* Tell the controller to lock that block */
                        res = samd_issue_nvmctrl_command(bank->target,
                                        set ? SAMD_NVM_CMD_LR : SAMD_NVM_CMD_UR);
                        if (res != ERROR_OK)
                                goto exit;
                }
        }

        /* We've now applied our changes, however they will be undone by the next
         * reset unless we also apply them to the LOCK bits in the User Page.  The
         * LOCK bits start at bit 48, corresponding to Sector 0 and end with bit 63,
         * corresponding to Sector 15.  A '1' means unlocked and a '0' means
         * locked.  See Table 9-3 in the SAMD20 datasheet for more details. */

        res = samd_modify_user_row(bank->target,
                        set ? (uint64_t)0 : (uint64_t)UINT64_MAX,
                        48 + first_prot_bl, 48 + last_prot_bl);
        if (res != ERROR_OK)
                LOG_WARNING("SAMD: protect settings were not made persistent!");

        res = ERROR_OK;

exit:
        samd_protect_check(bank);

        return res;
}

static int samd_erase(struct flash_bank *bank, int first_sect, int last_sect)
{
        int res, s;
        struct samd_info *chip = (struct samd_info *)bank->driver_priv;

        if (bank->target->state != TARGET_HALTED) {
                LOG_ERROR("Target not halted");

                return ERROR_TARGET_NOT_HALTED;
        }

        if (!chip->probed) {
                if (samd_probe(bank) != ERROR_OK)
                        return ERROR_FLASH_BANK_NOT_PROBED;
        }

        /* For each sector to be erased */
        for (s = first_sect; s <= last_sect; s++) {
                res = samd_erase_row(bank->target, bank->sectors[s].offset);
                if (res != ERROR_OK) {
                        LOG_ERROR("SAMD: failed to erase sector %d at 0x%08" PRIx32, s, bank->sectors[s].offset);
                        return res;
                }
        }

        return ERROR_OK;
}


static int samd_write(struct flash_bank *bank, const uint8_t *buffer,
                uint32_t offset, uint32_t count)
{
        int res;
        uint32_t nvm_ctrlb;
        uint32_t address;
        uint32_t pg_offset;
        uint32_t nb;
        uint32_t nw;
        struct samd_info *chip = (struct samd_info *)bank->driver_priv;
        uint8_t *pb = NULL;
        bool manual_wp;

        if (bank->target->state != TARGET_HALTED) {
                LOG_ERROR("Target not halted");
                return ERROR_TARGET_NOT_HALTED;
        }

        if (!chip->probed) {
                if (samd_probe(bank) != ERROR_OK)
                        return ERROR_FLASH_BANK_NOT_PROBED;
        }

        /* Check if we need to do manual page write commands */
        res = target_read_u32(bank->target, SAMD_NVMCTRL + SAMD_NVMCTRL_CTRLB, &nvm_ctrlb);

        if (res != ERROR_OK)
                return res;

        if (nvm_ctrlb & SAMD_NVM_CTRLB_MANW)
                manual_wp = true;
        else
                manual_wp = false;

        res = samd_issue_nvmctrl_command(bank->target, SAMD_NVM_CMD_PBC);
        if (res != ERROR_OK) {
                LOG_ERROR("%s: %d", __func__, __LINE__);
                return res;
        }

        while (count) {
                nb = chip->page_size - offset % chip->page_size;
                if (count < nb)
                        nb = count;

                address = bank->base + offset;
                pg_offset = offset % chip->page_size;

                if (offset % 4 || (offset + nb) % 4) {
                        /* Either start or end of write is not word aligned */
                        if (!pb) {
                                pb = malloc(chip->page_size);
                                if (!pb)
                                        return ERROR_FAIL;
                        }

                        /* Set temporary page buffer to 0xff and overwrite the relevant part */
                        memset(pb, 0xff, chip->page_size);
                        memcpy(pb + pg_offset, buffer, nb);

                        /* Align start address to a word boundary */
                        address -= offset % 4;
                        pg_offset -= offset % 4;
                        assert(pg_offset % 4 == 0);

                        /* Extend length to whole words */
                        nw = (nb + offset % 4 + 3) / 4;
                        assert(pg_offset + 4 * nw <= chip->page_size);

                        /* Now we have original data extended by 0xff bytes
                         * to the nearest word boundary on both start and end */
                        res = target_write_memory(bank->target, address, 4, nw, pb + pg_offset);
                } else {
                        assert(nb % 4 == 0);
                        nw = nb / 4;
                        assert(pg_offset + 4 * nw <= chip->page_size);

                        /* Word aligned data, use direct write from buffer */
                        res = target_write_memory(bank->target, address, 4, nw, buffer);
                }
                if (res != ERROR_OK) {
                        LOG_ERROR("%s: %d", __func__, __LINE__);
                        goto free_pb;
                }

