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drivers/cmsis_dap_usb: restructure init sequence a bit
[openocd.git] / src / jtag / drivers / cmsis_dap_usb.c
blob4073d215aedd8ffedff5f06cf8d233dc213ee794
1 /***************************************************************************
2 * Copyright (C) 2013 by mike brown *
3 * mike@theshedworks.org.uk *
4 * *
5 * Copyright (C) 2013 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
7 * *
8 * This program is free software; you can redistribute it and/or modify *
9 * it under the terms of the GNU General Public License as published by *
10 * the Free Software Foundation; either version 2 of the License, or *
11 * (at your option) any later version. *
12 * *
13 * This program is distributed in the hope that it will be useful, *
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
16 * GNU General Public License for more details. *
17 * *
18 * You should have received a copy of the GNU General Public License *
19 * along with this program; if not, write to the *
20 * Free Software Foundation, Inc., *
21 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
22 ***************************************************************************/
23
24 #ifdef HAVE_CONFIG_H
25 #include "config.h"
26 #endif
27
28 #include <transport/transport.h>
29 #include <jtag/swd.h>
30 #include <jtag/interface.h>
31 #include <jtag/commands.h>
32 #include <jtag/tcl.h>
33
34 #include <hidapi.h>
35
36 #ifdef _DEBUG_JTAG_IO_
37 #define DEBUG_IO(expr...) LOG_DEBUG(expr)
38 #else
39 #define DEBUG_IO(expr...) do {} while (0)
40 #endif
41
42 /*
43 * See CMSIS-DAP documentation:
44 * Version 0.01 - Beta.
45 */
46
47 /* USB Config */
48
49 /* Known vid/pid pairs:
50 * VID 0xc251: Keil Software
51 * PID 0xf001: LPC-Link-II CMSIS_DAP
52 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
53 * PID 0x2722: Keil ULINK2 CMSIS-DAP
54 *
55 * VID 0x0d28: mbed Software
56 * PID 0x0204: MBED CMSIS-DAP
57 */
58
59 #define MAX_USB_IDS 8
60 /* vid = pid = 0 marks the end of the list */
61 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
62 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
63 static bool swd_mode;
64
65 #define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
66 #define USB_TIMEOUT 1000
67
68 /* CMSIS-DAP General Commands */
69 #define CMD_DAP_INFO 0x00
70 #define CMD_DAP_LED 0x01
71 #define CMD_DAP_CONNECT 0x02
72 #define CMD_DAP_DISCONNECT 0x03
73 #define CMD_DAP_WRITE_ABORT 0x08
74 #define CMD_DAP_DELAY 0x09
75 #define CMD_DAP_RESET_TARGET 0x0A
76
77 /* CMD_INFO */
78 #define INFO_ID_VID 0x00 /* string */
79 #define INFO_ID_PID 0x02 /* string */
80 #define INFO_ID_SERNUM 0x03 /* string */
81 #define INFO_ID_FW_VER 0x04 /* string */
82 #define INFO_ID_TD_VEND 0x05 /* string */
83 #define INFO_ID_TD_NAME 0x06 /* string */
84 #define INFO_ID_CAPS 0xf0 /* byte */
85 #define INFO_ID_PKT_CNT 0xfe /* byte */
86 #define INFO_ID_PKT_SZ 0xff /* short */
87
88 #define INFO_CAPS_SWD 0x01
89 #define INFO_CAPS_JTAG 0x02
90
91 /* CMD_LED */
92 #define LED_ID_CONNECT 0x00
93 #define LED_ID_RUN 0x01
94
95 #define LED_OFF 0x00
96 #define LED_ON 0x01
97
98 /* CMD_CONNECT */
99 #define CONNECT_DEFAULT 0x00
100 #define CONNECT_SWD 0x01
101 #define CONNECT_JTAG 0x02
102
103 /* CMSIS-DAP Common SWD/JTAG Commands */
104 #define CMD_DAP_DELAY 0x09
