SPI SWD Protocol Implement
2015-08-22 23:38
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//================================================================================= // ARM SWD Mode Port Bit masks // #if (HW_CAPABILITY&CAP_SWD_HW) #ifndef DATA_PORT #define DATA_PORT PTAD #define DATA_PORT_DDR PTADD #define DATA_PORT_PER PTAPE #endif // SWD data out pin #define SWD_OUT PTAD_PTAD2 #define SWD_OUT_BIT (2) // Bit number! #define SWD_OUT_MASK (1<<SWD_OUT_BIT) #define SWD_OUT_PER PTAPE_PTAPE2 #define SWD_OUT_DDR PTADD_PTADD2 // SWD data out 3-state control #define SWD_OUT_EN PTAD_PTAD4 #define SWD_OUT_EN_BIT (4) // Bit number! #define SWD_OUT_EN_MASK (1<<SWD_OUT_EN_BIT) #define SWD_OUT_EN_PER PTAPE_PTAPE4 #define SWD_OUT_EN_DDR PTADD_PTADD4 // Following assume pin already configured by SWD_LOW(),SWD_HIGH(),SWD_3STATE() #define SWD_ENABLE_ASM BCLR SWD_OUT_EN_BIT,DATA_PORT #define SWD_3STATE_ASM BSET SWD_OUT_EN_BIT,DATA_PORT #define SWD_LOW_ASM BCLR SWD_OUT_BIT,DATA_PORT #define SWD_HIGH_ASM BSET SWD_OUT_BIT,DATA_PORT #define SWD_DISABLE_ASM BCLR SWD_OUT_EN_BIT,DATA_PORT_DDR #define SWD_ENABLE_DRV_ASM BSET SWD_OUT_EN_BIT,DATA_PORT_DDR // Following configure pin & driver #define SWD_LOW() (SWD_OUT=0, SWD_OUT_DDR=1, SWD_OUT_EN=0, SWD_OUT_EN_DDR=1) #define SWD_HIGH() (SWD_OUT=1, SWD_OUT_DDR=1, SWD_OUT_EN=0, SWD_OUT_EN_DDR=1) #define SWD_3STATE() (SWD_OUT_EN=1, SWD_OUT_EN_DDR=1, SWD_OUT_DDR=1) #define SWD_DISABLE() (SWD_OUT_EN=1, SWD_OUT_EN_DDR=0, SWD_OUT_DDR=0) // PUPs // SWD data in pin #define SWD_IN PTAD_PTAD0 #define SWD_IN_BIT (0) // Bit number! #define SWD_IN_MASK (1<<SWD_IN_BIT) #define SWD_IN_PER PTAPE_PTAPE0 #define SWD_IN_DDR PTADD_PTADD0 // SWCLK out pin #define SWCLK_OUT PTAD_PTAD3 #define SWCLK_OUT_BIT (3) // Bit number! #define SWCLK_OUT_MASK (1<<SWCLK_OUT_BIT) #define SWCLK_OUT_PER PTAPE_PTAPE3 #define SWCLK_OUT_DDR PTADD_PTADD3 // SWCLK enable pin - controls buffer enable #define SWCLK_OUT_EN PTBD_PTBD1 #define SWCLK_OUT_EN_BIT (1) // Bit number! #define SWCLK_OUT_EN_MASK (1<<SWCLK_OUT_EN_BIT) #define SWCLK_OUT_EN_PER PTBPE_PTBPE1 #define SWCLK_OUT_EN_DDR PTBDD_PTBDD1 // Following assume pin direction already set #define SWCLK_LOW_ASM BCLR SWCLK_OUT_BIT,DATA_PORT #define SWCLK_HIGH_ASM BSET SWCLK_OUT_BIT,DATA_PORT // Following configure pin & driver #define SWCLK_LOW() (SWCLK_OUT=0, SWCLK_OUT_DDR=1, SWCLK_OUT_EN=0, SWCLK_OUT_EN_DDR=1) #define SWCLK_HIGH() (SWCLK_OUT=1, SWCLK_OUT_DDR=1, SWCLK_OUT_EN=0, SWCLK_OUT_EN_DDR=1) #define SWCLK_3STATE() (SWCLK_OUT_EN=1, SWCLK_OUT_EN_DDR=1, SWCLK_OUT_DDR=1) // PUPs #define SWCLK_DISABLE() (SWCLK_OUT_EN=1, SWCLK_OUT_EN_DDR=0, SWCLK_OUT_DDR=0) // PUPs #endif // CAP_SWD
