1 /***************************************************************************
2 * Copyright (C) 2013 by mike brown *
3 * mike@theshedworks.org.uk *
5 * Copyright (C) 2013 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
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. *
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. *
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 ***************************************************************************/
28 #include <transport/transport.h>
30 #include <jtag/interface.h>
31 #include <jtag/commands.h>
36 #ifdef _DEBUG_JTAG_IO_
37 #define DEBUG_IO(expr...) LOG_DEBUG(expr)
39 #define DEBUG_IO(expr...) do {} while (0)
43 * See CMSIS-DAP documentation:
44 * Version 0.01 - Beta.
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
55 * VID 0x0d28: mbed Software
56 * PID 0x0204: MBED CMSIS-DAP
60 /* vid = pid = 0 marks the end of the list */
61 static uint16_t cmsis_dap_vid
[MAX_USB_IDS
+ 1] = { 0xc251, 0xc251, 0xc251, 0x0d28, 0x03eb, 0 };
62 static uint16_t cmsis_dap_pid
[MAX_USB_IDS
+ 1] = { 0xf001, 0xf002, 0x2722, 0x0204, 0x2111, 0 };
64 #define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
65 #define USB_TIMEOUT 1000
67 /* CMSIS-DAP General Commands */
68 #define CMD_DAP_INFO 0x00
69 #define CMD_DAP_LED 0x01
70 #define CMD_DAP_CONNECT 0x02
71 #define CMD_DAP_DISCONNECT 0x03
72 #define CMD_DAP_WRITE_ABORT 0x08
73 #define CMD_DAP_DELAY 0x09
74 #define CMD_DAP_RESET_TARGET 0x0A
77 #define INFO_ID_VID 0x00 /* string */
78 #define INFO_ID_PID 0x02 /* string */
79 #define INFO_ID_SERNUM 0x03 /* string */
80 #define INFO_ID_FW_VER 0x04 /* string */
81 #define INFO_ID_TD_VEND 0x05 /* string */
82 #define INFO_ID_TD_NAME 0x06 /* string */
83 #define INFO_ID_CAPS 0xf0 /* byte */
84 #define INFO_ID_PKT_CNT 0xfe /* byte */
85 #define INFO_ID_PKT_SZ 0xff /* short */
87 #define INFO_CAPS_SWD 0x01
88 #define INFO_CAPS_JTAG 0x02
91 #define LED_ID_CONNECT 0x00
92 #define LED_ID_RUN 0x01
98 #define CONNECT_DEFAULT 0x00
99 #define CONNECT_SWD 0x01
100 #define CONNECT_JTAG 0x02
102 /* CMSIS-DAP Common SWD/JTAG Commands */
103 #define CMD_DAP_DELAY 0x09
104 #define CMD_DAP_SWJ_PINS 0x10
105 #define CMD_DAP_SWJ_CLOCK 0x11
106 #define CMD_DAP_SWJ_SEQ 0x12
118 /* CMSIS-DAP SWD Commands */
119 #define CMD_DAP_SWD_CONFIGURE 0x13
121 /* CMSIS-DAP JTAG Commands */
122 #define CMD_DAP_JTAG_SEQ 0x14
123 #define CMD_DAP_JTAG_CONFIGURE 0x15
124 #define CMD_DAP_JTAG_IDCODE 0x16
126 /* CMSIS-DAP Transfer Commands */
127 #define CMD_DAP_TFER_CONFIGURE 0x04
128 #define CMD_DAP_TFER 0x05
129 #define CMD_DAP_TFER_BLOCK 0x06
130 #define CMD_DAP_TFER_ABORT 0x07
132 /* DAP Status Code */
134 #define DAP_ERROR 0xFF
136 /* CMSIS-DAP Vendor Commands
139 static char *info_caps_str
[] = {
144 /* max clock speed (kHz) */
145 #define DAP_MAX_CLOCK 5000
148 hid_device
*dev_handle
;
149 uint16_t packet_size
;
150 uint16_t packet_count
;
151 uint8_t *packet_buffer
;
156 static struct cmsis_dap
*cmsis_dap_handle
;
158 static int cmsis_dap_usb_open(void)
160 hid_device
*dev
= NULL
;
163 if (hid_init() != 0) {
164 LOG_ERROR("unable to open HIDAPI");
168 for (i
= 0; cmsis_dap_vid
[i
] || cmsis_dap_pid
[i
]; i
++) {
169 dev
= hid_open(cmsis_dap_vid
[i
], cmsis_dap_pid
[i
], NULL
);
175 LOG_ERROR("unable to open CMSIS-DAP device");
179 struct cmsis_dap
*dap
= malloc(sizeof(struct cmsis_dap
));
181 LOG_ERROR("unable to allocate memory");
185 dap
->dev_handle
= dev
;
189 cmsis_dap_handle
= dap
;
191 /* allocate default packet buffer, may be changed later.