105 #define CMD_DAP_SWJ_PINS 0x10
106 #define CMD_DAP_SWJ_CLOCK 0x11
107 #define CMD_DAP_SWJ_SEQ 0x12
108
109 /*
110 * PINS
111 * Bit 0: SWCLK/TCK
112 * Bit 1: SWDIO/TMS
113 * Bit 2: TDI
114 * Bit 3: TDO
115 * Bit 5: nTRST
116 * Bit 7: nRESET
117 */
118
119 /* CMSIS-DAP SWD Commands */
120 #define CMD_DAP_SWD_CONFIGURE 0x13
121
122 /* CMSIS-DAP JTAG Commands */
123 #define CMD_DAP_JTAG_SEQ 0x14
124 #define CMD_DAP_JTAG_CONFIGURE 0x15
125 #define CMD_DAP_JTAG_IDCODE 0x16
126
127 /* CMSIS-DAP Transfer Commands */
128 #define CMD_DAP_TFER_CONFIGURE 0x04
129 #define CMD_DAP_TFER 0x05
130 #define CMD_DAP_TFER_BLOCK 0x06
131 #define CMD_DAP_TFER_ABORT 0x07
132
133 /* DAP Status Code */
134 #define DAP_OK 0
135 #define DAP_ERROR 0xFF
136
137 /* CMSIS-DAP Vendor Commands
138 * None as yet... */
139
140 static char *info_caps_str[] = {
141 "SWD Supported",
142 "JTAG Supported"
143 };
144
145 /* max clock speed (kHz) */
146 #define DAP_MAX_CLOCK 5000
147
148 struct cmsis_dap {
149 hid_device *dev_handle;
150 uint16_t packet_size;
151 uint16_t packet_count;
152 uint8_t *packet_buffer;
153 uint8_t caps;
154 uint8_t mode;
155 };
156
157 static struct cmsis_dap *cmsis_dap_handle;
158
159 static int cmsis_dap_usb_open(void)
160 {
161 hid_device *dev = NULL;
162 int i;
163 struct hid_device_info *devs, *cur_dev;
164 unsigned short target_vid, target_pid;
165
166 target_vid = 0;
167 target_pid = 0;
168
169 /*
170 The CMSIS-DAP specification stipulates:
171 "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
172 debuggers to idenify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
173 */
174 devs = hid_enumerate(0x0, 0x0);
175 cur_dev = devs;
176 while (NULL != cur_dev) {
177 if (0 == cmsis_dap_vid[0]) {
178 if (NULL == cur_dev->product_string) {
179 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
180 cur_dev->vendor_id, cur_dev->product_id);
181 } else {
182 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP"))
183 /*
184 if the user hasn't specified VID:PID *and*
185 product string contains "CMSIS-DAP", pick it
186 */
187 break;
188 }
189 } else {
190 /*
191 otherwise, exhaustively compare against all VID:PID in list
192 */
193 for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
194 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
195 break;
196 }
197 if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
198 break;
199 }
200
201 cur_dev = cur_dev->next;
202 }
203
204 if (NULL != cur_dev) {
205 target_vid = cur_dev->vendor_id;
206 target_pid = cur_dev->product_id;
207 }
208
209 hid_free_enumeration(devs);
210
211 if (hid_init() != 0) {
212 LOG_ERROR("unable to open HIDAPI");
213 return ERROR_FAIL;
214 }
215
216 dev = hid_open(target_vid, target_pid, NULL);
217
218 if (dev == NULL) {
219 LOG_ERROR("unable to open CMSIS-DAP device");
220 return ERROR_FAIL;
221 }
222
223 struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
224 if (dap == NULL) {
225 LOG_ERROR("unable to allocate memory");
226 return ERROR_FAIL;
227 }
228
229 dap->dev_handle = dev;
230 dap->caps = 0;
231 dap->mode = 0;
232
233 cmsis_dap_handle = dap;
234
235 /* allocate default packet buffer, may be changed later.
236 * currently with HIDAPI we have no way of getting the output report length
237 * without this info we cannot communicate with the adapter.