/* * SWD.h * * Created on: 04/08/2012 * Author: PODonoghue */ #ifndef SWD_H_ #define SWD_H_ #include "Common.h" // Ack values displaced by offset introduced during read (left justified 8-bit value) #define SWD_ACK_OK (0x1<<5) #define SWD_ACK_WAIT (0x2<<5) #define SWD_ACK_FAULT (0x4<<5) #define SWD_ACK_PROTOCOL (0x7<<5) void swd_interfaceIdle(void); void swd_init(void); void swd_txIdle8(void); U8 swd_test(void); U8 swd_sendCommandWithWait(U8 command); U8 swd_connect(void); U8 swd_readReg(U8 command, U8 *data); U8 swd_writeReg(U8 command, const U8 *data); U8 swd_readAPReg(const U8 *address, U8 *buff); U8 swd_writeAPReg(const U8 *address, const U8 *buff); U8 swd_clearStickyError(void); U8 swd_abortAP(void); #endif /* SWD_H_ */
/*! \file
\brief ARM-SWD routines
\verbatim
USBDM
Copyright (C) 2007 Peter O'Donoghue
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, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
\endverbatim
Change History
+==================================================================================================
| 21 Feb 2014 | Fixed unbalanced stack in swd_sendCommandWithWait() V4.10.6.30
| 10 Feb 2014 | Dramatically extended retry times to allow for slow clocks V4.10.6.20
| 30 Aug 2012 | ARM-JTAG & ARM-SWD Changes V4.9.5
+==================================================================================================
\endverbatim
*/
#include "Common.h"
#include "Configure.h"
#include "Commands.h"
#include "SWD.h"
#include "Commands.h"
#include "BDM.h"
#include "BDM_CF.h"
#include "CmdProcessing.h"
#include "BDMCommon.h"
#include "SPI.h"
#include "TargetDefines.h"
#include "SWD.h"
#if TARGET_CAPABILITY & CAP_ARM_SWD
//! SPI Masks - Mask to enable SPI as master Tx
#define SPIxC1_OFF (SPIxC1_MSTR_MASK) //!< SPI Masks - Mask to disable SPI
#define SPIxC1_M_ON_TX (SPIxC1_SPE_MASK|SPIxC1_MSTR_MASK|SPIxC1_CPOL_MASK|SPIxC1_CPHA_MASK|SPIxC1_SSOE_MASK|SPIxC1_LSBFE_MASK)
#define SPIxC1_M_ON_RX (SPIxC1_SPE_MASK|SPIxC1_MSTR_MASK|SPIxC1_CPOL_MASK) //!< SPI Masks - Mask to enable SPI as master Tx
#define SPIxC2_M_8 (0) //!< SPI Masks - 8-bit mode
#define SPIxC2_M_16 (SPIxC2_SPIMODE_MASK) //!< SPI Masks - 8-bit mode
// Can't use enumerations in assembly code
#define BDM_RC_OKx (0)
#define BDM_RC_NO_CONNECTIONx (5)
#define BDM_RC_ACK_TIMEOUTx (30)
#define BDM_RC_ARM_PARITY_ERRORx (51)
#define BDM_RC_ARM_FAULT_ERRORx (52)
#define SWD_READ_IDCODE 0xA5 // (Park,Stop,Parity,A[32],R/W,AP/DP,Start) = 10100101
// Masks for SWD_WR_DP_ABORT clear sticky
#define SWD_DP_ABORT_CLEAR_STICKY_ERRORS_B3 0x1E
// Masks for SWD_WR_DP_ABORT abort AP
#define SWD_DP_ABORT_ABORT_AP_B3 0x01
// Masks for SWD_RD_DP_STATUS
#define SWD_RD_DP_STATUS_ANYERROR_B3 0xB2
#pragma MESSAGE DISABLE C1404 // Disable warnings about missing return value
#pragma MESSAGE DISABLE C5703 // Disable warnings about unused parameter
//! Sets the SWD interface to an idle state
//! RESET=3-state, SWCLK=High, SWDIO=3-state (SPI off)
//!
