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cmsis-dap: add JTAG pass-through mode
[openocd.git] / src / jtag / drivers / cmsis_dap_usb.c
bloba07064be5d904e80fcfdf2c9d17906de087d8b27
1 /***************************************************************************
2 * Copyright (C) 2016 by Maksym Hilliaka *
3 * oter@frozen-team.com *
4 * *
5 * Copyright (C) 2016 by Phillip Pearson *
6 * pp@myelin.co.nz *
7 * *
8 * Copyright (C) 2014 by Paul Fertser *
9 * fercerpav@gmail.com *
10 * *
11 * Copyright (C) 2013 by mike brown *
12 * mike@theshedworks.org.uk *
13 * *
14 * Copyright (C) 2013 by Spencer Oliver *
15 * spen@spen-soft.co.uk *
16 * *
17 * This program is free software; you can redistribute it and/or modify *
18 * it under the terms of the GNU General Public License as published by *
19 * the Free Software Foundation; either version 2 of the License, or *
20 * (at your option) any later version. *
21 * *
22 * This program is distributed in the hope that it will be useful, *
23 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
24 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
25 * GNU General Public License for more details. *
26 * *
27 * You should have received a copy of the GNU General Public License *
28 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
29 ***************************************************************************/
30
31 #ifdef HAVE_CONFIG_H
32 #include "config.h"
33 #endif
34
35 #include <transport/transport.h>
36 #include <jtag/swd.h>
37 #include <jtag/interface.h>
38 #include <jtag/commands.h>
39 #include <jtag/tcl.h>
40
41 #include <hidapi.h>
42
43 /*
44 * See CMSIS-DAP documentation:
45 * Version 0.01 - Beta.
46 */
47
48 /* USB Config */
49
50 /* Known vid/pid pairs:
51 * VID 0xc251: Keil Software
52 * PID 0xf001: LPC-Link-II CMSIS_DAP
53 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
54 * PID 0x2722: Keil ULINK2 CMSIS-DAP
55 *
56 * VID 0x0d28: mbed Software
57 * PID 0x0204: MBED CMSIS-DAP
58 */
59
60 #define MAX_USB_IDS 8
61 /* vid = pid = 0 marks the end of the list */
62 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
63 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
64 static wchar_t *cmsis_dap_serial;
65 static bool swd_mode;
66
67 #define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
68 #define USB_TIMEOUT 1000
69
70 /* CMSIS-DAP General Commands */
71 #define CMD_DAP_INFO 0x00
72 #define CMD_DAP_LED 0x01
73 #define CMD_DAP_CONNECT 0x02
74 #define CMD_DAP_DISCONNECT 0x03
75 #define CMD_DAP_WRITE_ABORT 0x08
76 #define CMD_DAP_DELAY 0x09
77 #define CMD_DAP_RESET_TARGET 0x0A
78
79 /* CMD_INFO */
80 #define INFO_ID_VID 0x00 /* string */
81 #define INFO_ID_PID 0x02 /* string */
82 #define INFO_ID_SERNUM 0x03 /* string */
83 #define INFO_ID_FW_VER 0x04 /* string */
84 #define INFO_ID_TD_VEND 0x05 /* string */
85 #define INFO_ID_TD_NAME 0x06 /* string */
86 #define INFO_ID_CAPS 0xf0 /* byte */
87 #define INFO_ID_PKT_CNT 0xfe /* byte */
88 #define INFO_ID_PKT_SZ 0xff /* short */
89
90 #define INFO_CAPS_SWD 0x01
91 #define INFO_CAPS_JTAG 0x02
92
93 /* CMD_LED */
94 #define LED_ID_CONNECT 0x00
95 #define LED_ID_RUN 0x01
96
97 #define LED_OFF 0x00
98 #define LED_ON 0x01
99
100 /* CMD_CONNECT */
101 #define CONNECT_DEFAULT 0x00
102 #define CONNECT_SWD 0x01
103 #define CONNECT_JTAG 0x02
104
105 /* CMSIS-DAP Common SWD/JTAG Commands */
106 #define CMD_DAP_DELAY 0x09
107 #define CMD_DAP_SWJ_PINS 0x10
108 #define CMD_DAP_SWJ_CLOCK 0x11
109 #define CMD_DAP_SWJ_SEQ 0x12
110
111 /*
112 * PINS
113 * Bit 0: SWCLK/TCK
114 * Bit 1: SWDIO/TMS
115 * Bit 2: TDI
116 * Bit 3: TDO
117 * Bit 5: nTRST
118 * Bit 7: nRESET
119 */
120
121 /* CMSIS-DAP SWD Commands */
122 #define CMD_DAP_SWD_CONFIGURE 0x13
123
124 /* CMSIS-DAP JTAG Commands */
125 #define CMD_DAP_JTAG_SEQ 0x14
126 #define CMD_DAP_JTAG_CONFIGURE 0x15
127 #define CMD_DAP_JTAG_IDCODE 0x16
128
129 /* CMSIS-DAP JTAG sequence info masks */
130 /* Number of bits to clock through (0 means 64) */
131 #define DAP_JTAG_SEQ_TCK 0x3F
132 /* TMS will be set during the sequence if this bit is set */
133 #define DAP_JTAG_SEQ_TMS 0x40
134 /* TDO output will be captured if this bit is set */
135 #define DAP_JTAG_SEQ_TDO 0x80
136
137
138 /* CMSIS-DAP Transfer Commands */
139 #define CMD_DAP_TFER_CONFIGURE 0x04
140 #define CMD_DAP_TFER 0x05
141 #define CMD_DAP_TFER_BLOCK 0x06
142 #define CMD_DAP_TFER_ABORT 0x07
143
144 /* DAP Status Code */
145 #define DAP_OK 0
146 #define DAP_ERROR 0xFF
147
148 /* CMSIS-DAP Vendor Commands
149 * None as yet... */
150
151 static const char * const info_caps_str[] = {
152 "SWD Supported",
153 "JTAG Supported"
154 };
155
156 /* max clock speed (kHz) */
157 #define DAP_MAX_CLOCK 5000
158
159 struct cmsis_dap {
160 hid_device *dev_handle;
161 uint16_t packet_size;
162 uint16_t packet_count;
163 uint8_t *packet_buffer;
164 uint8_t caps;
165 uint8_t mode;
166 };
167
168 struct pending_transfer_result {
169 uint8_t cmd;
170 uint32_t data;
171 void *buffer;
172 };
173
174 struct pending_scan_result {
175 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
176 unsigned first;
177 /** Number of bits to read. */
178 unsigned length;
179 /** Location to store the result */
180 uint8_t *buffer;
181 /** Offset in the destination buffer */
182 unsigned buffer_offset;
183 };
184
185 static int pending_transfer_count, pending_queue_len;
186 static struct pending_transfer_result *pending_transfers;
187
188 /* pointers to buffers that will receive jtag scan results on the next flush */
189 #define MAX_PENDING_SCAN_RESULTS 256
190 static int pending_scan_result_count;
191 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
192
193 /* queued JTAG sequences that will be executed on the next flush */
194 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
195 static int queued_seq_count;
196 static int queued_seq_buf_end;