238 * For the moment we ahve to hard code the packet size */
239
240 int packet_size = PACKET_SIZE;
241
242 /* atmel cmsis-dap uses 512 byte reports */
243 if (target_vid == 0x03eb)
244 packet_size = 512 + 1;
245
246 cmsis_dap_handle->packet_buffer = malloc(packet_size);
247 cmsis_dap_handle->packet_size = packet_size;
248
249 if (cmsis_dap_handle->packet_buffer == NULL) {
250 LOG_ERROR("unable to allocate memory");
251 return ERROR_FAIL;
252 }
253
254 return ERROR_OK;
255 }
256
257 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
258 {
259 hid_close(dap->dev_handle);
260 hid_exit();
261
262 if (cmsis_dap_handle->packet_buffer)
263 free(cmsis_dap_handle->packet_buffer);
264
265 if (cmsis_dap_handle) {
266 free(cmsis_dap_handle);
267 cmsis_dap_handle = NULL;
268 }
269
270 return;
271 }
272
273 /* Send a message and receive the reply */
274 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
275 {
276 /* Pad the rest of the TX buffer with 0's */
277 memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
278
279 /* write data to device */
280 int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
281 if (retval == -1) {
282 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
283 return ERROR_FAIL;
284 }
285
286 /* get reply */
287 retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
288 if (retval == -1 || retval == 0) {
289 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
290 return ERROR_FAIL;
291 }
292
293 return ERROR_OK;
294 }
295
296 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
297 {
298 int retval;
299 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
300
301 buffer[0] = 0; /* report number */
302 buffer[1] = CMD_DAP_SWJ_PINS;
303 buffer[2] = pins;
304 buffer[3] = mask;
305 buffer[4] = delay & 0xff;
306 buffer[5] = (delay >> 8) & 0xff;
307 buffer[6] = (delay >> 16) & 0xff;
308 buffer[7] = (delay >> 24) & 0xff;
309 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
310
311 if (retval != ERROR_OK) {
312 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
313 return ERROR_JTAG_DEVICE_ERROR;
314 }
315
316 if (input)
317 *input = buffer[1];
318
319 return ERROR_OK;
320 }
321
322 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
323 {
324 int retval;
325 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
326
327 /* set clock in Hz */
328 swj_clock *= 1000;
329 buffer[0] = 0; /* report number */
330 buffer[1] = CMD_DAP_SWJ_CLOCK;
331 buffer[2] = swj_clock & 0xff;
332 buffer[3] = (swj_clock >> 8) & 0xff;
333 buffer[4] = (swj_clock >> 16) & 0xff;
334 buffer[5] = (swj_clock >> 24) & 0xff;
335 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
336
337 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
338 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
339 return ERROR_JTAG_DEVICE_ERROR;
340 }
341
342 return ERROR_OK;
343 }
344
345 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
346 {
347 int retval;
348 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
349
350 buffer[0] = 0; /* report number */
351 buffer[1] = CMD_DAP_INFO;
352 buffer[2] = info;
353 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
354
355 if (retval != ERROR_OK) {
356 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
357 return ERROR_JTAG_DEVICE_ERROR;
358 }
359
360 *data = &(buffer[1]);
361
362 return ERROR_OK;
363 }
364
365 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
366 {
367 int retval;
368 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
369
370 buffer[0] = 0; /* report number */
371 buffer[1] = CMD_DAP_LED;
372 buffer[2] = 0x00;
373 buffer[3] = leds;
374 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
375
376 if (retval != ERROR_OK || buffer[1] != 0x00) {
377 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
378 return ERROR_JTAG_DEVICE_ERROR;
379 }
380
381 return ERROR_OK;
382 }
383
384 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
385 {
386 int retval;
387 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
388
389 buffer[0] = 0; /* report number */
390 buffer[1] = CMD_DAP_CONNECT;
391 buffer[2] = mode;
392 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
393
394 if (retval != ERROR_OK) {
395 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
396 return ERROR_JTAG_DEVICE_ERROR;
397 }
398
399 if (buffer[1] != mode) {
