1 // SPDX-License-Identifier: GPL-2.0-or-later
3 /***************************************************************************
4 * Copyright (C) 2005 by Dominic Rath *
5 * Dominic.Rath@gmx.de *
7 * Copyright (C) 2007,2008 Øyvind Harboe *
8 * oyvind.harboe@zylin.com *
9 ***************************************************************************/
11 /* 2014-12: Addition of the SWD protocol support is based on the initial work
12 * by Paul Fertser and modifications by Jean-Christian de Rivaz. */
19 #include <jtag/interface.h>
20 #include <jtag/commands.h>
23 * Function bitbang_stableclocks
24 * issues a number of clock cycles while staying in a stable state.
25 * Because the TMS value required to stay in the RESET state is a 1, whereas
26 * the TMS value required to stay in any of the other stable states is a 0,
27 * this function checks the current stable state to decide on the value of TMS
30 static int bitbang_stableclocks(int num_cycles
);
32 static void bitbang_swd_write_reg(uint8_t cmd
, uint32_t value
, uint32_t ap_delay_clk
);
34 struct bitbang_interface
*bitbang_interface
;
36 /* DANGER!!!! clock absolutely *MUST* be 0 in idle or reset won't work!
38 * Set this to 1 and str912 reset halt will fail.
40 * If someone can submit a patch with an explanation it will be greatly
41 * appreciated, but as far as I can tell (ØH) DCLK is generated upon
42 * clk = 0 in TAP_IDLE. Good luck deducing that from the ARM documentation!
43 * The ARM documentation uses the term "DCLK is asserted while in the TAP_IDLE
44 * state". With hardware there is no such thing as *while* in a state. There
45 * are only edges. So clk => 0 is in fact a very subtle state transition that
46 * happens *while* in the TAP_IDLE state. "#&¤"#¤&"#&"#&
48 * For "reset halt" the last thing that happens before srst is asserted
49 * is that the breakpoint is set up. If DCLK is not wiggled one last
50 * time before the reset, then the breakpoint is not set up and
51 * "reset halt" will fail to halt.
54 #define CLOCK_IDLE() 0
56 /* The bitbang driver leaves the TCK 0 when in idle */
57 static void bitbang_end_state(tap_state_t state
)
59 assert(tap_is_state_stable(state
));
60 tap_set_end_state(state
);
63 static int bitbang_state_move(int skip
)
66 uint8_t tms_scan
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
67 int tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
69 for (i
= skip
; i
< tms_count
; i
++) {
70 tms
= (tms_scan
>> i
) & 1;
71 if (bitbang_interface
->write(0, tms
, 0) != ERROR_OK
)
73 if (bitbang_interface
->write(1, tms
, 0) != ERROR_OK
)
76 if (bitbang_interface
->write(CLOCK_IDLE(), tms
, 0) != ERROR_OK
)
79 tap_set_state(tap_get_end_state());
84 * Clock a bunch of TMS (or SWDIO) transitions, to change the JTAG
85 * (or SWD) state machine.