192 * currently with HIDAPI we have no way of getting the output report length
193 * without this info we cannot communicate with the adapter.
194 * For the moment we ahve to hard code the packet size */
196 int packet_size
= PACKET_SIZE
;
198 /* atmel cmsis-dap uses 512 byte reports */
199 if (cmsis_dap_vid
[i
] == 0x03eb && cmsis_dap_pid
[i
] == 0x2111)
200 packet_size
= 512 + 1;
202 cmsis_dap_handle
->packet_buffer
= malloc(packet_size
);
203 cmsis_dap_handle
->packet_size
= packet_size
;
205 if (cmsis_dap_handle
->packet_buffer
== NULL
) {
206 LOG_ERROR("unable to allocate memory");
213 static void cmsis_dap_usb_close(struct cmsis_dap
*dap
)
215 hid_close(dap
->dev_handle
);
218 if (cmsis_dap_handle
->packet_buffer
)
219 free(cmsis_dap_handle
->packet_buffer
);
221 if (cmsis_dap_handle
) {
222 free(cmsis_dap_handle
);
223 cmsis_dap_handle
= NULL
;
229 /* Send a message and receive the reply */
230 static int cmsis_dap_usb_xfer(struct cmsis_dap
*dap
, int txlen
)
232 /* Pad the rest of the TX buffer with 0's */
233 memset(dap
->packet_buffer
+ txlen
, 0, dap
->packet_size
- 1 - txlen
);
235 /* write data to device */
236 int retval
= hid_write(dap
->dev_handle
, dap
->packet_buffer
, dap
->packet_size
);
238 LOG_ERROR("error writing data: %ls", hid_error(dap
->dev_handle
));
243 retval
= hid_read_timeout(dap
->dev_handle
, dap
->packet_buffer
, dap
->packet_size
, USB_TIMEOUT
);
244 if (retval
== -1 || retval
== 0) {
245 LOG_DEBUG("error reading data: %ls", hid_error(dap
->dev_handle
));
252 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins
, uint8_t mask
, uint32_t wait
, uint8_t *input
)
255 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
257 buffer
[0] = 0; /* report number */
258 buffer
[1] = CMD_DAP_SWJ_PINS
;
261 buffer
[4] = wait
& 0xff;
262 buffer
[5] = (wait
>> 8) & 0xff;
263 buffer
[6] = (wait
>> 16) & 0xff;
264 buffer
[7] = (wait
>> 24) & 0xff;
265 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 8);
267 if (retval
!= ERROR_OK
) {
268 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
269 return ERROR_JTAG_DEVICE_ERROR
;
278 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock
)
281 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
283 /* set clock in Hz */
285 buffer
[0] = 0; /* report number */
286 buffer
[1] = CMD_DAP_SWJ_CLOCK
;
287 buffer
[2] = swj_clock
& 0xff;
288 buffer
[3] = (swj_clock
>> 8) & 0xff;
289 buffer
[4] = (swj_clock
>> 16) & 0xff;
290 buffer
[5] = (swj_clock
>> 24) & 0xff;
291 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 6);
293 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
294 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
295 return ERROR_JTAG_DEVICE_ERROR
;
301 static int cmsis_dap_cmd_DAP_Info(uint8_t info
, uint8_t **data
)
304 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
306 buffer
[0] = 0; /* report number */
307 buffer
[1] = CMD_DAP_INFO
;
309 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 3);
311 if (retval
!= ERROR_OK
) {
312 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
313 return ERROR_JTAG_DEVICE_ERROR
;
316 *data
= &(buffer
[1]);
321 static int cmsis_dap_cmd_DAP_LED(uint8_t leds
)
324 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
