src/target/arm_dap.c

   1 /***************************************************************************
   2  *   Copyright (C) 2016 by Matthias Welwarsky                              *
   3  *                                                                         *
   4  *   This program is free software; you can redistribute it and/or modify  *
   5  *   it under the terms of the GNU General Public License as published by  *
   6  *   the Free Software Foundation; either version 2 of the License, or     *
   7  *   (at your option) any later version.                                   *
   8  *                                                                         *
   9  *   This program is distributed in the hope that it will be useful,       *
  10  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  11  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  12  *   GNU General Public License for more details.                          *
  13  *                                                                         *
  14  *   You should have received a copy of the GNU General Public License     *
  15  *   along with this program; if not, write to the                         *
  16  *   Free Software Foundation, Inc.,                                       *
  17  *                                                                         *
  18  ***************************************************************************/
  19
  20 #ifdef HAVE_CONFIG_H
  21 #include "config.h"
  22 #endif
  23
  24 #include <stdlib.h>
  25 #include <stdint.h>
  26 #include "target/arm_adi_v5.h"
  27 #include "target/arm.h"
  28 #include "helper/list.h"
  29 #include "helper/command.h"
  30 #include "transport/transport.h"
  31 #include "jtag/interface.h"
  32
  33 static LIST_HEAD(all_dap);
  34
  35 extern const struct dap_ops swd_dap_ops;
  36 extern const struct dap_ops jtag_dp_ops;
  37 extern struct adapter_driver *adapter_driver;
  38
  39 /* DAP command support */
  40 struct arm_dap_object {
  41         struct list_head lh;
  42         struct adiv5_dap dap;
  43         char *name;
  44         const struct swd_driver *swd;
  45 };
  46
  47 static void dap_instance_init(struct adiv5_dap *dap)
  48 {
  49         int i;
  50         /* Set up with safe defaults */
  51         for (i = 0; i <= DP_APSEL_MAX; i++) {
  52                 dap->ap[i].dap = dap;
  53                 dap->ap[i].ap_num = i;
  54                 /* memaccess_tck max is 255 */
  55                 dap->ap[i].memaccess_tck = 255;
  56                 /* Number of bits for tar autoincrement, impl. dep. at least 10 */
  57                 dap->ap[i].tar_autoincr_block = (1<<10);
  58                 /* default CSW value */
  59                 dap->ap[i].csw_default = CSW_AHB_DEFAULT;
  60                 dap->ap[i].cfg_reg = MEM_AP_REG_CFG_INVALID; /* mem_ap configuration reg (large physical addr, etc.) */
  61                 dap->ap[i].refcount = 0;
  62                 dap->ap[i].config_ap_never_release = false;
  63         }
  64         INIT_LIST_HEAD(&dap->cmd_journal);
  65         INIT_LIST_HEAD(&dap->cmd_pool);
  66 }
  67
  68 const char *adiv5_dap_name(struct adiv5_dap *self)
  69 {
  70         struct arm_dap_object *obj = container_of(self, struct arm_dap_object, dap);
  71         return obj->name;
  72 }
  73
  74 const struct swd_driver *adiv5_dap_swd_driver(struct adiv5_dap *self)
  75 {
  76         struct arm_dap_object *obj = container_of(self, struct arm_dap_object, dap);
  77         return obj->swd;
  78 }
  79
  80 struct adiv5_dap *adiv5_get_dap(struct arm_dap_object *obj)
  81 {
  82         return &obj->dap;
  83 }
  84 struct adiv5_dap *dap_instance_by_jim_obj(Jim_Interp *interp, Jim_Obj *o)
  85 {
  86         struct arm_dap_object *obj = NULL;
  87         const char *name;
  88         bool found = false;
  89
  90         name = Jim_GetString(o, NULL);
  91
  92         list_for_each_entry(obj, &all_dap, lh) {
  93                 if (!strcmp(name, obj->name)) {
  94                         found = true;
  95                         break;
  96                 }
  97         }
  98
  99         if (found)
 100                 return &obj->dap;
 101         return NULL;
