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drivers: cmsis-dap: fix connection in JTAG mode
[openocd.git] / src / jtag / drivers / cmsis_dap_usb.c
blob9e723b51d103ffe8c62bdd67166ac0b421fd972b
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 #define SWJ_PIN_TCK (1<<0)
122 #define SWJ_PIN_TMS (1<<1)
123 #define SWJ_PIN_TDI (1<<2)
124 #define SWJ_PIN_TDO (1<<3)
125 #define SWJ_PIN_TRST (1<<5)
126 #define SWJ_PIN_SRST (1<<7)
127
128 /* CMSIS-DAP SWD Commands */
129 #define CMD_DAP_SWD_CONFIGURE 0x13
130
131 /* CMSIS-DAP JTAG Commands */
132 #define CMD_DAP_JTAG_SEQ 0x14
133 #define CMD_DAP_JTAG_CONFIGURE 0x15
134 #define CMD_DAP_JTAG_IDCODE 0x16
135
136 /* CMSIS-DAP JTAG sequence info masks */
137 /* Number of bits to clock through (0 means 64) */
138 #define DAP_JTAG_SEQ_TCK 0x3F
139 /* TMS will be set during the sequence if this bit is set */
140 #define DAP_JTAG_SEQ_TMS 0x40
141 /* TDO output will be captured if this bit is set */
142 #define DAP_JTAG_SEQ_TDO 0x80
143
144
145 /* CMSIS-DAP Transfer Commands */
146 #define CMD_DAP_TFER_CONFIGURE 0x04
147 #define CMD_DAP_TFER 0x05
148 #define CMD_DAP_TFER_BLOCK 0x06
149 #define CMD_DAP_TFER_ABORT 0x07
150
151 /* DAP Status Code */
152 #define DAP_OK 0
153 #define DAP_ERROR 0xFF
154
155 /* CMSIS-DAP Vendor Commands
156 * None as yet... */
157
158 static const char * const info_caps_str[] = {
159 "SWD Supported",
160 "JTAG Supported"
161 };
162
163 /* max clock speed (kHz) */
164 #define DAP_MAX_CLOCK 5000
165
166 struct cmsis_dap {
167 hid_device *dev_handle;
168 uint16_t packet_size;
169 uint16_t packet_count;
170 uint8_t *packet_buffer;
171 uint8_t caps;
172 uint8_t mode;
173 };
174
175 struct pending_transfer_result {
176 uint8_t cmd;
177 uint32_t data;
178 void *buffer;
179 };
180
181 struct pending_scan_result {
182 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
183 unsigned first;
184 /** Number of bits to read. */
185 unsigned length;
186 /** Location to store the result */
187 uint8_t *buffer;
188 /** Offset in the destination buffer */
189 unsigned buffer_offset;
190 };
191
192 static int pending_transfer_count, pending_queue_len;
193 static struct pending_transfer_result *pending_transfers;
194
195 /* pointers to buffers that will receive jtag scan results on the next flush */
196 #define MAX_PENDING_SCAN_RESULTS 256
197 static int pending_scan_result_count;
198 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
199
200 /* queued JTAG sequences that will be executed on the next flush */
201 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
202 static int queued_seq_count;
203 static int queued_seq_buf_end;
204 static int queued_seq_tdo_ptr;
205 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
206
207 static int queued_retval;
208
209 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
210
211 static struct cmsis_dap *cmsis_dap_handle;
212
213 static int cmsis_dap_usb_open(void)
214 {
215 hid_device *dev = NULL;
216 int i;
217 struct hid_device_info *devs, *cur_dev;
218 unsigned short target_vid, target_pid;
219 wchar_t *target_serial = NULL;
220
221 bool found = false;
222 bool serial_found = false;
223
224 target_vid = 0;
225 target_pid = 0;
226
227 /*
228 * The CMSIS-DAP specification stipulates:
229 * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
230 * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
231 */
232 devs = hid_enumerate(0x0, 0x0);
233 cur_dev = devs;
234 while (NULL != cur_dev) {
235 if (0 == cmsis_dap_vid[0]) {
236 if (NULL == cur_dev->product_string) {
237 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
238 cur_dev->vendor_id, cur_dev->product_id);
239 } else {
240 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
241 /* if the user hasn't specified VID:PID *and*
242 * product string contains "CMSIS-DAP", pick it
243 */
244 found = true;
245 }
246 }
247 } else {
248 /* otherwise, exhaustively compare against all VID:PID in list */
249 for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
250 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
251 found = true;
252 }
253
254 if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
255 found = true;
256 }
257
258 if (found) {
259 /* we have found an adapter, so exit further checks */
260 /* check serial number matches if given */
261 if (cmsis_dap_serial != NULL) {
262 if ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
263 serial_found = true;
264 break;
265 }
266 } else
267 break;
268
269 found = false;
270 }
271
272 cur_dev = cur_dev->next;
273 }
274
275 if (NULL != cur_dev) {
276 target_vid = cur_dev->vendor_id;
277 target_pid = cur_dev->product_id;
278 if (serial_found)
279 target_serial = cmsis_dap_serial;
280 }
281
282 hid_free_enumeration(devs);
283
284 if (target_vid == 0 && target_pid == 0) {
285 LOG_ERROR("unable to find CMSIS-DAP device");
286 return ERROR_FAIL;
287 }
288
289 if (hid_init() != 0) {
290 LOG_ERROR("unable to open HIDAPI");
291 return ERROR_FAIL;
292 }
293
294 dev = hid_open(target_vid, target_pid, target_serial);
295
296 if (dev == NULL) {
297 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
298 return ERROR_FAIL;
299 }
300
301 struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
302 if (dap == NULL) {
303 LOG_ERROR("unable to allocate memory");
304 return ERROR_FAIL;
305 }
306
307 dap->dev_handle = dev;
308 dap->caps = 0;
309 dap->mode = 0;
310
311 cmsis_dap_handle = dap;
312
313 /* allocate default packet buffer, may be changed later.