326 buffer
[0] = 0; /* report number */
327 buffer
[1] = CMD_DAP_LED
;
330 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 4);
332 if (retval
!= ERROR_OK
|| buffer
[1] != 0x00) {
333 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
334 return ERROR_JTAG_DEVICE_ERROR
;
340 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode
)
343 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
345 buffer
[0] = 0; /* report number */
346 buffer
[1] = CMD_DAP_CONNECT
;
348 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 3);
350 if (retval
!= ERROR_OK
) {
351 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
352 return ERROR_JTAG_DEVICE_ERROR
;
355 if (buffer
[1] != mode
) {
356 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode
);
357 return ERROR_JTAG_DEVICE_ERROR
;
363 static int cmsis_dap_cmd_DAP_Disconnect(void)
366 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
368 buffer
[0] = 0; /* report number */
369 buffer
[1] = CMD_DAP_DISCONNECT
;
370 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 2);
372 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
373 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
374 return ERROR_JTAG_DEVICE_ERROR
;
380 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle
, uint16_t wait
, uint16_t retry
)
383 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
385 buffer
[0] = 0; /* report number */
386 buffer
[1] = CMD_DAP_TFER_CONFIGURE
;
388 buffer
[3] = wait
& 0xff;
389 buffer
[4] = (wait
>> 8) & 0xff;
390 buffer
[5] = retry
& 0xff;
391 buffer
[6] = (retry
>> 8) & 0xff;
392 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 7);
394 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
395 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
396 return ERROR_JTAG_DEVICE_ERROR
;
402 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg
)
405 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
407 buffer
[0] = 0; /* report number */
408 buffer
[1] = CMD_DAP_SWD_CONFIGURE
;
410 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 3);
412 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
413 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
414 return ERROR_JTAG_DEVICE_ERROR
;
421 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us
)
424 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
426 buffer
[0] = 0; /* report number */
427 buffer
[1] = CMD_DAP_DELAY
;
428 buffer
[2] = delay_us
& 0xff;
429 buffer
[3] = (delay_us
>> 8) & 0xff;
430 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 4);
432 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
433 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
434 return ERROR_JTAG_DEVICE_ERROR
;
441 static int cmsis_dap_swd_read_reg(uint8_t cmd
, uint32_t *value
)
443 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
447 DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8
, cmd
);
449 buffer
[0] = 0; /* report number */
450 buffer
[1] = CMD_DAP_TFER
;
454 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 5);
456 /* TODO - need better response checking */
457 if (retval
!= ERROR_OK
|| buffer
[1] != 0x01) {
458 LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8
")", buffer
[2]);
462 val
= le_to_h_u32(&buffer