void swd_interfaceIdle(void) {
#ifdef RESET_3STATE
RESET_3STATE();
#endif
SWD_3STATE();
SWCLK_HIGH();
SPIC1 = SPIxC1_OFF;
}
//! Initialise the SWD interface and sets it to an idle state
//! RESET=3-state, SWCLK=High, SWDIO=3-state
//!
//! @note This includes once-off initialisation such as PUPs etc
//!
void swd_init(void) {
// 4 pins SWD_OUT, SWD_OUT_EN, SWCLK_OUT, SWCLK_OUT_EN
// Individually controlled PUPs
SWD_OUT_PER = 1; // Prevent float when disabled
SWD_OUT_EN_PER = 1; // Prevent drive when disabled
SWCLK_OUT_PER = 1; // Prevent float when disabled
SWCLK_OUT_EN_PER = 1; // Prevent drive when disabled
SWD_IN_DDR = 0; // Make input
SWD_IN_PER = 1; // Shouldn't be req. as external PUP for speed
#ifdef RESET_IN_DDR
RESET_IN_DDR = 0; // Make input
#endif
#ifdef RESET_IN_PER
RESET_IN_PER = 1; // Needed for input level translation to 5V
#endif
#ifdef RESET_OUT_PER
RESET_OUT_PER = 1; // Holds RESET_OUT inactive when unused
#endif
(void)spi_setSpeed(0);
swd_interfaceIdle();
}
//! Turns off the SWD interface
//!
//! Depending upon settings, may leave target power on.
//!
void swd_off( void ) {
#if ((HW_CAPABILITY & CAP_FLASH) != 0)
(void)bdmSetVpp(BDM_TARGET_VPP_OFF);
#endif
if (!bdm_option.leaveTargetPowered) {
VDD_OFF();
}
swd_interfaceIdle();
SWCLK_DISABLE();
SWD_DISABLE();
RESET_DISABLE();
}
#define SWD_DATA1_CLK1 SWCLK_OUT_MASK|SWD_OUT_EN_MASK
#define SWD_DATA0_CLK1 SWCLK_OUT_MASK|0
//! Transmits 1 clock with SWDIO 3-state
//!
void swd_turnAround() {
asm {
// 1 clock turn-around
mov #SWD_OUT_MASK,DATA_PORT // SWDIO=3-state,SWCLK=0
ldx bitDelay // Low time delay
dbnzx *-0 // [4n fppp]
bset SWCLK_OUT_BIT,DATA_PORT // SWCLK=1
ldx bitDelay // High time delay
dbnzx *-0 // [4n fppp]
}
}
//! Transmits 8-bits of idle (SDIO=0)
//!
void swd_txIdle8(void) {
asm {
mov #SPIxC2_M_8,SPIxC2 // Initialise SPI (8 bit)
mov #SPIxC1_M_ON_TX,SPIC1 // Enable SPI
clr DATA_PORT // Enable SWD drive
cmp SPIxS // Dummy status read
clr SPIxD // Tx data (=0)
L1:
brclr SPIS_SPRF_BIT,SPIxS,L1 // Wait until Tx/Rx complete
lda SPIxD // Discard rx data
mov #SWCLK_OUT_MASK|SWD_OUT_EN_MASK,DATA_PORT // Setup for SWCLK=1, SWD=3-state
clr SPIC1 // Disable SPI
}
}
#if (SWD_IN_BIT != 0)
#error "SWD_IN must be bit #0"
#endif
#pragma MESSAGE DISABLE C5703 // Disable warnings about unused parameter
//! SWD command phase
//!
//! Writes 8-bit command and receives 3-bit response
//! It will retry on WAIT response a limited number of times
//!