                /* Devices with errata 13134 have automatic page write enabled by default
                 * For other devices issue a write page CMD to the NVM
                 * If the page has not been written up to the last word
                 * then issue CMD_WP always */
                if (manual_wp || pg_offset + 4 * nw < chip->page_size) {
                        res = samd_issue_nvmctrl_command(bank->target, SAMD_NVM_CMD_WP);
                } else {
                        /* Access through AHB is stalled while flash is being programmed */
                        usleep(200);

                        res = samd_check_error(bank->target);
                }

                if (res != ERROR_OK) {
                        LOG_ERROR("%s: write failed at address 0x%08" PRIx32, __func__, address);
                        goto free_pb;
                }

                /* We're done with the page contents */
                count -= nb;
                offset += nb;
                buffer += nb;
        }

free_pb:
        if (pb)
                free(pb);

        return res;
}

FLASH_BANK_COMMAND_HANDLER(samd_flash_bank_command)
{
        if (bank->base != SAMD_FLASH) {
                LOG_ERROR("Address 0x%08" PRIx32 " invalid bank address (try 0x%08" PRIx32
                                "[at91samd series] )",
                                bank->base, SAMD_FLASH);
                return ERROR_FAIL;
        }

        struct samd_info *chip;
        chip = calloc(1, sizeof(*chip));
        if (!chip) {
                LOG_ERROR("No memory for flash bank chip info");
                return ERROR_FAIL;
        }

        chip->target = bank->target;
        chip->probed = false;

        bank->driver_priv = chip;

        return ERROR_OK;
}

COMMAND_HANDLER(samd_handle_info_command)
{
        return ERROR_OK;
}

COMMAND_HANDLER(samd_handle_chip_erase_command)
{
        struct target *target = get_current_target(CMD_CTX);
        int res = ERROR_FAIL;

        if (target) {
                /* Enable access to the DSU by disabling the write protect bit */
                target_write_u32(target, SAMD_PAC1, (1<<1));
                /* intentionally without error checking - not accessible on secured chip */

                /* Tell the DSU to perform a full chip erase.  It takes about 240ms to
                 * perform the erase. */
                res = target_write_u8(target, SAMD_DSU + SAMD_DSU_CTRL_EXT, (1<<4));
                if (res == ERROR_OK)
                        command_print(CMD_CTX, "chip erase started");
                else
                        command_print(CMD_CTX, "write to DSU CTRL failed");
        }

        return res;
}

COMMAND_HANDLER(samd_handle_set_security_command)
{
        int res = ERROR_OK;
        struct target *target = get_current_target(CMD_CTX);

        if (CMD_ARGC < 1 || (CMD_ARGC >= 1 && (strcmp(CMD_ARGV[0], "enable")))) {
                command_print(CMD_CTX, "supply the \"enable\" argument to proceed.");
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        if (target) {
                if (target->state != TARGET_HALTED) {
                        LOG_ERROR("Target not halted");
                        return ERROR_TARGET_NOT_HALTED;
                }

                res = samd_issue_nvmctrl_command(target, SAMD_NVM_CMD_SSB);

                /* Check (and clear) error conditions */
                if (res == ERROR_OK)
                        command_print(CMD_CTX, "chip secured on next power-cycle");
                else
                        command_print(CMD_CTX, "failed to secure chip");
        }

        return res;
}

COMMAND_HANDLER(samd_handle_eeprom_command)
{
        int res = ERROR_OK;
        struct target *target = get_current_target(CMD_CTX);

        if (target) {
                if (target->state != TARGET_HALTED) {
                        LOG_ERROR("Target not halted");
                        return ERROR_TARGET_NOT_HALTED;
                }

                if (CMD_ARGC >= 1) {
                        int val = atoi(CMD_ARGV[0]);
                        uint32_t code;

                        if (val == 0)
                                code = 7;
                        else {
                                /* Try to match size in bytes with corresponding size code */
                                for (code = 0; code <= 6; code++) {
                                        if (val == (2 << (13 - code)))
                                                break;
                                }

                                if (code > 6) {
                                        command_print(CMD_CTX, "Invalid EEPROM size.  Please see "
                                                        "datasheet for a list valid sizes.");
                                        return ERROR_COMMAND_SYNTAX_ERROR;
                                }
                        }

                        res = samd_modify_user_row(target, code, 4, 6);
                } else {
                        uint16_t val;
                        res = target_read_u16(target, SAMD_USER_ROW, &val);
                        if (res == ERROR_OK) {
                                uint32_t size = ((val >> 4) & 0x7); /* grab size code */

