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swd: Convert API to asynchronous
[openocd.git] / src / target / adi_v5_swd.c
diff --git a/src/target/adi_v5_swd.c b/src/target/adi_v5_swd.c
index 5a3570d536f457734f084fcbb0e408ef78c9afa0..31c219e59643d002ed575716233d9bd42729d985 100644 (file)
--- a/src/target/adi_v5_swd.c
+++ b/src/target/adi_v5_swd.c
@@ -15,7 +15,7 @@
  *   You should have received a copy of the GNU General Public License
  *   along with this program; if not, write to the
  *   Free Software Foundation, Inc.,
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
+ *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
  ***************************************************************************/
 
 /**
@@ -55,70 +55,153 @@
 
 #include <jtag/swd.h>
 
+/* YUK! - but this is currently a global.... */
+extern struct jtag_interface *jtag_interface;
+static bool do_sync;
 
+static void swd_finish_read(struct adiv5_dap *dap)
+{
+       const struct swd_driver *swd = jtag_interface->swd;
+       if (dap->last_read != NULL) {
+               swd->read_reg(dap, swd_cmd(true, false, DP_RDBUFF), dap->last_read);
+               dap->last_read = NULL;
+       }
+}
 
-static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
-               uint32_t *data)
+static int swd_queue_dp_write(struct adiv5_dap *dap, unsigned reg,
+               uint32_t data);
+
+static void swd_clear_sticky_errors(struct adiv5_dap *dap)
 {
-       // REVISIT status return vs ack ...
-       return swd->read_reg(swd_cmd(true,  false, reg), data);
+       const struct swd_driver *swd = jtag_interface->swd;
+       assert(swd);
+
+       swd->write_reg(dap, swd_cmd(false,  false, DP_ABORT),
+               STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR);
 }
 
-static int swd_queue_idcode_read(struct adiv5_dap *dap,
-               uint8_t *ack, uint32_t *data)
+static int swd_run_inner(struct adiv5_dap *dap)
 {
-       int status = swd_queue_dp_read(dap, DP_IDCODE, data);
-       if (status < 0)
-               return status;
-       *ack = status;
-       // ??
-       return ERROR_OK;
+       const struct swd_driver *swd = jtag_interface->swd;
+
+       int retval = swd->run(dap);
+
+       if (retval != ERROR_OK) {
+               /* fault response */
+               swd_clear_sticky_errors(dap);
+       }
+
+       return retval;
 }
 
-static int (swd_queue_dp_write)(struct adiv5_dap *dap, unsigned reg,
-               uint32_t data)
+static inline int check_sync(struct adiv5_dap *dap)
 {
-       // REVISIT status return vs ack ...
-       return swd->write_reg(swd_cmd(false,  false, reg), data);
+       return do_sync ? swd_run_inner(dap) : ERROR_OK;
 }
 
+static int swd_queue_ap_abort(struct adiv5_dap *dap, uint8_t *ack)
+{
+       const struct swd_driver *swd = jtag_interface->swd;
+       assert(swd);
+
+       swd->write_reg(dap, swd_cmd(false,  false, DP_ABORT),
+               DAPABORT | STKCMPCLR | STKERRCLR | WDERRCLR | ORUNERRCLR);
+       return check_sync(dap);
+}
+
+/** Select the DP register bank matching bits 7:4 of reg. */
+static void swd_queue_dp_bankselect(struct adiv5_dap *dap, unsigned reg)
+{
+       uint32_t select_dp_bank = (reg & 0x000000F0) >> 4;
+
+       if (reg == DP_SELECT)
+               return;
+
+       if (select_dp_bank == dap->dp_bank_value)
+               return;
+
+       dap->dp_bank_value = select_dp_bank;
+       select_dp_bank |= dap->ap_current | dap->ap_bank_value;
 
-static int (swd_queue_ap_read)(struct adiv5_dap *dap, unsigned reg,
+       swd_queue_dp_write(dap, DP_SELECT, select_dp_bank);
+}
+
+static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
                uint32_t *data)
 {
-       // REVISIT  APSEL ...
-       // REVISIT status return ...
-       return swd->read_reg(swd_cmd(true,  true, reg), data);
+       const struct swd_driver *swd = jtag_interface->swd;
+       assert(swd);
+
+       swd_queue_dp_bankselect(dap, reg);
+       swd->read_reg(dap, swd_cmd(true,  false, reg), data);
+
+       return check_sync(dap);
 }
 
-static int (swd_queue_ap_write)(struct adiv5_dap *dap, unsigned reg,
+
+static int swd_queue_dp_write(struct adiv5_dap *dap, unsigned reg,
                uint32_t data)
 {
-       // REVISIT  APSEL ...
-       // REVISIT status return ...
-       return swd->write_reg(swd_cmd(false,  true, reg), data);
+       const struct swd_driver *swd = jtag_interface->swd;
+       assert(swd);
+
+       swd_finish_read(dap);
+       swd_queue_dp_bankselect(dap, reg);
+       swd->write_reg(dap, swd_cmd(false,  false, reg), data);
+
+       return check_sync(dap);
+}
+
+/** Select the AP register bank matching bits 7:4 of reg. */
+static void swd_queue_ap_bankselect(struct adiv5_dap *dap, unsigned reg)
+{
+       uint32_t select_ap_bank = reg & 0x000000F0;
+
+       if (select_ap_bank == dap->ap_bank_value)
+               return;
+
+       dap->ap_bank_value = select_ap_bank;
+       select_ap_bank |= dap->ap_current | dap->dp_bank_value;
+
+       swd_queue_dp_write(dap, DP_SELECT, select_ap_bank);
 }
 