197 static int queued_seq_tdo_ptr;
198 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
199
200 static int queued_retval;
201
202 static struct cmsis_dap *cmsis_dap_handle;
203
204 static int cmsis_dap_usb_open(void)
205 {
206 hid_device *dev = NULL;
207 int i;
208 struct hid_device_info *devs, *cur_dev;
209 unsigned short target_vid, target_pid;
210 wchar_t *target_serial = NULL;
211
212 bool found = false;
213 bool serial_found = false;
214
215 target_vid = 0;
216 target_pid = 0;
217
218 /*
219 * The CMSIS-DAP specification stipulates:
220 * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
221 * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
222 */
223 devs = hid_enumerate(0x0, 0x0);
224 cur_dev = devs;
225 while (NULL != cur_dev) {
226 if (0 == cmsis_dap_vid[0]) {
227 if (NULL == cur_dev->product_string) {
228 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
229 cur_dev->vendor_id, cur_dev->product_id);
230 } else {
231 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
232 /* if the user hasn't specified VID:PID *and*
233 * product string contains "CMSIS-DAP", pick it
234 */
235 found = true;
236 }
237 }
238 } else {
239 /* otherwise, exhaustively compare against all VID:PID in list */
240 for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
241 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
242 found = true;
243 }
244
245 if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
246 found = true;
247 }
248
249 if (found) {
250 /* we have found an adapter, so exit further checks */
251 /* check serial number matches if given */
252 if (cmsis_dap_serial != NULL) {
253 if ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
254 serial_found = true;
255 break;
256 }
257 } else
258 break;
259
260 found = false;
261 }
262
263 cur_dev = cur_dev->next;
264 }
265
266 if (NULL != cur_dev) {
267 target_vid = cur_dev->vendor_id;
268 target_pid = cur_dev->product_id;
269 if (serial_found)
270 target_serial = cmsis_dap_serial;
271 }
272
273 hid_free_enumeration(devs);
274
275 if (target_vid == 0 && target_pid == 0) {
276 LOG_ERROR("unable to find CMSIS-DAP device");
277 return ERROR_FAIL;
278 }
279
280 if (hid_init() != 0) {
281 LOG_ERROR("unable to open HIDAPI");
282 return ERROR_FAIL;
283 }
284
285 dev = hid_open(target_vid, target_pid, target_serial);
286
287 if (dev == NULL) {
288 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
289 return ERROR_FAIL;
290 }
291
292 struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
293 if (dap == NULL) {
294 LOG_ERROR("unable to allocate memory");
295 return ERROR_FAIL;
296 }
297
298 dap->dev_handle = dev;
299 dap->caps = 0;
300 dap->mode = 0;
301
302 cmsis_dap_handle = dap;
303
304 /* allocate default packet buffer, may be changed later.
305 * currently with HIDAPI we have no way of getting the output report length
306 * without this info we cannot communicate with the adapter.
307 * For the moment we ahve to hard code the packet size */
308
309 int packet_size = PACKET_SIZE;
310
311 /* atmel cmsis-dap uses 512 byte reports */
312 /* TODO: HID report descriptor should be parsed instead of
313 * hardcoding a match by VID */
314 if (target_vid == 0x03eb)
315 packet_size = 512 + 1;
316
317 cmsis_dap_handle->packet_buffer = malloc(packet_size);
318 cmsis_dap_handle->packet_size = packet_size;
319
320 if (cmsis_dap_handle->packet_buffer == NULL) {
321 LOG_ERROR("unable to allocate memory");
322 return ERROR_FAIL;
323 }
324
325 return ERROR_OK;
326 }
327
328 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
329 {
330 hid_close(dap->dev_handle);
331 hid_exit();
332
333 free(cmsis_dap_handle->packet_buffer);
334 free(cmsis_dap_handle);
335 cmsis_dap_handle = NULL;
336 free(cmsis_dap_serial);
337 cmsis_dap_serial = NULL;
338 free(pending_transfers);
339 pending_transfers = NULL;
340
341 return;
342 }
343
344 /* Send a message and receive the reply */
345 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
346 {
347 #ifdef CMSIS_DAP_JTAG_DEBUG
348 LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
349 #endif
350 /* Pad the rest of the TX buffer with 0's */
351 memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
352
353 /* write data to device */
354 int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
355 if (retval == -1) {
356 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
357 return ERROR_FAIL;
358 }
359
360 /* get reply */
361 retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
362 if (retval == -1 || retval == 0) {
363 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
364 return ERROR_FAIL;
365 }
366
367 return ERROR_OK;
368 }
369
370 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
371 {
372 int retval;
373 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
374
375 buffer[0] = 0; /* report number */
376 buffer[1] = CMD_DAP_SWJ_PINS;
377 buffer[2] = pins;
378 buffer[3] = mask;
379 buffer[4] = delay & 0xff;
380 buffer[5] = (delay >> 8) & 0xff;
381 buffer[6] = (delay >> 16) & 0xff;
382 buffer[7] = (delay >> 24) & 0xff;
383 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
384
385 if (retval != ERROR_OK) {
386 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
387 return ERROR_JTAG_DEVICE_ERROR;
388 }
389
390 if (input)
391 *input = buffer[1];
392
393 return ERROR_OK;
394 }
395
396 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
397 {
398 int retval;
399 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
400
401 /* set clock in Hz */
402 swj_clock *= 1000;
403 buffer[0] = 0; /* report number */
404 buffer[1] = CMD_DAP_SWJ_CLOCK;
405 buffer[2] = swj_clock & 0xff;
406 buffer[3] = (swj_clock >> 8) & 0xff;
407 buffer[4] = (swj_clock >> 16) & 0xff;
408 buffer[5] = (swj_clock >> 24) & 0xff;
409 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
410
411 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
412 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
