592b8da71a
CMSIS-DAP implementations explicitly use CPU bitbash to control SWD and SWDIO, but we can do better. Transfers are handed off to PIO in phases, which gets us deterministic clock timing as well as freeing the CPU up for other tasks. Signed-off-by: Jonathan Bell <jonathan@raspberrypi.com>
563 lines
20 KiB
C
Executable File
563 lines
20 KiB
C
Executable File
/*
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* Copyright (c) 2013-2021 ARM Limited. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* ----------------------------------------------------------------------
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*
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* $Date: 16. June 2021
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* $Revision: V2.1.0
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*
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* Project: CMSIS-DAP Configuration
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* Title: DAP_config.h CMSIS-DAP Configuration File (Template)
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*
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*---------------------------------------------------------------------------*/
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#ifndef __DAP_CONFIG_H__
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#define __DAP_CONFIG_H__
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//**************************************************************************************************
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/**
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\defgroup DAP_Config_Debug_gr CMSIS-DAP Debug Unit Information
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\ingroup DAP_ConfigIO_gr
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@{
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Provides definitions about the hardware and configuration of the Debug Unit.
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This information includes:
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- Definition of Cortex-M processor parameters used in CMSIS-DAP Debug Unit.
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- Debug Unit Identification strings (Vendor, Product, Serial Number).
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- Debug Unit communication packet size.
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- Debug Access Port supported modes and settings (JTAG/SWD and SWO).
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- Optional information about a connected Target Device (for Evaluation Boards).
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*/
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#include <pico/stdlib.h>
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#include <hardware/gpio.h>
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#include "cmsis_compiler.h"
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#include "picoprobe_config.h"
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#include "probe.h"
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/// Processor Clock of the Cortex-M MCU used in the Debug Unit.
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/// This value is used to calculate the SWD/JTAG clock speed.
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/* Picoprobe actually uses kHz rather than Hz, so just lie about it here */
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#define CPU_CLOCK 125000000U ///< Specifies the CPU Clock in Hz.
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/// Number of processor cycles for I/O Port write operations.
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/// This value is used to calculate the SWD/JTAG clock speed that is generated with I/O
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/// Port write operations in the Debug Unit by a Cortex-M MCU. Most Cortex-M processors
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/// require 2 processor cycles for a I/O Port Write operation. If the Debug Unit uses
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/// a Cortex-M0+ processor with high-speed peripheral I/O only 1 processor cycle might be
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/// required.
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#define IO_PORT_WRITE_CYCLES 1U ///< I/O Cycles: 2=default, 1=Cortex-M0+ fast I/0.
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#define DELAY_SLOW_CYCLES 1U // We don't differentiate between fast/slow, we've got a 16-bit divisor for that
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/// Indicate that Serial Wire Debug (SWD) communication mode is available at the Debug Access Port.
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/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
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#define DAP_SWD 1 ///< SWD Mode: 1 = available, 0 = not available.
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/// Indicate that JTAG communication mode is available at the Debug Port.
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/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
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#define DAP_JTAG 0 ///< JTAG Mode: 1 = available, 0 = not available.
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/// Configure maximum number of JTAG devices on the scan chain connected to the Debug Access Port.
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/// This setting impacts the RAM requirements of the Debug Unit. Valid range is 1 .. 255.
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#define DAP_JTAG_DEV_CNT 8U ///< Maximum number of JTAG devices on scan chain.
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/// Default communication mode on the Debug Access Port.
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/// Used for the command \ref DAP_Connect when Port Default mode is selected.
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#define DAP_DEFAULT_PORT 1U ///< Default JTAG/SWJ Port Mode: 1 = SWD, 2 = JTAG.
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/// Default communication speed on the Debug Access Port for SWD and JTAG mode.
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/// Used to initialize the default SWD/JTAG clock frequency.
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/// The command \ref DAP_SWJ_Clock can be used to overwrite this default setting.
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#define DAP_DEFAULT_SWJ_CLOCK 1000000U ///< Default SWD/JTAG clock frequency in Hz.