[3]);
463 DEBUG_IO("0x%08" PRIx32
, val
);
471 static int cmsis_dap_swd_write_reg(uint8_t cmd
, uint32_t value
)
473 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
475 DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8
" 0x%08" PRIx32
, cmd
, value
);
477 buffer
[0] = 0; /* report number */
478 buffer
[1] = CMD_DAP_TFER
;
482 buffer
[5] = (value
) & 0xff;
483 buffer
[6] = (value
>> 8) & 0xff;
484 buffer
[7] = (value
>> 16) & 0xff;
485 buffer
[8] = (value
>> 24) & 0xff;
486 int retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 9);
488 if (buffer
[1] != 0x01) {
489 LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8
")", buffer
[2]);
496 static int cmsis_dap_swd_read_block(uint8_t cmd
, uint32_t blocksize
, uint8_t *dest_buf
)
500 int retval
= ERROR_OK
;
503 DEBUG_IO("CMSIS-DAP: Read Block 0x%02" PRIx8
" %" PRIu32
, cmd
, blocksize
);
507 buffer
= cmsis_dap_handle
->packet_buffer
;
512 buffer
[0] = 0; /* report number */
513 buffer
[1] = CMD_DAP_TFER_BLOCK
;
518 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 6);
520 read_count
= le_to_h_u16(&buffer
[1]);
521 if (read_count
!= tfer_sz
) {
522 LOG_ERROR("CMSIS-DAP: Block Read Error (0x%02" PRIx8
")", buffer
[3]);
527 memcpy(dest_buf
, &buffer
[4], read_count
);
529 dest_buf
+= read_count
;
530 blocksize
-= tfer_sz
;
536 static int cmsis_dap_get_version_info(void)
540 /* INFO_ID_FW_VER - string */
541 int retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER
, &data
);
542 if (retval
!= ERROR_OK
)
545 if (data
[0]) /* strlen */
546 LOG_INFO("CMSIS-DAP: FW Version = %s", &data
[1]);
551 static int cmsis_dap_get_caps_info(void)
555 /* INFO_ID_CAPS - byte */
556 int retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS
, &data
);
557 if (retval
!= ERROR_OK
)
561 uint8_t caps
= data
[1];
563 cmsis_dap_handle
->caps
= caps
;
565 if (caps
& INFO_CAPS_SWD
)
566 LOG_INFO("CMSIS-DAP: %s", info_caps_str
[0]);
567 if (caps
& INFO_CAPS_JTAG
)
568 LOG_INFO("CMSIS-DAP: %s", info_caps_str
[1]);
574 static int cmsis_dap_get_status(void)
578 int retval
= cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d
);
580 if (retval
== ERROR_OK
) {
581 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
582 (d
& (0x01 << 0)) ? 1 : 0, /* Bit 0: SWCLK/TCK */
583 (d
& (0x01 << 1)) ? 1 : 0, /* Bit 1: SWDIO/TMS */
584 (d
& (0x01 << 2)) ? 1 : 0, /* Bit 2: TDI */
585 (d
& (0x01 << 3)) ? 1 : 0, /* Bit 3: TDO */
586 (d
& (0x01 << 5)) ? 1 : 0, /* Bit 5: nTRST */
587 (d
& (0x01 << 7)) ? 1 : 0); /* Bit 7: nRESET */
593 static int cmsis_dap_reset_link(void)
595 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
597 LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
598 LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
600 /* reset line with SWDIO high for >50 cycles */
601 buffer
[0] = 0; /* report number */
602 buffer
[1] = CMD_DAP_SWJ_SEQ
;
611 int retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 10);
613 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
)
616 /* 16bit JTAG-SWD sequence */
617 buffer
[0] = 0; /* report number */
618 buffer
[1] = CMD_DAP_SWJ_SEQ
;
622 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 5);
624 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
)