400 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
401 return ERROR_JTAG_DEVICE_ERROR;
402 }
403
404 return ERROR_OK;
405 }
406
407 static int cmsis_dap_cmd_DAP_Disconnect(void)
408 {
409 int retval;
410 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
411
412 buffer[0] = 0; /* report number */
413 buffer[1] = CMD_DAP_DISCONNECT;
414 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
415
416 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
417 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
418 return ERROR_JTAG_DEVICE_ERROR;
419 }
420
421 return ERROR_OK;
422 }
423
424 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16_t retry)
425 {
426 int retval;
427 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
428
429 buffer[0] = 0; /* report number */
430 buffer[1] = CMD_DAP_TFER_CONFIGURE;
431 buffer[2] = idle;
432 buffer[3] = delay & 0xff;
433 buffer[4] = (delay >> 8) & 0xff;
434 buffer[5] = retry & 0xff;
435 buffer[6] = (retry >> 8) & 0xff;
436 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
437
438 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
439 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
440 return ERROR_JTAG_DEVICE_ERROR;
441 }
442
443 return ERROR_OK;
444 }
445
446 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
447 {
448 int retval;
449 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
450
451 buffer[0] = 0; /* report number */
452 buffer[1] = CMD_DAP_SWD_CONFIGURE;
453 buffer[2] = cfg;
454 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
455
456 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
457 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
458 return ERROR_JTAG_DEVICE_ERROR;
459 }
460
461 return ERROR_OK;
462 }
463
464 #if 0
465 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
466 {
467 int retval;
468 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
469
470 buffer[0] = 0; /* report number */
471 buffer[1] = CMD_DAP_DELAY;
472 buffer[2] = delay_us & 0xff;
473 buffer[3] = (delay_us >> 8) & 0xff;
474 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
475
476 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
477 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
478 return ERROR_JTAG_DEVICE_ERROR;
479 }
480
481 return ERROR_OK;
482 }
483 #endif
484
485 static int queued_retval;
486
487 static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
488 {
489 if (queued_retval != ERROR_OK)
490 return;
491
492 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
493 int retval;
494 uint32_t val;
495
496 DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8, cmd);
497
498 buffer[0] = 0; /* report number */
499 buffer[1] = CMD_DAP_TFER;
500 buffer[2] = 0x00;
501 buffer[3] = 0x01;
502 buffer[4] = cmd;
503 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
504
505 /* TODO - need better response checking */
506 if (retval != ERROR_OK || buffer[1] != 0x01) {
507 LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
508 queued_retval = buffer[2];
509 return;
510 }
511
512 val = le_to_h_u32(&buffer[3]);
513 DEBUG_IO("0x%08" PRIx32, val);
514
515 if (value)
516 *value = val;
517
518 queued_retval = retval;
519 }
520
521 static void cmsis_dap_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
522 {
523 if (queued_retval != ERROR_OK)
524 return;
525
526 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
527
528 DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
529
530 buffer[0] = 0; /* report number */
531 buffer[1] = CMD_DAP_TFER;
532 buffer[2] = 0x00;
533 buffer[3] = 0x01;
534 buffer[4] = cmd;
535 buffer[5] = (value) & 0xff;
536 buffer[6] = (value >> 8) & 0xff;
537 buffer[7] = (value >> 16) & 0xff;
538 buffer[8] = (value >> 24) & 0xff;
539 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
540
541 if (buffer[1] != 0x01) {
542 LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
543 retval = buffer[2];
544 }
545
546 queued_retval = retval;
547 }
548
549 static int cmsis_dap_swd_run(struct adiv5_dap *dap)
550 {
551 int retval = queued_retval;
552 queued_retval = ERROR_OK;
553 return retval;
554 }
555
556 static int cmsis_dap_get_version_info(void)
557 {
558 uint8_t *data;
559
560 /* INFO_ID_FW_VER - string */
561 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