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/// Maximum Package Size for Command and Response data.
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/// This configuration settings is used to optimize the communication performance with the
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/// debugger and depends on the USB peripheral. Typical vales are 64 for Full-speed USB HID or WinUSB,
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/// 1024 for High-speed USB HID and 512 for High-speed USB WinUSB.
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#define DAP_PACKET_SIZE 64U ///< Specifies Packet Size in bytes.
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/// Maximum Package Buffers for Command and Response data.
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/// This configuration settings is used to optimize the communication performance with the
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/// debugger and depends on the USB peripheral. For devices with limited RAM or USB buffer the
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/// setting can be reduced (valid range is 1 .. 255).
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#define DAP_PACKET_COUNT 2U ///< Specifies number of packets buffered.
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/// Indicate that UART Serial Wire Output (SWO) trace is available.
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/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
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#define SWO_UART 0 ///< SWO UART: 1 = available, 0 = not available.
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/// USART Driver instance number for the UART SWO.
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#define SWO_UART_DRIVER 0 ///< USART Driver instance number (Driver_USART#).
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/// Maximum SWO UART Baudrate.
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#define SWO_UART_MAX_BAUDRATE 10000000U ///< SWO UART Maximum Baudrate in Hz.
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/// Indicate that Manchester Serial Wire Output (SWO) trace is available.
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/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
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#define SWO_MANCHESTER 0 ///< SWO Manchester: 1 = available, 0 = not available.
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/// SWO Trace Buffer Size.
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#define SWO_BUFFER_SIZE 4096U ///< SWO Trace Buffer Size in bytes (must be 2^n).
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/// SWO Streaming Trace.
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#define SWO_STREAM 0 ///< SWO Streaming Trace: 1 = available, 0 = not available.
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/// Clock frequency of the Test Domain Timer. Timer value is returned with \ref TIMESTAMP_GET.
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#define TIMESTAMP_CLOCK 1000000U ///< Timestamp clock in Hz (0 = timestamps not supported).
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/// Indicate that UART Communication Port is available.
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/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
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#define DAP_UART 0 ///< DAP UART: 1 = available, 0 = not available.
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/// USART Driver instance number for the UART Communication Port.
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#define DAP_UART_DRIVER 0 ///< USART Driver instance number (Driver_USART#).
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/// UART Receive Buffer Size.
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#define DAP_UART_RX_BUFFER_SIZE 1024U ///< Uart Receive Buffer Size in bytes (must be 2^n).
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/// UART Transmit Buffer Size.
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#define DAP_UART_TX_BUFFER_SIZE 1024U ///< Uart Transmit Buffer Size in bytes (must be 2^n).
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/// Indicate that UART Communication via USB COM Port is available.
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/// This information is returned by the command \ref DAP_Info as part of <b>Capabilities</b>.
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#define DAP_UART_USB_COM_PORT 0 ///< USB COM Port: 1 = available, 0 = not available.
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/// Debug Unit is connected to fixed Target Device.
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/// The Debug Unit may be part of an evaluation board and always connected to a fixed
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/// known device. In this case a Device Vendor, Device Name, Board Vendor and Board Name strings
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/// are stored and may be used by the debugger or IDE to configure device parameters.
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#define TARGET_FIXED 0 ///< Target: 1 = known, 0 = unknown;
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#define TARGET_DEVICE_VENDOR "Arm" ///< String indicating the Silicon Vendor
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#define TARGET_DEVICE_NAME "Cortex-M" ///< String indicating the Target Device
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#define TARGET_BOARD_VENDOR "Arm" ///< String indicating the Board Vendor
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#define TARGET_BOARD_NAME "Arm board" ///< String indicating the Board Name
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#if TARGET_FIXED != 0
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#include <string.h>
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static const char TargetDeviceVendor [] = TARGET_DEVICE_VENDOR;
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static const char TargetDeviceName [] = TARGET_DEVICE_NAME;
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static const char TargetBoardVendor [] = TARGET_BOARD_VENDOR;
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static const char TargetBoardName [] = TARGET_BOARD_NAME;
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#endif
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/** Get Vendor Name string.