314 * currently with HIDAPI we have no way of getting the output report length
315 * without this info we cannot communicate with the adapter.
316 * For the moment we ahve to hard code the packet size */
317
318 int packet_size = PACKET_SIZE;
319
320 /* atmel cmsis-dap uses 512 byte reports */
321 /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained
322 * board */
323 /* TODO: HID report descriptor should be parsed instead of
324 * hardcoding a match by VID */
325 if (target_vid == 0x03eb && target_pid != 0x2145)
326 packet_size = 512 + 1;
327
328 cmsis_dap_handle->packet_buffer = malloc(packet_size);
329 cmsis_dap_handle->packet_size = packet_size;
330
331 if (cmsis_dap_handle->packet_buffer == NULL) {
332 LOG_ERROR("unable to allocate memory");
333 return ERROR_FAIL;
334 }
335
336 return ERROR_OK;
337 }
338
339 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
340 {
341 hid_close(dap->dev_handle);
342 hid_exit();
343
344 free(cmsis_dap_handle->packet_buffer);
345 free(cmsis_dap_handle);
346 cmsis_dap_handle = NULL;
347 free(cmsis_dap_serial);
348 cmsis_dap_serial = NULL;
349 free(pending_transfers);
350 pending_transfers = NULL;
351
352 return;
353 }
354
355 /* Send a message and receive the reply */
356 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
357 {
358 #ifdef CMSIS_DAP_JTAG_DEBUG
359 LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
360 #endif
361 /* Pad the rest of the TX buffer with 0's */
362 memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
363
364 /* write data to device */
365 int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
366 if (retval == -1) {
367 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
368 return ERROR_FAIL;
369 }
370
371 /* get reply */
372 retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
373 if (retval == -1 || retval == 0) {
374 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
375 return ERROR_FAIL;
376 }
377
378 return ERROR_OK;
379 }
380
381 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
382 {
383 int retval;
384 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
385
386 buffer[0] = 0; /* report number */
387 buffer[1] = CMD_DAP_SWJ_PINS;
388 buffer[2] = pins;
389 buffer[3] = mask;
390 buffer[4] = delay & 0xff;
391 buffer[5] = (delay >> 8) & 0xff;
392 buffer[6] = (delay >> 16) & 0xff;
393 buffer[7] = (delay >> 24) & 0xff;
394 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
395
396 if (retval != ERROR_OK) {
397 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
398 return ERROR_JTAG_DEVICE_ERROR;
399 }
400
401 if (input)
402 *input = buffer[1];
403
404 return ERROR_OK;
405 }
406
407 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
408 {
409 int retval;
410 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
411
412 /* set clock in Hz */
413 swj_clock *= 1000;
414 buffer[0] = 0; /* report number */
415 buffer[1] = CMD_DAP_SWJ_CLOCK;
416 buffer[2] = swj_clock & 0xff;
417 buffer[3] = (swj_clock >> 8) & 0xff;
418 buffer[4] = (swj_clock >> 16) & 0xff;
419 buffer[5] = (swj_clock >> 24) & 0xff;
420 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
421
422 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
423 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
424 return ERROR_JTAG_DEVICE_ERROR;
425 }
426
427 return ERROR_OK;
428 }
429
430 /* clock a sequence of bits out on TMS, to change JTAG states */
431 static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
432 {
433 int retval;
434 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
435
436 #ifdef CMSIS_DAP_JTAG_DEBUG
437 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
438 for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
439 printf("%02X ", sequence[i]);
440
441 printf("\n");
442 #endif
443
444 buffer[0] = 0; /* report number */
445 buffer[1] = CMD_DAP_SWJ_SEQ;
446 buffer[2] = s_len;
447 bit_copy(&buffer[3], 0, sequence, 0, s_len);
448
449 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
450
451 if (retval != ERROR_OK || buffer[1] != DAP_OK)
452 return ERROR_FAIL;
453
454 return ERROR_OK;
455 }
456
457 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
458 {
459 int retval;
460 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
461
462 buffer[0] = 0; /* report number */
463 buffer[1] = CMD_DAP_INFO;
464 buffer[2] = info;
465 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
466
467 if (retval != ERROR_OK) {
468 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
469 return ERROR_JTAG_DEVICE_ERROR;
470 }
471
472 *data = &(buffer[1]);
473
474 return ERROR_OK;
475 }
476
477 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
478 {
479 int retval;
480 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
481
482 buffer[0] = 0; /* report number */
483 buffer[1] = CMD_DAP_LED;
484 buffer[2] = 0x00;
485 buffer[3] = leds;
486 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
487
488 if (retval != ERROR_OK || buffer[1] != 0x00) {
489 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
490 return ERROR_JTAG_DEVICE_ERROR;
491 }
492
493 return ERROR_OK;
494 }
495
496 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
497 {
498 int retval;
499 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
500
501 buffer[0] = 0; /* report number */
502 buffer[1] = CMD_DAP_CONNECT;
503 buffer[2] = mode;
504 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
505
506 if (retval != ERROR_OK) {
507 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
508 return ERROR_JTAG_DEVICE_ERROR;
509 }
510
511 if (buffer[1] != mode) {