562 if (retval != ERROR_OK)
563 return retval;
564
565 if (data[0]) /* strlen */
566 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
567
568 return ERROR_OK;
569 }
570
571 static int cmsis_dap_get_caps_info(void)
572 {
573 uint8_t *data;
574
575 /* INFO_ID_CAPS - byte */
576 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
577 if (retval != ERROR_OK)
578 return retval;
579
580 if (data[0] == 1) {
581 uint8_t caps = data[1];
582
583 cmsis_dap_handle->caps = caps;
584
585 if (caps & INFO_CAPS_SWD)
586 LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
587 if (caps & INFO_CAPS_JTAG)
588 LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
589 }
590
591 return ERROR_OK;
592 }
593
594 static int cmsis_dap_get_status(void)
595 {
596 uint8_t d;
597
598 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
599
600 if (retval == ERROR_OK) {
601 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
602 (d & (0x01 << 0)) ? 1 : 0, /* Bit 0: SWCLK/TCK */
603 (d & (0x01 << 1)) ? 1 : 0, /* Bit 1: SWDIO/TMS */
604 (d & (0x01 << 2)) ? 1 : 0, /* Bit 2: TDI */
605 (d & (0x01 << 3)) ? 1 : 0, /* Bit 3: TDO */
606 (d & (0x01 << 5)) ? 1 : 0, /* Bit 5: nTRST */
607 (d & (0x01 << 7)) ? 1 : 0); /* Bit 7: nRESET */
608 }
609
610 return retval;
611 }
612
613 static int cmsis_dap_reset_link(void)
614 {
615 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
616
617 LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
618 LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
619
620 /* reset line with SWDIO high for >50 cycles */
621 buffer[0] = 0; /* report number */
622 buffer[1] = CMD_DAP_SWJ_SEQ;
623 buffer[2] = 7 * 8;
624 buffer[3] = 0xff;
625 buffer[4] = 0xff;
626 buffer[5] = 0xff;
627 buffer[6] = 0xff;
628 buffer[7] = 0xff;
629 buffer[8] = 0xff;
630 buffer[9] = 0xff;
631 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
632
633 if (retval != ERROR_OK || buffer[1] != DAP_OK)
634 return ERROR_FAIL;
635
636 /* 16bit JTAG-SWD sequence */
637 buffer[0] = 0; /* report number */
638 buffer[1] = CMD_DAP_SWJ_SEQ;
639 buffer[2] = 2 * 8;
640 buffer[3] = 0x9e;
641 buffer[4] = 0xe7;
642 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
643
644 if (retval != ERROR_OK || buffer[1] != DAP_OK)
645 return ERROR_FAIL;
646
647 /* another reset just incase */
648 buffer[0] = 0; /* report number */
649 buffer[1] = CMD_DAP_SWJ_SEQ;
650 buffer[2] = 7 * 8;
651 buffer[3] = 0xff;
652 buffer[4] = 0xff;
653 buffer[5] = 0xff;
654 buffer[6] = 0xff;
655 buffer[7] = 0xff;
656 buffer[8] = 0xff;
657 buffer[9] = 0xff;
658 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
659
660 if (retval != ERROR_OK || buffer[1] != DAP_OK)
661 return ERROR_FAIL;
662
663 /* 16 cycle idle period */
664 buffer[0] = 0; /* report number */
665 buffer[1] = CMD_DAP_SWJ_SEQ;
666 buffer[2] = 2 * 8;
667 buffer[3] = 0x00;
668 buffer[4] = 0x00;
669 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
670
671 if (retval != ERROR_OK || buffer[1] != DAP_OK)
672 return ERROR_FAIL;
673
674 DEBUG_IO("DAP Read IDCODE");
675
676 /* read the id code is always the next sequence */
677 buffer[0] = 0; /* report number */
678 buffer[1] = CMD_DAP_TFER;
679 buffer[2] = 0x00;
680 buffer[3] = 0x01;
681 buffer[4] = 0x02;
682 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
683
684 if (retval != ERROR_OK)
685 return retval;
686
687 if (buffer[1] == 0) {
688 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
689
690 LOG_DEBUG("DAP Reset Target");
691 buffer[0] = 0; /* report number */
692 buffer[1] = CMD_DAP_RESET_TARGET;
693 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
694 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
695
696 LOG_DEBUG("DAP Write Abort");
697 buffer[0] = 0; /* report number */
698 buffer[1] = CMD_DAP_WRITE_ABORT;
699 buffer[2] = 0x00;
700 buffer[3] = 0x1e/*0x1f*/;
701 buffer[4] = 0x00;
702 buffer[5] = 0x00;
703 buffer[6] = 0x00;
704 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
705 LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
706
707 return 0x80 + buffer[1];
708 }
709
710 LOG_DEBUG("DAP Write Abort");
711 buffer[0] = 0; /* report number */
712 buffer[1] = CMD_DAP_WRITE_ABORT;
713 buffer[2] = 0x00;
714 buffer[3] = 0x1e;
715 buffer[4] = 0x00;
716 buffer[5] = 0x00;
717 buffer[6] = 0x00;