87 static int bitbang_execute_tms(struct jtag_command
*cmd
)
89 unsigned num_bits
= cmd
->cmd
.tms
->num_bits
;
90 const uint8_t *bits
= cmd
->cmd
.tms
->bits
;
92 LOG_DEBUG_IO("TMS: %d bits", num_bits
);
95 for (unsigned i
= 0; i
< num_bits
; i
++) {
96 tms
= ((bits
[i
/8] >> (i
% 8)) & 1);
97 if (bitbang_interface
->write(0, tms
, 0) != ERROR_OK
)
99 if (bitbang_interface
->write(1, tms
, 0) != ERROR_OK
)
102 if (bitbang_interface
->write(CLOCK_IDLE(), tms
, 0) != ERROR_OK
)
108 static int bitbang_path_move(struct pathmove_command
*cmd
)
110 int num_states
= cmd
->num_states
;
116 if (tap_state_transition(tap_get_state(), false) == cmd
->path
[state_count
])
118 else if (tap_state_transition(tap_get_state(), true) == cmd
->path
[state_count
])
121 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
122 tap_state_name(tap_get_state()),
123 tap_state_name(cmd
->path
[state_count
]));
127 if (bitbang_interface
->write(0, tms
, 0) != ERROR_OK
)
129 if (bitbang_interface
->write(1, tms
, 0) != ERROR_OK
)
132 tap_set_state(cmd
->path
[state_count
]);
137 if (bitbang_interface
->write(CLOCK_IDLE(), tms
, 0) != ERROR_OK
)
140 tap_set_end_state(tap_get_state());
144 static int bitbang_runtest(int num_cycles
)
148 tap_state_t saved_end_state
= tap_get_end_state();
150 /* only do a state_move when we're not already in IDLE */
151 if (tap_get_state() != TAP_IDLE
) {
152 bitbang_end_state(TAP_IDLE
);
153 if (bitbang_state_move(0) != ERROR_OK
)
157 /* execute num_cycles */
158 for (i
= 0; i
< num_cycles
; i
++) {
159 if (bitbang_interface
->write(0, 0, 0) != ERROR_OK
)
161 if (bitbang_interface
->write(1, 0, 0) != ERROR_OK
)
164 if (bitbang_interface
->write(CLOCK_IDLE(), 0, 0) != ERROR_OK
)
167 /* finish in end_state */
168 bitbang_end_state(saved_end_state
);
169 if (tap_get_state() != tap_get_end_state())
170 if (bitbang_state_move(0) != ERROR_OK
)
176 static int bitbang_stableclocks(int num_cycles
)
178 int tms
= (tap_get_state() == TAP_RESET
? 1 : 0);
181 /* send num_cycles clocks onto the cable */
182 for (i
= 0; i
< num_cycles
; i
++) {
183 if (bitbang_interface
->write(1, tms
, 0) != ERROR_OK
)
185 if (bitbang_interface
->write(0, tms
, 0) != ERROR_OK
)
192 static int bitbang_scan(bool ir_scan
, enum scan_type type
, uint8_t *buffer
,
195 tap_state_t saved_end_state
= tap_get_end_state();
199 (tap_get_state() == TAP_DRSHIFT
)) ||
200 (ir_scan
&& (tap_get_state() == TAP_IRSHIFT
)))) {
202 bitbang_end_state(TAP_IRSHIFT
);
204 bitbang_end_state(TAP_DRSHIFT
);
206 if (bitbang_state_move(0) != ERROR_OK
)
208 bitbang_end_state(saved_end_state
);
212 for (bit_cnt
= 0; bit_cnt
< scan_size
; bit_cnt
++) {
213 int tms
= (bit_cnt
== scan_size
-1) ? 1 : 0;
215 int bytec
= bit_cnt
/8;
216 int bcval
= 1 << (bit_cnt
% 8);
218 /* if we're just reading the scan, but don't care about the output
219 * default to outputting 'low', this also makes valgrind traces more readable,
220 * as it removes the dependency on an uninitialised value
223 if ((type
!= SCAN_IN
) && (buffer
[bytec
] & bcval
))
226 if (bitbang_interface
->write(0, tms
, tdi
) != ERROR_OK
)
229 if (type
!= SCAN_OUT
) {
230 if (bitbang_interface
->buf_size
) {
231 if (bitbang_interface
->sample() != ERROR_OK
)
235 switch (bitbang_interface
->read()) {
237 buffer
[bytec
] &= ~bcval
;
240 buffer
[bytec
] |= bcval
;
248 if (bitbang_interface
->write(1, tms
, tdi
) != ERROR_OK
)
251 if (type
!= SCAN_OUT
&& bitbang_interface
->buf_size
&&
252 (buffered
== bitbang_interface
->buf_size
||
253 bit_cnt
== scan_size
- 1)) {
254 for (unsigned i
= bit_cnt
+ 1 - buffered
; i
<= bit_cnt
; i
++) {
255 switch (bitbang_interface
->read_sample()) {
257 buffer
[i
/8] &= ~(1 << (i
% 8));
260 buffer
[i
/8] |= 1 << (i
% 8);
270 if (tap_get_state() != tap_get_end_state()) {
271 /* we *KNOW* the above loop transitioned out of
272 * the shift state, so we skip the first state
273 * and move directly to the end state.