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\param str Pointer to buffer to store the string (max 60 characters).
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\return String length (including terminating NULL character) or 0 (no string).
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*/
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__STATIC_INLINE uint8_t DAP_GetVendorString (char *str) {
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(void)str;
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return (0U);
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}
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/** Get Product Name string.
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\param str Pointer to buffer to store the string (max 60 characters).
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\return String length (including terminating NULL character) or 0 (no string).
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*/
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__STATIC_INLINE uint8_t DAP_GetProductString (char *str) {
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(void)str;
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return (0U);
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}
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/** Get Serial Number string.
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\param str Pointer to buffer to store the string (max 60 characters).
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\return String length (including terminating NULL character) or 0 (no string).
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*/
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__STATIC_INLINE uint8_t DAP_GetSerNumString (char *str) {
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(void)str;
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return (0U);
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}
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/** Get Target Device Vendor string.
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\param str Pointer to buffer to store the string (max 60 characters).
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\return String length (including terminating NULL character) or 0 (no string).
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*/
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__STATIC_INLINE uint8_t DAP_GetTargetDeviceVendorString (char *str) {
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#if TARGET_FIXED != 0
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uint8_t len;
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strcpy(str, TargetDeviceVendor);
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len = (uint8_t)(strlen(TargetDeviceVendor) + 1U);
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return (len);
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#else
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(void)str;
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return (0U);
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#endif
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}
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/** Get Target Device Name string.
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\param str Pointer to buffer to store the string (max 60 characters).
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\return String length (including terminating NULL character) or 0 (no string).
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*/
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__STATIC_INLINE uint8_t DAP_GetTargetDeviceNameString (char *str) {
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#if TARGET_FIXED != 0
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uint8_t len;
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strcpy(str, TargetDeviceName);
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len = (uint8_t)(strlen(TargetDeviceName) + 1U);
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return (len);
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#else
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(void)str;
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return (0U);
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#endif
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}
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/** Get Target Board Vendor string.
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\param str Pointer to buffer to store the string (max 60 characters).
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\return String length (including terminating NULL character) or 0 (no string).
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*/
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__STATIC_INLINE uint8_t DAP_GetTargetBoardVendorString (char *str) {
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#if TARGET_FIXED != 0
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uint8_t len;
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strcpy(str, TargetBoardVendor);
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len = (uint8_t)(strlen(TargetBoardVendor) + 1U);
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return (len);
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#else
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(void)str;
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return (0U);
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#endif
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}
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/** Get Target Board Name string.
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\param str Pointer to buffer to store the string (max 60 characters).
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\return String length (including terminating NULL character) or 0 (no string).
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*/
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__STATIC_INLINE uint8_t DAP_GetTargetBoardNameString (char *str) {
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#if TARGET_FIXED != 0
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uint8_t len;
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strcpy(str, TargetBoardName);
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len = (uint8_t)(strlen(TargetBoardName) + 1U);
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return (len);
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#else
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(void)str;
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return (0U);
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#endif
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}
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/** Get Product Firmware Version string.
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\param str Pointer to buffer to store the string (max 60 characters).
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\return String length (including terminating NULL character) or 0 (no string).
