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target: Do not use LOG_USER() for error messages
[openocd.git] / src / jtag / drivers / cmsis_dap.c
blobd7367d813763f1e7524ac75e3b938745f68da9a6
1 // SPDX-License-Identifier: GPL-2.0-or-later
2
3 /***************************************************************************
4 * Copyright (C) 2021 by Adrian Negreanu *
5 * groleo@gmail.com *
6 * *
7 * Copyright (C) 2018 by Mickaël Thomas *
8 * mickael9@gmail.com *
9 * *
10 * Copyright (C) 2016 by Maksym Hilliaka *
11 * oter@frozen-team.com *
12 * *
13 * Copyright (C) 2016 by Phillip Pearson *
14 * pp@myelin.co.nz *
15 * *
16 * Copyright (C) 2014 by Paul Fertser *
17 * fercerpav@gmail.com *
18 * *
19 * Copyright (C) 2013 by mike brown *
20 * mike@theshedworks.org.uk *
21 * *
22 * Copyright (C) 2013 by Spencer Oliver *
23 * spen@spen-soft.co.uk *
24 ***************************************************************************/
25
26 #ifdef HAVE_CONFIG_H
27 #include "config.h"
28 #endif
29
30 #include <transport/transport.h>
31 #include "helper/replacements.h"
32 #include <jtag/adapter.h>
33 #include <jtag/swd.h>
34 #include <jtag/interface.h>
35 #include <jtag/commands.h>
36 #include <jtag/tcl.h>
37 #include <target/cortex_m.h>
38
39 #include "cmsis_dap.h"
40 #include "libusb_helper.h"
41
42 static const struct cmsis_dap_backend *const cmsis_dap_backends[] = {
43 #if BUILD_CMSIS_DAP_USB == 1
44 &cmsis_dap_usb_backend,
45 #endif
46
47 #if BUILD_CMSIS_DAP_HID == 1
48 &cmsis_dap_hid_backend,
49 #endif
50 };
51
52 /* USB Config */
53
54 /* Known vid/pid pairs:
55 * VID 0xc251: Keil Software
56 * PID 0xf001: LPC-Link-II CMSIS_DAP
57 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
58 * PID 0x2722: Keil ULINK2 CMSIS-DAP
59 * PID 0x2750: Keil ULINKplus CMSIS-DAP
60 *
61 * VID 0x0d28: mbed Software
62 * PID 0x0204: MBED CMSIS-DAP
63 */
64
65 #define MAX_USB_IDS 8
66 /* vid = pid = 0 marks the end of the list */
67 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
68 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
69 static int cmsis_dap_backend = -1;
70 static bool swd_mode;
71
72 /* CMSIS-DAP General Commands */
73 #define CMD_DAP_INFO 0x00
74 #define CMD_DAP_LED 0x01
75 #define CMD_DAP_CONNECT 0x02
76 #define CMD_DAP_DISCONNECT 0x03
77 #define CMD_DAP_WRITE_ABORT 0x08
78 #define CMD_DAP_DELAY 0x09
79 #define CMD_DAP_RESET_TARGET 0x0A
80
81 /* CMD_INFO */
82 #define INFO_ID_VENDOR 0x01 /* string */
83 #define INFO_ID_PRODUCT 0x02 /* string */
84 #define INFO_ID_SERNUM 0x03 /* string */
85 #define INFO_ID_FW_VER 0x04 /* string */
86 #define INFO_ID_TD_VEND 0x05 /* string */
87 #define INFO_ID_TD_NAME 0x06 /* string */
88 #define INFO_ID_CAPS 0xf0 /* byte */
89 #define INFO_ID_PKT_CNT 0xfe /* byte */
90 #define INFO_ID_PKT_SZ 0xff /* short */
91 #define INFO_ID_SWO_BUF_SZ 0xfd /* word */
92
93 #define INFO_CAPS_SWD BIT(0)
94 #define INFO_CAPS_JTAG BIT(1)
95 #define INFO_CAPS_SWO_UART BIT(2)
96 #define INFO_CAPS_SWO_MANCHESTER BIT(3)
97 #define INFO_CAPS_ATOMIC_CMDS BIT(4)
98 #define INFO_CAPS_TEST_DOMAIN_TIMER BIT(5)
99 #define INFO_CAPS_SWO_STREAMING_TRACE BIT(6)
100 #define INFO_CAPS_UART_PORT BIT(7)
101 #define INFO_CAPS_USB_COM_PORT BIT(8)
102 #define INFO_CAPS__NUM_CAPS 9
103
104 /* CMD_LED */
105 #define LED_ID_CONNECT 0x00
106 #define LED_ID_RUN 0x01
107
108 #define LED_OFF 0x00
109 #define LED_ON 0x01
110
111 /* CMD_CONNECT */
112 #define CONNECT_DEFAULT 0x00
113 #define CONNECT_SWD 0x01
114 #define CONNECT_JTAG 0x02
115
116 /* CMSIS-DAP Common SWD/JTAG Commands */
117 #define CMD_DAP_DELAY 0x09
118 #define CMD_DAP_SWJ_PINS 0x10
119 #define CMD_DAP_SWJ_CLOCK 0x11
120 #define CMD_DAP_SWJ_SEQ 0x12
121
122 /*
123 * PINS
124 * Bit 0: SWCLK/TCK
125 * Bit 1: SWDIO/TMS
126 * Bit 2: TDI
127 * Bit 3: TDO
128 * Bit 5: nTRST
129 * Bit 7: nRESET
130 */
131
132 #define SWJ_PIN_TCK (1<<0)
133 #define SWJ_PIN_TMS (1<<1)
134 #define SWJ_PIN_TDI (1<<2)
135 #define SWJ_PIN_TDO (1<<3)
136 #define SWJ_PIN_TRST (1<<5)
137 #define SWJ_PIN_SRST (1<<7)
138
139 /* CMSIS-DAP SWD Commands */
140 #define CMD_DAP_SWD_CONFIGURE 0x13
141 #define CMD_DAP_SWD_SEQUENCE 0x1D
142
143 /* CMSIS-DAP JTAG Commands */
144 #define CMD_DAP_JTAG_SEQ 0x14
145 #define CMD_DAP_JTAG_CONFIGURE 0x15
146 #define CMD_DAP_JTAG_IDCODE 0x16
147
148 /* CMSIS-DAP JTAG sequence info masks */
149 /* Number of bits to clock through (0 means 64) */
150 #define DAP_JTAG_SEQ_TCK 0x3F
151 /* TMS will be set during the sequence if this bit is set */
152 #define DAP_JTAG_SEQ_TMS 0x40
153 /* TDO output will be captured if this bit is set */
154 #define DAP_JTAG_SEQ_TDO 0x80
155
156
157 /* CMSIS-DAP Transfer Commands */
158 #define CMD_DAP_TFER_CONFIGURE 0x04
159 #define CMD_DAP_TFER 0x05
160 #define CMD_DAP_TFER_BLOCK 0x06
161 #define CMD_DAP_TFER_ABORT 0x07
162
163 /* DAP_TransferBlock increases the sum of command/response sizes
164 * (due to 16-bit Transfer Count) if used in a small packet.
165 * Prevent using it until we have at least r/w operations. */
166 #define CMD_DAP_TFER_BLOCK_MIN_OPS 4
167
168 /* DAP Status Code */
169 #define DAP_OK 0
170 #define DAP_ERROR 0xFF
171
172 /* CMSIS-DAP SWO Commands */
173 #define CMD_DAP_SWO_TRANSPORT 0x17
174 #define CMD_DAP_SWO_MODE 0x18
175 #define CMD_DAP_SWO_BAUDRATE 0x19
176 #define CMD_DAP_SWO_CONTROL 0x1A
177 #define CMD_DAP_SWO_STATUS 0x1B
178 #define CMD_DAP_SWO_DATA 0x1C
179 #define CMD_DAP_SWO_EX_STATUS 0x1E
180
181 /* SWO transport mode for reading trace data */
182 #define DAP_SWO_TRANSPORT_NONE 0
183 #define DAP_SWO_TRANSPORT_DATA 1
184 #define DAP_SWO_TRANSPORT_WINUSB 2
185
186 /* SWO trace capture mode */
187 #define DAP_SWO_MODE_OFF 0
188 #define DAP_SWO_MODE_UART 1
189 #define DAP_SWO_MODE_MANCHESTER 2
190
191 /* SWO trace data capture */
192 #define DAP_SWO_CONTROL_STOP 0
193 #define DAP_SWO_CONTROL_START 1
194
195 /* SWO trace status */
196 #define DAP_SWO_STATUS_CAPTURE_INACTIVE 0
197 #define DAP_SWO_STATUS_CAPTURE_ACTIVE 1
198 #define DAP_SWO_STATUS_CAPTURE_MASK BIT(0)
199 #define DAP_SWO_STATUS_STREAM_ERROR_MASK BIT(6)
200 #define DAP_SWO_STATUS_BUFFER_OVERRUN_MASK BIT(7)
201
202 /* CMSIS-DAP Vendor Commands
203 * None as yet... */
204
205 static const char * const info_caps_str[INFO_CAPS__NUM_CAPS] = {
206 "SWD supported",
207 "JTAG supported",
208 "SWO-UART supported",
209 "SWO-MANCHESTER supported",
210 "Atomic commands supported",
211 "Test domain timer supported",
212 "SWO streaming trace supported",
213 "UART communication port supported",
214 "UART via USB COM port supported",
215 };
216
217 struct pending_scan_result {
218 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
219 unsigned int first;
220 /** Number of bits to read. */
221 unsigned int length;
222 /** Location to store the result */
223 uint8_t *buffer;
224 /** Offset in the destination buffer */
225 unsigned int buffer_offset;
226 };
227
228 /* Read mode */
229 enum cmsis_dap_blocking {
230 CMSIS_DAP_NON_BLOCKING,
231 CMSIS_DAP_BLOCKING
232 };
233
234 /* Each block in FIFO can contain up to pending_queue_len transfers */
235 static unsigned int pending_queue_len;
236 static unsigned int tfer_max_command_size;
237 static unsigned int tfer_max_response_size;
238
239 /* pointers to buffers that will receive jtag scan results on the next flush */
240 #define MAX_PENDING_SCAN_RESULTS 256
241 static int pending_scan_result_count;
242 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
243
244 /* queued JTAG sequences that will be executed on the next flush */
245 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_usable_size - 3)
246 static int queued_seq_count;
247 static int queued_seq_buf_end;
248 static int queued_seq_tdo_ptr;
249 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
250
251 static int queued_retval;
252
253 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
254
255 static struct cmsis_dap *cmsis_dap_handle;
256
257
258 static int cmsis_dap_quit(void);
259
260 static int cmsis_dap_open(void)
261 {
262 const struct cmsis_dap_backend *backend = NULL;
263
264 struct cmsis_dap *dap = calloc(1, sizeof(struct cmsis_dap));
265 if (!dap) {
266 LOG_ERROR("unable to allocate memory");
267 return ERROR_FAIL;
268 }
269
270 if (cmsis_dap_backend >= 0) {
271 /* Use forced backend */
272 backend = cmsis_dap_backends[cmsis_dap_backend];