-static int (swd_queue_ap_abort)(struct adiv5_dap *dap, uint8_t *ack)
+static int swd_queue_ap_read(struct adiv5_dap *dap, unsigned reg,
+               uint32_t *data)
 {
-       return ERROR_FAIL;
+       const struct swd_driver *swd = jtag_interface->swd;
+       assert(swd);
+
+       swd_queue_ap_bankselect(dap, reg);
+       swd->read_reg(dap, swd_cmd(true,  true, reg), dap->last_read);
+       dap->last_read = data;
+
+       return check_sync(dap);
+}
+
+static int swd_queue_ap_write(struct adiv5_dap *dap, unsigned reg,
+               uint32_t data)
+{
+       const struct swd_driver *swd = jtag_interface->swd;
+       assert(swd);
+
+       swd_finish_read(dap);
+       swd_queue_ap_bankselect(dap, reg);
+       swd->write_reg(dap, swd_cmd(false,  true, reg), data);
+
+       return check_sync(dap);
 }
 
 /** Executes all queued DAP operations. */
 static int swd_run(struct adiv5_dap *dap)
 {
-       /* for now the SWD interface hard-wires a zero-size queue.  */
-
-       /* FIXME but we still need to check and scrub
-        * any hardware errors ...
-        */
-       return ERROR_OK;
+       swd_finish_read(dap);
+       return swd_run_inner(dap);
 }
 
 const struct dap_ops swd_dap_ops = {
        .is_swd = true,
 
-       .queue_idcode_read = swd_queue_idcode_read,
        .queue_dp_read = swd_queue_dp_read,
        .queue_dp_write = swd_queue_dp_write,
        .queue_ap_read = swd_queue_ap_read,
@@ -187,22 +270,19 @@ int dap_to_swd(struct target *target)
        return retval;
 }
 
-
-
 COMMAND_HANDLER(handle_swd_wcr)
 {
        int retval;
        struct target *target = get_current_target(CMD_CTX);
        struct arm *arm = target_to_arm(target);
-struct adiv5_dap *dap = arm->dap;
+       struct adiv5_dap *dap = arm->dap;
        uint32_t wcr;
        unsigned trn, scale = 0;
 
-
        switch (CMD_ARGC) {
        /* no-args: just dump state */
        case 0:
-               //retval = swd_queue_dp_read(dap, DP_WCR, &wcr);
+               /*retval = swd_queue_dp_read(dap, DP_WCR, &wcr); */
                retval = dap_queue_dp_read(dap, DP_WCR, &wcr);
                if (retval == ERROR_OK)
                        dap->ops->run(dap);
@@ -212,7 +292,7 @@ struct adiv5_dap *dap = arm->dap;
                }
 
                command_print(CMD_CTX,
-                       "turnaround=%d, prescale=%d",
+                       "turnaround=%" PRIu32 ", prescale=%" PRIu32,
                        WCR_TO_TRN(wcr),
                        WCR_TO_PRESCALE(wcr));
        return ERROR_OK;
@@ -283,7 +363,6 @@ static const struct command_registration swd_handlers[] = {
 
 static int swd_select(struct command_context *ctx)
 {
-       struct target *target = get_current_target(ctx);
        int retval;
 
        retval = register_commands(ctx, NULL, swd_handlers);
@@ -291,6 +370,8 @@ static int swd_select(struct command_context *ctx)
        if (retval != ERROR_OK)
                return retval;
 
+       const struct swd_driver *swd = jtag_interface->swd;
+
         /* be sure driver is in SWD mode; start
          * with hardware default TRN (1), it can be changed later
          */
@@ -299,14 +380,20 @@ static int swd_select(struct command_context *ctx)
                return ERROR_FAIL;
        }
 
-        retval = swd->init(1);
+       retval = swd->init(1);
        if (retval != ERROR_OK) {
                LOG_DEBUG("can't init SWD driver");
                return retval;
        }
 
        /* force DAP into SWD mode (not JTAG) */
-       retval = dap_to_swd(target);
+       /*retval = dap_to_swd(target);*/
+
+       if (ctx->current_target) {
+               /* force DAP into SWD mode (not JTAG) */
+               struct target *target = get_current_target(ctx);
+               retval = dap_to_swd(target);
+       }
 
        return retval;
 }
@@ -315,10 +402,13 @@ static int swd_init(struct command_context *ctx)
 {
        struct target *target = get_current_target(ctx);
        struct arm *arm = target_to_arm(target);
-struct adiv5_dap *dap = arm->dap;
+       struct adiv5_dap *dap = arm->dap;
        uint32_t idcode;
        int status;
 
+       /* Force the DAP's ops vector for SWD mode.
+        * messy - is there a better way? */
+       arm->dap->ops = &swd_dap_ops;
 
        /* FIXME validate transport config ... is the
         * configured DAP present (check IDCODE)?
@@ -329,15 +419,20 @@ struct adiv5_dap *dap = arm->dap;
 
  /* Note, debugport_init() does setup too */
 
-       uint8_t ack;
+       swd_queue_dp_read(dap, DP_IDCODE, &idcode);
 
-       status = swd_queue_idcode_read(dap, &ack, &idcode);
+       /* force clear all sticky faults */
+       swd_clear_sticky_errors(dap);
+
+       status = swd_run(dap);
 
        if (status == ERROR_OK)
-               LOG_INFO("SWD IDCODE %#8.8x", idcode);
+               LOG_INFO("SWD IDCODE %#8.8" PRIx32, idcode);
 
-       return status;
+       /* this is a workaround to get polling working */
+       jtag_add_reset(0, 0);
 
+       return status;
 }
 
 static struct transport swd_transport = {
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