627 /* another reset just incase */
628 buffer
[0] = 0; /* report number */
629 buffer
[1] = CMD_DAP_SWJ_SEQ
;
638 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 10);
640 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
)
643 /* 16 cycle idle period */
644 buffer
[0] = 0; /* report number */
645 buffer
[1] = CMD_DAP_SWJ_SEQ
;
649 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 5);
651 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
)
654 DEBUG_IO("DAP Read IDCODE");
656 /* read the id code is always the next sequence */
657 buffer
[0] = 0; /* report number */
658 buffer
[1] = CMD_DAP_TFER
;
662 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 5);
664 if (retval
!= ERROR_OK
)
667 if (buffer
[1] == 0) {
668 LOG_DEBUG("Result 0x%02" PRIx8
" 0x%02" PRIx8
, buffer
[1], buffer
[2]);
670 LOG_DEBUG("DAP Reset Target");
671 buffer
[0] = 0; /* report number */
672 buffer
[1] = CMD_DAP_RESET_TARGET
;
673 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 2);
674 LOG_DEBUG("Result 0x%02" PRIx8
" 0x%02" PRIx8
, buffer
[1], buffer
[2]);
676 LOG_DEBUG("DAP Write Abort");
677 buffer
[0] = 0; /* report number */
678 buffer
[1] = CMD_DAP_WRITE_ABORT
;
680 buffer
[3] = 0x1e/*0x1f*/;
684 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 7);
685 LOG_DEBUG("Result 0x%02" PRIx8
, buffer
[1]);
687 return 0x80 + buffer
[1];
690 LOG_DEBUG("DAP Write Abort");
691 buffer
[0] = 0; /* report number */
692 buffer
[1] = CMD_DAP_WRITE_ABORT
;
698 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 7);
699 LOG_DEBUG("Result 0x%02" PRIx8
, buffer
[1]);
704 static int cmsis_dap_init(void)
709 if (cmsis_dap_handle
== NULL
) {
712 retval
= cmsis_dap_usb_open();
713 if (retval
!= ERROR_OK
)
716 retval
= cmsis_dap_get_caps_info();
717 if (retval
!= ERROR_OK
)
720 /* Connect in JTAG mode */
721 if (!(cmsis_dap_handle
->caps
& INFO_CAPS_JTAG
)) {
722 LOG_ERROR("CMSIS-DAP: JTAG not supported");
723 return ERROR_JTAG_DEVICE_ERROR
;
726 retval
= cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG
);
727 if (retval
!= ERROR_OK
)
730 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
733 retval
= cmsis_dap_get_version_info();
734 if (retval
!= ERROR_OK
)
737 /* INFO_ID_PKT_SZ - short */
738 retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ
, &data
);
739 if (retval
!= ERROR_OK
)
742 if (data
[0] == 2) { /* short */
743 uint16_t pkt_sz
= data
[1] + (data
[2] << 8);
745 if (cmsis_dap_handle
->packet_size
!= pkt_sz
+ 1) {
746 /* reallocate buffer */
747 cmsis_dap_handle
->packet_size
= pkt_sz
+ 1;
748 cmsis_dap_handle
->packet_buffer
= realloc(cmsis_dap_handle
->packet_buffer
,
749 cmsis_dap_handle
->packet_size
);
750 if (cmsis_dap_handle
->packet_buffer
== NULL
) {
751 LOG_ERROR("unable to reallocate memory");
756 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16
, pkt_sz
);
759 /* INFO_ID_PKT_CNT - byte */
760 retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT
, &data
);
761 if (retval
!= ERROR_OK
)
764 if (data
[0] == 1) { /* byte */
765 uint16_t pkt_cnt
= data
[1];
766 cmsis_dap_handle
->packet_count
= pkt_cnt
;
767 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16
, pkt_cnt
);
770 retval
= cmsis_dap_get_status();
771 if (retval