413 return ERROR_JTAG_DEVICE_ERROR;
414 }
415
416 return ERROR_OK;
417 }
418
419 /* clock a sequence of bits out on TMS, to change JTAG states */
420 static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
421 {
422 int retval;
423 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
424
425 #ifdef CMSIS_DAP_JTAG_DEBUG
426 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
427 for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
428 printf("%02X ", sequence[i]);
429
430 printf("\n");
431 #endif
432
433 buffer[0] = 0; /* report number */
434 buffer[1] = CMD_DAP_SWJ_SEQ;
435 buffer[2] = s_len;
436 bit_copy(&buffer[3], 0, sequence, 0, s_len);
437
438 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
439
440 if (retval != ERROR_OK || buffer[1] != DAP_OK)
441 return ERROR_FAIL;
442
443 return ERROR_OK;
444 }
445
446 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
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_INFO;
453 buffer[2] = info;
454 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
455
456 if (retval != ERROR_OK) {
457 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
458 return ERROR_JTAG_DEVICE_ERROR;
459 }
460
461 *data = &(buffer[1]);
462
463 return ERROR_OK;
464 }
465
466 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
467 {
468 int retval;
469 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
470
471 buffer[0] = 0; /* report number */
472 buffer[1] = CMD_DAP_LED;
473 buffer[2] = 0x00;
474 buffer[3] = leds;
475 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
476
477 if (retval != ERROR_OK || buffer[1] != 0x00) {
478 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
479 return ERROR_JTAG_DEVICE_ERROR;
480 }
481
482 return ERROR_OK;
483 }
484
485 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
486 {
487 int retval;
488 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
489
490 buffer[0] = 0; /* report number */
491 buffer[1] = CMD_DAP_CONNECT;
492 buffer[2] = mode;
493 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
494
495 if (retval != ERROR_OK) {
496 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
497 return ERROR_JTAG_DEVICE_ERROR;
498 }
499
500 if (buffer[1] != mode) {
501 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
502 return ERROR_JTAG_DEVICE_ERROR;
503 }
504
505 return ERROR_OK;
506 }
507
508 static int cmsis_dap_cmd_DAP_Disconnect(void)
509 {
510 int retval;
511 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
512
513 buffer[0] = 0; /* report number */
514 buffer[1] = CMD_DAP_DISCONNECT;
515 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
516
517 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
518 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
519 return ERROR_JTAG_DEVICE_ERROR;
520 }
521
522 return ERROR_OK;
523 }
524
525 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
526 {
527 int retval;
528 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
529
530 buffer[0] = 0; /* report number */
531 buffer[1] = CMD_DAP_TFER_CONFIGURE;
532 buffer[2] = idle;
533 buffer[3] = retry_count & 0xff;
534 buffer[4] = (retry_count >> 8) & 0xff;
535 buffer[5] = match_retry & 0xff;
536 buffer[6] = (match_retry >> 8) & 0xff;
537 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
538
539 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
540 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
541 return ERROR_JTAG_DEVICE_ERROR;
542 }
543
544 return ERROR_OK;
545 }
546
547 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
548 {
549 int retval;
550 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
551
552 buffer[0] = 0; /* report number */
553 buffer[1] = CMD_DAP_SWD_CONFIGURE;
554 buffer[2] = cfg;
555 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
556
557 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
558 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
559 return ERROR_JTAG_DEVICE_ERROR;
560 }
561
562 return ERROR_OK;
563 }
564
565 #if 0
566 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
567 {
568 int retval;
569 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
570
571 buffer[0] = 0; /* report number */
572 buffer[1] = CMD_DAP_DELAY;
573 buffer[2] = delay_us & 0xff;
574 buffer[3] = (delay_us >> 8) & 0xff;
575 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
576
577 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
578 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
579 return ERROR_JTAG_DEVICE_ERROR;
580 }
581
582 return ERROR_OK;
583 }
584 #endif
585
586 static int cmsis_dap_swd_run_queue(void)
587 {
588 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
589
590 LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
591
592 if (queued_retval != ERROR_OK) {
593 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
594 goto skip;
595 }
596
597 if (!pending_transfer_count)
598 goto skip;
599
600 size_t idx = 0;
601 buffer[idx++] = 0; /* report number */
602 buffer[idx++] = CMD_DAP_TFER;
603 buffer[idx++] = 0x00; /* DAP Index */
604 buffer[idx++] = pending_transfer_count;
605
606 for (int i = 0; i < pending_transfer_count; i++) {
607 uint8_t cmd = pending_transfers[i].cmd;
608 uint32_t data = pending_transfers[i].data;
609
610 LOG_DEBUG("%s %s reg %x %"PRIx32,
611 cmd & SWD_CMD_APnDP ? "AP" : "DP",
612 cmd & SWD_CMD_RnW ? "read" : "write",
613 (cmd & SWD_CMD_A32) >> 1, data);
614
615 /* When proper WAIT handling is implemented in the
616 * common SWD framework, this kludge can be
617 * removed. However, this might lead to minor
618 * performance degradation as the adapter wouldn't be
619 * able to automatically retry anything (because ARM
620 * has forgotten to implement sticky error flags
621 * clearing). See also comments regarding
622 * cmsis_dap_cmd_DAP_TFER_Configure() and
623 * cmsis_dap_cmd_DAP_SWD_Configure() in
624 * cmsis_dap_init().