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*/
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__STATIC_INLINE uint8_t DAP_GetProductFirmwareVersionString (char *str) {
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(void)str;
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return (0U);
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}
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///@}
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//**************************************************************************************************
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/**
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\defgroup DAP_Config_PortIO_gr CMSIS-DAP Hardware I/O Pin Access
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\ingroup DAP_ConfigIO_gr
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@{
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Standard I/O Pins of the CMSIS-DAP Hardware Debug Port support standard JTAG mode
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and Serial Wire Debug (SWD) mode. In SWD mode only 2 pins are required to implement the debug
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interface of a device. The following I/O Pins are provided:
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JTAG I/O Pin | SWD I/O Pin | CMSIS-DAP Hardware pin mode
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---------------------------- | -------------------- | ---------------------------------------------
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TCK: Test Clock | SWCLK: Clock | Output Push/Pull
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TMS: Test Mode Select | SWDIO: Data I/O | Output Push/Pull; Input (for receiving data)
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TDI: Test Data Input | | Output Push/Pull
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TDO: Test Data Output | | Input
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nTRST: Test Reset (optional) | | Output Open Drain with pull-up resistor
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nRESET: Device Reset | nRESET: Device Reset | Output Open Drain with pull-up resistor
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DAP Hardware I/O Pin Access Functions
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-------------------------------------
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The various I/O Pins are accessed by functions that implement the Read, Write, Set, or Clear to
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these I/O Pins.
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For the SWDIO I/O Pin there are additional functions that are called in SWD I/O mode only.
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This functions are provided to achieve faster I/O that is possible with some advanced GPIO
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peripherals that can independently write/read a single I/O pin without affecting any other pins
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of the same I/O port. The following SWDIO I/O Pin functions are provided:
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- \ref PIN_SWDIO_OUT_ENABLE to enable the output mode from the DAP hardware.
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- \ref PIN_SWDIO_OUT_DISABLE to enable the input mode to the DAP hardware.
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- \ref PIN_SWDIO_IN to read from the SWDIO I/O pin with utmost possible speed.
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- \ref PIN_SWDIO_OUT to write to the SWDIO I/O pin with utmost possible speed.
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*/
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// Configure DAP I/O pins ------------------------------
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/** Setup JTAG I/O pins: TCK, TMS, TDI, TDO, nTRST, and nRESET.
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Configures the DAP Hardware I/O pins for JTAG mode:
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- TCK, TMS, TDI, nTRST, nRESET to output mode and set to high level.
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- TDO to input mode.
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*/
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__STATIC_INLINE void PORT_JTAG_SETUP (void) {
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;
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}
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/** Setup SWD I/O pins: SWCLK, SWDIO, and nRESET.
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Configures the DAP Hardware I/O pins for Serial Wire Debug (SWD) mode:
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- SWCLK, SWDIO, nRESET to output mode and set to default high level.
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- TDI, nTRST to HighZ mode (pins are unused in SWD mode).
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*/
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__STATIC_INLINE void PORT_SWD_SETUP (void) {
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probe_init();
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}
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/** Disable JTAG/SWD I/O Pins.
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Disables the DAP Hardware I/O pins which configures:
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- TCK/SWCLK, TMS/SWDIO, TDI, TDO, nTRST, nRESET to High-Z mode.
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*/
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__STATIC_INLINE void PORT_OFF (void) {
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probe_deinit();
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}
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// SWCLK/TCK I/O pin -------------------------------------
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/** SWCLK/TCK I/O pin: Get Input.
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\return Current status of the SWCLK/TCK DAP hardware I/O pin.
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*/
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__STATIC_FORCEINLINE uint32_t PIN_SWCLK_TCK_IN (void) {
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return (0U);
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}
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/** SWCLK/TCK I/O pin: Set Output to High.
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Set the SWCLK/TCK DAP hardware I/O pin to high level.
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*/
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__STATIC_FORCEINLINE void PIN_SWCLK_TCK_SET (void) {
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;
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}
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/** SWCLK/TCK I/O pin: Set Output to Low.
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Set the SWCLK/TCK DAP hardware I/O pin to low level.
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*/
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__STATIC_FORCEINLINE void PIN_SWCLK_TCK_CLR (void) {
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;
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}
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// SWDIO/TMS Pin I/O --------------------------------------
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/** SWDIO/TMS I/O pin: Get Input.
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\return Current status of the SWDIO/TMS DAP hardware I/O pin.
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*/
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__STATIC_FORCEINLINE uint32_t PIN_SWDIO_TMS_IN (void) {
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return (0U);
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}
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/** SWDIO/TMS I/O pin: Set Output to High.