//! @param command - 8-bit command to write to SWD (including parity!)
//!
//! @return \n
//! == \ref BDM_RC_OK => Success \n
//! == \ref BDM_RC_ARM_FAULT_ERROR => FAULT response from target \n
//! == \ref BDM_RC_ACK_TIMEOUT => Excessive number of WAIT responses from target \n
//! == \ref BDM_RC_NO_CONNECTION => Unexpected/no response from target
//!
//! @note A turn-around clock period will be added on error responses
//!
uint8_t swd_sendCommandWithWait(uint8_t command) {
asm {
sta txTiming1 // Save data (for retry)
ldx #(2000/250) // Set up outer retry count
retry_outer:
pshx // Save outer retry count
mov #250,rxTiming1 // Reset inner retry count
retry:
// 8-bit Start|APnDP|R/W|Parity|Stop|Park
lda txTiming1 // Get Tx data
mov #SPIxC2_M_8,SPIxC2 // Initialise SPI (8 bit)
mov #SPIxC1_M_ON_TX,SPIC1 // Enable SPI
clr DATA_PORT // Enable SWD drive
cmp SPIxS // Dummy status read
sta SPIxD // Tx data
L1:
brclr SPIS_SPRF_BIT,SPIxS,L1 // Wait until Tx/Rx complete
ldx SPIxD // Discard rx data
SWD_3STATE_ASM // SWD=3-state
clr SPIC1 // Disable SPI
// 1 clock turn-around
bclr SWCLK_OUT_BIT,DATA_PORT // SWCLK=0
ldx bitDelay // Low time delay
dbnzx *-0 // [4n fppp]
bset SWCLK_OUT_BIT,DATA_PORT // SWCLK=1
ldx bitDelay // High time delay
dbnzx *-0 // [4n fppp]
// 1st bit ACK
clra // Clear initial data value
bclr SWCLK_OUT_BIT,DATA_PORT // SWCLK=0
ldx bitDelay // Low time delay
dbnzx *-0 // [4n fppp]
ldx DATA_PORT // Capture data before rising edge
rorx
rora
bset SWCLK_OUT_BIT,DATA_PORT // SWCLK=1
ldx bitDelay // High time delay
dbnzx *-0 // [4n fppp]
// 2nd bit ACK
bclr SWCLK_OUT_BIT,DATA_PORT // SWCLK=0
ldx bitDelay // Low time delay
dbnzx *-0 // [4n fppp]
ldx DATA_PORT // Capture data before rising edge
rorx
rora
bset SWCLK_OUT_BIT,DATA_PORT // SWCLK=1
ldx bitDelay // High time delay
dbnzx *-0 // [4n fppp]
// 3rd bit ACK
bclr SWCLK_OUT_BIT,DATA_PORT // SWCLK=0
ldx bitDelay // Low time delay
dbnzx *-0 // [4n fppp]
ldx DATA_PORT
rorx
rora
bset SWCLK_OUT_BIT,DATA_PORT // SWCLK=1
ldx bitDelay // High time delay
dbnzx *-0 // [4n fppp]
tax
lda #BDM_RC_OKx
cbeqx #SWD_ACK_OK,balanceStack
// Do turn-around clock on anything other than ACK_OK response
bclr SWCLK_OUT_BIT,DATA_PORT // SWCLK=0
lda bitDelay // Low time delay
dbnza *-0 // [4n fppp]
bset SWCLK_OUT_BIT,DATA_PORT // SWCLK=1
lda bitDelay // High time delay
dbnza *-0 // [4n fppp]
// Check for wait response
cpx #SWD_ACK_WAIT // Wait response?
bne identifyError // No - exit with other error
// Check for wait timeout
dbnz rxTiming1,retry // Retry limit reached
pulx
dbnzx retry_outer
lda #BDM_RC_ACK_TIMEOUTx // Too many retries
bra done // Return error (stack already balanced)
identifyError:
lda #BDM_RC_ARM_FAULT_ERRORx // Identify error
cbeqx #SWD_ACK_FAULT,balanceStack
lda #BDM_RC_NO_CONNECTIONx
balanceStack:
pulx // Balance stack
done:
}
}
#pragma MESSAGE DEFAULT C5703 // Restore warnings about unused parameter
#pragma MESSAGE DISABLE C5703 // Disable warnings about unused parameter
//! Transmits 32-bit value
//!