                                if (size == 0x7)
                                        command_print(CMD_CTX, "EEPROM is disabled");
                                else {
                                        /* Otherwise, 6 is 256B, 0 is 16KB */
                                        command_print(CMD_CTX, "EEPROM size is %u bytes",
                                                        (2 << (13 - size)));
                                }
                        }
                }
        }

        return res;
}

static COMMAND_HELPER(get_u64_from_hexarg, unsigned int num, uint64_t *value)
{
        if (num >= CMD_ARGC) {
                command_print(CMD_CTX, "Too few Arguments.");
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        if (strlen(CMD_ARGV[num]) >= 3 &&
                CMD_ARGV[num][0] == '0' &&
                CMD_ARGV[num][1] == 'x') {
                char *check = NULL;
                *value = strtoull(&(CMD_ARGV[num][2]), &check, 16);
                if ((value == 0 && errno == ERANGE) ||
                        check == NULL || *check != 0) {
                        command_print(CMD_CTX, "Invalid 64-bit hex value in argument %d.",
                                num + 1);
                        return ERROR_COMMAND_SYNTAX_ERROR;
                }
        } else {
                command_print(CMD_CTX, "Argument %d needs to be a hex value.", num + 1);
                return ERROR_COMMAND_SYNTAX_ERROR;
        }
        return ERROR_OK;
}

COMMAND_HANDLER(samd_handle_nvmuserrow_command)
{
        int res = ERROR_OK;
        struct target *target = get_current_target(CMD_CTX);

        if (target) {
                if (CMD_ARGC > 2) {
                        command_print(CMD_CTX, "Too much Arguments given.");
                        return ERROR_COMMAND_SYNTAX_ERROR;
                }

                if (CMD_ARGC > 0) {
                        if (target->state != TARGET_HALTED) {
                                LOG_ERROR("Target not halted.");
                                return ERROR_TARGET_NOT_HALTED;
                        }

                        uint64_t mask;
                        res = samd_get_reservedmask(target, &mask);
                        if (res != ERROR_OK) {
                                LOG_ERROR("Couldn't determine the mask for reserved bits.");
                                return ERROR_FAIL;
                        }
                        mask &= NVMUSERROW_LOCKBIT_MASK;

                        uint64_t value;
                        res = CALL_COMMAND_HANDLER(get_u64_from_hexarg, 0, &value);
                        if (res != ERROR_OK)
                                return res;
                        if (CMD_ARGC == 2) {
                                uint64_t mask_temp;
                                res = CALL_COMMAND_HANDLER(get_u64_from_hexarg, 1, &mask_temp);
                                if (res != ERROR_OK)
                                        return res;
                                mask &= mask_temp;
                        }
                        res = samd_modify_user_row_masked(target, value, mask);
                        if (res != ERROR_OK)
                                return res;
                }

                /* read register */
                uint64_t value;
                res = read_userrow(target, &value);
                if (res == ERROR_OK)
                        command_print(CMD_CTX, "NVMUSERROW: 0x%016"PRIX64, value);
                else
                        LOG_ERROR("NVMUSERROW could not be read.");
        }
        return res;
}

COMMAND_HANDLER(samd_handle_bootloader_command)
{
        int res = ERROR_OK;
        struct target *target = get_current_target(CMD_CTX);

        if (target) {
                if (target->state != TARGET_HALTED) {
                        LOG_ERROR("Target not halted");
                        return ERROR_TARGET_NOT_HALTED;
                }

                /* Retrieve the MCU's page size, in bytes. */
                uint32_t page_size;
                res = samd_get_flash_page_info(target, &page_size, NULL);
                if (res != ERROR_OK) {
                        LOG_ERROR("Couldn't determine Flash page size");
                        return res;
                }

                if (CMD_ARGC >= 1) {
                        int val = atoi(CMD_ARGV[0]);
                        uint32_t code;

                        if (val == 0)
                                code = 7;
                        else {
                                /* Try to match size in bytes with corresponding size code */
                                for (code = 0; code <= 6; code++) {
                                        if ((unsigned int)val == (2UL << (8UL - code)) * page_size)
                                                break;
                                }

                                if (code > 6) {
                                        command_print(CMD_CTX, "Invalid bootloader size.  Please "
                                                        "see datasheet for a list valid sizes.");
                                        return ERROR_COMMAND_SYNTAX_ERROR;
                                }

                        }

                        res = samd_modify_user_row(target, code, 0, 2);
                } else {
                        uint16_t val;
                        res = target_read_u16(target, SAMD_USER_ROW, &val);
                        if (res == ERROR_OK) {
                                uint32_t size = (val & 0x7); /* grab size code */
                                uint32_t nb;

                                if (size == 0x7)
                                        nb = 0;
                                else
                                        nb = (2 << (8 - size)) * page_size;