 102 }
 103
 104 static int dap_init_all(void)
 105 {
 106         struct arm_dap_object *obj;
 107         int retval;
 108
 109         LOG_DEBUG("Initializing all DAPs ...");
 110
 111         list_for_each_entry(obj, &all_dap, lh) {
 112                 struct adiv5_dap *dap = &obj->dap;
 113
 114                 /* with hla, dap is just a dummy */
 115                 if (transport_is_hla())
 116                         continue;
 117
 118                 /* skip taps that are disabled */
 119                 if (!dap->tap->enabled)
 120                         continue;
 121
 122                 if (transport_is_swd()) {
 123                         dap->ops = &swd_dap_ops;
 124                         obj->swd = adapter_driver->swd_ops;
 125                 } else if (transport_is_dapdirect_swd()) {
 126                         dap->ops = adapter_driver->dap_swd_ops;
 127                 } else if (transport_is_dapdirect_jtag()) {
 128                         dap->ops = adapter_driver->dap_jtag_ops;
 129                 } else
 130                         dap->ops = &jtag_dp_ops;
 131
 132                 if (dap->adi_version == 0) {
 133                         LOG_DEBUG("DAP %s configured by default to use ADIv5 protocol", jtag_tap_name(dap->tap));
 134                         dap->adi_version = 5;
 135                 } else {
 136                         LOG_DEBUG("DAP %s configured to use %s protocol by user cfg file", jtag_tap_name(dap->tap),
 137                                 is_adiv6(dap) ? "ADIv6" : "ADIv5");
 138                 }
 139
 140                 retval = dap->ops->connect(dap);
 141                 if (retval != ERROR_OK)
 142                         return retval;
 143         }
 144
 145         return ERROR_OK;
 146 }
 147
 148 int dap_cleanup_all(void)
 149 {
 150         struct arm_dap_object *obj, *tmp;
 151         struct adiv5_dap *dap;
 152
 153         list_for_each_entry_safe(obj, tmp, &all_dap, lh) {
 154                 dap = &obj->dap;
 155                 for (unsigned int i = 0; i <= DP_APSEL_MAX; i++) {
 156                         if (dap->ap[i].refcount != 0)
 157                                 LOG_ERROR("BUG: refcount AP#%u still %u at exit", i, dap->ap[i].refcount);
 158                 }
 159                 if (dap->ops && dap->ops->quit)
 160                         dap->ops->quit(dap);
 161
 162                 free(obj->name);
 163                 free(obj);
 164         }
 165
 166         return ERROR_OK;
 167 }
 168
 169 enum dap_cfg_param {
 170         CFG_CHAIN_POSITION,
 171         CFG_IGNORE_SYSPWRUPACK,
 172         CFG_DP_ID,
 173         CFG_INSTANCE_ID,
 174         CFG_ADIV6,
 175         CFG_ADIV5,
 176 };
 177
 178 static const struct jim_nvp nvp_config_opts[] = {
 179         { .name = "-chain-position",     .value = CFG_CHAIN_POSITION },
 180         { .name = "-ignore-syspwrupack", .value = CFG_IGNORE_SYSPWRUPACK },
 181         { .name = "-dp-id",              .value = CFG_DP_ID },
 182         { .name = "-instance-id",        .value = CFG_INSTANCE_ID },
 183         { .name = "-adiv6",              .value = CFG_ADIV6 },
 184         { .name = "-adiv5",              .value = CFG_ADIV5 },
 185         { .name = NULL, .value = -1 }
 186 };
 187
 188 static int dap_configure(struct jim_getopt_info *goi, struct arm_dap_object *dap)
 189 {
 190         struct jim_nvp *n;
 191         int e;
 192
 193         /* parse config ... */
 194         while (goi->argc > 0) {
 195                 Jim_SetEmptyResult(goi->interp);
 196
 197                 e = jim_getopt_nvp(goi, nvp_config_opts, &n);
 198                 if (e != JIM_OK) {
 199                         jim_getopt_nvp_unknown(goi, nvp_config_opts, 0);
 200                         return e;
 201                 }
 202                 switch (n->value) {
 203                 case CFG_CHAIN_POSITION: {
 204                         Jim_Obj *o_t;
 205                         e = jim_getopt_obj(goi, &o_t);
 206                         if (e != JIM_OK)
 207                                 return e;
 208
 209                         struct jtag_tap *tap;
 210                         tap = jtag_tap_by_jim_obj(goi->interp, o_t);
 211                         if (!tap) {