512 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
513 return ERROR_JTAG_DEVICE_ERROR;
514 }
515
516 return ERROR_OK;
517 }
518
519 static int cmsis_dap_cmd_DAP_Disconnect(void)
520 {
521 int retval;
522 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
523
524 buffer[0] = 0; /* report number */
525 buffer[1] = CMD_DAP_DISCONNECT;
526 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
527
528 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
529 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
530 return ERROR_JTAG_DEVICE_ERROR;
531 }
532
533 return ERROR_OK;
534 }
535
536 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
537 {
538 int retval;
539 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
540
541 buffer[0] = 0; /* report number */
542 buffer[1] = CMD_DAP_TFER_CONFIGURE;
543 buffer[2] = idle;
544 buffer[3] = retry_count & 0xff;
545 buffer[4] = (retry_count >> 8) & 0xff;
546 buffer[5] = match_retry & 0xff;
547 buffer[6] = (match_retry >> 8) & 0xff;
548 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
549
550 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
551 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
552 return ERROR_JTAG_DEVICE_ERROR;
553 }
554
555 return ERROR_OK;
556 }
557
558 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
559 {
560 int retval;
561 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
562
563 buffer[0] = 0; /* report number */
564 buffer[1] = CMD_DAP_SWD_CONFIGURE;
565 buffer[2] = cfg;
566 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
567
568 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
569 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
570 return ERROR_JTAG_DEVICE_ERROR;
571 }
572
573 return ERROR_OK;
574 }
575
576 #if 0
577 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
578 {
579 int retval;
580 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
581
582 buffer[0] = 0; /* report number */
583 buffer[1] = CMD_DAP_DELAY;
584 buffer[2] = delay_us & 0xff;
585 buffer[3] = (delay_us >> 8) & 0xff;
586 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
587
588 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
589 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
590 return ERROR_JTAG_DEVICE_ERROR;
591 }
592
593 return ERROR_OK;
594 }
595 #endif
596
597 static int cmsis_dap_swd_run_queue(void)
598 {
599 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
600
601 LOG_DEBUG_IO("Executing %d queued transactions", pending_transfer_count);
602
603 if (queued_retval != ERROR_OK) {
604 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
605 goto skip;
606 }
607
608 if (!pending_transfer_count)
609 goto skip;
610
611 size_t idx = 0;
612 buffer[idx++] = 0; /* report number */
613 buffer[idx++] = CMD_DAP_TFER;
614 buffer[idx++] = 0x00; /* DAP Index */
615 buffer[idx++] = pending_transfer_count;
616
617 for (int i = 0; i < pending_transfer_count; i++) {
618 uint8_t cmd = pending_transfers[i].cmd;
619 uint32_t data = pending_transfers[i].data;
620
621 LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
622 cmd & SWD_CMD_APnDP ? "AP" : "DP",
623 cmd & SWD_CMD_RnW ? "read" : "write",
624 (cmd & SWD_CMD_A32) >> 1, data);
625
626 /* When proper WAIT handling is implemented in the
627 * common SWD framework, this kludge can be
628 * removed. However, this might lead to minor
629 * performance degradation as the adapter wouldn't be
630 * able to automatically retry anything (because ARM
631 * has forgotten to implement sticky error flags
632 * clearing). See also comments regarding
633 * cmsis_dap_cmd_DAP_TFER_Configure() and
634 * cmsis_dap_cmd_DAP_SWD_Configure() in
635 * cmsis_dap_init().
636 */
637 if (!(cmd & SWD_CMD_RnW) &&
638 !(cmd & SWD_CMD_APnDP) &&
639 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
640 (data & CORUNDETECT)) {
641 LOG_DEBUG("refusing to enable sticky overrun detection");
642 data &= ~CORUNDETECT;
643 }
644
645 buffer[idx++] = (cmd >> 1) & 0x0f;
646 if (!(cmd & SWD_CMD_RnW)) {
647 buffer[idx++] = (data) & 0xff;
648 buffer[idx++] = (data >> 8) & 0xff;
649 buffer[idx++] = (data >> 16) & 0xff;
650 buffer[idx++] = (data >> 24) & 0xff;
651 }
652 }
653
654 queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
655 if (queued_retval != ERROR_OK)
656 goto skip;
657
658 idx = 2;
659 uint8_t ack = buffer[idx] & 0x07;
660 if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
661 LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
662 ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
663 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
664 goto skip;
665 }
666 idx++;
667
668 if (pending_transfer_count != buffer[1])
669 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
670 pending_transfer_count, buffer[1]);
671
672 for (int i = 0; i < buffer[1]; i++) {
673 if (pending_transfers[i].cmd & SWD_CMD_RnW) {
674 static uint32_t last_read;
675 uint32_t data = le_to_h_u32(&buffer[idx]);
676 uint32_t tmp = data;
677 idx += 4;
678
679 LOG_DEBUG_IO("Read result: %"PRIx32, data);
680
681 /* Imitate posted AP reads */
682 if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
683 ((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
684 tmp = last_read;
685 last_read = data;
686 }
687
688 if (pending_transfers[i].buffer)
689 *(uint32_t *)pending_transfers[i].buffer = tmp;
690 }
691 }
692
693 skip:
694 pending_transfer_count = 0;
695 int retval = queued_retval;
696 queued_retval = ERROR_OK;
697
698 return retval;
699 }
700
701 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
702 {