625 */
626 if (!(cmd & SWD_CMD_RnW) &&
627 !(cmd & SWD_CMD_APnDP) &&
628 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
629 (data & CORUNDETECT)) {
630 LOG_DEBUG("refusing to enable sticky overrun detection");
631 data &= ~CORUNDETECT;
632 }
633
634 buffer[idx++] = (cmd >> 1) & 0x0f;
635 if (!(cmd & SWD_CMD_RnW)) {
636 buffer[idx++] = (data) & 0xff;
637 buffer[idx++] = (data >> 8) & 0xff;
638 buffer[idx++] = (data >> 16) & 0xff;
639 buffer[idx++] = (data >> 24) & 0xff;
640 }
641 }
642
643 queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
644 if (queued_retval != ERROR_OK)
645 goto skip;
646
647 idx = 2;
648 uint8_t ack = buffer[idx] & 0x07;
649 if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
650 LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
651 ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
652 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
653 goto skip;
654 }
655 idx++;
656
657 if (pending_transfer_count != buffer[1])
658 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
659 pending_transfer_count, buffer[1]);
660
661 for (int i = 0; i < buffer[1]; i++) {
662 if (pending_transfers[i].cmd & SWD_CMD_RnW) {
663 static uint32_t last_read;
664 uint32_t data = le_to_h_u32(&buffer[idx]);
665 uint32_t tmp = data;
666 idx += 4;
667
668 LOG_DEBUG("Read result: %"PRIx32, data);
669
670 /* Imitate posted AP reads */
671 if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
672 ((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
673 tmp = last_read;
674 last_read = data;
675 }
676
677 if (pending_transfers[i].buffer)
678 *(uint32_t *)pending_transfers[i].buffer = tmp;
679 }
680 }
681
682 skip:
683 pending_transfer_count = 0;
684 int retval = queued_retval;
685 queued_retval = ERROR_OK;
686
687 return retval;
688 }
689
690 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
691 {
692 if (pending_transfer_count == pending_queue_len) {
693 /* Not enough room in the queue. Run the queue. */
694 queued_retval = cmsis_dap_swd_run_queue();
695 }
696
697 if (queued_retval != ERROR_OK)
698 return;
699
700 pending_transfers[pending_transfer_count].data = data;
701 pending_transfers[pending_transfer_count].cmd = cmd;
702 if (cmd & SWD_CMD_RnW) {
703 /* Queue a read transaction */
704 pending_transfers[pending_transfer_count].buffer = dst;
705 }
706 pending_transfer_count++;
707 }
708
709 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
710 {
711 assert(!(cmd & SWD_CMD_RnW));
712 cmsis_dap_swd_queue_cmd(cmd, NULL, value);
713 }
714
715 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
716 {
717 assert(cmd & SWD_CMD_RnW);
718 cmsis_dap_swd_queue_cmd(cmd, value, 0);
719 }
720
721 static int cmsis_dap_get_version_info(void)
722 {
723 uint8_t *data;
724
725 /* INFO_ID_FW_VER - string */
726 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
727 if (retval != ERROR_OK)
728 return retval;
729
730 if (data[0]) /* strlen */
731 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
732
733 return ERROR_OK;
734 }
735
736 static int cmsis_dap_get_caps_info(void)
737 {
738 uint8_t *data;
739
740 /* INFO_ID_CAPS - byte */
741 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
742 if (retval != ERROR_OK)
743 return retval;
744
745 if (data[0] == 1) {
746 uint8_t caps = data[1];
747
748 cmsis_dap_handle->caps = caps;
749
750 if (caps & INFO_CAPS_SWD)
751 LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
752 if (caps & INFO_CAPS_JTAG)
753 LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
754 }
755
756 return ERROR_OK;
757 }
758
759 static int cmsis_dap_get_status(void)
760 {
761 uint8_t d;
762
763 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
764
765 if (retval == ERROR_OK) {
766 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
767 (d & (0x01 << 0)) ? 1 : 0, /* Bit 0: SWCLK/TCK */
768 (d & (0x01 << 1)) ? 1 : 0, /* Bit 1: SWDIO/TMS */
769 (d & (0x01 << 2)) ? 1 : 0, /* Bit 2: TDI */
770 (d & (0x01 << 3)) ? 1 : 0, /* Bit 3: TDO */
771 (d & (0x01 << 5)) ? 1 : 0, /* Bit 5: nTRST */
772 (d & (0x01 << 7)) ? 1 : 0); /* Bit 7: nRESET */
773 }
774
775 return retval;
776 }
777
778 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
779 {
780 const uint8_t *s;
781 unsigned int s_len;
782 int retval;
783
784 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
785 cmsis_dap_cmd_DAP_Disconnect();
786
787 /* When we are reconnecting, DAP_Connect needs to be rerun, at
788 * least on Keil ULINK-ME */
789 retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
790 CONNECT_SWD : CONNECT_JTAG);
791 if (retval != ERROR_OK)
792 return retval;
793
794 switch (seq) {
795 case LINE_RESET:
796 LOG_DEBUG("SWD line reset");
797 s = swd_seq_line_reset;
798 s_len = swd_seq_line_reset_len;
799 break;
800 case JTAG_TO_SWD:
801 LOG_DEBUG("JTAG-to-SWD");
802 s = swd_seq_jtag_to_swd;
803 s_len = swd_seq_jtag_to_swd_len;
804 break;
805 case SWD_TO_JTAG:
806 LOG_DEBUG("SWD-to-JTAG");
807 s = swd_seq_swd_to_jtag;
808 s_len = swd_seq_swd_to_jtag_len;
809 break;
810 default:
811 LOG_ERROR("Sequence %d not supported", seq);
812 return ERROR_FAIL;
813 }
814
815 return cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
816 }
817
818 static int cmsis_dap_swd_open(void)
819 {
820 int retval;
821
822 if (cmsis_dap_handle == NULL) {
823 /* SWD init */
824 retval = cmsis_dap_usb_open();
825 if (retval != ERROR_OK)
826 return retval;
827
828 retval = cmsis_dap_get_caps_info();
829 if (retval != ERROR_OK)
830 return retval;
831 }
832
833 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
834 LOG_ERROR("CMSIS-DAP: SWD not supported");
835 return ERROR_JTAG_DEVICE_ERROR;
836 }
837
838 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
839 if (retval != ERROR_OK)