//! Sequence as follows:
//! - 1-clock turn-around
//! - 32-bit data value
//! - 1-bit parity
//! - 8-bit idle
//!
//! @param data - ptr to 32-bit data to Tx
//!
static void swd_tx32(const uint8_t *data) {
asm {
// 1 clock turn-around
bclr SWCLK_OUT_BIT,DATA_PORT // SWCLK=0
lda bitDelay // Low time delay
dbnza *-0 // [4n fppp]
bset SWCLK_OUT_BIT,DATA_PORT // SWCLK=1
mov #SPIxC2_M_16,SPIxC2 // Initialise SPI (16 bit)
mov #SPIxC1_M_ON_TX,SPIxC1 // Enable SPI
clr DATA_PORT // Enable SWD drive
cmp SPIxS // Dummy status read
lda 3,x // Start Tx 1st & 2nd bytes
sta SPIxDL
lda 2,x
sta SPIxDH
lda 0,x // Do byte-wide parity
eor 1,x
eor 2,x
eor 3,x
ldhx 0,x // Get 3rd & 4th bytes
L1:
brclr SPIS_SPRF_BIT,SPIxS,L1 // Wait until previous Tx/Rx complete
cphx SPIxD16 // Discard read data
sthx SPIxD16 // Tx 3rd & 4th bytes
// Calculate nibble parity
psha // [2]
nsa // [1]
eor 1,sp // [4]
ais #1 // [2]
// Calculate final parity
tax // [1]
clra // [1]
rorx // [1]
adc #0 // [2]
rorx // [1]
adc #0 // [2]
rorx // [1]
adc #0 // [2]
rorx // [1]
adc #0 // [2]
//parity in A.0
L2:
brclr SPIS_SPRF_BIT,SPIxS,L2 // Wait until previous Tx/Rx complete
ldhx SPIxD16 // Discard read data
#if SWD_OUT_BIT >= 1 // move to SWD_OUT position
lsla
#endif
#if SWD_OUT_BIT == 2
lsla
#else
#error Fix this code
#endif
and #SWD_OUT_MASK // SWD=p, SWCLK=0
sta DATA_PORT // Set up - no effect yet
ldx bitDelay // Low time delay
clr SPIC1 // Disable SPI,
dbnzx *-0 // [4n fppp]
bset SWCLK_OUT_BIT,DATA_PORT // SWD=p, SWCLK=1
// Start Tx of 8-bit idle
mov #SPIxC2_M_8,SPIxC2 // Initialise SPI (8 bit)
mov #SPIxC1_M_ON_TX,SPIC1 // Enable SPI
clr DATA_PORT // Enable SWD drive
cmp SPIxS // Dummy status read
clr SPIxD // Tx data (=0)
// Wait for Idle Tx to complete
L3:
brclr SPIS_SPRF_BIT,SPIxS,L3 // Wait until Tx/Rx complete
cmp SPIxD // Discard rx data
mov #SWCLK_OUT_MASK|SWD_OUT_EN_MASK,DATA_PORT // Setup for SWCLK=1, SWD=3-state
clr SPIC1 // Disable SPI
rts
}
}
#pragma MESSAGE DEFAULT C5703 // Restore warnings about unused parameter
#pragma MESSAGE DISABLE C5703 // Disable warnings about unused parameter
//! Receives a 32-bit value with parity at end (33 total)
//!
//! Sequence as follows:
//! - 32-bit data value
//! - 1-bit parity
//! - 8-bit idle
//!
//! @param data - ptr to buffer for Rx data
//!