273 if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) != ERROR_OK)
274 backend = NULL;
275 } else {
276 /* Try all backends */
277 for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
278 backend = cmsis_dap_backends[i];
279 if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) == ERROR_OK)
280 break;
281 else
282 backend = NULL;
283 }
284 }
285
286 if (!backend) {
287 LOG_ERROR("unable to find a matching CMSIS-DAP device");
288 free(dap);
289 return ERROR_FAIL;
290 }
291
292 dap->backend = backend;
293
294 cmsis_dap_handle = dap;
295
296 return ERROR_OK;
297 }
298
299 static void cmsis_dap_close(struct cmsis_dap *dap)
300 {
301 if (dap->backend) {
302 dap->backend->close(dap);
303 dap->backend = NULL;
304 }
305
306 free(dap->packet_buffer);
307
308 for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++) {
309 free(dap->pending_fifo[i].transfers);
310 dap->pending_fifo[i].transfers = NULL;
311 }
312
313 free(cmsis_dap_handle);
314 cmsis_dap_handle = NULL;
315 }
316
317 static void cmsis_dap_flush_read(struct cmsis_dap *dap)
318 {
319 unsigned int i;
320 /* Some CMSIS-DAP adapters keep buffered packets over
321 * USB close/open so we need to flush up to 64 old packets
322 * to be sure all buffers are empty */
323 for (i = 0; i < 64; i++) {
324 int retval = dap->backend->read(dap, 10, NULL);
325 if (retval == ERROR_TIMEOUT_REACHED)
326 break;
327 }
328 if (i)
329 LOG_DEBUG("Flushed %u packets", i);
330 }
331
332 /* Send a message and receive the reply */
333 static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
334 {
335 if (dap->write_count + dap->read_count) {
336 LOG_ERROR("internal: queue not empty before xfer");
337 }
338 if (dap->pending_fifo_block_count) {
339 LOG_ERROR("pending %u blocks, flushing", dap->pending_fifo_block_count);
340 while (dap->pending_fifo_block_count) {
341 dap->backend->read(dap, 10, NULL);
342 dap->pending_fifo_block_count--;
343 }
344 dap->pending_fifo_put_idx = 0;
345 dap->pending_fifo_get_idx = 0;
346 }
347
348 uint8_t current_cmd = dap->command[0];
349 int retval = dap->backend->write(dap, txlen, LIBUSB_TIMEOUT_MS);
350 if (retval < 0)
351 return retval;
352
353 /* get reply */
354 retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS, NULL);
355 if (retval < 0)
356 return retval;
357
358 uint8_t *resp = dap->response;
359 if (resp[0] == DAP_ERROR) {
360 LOG_ERROR("CMSIS-DAP command 0x%" PRIx8 " not implemented", current_cmd);
361 return ERROR_NOT_IMPLEMENTED;
362 }
363
364 if (resp[0] != current_cmd) {
365 LOG_ERROR("CMSIS-DAP command mismatch. Sent 0x%" PRIx8
366 " received 0x%" PRIx8, current_cmd, resp[0]);
367
368 dap->backend->cancel_all(dap);
369 cmsis_dap_flush_read(dap);
370 return ERROR_FAIL;
371 }
372
373 return ERROR_OK;
374 }
375
376 static int cmsis_dap_cmd_dap_swj_pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
377 {
378 uint8_t *command = cmsis_dap_handle->command;
379
380 command[0] = CMD_DAP_SWJ_PINS;
381 command[1] = pins;
382 command[2] = mask;
383 h_u32_to_le(&command[3], delay);
384
385 int retval = cmsis_dap_xfer(cmsis_dap_handle, 7);
386 if (retval != ERROR_OK) {
387 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
388 return ERROR_JTAG_DEVICE_ERROR;
389 }
390
391 if (input)
392 *input = cmsis_dap_handle->response[1];
393
394 return ERROR_OK;
395 }
396
397 static int cmsis_dap_cmd_dap_swj_clock(uint32_t swj_clock)
398 {
399 uint8_t *command = cmsis_dap_handle->command;
400
401 /* set clock in Hz */
402 swj_clock *= 1000;
403
404 command[0] = CMD_DAP_SWJ_CLOCK;
405 h_u32_to_le(&command[1], swj_clock);
406
407 int retval = cmsis_dap_xfer(cmsis_dap_handle, 5);
408 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
409 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
410 return ERROR_JTAG_DEVICE_ERROR;
411 }
412
413 return ERROR_OK;
414 }
415
416 /* clock a sequence of bits out on TMS, to change JTAG states */
417 static int cmsis_dap_cmd_dap_swj_sequence(uint8_t s_len, const uint8_t *sequence)
418 {
419 uint8_t *command = cmsis_dap_handle->command;
420
421 #ifdef CMSIS_DAP_JTAG_DEBUG
422 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
423 for (unsigned int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
424 printf("%02X ", sequence[i]);
425
426 printf("\n");
427 #endif
428
429 command[0] = CMD_DAP_SWJ_SEQ;
430 command[1] = s_len;
431 bit_copy(&command[2], 0, sequence, 0, s_len);
432
433 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2 + DIV_ROUND_UP(s_len, 8));
434 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK)
435 return ERROR_FAIL;
436
437 return ERROR_OK;
438 }
439
440 static int cmsis_dap_cmd_dap_info(uint8_t info, uint8_t **data)
441 {
442 uint8_t *command = cmsis_dap_handle->command;
443
444 command[0] = CMD_DAP_INFO;
445 command[1] = info;
446
447 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
448 if (retval != ERROR_OK) {
449 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
450 return ERROR_JTAG_DEVICE_ERROR;
451 }
452
453 *data = &cmsis_dap_handle->response[1];
454
455 return ERROR_OK;
456 }
457
458 static int cmsis_dap_cmd_dap_led(uint8_t led, uint8_t state)
459 {
460 uint8_t *command = cmsis_dap_handle->command;
461
462 command[0] = CMD_DAP_LED;
463 command[1] = led;
464 command[2] = state;
465
466 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
467 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
468 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
469 return ERROR_JTAG_DEVICE_ERROR;
470 }
471
472 return ERROR_OK;
473 }
474
475 static int cmsis_dap_cmd_dap_connect(uint8_t mode)
476 {
477 uint8_t *command = cmsis_dap_handle->command;
478
479 command[0] = CMD_DAP_CONNECT;
480 command[1] = mode;
481
482 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
483 if (retval != ERROR_OK) {
484 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
485 return ERROR_JTAG_DEVICE_ERROR;
486 }
487
488 if (cmsis_dap_handle->response[1] != mode) {
489 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
490 return ERROR_JTAG_DEVICE_ERROR;
491 }
492
493 return ERROR_OK;
494 }
495
496 static int cmsis_dap_cmd_dap_disconnect(void)
497 {
498 uint8_t *command = cmsis_dap_handle->command;
499
500 command[0] = CMD_DAP_DISCONNECT;
501
502 int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
503 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
504 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
505 return ERROR_JTAG_DEVICE_ERROR;
506 }
507
508 return ERROR_OK;
509 }
510
511 static int cmsis_dap_cmd_dap_tfer_configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
512 {
513 uint8_t *command = cmsis_dap_handle->command;
514
515 command[0] = CMD_DAP_TFER_CONFIGURE;
516 command[1] = idle;
517 h_u16_to_le(&command[2], retry_count);
518 h_u16_to_le(&command[4], match_retry);
519
520 int retval = cmsis_dap_xfer(cmsis_dap_handle, 6);
521 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
522 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
523 return ERROR_JTAG_DEVICE_ERROR;
524 }
525
526 return ERROR_OK;
527 }
528
529 static int cmsis_dap_cmd_dap_swd_configure(uint8_t cfg)
530 {
531 uint8_t *command = cmsis_dap_handle->command;
532
533 command[0] = CMD_DAP_SWD_CONFIGURE;
534 command[1] = cfg;
535
536 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
537 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
538 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
539 return ERROR_JTAG_DEVICE_ERROR;
540 }
541
542 return ERROR_OK;
543 }
544
545 #if 0
546 static int cmsis_dap_cmd_dap_delay(uint16_t delay_us)
547 {
548 uint8_t *command = cmsis_dap_handle->command;
549
550 command[0] = CMD_DAP_DELAY;
551 h_u16_to_le(&command[1], delay_us);
552
553 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
554 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
555 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
556 return ERROR_JTAG_DEVICE_ERROR;
557 }
558
559 return ERROR_OK;
560 }
561 #endif
562
563 static int cmsis_dap_metacmd_targetsel(uint32_t instance_id)
564 {
565 uint8_t *command = cmsis_dap_handle->command;
566 const uint32_t SEQ_RD = 0x80, SEQ_WR = 0x00;
567
568 /* SWD multi-drop requires a transfer ala CMD_DAP_TFER,
569 but with no expectation of an SWD ACK response. In
570 CMSIS-DAP v1.20 and v2.00, CMD_DAP_SWD_SEQUENCE was
571 added to allow this special sequence to be generated.