275 if (bitbang_state_move(1) != ERROR_OK
)
281 static void bitbang_sleep(unsigned int microseconds
)
283 if (bitbang_interface
->sleep
) {
284 bitbang_interface
->sleep(microseconds
);
286 jtag_sleep(microseconds
);
290 int bitbang_execute_queue(void)
292 struct jtag_command
*cmd
= jtag_command_queue
; /* currently processed command */
298 if (!bitbang_interface
) {
299 LOG_ERROR("BUG: Bitbang interface called, but not yet initialized");
303 /* return ERROR_OK, unless a jtag_read_buffer returns a failed check
304 * that wasn't handled by a caller-provided error handler
308 if (bitbang_interface
->blink
) {
309 if (bitbang_interface
->blink(1) != ERROR_OK
)
316 LOG_DEBUG_IO("runtest %i cycles, end in %s",
317 cmd
->cmd
.runtest
->num_cycles
,
318 tap_state_name(cmd
->cmd
.runtest
->end_state
));
319 bitbang_end_state(cmd
->cmd
.runtest
->end_state
);
320 if (bitbang_runtest(cmd
->cmd
.runtest
->num_cycles
) != ERROR_OK
)
324 case JTAG_STABLECLOCKS
:
325 /* this is only allowed while in a stable state. A check for a stable
326 * state was done in jtag_add_clocks()
328 if (bitbang_stableclocks(cmd
->cmd
.stableclocks
->num_cycles
) != ERROR_OK
)
333 LOG_DEBUG_IO("statemove end in %s",
334 tap_state_name(cmd
->cmd
.statemove
->end_state
));
335 bitbang_end_state(cmd
->cmd
.statemove
->end_state
);
336 if (bitbang_state_move(0) != ERROR_OK
)
340 LOG_DEBUG_IO("pathmove: %i states, end in %s",
341 cmd
->cmd
.pathmove
->num_states
,
342 tap_state_name(cmd
->cmd
.pathmove
->path
[cmd
->cmd
.pathmove
->num_states
- 1]));
343 if (bitbang_path_move(cmd
->cmd
.pathmove
) != ERROR_OK
)
347 bitbang_end_state(cmd
->cmd
.scan
->end_state
);
348 scan_size
= jtag_build_buffer(cmd
->cmd
.scan
, &buffer
);
349 LOG_DEBUG_IO("%s scan %d bits; end in %s",
350 (cmd
->cmd
.scan
->ir_scan
) ? "IR" : "DR",
352 tap_state_name(cmd
->cmd
.scan
->end_state
));
353 type
= jtag_scan_type(cmd
->cmd
.scan
);
354 if (bitbang_scan(cmd
->cmd
.scan
->ir_scan
, type
, buffer
,
355 scan_size
) != ERROR_OK
)
357 if (jtag_read_buffer(buffer
, cmd
->cmd
.scan
) != ERROR_OK
)
358 retval
= ERROR_JTAG_QUEUE_FAILED
;
362 LOG_DEBUG_IO("sleep %" PRIu32
, cmd
->cmd
.sleep
->us
);
363 bitbang_sleep(cmd
->cmd
.sleep
->us
);
366 retval
= bitbang_execute_tms(cmd
);
369 LOG_ERROR("BUG: unknown JTAG command type encountered");
374 if (bitbang_interface
->blink
) {
375 if (bitbang_interface
->blink(0) != ERROR_OK
)
382 static int queued_retval
;
384 static int bitbang_swd_init(void)
386 LOG_DEBUG("bitbang_swd_init");
390 static void bitbang_swd_exchange(bool rnw
, uint8_t buf
[], unsigned int offset
, unsigned int bit_cnt
)
392 if (bitbang_interface
->blink
) {
393 /* FIXME: we should manage errors */
394 bitbang_interface
->blink(1);
397 for (unsigned int i
= offset
; i
< bit_cnt
+ offset
; i
++) {
399 int bcval
= 1 << (i
% 8);
400 int swdio
= !rnw
&& (buf
[bytec