840 return retval;
841
842 /* Add more setup here.??... */
843
844 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
845 return ERROR_OK;
846 }
847
848 static int cmsis_dap_init(void)
849 {
850 int retval;
851 uint8_t *data;
852
853 if (swd_mode) {
854 retval = cmsis_dap_swd_open();
855 if (retval != ERROR_OK)
856 return retval;
857 }
858
859 if (cmsis_dap_handle == NULL) {
860
861 /* JTAG init */
862 retval = cmsis_dap_usb_open();
863 if (retval != ERROR_OK)
864 return retval;
865
866 retval = cmsis_dap_get_caps_info();
867 if (retval != ERROR_OK)
868 return retval;
869
870 /* Connect in JTAG mode */
871 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
872 LOG_ERROR("CMSIS-DAP: JTAG not supported");
873 return ERROR_JTAG_DEVICE_ERROR;
874 }
875
876 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
877 if (retval != ERROR_OK)
878 return retval;
879
880 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
881 }
882
883 retval = cmsis_dap_get_version_info();
884 if (retval != ERROR_OK)
885 return retval;
886
887 /* INFO_ID_PKT_SZ - short */
888 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
889 if (retval != ERROR_OK)
890 return retval;
891
892 if (data[0] == 2) { /* short */
893 uint16_t pkt_sz = data[1] + (data[2] << 8);
894
895 /* 4 bytes of command header + 5 bytes per register
896 * write. For bulk read sequences just 4 bytes are
897 * needed per transfer, so this is suboptimal. */
898 pending_queue_len = (pkt_sz - 4) / 5;
899 pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
900 if (!pending_transfers) {
901 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
902 return ERROR_FAIL;
903 }
904
905 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
906 /* reallocate buffer */
907 cmsis_dap_handle->packet_size = pkt_sz + 1;
908 cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
909 cmsis_dap_handle->packet_size);
910 if (cmsis_dap_handle->packet_buffer == NULL) {
911 LOG_ERROR("unable to reallocate memory");
912 return ERROR_FAIL;
913 }
914 }
915
916 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
917 }
918
919 /* INFO_ID_PKT_CNT - byte */
920 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
921 if (retval != ERROR_OK)
922 return retval;
923
924 if (data[0] == 1) { /* byte */
925 uint16_t pkt_cnt = data[1];
926 cmsis_dap_handle->packet_count = pkt_cnt;
927 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
928 }
929
930 retval = cmsis_dap_get_status();
931 if (retval != ERROR_OK)
932 return ERROR_FAIL;
933
934 /* Now try to connect to the target
935 * TODO: This is all SWD only @ present */
936 retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
937 if (retval != ERROR_OK)
938 return ERROR_FAIL;
939
940 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
941 * up to 64 times. This must be changed to 0 if sticky
942 * overrun detection is enabled. */
943 retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
944 if (retval != ERROR_OK)
945 return ERROR_FAIL;
946 /* Data Phase (bit 2) must be set to 1 if sticky overrun
947 * detection is enabled */
948 retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
949 if (retval != ERROR_OK)
950 return ERROR_FAIL;
951
952 retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
953 if (retval != ERROR_OK)
954 return ERROR_FAIL;
955
956 /* support connecting with srst asserted */
957 enum reset_types jtag_reset_config = jtag_get_reset_config();
958
959 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
960 if (jtag_reset_config & RESET_SRST_NO_GATING) {
961 retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
962 if (retval != ERROR_OK)
963 return ERROR_FAIL;
964 LOG_INFO("Connecting under reset");
965 }
966 }
967
968 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
969
970 LOG_INFO("CMSIS-DAP: Interface ready");
971
972 return ERROR_OK;
973 }
974
975 static int cmsis_dap_swd_init(void)
976 {
977 swd_mode = true;
978 return ERROR_OK;
979 }
980
981 static int cmsis_dap_quit(void)
982 {
983 cmsis_dap_cmd_DAP_Disconnect();
984 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
985
986 cmsis_dap_usb_close(cmsis_dap_handle);
987
988 return ERROR_OK;
989 }
990
991 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
992 {
993 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
994 (1 << 7), 0, NULL);
995 if (retval != ERROR_OK)
996 LOG_ERROR("CMSIS-DAP: Interface reset failed");
997 }
998
999 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1000 {
1001 #if 0
1002 int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
1003 if (retval != ERROR_OK)
1004 #endif
1005 jtag_sleep(cmd->cmd.sleep->us);
1006 }
1007
1008 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1009 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1010 {
1011 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1012 uint8_t seq = 0xff;
1013 int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
1014 if (ret == ERROR_OK)
1015 tap_set_state(TAP_RESET);
1016 return ret;
1017 }
1018
1019 /* Set new end state */
1020 static void cmsis_dap_end_state(tap_state_t state)
1021 {
1022 if (tap_is_state_stable(state))
1023 tap_set_end_state(state);
1024 else {
1025 LOG_ERROR("BUG: %i is not a valid end state", state);
1026 exit(-1);
1027 }
1028 }
1029
1030 #ifdef SPRINT_BINARY
1031 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1032 {
1033 if (!len)
1034 return;
1035
1036 /*
1037 buf = { 0x18 } len=5 should result in: 11000
1038 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1039 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1040 i=3 there means i/8 = 0 so c = 0xFF, and
1041 */
1042 for (int i = offset; i < offset + len; ++i) {
1043 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1044 if ((i != offset) && !(i % 8))