572 The purpose of this operation is to select the target
573 corresponding to the instance_id that is written */
574
575 LOG_DEBUG_IO("DP write reg TARGETSEL %" PRIx32, instance_id);
576
577 size_t idx = 0;
578 command[idx++] = CMD_DAP_SWD_SEQUENCE;
579 command[idx++] = 3; /* sequence count */
580
581 /* sequence 0: packet request for TARGETSEL */
582 command[idx++] = SEQ_WR | 8;
583 command[idx++] = SWD_CMD_START | swd_cmd(false, false, DP_TARGETSEL) | SWD_CMD_STOP | SWD_CMD_PARK;
584
585 /* sequence 1: read Trn ACK Trn, no expectation for target to ACK */
586 command[idx++] = SEQ_RD | 5;
587
588 /* sequence 2: WDATA plus parity */
589 command[idx++] = SEQ_WR | (32 + 1);
590 h_u32_to_le(command + idx, instance_id);
591 idx += 4;
592 command[idx++] = parity_u32(instance_id);
593
594 int retval = cmsis_dap_xfer(cmsis_dap_handle, idx);
595 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
596 LOG_ERROR("CMSIS-DAP command SWD_Sequence failed.");
597 return ERROR_JTAG_DEVICE_ERROR;
598 }
599
600 return ERROR_OK;
601 }
602
603 /**
604 * Sets the SWO transport mode.
605 * @param[in] transport The transport mode. Can be None, SWO_Data or
606 * WinUSB (requires CMSIS-DAP v2).
607 */
608 static int cmsis_dap_cmd_dap_swo_transport(uint8_t transport)
609 {
610 uint8_t *command = cmsis_dap_handle->command;
611
612 command[0] = CMD_DAP_SWO_TRANSPORT;
613 command[1] = transport;
614
615 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
616 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
617 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Transport(%d) failed.", transport);
618 return ERROR_JTAG_DEVICE_ERROR;
619 }
620
621 return ERROR_OK;
622 }
623
624 /**
625 * Sets the SWO trace capture mode.
626 * @param[in] mode Trace capture mode. Can be UART or MANCHESTER.
627 */
628 static int cmsis_dap_cmd_dap_swo_mode(uint8_t mode)
629 {
630 uint8_t *command = cmsis_dap_handle->command;
631
632 command[0] = CMD_DAP_SWO_MODE;
633 command[1] = mode;
634
635 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
636 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
637 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Mode(%d) failed.", mode);
638 return ERROR_JTAG_DEVICE_ERROR;
639 }
640
641 return ERROR_OK;
642 }
643
644 /**
645 * Sets the baudrate for capturing SWO trace data.
646 * Can be called iteratively to determine supported baudrates.
647 * @param[in] in_baudrate Requested baudrate.
648 * @param[out] dev_baudrate Actual baudrate or 0 (baudrate not configured).
649 * When requested baudrate is not achievable the
650 * closest configured baudrate can be returned or
651 * 0 which indicates that baudrate was not configured.
652 */
653 static int cmsis_dap_cmd_dap_swo_baudrate(
654 uint32_t in_baudrate,
655 uint32_t *dev_baudrate)
656 {
657 uint8_t *command = cmsis_dap_handle->command;
658
659 command[0] = CMD_DAP_SWO_BAUDRATE;
660 h_u32_to_le(&command[1], in_baudrate);
661
662 int retval = cmsis_dap_xfer(cmsis_dap_handle, 5);
663 uint32_t rvbr = le_to_h_u32(&cmsis_dap_handle->response[1]);
664 if (retval != ERROR_OK || rvbr == 0) {
665 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Baudrate(%u) -> %u failed.", in_baudrate, rvbr);
666 if (dev_baudrate)
667 *dev_baudrate = 0;
668 return ERROR_JTAG_DEVICE_ERROR;
669 }
670
671 if (dev_baudrate)
672 *dev_baudrate = rvbr;
673
674 return ERROR_OK;
675 }
676
677 /**
678 * Controls the SWO trace data capture.
679 * @param[in] control Start or stop a trace. Starting capture automatically
680 * flushes any existing trace data in buffers which has
681 * not yet been read.
682 */
683 static int cmsis_dap_cmd_dap_swo_control(uint8_t control)
684 {
685 uint8_t *command = cmsis_dap_handle->command;
686
687 command[0] = CMD_DAP_SWO_CONTROL;
688 command[1] = control;
689
690 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
691 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
692 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Control(%d) failed.", control);
693 return ERROR_JTAG_DEVICE_ERROR;
694 }
695
696 return ERROR_OK;
697 }
698
699 /**
700 * Reads the SWO trace status.
701 * @param[out] trace_status The trace's status.
702 * Bit0: Trace Capture (1 - active, 0 - inactive).
703 * Bit6: Trace Stream Error.
704 * Bit7: Trace Buffer Overrun.
705 * @param[out] trace_count Number of bytes in Trace Buffer (not yet read).
706 */
707 static int cmsis_dap_cmd_dap_swo_status(
708 uint8_t *trace_status,
709 size_t *trace_count)
710 {
711 uint8_t *command = cmsis_dap_handle->command;
712
713 command[0] = CMD_DAP_SWO_STATUS;
714
715 int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
716 if (retval != ERROR_OK) {
717 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Status failed.");
718 return ERROR_JTAG_DEVICE_ERROR;
719 }
720
721 if (trace_status)
722 *trace_status = cmsis_dap_handle->response[1];
723 if (trace_count)
724 *trace_count = le_to_h_u32(&cmsis_dap_handle->response[2]);
725
726 return ERROR_OK;
727 }
728
729 /**
730 * Reads the captured SWO trace data from Trace Buffer.
731 * @param[in] max_trace_count Maximum number of Trace Data bytes to read.
732 * @param[out] trace_status The trace's status.
733 * @param[out] trace_count Number of Trace Data bytes read.
734 * @param[out] data Trace Data bytes read.
735 */
736 static int cmsis_dap_cmd_dap_swo_data(
737 size_t max_trace_count,
738 uint8_t *trace_status,
739 size_t *trace_count,
740 uint8_t *data)
741 {
742 uint8_t *command = cmsis_dap_handle->command;
743
744 command[0] = CMD_DAP_SWO_DATA;
745 h_u16_to_le(&command[1], max_trace_count);
746
747 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
748 if (retval != ERROR_OK) {
749 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Data failed.");
750 return ERROR_JTAG_DEVICE_ERROR;
751 }
752
753 *trace_status = cmsis_dap_handle->response[1];
754 *trace_count = le_to_h_u16(&cmsis_dap_handle->response[2]);
755
756 if (*trace_count > 0)
757 memcpy(data, &cmsis_dap_handle->response[4], *trace_count);
758
759 return ERROR_OK;
760 }
761
762 static void cmsis_dap_swd_discard_all_pending(struct cmsis_dap *dap)
763 {
764 for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++)
765 dap->pending_fifo[i].transfer_count = 0;
766
767 dap->pending_fifo_put_idx = 0;
768 dap->pending_fifo_get_idx = 0;
769 dap->pending_fifo_block_count = 0;
770 }
771
772 static void cmsis_dap_swd_cancel_transfers(struct cmsis_dap *dap)
773 {
774 dap->backend->cancel_all(dap);
775 cmsis_dap_flush_read(dap);
776 cmsis_dap_swd_discard_all_pending(dap);
777 }
778
779 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
780 {
781 uint8_t *command = dap->command;
782 struct pending_request_block *block = &dap->pending_fifo[dap->pending_fifo_put_idx];
783
784 assert(dap->write_count + dap->read_count == block->transfer_count);
785
786 /* Reset packet size check counters for the next packet */
787 dap->write_count = 0;
788 dap->read_count = 0;
789
790 LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %u%s",
791 block->transfer_count, dap->pending_fifo_put_idx,
792 cmsis_dap_handle->swd_cmds_differ ? "" : ", same swd ops");
793
794 if (queued_retval != ERROR_OK) {
795 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
796 goto skip;
797 }
798
799 if (block->transfer_count == 0) {
800 LOG_ERROR("internal: write an empty queue?!");
801 goto skip;
802 }
803
804 bool block_cmd = !cmsis_dap_handle->swd_cmds_differ
805 && block->transfer_count >= CMD_DAP_TFER_BLOCK_MIN_OPS;
806 block->command = block_cmd ? CMD_DAP_TFER_BLOCK : CMD_DAP_TFER;
807
808 command[0] = block->command;
809 command[1] = 0x00; /* DAP Index */
810
811 unsigned int idx;
812 if (block_cmd) {
813 h_u16_to_le(&command[2], block->transfer_count);
814 idx = 4; /* The first transfer will store the common DAP register */
815 } else {
816 command[2] = block->transfer_count;
817 idx = 3;
818 }
819
820 for (unsigned int i = 0; i < block->transfer_count; i++) {
821 struct pending_transfer_result *transfer = &(block->transfers[i]);
822 uint8_t cmd = transfer->cmd;
823 uint32_t data = transfer->data;
824
825 LOG_DEBUG_IO("%s %s reg %x %" PRIx32,
826 cmd & SWD_CMD_APNDP ? "AP" : "DP",
827 cmd & SWD_CMD_RNW ? "read" : "write",
828 (cmd & SWD_CMD_A32) >> 1, data);
829
830 /* When proper WAIT handling is implemented in the
831 * common SWD framework, this kludge can be
832 * removed. However, this might lead to minor
833 * performance degradation as the adapter wouldn't be
834 * able to automatically retry anything (because ARM
835 * has forgotten to implement sticky error flags
836 * clearing). See also comments regarding
837 * cmsis_dap_cmd_dap_tfer_configure() and
838 * cmsis_dap_cmd_dap_swd_configure() in
839 * cmsis_dap_init().