703 if (pending_transfer_count == pending_queue_len) {
704 /* Not enough room in the queue. Run the queue. */
705 queued_retval = cmsis_dap_swd_run_queue();
706 }
707
708 if (queued_retval != ERROR_OK)
709 return;
710
711 pending_transfers[pending_transfer_count].data = data;
712 pending_transfers[pending_transfer_count].cmd = cmd;
713 if (cmd & SWD_CMD_RnW) {
714 /* Queue a read transaction */
715 pending_transfers[pending_transfer_count].buffer = dst;
716 }
717 pending_transfer_count++;
718 }
719
720 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
721 {
722 assert(!(cmd & SWD_CMD_RnW));
723 cmsis_dap_swd_queue_cmd(cmd, NULL, value);
724 }
725
726 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
727 {
728 assert(cmd & SWD_CMD_RnW);
729 cmsis_dap_swd_queue_cmd(cmd, value, 0);
730 }
731
732 static int cmsis_dap_get_serial_info(void)
733 {
734 uint8_t *data;
735
736 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM, &data);
737 if (retval != ERROR_OK)
738 return retval;
739
740 if (data[0]) /* strlen */
741 LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
742
743 return ERROR_OK;
744 }
745
746 static int cmsis_dap_get_version_info(void)
747 {
748 uint8_t *data;
749
750 /* INFO_ID_FW_VER - string */
751 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
752 if (retval != ERROR_OK)
753 return retval;
754
755 if (data[0]) /* strlen */
756 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
757
758 return ERROR_OK;
759 }
760
761 static int cmsis_dap_get_caps_info(void)
762 {
763 uint8_t *data;
764
765 /* INFO_ID_CAPS - byte */
766 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
767 if (retval != ERROR_OK)
768 return retval;
769
770 if (data[0] == 1) {
771 uint8_t caps = data[1];
772
773 cmsis_dap_handle->caps = caps;
774
775 if (caps & INFO_CAPS_SWD)
776 LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
777 if (caps & INFO_CAPS_JTAG)
778 LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
779 }
780
781 return ERROR_OK;
782 }
783
784 static int cmsis_dap_get_status(void)
785 {
786 uint8_t d;
787
788 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
789
790 if (retval == ERROR_OK) {
791 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
792 (d & SWJ_PIN_TCK) ? 1 : 0,
793 (d & SWJ_PIN_TMS) ? 1 : 0,
794 (d & SWJ_PIN_TDI) ? 1 : 0,
795 (d & SWJ_PIN_TDO) ? 1 : 0,
796 (d & SWJ_PIN_TRST) ? 1 : 0,
797 (d & SWJ_PIN_SRST) ? 1 : 0);
798 }
799
800 return retval;
801 }
802
803 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
804 {
805 const uint8_t *s;
806 unsigned int s_len;
807 int retval;
808
809 if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
810 /* Following workaround deasserts reset on most adapters.
811 * Do not reconnect if a reset line is active!
812 * Reconnecting would break connecting under reset. */
813
814 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
815 cmsis_dap_cmd_DAP_Disconnect();
816
817 /* When we are reconnecting, DAP_Connect needs to be rerun, at
818 * least on Keil ULINK-ME */
819 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
820 if (retval != ERROR_OK)
821 return retval;
822 }
823
824 switch (seq) {
825 case LINE_RESET:
826 LOG_DEBUG("SWD line reset");
827 s = swd_seq_line_reset;
828 s_len = swd_seq_line_reset_len;
829 break;
830 case JTAG_TO_SWD:
831 LOG_DEBUG("JTAG-to-SWD");
832 s = swd_seq_jtag_to_swd;
833 s_len = swd_seq_jtag_to_swd_len;
834 break;
835 case SWD_TO_JTAG:
836 LOG_DEBUG("SWD-to-JTAG");
837 s = swd_seq_swd_to_jtag;
838 s_len = swd_seq_swd_to_jtag_len;
839 break;
840 default:
841 LOG_ERROR("Sequence %d not supported", seq);
842 return ERROR_FAIL;
843 }
844
845 retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
846 if (retval != ERROR_OK)
847 return retval;
848
849 /* Atmel EDBG needs renew clock setting after SWJ_Sequence
850 * otherwise default frequency is used */
851 return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
852 }
853
854 static int cmsis_dap_swd_open(void)
855 {
856 int retval;
857
858 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
859 LOG_ERROR("CMSIS-DAP: SWD not supported");
860 return ERROR_JTAG_DEVICE_ERROR;
861 }
862
863 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
864 if (retval != ERROR_OK)
865 return retval;
866
867 /* Add more setup here.??... */
868
869 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
870 return ERROR_OK;
871 }
872
873 static int cmsis_dap_init(void)
874 {
875 int retval;
876 uint8_t *data;
877
878 retval = cmsis_dap_usb_open();
879 if (retval != ERROR_OK)
880 return retval;
881
882 retval = cmsis_dap_get_caps_info();
883 if (retval != ERROR_OK)
884 return retval;
885
886 retval = cmsis_dap_get_version_info();
887 if (retval != ERROR_OK)
888 return retval;
889
890 retval = cmsis_dap_get_serial_info();
891 if (retval != ERROR_OK)
892 return retval;
893
894 if (swd_mode) {
895 retval = cmsis_dap_swd_open();
896 if (retval != ERROR_OK)
897 return retval;
898 } else {
899 /* Connect in JTAG mode */
900 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
901 LOG_ERROR("CMSIS-DAP: JTAG not supported");
902 return ERROR_JTAG_DEVICE_ERROR;
903 }
904
905 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
906 if (retval != ERROR_OK)
907 return retval;
908
909 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
910 }
911
912 /* INFO_ID_PKT_SZ - short */
913 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
914 if (retval != ERROR_OK)
915 return retval;
916
917 if (data[0] == 2) { /* short */
918 uint16_t pkt_sz = data[1] + (data[2] << 8);
919
920 /* 4 bytes of command header + 5 bytes per register