!= ERROR_OK
)
774 /* Now try to connect to the target
775 * TODO: This is all SWD only @ present */
776 retval
= cmsis_dap_cmd_DAP_SWJ_Clock(100); /* 100kHz */
777 if (retval
!= ERROR_OK
)
780 retval
= cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
781 if (retval
!= ERROR_OK
)
783 retval
= cmsis_dap_cmd_DAP_SWD_Configure(0x00);
784 if (retval
!= ERROR_OK
)
787 retval
= cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
788 if (retval
!= ERROR_OK
)
791 /* support connecting with srst asserted */
792 enum reset_types jtag_reset_config
= jtag_get_reset_config();
794 if (jtag_reset_config
& RESET_CNCT_UNDER_SRST
) {
795 if (jtag_reset_config
& RESET_SRST_NO_GATING
) {
796 retval
= cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL
);
797 if (retval
!= ERROR_OK
)
799 LOG_INFO("Connecting under reset");
803 retval
= cmsis_dap_reset_link();
804 if (retval
!= ERROR_OK
)
807 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
809 LOG_INFO("CMSIS-DAP: Interface ready");
814 static int cmsis_dap_swd_init(uint8_t trn
)
818 DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_init");
820 if (cmsis_dap_handle
== NULL
) {
823 retval
= cmsis_dap_usb_open();
824 if (retval
!= ERROR_OK
)
827 retval
= cmsis_dap_get_caps_info();
828 if (retval
!= ERROR_OK
)
832 if (!(cmsis_dap_handle
->caps
& INFO_CAPS_SWD
)) {
833 LOG_ERROR("CMSIS-DAP: SWD not supported");
834 return ERROR_JTAG_DEVICE_ERROR
;
837 retval
= cmsis_dap_cmd_DAP_Connect(CONNECT_SWD
);
838 if (retval
!= ERROR_OK
)
841 /* Add more setup here.??... */
843 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
847 static int cmsis_dap_quit(void)
849 cmsis_dap_cmd_DAP_Disconnect();
850 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
852 cmsis_dap_usb_close(cmsis_dap_handle
);
857 static void cmsis_dap_execute_reset(struct jtag_command
*cmd
)
859 int retval
= cmsis_dap_cmd_DAP_SWJ_Pins(cmd
->cmd
.reset
->srst
? 0 : (1 << 7), \
861 if (retval
!= ERROR_OK
)
862 LOG_ERROR("CMSIS-DAP: Interface reset failed");
865 static void cmsis_dap_execute_sleep(struct jtag_command
*cmd
)
868 int retval
= cmsis_dap_cmd_DAP_Delay(cmd
->cmd
.sleep
->us
);
869 if (retval
!= ERROR_OK
)
871 jtag_sleep(cmd
->cmd
.sleep
->us
);
874 static void cmsis_dap_execute_command(struct jtag_command
*cmd
)
878 cmsis_dap_execute_reset(cmd
);
881 cmsis_dap_execute_sleep(cmd
);
884 LOG_ERROR("BUG: unknown JTAG command type encountered");
889 static int cmsis_dap_execute_queue(void)
891 struct jtag_command
*cmd
= jtag_command_queue
;
893 while (cmd
!= NULL
) {
894 cmsis_dap_execute_command(cmd
);
901 static int cmsis_dap_speed(int speed
)
903 if (speed
> DAP_MAX_CLOCK
) {
904 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed
, DAP_MAX_CLOCK
);
905 speed
= DAP_MAX_CLOCK
;
909 LOG_INFO("RTCK not supported");
910 return ERROR_JTAG_NOT_IMPLEMENTED
;
913 return cmsis_dap_cmd_DAP_SWJ_Clock(speed
);
916 static int cmsis_dap_speed_div(int speed
, int *khz
)
922 static int cmsis_dap_khz(int khz
, int *jtag_speed
)
928 COMMAND_HANDLER(cmsis_dap_handle_info_command
)
930 if (cmsis_dap_get_version_info() == ERROR_OK
)
931 cmsis_dap_get_status();
936 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command
)
938 if (CMD_ARGC
> MAX_USB_IDS
* 2) {