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Set the SWDIO/TMS DAP hardware I/O pin to high level.
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*/
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__STATIC_FORCEINLINE void PIN_SWDIO_TMS_SET (void) {
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;
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}
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/** SWDIO/TMS I/O pin: Set Output to Low.
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Set the SWDIO/TMS DAP hardware I/O pin to low level.
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*/
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__STATIC_FORCEINLINE void PIN_SWDIO_TMS_CLR (void) {
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;
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}
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/** SWDIO I/O pin: Get Input (used in SWD mode only).
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\return Current status of the SWDIO DAP hardware I/O pin.
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*/
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__STATIC_FORCEINLINE uint32_t PIN_SWDIO_IN (void) {
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return (0U);
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}
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/** SWDIO I/O pin: Set Output (used in SWD mode only).
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\param bit Output value for the SWDIO DAP hardware I/O pin.
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*/
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__STATIC_FORCEINLINE void PIN_SWDIO_OUT (uint32_t bit) {
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;
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}
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/** SWDIO I/O pin: Switch to Output mode (used in SWD mode only).
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Configure the SWDIO DAP hardware I/O pin to output mode. This function is
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called prior \ref PIN_SWDIO_OUT function calls.
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*/
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__STATIC_FORCEINLINE void PIN_SWDIO_OUT_ENABLE (void) {
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probe_write_mode();
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}
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/** SWDIO I/O pin: Switch to Input mode (used in SWD mode only).
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Configure the SWDIO DAP hardware I/O pin to input mode. This function is
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called prior \ref PIN_SWDIO_IN function calls.
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*/
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__STATIC_FORCEINLINE void PIN_SWDIO_OUT_DISABLE (void) {
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probe_read_mode();
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}
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// TDI Pin I/O ---------------------------------------------
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/** TDI I/O pin: Get Input.
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\return Current status of the TDI DAP hardware I/O pin.
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*/
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__STATIC_FORCEINLINE uint32_t PIN_TDI_IN (void) {
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return (0U);
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}
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/** TDI I/O pin: Set Output.
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\param bit Output value for the TDI DAP hardware I/O pin.
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*/
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__STATIC_FORCEINLINE void PIN_TDI_OUT (uint32_t bit) {
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;
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}
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// TDO Pin I/O ---------------------------------------------
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/** TDO I/O pin: Get Input.
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\return Current status of the TDO DAP hardware I/O pin.
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*/
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__STATIC_FORCEINLINE uint32_t PIN_TDO_IN (void) {
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return (0U);
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}
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// nTRST Pin I/O -------------------------------------------
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/** nTRST I/O pin: Get Input.
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\return Current status of the nTRST DAP hardware I/O pin.
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*/
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__STATIC_FORCEINLINE uint32_t PIN_nTRST_IN (void) {
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return (0U);
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}
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/** nTRST I/O pin: Set Output.
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\param bit JTAG TRST Test Reset pin status:
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- 0: issue a JTAG TRST Test Reset.
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- 1: release JTAG TRST Test Reset.
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*/
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__STATIC_FORCEINLINE void PIN_nTRST_OUT (uint32_t bit) {
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;
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}
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// nRESET Pin I/O------------------------------------------
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/** nRESET I/O pin: Get Input.
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\return Current status of the nRESET DAP hardware I/O pin.
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*/
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__STATIC_FORCEINLINE uint32_t PIN_nRESET_IN (void) {
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return (0U);
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}
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/** nRESET I/O pin: Set Output.