 212                                 Jim_SetResultString(goi->interp, "-chain-position is invalid", -1);
 213                                 return JIM_ERR;
 214                         }
 215                         dap->dap.tap = tap;
 216                         /* loop for more */
 217                         break;
 218                 }
 219                 case CFG_IGNORE_SYSPWRUPACK:
 220                         dap->dap.ignore_syspwrupack = true;
 221                         break;
 222                 case CFG_DP_ID: {
 223                         jim_wide w;
 224                         e = jim_getopt_wide(goi, &w);
 225                         if (e != JIM_OK) {
 226                                 Jim_SetResultFormatted(goi->interp,
 227                                                 "create %s: bad parameter %s",
 228                                                 dap->name, n->name);
 229                                 return JIM_ERR;
 230                         }
 231                         if (w < 0 || w > DP_TARGETSEL_DPID_MASK) {
 232                                 Jim_SetResultFormatted(goi->interp,
 233                                                 "create %s: %s out of range",
 234                                                 dap->name, n->name);
 235                                 return JIM_ERR;
 236                         }
 237                         dap->dap.multidrop_targetsel =
 238                                 (dap->dap.multidrop_targetsel & DP_TARGETSEL_INSTANCEID_MASK)
 239                                 | (w & DP_TARGETSEL_DPID_MASK);
 240                         dap->dap.multidrop_dp_id_valid = true;
 241                         break;
 242                 }
 243                 case CFG_INSTANCE_ID: {
 244                         jim_wide w;
 245                         e = jim_getopt_wide(goi, &w);
 246                         if (e != JIM_OK) {
 247                                 Jim_SetResultFormatted(goi->interp,
 248                                                 "create %s: bad parameter %s",
 249                                                 dap->name, n->name);
 250                                 return JIM_ERR;
 251                         }
 252                         if (w < 0 || w > 15) {
 253                                 Jim_SetResultFormatted(goi->interp,
 254                                                 "create %s: %s out of range",
 255                                                 dap->name, n->name);
 256                                 return JIM_ERR;
 257                         }
 258                         dap->dap.multidrop_targetsel =
 259                                 (dap->dap.multidrop_targetsel & DP_TARGETSEL_DPID_MASK)
 260                                 | ((w << DP_TARGETSEL_INSTANCEID_SHIFT) & DP_TARGETSEL_INSTANCEID_MASK);
 261                         dap->dap.multidrop_instance_id_valid = true;
 262                         break;
 263                 }
 264                 case CFG_ADIV6:
 265                         dap->dap.adi_version = 6;
 266                         break;
 267                 case CFG_ADIV5:
 268                         dap->dap.adi_version = 5;
 269                         break;
 270                 default:
 271                         break;
 272                 }
 273         }
 274
 275         return JIM_OK;
 276 }
 277
 278 static int dap_check_config(struct adiv5_dap *dap)
 279 {
 280         if (transport_is_jtag() || transport_is_dapdirect_jtag() || transport_is_hla())
 281                 return ERROR_OK;
 282
 283         struct arm_dap_object *obj;
 284         bool new_multidrop = dap_is_multidrop(dap);
 285         bool had_multidrop = new_multidrop;
 286         uint32_t targetsel = dap->multidrop_targetsel;
 287         unsigned int non_multidrop_count = had_multidrop ? 0 : 1;
 288
 289         list_for_each_entry(obj, &all_dap, lh) {
 290                 struct adiv5_dap *dap_it = &obj->dap;
 291
 292                 if (transport_is_swd()) {
 293                         if (dap_is_multidrop(dap_it)) {
 294                                 had_multidrop = true;
 295                                 if (new_multidrop && dap_it->multidrop_targetsel == targetsel) {