1045 putchar(' ');
1046 *s++ = (c & mask) ? '1' : '0';
1047 }
1048 *s = 0;
1049 }
1050 #endif
1051
1052 #ifdef CMSIS_DAP_JTAG_DEBUG
1053 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1054 {
1055 /* cmd is a usb packet to go to the cmsis-dap interface */
1056 printf("cmsis-dap buffer (%d b): ", cmdlen);
1057 for (int i = 0; i < cmdlen; ++i)
1058 printf(" %02x", cmd[i]);
1059 printf("\n");
1060 switch (cmd[1]) {
1061 case CMD_DAP_JTAG_SEQ: {
1062 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
1063 /*
1064 * #2 = number of sequences
1065 * #3 = sequence info 1
1066 * #4...4+n_bytes-1 = sequence 1
1067 * #4+n_bytes = sequence info 2
1068 * #5+n_bytes = sequence 2 (single bit)
1069 */
1070 int pos = 3;
1071 for (int seq = 0; seq < cmd[2]; ++seq) {
1072 uint8_t info = cmd[pos++];
1073 int len = info & DAP_JTAG_SEQ_TCK;
1074 if (len == 0)
1075 len = 64;
1076 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1077 seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1078 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1079 printf(" %02x", cmd[pos+i]);
1080 pos += DIV_ROUND_UP(len, 8);
1081 printf("\n");
1082 }
1083 if (pos != cmdlen) {
1084 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1085 exit(-1);
1086 }
1087
1088 break;
1089 }
1090 default:
1091 LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1092 break;
1093 }
1094 }
1095 #endif
1096
1097 static void cmsis_dap_flush(void)
1098 {
1099 if (!queued_seq_count)
1100 return;
1101
1102 DEBUG_JTAG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1103 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1104
1105 /* prep CMSIS-DAP packet */
1106 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
1107 buffer[0] = 0; /* report number */
1108 buffer[1] = CMD_DAP_JTAG_SEQ;
1109 buffer[2] = queued_seq_count;
1110 memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
1111
1112 #ifdef CMSIS_DAP_JTAG_DEBUG
1113 debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
1114 #endif
1115
1116 /* send command to USB device */
1117 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
1118 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
1119 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1120 exit(-1);
1121 }
1122
1123 #ifdef CMSIS_DAP_JTAG_DEBUG
1124 DEBUG_JTAG_IO("USB response buf:");
1125 for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1126 printf("%02X ", buffer[c]);
1127 printf("\n");
1128 #endif
1129
1130 /* copy scan results into client buffers */
1131 for (int i = 0; i < pending_scan_result_count; ++i) {
1132 struct pending_scan_result *scan = &pending_scan_results[i];
1133 DEBUG_JTAG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1134 i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1135 #ifdef CMSIS_DAP_JTAG_DEBUG
1136 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1137 printf("%02X ", buffer[2+scan->first+b]);
1138 printf("\n");
1139 #endif
1140 bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
1141 }
1142
1143 /* reset */
1144 queued_seq_count = 0;
1145 queued_seq_buf_end = 0;
1146 queued_seq_tdo_ptr = 0;
1147 pending_scan_result_count = 0;
1148 }
1149
1150 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1151 *
1152 * sequence=NULL means clock out zeros on TDI
1153 * tdo_buffer=NULL means don't capture TDO
1154 */
1155 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1156 bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1157 {
1158 DEBUG_JTAG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1159 queued_seq_buf_end,
1160 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1161
1162 if (s_len == 0)
1163 return;
1164
1165 if (s_len > 64) {
1166 DEBUG_JTAG_IO("START JTAG SEQ SPLIT");
1167 for (int offset = 0; offset < s_len; offset += 64) {
1168 int len = s_len - offset;
1169 if (len > 64)
1170 len = 64;
1171 DEBUG_JTAG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1172 cmsis_dap_add_jtag_sequence(
1173 len,
1174 sequence,
1175 s_offset + offset,
1176 tms,
1177 tdo_buffer,
1178 tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
1179 );
1180 }
1181 DEBUG_JTAG_IO("END JTAG SEQ SPLIT");
1182 return;
1183 }
1184
1185 int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1186 if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1187 /* empty out the buffer */
1188 cmsis_dap_flush();
1189
1190 ++queued_seq_count;
1191
1192 /* control byte */
1193 queued_seq_buf[queued_seq_buf_end] =
1194 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1195 (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
1196 (s_len == 64 ? 0 : s_len);
1197
1198 if (sequence != NULL)
1199 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1200 else
1201 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1202
1203 queued_seq_buf_end += cmd_len;
1204
1205 if (tdo_buffer != NULL) {
1206 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1207 scan->first = queued_seq_tdo_ptr;
1208 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1209 scan->length = s_len;
1210 scan->buffer = tdo_buffer;
1211 scan->buffer_offset = tdo_buffer_offset;
1212 }
1213 }
1214
1215 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1216 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1217 {
1218 DEBUG_JTAG_IO("%d bits: %02X", s_len, *sequence);
1219 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1220 because even though it seems ridiculously inefficient, it
1221 allows us to combine TMS and scan sequences into the same
1222 USB packet. */
1223 /* TODO: combine runs of the same tms value */
1224 for (int i = 0; i < s_len; ++i) {
1225 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1226 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1227 }
1228 }