718 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
719 LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
720
721 return retval;
722 }
723
724 static int cmsis_dap_swd_open(void)
725 {
726 int retval;
727
728 DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_open");
729
730 if (cmsis_dap_handle == NULL) {
731
732 /* SWD init */
733 retval = cmsis_dap_usb_open();
734 if (retval != ERROR_OK)
735 return retval;
736
737 retval = cmsis_dap_get_caps_info();
738 if (retval != ERROR_OK)
739 return retval;
740 }
741
742 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
743 LOG_ERROR("CMSIS-DAP: SWD not supported");
744 return ERROR_JTAG_DEVICE_ERROR;
745 }
746
747 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
748 if (retval != ERROR_OK)
749 return retval;
750
751 /* Add more setup here.??... */
752
753 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
754 return ERROR_OK;
755 }
756
757 static int cmsis_dap_init(void)
758 {
759 int retval;
760 uint8_t *data;
761
762 if (swd_mode) {
763 retval = cmsis_dap_swd_open();
764 if (retval != ERROR_OK)
765 return retval;
766 }
767
768 if (cmsis_dap_handle == NULL) {
769
770 /* JTAG init */
771 retval = cmsis_dap_usb_open();
772 if (retval != ERROR_OK)
773 return retval;
774
775 retval = cmsis_dap_get_caps_info();
776 if (retval != ERROR_OK)
777 return retval;
778
779 /* Connect in JTAG mode */
780 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
781 LOG_ERROR("CMSIS-DAP: JTAG not supported");
782 return ERROR_JTAG_DEVICE_ERROR;
783 }
784
785 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
786 if (retval != ERROR_OK)
787 return retval;
788
789 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
790 }
791
792 retval = cmsis_dap_get_version_info();
793 if (retval != ERROR_OK)
794 return retval;
795
796 /* INFO_ID_PKT_SZ - short */
797 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
798 if (retval != ERROR_OK)
799 return retval;
800
801 if (data[0] == 2) { /* short */
802 uint16_t pkt_sz = data[1] + (data[2] << 8);
803
804 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
805 /* reallocate buffer */
806 cmsis_dap_handle->packet_size = pkt_sz + 1;
807 cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
808 cmsis_dap_handle->packet_size);
809 if (cmsis_dap_handle->packet_buffer == NULL) {
810 LOG_ERROR("unable to reallocate memory");
811 return ERROR_FAIL;
812 }
813 }
814
815 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
816 }
817
818 /* INFO_ID_PKT_CNT - byte */
819 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
820 if (retval != ERROR_OK)
821 return retval;
822
823 if (data[0] == 1) { /* byte */
824 uint16_t pkt_cnt = data[1];
825 cmsis_dap_handle->packet_count = pkt_cnt;
826 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
827 }
828
829 retval = cmsis_dap_get_status();
830 if (retval != ERROR_OK)
831 return ERROR_FAIL;
832
833 /* Now try to connect to the target
834 * TODO: This is all SWD only @ present */
835 retval = cmsis_dap_cmd_DAP_SWJ_Clock(100); /* 100kHz */
836 if (retval != ERROR_OK)
837 return ERROR_FAIL;
838
839 retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
840 if (retval != ERROR_OK)
841 return ERROR_FAIL;
842 retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
843 if (retval != ERROR_OK)
844 return ERROR_FAIL;
845
846 retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
847 if (retval != ERROR_OK)
848 return ERROR_FAIL;
849
850 /* support connecting with srst asserted */
851 enum reset_types jtag_reset_config = jtag_get_reset_config();
852
853 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
854 if (jtag_reset_config & RESET_SRST_NO_GATING) {
855 retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
856 if (retval != ERROR_OK)
857 return ERROR_FAIL;
858 LOG_INFO("Connecting under reset");
859 }
860 }
861
862 retval = cmsis_dap_reset_link();
863 if (retval != ERROR_OK)
864 return ERROR_FAIL;
865
866 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
867
868 LOG_INFO("CMSIS-DAP: Interface ready");
869
870 return ERROR_OK;
871 }
872
873 static int cmsis_dap_swd_init(void)
874 {
875 swd_mode = true;
876 return ERROR_OK;
877 }
878
879 static int cmsis_dap_quit(void)
880 {
881 cmsis_dap_cmd_DAP_Disconnect();
882 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