921 * write. For bulk read sequences just 4 bytes are
922 * needed per transfer, so this is suboptimal. */
923 pending_queue_len = (pkt_sz - 4) / 5;
924 pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
925 if (!pending_transfers) {
926 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
927 return ERROR_FAIL;
928 }
929
930 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
931 /* reallocate buffer */
932 cmsis_dap_handle->packet_size = pkt_sz + 1;
933 cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
934 cmsis_dap_handle->packet_size);
935 if (cmsis_dap_handle->packet_buffer == NULL) {
936 LOG_ERROR("unable to reallocate memory");
937 return ERROR_FAIL;
938 }
939 }
940
941 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
942 }
943
944 /* INFO_ID_PKT_CNT - byte */
945 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
946 if (retval != ERROR_OK)
947 return retval;
948
949 if (data[0] == 1) { /* byte */
950 uint16_t pkt_cnt = data[1];
951 cmsis_dap_handle->packet_count = pkt_cnt;
952 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
953 }
954
955 retval = cmsis_dap_get_status();
956 if (retval != ERROR_OK)
957 return ERROR_FAIL;
958
959 /* Now try to connect to the target
960 * TODO: This is all SWD only @ present */
961 retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
962 if (retval != ERROR_OK)
963 return ERROR_FAIL;
964
965 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
966 * up to 64 times. This must be changed to 0 if sticky
967 * overrun detection is enabled. */
968 retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
969 if (retval != ERROR_OK)
970 return ERROR_FAIL;
971
972 if (swd_mode) {
973 /* Data Phase (bit 2) must be set to 1 if sticky overrun
974 * detection is enabled */
975 retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
976 if (retval != ERROR_OK)
977 return ERROR_FAIL;
978 }
979
980 retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
981 if (retval != ERROR_OK)
982 return ERROR_FAIL;
983
984 /* support connecting with srst asserted */
985 enum reset_types jtag_reset_config = jtag_get_reset_config();
986
987 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
988 if (jtag_reset_config & RESET_SRST_NO_GATING) {
989 retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
990 if (retval != ERROR_OK)
991 return ERROR_FAIL;
992 LOG_INFO("Connecting under reset");
993 }
994 }
995
996 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
997
998 LOG_INFO("CMSIS-DAP: Interface ready");
999
1000 return ERROR_OK;
1001 }
1002
1003 static int cmsis_dap_swd_init(void)
1004 {
1005 swd_mode = true;
1006 return ERROR_OK;
1007 }
1008
1009 static int cmsis_dap_quit(void)
1010 {
1011 cmsis_dap_cmd_DAP_Disconnect();
1012 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
1013
1014 cmsis_dap_usb_close(cmsis_dap_handle);
1015
1016 return ERROR_OK;
1017 }
1018
1019 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
1020 {
1021 /* Set both TRST and SRST even if they're not enabled as
1022 * there's no way to tristate them */
1023
1024 output_pins = 0;
1025 if (!cmd->cmd.reset->srst)
1026 output_pins |= SWJ_PIN_SRST;
1027 if (!cmd->cmd.reset->trst)
1028 output_pins |= SWJ_PIN_TRST;
1029
1030 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins,
1031 SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1032 if (retval != ERROR_OK)
1033 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1034 }
1035
1036 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1037 {
1038 #if 0
1039 int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
1040 if (retval != ERROR_OK)
1041 #endif
1042 jtag_sleep(cmd->cmd.sleep->us);
1043 }
1044
1045 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1046 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1047 {
1048 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1049 uint8_t seq = 0xff;
1050 int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
1051 if (ret == ERROR_OK)
1052 tap_set_state(TAP_RESET);
1053 return ret;
1054 }
1055
1056 /* Set new end state */
1057 static void cmsis_dap_end_state(tap_state_t state)
1058 {
1059 if (tap_is_state_stable(state))
1060 tap_set_end_state(state);
1061 else {
1062 LOG_ERROR("BUG: %i is not a valid end state", state);
1063 exit(-1);
1064 }
1065 }
1066
1067 #ifdef SPRINT_BINARY
1068 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1069 {
1070 if (!len)
1071 return;
1072
1073 /*
1074 buf = { 0x18 } len=5 should result in: 11000
1075 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1076 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1077 i=3 there means i/8 = 0 so c = 0xFF, and
1078 */
1079 for (int i = offset; i < offset + len; ++i) {
1080 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1081 if ((i != offset) && !(i % 8))
1082 putchar(' ');
1083 *s++ = (c & mask) ? '1' : '0';
1084 }
1085 *s = 0;
1086 }
1087 #endif
1088
1089 #ifdef CMSIS_DAP_JTAG_DEBUG
1090 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1091 {
1092 /* cmd is a usb packet to go to the cmsis-dap interface */
1093 printf("cmsis-dap buffer (%d b): ", cmdlen);
1094 for (int i = 0; i < cmdlen; ++i)
1095 printf(" %02x", cmd[i]);
1096 printf("\n");
1097 switch (cmd[1]) {
1098 case CMD_DAP_JTAG_SEQ: {
1099 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
1100 /*
1101 * #2 = number of sequences
1102 * #3 = sequence info 1
1103 * #4...4+n_bytes-1 = sequence 1
1104 * #4+n_bytes = sequence info 2
1105 * #5+n_bytes = sequence 2 (single bit)
1106 */
1107 int pos = 3;
1108 for (int seq = 0; seq < cmd[2]; ++seq) {