] & bcval
);
402 bitbang_interface
->swd_write(0, swdio
);
405 if (bitbang_interface
->swdio_read())
408 buf
[bytec
] &= ~bcval
;
411 bitbang_interface
->swd_write(1, swdio
);
414 if (bitbang_interface
->blink
) {
415 /* FIXME: we should manage errors */
416 bitbang_interface
->blink(0);
420 static int bitbang_swd_switch_seq(enum swd_special_seq seq
)
424 LOG_DEBUG_IO("SWD line reset");
425 bitbang_swd_exchange(false, (uint8_t *)swd_seq_line_reset
, 0, swd_seq_line_reset_len
);
428 LOG_DEBUG("JTAG-to-SWD");
429 bitbang_swd_exchange(false, (uint8_t *)swd_seq_jtag_to_swd
, 0, swd_seq_jtag_to_swd_len
);
431 case JTAG_TO_DORMANT
:
432 LOG_DEBUG("JTAG-to-DORMANT");
433 bitbang_swd_exchange(false, (uint8_t *)swd_seq_jtag_to_dormant
, 0, swd_seq_jtag_to_dormant_len
);
436 LOG_DEBUG("SWD-to-JTAG");
437 bitbang_swd_exchange(false, (uint8_t *)swd_seq_swd_to_jtag
, 0, swd_seq_swd_to_jtag_len
);
440 LOG_DEBUG("SWD-to-DORMANT");
441 bitbang_swd_exchange(false, (uint8_t *)swd_seq_swd_to_dormant
, 0, swd_seq_swd_to_dormant_len
);
444 LOG_DEBUG("DORMANT-to-SWD");
445 bitbang_swd_exchange(false, (uint8_t *)swd_seq_dormant_to_swd
, 0, swd_seq_dormant_to_swd_len
);
447 case DORMANT_TO_JTAG
:
448 LOG_DEBUG("DORMANT-to-JTAG");
449 bitbang_swd_exchange(false, (uint8_t *)swd_seq_dormant_to_jtag
, 0, swd_seq_dormant_to_jtag_len
);
452 LOG_ERROR("Sequence %d not supported", seq
);
459 static void swd_clear_sticky_errors(void)
461 bitbang_swd_write_reg(swd_cmd(false, false, DP_ABORT
),
462 STKCMPCLR
| STKERRCLR
| WDERRCLR
| ORUNERRCLR
, 0);
465 static void bitbang_swd_read_reg(uint8_t cmd
, uint32_t *value
, uint32_t ap_delay_clk
)
467 assert(cmd
& SWD_CMD_RNW
);
469 if (queued_retval
!= ERROR_OK
) {
470 LOG_DEBUG("Skip bitbang_swd_read_reg because queued_retval=%d", queued_retval
);
475 uint8_t trn_ack_data_parity_trn
[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)];
477 cmd
|= SWD_CMD_START
| SWD_CMD_PARK
;
478 bitbang_swd_exchange(false, &cmd
, 0, 8);
480 bitbang_interface
->swdio_drive(false);
481 bitbang_swd_exchange(true, trn_ack_data_parity_trn
, 0, 1 + 3 + 32 + 1 + 1);
482 bitbang_interface
->swdio_drive(true);
484 int ack
= buf_get_u32(trn_ack_data_parity_trn
, 1, 3);
485 uint32_t data
= buf_get_u32(trn_ack_data_parity_trn
, 1 + 3, 32);
486 int parity
= buf_get_u32(trn_ack_data_parity_trn
, 1 + 3 + 32, 1);
488 LOG_DEBUG_IO("%s %s read reg %X = %08" PRIx32
,
489 ack
== SWD_ACK_OK
? "OK" : ack
== SWD_ACK_WAIT
? "WAIT" : ack
== SWD_ACK_FAULT
? "FAULT" : "JUNK",
490 cmd
& SWD_CMD_APNDP
? "AP" : "DP",
491 (cmd
& SWD_CMD_A32
) >> 1,
494 if (ack
== SWD_ACK_WAIT
) {
495 swd_clear_sticky_errors();
497 } else if (ack
!= SWD_ACK_OK
) {
498 queued_retval
= swd_ack_to_error_code(ack
);
502 if (parity
!= parity_u32(data
)) {
503 LOG_ERROR("Wrong parity detected");
504 queued_retval
= ERROR_FAIL
;
509 if (cmd
& SWD_CMD_APNDP
)