883
884 cmsis_dap_usb_close(cmsis_dap_handle);
885
886 return ERROR_OK;
887 }
888
889 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
890 {
891 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
892 (1 << 7), 0, NULL);
893 if (retval != ERROR_OK)
894 LOG_ERROR("CMSIS-DAP: Interface reset failed");
895 }
896
897 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
898 {
899 #if 0
900 int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
901 if (retval != ERROR_OK)
902 #endif
903 jtag_sleep(cmd->cmd.sleep->us);
904 }
905
906 static void cmsis_dap_execute_command(struct jtag_command *cmd)
907 {
908 switch (cmd->type) {
909 case JTAG_RESET:
910 cmsis_dap_execute_reset(cmd);
911 break;
912 case JTAG_SLEEP:
913 cmsis_dap_execute_sleep(cmd);
914 break;
915 default:
916 LOG_ERROR("BUG: unknown JTAG command type encountered");
917 exit(-1);
918 }
919 }
920
921 static int cmsis_dap_execute_queue(void)
922 {
923 struct jtag_command *cmd = jtag_command_queue;
924
925 while (cmd != NULL) {
926 cmsis_dap_execute_command(cmd);
927 cmd = cmd->next;
928 }
929
930 return ERROR_OK;
931 }
932
933 static int cmsis_dap_speed(int speed)
934 {
935 if (speed > DAP_MAX_CLOCK) {
936 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
937 speed = DAP_MAX_CLOCK;
938 }
939
940 if (speed == 0) {
941 LOG_INFO("RTCK not supported");
942 return ERROR_JTAG_NOT_IMPLEMENTED;
943 }
944
945 return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
946 }
947
948 static int cmsis_dap_speed_div(int speed, int *khz)
949 {
950 *khz = speed;
951 return ERROR_OK;
952 }
953
954 static int cmsis_dap_khz(int khz, int *jtag_speed)
955 {
956 *jtag_speed = khz;
957 return ERROR_OK;
958 }
959
960 COMMAND_HANDLER(cmsis_dap_handle_info_command)
961 {
962 if (cmsis_dap_get_version_info() == ERROR_OK)
963 cmsis_dap_get_status();
964
965 return ERROR_OK;
966 }
967
968 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
969 {
970 if (CMD_ARGC > MAX_USB_IDS * 2) {
971 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
972 "(maximum is %d pairs)", MAX_USB_IDS);
973 CMD_ARGC = MAX_USB_IDS * 2;
974 }
975 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
976 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
977 if (CMD_ARGC < 2)
978 return ERROR_COMMAND_SYNTAX_ERROR;
979 /* remove the incomplete trailing id */
980 CMD_ARGC -= 1;
981 }
982
983 unsigned i;
984 for (i = 0; i < CMD_ARGC; i += 2) {
985 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
986 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
987 }
988
989 /*
990 * Explicitly terminate, in case there are multiples instances of
991 * cmsis_dap_vid_pid.
992 */
993 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
994
995 return ERROR_OK;
996 }
997
998 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
999 {
1000 .name = "info",
1001 .handler = &cmsis_dap_handle_info_command,
1002 .mode = COMMAND_EXEC,
1003 .usage = "",
1004 .help = "show cmsis-dap info",
1005 },
1006 COMMAND_REGISTRATION_DONE
1007 };
1008
1009 static const struct command_registration cmsis_dap_command_handlers[] = {
1010 {
1011 .name = "cmsis-dap",
1012 .mode = COMMAND_ANY,
1013 .help = "perform CMSIS-DAP management",
1014 .usage = "<cmd>",
1015 .chain = cmsis_dap_subcommand_handlers,
1016 },
1017 {
1018 .name = "cmsis_dap_vid_pid",
1019 .handler = &cmsis_dap_handle_vid_pid_command,
1020 .mode = COMMAND_CONFIG,
1021 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1022 .usage = "(vid pid)* ",
1023 },
1024 COMMAND_REGISTRATION_DONE
1025 };
1026
1027 static const struct swd_driver cmsis_dap_swd_driver = {
1028 .init = cmsis_dap_swd_init,
1029 .read_reg = cmsis_dap_swd_read_reg,
1030 .write_reg = cmsis_dap_swd_write_reg,
1031 .run = cmsis_dap_swd_run,
1032 };
1033
1034 const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};
1035
1036 struct jtag_interface cmsis_dap_interface = {
1037 .name = "cmsis-dap",
1038 .commands = cmsis_dap_command_handlers,
1039 .swd = &cmsis_dap_swd_driver,
1040 .transports = cmsis_dap_transport,
1041
1042 .execute_queue = cmsis_dap_execute_queue,
1043 .speed = cmsis_dap_speed,
1044 .speed_div = cmsis_dap_speed_div,
1045 .khz = cmsis_dap_khz,
1046 .init = cmsis_dap_init,
1047 .quit = cmsis_dap_quit,
1048 };
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