939 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
940 "(maximum is %d pairs)", MAX_USB_IDS
);
941 CMD_ARGC
= MAX_USB_IDS
* 2;
943 if (CMD_ARGC
< 2 || (CMD_ARGC
& 1)) {
944 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
946 return ERROR_COMMAND_SYNTAX_ERROR
;
947 /* remove the incomplete trailing id */
952 for (i
= 0; i
< CMD_ARGC
; i
+= 2) {
953 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
], cmsis_dap_vid
[i
>> 1]);
954 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], cmsis_dap_pid
[i
>> 1]);
958 * Explicitly terminate, in case there are multiples instances of
961 cmsis_dap_vid
[i
>> 1] = cmsis_dap_pid
[i
>> 1] = 0;
966 static const struct command_registration cmsis_dap_subcommand_handlers
[] = {
969 .handler
= &cmsis_dap_handle_info_command
,
970 .mode
= COMMAND_EXEC
,
972 .help
= "show cmsis-dap info",
974 COMMAND_REGISTRATION_DONE
977 COMMAND_HANDLER(cmsis_dap_reset_command
)
979 LOG_DEBUG("cmsis_dap_reset_command");
983 COMMAND_HANDLER(cmsis_dap_jtag_command
)
985 LOG_DEBUG("cmsis_dap_jtag_command");
989 static const struct command_registration cmsis_dap_jtag_subcommand_handlers
[] = {
993 .handler
= cmsis_dap_jtag_command
,
999 .handler
= cmsis_dap_jtag_command
,
1003 .name
= "arp_init-reset",
1004 .mode
= COMMAND_ANY
,
1005 .handler
= cmsis_dap_reset_command
,
1009 .name
= "tapisenabled",
1010 .mode
= COMMAND_EXEC
,
1011 .jim_handler
= jim_jtag_tap_enabler
,
1014 .name
= "tapenable",
1015 .mode
= COMMAND_EXEC
,
1016 .jim_handler
= jim_jtag_tap_enabler
,
1019 .name
= "tapdisable",
1020 .mode
= COMMAND_EXEC
,
1021 .handler
= cmsis_dap_jtag_command
,
1025 .name
= "configure",
1026 .mode
= COMMAND_EXEC
,
1027 .handler
= cmsis_dap_jtag_command
,
1032 .mode
= COMMAND_EXEC
,
1033 .jim_handler
= jim_jtag_configure
,
1037 .mode
= COMMAND_ANY
,
1038 .handler
= cmsis_dap_jtag_command
,
1041 COMMAND_REGISTRATION_DONE
1044 static const struct command_registration cmsis_dap_command_handlers
[] = {
1046 .name
= "cmsis-dap",
1047 .mode
= COMMAND_ANY
,
1048 .help
= "perform CMSIS-DAP management",
1050 .chain
= cmsis_dap_subcommand_handlers
,
1053 .name
= "cmsis_dap_vid_pid",
1054 .handler
= &cmsis_dap_handle_vid_pid_command
,
1055 .mode
= COMMAND_CONFIG
,
1056 .help
= "the vendor ID and product ID of the CMSIS-DAP device",
1057 .usage
= "(vid pid)* ",
1060 /* this is currently a nasty hack so we get
1061 * reset working with non jtag interfaces */
1063 .mode
= COMMAND_ANY
,
1065 .chain
= cmsis_dap_jtag_subcommand_handlers
,
1067 COMMAND_REGISTRATION_DONE
1070 static const struct swd_driver cmsis_dap_swd_driver
= {
1071 .init
= cmsis_dap_swd_init
,
1072 .read_reg
= cmsis_dap_swd_read_reg
,
1073 .write_reg
= cmsis_dap_swd_write_reg
,
1074 .read_block
= cmsis_dap_swd_read_block
1077 const char *cmsis_dap_transport
[] = {"cmsis-dap", NULL
};
1079 struct jtag_interface cmsis_dap_interface
= {
1080 .name
= "cmsis-dap",
1081 .commands
= cmsis_dap_command_handlers
,
1082 .swd
= &cmsis_dap_swd_driver
,
1083 .transports
= cmsis_dap_transport
,
1085 .execute_queue
= cmsis_dap_execute_queue
,
1086 .speed
= cmsis_dap_speed
,
1087 .speed_div
= cmsis_dap_speed_div
,
1088 .khz
= cmsis_dap_khz
,
1089 .init
= cmsis_dap_init
,
1090 .quit
= cmsis_dap_quit
,