//! @return BDM_RC_OK \n
//! BDM_RC_ARM_PARITY_ERROR
//!
static uint8_t swd_rx32(uint8_t *data) {
#define SPIS_SPTEF_BIT (5)
#define SPIS_SPRF_BIT (7)
asm {
SWD_3STATE_ASM // SWD=3-state
mov #SPIxC2_M_16,SPIxC2 // Initialise SPI (16 bit)
mov #SPIxC1_M_ON_TX,SPIxC1 // Enable SPI
cmp SPIxS // Dummy status read
sthx SPIxD16 // Tx dummy/Rx
L1:
brclr SPIS_SPRF_BIT,SPIxS,L1 // Wait until Rx complete
lda SPIxDH // Save data
sta 2,x
lda SPIxDL
sta 3,x
sthx SPIxD16 // Tx dummy/Rx
L2:
brclr SPIS_SPRF_BIT,SPIxS,L2 // Wait until Rx complete
lda SPIxDH // Save data
sta 0,x
lda SPIxDL
sta 1,x
bclr SWCLK_OUT_BIT,DATA_PORT // Setup for SWCLK=0
clr SPIC1 // Disable SPI (SWCLK=0)
// Parity bit
lda bitDelay // Low time delay
dbnza *-0 // [4n fppp]
lda DATA_PORT // Capture data before rising clock edge
bset SWCLK_OUT_BIT,DATA_PORT // SWCLK=1
and #SWD_IN_MASK // Convert parity to byte width
// Single Parity bit remains - position is unimportant
// Start Tx of 8-bit idle
mov #SPIxC2_M_8,SPIxC2 // Initialise SPI (8 bit)
mov #SPIxC1_M_ON_TX,SPIC1 // Enable SPI
clr DATA_PORT // Enable SWD drive
cmp SPIxS // Dummy status read
clr SPIxD // Tx data (=0)
// Do parity calculation
eor 0,x // Do byte-wide parity on data & parity bit
eor 1,x
eor 2,x
eor 3,x
ldx bitDelay // High time delay
dbnzx *-0 // [4n fppp]
// Calculate nibble parity
psha // [2]
nsa // [1]
eor 1,sp // [4]
ais #1 // [2]
// Calculate final parity
tax // [1]
clra // [1]
rorx // [1]
adc #0 // [2]
rorx // [1]
adc #0 // [2]
rorx // [1]
adc #0 // [2]
rorx // [1]
adc #0 // [2]
and #1
// Parity in A.0 - should be 0
beq okExit
lda #BDM_RC_ARM_PARITY_ERRORx
okExit:
// Wait for Idle Tx to complete
L3:
brclr SPIS_SPRF_BIT,SPIxS,L3 // Wait until Tx/Rx complete
cmp SPIxD // Discard rx data
mov #SWCLK_OUT_MASK|SWD_OUT_EN_MASK,DATA_PORT // Setup for SWCLK=1, SWD=3-state
clr SPIC1 // Disable SPI
rts
}
}
#pragma MESSAGE DEFAULT C5703 // Restore warnings about unused parameter
#pragma MESSAGE DISABLE C5703 // Disable warnings about unused parameter
//! Switches interface to SWD
//!
//! Sequence as follows:
//! - 64-bit sequence of 1's
//! - 8-bit magic number 0xE79E
//! - 64-bit sequence of 1's
//!
//! @note Interface is reset even if already in SWD mode so IDCODE must be read
//! to enable interface
//!