840 */
841 if (!(cmd & SWD_CMD_RNW) &&
842 !(cmd & SWD_CMD_APNDP) &&
843 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
844 (data & CORUNDETECT)) {
845 LOG_DEBUG("refusing to enable sticky overrun detection");
846 data &= ~CORUNDETECT;
847 }
848
849 if (!block_cmd || i == 0)
850 command[idx++] = (cmd >> 1) & 0x0f;
851
852 if (!(cmd & SWD_CMD_RNW)) {
853 h_u32_to_le(&command[idx], data);
854 idx += 4;
855 }
856 }
857
858 int retval = dap->backend->write(dap, idx, LIBUSB_TIMEOUT_MS);
859 if (retval < 0) {
860 queued_retval = retval;
861 goto skip;
862 }
863
864 unsigned int packet_count = dap->quirk_mode ? 1 : dap->packet_count;
865 dap->pending_fifo_put_idx = (dap->pending_fifo_put_idx + 1) % packet_count;
866 dap->pending_fifo_block_count++;
867 if (dap->pending_fifo_block_count > packet_count)
868 LOG_ERROR("internal: too much pending writes %u", dap->pending_fifo_block_count);
869
870 return;
871
872 skip:
873 block->transfer_count = 0;
874 }
875
876 static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, enum cmsis_dap_blocking blocking)
877 {
878 int retval;
879 struct pending_request_block *block = &dap->pending_fifo[dap->pending_fifo_get_idx];
880
881 if (dap->pending_fifo_block_count == 0) {
882 LOG_ERROR("internal: no pending write when reading?!");
883 return;
884 }
885
886 if (queued_retval != ERROR_OK) {
887 /* keep reading blocks until the pipeline is empty */
888 retval = dap->backend->read(dap, 10, NULL);
889 if (retval == ERROR_TIMEOUT_REACHED || retval == 0) {
890 /* timeout means that we flushed the pipeline,
891 * we can safely discard remaining pending requests */
892 cmsis_dap_swd_discard_all_pending(dap);
893 return;
894 }
895 goto skip;
896 }
897
898 /* get reply */
899 struct timeval tv = {
900 .tv_sec = 0,
901 .tv_usec = 0
902 };
903 retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS, blocking ? NULL : &tv);
904 bool timeout = (retval == ERROR_TIMEOUT_REACHED || retval == 0);
905 if (timeout && blocking == CMSIS_DAP_NON_BLOCKING)
906 return;
907
908 if (retval <= 0) {
909 LOG_DEBUG("error reading adapter response");
910 queued_retval = ERROR_FAIL;
911 if (timeout) {
912 /* timeout means that we flushed the pipeline,
913 * we can safely discard remaining pending requests */
914 cmsis_dap_swd_discard_all_pending(dap);
915 return;
916 }
917 goto skip;
918 }
919
920 uint8_t *resp = dap->response;
921 if (resp[0] != block->command) {
922 LOG_ERROR("CMSIS-DAP command mismatch. Expected 0x%x received 0x%" PRIx8,
923 block->command, resp[0]);
924 cmsis_dap_swd_cancel_transfers(dap);
925 queued_retval = ERROR_FAIL;
926 return;
927 }
928
929 unsigned int transfer_count;
930 unsigned int idx;
931 if (block->command == CMD_DAP_TFER_BLOCK) {
932 transfer_count = le_to_h_u16(&resp[1]);
933 idx = 3;
934 } else {
935 transfer_count = resp[1];
936 idx = 2;
937 }
938 if (resp[idx] & 0x08) {
939 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", transfer_count);
940 queued_retval = ERROR_FAIL;
941 goto skip;
942 }
943 uint8_t ack = resp[idx++] & 0x07;
944 if (ack != SWD_ACK_OK) {
945 LOG_DEBUG("SWD ack not OK @ %d %s", transfer_count,
946 ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
947 queued_retval = swd_ack_to_error_code(ack);
948 /* TODO: use results of transfers completed before the error occurred? */
949 goto skip;
950 }
951
952 if (block->transfer_count != transfer_count) {
953 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
954 block->transfer_count, transfer_count);
955 cmsis_dap_swd_cancel_transfers(dap);
956 queued_retval = ERROR_FAIL;
957 return;
958 }
959
960 LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %u, %s mode",
961 transfer_count, dap->pending_fifo_get_idx,
962 blocking ? "blocking" : "nonblocking");
963
964 for (unsigned int i = 0; i < transfer_count; i++) {
965 struct pending_transfer_result *transfer = &(block->transfers[i]);
966 if (transfer->cmd & SWD_CMD_RNW) {
967 static uint32_t last_read;
968 uint32_t data = le_to_h_u32(&resp[idx]);
969 uint32_t tmp = data;
970 idx += 4;
971
972 LOG_DEBUG_IO("Read result: %" PRIx32, data);
973
974 /* Imitate posted AP reads */
975 if ((transfer->cmd & SWD_CMD_APNDP) ||
976 ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
977 tmp = last_read;
978 last_read = data;
979 }
980
981 if (transfer->buffer)
982 *(uint32_t *)(transfer->buffer) = tmp;
983 }
984 }
985
986 skip:
987 block->transfer_count = 0;
988 if (!dap->quirk_mode && dap->packet_count > 1)
989 dap->pending_fifo_get_idx = (dap->pending_fifo_get_idx + 1) % dap->packet_count;
990 dap->pending_fifo_block_count--;
991 }
992
993 static int cmsis_dap_swd_run_queue(void)
994 {
995 if (cmsis_dap_handle->write_count + cmsis_dap_handle->read_count) {
996 if (cmsis_dap_handle->pending_fifo_block_count)
997 cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_NON_BLOCKING);
998
999 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
1000 }
1001
1002 while (cmsis_dap_handle->pending_fifo_block_count)
1003 cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_BLOCKING);
1004
1005 cmsis_dap_handle->pending_fifo_put_idx = 0;
1006 cmsis_dap_handle->pending_fifo_get_idx = 0;
1007
1008 int retval = queued_retval;
1009 queued_retval = ERROR_OK;
1010
1011 return retval;
1012 }
1013
1014 static unsigned int cmsis_dap_tfer_cmd_size(unsigned int write_count,
1015 unsigned int read_count, bool block_tfer)
1016 {
1017 unsigned int size;
1018 if (block_tfer) {
1019 size = 5; /* DAP_TransferBlock header */
1020 size += write_count * 4; /* data */
1021 } else {
1022 size = 3; /* DAP_Transfer header */
1023 size += write_count * (1 + 4); /* DAP register + data */
1024 size += read_count; /* DAP register */
1025 }
1026 return size;
1027 }
1028
1029 static unsigned int cmsis_dap_tfer_resp_size(unsigned int write_count,
1030 unsigned int read_count, bool block_tfer)
1031 {
1032 unsigned int size;
1033 if (block_tfer)
1034 size = 4; /* DAP_TransferBlock response header */
1035 else
1036 size = 3; /* DAP_Transfer response header */
1037
1038 size += read_count * 4; /* data */
1039 return size;
1040 }
1041
1042 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
1043 {
1044 /* TARGETSEL register write cannot be queued */
1045 if (swd_cmd(false, false, DP_TARGETSEL) == cmd) {
1046 queued_retval = cmsis_dap_swd_run_queue();
1047
1048 cmsis_dap_metacmd_targetsel(data);
1049 return;
1050 }
1051
1052 /* Compute sizes of the DAP Transfer command and the expected response
1053 * for all queued and this operation */
1054 unsigned int write_count = cmsis_dap_handle->write_count;
1055 unsigned int read_count = cmsis_dap_handle->read_count;
1056 bool block_cmd;
1057 if (write_count + read_count < CMD_DAP_TFER_BLOCK_MIN_OPS)
1058 block_cmd = false;
1059 else
1060 block_cmd = !cmsis_dap_handle->swd_cmds_differ
1061 && cmd == cmsis_dap_handle->common_swd_cmd;
1062
1063 if (cmd & SWD_CMD_RNW)
1064 read_count++;
1065 else
1066 write_count++;
1067
1068 unsigned int cmd_size = cmsis_dap_tfer_cmd_size(write_count, read_count,
1069 block_cmd);
1070 unsigned int resp_size = cmsis_dap_tfer_resp_size(write_count, read_count,
1071 block_cmd);
1072 unsigned int max_transfer_count = block_cmd ? 65535 : 255;
1073
1074 /* Does the DAP Transfer command and also its expected response fit into one packet? */
1075 if (cmd_size > tfer_max_command_size
1076 || resp_size > tfer_max_response_size
1077 || write_count + read_count > max_transfer_count) {
1078 if (cmsis_dap_handle->pending_fifo_block_count)
1079 cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_NON_BLOCKING);
1080
1081 /* Not enough room in the queue. Run the queue. */
1082 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
1083
1084 unsigned int packet_count = cmsis_dap_handle->quirk_mode ? 1 : cmsis_dap_handle->packet_count;
1085 if (cmsis_dap_handle->pending_fifo_block_count >= packet_count)
1086 cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_BLOCKING);
1087 }
1088
1089 assert(cmsis_dap_handle->pending_fifo[cmsis_dap_handle->pending_fifo_put_idx].transfer_count < pending_queue_len);
1090
1091 if (queued_retval != ERROR_OK)
1092 return;
1093
1094 struct pending_request_block *block = &cmsis_dap_handle->pending_fifo[cmsis_dap_handle->pending_fifo_put_idx];
1095 struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
1096 transfer->data = data;
1097 transfer->cmd = cmd;
1098 if (block->transfer_count == 0) {
1099 cmsis_dap_handle->swd_cmds_differ = false;
1100 cmsis_dap_handle->common_swd_cmd = cmd;
1101 } else if (cmd != cmsis_dap_handle->common_swd_cmd) {
1102 cmsis_dap_handle->swd_cmds_differ = true;
1103 }
1104
1105 if (cmd & SWD_CMD_RNW) {
1106 /* Queue a read transaction */
1107 transfer->buffer = dst;
1108 cmsis_dap_handle->read_count++;
1109 } else {
1110 cmsis_dap_handle->write_count++;
1111 }
1112 block->transfer_count++;
1113 }
1114
1115 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1116 {
1117 assert(!(cmd & SWD_CMD_RNW));
1118 cmsis_dap_swd_queue_cmd(cmd, NULL, value);