 296                                         uint32_t dp_id = targetsel & DP_TARGETSEL_DPID_MASK;
 297                                         uint32_t instance_id = targetsel >> DP_TARGETSEL_INSTANCEID_SHIFT;
 298                                         LOG_ERROR("%s and %s have the same multidrop selectors -dp-id 0x%08"
 299                                                           PRIx32 " and -instance-id 0x%" PRIx32,
 300                                                           obj->name, adiv5_dap_name(dap),
 301                                                           dp_id, instance_id);
 302                                         return ERROR_FAIL;
 303                                 }
 304                         } else {
 305                                 non_multidrop_count++;
 306                         }
 307                 } else if (transport_is_dapdirect_swd()) {
 308                         non_multidrop_count++;
 309                 }
 310         }
 311
 312         if (non_multidrop_count > 1) {
 313                 LOG_ERROR("Two or more SWD non multidrop DAPs are not supported");
 314                 return ERROR_FAIL;
 315         }
 316         if (had_multidrop && non_multidrop_count) {
 317                 LOG_ERROR("Mixing of SWD multidrop DAPs and non multidrop DAPs is not supported");
 318                 return ERROR_FAIL;
 319         }
 320
 321         return ERROR_OK;
 322 }
 323
 324 static int dap_create(struct jim_getopt_info *goi)
 325 {
 326         struct command_context *cmd_ctx;
 327         static struct arm_dap_object *dap;
 328         Jim_Obj *new_cmd;
 329         Jim_Cmd *cmd;
 330         const char *cp;
 331         int e;
 332
 333         cmd_ctx = current_command_context(goi->interp);
 334         assert(cmd_ctx);
 335
 336         if (goi->argc < 3) {
 337                 Jim_WrongNumArgs(goi->interp, 1, goi->argv, "?name? ..options...");
 338                 return JIM_ERR;
 339         }
 340         /* COMMAND */
 341         jim_getopt_obj(goi, &new_cmd);
 342         /* does this command exist? */
 343         cmd = Jim_GetCommand(goi->interp, new_cmd, JIM_NONE);
 344         if (cmd) {
 345                 cp = Jim_GetString(new_cmd, NULL);
 346                 Jim_SetResultFormatted(goi->interp, "Command: %s Exists", cp);
 347                 return JIM_ERR;
 348         }
 349
 350         /* Create it */
 351         dap = calloc(1, sizeof(struct arm_dap_object));
 352         if (!dap)
 353                 return JIM_ERR;
 354
 355         dap_instance_init(&dap->dap);
 356
 357         cp = Jim_GetString(new_cmd, NULL);
 358         dap->name = strdup(cp);
 359
 360         e = dap_configure(goi, dap);
 361         if (e != JIM_OK)
 362                 goto err;
 363
 364         if (!dap->dap.tap) {
 365                 Jim_SetResultString(goi->interp, "-chain-position required when creating DAP", -1);
 366                 e = JIM_ERR;
 367                 goto err;
 368         }
 369
 370         e = dap_check_config(&dap->dap);
 371         if (e != ERROR_OK) {
 372                 e = JIM_ERR;
 373                 goto err;
 374         }
 375
 376         struct command_registration dap_create_commands[] = {
 377                 {
 378                         .name = cp,
 379                         .mode = COMMAND_ANY,
 380                         .help = "dap instance command group",
 381                         .usage = "",
 382                         .chain = dap_instance_commands,
 383                 },
 384                 COMMAND_REGISTRATION_DONE
 385         };
 386
 387         /* don't expose the instance commands when using hla */
 388         if (transport_is_hla())
 389                 dap_create_commands[0].chain = NULL;
 390
 391         e = register_commands_with_data(cmd_ctx, NULL, dap_create_commands, dap);
 392         if (e != ERROR_OK) {
 393                 e = JIM_ERR;
 394                 goto err;
 395         }
 396
 397         list_add_tail(&dap->lh, &all_dap);
 398
 399         return JIM_OK;
 400
 401 err:
 402         free(dap->name);
 403         free(dap);
 404         return e;
 405 }
 406