1229
1230 /* Move to the end state by queuing a sequence to clock into TMS */
1231 static void cmsis_dap_state_move(void)
1232 {
1233 uint8_t tms_scan;
1234 uint8_t tms_scan_bits;
1235
1236 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1237 tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1238
1239 DEBUG_JTAG_IO("state move from %s to %s: %d clocks, %02X on tms",
1240 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1241 tms_scan_bits, tms_scan);
1242 cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1243
1244 tap_set_state(tap_get_end_state());
1245 }
1246
1247
1248 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1249 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1250 {
1251 DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1252 jtag_scan_type(cmd->cmd.scan));
1253
1254 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1255 while (cmd->cmd.scan->num_fields > 0
1256 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1257 cmd->cmd.scan->num_fields--;
1258 LOG_DEBUG("discarding trailing empty field");
1259 }
1260
1261 if (cmd->cmd.scan->num_fields == 0) {
1262 LOG_DEBUG("empty scan, doing nothing");
1263 return;
1264 }
1265
1266 if (cmd->cmd.scan->ir_scan) {
1267 if (tap_get_state() != TAP_IRSHIFT) {
1268 cmsis_dap_end_state(TAP_IRSHIFT);
1269 cmsis_dap_state_move();
1270 }
1271 } else {
1272 if (tap_get_state() != TAP_DRSHIFT) {
1273 cmsis_dap_end_state(TAP_DRSHIFT);
1274 cmsis_dap_state_move();
1275 }
1276 }
1277
1278 cmsis_dap_end_state(cmd->cmd.scan->end_state);
1279
1280 struct scan_field *field = cmd->cmd.scan->fields;
1281 unsigned scan_size = 0;
1282
1283 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1284 scan_size += field->num_bits;
1285 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
1286 field->in_value ? "in" : "",
1287 field->out_value ? "out" : "",
1288 i,
1289 cmd->cmd.scan->num_fields,
1290 field->num_bits);
1291
1292 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1293 DEBUG_JTAG_IO("Last field and have to move out of SHIFT state");
1294 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1295 * movement. This last field can't have length zero, it was checked above. */
1296 cmsis_dap_add_jtag_sequence(
1297 field->num_bits - 1, /* number of bits to clock */
1298 field->out_value, /* output sequence */
1299 0, /* output offset */
1300 false, /* TMS low */
1301 field->in_value,
1302 0);
1303
1304 /* Clock the last bit out, with TMS high */
1305 uint8_t last_bit = 0;
1306 if (field->out_value)
1307 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1308 cmsis_dap_add_jtag_sequence(
1309 1,
1310 &last_bit,
1311 0,
1312 true,
1313 field->in_value,
1314 field->num_bits - 1);
1315 tap_set_state(tap_state_transition(tap_get_state(), 1));
1316
1317 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1318 cmsis_dap_add_jtag_sequence(
1319 1,
1320 &last_bit,
1321 0,
1322 false,
1323 NULL,
1324 0);
1325 tap_set_state(tap_state_transition(tap_get_state(), 0));
1326 } else {
1327 DEBUG_JTAG_IO("Internal field, staying in SHIFT state afterwards");
1328 /* Clocking part of a sequence into DR or IR with TMS=0,
1329 leaving TMS=0 at the end so we can continue later */
1330 cmsis_dap_add_jtag_sequence(
1331 field->num_bits,
1332 field->out_value,
1333 0,
1334 false,
1335 field->in_value,
1336 0);
1337 }
1338 }
1339
1340 if (tap_get_state() != tap_get_end_state()) {
1341 cmsis_dap_end_state(tap_get_end_state());
1342 cmsis_dap_state_move();
1343 }
1344
1345 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
1346 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1347 tap_state_name(tap_get_end_state()));
1348 }
1349
1350 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1351 {
1352 int i;
1353 uint8_t tms0 = 0x00;
1354 uint8_t tms1 = 0xff;
1355
1356 for (i = 0; i < num_states; i++) {
1357 if (path[i] == tap_state_transition(tap_get_state(), false))
1358 cmsis_dap_add_tms_sequence(&tms0, 1);
1359 else if (path[i] == tap_state_transition(tap_get_state(), true))
1360 cmsis_dap_add_tms_sequence(&tms1, 1);
1361 else {
1362 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1363 tap_state_name(tap_get_state()), tap_state_name(path[i]));
1364 exit(-1);
1365 }
1366
1367 tap_set_state(path[i]);
1368 }
1369
1370 cmsis_dap_end_state(tap_get_state());
1371 }
1372
1373 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1374 {
1375 DEBUG_JTAG_IO("pathmove: %i states, end in %i",
1376 cmd->cmd.pathmove->num_states,
1377 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1378
1379 cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1380 }
1381
1382 static void cmsis_dap_stableclocks(int num_cycles)
1383 {
1384 int i;
1385
1386 uint8_t tms = tap_get_state() == TAP_RESET;
1387 /* TODO: Perform optimizations? */
1388 /* Execute num_cycles. */
1389 for (i = 0; i < num_cycles; i++)
1390 cmsis_dap_add_tms_sequence(&tms, 1);
1391 }
1392
1393 static void cmsis_dap_runtest(int num_cycles)
1394 {
1395 tap_state_t saved_end_state = tap_get_end_state();
1396
1397 /* Only do a state_move when we're not already in IDLE. */
1398 if (tap_get_state() != TAP_IDLE) {
1399 cmsis_dap_end_state(TAP_IDLE);
1400 cmsis_dap_state_move();
1401 }
1402 cmsis_dap_stableclocks(num_cycles);
1403
1404 /* Finish in end_state. */
1405 cmsis_dap_end_state(saved_end_state);
1406
1407 if (tap_get_state() != tap_get_end_state())
1408 cmsis_dap_state_move();
1409 }
1410
1411 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1412 {
1413 DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1414 cmd->cmd.runtest->end_state);
1415
1416 cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1417 cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1418 }
1419