1119 }
1120
1121 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1122 {
1123 assert(cmd & SWD_CMD_RNW);
1124 cmsis_dap_swd_queue_cmd(cmd, value, 0);
1125 }
1126
1127 static int cmsis_dap_get_serial_info(void)
1128 {
1129 uint8_t *data;
1130
1131 int retval = cmsis_dap_cmd_dap_info(INFO_ID_SERNUM, &data);
1132 if (retval != ERROR_OK)
1133 return retval;
1134
1135 if (data[0]) /* strlen */
1136 LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
1137
1138 return ERROR_OK;
1139 }
1140
1141 static int cmsis_dap_get_version_info(void)
1142 {
1143 uint8_t *data;
1144
1145 /* INFO_ID_FW_VER - string */
1146 int retval = cmsis_dap_cmd_dap_info(INFO_ID_FW_VER, &data);
1147 if (retval != ERROR_OK)
1148 return retval;
1149
1150 if (data[0]) /* strlen */
1151 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
1152
1153 return ERROR_OK;
1154 }
1155
1156 static int cmsis_dap_get_caps_info(void)
1157 {
1158 uint8_t *data;
1159
1160 /* INFO_ID_CAPS - byte */
1161 int retval = cmsis_dap_cmd_dap_info(INFO_ID_CAPS, &data);
1162 if (retval != ERROR_OK)
1163 return retval;
1164
1165 if (data[0] == 1 || data[0] == 2) {
1166 uint16_t caps = data[1];
1167 if (data[0] == 2)
1168 caps |= (uint16_t)data[2] << 8;
1169
1170 cmsis_dap_handle->caps = caps;
1171
1172 for (unsigned int i = 0; i < INFO_CAPS__NUM_CAPS; ++i) {
1173 if (caps & BIT(i))
1174 LOG_INFO("CMSIS-DAP: %s", info_caps_str[i]);
1175 }
1176 }
1177
1178 return ERROR_OK;
1179 }
1180
1181 static int cmsis_dap_get_swo_buf_sz(uint32_t *swo_buf_sz)
1182 {
1183 uint8_t *data;
1184
1185 /* INFO_ID_SWO_BUF_SZ - word */
1186 int retval = cmsis_dap_cmd_dap_info(INFO_ID_SWO_BUF_SZ, &data);
1187 if (retval != ERROR_OK)
1188 return retval;
1189
1190 if (data[0] != 4)
1191 return ERROR_FAIL;
1192
1193 *swo_buf_sz = le_to_h_u32(&data[1]);
1194
1195 LOG_INFO("CMSIS-DAP: SWO Trace Buffer Size = %u bytes", *swo_buf_sz);
1196
1197 return ERROR_OK;
1198 }
1199
1200 static int cmsis_dap_get_status(void)
1201 {
1202 uint8_t d;
1203
1204 int retval = cmsis_dap_cmd_dap_swj_pins(0, 0, 0, &d);
1205
1206 if (retval == ERROR_OK) {
1207 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
1208 (d & SWJ_PIN_TCK) ? 1 : 0,
1209 (d & SWJ_PIN_TMS) ? 1 : 0,
1210 (d & SWJ_PIN_TDI) ? 1 : 0,
1211 (d & SWJ_PIN_TDO) ? 1 : 0,
1212 (d & SWJ_PIN_TRST) ? 1 : 0,
1213 (d & SWJ_PIN_SRST) ? 1 : 0);
1214 }
1215
1216 return retval;
1217 }
1218
1219 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
1220 {
1221 const uint8_t *s;
1222 unsigned int s_len;
1223 int retval;
1224
1225 if (swd_mode)
1226 queued_retval = cmsis_dap_swd_run_queue();
1227
1228 if (cmsis_dap_handle->quirk_mode && seq != LINE_RESET &&
1229 (output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST))
1230 == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
1231 /* Following workaround deasserts reset on most adapters.
1232 * Do not reconnect if a reset line is active!
1233 * Reconnecting would break connecting under reset. */
1234
1235 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
1236 cmsis_dap_cmd_dap_disconnect();
1237
1238 /* When we are reconnecting, DAP_Connect needs to be rerun, at
1239 * least on Keil ULINK-ME */
1240 retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1241 if (retval != ERROR_OK)
1242 return retval;
1243 }
1244
1245 switch (seq) {
1246 case LINE_RESET:
1247 LOG_DEBUG_IO("SWD line reset");
1248 s = swd_seq_line_reset;
1249 s_len = swd_seq_line_reset_len;
1250 break;
1251 case JTAG_TO_SWD:
1252 LOG_DEBUG("JTAG-to-SWD");
1253 s = swd_seq_jtag_to_swd;
1254 s_len = swd_seq_jtag_to_swd_len;
1255 break;
1256 case JTAG_TO_DORMANT:
1257 LOG_DEBUG("JTAG-to-DORMANT");
1258 s = swd_seq_jtag_to_dormant;
1259 s_len = swd_seq_jtag_to_dormant_len;
1260 break;
1261 case SWD_TO_JTAG:
1262 LOG_DEBUG("SWD-to-JTAG");
1263 s = swd_seq_swd_to_jtag;
1264 s_len = swd_seq_swd_to_jtag_len;
1265 break;
1266 case SWD_TO_DORMANT:
1267 LOG_DEBUG("SWD-to-DORMANT");
1268 s = swd_seq_swd_to_dormant;
1269 s_len = swd_seq_swd_to_dormant_len;
1270 break;
1271 case DORMANT_TO_SWD:
1272 LOG_DEBUG("DORMANT-to-SWD");
1273 s = swd_seq_dormant_to_swd;
1274 s_len = swd_seq_dormant_to_swd_len;
1275 break;
1276 case DORMANT_TO_JTAG:
1277 LOG_DEBUG("DORMANT-to-JTAG");
1278 s = swd_seq_dormant_to_jtag;
1279 s_len = swd_seq_dormant_to_jtag_len;
1280 break;
1281 default:
1282 LOG_ERROR("Sequence %d not supported", seq);
1283 return ERROR_FAIL;
1284 }
1285
1286 retval = cmsis_dap_cmd_dap_swj_sequence(s_len, s);
1287 if (retval != ERROR_OK)
1288 return retval;
1289
1290 /* Atmel EDBG needs renew clock setting after SWJ_Sequence
1291 * otherwise default frequency is used */
1292 return cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1293 }
1294
1295 static int cmsis_dap_swd_open(void)
1296 {
1297 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
1298 LOG_ERROR("CMSIS-DAP: SWD not supported");
1299 return ERROR_JTAG_DEVICE_ERROR;
1300 }
1301
1302 int retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1303 if (retval != ERROR_OK)
1304 return retval;
1305
1306 /* Add more setup here.??... */
1307
1308 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
1309 return ERROR_OK;
1310 }
1311
1312 static int cmsis_dap_init(void)
1313 {
1314 uint8_t *data;
1315
1316 int retval = cmsis_dap_open();
1317 if (retval != ERROR_OK)
1318 return retval;
1319
1320 cmsis_dap_flush_read(cmsis_dap_handle);
1321
1322 retval = cmsis_dap_get_caps_info();
1323 if (retval != ERROR_OK)
1324 return retval;
1325
1326 retval = cmsis_dap_get_version_info();
1327 if (retval != ERROR_OK)
1328 return retval;
1329
1330 retval = cmsis_dap_get_serial_info();
1331 if (retval != ERROR_OK)
1332 return retval;
1333
1334 if (swd_mode) {
1335 retval = cmsis_dap_swd_open();
1336 if (retval != ERROR_OK)
1337 return retval;
1338 } else {
1339 /* Connect in JTAG mode */
1340 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
1341 LOG_ERROR("CMSIS-DAP: JTAG not supported");
1342 return ERROR_JTAG_DEVICE_ERROR;
1343 }
1344
1345 retval = cmsis_dap_cmd_dap_connect(CONNECT_JTAG);
1346 if (retval != ERROR_OK)
1347 return retval;
1348
1349 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
1350 }
1351
1352 /* Be conservative and suppress submitting multiple HID requests
1353 * until we get packet count info from the adaptor */
1354 cmsis_dap_handle->packet_count = 1;
1355
1356 /* INFO_ID_PKT_SZ - short */
1357 retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_SZ, &data);
1358 if (retval != ERROR_OK)
1359 goto init_err;
1360
1361 if (data[0] == 2) { /* short */
1362 uint16_t pkt_sz = data[1] + (data[2] << 8);
1363 if (pkt_sz != cmsis_dap_handle->packet_size) {
1364 cmsis_dap_handle->backend->packet_buffer_free(cmsis_dap_handle);
1365 retval = cmsis_dap_handle->backend->packet_buffer_alloc(cmsis_dap_handle, pkt_sz);
1366 if (retval != ERROR_OK)
1367 goto init_err;
1368
1369 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRIu16, pkt_sz);
1370 }
1371 }
1372
1373 /* Maximal number of transfers which fit to one packet:
1374 * Limited by response size: 3 bytes of response header + 4 per read
1375 * Plus writes to full command size: 3 bytes cmd header + 1 per read + 5 per write */
1376 tfer_max_command_size = cmsis_dap_handle->packet_usable_size;
1377 tfer_max_response_size = cmsis_dap_handle->packet_usable_size;
1378 unsigned int max_reads = tfer_max_response_size / 4;
1379 pending_queue_len = max_reads + (tfer_max_command_size - max_reads) / 5;
1380 cmsis_dap_handle->write_count = 0;
1381 cmsis_dap_handle->read_count = 0;
1382
1383 /* INFO_ID_PKT_CNT - byte */
1384 retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_CNT, &data);
1385 if (retval != ERROR_OK)
1386 goto init_err;
1387
1388 if (data[0] == 1) { /* byte */
1389 unsigned int pkt_cnt = data[1];
1390 if (pkt_cnt > 1)
1391 cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
1392
1393 LOG_DEBUG("CMSIS-DAP: Packet Count = %u", pkt_cnt);
1394 }
1395
1396 LOG_DEBUG("Allocating FIFO for %u pending packets", cmsis_dap_handle->packet_count);
1397 for (unsigned int i = 0; i < cmsis_dap_handle->packet_count; i++) {
1398 cmsis_dap_handle->pending_fifo[i].transfers = malloc(pending_queue_len
1399 * sizeof(struct pending_transfer_result));
1400 if (!cmsis_dap_handle->pending_fifo[i].transfers) {
1401 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
1402 retval = ERROR_FAIL;
1403 goto init_err;
1404 }
1405 }
1406
1407 /* Intentionally not checked for error, just logs an info message
1408 * not vital for further debugging */
1409 (void)cmsis_dap_get_status();
1410
1411 /* Now try to connect to the target
1412 * TODO: This is all SWD only @ present */
1413 retval = cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1414 if (retval != ERROR_OK)
1415 goto init_err;
1416
1417 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
1418 * up to 64 times. This must be changed to 0 if sticky
1419 * overrun detection is enabled. */
1420 retval = cmsis_dap_cmd_dap_tfer_configure(0, 64, 0);
