arch/arm/rp2040: Implement support for custom SWD DAP instance IDs

arch/arm/src/rp2040/Make.defs

@@ -35,6 +35,7 @@ CHIP_CSRCS += rp2040_pio.c
 CHIP_CSRCS += rp2040_clock.c
 CHIP_CSRCS += rp2040_xosc.c
 CHIP_CSRCS += rp2040_pll.c
+CHIP_CSRCS += rp2040_syscfg.c
 
 ifeq ($(CONFIG_SMP),y)
 CHIP_CSRCS += rp2040_cpustart.c

arch/arm/src/rp2040/hardware/rp2040_syscfg.h

@@ -0,0 +1,52 @@
+/****************************************************************************
+ * arch/arm/src/rp2040/hardware/rp2040_syscfg.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_RP2040_HARDWARE_RP2040_SYSCFG_H
+#define __ARCH_ARM_SRC_RP2040_HARDWARE_RP2040_SYSCFG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "hardware/rp2040_memorymap.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Register offsets *********************************************************/
+
+#define RP2040_SYSCFG_PROC_CONFIG_OFFSET                  (0x00000008)  /* Configuration for processors. */
+
+/* Register definitions *****************************************************/
+
+#define RP2040_SYSCFG_PROC_CONFIG                         (RP2040_SYSCFG_BASE + RP2040_SYSCFG_PROC_CONFIG_OFFSET)
+
+/* Register bit definitions *************************************************/
+
+#define RP2040_SYSCFG_PROC_CONFIG_MASK                    (0xff000003)
+#define RP2040_SYSCFG_PROC_CONFIG_PROC1_DAP_INSTID_SHIFT  (28)
+#define RP2040_SYSCFG_PROC_CONFIG_PROC1_DAP_INSTID_MASK   (0xf << RP2040_SYSCFG_PROC_CONFIG_PROC1_DAP_INSTID_SHIFT)
+#define RP2040_SYSCFG_PROC_CONFIG_PROC0_DAP_INSTID_SHIFT  (24)
+#define RP2040_SYSCFG_PROC_CONFIG_PROC0_DAP_INSTID_MASK   (0xf << RP2040_SYSCFG_PROC_CONFIG_PROC0_DAP_INSTID_SHIFT)
+
+#endif /* __ARCH_ARM_SRC_RP2040_HARDWARE_RP2040_SYSCFG_H */

arch/arm/src/rp2040/rp2040_syscfg.c

@@ -0,0 +1,82 @@
+/****************************************************************************
+ * arch/arm/src/rp2040/rp2040_syscfg.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdint.h>
+#include <assert.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+
+#include <arch/board/board.h>
+
+#include "arm_internal.h"
+#include "chip.h"
+
+#include "rp2040_syscfg.h"
+#include "hardware/rp2040_syscfg.h"
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: rp2040_set_proc_dap_instid
+ *
+ * Description:
+ *   Configure proc{0,1} DAP instance ID.
+ *   Recommend that this is NOT changed until you require debug access in
+ *   multichip environment. WARNING: do not set to 15 as this is reserved for
+ *   RescueDP.
+ *
+ ****************************************************************************/
+
+void rp2040_set_proc_dap_instid(uint8_t proc, uint8_t dap_instid)
+{
+  /* Proc number must be either 0 or 1 */
+
+  ASSERT(proc <= 1);
+  const uint32_t shift = (proc == 0)
+                        ? RP2040_SYSCFG_PROC_CONFIG_PROC0_DAP_INSTID_SHIFT
+                        : RP2040_SYSCFG_PROC_CONFIG_PROC1_DAP_INSTID_SHIFT;
+  const uint32_t mask = (proc == 0)
+                        ? RP2040_SYSCFG_PROC_CONFIG_PROC0_DAP_INSTID_MASK
+                        : RP2040_SYSCFG_PROC_CONFIG_PROC1_DAP_INSTID_MASK;
+
+  /* ID must be 4 bits and different from 15 (0xf) */
+
+  ASSERT(dap_instid < 0xf);
+
+  /* Set the configurable ID bits */
+
+  clrbits_reg32(mask, RP2040_SYSCFG_PROC_CONFIG);
+  setbits_reg32(dap_instid << shift, RP2040_SYSCFG_PROC_CONFIG);
+}

arch/arm/src/rp2040/rp2040_syscfg.h

@@ -0,0 +1,78 @@
+/****************************************************************************
+ * arch/arm/src/rp2040/rp2040_syscfg.h
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __ARCH_ARM_SRC_RP2040_RP2040_SYSCFG_H
+#define __ARCH_ARM_SRC_RP2040_RP2040_SYSCFG_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <stdint.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: rp2040_set_proc0_dap_instid
+  *
+  * Description:
+  *   Configure proc1 DAP instance ID.
+  *   Recommend that this is NOT changed until you require debug access in
+  *   multichip environment. WARNING: do not set to 15 as this is reserved
+  *   for RescueDP.
+ *
+ ****************************************************************************/
+
+void rp2040_set_proc_dap_instid(uint8_t proc, uint8_t dap_instid);
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+#endif /* __ASSEMBLY__ */
+#endif /* __ARCH_ARM_SRC_RP2040_RP2040_SYSCFG_H */