static void swd_JTAGtoSWD(void) {
asm {
mov #SPIxC2_M_16,SPIxC2 // Initialise SPI (16 bit)
mov #SPIxC1_M_ON_TX,SPIxC1 // Enable SPI
clr DATA_PORT // Enable SWD drive
cmp SPIxS // Dummy status read
bsr txOnes // Send 64 clocks
ldhx #0xE79E // Send magic #
sthx SPIxD16
L5:
brclr SPIS_SPTEF_BIT,SPIxS,L5 // Wait until Tx buffer empty
bsr txOnes // Send 64 clocks
L6:
brclr SPIS_SPTEF_BIT,SPIxS,L6 // Wait until Tx buffer empty
ldhx SPIxD16 // Discard last data
mov #SWCLK_OUT_MASK|SWD_OUT_EN_MASK,DATA_PORT // Setup for SWCLK=1, SWD=3-state
L7:
brclr SPIS_SPRF_BIT,SPIxS,L7 // Wait until Tx complete
ldhx SPIxD16 // Discard rx data
clr SPIC1 // Disable SPI (SWCLK=1)
rts
txOnes:
ldhx #0xFFFF // Tx 64 bits with '1'
sthx SPIxD16
L1:
brclr SPIS_SPTEF_BIT,SPIxS,L1 // Wait until Tx buffer empty
sthx SPIxD16
L2:
brclr SPIS_SPTEF_BIT,SPIxS,L2 // Wait until Tx buffer empty
sthx SPIxD16
L3:
brclr SPIS_SPTEF_BIT,SPIxS,L3 // Wait until Tx buffer empty
sthx SPIxD16
L4:
brclr SPIS_SPTEF_BIT,SPIxS,L4 // Wait until Tx buffer empty
rts
}
}
#pragma MESSAGE DEFAULT C5703 // Restore warnings about unused parameter
//! SWD - Try to connect to the target
//!
//! This will do the following:
//! - Switch the interface to SWD mode
//! - Read IDCODE
//!
//! @return \n
//! == \ref BDM_RC_OK => Success \n
//! == \ref BDM_RC_NO_CONNECTION => Unexpected/no response from target
//!
uint8_t swd_connect(void) {
uint8_t buff[4];
swd_JTAGtoSWD();
swd_txIdle8();
// Target must respond to read IDCODE immediately
return swd_readReg(SWD_READ_IDCODE, buff);
}
//! Read ARM-SWD DP & AP register
//!
//! @param command - SWD command byte to select register etc.
//! @param data - buffer for 32-bit value read
//!
//! @return \n
//! == \ref BDM_RC_OK => Success \n
//! == \ref BDM_RC_ARM_FAULT_ERROR => FAULT response from target \n
//! == \ref BDM_RC_ACK_TIMEOUT => Excessive number of WAIT responses from target \n
//! == \ref BDM_RC_NO_CONNECTION => Unexpected/no response from target \n
//! == \ref BDM_RC_ARM_PARITY_ERROR => Parity error on data read
//!
//! @note Action and Data returned depends on register (some responses are pipelined)\n
//! SWD_RD_DP_IDCODE - Value from IDCODE reg \n
//! SWD_RD_DP_STATUS - Value from STATUS reg \n
//! SWD_RD_DP_RESEND - LAST value read (AP read or DP-RDBUFF), FAULT on sticky error \n
//! SWD_RD_DP_RDBUFF - Value from last AP read and clear READOK flag in STRL/STAT, FAULT on sticky error \n
//! SWD_RD_AP_REGx - Value from last AP read, clear READOK flag in STRL/STAT and INITIATE next AP read, FAULT on sticky error
//!
uint8_t swd_readReg(uint8_t command, uint8_t *data) {
uint8_t rc = swd_sendCommandWithWait(command);
if (rc != BDM_RC_OK) {
return rc;
}
return swd_rx32(data);
}
//! Write ARM-SWD DP & AP register
//!
//! @param command - SWD command byte to select register etc.
//! @param data - buffer containing 32-bit value to write
//!
//! @return \n
//! == \ref BDM_RC_OK => Success \n
//! == \ref BDM_RC_ARM_FAULT_ERROR => FAULT response from target \n
//! == \ref BDM_RC_ACK_TIMEOUT => Excessive number of WAIT responses from target \n
//! == \ref BDM_RC_NO_CONNECTION => Unexpected/no response from target
//!
//! @note Action depends on register (some responses are pipelined)\n
//! SWD_WR_DP_ABORT - Write value to ABORT register (accepted) \n
//! SWD_WR_DP_CONTROL - Write value to CONTROL register (may be pending), FAULT on sticky error. \n
//! SWD_WR_DP_SELECT - Write value to SELECT register (may be pending), FAULT on sticky error. \n
//! SWD_WR_AP_REGx - Write to AP register. May initiate action e.g. memory access. Result is pending, FAULT on sticky error.