1421 if (retval != ERROR_OK)
1422 goto init_err;
1423
1424 if (swd_mode) {
1425 /* Data Phase (bit 2) must be set to 1 if sticky overrun
1426 * detection is enabled */
1427 retval = cmsis_dap_cmd_dap_swd_configure(0); /* 1 TRN, no Data Phase */
1428 if (retval != ERROR_OK)
1429 goto init_err;
1430 }
1431 /* Both LEDs on */
1432 /* Intentionally not checked for error, debugging will work
1433 * without LEDs */
1434 (void)cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_ON);
1435 (void)cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_ON);
1436
1437 /* support connecting with srst asserted */
1438 enum reset_types jtag_reset_config = jtag_get_reset_config();
1439
1440 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
1441 if (jtag_reset_config & RESET_SRST_NO_GATING) {
1442 retval = cmsis_dap_cmd_dap_swj_pins(0, SWJ_PIN_SRST, 0, NULL);
1443 if (retval != ERROR_OK)
1444 goto init_err;
1445 LOG_INFO("Connecting under reset");
1446 }
1447 }
1448 LOG_INFO("CMSIS-DAP: Interface ready");
1449 return ERROR_OK;
1450
1451 init_err:
1452 cmsis_dap_quit();
1453 return retval;
1454 }
1455
1456 static int cmsis_dap_swd_init(void)
1457 {
1458 swd_mode = true;
1459 return ERROR_OK;
1460 }
1461
1462 static int cmsis_dap_quit(void)
1463 {
1464 cmsis_dap_cmd_dap_disconnect();
1465
1466 /* Both LEDs off */
1467 cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_OFF);
1468 cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_OFF);
1469
1470 cmsis_dap_close(cmsis_dap_handle);
1471
1472 return ERROR_OK;
1473 }
1474
1475 static int cmsis_dap_reset(int trst, int srst)
1476 {
1477 /* Set both TRST and SRST even if they're not enabled as
1478 * there's no way to tristate them */
1479
1480 output_pins = 0;
1481 if (!srst)
1482 output_pins |= SWJ_PIN_SRST;
1483 if (!trst)
1484 output_pins |= SWJ_PIN_TRST;
1485
1486 int retval = cmsis_dap_cmd_dap_swj_pins(output_pins,
1487 SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1488 if (retval != ERROR_OK)
1489 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1490 return retval;
1491 }
1492
1493 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1494 {
1495 #if 0
1496 int retval = cmsis_dap_cmd_dap_delay(cmd->cmd.sleep->us);
1497 if (retval != ERROR_OK)
1498 #endif
1499 jtag_sleep(cmd->cmd.sleep->us);
1500 }
1501
1502 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1503 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1504 {
1505 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1506 uint8_t seq = 0xff;
1507
1508 int retval = cmsis_dap_cmd_dap_swj_sequence(8, &seq);
1509 if (retval == ERROR_OK)
1510 tap_set_state(TAP_RESET);
1511 return retval;
1512 }
1513
1514 /* Set new end state */
1515 static void cmsis_dap_end_state(tap_state_t state)
1516 {
1517 if (tap_is_state_stable(state))
1518 tap_set_end_state(state);
1519 else {
1520 LOG_ERROR("BUG: %i is not a valid end state", state);
1521 exit(-1);
1522 }
1523 }
1524
1525 #ifdef SPRINT_BINARY
1526 static void sprint_binary(char *s, const uint8_t *buf, unsigned int offset, unsigned int len)
1527 {
1528 if (!len)
1529 return;
1530
1531 /*
1532 buf = { 0x18 } len=5 should result in: 11000
1533 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1534 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1535 i=3 there means i/8 = 0 so c = 0xFF, and
1536 */
1537 for (unsigned int i = offset; i < offset + len; ++i) {
1538 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1539 if ((i != offset) && !(i % 8))
1540 putchar(' ');
1541 *s++ = (c & mask) ? '1' : '0';
1542 }
1543 *s = 0;
1544 }
1545 #endif
1546
1547 #ifdef CMSIS_DAP_JTAG_DEBUG
1548 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1549 {
1550 /* cmd is a usb packet to go to the cmsis-dap interface */
1551 printf("cmsis-dap buffer (%d b): ", cmdlen);
1552 for (int i = 0; i < cmdlen; ++i)
1553 printf(" %02x", cmd[i]);
1554 printf("\n");
1555 switch (cmd[0]) {
1556 case CMD_DAP_JTAG_SEQ: {
1557 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[0], cmd[1]);
1558 /*
1559 * #1 = number of sequences
1560 * #2 = sequence info 1
1561 * #3...4+n_bytes-1 = sequence 1
1562 * #4+n_bytes = sequence info 2
1563 * #5+n_bytes = sequence 2 (single bit)
1564 */
1565 int pos = 2;
1566 for (int seq = 0; seq < cmd[1]; ++seq) {
1567 uint8_t info = cmd[pos++];
1568 int len = info & DAP_JTAG_SEQ_TCK;
1569 if (len == 0)
1570 len = 64;
1571 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1572 seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1573 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1574 printf(" %02x", cmd[pos+i]);
1575 pos += DIV_ROUND_UP(len, 8);
1576 printf("\n");
1577 }
1578 if (pos != cmdlen) {
1579 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1580 exit(-1);
1581 }
1582
1583 break;
1584 }
1585 default:
1586 LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1587 break;
1588 }
1589 }
1590 #endif
1591
1592 static void cmsis_dap_flush(void)
1593 {
1594 if (!queued_seq_count)
1595 return;
1596
1597 LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1598 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1599
1600 /* prepare CMSIS-DAP packet */
1601 uint8_t *command = cmsis_dap_handle->command;
1602 command[0] = CMD_DAP_JTAG_SEQ;
1603 command[1] = queued_seq_count;
1604 memcpy(&command[2], queued_seq_buf, queued_seq_buf_end);
1605
1606 #ifdef CMSIS_DAP_JTAG_DEBUG
1607 debug_parse_cmsis_buf(command, queued_seq_buf_end + 2);
1608 #endif
1609
1610 /* send command to USB device */
1611 int retval = cmsis_dap_xfer(cmsis_dap_handle, queued_seq_buf_end + 2);
1612
1613 uint8_t *resp = cmsis_dap_handle->response;
1614 if (retval != ERROR_OK || resp[1] != DAP_OK) {
1615 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1616 exit(-1);
1617 }
1618
1619 #ifdef CMSIS_DAP_JTAG_DEBUG
1620 LOG_DEBUG_IO("USB response buf:");
1621 for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1622 printf("%02X ", resp[c]);
1623 printf("\n");
1624 #endif
1625
1626 /* copy scan results into client buffers */
1627 for (int i = 0; i < pending_scan_result_count; ++i) {
1628 struct pending_scan_result *scan = &pending_scan_results[i];
1629 LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1630 i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1631 #ifdef CMSIS_DAP_JTAG_DEBUG
1632 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1633 printf("%02X ", resp[2+scan->first+b]);
1634 printf("\n");
1635 #endif
1636 bit_copy(scan->buffer, scan->buffer_offset, &resp[2 + scan->first], 0, scan->length);
1637 }
1638
1639 /* reset */
1640 queued_seq_count = 0;
1641 queued_seq_buf_end = 0;
1642 queued_seq_tdo_ptr = 0;
1643 pending_scan_result_count = 0;
1644 }
1645
1646 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1647 *
1648 * sequence=NULL means clock out zeros on TDI
1649 * tdo_buffer=NULL means don't capture TDO
1650 */
1651 static void cmsis_dap_add_jtag_sequence(unsigned int s_len, const uint8_t *sequence,
1652 unsigned int s_offset, bool tms,
1653 uint8_t *tdo_buffer, unsigned int tdo_buffer_offset)
1654 {
1655 LOG_DEBUG_IO("[at %d] %u bits, tms %s, seq offset %u, tdo buf %p, tdo offset %u",
1656 queued_seq_buf_end,
1657 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1658
1659 if (s_len == 0)
1660 return;
1661
1662 if (s_len > 64) {
1663 LOG_DEBUG_IO("START JTAG SEQ SPLIT");
1664 for (unsigned int offset = 0; offset < s_len; offset += 64) {
1665 unsigned int len = s_len - offset;
1666 if (len > 64)
1667 len = 64;
1668 LOG_DEBUG_IO("Splitting long jtag sequence: %u-bit chunk starting at offset %u", len, offset);
1669 cmsis_dap_add_jtag_sequence(
1670 len,
1671 sequence,
1672 s_offset + offset,
1673 tms,
1674 tdo_buffer,
1675 !tdo_buffer ? 0 : (tdo_buffer_offset + offset)
1676 );
1677 }
1678 LOG_DEBUG_IO("END JTAG SEQ SPLIT");
1679 return;
1680 }
1681
1682 unsigned int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1683 if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1684 /* empty out the buffer */
1685 cmsis_dap_flush();
1686
1687 ++queued_seq_count;
1688
1689 /* control byte */
1690 queued_seq_buf[queued_seq_buf_end] =
1691 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1692 (tdo_buffer ? DAP_JTAG_SEQ_TDO : 0) |
1693 (s_len == 64 ? 0 : s_len);
1694
1695 if (sequence)
1696 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1697 else
1698 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1699
1700 queued_seq_buf_end += cmd_len;
1701
1702 if (tdo_buffer) {
1703 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1704 scan->first = queued_seq_tdo_ptr;
1705 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1706 scan->length = s_len;
1707 scan->buffer = tdo_buffer;
1708 scan->buffer_offset = tdo_buffer_offset;
1709 }
1710 }
1711
1712 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1713 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1714 {
1715 LOG_DEBUG_IO("%d bits: %02X", s_len, *sequence);
1716 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1717 because even though it seems ridiculously inefficient, it