1420 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1421 {
1422 DEBUG_JTAG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1423 cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1424 }
1425
1426 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1427 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1428 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1429 {
1430 switch (cmd->type) {
1431 case JTAG_RESET:
1432 cmsis_dap_flush();
1433 cmsis_dap_execute_reset(cmd);
1434 break;
1435 case JTAG_SLEEP:
1436 cmsis_dap_flush();
1437 cmsis_dap_execute_sleep(cmd);
1438 break;
1439 case JTAG_TLR_RESET:
1440 cmsis_dap_flush();
1441 cmsis_dap_execute_tlr_reset(cmd);
1442 break;
1443 case JTAG_SCAN:
1444 cmsis_dap_execute_scan(cmd);
1445 break;
1446 case JTAG_PATHMOVE:
1447 cmsis_dap_execute_pathmove(cmd);
1448 break;
1449 case JTAG_RUNTEST:
1450 cmsis_dap_execute_runtest(cmd);
1451 break;
1452 case JTAG_STABLECLOCKS:
1453 cmsis_dap_execute_stableclocks(cmd);
1454 break;
1455 case JTAG_TMS:
1456 default:
1457 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1458 exit(-1);
1459 }
1460 }
1461
1462 static int cmsis_dap_execute_queue(void)
1463 {
1464 struct jtag_command *cmd = jtag_command_queue;
1465
1466 while (cmd != NULL) {
1467 cmsis_dap_execute_command(cmd);
1468 cmd = cmd->next;
1469 }
1470
1471 cmsis_dap_flush();
1472
1473 return ERROR_OK;
1474 }
1475
1476 static int cmsis_dap_speed(int speed)
1477 {
1478 if (speed > DAP_MAX_CLOCK) {
1479 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
1480 speed = DAP_MAX_CLOCK;
1481 }
1482
1483 if (speed == 0) {
1484 LOG_INFO("RTCK not supported");
1485 return ERROR_JTAG_NOT_IMPLEMENTED;
1486 }
1487
1488 return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
1489 }
1490
1491 static int cmsis_dap_speed_div(int speed, int *khz)
1492 {
1493 *khz = speed;
1494 return ERROR_OK;
1495 }
1496
1497 static int cmsis_dap_khz(int khz, int *jtag_speed)
1498 {
1499 *jtag_speed = khz;
1500 return ERROR_OK;
1501 }
1502
1503 static int_least32_t cmsis_dap_swd_frequency(int_least32_t hz)
1504 {
1505 if (hz > 0)
1506 cmsis_dap_speed(hz / 1000);
1507
1508 return hz;
1509 }
1510
1511
1512 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1513 {
1514 if (cmsis_dap_get_version_info() == ERROR_OK)
1515 cmsis_dap_get_status();
1516
1517 return ERROR_OK;
1518 }
1519
1520 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
1521 {
1522 if (CMD_ARGC > MAX_USB_IDS * 2) {
1523 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1524 "(maximum is %d pairs)", MAX_USB_IDS);
1525 CMD_ARGC = MAX_USB_IDS * 2;
1526 }
1527 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
1528 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1529 if (CMD_ARGC < 2)
1530 return ERROR_COMMAND_SYNTAX_ERROR;
1531 /* remove the incomplete trailing id */
1532 CMD_ARGC -= 1;
1533 }
1534
1535 unsigned i;
1536 for (i = 0; i < CMD_ARGC; i += 2) {
1537 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
1538 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
1539 }
1540
1541 /*
1542 * Explicitly terminate, in case there are multiples instances of
1543 * cmsis_dap_vid_pid.
1544 */
1545 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1546
1547 return ERROR_OK;
1548 }
1549
1550 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
1551 {
1552 if (CMD_ARGC == 1) {
1553 size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
1554 cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
1555 if (cmsis_dap_serial == NULL) {
1556 LOG_ERROR("unable to allocate memory");
1557 return ERROR_OK;
1558 }
1559 if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
1560 free(cmsis_dap_serial);
1561 cmsis_dap_serial = NULL;
1562 LOG_ERROR("unable to convert serial");
1563 }
1564 } else {
1565 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1566 }
1567
1568 return ERROR_OK;
1569 }
1570
1571 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1572 {
1573 .name = "info",
1574 .handler = &cmsis_dap_handle_info_command,
1575 .mode = COMMAND_EXEC,
1576 .usage = "",
1577 .help = "show cmsis-dap info",
1578 },
1579 COMMAND_REGISTRATION_DONE
1580 };
1581
1582 static const struct command_registration cmsis_dap_command_handlers[] = {
1583 {
1584 .name = "cmsis-dap",
1585 .mode = COMMAND_ANY,
1586 .help = "perform CMSIS-DAP management",
1587 .usage = "<cmd>",
1588 .chain = cmsis_dap_subcommand_handlers,
1589 },
1590 {
1591 .name = "cmsis_dap_vid_pid",
1592 .handler = &cmsis_dap_handle_vid_pid_command,
1593 .mode = COMMAND_CONFIG,
1594 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1595 .usage = "(vid pid)* ",
1596 },
1597 {
1598 .name = "cmsis_dap_serial",
1599 .handler = &cmsis_dap_handle_serial_command,
1600 .mode = COMMAND_CONFIG,
1601 .help = "set the serial number of the adapter",
1602 .usage = "serial_string",
1603 },
1604 COMMAND_REGISTRATION_DONE
1605 };
1606
1607 static const struct swd_driver cmsis_dap_swd_driver = {
1608 .init = cmsis_dap_swd_init,
1609 .frequency = cmsis_dap_swd_frequency,
1610 .switch_seq = cmsis_dap_swd_switch_seq,
1611 .read_reg = cmsis_dap_swd_read_reg,
1612 .write_reg = cmsis_dap_swd_write_reg,
1613 .run = cmsis_dap_swd_run_queue,
1614 };
1615
1616 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
1617
1618 struct jtag_interface cmsis_dap_interface = {
1619 .name = "cmsis-dap",
1620 .commands = cmsis_dap_command_handlers,
1621 .swd = &cmsis_dap_swd_driver,
1622 .transports = cmsis_dap_transport,
1623
1624 .execute_queue = cmsis_dap_execute_queue,
1625 .speed = cmsis_dap_speed,
1626 .speed_div = cmsis_dap_speed_div,
1627 .khz = cmsis_dap_khz,
1628 .init = cmsis_dap_init,
1629 .quit = cmsis_dap_quit,
1630 };
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