510 bitbang_swd_exchange(true, NULL
, 0, ap_delay_clk
);
515 static void bitbang_swd_write_reg(uint8_t cmd
, uint32_t value
, uint32_t ap_delay_clk
)
517 assert(!(cmd
& SWD_CMD_RNW
));
519 if (queued_retval
!= ERROR_OK
) {
520 LOG_DEBUG("Skip bitbang_swd_write_reg because queued_retval=%d", queued_retval
);
524 /* Devices do not reply to DP_TARGETSEL write cmd, ignore received ack */
525 bool check_ack
= swd_cmd_returns_ack(cmd
);
527 /* init the array to silence scan-build */
528 uint8_t trn_ack_data_parity_trn
[DIV_ROUND_UP(4 + 3 + 32 + 1 + 4, 8)] = {0};
530 buf_set_u32(trn_ack_data_parity_trn
, 1 + 3 + 1, 32, value
);
531 buf_set_u32(trn_ack_data_parity_trn
, 1 + 3 + 1 + 32, 1, parity_u32(value
));
533 cmd
|= SWD_CMD_START
| SWD_CMD_PARK
;
534 bitbang_swd_exchange(false, &cmd
, 0, 8);
536 bitbang_interface
->swdio_drive(false);
537 bitbang_swd_exchange(true, trn_ack_data_parity_trn
, 0, 1 + 3);
539 /* Avoid a glitch on SWDIO when changing the direction to output.
540 * To keep performance penalty minimal, pre-write the first data
541 * bit to SWDIO GPIO output buffer while clocking the turnaround bit.
542 * Following swdio_drive(true) outputs the pre-written value
543 * and the same value is rewritten by the next swd_write()
544 * instead of glitching SWDIO
545 * HiZ/pull-up --------------> 0 -------------> 1
546 * swdio_drive(true) swd_write(0,1)
547 * in case of data bit 0 = 1
549 bitbang_swd_exchange(false, trn_ack_data_parity_trn
, 1 + 3 + 1, 1);
550 bitbang_interface
->swdio_drive(true);
551 bitbang_swd_exchange(false, trn_ack_data_parity_trn
, 1 + 3 + 1, 32 + 1);
553 int ack
= buf_get_u32(trn_ack_data_parity_trn
, 1, 3);
555 LOG_DEBUG_IO("%s%s %s write reg %X = %08" PRIx32
,
556 check_ack
? "" : "ack ignored ",
557 ack
== SWD_ACK_OK
? "OK" : ack
== SWD_ACK_WAIT
? "WAIT" : ack
== SWD_ACK_FAULT
? "FAULT" : "JUNK",
558 cmd
& SWD_CMD_APNDP
? "AP" : "DP",
559 (cmd
& SWD_CMD_A32
) >> 1,
560 buf_get_u32(trn_ack_data_parity_trn
, 1 + 3 + 1, 32));
563 if (ack
== SWD_ACK_WAIT
) {
564 swd_clear_sticky_errors();
566 } else if (ack
!= SWD_ACK_OK
) {
567 queued_retval
= swd_ack_to_error_code(ack
);
572 if (cmd
& SWD_CMD_APNDP
)
573 bitbang_swd_exchange(true, NULL
, 0, ap_delay_clk
);
578 static int bitbang_swd_run_queue(void)
580 /* A transaction must be followed by another transaction or at least 8 idle cycles to
581 * ensure that data is clocked through the AP. */
582 bitbang_swd_exchange(true, NULL
, 0, 8);
584 int retval
= queued_retval
;
585 queued_retval
= ERROR_OK
;
586 LOG_DEBUG_IO("SWD queue return value: %02x", retval
);
590 const struct swd_driver bitbang_swd
= {
591 .init
= bitbang_swd_init
,
592 .switch_seq
= bitbang_swd_switch_seq
,
593 .read_reg
= bitbang_swd_read_reg
,
594 .write_reg
= bitbang_swd_write_reg
,
595 .run
= bitbang_swd_run_queue
,
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