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\param bit target device hardware reset pin status:
|
|
- 0: issue a device hardware reset.
|
|
- 1: release device hardware reset.
|
|
*/
|
|
__STATIC_FORCEINLINE void PIN_nRESET_OUT (uint32_t bit) {
|
|
;
|
|
}
|
|
|
|
///@}
|
|
|
|
|
|
//**************************************************************************************************
|
|
/**
|
|
\defgroup DAP_Config_LEDs_gr CMSIS-DAP Hardware Status LEDs
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|
\ingroup DAP_ConfigIO_gr
|
|
@{
|
|
|
|
CMSIS-DAP Hardware may provide LEDs that indicate the status of the CMSIS-DAP Debug Unit.
|
|
|
|
It is recommended to provide the following LEDs for status indication:
|
|
- Connect LED: is active when the DAP hardware is connected to a debugger.
|
|
- Running LED: is active when the debugger has put the target device into running state.
|
|
*/
|
|
|
|
/** Debug Unit: Set status of Connected LED.
|
|
\param bit status of the Connect LED.
|
|
- 1: Connect LED ON: debugger is connected to CMSIS-DAP Debug Unit.
|
|
- 0: Connect LED OFF: debugger is not connected to CMSIS-DAP Debug Unit.
|
|
*/
|
|
__STATIC_INLINE void LED_CONNECTED_OUT (uint32_t bit) {}
|
|
|
|
/** Debug Unit: Set status Target Running LED.
|
|
\param bit status of the Target Running LED.
|
|
- 1: Target Running LED ON: program execution in target started.
|
|
- 0: Target Running LED OFF: program execution in target stopped.
|
|
*/
|
|
__STATIC_INLINE void LED_RUNNING_OUT (uint32_t bit) {}
|
|
|
|
///@}
|
|
|
|
|
|
//**************************************************************************************************
|
|
/**
|
|
\defgroup DAP_Config_Timestamp_gr CMSIS-DAP Timestamp
|
|
\ingroup DAP_ConfigIO_gr
|
|
@{
|
|
Access function for Test Domain Timer.
|
|
|
|
The value of the Test Domain Timer in the Debug Unit is returned by the function \ref TIMESTAMP_GET. By
|
|
default, the DWT timer is used. The frequency of this timer is configured with \ref TIMESTAMP_CLOCK.
|
|
|
|
*/
|
|
|
|
/** Get timestamp of Test Domain Timer.
|
|
\return Current timestamp value.
|
|
*/
|
|
__STATIC_INLINE uint32_t TIMESTAMP_GET (void) {
|
|
return time_us_32();
|
|
}
|
|
|
|
///@}
|
|
|
|
|
|
//**************************************************************************************************
|
|
/**
|
|
\defgroup DAP_Config_Initialization_gr CMSIS-DAP Initialization
|
|
\ingroup DAP_ConfigIO_gr
|
|
@{
|
|
|
|
CMSIS-DAP Hardware I/O and LED Pins are initialized with the function \ref DAP_SETUP.
|
|
*/
|
|
|
|
/** Setup of the Debug Unit I/O pins and LEDs (called when Debug Unit is initialized).
|
|
This function performs the initialization of the CMSIS-DAP Hardware I/O Pins and the
|
|
Status LEDs. In detail the operation of Hardware I/O and LED pins are enabled and set:
|
|
- I/O clock system enabled.
|
|
- all I/O pins: input buffer enabled, output pins are set to HighZ mode.
|
|
- for nTRST, nRESET a weak pull-up (if available) is enabled.
|
|
- LED output pins are enabled and LEDs are turned off.
|
|
*/
|
|
__STATIC_INLINE void DAP_SETUP (void) {
|
|
;
|
|
}
|
|
|
|
/** Reset Target Device with custom specific I/O pin or command sequence.
|
|
This function allows the optional implementation of a device specific reset sequence.
|
|
It is called when the command \ref DAP_ResetTarget and is for example required
|
|
when a device needs a time-critical unlock sequence that enables the debug port.
|
|
\return 0 = no device specific reset sequence is implemented.\n
|
|
1 = a device specific reset sequence is implemented.
|
|
*/
|
|
__STATIC_INLINE uint8_t RESET_TARGET (void) {
|
|
return (0U); // change to '1' when a device reset sequence is implemented
|
|
}
|
|
|
|
///@}
|
|
|
|
|
|
#endif /* __DAP_CONFIG_H__ */
|