1718 allows us to combine TMS and scan sequences into the same
1719 USB packet. */
1720 /* TODO: combine runs of the same tms value */
1721 for (int i = 0; i < s_len; ++i) {
1722 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1723 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1724 }
1725 }
1726
1727 /* Move to the end state by queuing a sequence to clock into TMS */
1728 static void cmsis_dap_state_move(void)
1729 {
1730 uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1731 uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1732
1733 LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms",
1734 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1735 tms_scan_bits, tms_scan);
1736 cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1737
1738 tap_set_state(tap_get_end_state());
1739 }
1740
1741
1742 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1743 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1744 {
1745 LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1746 jtag_scan_type(cmd->cmd.scan));
1747
1748 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1749 while (cmd->cmd.scan->num_fields > 0
1750 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1751 cmd->cmd.scan->num_fields--;
1752 LOG_DEBUG("discarding trailing empty field");
1753 }
1754
1755 if (cmd->cmd.scan->num_fields == 0) {
1756 LOG_DEBUG("empty scan, doing nothing");
1757 return;
1758 }
1759
1760 if (cmd->cmd.scan->ir_scan) {
1761 if (tap_get_state() != TAP_IRSHIFT) {
1762 cmsis_dap_end_state(TAP_IRSHIFT);
1763 cmsis_dap_state_move();
1764 }
1765 } else {
1766 if (tap_get_state() != TAP_DRSHIFT) {
1767 cmsis_dap_end_state(TAP_DRSHIFT);
1768 cmsis_dap_state_move();
1769 }
1770 }
1771
1772 cmsis_dap_end_state(cmd->cmd.scan->end_state);
1773
1774 struct scan_field *field = cmd->cmd.scan->fields;
1775 unsigned scan_size = 0;
1776
1777 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1778 scan_size += field->num_bits;
1779 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
1780 field->in_value ? "in" : "",
1781 field->out_value ? "out" : "",
1782 i,
1783 cmd->cmd.scan->num_fields,
1784 field->num_bits);
1785
1786 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1787 LOG_DEBUG_IO("Last field and have to move out of SHIFT state");
1788 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1789 * movement. This last field can't have length zero, it was checked above. */
1790 cmsis_dap_add_jtag_sequence(
1791 field->num_bits - 1, /* number of bits to clock */
1792 field->out_value, /* output sequence */
1793 0, /* output offset */
1794 false, /* TMS low */
1795 field->in_value,
1796 0);
1797
1798 /* Clock the last bit out, with TMS high */
1799 uint8_t last_bit = 0;
1800 if (field->out_value)
1801 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1802 cmsis_dap_add_jtag_sequence(
1803 1,
1804 &last_bit,
1805 0,
1806 true,
1807 field->in_value,
1808 field->num_bits - 1);
1809 tap_set_state(tap_state_transition(tap_get_state(), 1));
1810
1811 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1812 cmsis_dap_add_jtag_sequence(
1813 1,
1814 &last_bit,
1815 0,
1816 false,
1817 NULL,
1818 0);
1819 tap_set_state(tap_state_transition(tap_get_state(), 0));
1820 } else {
1821 LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards");
1822 /* Clocking part of a sequence into DR or IR with TMS=0,
1823 leaving TMS=0 at the end so we can continue later */
1824 cmsis_dap_add_jtag_sequence(
1825 field->num_bits,
1826 field->out_value,
1827 0,
1828 false,
1829 field->in_value,
1830 0);
1831 }
1832 }
1833
1834 if (tap_get_state() != tap_get_end_state()) {
1835 cmsis_dap_end_state(tap_get_end_state());
1836 cmsis_dap_state_move();
1837 }
1838
1839 LOG_DEBUG_IO("%s scan, %i bits, end in %s",
1840 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1841 tap_state_name(tap_get_end_state()));
1842 }
1843
1844 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1845 {
1846 uint8_t tms0 = 0x00;
1847 uint8_t tms1 = 0xff;
1848
1849 for (int i = 0; i < num_states; i++) {
1850 if (path[i] == tap_state_transition(tap_get_state(), false))
1851 cmsis_dap_add_tms_sequence(&tms0, 1);
1852 else if (path[i] == tap_state_transition(tap_get_state(), true))
1853 cmsis_dap_add_tms_sequence(&tms1, 1);
1854 else {
1855 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1856 tap_state_name(tap_get_state()), tap_state_name(path[i]));
1857 exit(-1);
1858 }
1859
1860 tap_set_state(path[i]);
1861 }
1862
1863 cmsis_dap_end_state(tap_get_state());
1864 }
1865
1866 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1867 {
1868 LOG_DEBUG_IO("pathmove: %i states, end in %i",
1869 cmd->cmd.pathmove->num_states,
1870 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1871
1872 cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1873 }
1874
1875 static void cmsis_dap_stableclocks(int num_cycles)
1876 {
1877 uint8_t tms = tap_get_state() == TAP_RESET;
1878 /* TODO: Perform optimizations? */
1879 /* Execute num_cycles. */
1880 for (int i = 0; i < num_cycles; i++)
1881 cmsis_dap_add_tms_sequence(&tms, 1);
1882 }
1883
1884 static void cmsis_dap_runtest(int num_cycles)
1885 {
1886 tap_state_t saved_end_state = tap_get_end_state();
1887
1888 /* Only do a state_move when we're not already in IDLE. */
1889 if (tap_get_state() != TAP_IDLE) {
1890 cmsis_dap_end_state(TAP_IDLE);
1891 cmsis_dap_state_move();
1892 }
1893 cmsis_dap_stableclocks(num_cycles);
1894
1895 /* Finish in end_state. */
1896 cmsis_dap_end_state(saved_end_state);
1897
1898 if (tap_get_state() != tap_get_end_state())
1899 cmsis_dap_state_move();
1900 }
1901
1902 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1903 {
1904 LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1905 cmd->cmd.runtest->end_state);
1906
1907 cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1908 cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1909 }
1910
1911 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1912 {
1913 LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1914 cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1915 }
1916
1917 static void cmsis_dap_execute_tms(struct jtag_command *cmd)
1918 {
1919 LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
1920 cmsis_dap_cmd_dap_swj_sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
1921 }
1922
1923 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1924 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1925 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1926 {
1927 switch (cmd->type) {
1928 case JTAG_SLEEP:
1929 cmsis_dap_flush();
1930 cmsis_dap_execute_sleep(cmd);
1931 break;
1932 case JTAG_TLR_RESET:
1933 cmsis_dap_flush();
1934 cmsis_dap_execute_tlr_reset(cmd);
1935 break;
1936 case JTAG_SCAN:
1937 cmsis_dap_execute_scan(cmd);
1938 break;
1939 case JTAG_PATHMOVE:
1940 cmsis_dap_execute_pathmove(cmd);
1941 break;
1942 case JTAG_RUNTEST:
1943 cmsis_dap_execute_runtest(cmd);
1944 break;
1945 case JTAG_STABLECLOCKS:
1946 cmsis_dap_execute_stableclocks(cmd);
1947 break;
1948 case JTAG_TMS:
1949 cmsis_dap_execute_tms(cmd);
1950 break;
1951 default:
1952 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1953 exit(-1);
1954 }
1955 }
1956
1957 static int cmsis_dap_execute_queue(struct jtag_command *cmd_queue)
1958 {
1959 struct jtag_command *cmd = cmd_queue;
1960
1961 while (cmd) {
1962 cmsis_dap_execute_command(cmd);
1963 cmd = cmd->next;
1964 }
1965
1966 cmsis_dap_flush();
1967
1968 return ERROR_OK;
1969 }
1970
1971 static int cmsis_dap_speed(int speed)
1972 {
1973 if (speed == 0) {
1974 LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\".");
1975 return ERROR_JTAG_NOT_IMPLEMENTED;
1976 }
1977
1978 return cmsis_dap_cmd_dap_swj_clock(speed);
1979 }
1980
1981 static int cmsis_dap_speed_div(int speed, int *khz)
1982 {
1983 *khz = speed;
1984 return ERROR_OK;
1985 }
1986
1987 static int cmsis_dap_khz(int khz, int *jtag_speed)
1988 {
1989 *jtag_speed = khz;
1990 return ERROR_OK;
1991 }
1992
1993 static bool calculate_swo_prescaler(unsigned int traceclkin_freq,
1994 uint32_t trace_freq, uint16_t *prescaler)
1995 {
1996 unsigned int presc = (traceclkin_freq + trace_freq / 2) / trace_freq;
1997 if (presc == 0 || presc > TPIU_ACPR_MAX_SWOSCALER + 1)
1998 return false;
1999
2000 /* Probe's UART speed must be within 3% of the TPIU's SWO baud rate. */
2001 unsigned int max_deviation = (traceclkin_freq * 3) / 100;
2002 if (presc * trace_freq < traceclkin_freq - max_deviation ||
2003 presc * trace_freq > traceclkin_freq + max_deviation)
2004 return false;
2005
2006 *prescaler = presc;
2007
2008 return true;
2009 }
2010
2011 /**
2012 * @see adapter_driver::config_trace
2013 */
2014 static int cmsis_dap_config_trace(
2015 bool trace_enabled,
2016 enum tpiu_pin_protocol pin_protocol,
2017 uint32_t port_size,
2018 unsigned int *swo_freq,
2019 unsigned int traceclkin_hz,
2020 uint16_t *swo_prescaler)
2021 {
2022 int retval;
2023
2024 if (!trace_enabled) {