1109 uint8_t info = cmd[pos++];
1110 int len = info & DAP_JTAG_SEQ_TCK;
1111 if (len == 0)
1112 len = 64;
1113 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1114 seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1115 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1116 printf(" %02x", cmd[pos+i]);
1117 pos += DIV_ROUND_UP(len, 8);
1118 printf("\n");
1119 }
1120 if (pos != cmdlen) {
1121 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1122 exit(-1);
1123 }
1124
1125 break;
1126 }
1127 default:
1128 LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1129 break;
1130 }
1131 }
1132 #endif
1133
1134 static void cmsis_dap_flush(void)
1135 {
1136 if (!queued_seq_count)
1137 return;
1138
1139 DEBUG_JTAG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1140 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1141
1142 /* prep CMSIS-DAP packet */
1143 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
1144 buffer[0] = 0; /* report number */
1145 buffer[1] = CMD_DAP_JTAG_SEQ;
1146 buffer[2] = queued_seq_count;
1147 memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
1148
1149 #ifdef CMSIS_DAP_JTAG_DEBUG
1150 debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
1151 #endif
1152
1153 /* send command to USB device */
1154 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
1155 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
1156 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1157 exit(-1);
1158 }
1159
1160 #ifdef CMSIS_DAP_JTAG_DEBUG
1161 DEBUG_JTAG_IO("USB response buf:");
1162 for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1163 printf("%02X ", buffer[c]);
1164 printf("\n");
1165 #endif
1166
1167 /* copy scan results into client buffers */
1168 for (int i = 0; i < pending_scan_result_count; ++i) {
1169 struct pending_scan_result *scan = &pending_scan_results[i];
1170 DEBUG_JTAG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1171 i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1172 #ifdef CMSIS_DAP_JTAG_DEBUG
1173 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1174 printf("%02X ", buffer[2+scan->first+b]);
1175 printf("\n");
1176 #endif
1177 bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
1178 }
1179
1180 /* reset */
1181 queued_seq_count = 0;
1182 queued_seq_buf_end = 0;
1183 queued_seq_tdo_ptr = 0;
1184 pending_scan_result_count = 0;
1185 }
1186
1187 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1188 *
1189 * sequence=NULL means clock out zeros on TDI
1190 * tdo_buffer=NULL means don't capture TDO
1191 */
1192 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1193 bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1194 {
1195 DEBUG_JTAG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1196 queued_seq_buf_end,
1197 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1198
1199 if (s_len == 0)
1200 return;
1201
1202 if (s_len > 64) {
1203 DEBUG_JTAG_IO("START JTAG SEQ SPLIT");
1204 for (int offset = 0; offset < s_len; offset += 64) {
1205 int len = s_len - offset;
1206 if (len > 64)
1207 len = 64;
1208 DEBUG_JTAG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1209 cmsis_dap_add_jtag_sequence(
1210 len,
1211 sequence,
1212 s_offset + offset,
1213 tms,
1214 tdo_buffer,
1215 tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
1216 );
1217 }
1218 DEBUG_JTAG_IO("END JTAG SEQ SPLIT");
1219 return;
1220 }
1221
1222 int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1223 if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1224 /* empty out the buffer */
1225 cmsis_dap_flush();
1226
1227 ++queued_seq_count;
1228
1229 /* control byte */
1230 queued_seq_buf[queued_seq_buf_end] =
1231 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1232 (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
1233 (s_len == 64 ? 0 : s_len);
1234
1235 if (sequence != NULL)
1236 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1237 else
1238 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1239
1240 queued_seq_buf_end += cmd_len;
1241
1242 if (tdo_buffer != NULL) {
1243 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1244 scan->first = queued_seq_tdo_ptr;
1245 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1246 scan->length = s_len;
1247 scan->buffer = tdo_buffer;
1248 scan->buffer_offset = tdo_buffer_offset;
1249 }
1250 }
1251
1252 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1253 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1254 {
1255 DEBUG_JTAG_IO("%d bits: %02X", s_len, *sequence);
1256 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1257 because even though it seems ridiculously inefficient, it
1258 allows us to combine TMS and scan sequences into the same
1259 USB packet. */
1260 /* TODO: combine runs of the same tms value */
1261 for (int i = 0; i < s_len; ++i) {
1262 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1263 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1264 }
1265 }
1266
1267 /* Move to the end state by queuing a sequence to clock into TMS */
1268 static void cmsis_dap_state_move(void)
1269 {
1270 uint8_t tms_scan;
1271 uint8_t tms_scan_bits;
1272
1273 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1274 tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1275
1276 DEBUG_JTAG_IO("state move from %s to %s: %d clocks, %02X on tms",
1277 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1278 tms_scan_bits, tms_scan);
1279 cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1280
1281 tap_set_state(tap_get_end_state());
1282 }
1283
1284