                                /* There are 4 pages per row */
                                command_print(CMD_CTX, "Bootloader size is %" PRIu32 " bytes (%" PRIu32 " rows)",
                                           nb, (uint32_t)(nb / (page_size * 4)));
                        }
                }
        }

        return res;
}



COMMAND_HANDLER(samd_handle_reset_deassert)
{
        struct target *target = get_current_target(CMD_CTX);
        int retval = ERROR_OK;
        enum reset_types jtag_reset_config = jtag_get_reset_config();

        /* If the target has been unresponsive before, try to re-establish
         * communication now - CPU is held in reset by DSU, DAP is working */
        if (!target_was_examined(target))
                target_examine_one(target);
        target_poll(target);

        /* In case of sysresetreq, debug retains state set in cortex_m_assert_reset()
         * so we just release reset held by DSU
         *
         * n_RESET (srst) clears the DP, so reenable debug and set vector catch here
         *
         * After vectreset DSU release is not needed however makes no harm
         */
        if (target->reset_halt && (jtag_reset_config & RESET_HAS_SRST)) {
                retval = target_write_u32(target, DCB_DHCSR, DBGKEY | C_HALT | C_DEBUGEN);
                if (retval == ERROR_OK)
                        retval = target_write_u32(target, DCB_DEMCR,
                                TRCENA | VC_HARDERR | VC_BUSERR | VC_CORERESET);
                /* do not return on error here, releasing DSU reset is more important */
        }

        /* clear CPU Reset Phase Extension bit */
        int retval2 = target_write_u8(target, SAMD_DSU + SAMD_DSU_STATUSA, (1<<1));
        if (retval2 != ERROR_OK)
                return retval2;

        return retval;
}

static const struct command_registration at91samd_exec_command_handlers[] = {
        {
                .name = "dsu_reset_deassert",
                .handler = samd_handle_reset_deassert,
                .mode = COMMAND_EXEC,
                .help = "Deasert internal reset held by DSU."
        },
        {
                .name = "info",
                .handler = samd_handle_info_command,
                .mode = COMMAND_EXEC,
                .help = "Print information about the current at91samd chip "
                        "and its flash configuration.",
        },
        {
                .name = "chip-erase",
                .handler = samd_handle_chip_erase_command,
                .mode = COMMAND_EXEC,
                .help = "Erase the entire Flash by using the Chip-"
                        "Erase feature in the Device Service Unit (DSU).",
        },
        {
                .name = "set-security",
                .handler = samd_handle_set_security_command,
                .mode = COMMAND_EXEC,
                .help = "Secure the chip's Flash by setting the Security Bit. "
                        "This makes it impossible to read the Flash contents. "
                        "The only way to undo this is to issue the chip-erase "
                        "command.",
        },
        {
                .name = "eeprom",
                .usage = "[size_in_bytes]",
                .handler = samd_handle_eeprom_command,
                .mode = COMMAND_EXEC,
                .help = "Show or set the EEPROM size setting, stored in the User Row. "
                        "Please see Table 20-3 of the SAMD20 datasheet for allowed values. "
                        "Changes are stored immediately but take affect after the MCU is "
                        "reset.",
        },
        {
                .name = "bootloader",
                .usage = "[size_in_bytes]",
                .handler = samd_handle_bootloader_command,
                .mode = COMMAND_EXEC,
                .help = "Show or set the bootloader size, stored in the User Row. "
                        "Please see Table 20-2 of the SAMD20 datasheet for allowed values. "
                        "Changes are stored immediately but take affect after the MCU is "
                        "reset.",
        },
        {
                .name = "nvmuserrow",
                .usage = "[value] [mask]",
                .handler = samd_handle_nvmuserrow_command,
                .mode = COMMAND_EXEC,
                .help = "Show or set the nvmuserrow register. It is 64 bit wide "
                        "and located at address 0x804000. Use the optional mask argument "
                        "to prevent changes at positions where the bitvalue is zero. "
                        "For security reasons the lock- and reserved-bits are masked out "
                        "in background and therefore cannot be changed.",
        },
        COMMAND_REGISTRATION_DONE
};

static const struct command_registration at91samd_command_handlers[] = {
        {
                .name = "at91samd",
                .mode = COMMAND_ANY,
                .help = "at91samd flash command group",
                .usage = "",
                .chain = at91samd_exec_command_handlers,
        },
        COMMAND_REGISTRATION_DONE
};

struct flash_driver at91samd_flash = {
        .name = "at91samd",
        .commands = at91samd_command_handlers,
        .flash_bank_command = samd_flash_bank_command,
        .erase = samd_erase,
        .protect = samd_protect,
        .write = samd_write,
        .read = default_flash_read,
        .probe = samd_probe,
        .auto_probe = samd_probe,
        .erase_check = default_flash_blank_check,
        .protect_check = samd_protect_check,
        .free_driver_priv = default_flash_free_driver_priv,
};