//!
uint8_t swd_writeReg(uint8_t command, const uint8_t *data) {
uint8_t rc = swd_sendCommandWithWait(command);
if (rc != BDM_RC_OK) {
return rc;
}
swd_tx32(data);
return rc;
}
//! Write register of Access Port
//!
//! @param 16-bit address \n
//! A[15:8] => DP-AP-SELECT[31:24] (AP # Select) \n
//! A[7:4] => DP-AP-SELECT[7:4] (Bank select within AP) \n
//! A[3:2] => APACC[3:2] (Register select within bank)
//! @param buff \n
//! - [1..4] => 32-bit register value
//!
//! @return
//! == \ref BDM_RC_OK => success
//!
//! @note - Access is completed before return
//!
uint8_t swd_writeAPReg(const uint8_t *address, const uint8_t *buff) {
static const uint8_t writeAP[] = {SWD_WR_AP_REG0, SWD_WR_AP_REG1, SWD_WR_AP_REG2, SWD_WR_AP_REG3};
uint8_t rc;
uint8_t regNo = writeAP[(address[1]&0xC)>>2];
uint8_t selectData[4];
selectData[0] = address[0];
selectData[1] = 0;
selectData[2] = 0;
selectData[3] = address[1]&0xF0;
// Set up SELECT register for AP access
rc = swd_writeReg(SWD_WR_DP_SELECT, selectData);
if (rc != BDM_RC_OK) {
return rc;
}
// Initiate write to AP register
rc = swd_writeReg(regNo, buff);
if (rc != BDM_RC_OK) {
return rc;
}
// Read from READBUFF register to allow stall/status response
return swd_readReg(SWD_RD_DP_RDBUFF, selectData);
}
//! Read register of Access Port
//!
//! @param 16-bit address \n
//! A[15:8] => DP-AP-SELECT[31:24] (AP # Select) \n
//! A[7:4] => DP-AP-SELECT[7:4] (Bank select within AP) \n
//! A[3:2] => APACC[3:2] (Register select within bank)
//! @param buff \n
//! - [1..4] => 32-bit register value
//!
//! @return
//! == \ref BDM_RC_OK => success
//!
//! @note - Access is completed before return
//!
uint8_t swd_readAPReg(const uint8_t *address, uint8_t *buff) {
static const uint8_t readAP[] = {SWD_RD_AP_REG0, SWD_RD_AP_REG1, SWD_RD_AP_REG2, SWD_RD_AP_REG3};
uint8_t rc;
uint8_t regNo = readAP[(address[1]&0xC)>>2];
uint8_t selectData[4];
selectData[0] = address[0];
selectData[1] = 0;
selectData[2] = 0;
selectData[3] = address[1]&0xF0;
// Set up SELECT register for AP access
rc = swd_writeReg(SWD_WR_DP_SELECT, selectData);
if (rc != BDM_RC_OK) {
return rc;
}
// Initiate read from AP register (dummy data)
rc = swd_readReg(regNo, buff);
if (rc != BDM_RC_OK) {
return rc;
}
// Read from READBUFF register
return swd_readReg(SWD_RD_DP_RDBUFF, buff);
}
//! ARM-SWD - clear sticky bits
//!
//! @return error code
//!
uint8_t swd_clearStickyError(void) {
static const uint8_t swdClearErrors[4] = {0,0,0,SWD_DP_ABORT_CLEAR_STICKY_ERRORS_B3};
return swd_writeReg(SWD_WR_DP_ABORT, swdClearErrors);
}
//! ARM-SWD - clear sticky bits and abort AP transactions
//!
//! @return error code
//!
uint8_t swd_abortAP(void) {
static const uint8_t swdClearErrors[4] =
{0,0,0,SWD_DP_ABORT_CLEAR_STICKY_ERRORS_B3|SWD_DP_ABORT_ABORT_AP_B3};
return swd_writeReg(SWD_WR_DP_ABORT, swdClearErrors);
}
uint8_t swd_test(void) {
return swd_connect();
// swd_JTAGtoSWD();
// return BDM_RC_OK;
// return swd_connect();
}
#endif // HW_CAPABILITY && CAP_SWD_HW
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