1285 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1286 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1287 {
1288 DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1289 jtag_scan_type(cmd->cmd.scan));
1290
1291 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1292 while (cmd->cmd.scan->num_fields > 0
1293 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1294 cmd->cmd.scan->num_fields--;
1295 LOG_DEBUG("discarding trailing empty field");
1296 }
1297
1298 if (cmd->cmd.scan->num_fields == 0) {
1299 LOG_DEBUG("empty scan, doing nothing");
1300 return;
1301 }
1302
1303 if (cmd->cmd.scan->ir_scan) {
1304 if (tap_get_state() != TAP_IRSHIFT) {
1305 cmsis_dap_end_state(TAP_IRSHIFT);
1306 cmsis_dap_state_move();
1307 }
1308 } else {
1309 if (tap_get_state() != TAP_DRSHIFT) {
1310 cmsis_dap_end_state(TAP_DRSHIFT);
1311 cmsis_dap_state_move();
1312 }
1313 }
1314
1315 cmsis_dap_end_state(cmd->cmd.scan->end_state);
1316
1317 struct scan_field *field = cmd->cmd.scan->fields;
1318 unsigned scan_size = 0;
1319
1320 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1321 scan_size += field->num_bits;
1322 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
1323 field->in_value ? "in" : "",
1324 field->out_value ? "out" : "",
1325 i,
1326 cmd->cmd.scan->num_fields,
1327 field->num_bits);
1328
1329 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1330 DEBUG_JTAG_IO("Last field and have to move out of SHIFT state");
1331 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1332 * movement. This last field can't have length zero, it was checked above. */
1333 cmsis_dap_add_jtag_sequence(
1334 field->num_bits - 1, /* number of bits to clock */
1335 field->out_value, /* output sequence */
1336 0, /* output offset */
1337 false, /* TMS low */
1338 field->in_value,
1339 0);
1340
1341 /* Clock the last bit out, with TMS high */
1342 uint8_t last_bit = 0;
1343 if (field->out_value)
1344 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1345 cmsis_dap_add_jtag_sequence(
1346 1,
1347 &last_bit,
1348 0,
1349 true,
1350 field->in_value,
1351 field->num_bits - 1);
1352 tap_set_state(tap_state_transition(tap_get_state(), 1));
1353
1354 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1355 cmsis_dap_add_jtag_sequence(
1356 1,
1357 &last_bit,
1358 0,
1359 false,
1360 NULL,
1361 0);
1362 tap_set_state(tap_state_transition(tap_get_state(), 0));
1363 } else {
1364 DEBUG_JTAG_IO("Internal field, staying in SHIFT state afterwards");
1365 /* Clocking part of a sequence into DR or IR with TMS=0,
1366 leaving TMS=0 at the end so we can continue later */
1367 cmsis_dap_add_jtag_sequence(
1368 field->num_bits,
1369 field->out_value,
1370 0,
1371 false,
1372 field->in_value,
1373 0);
1374 }
1375 }
1376
1377 if (tap_get_state() != tap_get_end_state()) {
1378 cmsis_dap_end_state(tap_get_end_state());
1379 cmsis_dap_state_move();
1380 }
1381
1382 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
1383 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1384 tap_state_name(tap_get_end_state()));
1385 }
1386
1387 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1388 {
1389 int i;
1390 uint8_t tms0 = 0x00;
1391 uint8_t tms1 = 0xff;
1392
1393 for (i = 0; i < num_states; i++) {
1394 if (path[i] == tap_state_transition(tap_get_state(), false))
1395 cmsis_dap_add_tms_sequence(&tms0, 1);
1396 else if (path[i] == tap_state_transition(tap_get_state(), true))
1397 cmsis_dap_add_tms_sequence(&tms1, 1);
1398 else {
1399 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1400 tap_state_name(tap_get_state()), tap_state_name(path[i]));
1401 exit(-1);
1402 }
1403
1404 tap_set_state(path[i]);
1405 }
1406
1407 cmsis_dap_end_state(tap_get_state());
1408 }
1409
1410 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1411 {
1412 DEBUG_JTAG_IO("pathmove: %i states, end in %i",
1413 cmd->cmd.pathmove->num_states,
1414 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1415
1416 cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1417 }
1418
1419 static void cmsis_dap_stableclocks(int num_cycles)
1420 {
1421 int i;
1422
1423 uint8_t tms = tap_get_state() == TAP_RESET;
1424 /* TODO: Perform optimizations? */
1425 /* Execute num_cycles. */
1426 for (i = 0; i < num_cycles; i++)
1427 cmsis_dap_add_tms_sequence(&tms, 1);
1428 }
1429
1430 static void cmsis_dap_runtest(int num_cycles)
1431 {
1432 tap_state_t saved_end_state = tap_get_end_state();
1433
1434 /* Only do a state_move when we're not already in IDLE. */
1435 if (tap_get_state() != TAP_IDLE) {
1436 cmsis_dap_end_state(TAP_IDLE);
1437 cmsis_dap_state_move();
1438 }
1439 cmsis_dap_stableclocks(num_cycles);
1440
1441 /* Finish in end_state. */
1442 cmsis_dap_end_state(saved_end_state);
1443
1444 if (tap_get_state() != tap_get_end_state())
1445 cmsis_dap_state_move();
1446 }
1447
1448 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1449 {
1450 DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1451 cmd->cmd.runtest->end_state);
1452
1453 cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1454 cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1455 }
1456
1457 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1458 {
1459 DEBUG_JTAG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1460 cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1461 }
1462
1463 static void cmsis_dap_execute_tms(struct jtag_command *cmd)
1464 {
1465 DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
1466 cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
1467 }
1468