 407 static int jim_dap_create(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 408 {
 409         struct jim_getopt_info goi;
 410         jim_getopt_setup(&goi, interp, argc - 1, argv + 1);
 411         if (goi.argc < 2) {
 412                 Jim_WrongNumArgs(goi.interp, goi.argc, goi.argv,
 413                         "<name> [<dap_options> ...]");
 414                 return JIM_ERR;
 415         }
 416         return dap_create(&goi);
 417 }
 418
 419 static int jim_dap_names(Jim_Interp *interp, int argc, Jim_Obj *const *argv)
 420 {
 421         struct arm_dap_object *obj;
 422
 423         if (argc != 1) {
 424                 Jim_WrongNumArgs(interp, 1, argv, "Too many parameters");
 425                 return JIM_ERR;
 426         }
 427         Jim_SetResult(interp, Jim_NewListObj(interp, NULL, 0));
 428         list_for_each_entry(obj, &all_dap, lh) {
 429                 Jim_ListAppendElement(interp, Jim_GetResult(interp),
 430                         Jim_NewStringObj(interp, obj->name, -1));
 431         }
 432         return JIM_OK;
 433 }
 434
 435 COMMAND_HANDLER(handle_dap_init)
 436 {
 437         return dap_init_all();
 438 }
 439
 440 COMMAND_HANDLER(handle_dap_info_command)
 441 {
 442         struct target *target = get_current_target(CMD_CTX);
 443         struct arm *arm = target_to_arm(target);
 444         struct adiv5_dap *dap = arm->dap;
 445         uint32_t apsel;
 446
 447         if (!dap) {
 448                 LOG_ERROR("DAP instance not available. Probably a HLA target...");
 449                 return ERROR_TARGET_RESOURCE_NOT_AVAILABLE;
 450         }
 451
 452         switch (CMD_ARGC) {
 453                 case 0:
 454                         apsel = dap->apsel;
 455                         break;
 456                 case 1:
 457                         COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], apsel);
 458                         if (apsel > DP_APSEL_MAX)
 459                                 return ERROR_COMMAND_SYNTAX_ERROR;
 460                         break;
 461                 default:
 462                         return ERROR_COMMAND_SYNTAX_ERROR;
 463         }
 464
 465         struct adiv5_ap *ap = dap_get_ap(dap, apsel);
 466         if (!ap) {
 467                 command_print(CMD, "Cannot get AP");
 468                 return ERROR_FAIL;
 469         }
 470         int retval = dap_info_command(CMD, ap);
 471         dap_put_ap(ap);
 472         return retval;
 473 }
 474
 475 static const struct command_registration dap_subcommand_handlers[] = {
 476         {
 477                 .name = "create",
 478                 .mode = COMMAND_ANY,
 479                 .jim_handler = jim_dap_create,
 480                 .usage = "name '-chain-position' name",
 481                 .help = "Creates a new DAP instance",
 482         },
 483         {
 484                 .name = "names",
 485                 .mode = COMMAND_ANY,
 486                 .jim_handler = jim_dap_names,
 487                 .usage = "",
 488                 .help = "Lists all registered DAP instances by name",
 489         },
 490         {
 491                 .name = "init",
 492                 .mode = COMMAND_ANY,
 493                 .handler = handle_dap_init,
 494                 .usage = "",
 495                 .help = "Initialize all registered DAP instances"
 496         },
 497         {
 498                 .name = "info",
 499                 .handler = handle_dap_info_command,
 500                 .mode = COMMAND_EXEC,
 501                 .help = "display ROM table for MEM-AP of current target "
 502                 "(default currently selected AP)",
 503                 .usage = "[ap_num]",
 504         },
 505         COMMAND_REGISTRATION_DONE
 506 };
 507
 508 static const struct command_registration dap_commands[] = {
 509         {
 510                 .name = "dap",
 511                 .mode = COMMAND_CONFIG,
 512                 .help = "DAP commands",
 513                 .chain = dap_subcommand_handlers,
 514                 .usage = "",
 515         },
 516         COMMAND_REGISTRATION_DONE
 517 };
 518
 519 int dap_register_commands(struct command_context *cmd_ctx)
 520 {
 521         return register_commands(cmd_ctx, NULL, dap_commands);
 522 }