2025 if (cmsis_dap_handle->trace_enabled) {
2026 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
2027 if (retval != ERROR_OK) {
2028 LOG_ERROR("Failed to disable the SWO-trace.");
2029 return retval;
2030 }
2031 }
2032 cmsis_dap_handle->trace_enabled = false;
2033 LOG_INFO("SWO-trace disabled.");
2034 return ERROR_OK;
2035 }
2036
2037 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWO_UART) &&
2038 !(cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
2039 LOG_ERROR("SWO-trace is not supported by the device.");
2040 return ERROR_FAIL;
2041 }
2042
2043 uint8_t swo_mode;
2044 if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_UART &&
2045 (cmsis_dap_handle->caps & INFO_CAPS_SWO_UART)) {
2046 swo_mode = DAP_SWO_MODE_UART;
2047 } else if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_MANCHESTER &&
2048 (cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
2049 swo_mode = DAP_SWO_MODE_MANCHESTER;
2050 } else {
2051 LOG_ERROR("Selected pin protocol is not supported.");
2052 return ERROR_FAIL;
2053 }
2054
2055 if (*swo_freq == 0) {
2056 LOG_INFO("SWO-trace frequency autodetection not implemented.");
2057 return ERROR_FAIL;
2058 }
2059
2060 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
2061 if (retval != ERROR_OK)
2062 return retval;
2063
2064 cmsis_dap_handle->trace_enabled = false;
2065
2066 retval = cmsis_dap_get_swo_buf_sz(&cmsis_dap_handle->swo_buf_sz);
2067 if (retval != ERROR_OK)
2068 return retval;
2069
2070 retval = cmsis_dap_cmd_dap_swo_transport(DAP_SWO_TRANSPORT_DATA);
2071 if (retval != ERROR_OK)
2072 return retval;
2073
2074 retval = cmsis_dap_cmd_dap_swo_mode(swo_mode);
2075 if (retval != ERROR_OK)
2076 return retval;
2077
2078 retval = cmsis_dap_cmd_dap_swo_baudrate(*swo_freq, swo_freq);
2079 if (retval != ERROR_OK)
2080 return retval;
2081
2082 if (!calculate_swo_prescaler(traceclkin_hz, *swo_freq,
2083 swo_prescaler)) {
2084 LOG_ERROR("SWO frequency is not suitable. Please choose a "
2085 "different frequency or use auto-detection.");
2086 return ERROR_FAIL;
2087 }
2088
2089 LOG_INFO("SWO frequency: %u Hz.", *swo_freq);
2090 LOG_INFO("SWO prescaler: %u.", *swo_prescaler);
2091
2092 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_START);
2093 if (retval != ERROR_OK)
2094 return retval;
2095
2096 cmsis_dap_handle->trace_enabled = true;
2097
2098 return ERROR_OK;
2099 }
2100
2101 /**
2102 * @see adapter_driver::poll_trace
2103 */
2104 static int cmsis_dap_poll_trace(uint8_t *buf, size_t *size)
2105 {
2106 uint8_t trace_status;
2107 size_t trace_count;
2108
2109 if (!cmsis_dap_handle->trace_enabled) {
2110 *size = 0;
2111 return ERROR_OK;
2112 }
2113
2114 int retval = cmsis_dap_cmd_dap_swo_status(&trace_status, &trace_count);
2115 if (retval != ERROR_OK)
2116 return retval;
2117 if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
2118 return ERROR_FAIL;
2119
2120 *size = trace_count < *size ? trace_count : *size;
2121 size_t read_so_far = 0;
2122 do {
2123 size_t rb = 0;
2124 uint32_t packet_size = cmsis_dap_handle->packet_size - 4 /*data-reply*/;
2125 uint32_t remaining = *size - read_so_far;
2126 if (remaining < packet_size)
2127 packet_size = remaining;
2128 retval = cmsis_dap_cmd_dap_swo_data(
2129 packet_size,
2130 &trace_status,
2131 &rb,
2132 &buf[read_so_far]);
2133 if (retval != ERROR_OK)
2134 return retval;
2135 if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
2136 return ERROR_FAIL;
2137
2138 read_so_far += rb;
2139 } while (read_so_far < *size);
2140
2141 return ERROR_OK;
2142 }
2143
2144 COMMAND_HANDLER(cmsis_dap_handle_info_command)
2145 {
2146 if (cmsis_dap_get_version_info() == ERROR_OK)
2147 cmsis_dap_get_status();
2148
2149 return ERROR_OK;
2150 }
2151
2152 COMMAND_HANDLER(cmsis_dap_handle_cmd_command)
2153 {
2154 uint8_t *command = cmsis_dap_handle->command;
2155
2156 for (unsigned i = 0; i < CMD_ARGC; i++)
2157 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[i], command[i]);
2158
2159 int retval = cmsis_dap_xfer(cmsis_dap_handle, CMD_ARGC);
2160
2161 if (retval != ERROR_OK) {
2162 LOG_ERROR("CMSIS-DAP command failed.");
2163 return ERROR_JTAG_DEVICE_ERROR;
2164 }
2165
2166 uint8_t *resp = cmsis_dap_handle->response;
2167 LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8,
2168 resp[1], resp[2], resp[3], resp[4]);
2169
2170 return ERROR_OK;
2171 }
2172
2173 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
2174 {
2175 if (CMD_ARGC > MAX_USB_IDS * 2) {
2176 LOG_WARNING("ignoring extra IDs in cmsis-dap vid_pid "
2177 "(maximum is %d pairs)", MAX_USB_IDS);
2178 CMD_ARGC = MAX_USB_IDS * 2;
2179 }
2180 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
2181 LOG_WARNING("incomplete cmsis-dap vid_pid configuration directive");
2182 if (CMD_ARGC < 2)
2183 return ERROR_COMMAND_SYNTAX_ERROR;
2184 /* remove the incomplete trailing id */
2185 CMD_ARGC -= 1;
2186 }
2187
2188 unsigned i;
2189 for (i = 0; i < CMD_ARGC; i += 2) {
2190 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
2191 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
2192 }
2193
2194 /*
2195 * Explicitly terminate, in case there are multiples instances of
2196 * cmsis_dap_vid_pid.
2197 */
2198 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
2199
2200 return ERROR_OK;
2201 }
2202
2203 COMMAND_HANDLER(cmsis_dap_handle_backend_command)
2204 {
2205 if (CMD_ARGC == 1) {
2206 if (strcmp(CMD_ARGV[0], "auto") == 0) {
2207 cmsis_dap_backend = -1; /* autoselect */
2208 } else {
2209 for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
2210 if (strcasecmp(cmsis_dap_backends[i]->name, CMD_ARGV[0]) == 0) {
2211 cmsis_dap_backend = i;
2212 return ERROR_OK;
2213 }
2214 }
2215
2216 command_print(CMD, "invalid backend argument to cmsis-dap backend <backend>");
2217 return ERROR_COMMAND_ARGUMENT_INVALID;
2218 }
2219 } else {
2220 return ERROR_COMMAND_SYNTAX_ERROR;
2221 }
2222
2223 return ERROR_OK;
2224 }
2225
2226 COMMAND_HANDLER(cmsis_dap_handle_quirk_command)
2227 {
2228 if (CMD_ARGC > 1)
2229 return ERROR_COMMAND_SYNTAX_ERROR;
2230
2231 if (CMD_ARGC == 1)
2232 COMMAND_PARSE_ENABLE(CMD_ARGV[0], cmsis_dap_handle->quirk_mode);
2233
2234 command_print(CMD, "CMSIS-DAP quirk workarounds %s",
2235 cmsis_dap_handle->quirk_mode ? "enabled" : "disabled");
2236 return ERROR_OK;
2237 }
2238
2239 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
2240 {
2241 .name = "info",
2242 .handler = &cmsis_dap_handle_info_command,
2243 .mode = COMMAND_EXEC,
2244 .usage = "",
2245 .help = "show cmsis-dap info",
2246 },
2247 {
2248 .name = "cmd",
2249 .handler = &cmsis_dap_handle_cmd_command,
2250 .mode = COMMAND_EXEC,
2251 .usage = "",
2252 .help = "issue cmsis-dap command",
2253 },
2254 {
2255 .name = "vid_pid",
2256 .handler = &cmsis_dap_handle_vid_pid_command,
2257 .mode = COMMAND_CONFIG,
2258 .help = "the vendor ID and product ID of the CMSIS-DAP device",
2259 .usage = "(vid pid)*",
2260 },
2261 {
2262 .name = "backend",
2263 .handler = &cmsis_dap_handle_backend_command,
2264 .mode = COMMAND_CONFIG,
2265 .help = "set the communication backend to use (USB bulk or HID).",
2266 .usage = "(auto | usb_bulk | hid)",
2267 },
2268 {
2269 .name = "quirk",
2270 .handler = &cmsis_dap_handle_quirk_command,
2271 .mode = COMMAND_ANY,
2272 .help = "allow expensive workarounds of known adapter quirks.",
2273 .usage = "[enable | disable]",
2274 },
2275 #if BUILD_CMSIS_DAP_USB
2276 {
2277 .name = "usb",
2278 .chain = cmsis_dap_usb_subcommand_handlers,
2279 .mode = COMMAND_ANY,
2280 .help = "USB bulk backend-specific commands",
2281 .usage = "<cmd>",
2282 },
2283 #endif
2284 COMMAND_REGISTRATION_DONE
2285 };
2286
2287
2288 static const struct command_registration cmsis_dap_command_handlers[] = {
2289 {
2290 .name = "cmsis-dap",
2291 .mode = COMMAND_ANY,
2292 .help = "perform CMSIS-DAP management",
2293 .usage = "<cmd>",
2294 .chain = cmsis_dap_subcommand_handlers,
2295 },
2296 COMMAND_REGISTRATION_DONE
2297 };
2298
2299 static const struct swd_driver cmsis_dap_swd_driver = {
2300 .init = cmsis_dap_swd_init,
2301 .switch_seq = cmsis_dap_swd_switch_seq,
2302 .read_reg = cmsis_dap_swd_read_reg,
2303 .write_reg = cmsis_dap_swd_write_reg,
2304 .run = cmsis_dap_swd_run_queue,
2305 };
2306
2307 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
2308
2309 static struct jtag_interface cmsis_dap_interface = {
2310 .supported = DEBUG_CAP_TMS_SEQ,
2311 .execute_queue = cmsis_dap_execute_queue,
2312 };
2313
2314 struct adapter_driver cmsis_dap_adapter_driver = {
2315 .name = "cmsis-dap",
2316 .transports = cmsis_dap_transport,
2317 .commands = cmsis_dap_command_handlers,
2318
2319 .init = cmsis_dap_init,
2320 .quit = cmsis_dap_quit,
2321 .reset = cmsis_dap_reset,
2322 .speed = cmsis_dap_speed,
2323 .khz = cmsis_dap_khz,
2324 .speed_div = cmsis_dap_speed_div,
2325 .config_trace = cmsis_dap_config_trace,
2326 .poll_trace = cmsis_dap_poll_trace,
2327
2328 .jtag_ops = &cmsis_dap_interface,
2329 .swd_ops = &cmsis_dap_swd_driver,
2330 };
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