1469 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1470 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1471 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1472 {
1473 switch (cmd->type) {
1474 case JTAG_RESET:
1475 cmsis_dap_flush();
1476 cmsis_dap_execute_reset(cmd);
1477 break;
1478 case JTAG_SLEEP:
1479 cmsis_dap_flush();
1480 cmsis_dap_execute_sleep(cmd);
1481 break;
1482 case JTAG_TLR_RESET:
1483 cmsis_dap_flush();
1484 cmsis_dap_execute_tlr_reset(cmd);
1485 break;
1486 case JTAG_SCAN:
1487 cmsis_dap_execute_scan(cmd);
1488 break;
1489 case JTAG_PATHMOVE:
1490 cmsis_dap_execute_pathmove(cmd);
1491 break;
1492 case JTAG_RUNTEST:
1493 cmsis_dap_execute_runtest(cmd);
1494 break;
1495 case JTAG_STABLECLOCKS:
1496 cmsis_dap_execute_stableclocks(cmd);
1497 break;
1498 case JTAG_TMS:
1499 cmsis_dap_execute_tms(cmd);
1500 break;
1501 default:
1502 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1503 exit(-1);
1504 }
1505 }
1506
1507 static int cmsis_dap_execute_queue(void)
1508 {
1509 struct jtag_command *cmd = jtag_command_queue;
1510
1511 while (cmd != NULL) {
1512 cmsis_dap_execute_command(cmd);
1513 cmd = cmd->next;
1514 }
1515
1516 cmsis_dap_flush();
1517
1518 return ERROR_OK;
1519 }
1520
1521 static int cmsis_dap_speed(int speed)
1522 {
1523 if (speed > DAP_MAX_CLOCK)
1524 LOG_INFO("High speed (adapter_khz %d) may be limited by adapter firmware.", speed);
1525
1526 if (speed == 0) {
1527 LOG_ERROR("RTCK not supported. Set nonzero adapter_khz.");
1528 return ERROR_JTAG_NOT_IMPLEMENTED;
1529 }
1530
1531 return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
1532 }
1533
1534 static int cmsis_dap_speed_div(int speed, int *khz)
1535 {
1536 *khz = speed;
1537 return ERROR_OK;
1538 }
1539
1540 static int cmsis_dap_khz(int khz, int *jtag_speed)
1541 {
1542 *jtag_speed = khz;
1543 return ERROR_OK;
1544 }
1545
1546 static int_least32_t cmsis_dap_swd_frequency(int_least32_t hz)
1547 {
1548 if (hz > 0)
1549 cmsis_dap_speed(hz / 1000);
1550
1551 return hz;
1552 }
1553
1554
1555 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1556 {
1557 if (cmsis_dap_get_version_info() == ERROR_OK)
1558 cmsis_dap_get_status();
1559
1560 return ERROR_OK;
1561 }
1562
1563 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
1564 {
1565 if (CMD_ARGC > MAX_USB_IDS * 2) {
1566 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1567 "(maximum is %d pairs)", MAX_USB_IDS);
1568 CMD_ARGC = MAX_USB_IDS * 2;
1569 }
1570 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
1571 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1572 if (CMD_ARGC < 2)
1573 return ERROR_COMMAND_SYNTAX_ERROR;
1574 /* remove the incomplete trailing id */
1575 CMD_ARGC -= 1;
1576 }
1577
1578 unsigned i;
1579 for (i = 0; i < CMD_ARGC; i += 2) {
1580 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
1581 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
1582 }
1583
1584 /*
1585 * Explicitly terminate, in case there are multiples instances of
1586 * cmsis_dap_vid_pid.
1587 */
1588 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1589
1590 return ERROR_OK;
1591 }
1592
1593 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
1594 {
1595 if (CMD_ARGC == 1) {
1596 size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
1597 cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
1598 if (cmsis_dap_serial == NULL) {
1599 LOG_ERROR("unable to allocate memory");
1600 return ERROR_OK;
1601 }
1602 if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
1603 free(cmsis_dap_serial);
1604 cmsis_dap_serial = NULL;
1605 LOG_ERROR("unable to convert serial");
1606 }
1607 } else {
1608 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1609 }
1610
1611 return ERROR_OK;
1612 }
1613
1614 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1615 {
1616 .name = "info",
1617 .handler = &cmsis_dap_handle_info_command,
1618 .mode = COMMAND_EXEC,
1619 .usage = "",
1620 .help = "show cmsis-dap info",
1621 },
1622 COMMAND_REGISTRATION_DONE
1623 };
1624
1625 static const struct command_registration cmsis_dap_command_handlers[] = {
1626 {
1627 .name = "cmsis-dap",
1628 .mode = COMMAND_ANY,
1629 .help = "perform CMSIS-DAP management",
1630 .usage = "<cmd>",
1631 .chain = cmsis_dap_subcommand_handlers,
1632 },
1633 {
1634 .name = "cmsis_dap_vid_pid",
1635 .handler = &cmsis_dap_handle_vid_pid_command,
1636 .mode = COMMAND_CONFIG,
1637 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1638 .usage = "(vid pid)* ",
1639 },
1640 {
1641 .name = "cmsis_dap_serial",
1642 .handler = &cmsis_dap_handle_serial_command,
1643 .mode = COMMAND_CONFIG,
1644 .help = "set the serial number of the adapter",
1645 .usage = "serial_string",
1646 },
1647 COMMAND_REGISTRATION_DONE
1648 };
1649
1650 static const struct swd_driver cmsis_dap_swd_driver = {
1651 .init = cmsis_dap_swd_init,
1652 .frequency = cmsis_dap_swd_frequency,
1653 .switch_seq = cmsis_dap_swd_switch_seq,
1654 .read_reg = cmsis_dap_swd_read_reg,
1655 .write_reg = cmsis_dap_swd_write_reg,
1656 .run = cmsis_dap_swd_run_queue,
1657 };
1658
1659 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
1660
1661 struct jtag_interface cmsis_dap_interface = {
1662 .name = "cmsis-dap",
1663 .supported = DEBUG_CAP_TMS_SEQ,
1664 .commands = cmsis_dap_command_handlers,
1665 .swd = &cmsis_dap_swd_driver,
1666 .transports = cmsis_dap_transport,
1667
1668 .execute_queue = cmsis_dap_execute_queue,
1669 .speed = cmsis_dap_speed,
1670 .speed_div = cmsis_dap_speed_div,
1671 .khz = cmsis_dap_khz,
1672 .init = cmsis_dap_init,
1673 .quit = cmsis_dap_quit,
1674 };
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