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drivers/cmsis-dap: Remove stray whitespace
[openocd.git] / src / jtag / drivers / cmsis_dap.c
blob63407be423808216660ead8d84df72a6774e3115
1 /***************************************************************************
2 * Copyright (C) 2021 by Adrian Negreanu *
3 * groleo@gmail.com *
4 * *
5 * Copyright (C) 2018 by Mickaël Thomas *
6 * mickael9@gmail.com *
7 * *
8 * Copyright (C) 2016 by Maksym Hilliaka *
9 * oter@frozen-team.com *
10 * *
11 * Copyright (C) 2016 by Phillip Pearson *
12 * pp@myelin.co.nz *
13 * *
14 * Copyright (C) 2014 by Paul Fertser *
15 * fercerpav@gmail.com *
16 * *
17 * Copyright (C) 2013 by mike brown *
18 * mike@theshedworks.org.uk *
19 * *
20 * Copyright (C) 2013 by Spencer Oliver *
21 * spen@spen-soft.co.uk *
22 * *
23 * This program is free software; you can redistribute it and/or modify *
24 * it under the terms of the GNU General Public License as published by *
25 * the Free Software Foundation; either version 2 of the License, or *
26 * (at your option) any later version. *
27 * *
28 * This program is distributed in the hope that it will be useful, *
29 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
30 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
31 * GNU General Public License for more details. *
32 * *
33 * You should have received a copy of the GNU General Public License *
34 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
35 ***************************************************************************/
36
37 #ifdef HAVE_CONFIG_H
38 #include "config.h"
39 #endif
40
41 #include <transport/transport.h>
42 #include "helper/replacements.h"
43 #include <jtag/adapter.h>
44 #include <jtag/swd.h>
45 #include <jtag/interface.h>
46 #include <jtag/commands.h>
47 #include <jtag/tcl.h>
48 #include <target/cortex_m.h>
49
50 #include "cmsis_dap.h"
51 #include "libusb_helper.h"
52
53 static const struct cmsis_dap_backend *const cmsis_dap_backends[] = {
54 #if BUILD_CMSIS_DAP_USB == 1
55 &cmsis_dap_usb_backend,
56 #endif
57
58 #if BUILD_CMSIS_DAP_HID == 1
59 &cmsis_dap_hid_backend,
60 #endif
61 };
62
63 /* USB Config */
64
65 /* Known vid/pid pairs:
66 * VID 0xc251: Keil Software
67 * PID 0xf001: LPC-Link-II CMSIS_DAP
68 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
69 * PID 0x2722: Keil ULINK2 CMSIS-DAP
70 * PID 0x2750: Keil ULINKplus CMSIS-DAP
71 *
72 * VID 0x0d28: mbed Software
73 * PID 0x0204: MBED CMSIS-DAP
74 */
75
76 #define MAX_USB_IDS 8
77 /* vid = pid = 0 marks the end of the list */
78 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
79 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
80 static int cmsis_dap_backend = -1;
81 static bool swd_mode;
82
83 /* CMSIS-DAP General Commands */
84 #define CMD_DAP_INFO 0x00
85 #define CMD_DAP_LED 0x01
86 #define CMD_DAP_CONNECT 0x02
87 #define CMD_DAP_DISCONNECT 0x03
88 #define CMD_DAP_WRITE_ABORT 0x08
89 #define CMD_DAP_DELAY 0x09
90 #define CMD_DAP_RESET_TARGET 0x0A
91
92 /* CMD_INFO */
93 #define INFO_ID_VENDOR 0x01 /* string */
94 #define INFO_ID_PRODUCT 0x02 /* string */
95 #define INFO_ID_SERNUM 0x03 /* string */
96 #define INFO_ID_FW_VER 0x04 /* string */
97 #define INFO_ID_TD_VEND 0x05 /* string */
98 #define INFO_ID_TD_NAME 0x06 /* string */
99 #define INFO_ID_CAPS 0xf0 /* byte */
100 #define INFO_ID_PKT_CNT 0xfe /* byte */
101 #define INFO_ID_PKT_SZ 0xff /* short */
102 #define INFO_ID_SWO_BUF_SZ 0xfd /* word */
103
104 #define INFO_CAPS_SWD BIT(0)
105 #define INFO_CAPS_JTAG BIT(1)
106 #define INFO_CAPS_SWO_UART BIT(2)
107 #define INFO_CAPS_SWO_MANCHESTER BIT(3)
108 #define INFO_CAPS_ATOMIC_CMDS BIT(4)
109 #define INFO_CAPS_TEST_DOMAIN_TIMER BIT(5)
110 #define INFO_CAPS_SWO_STREAMING_TRACE BIT(6)
111 #define INFO_CAPS_UART_PORT BIT(7)
112 #define INFO_CAPS_USB_COM_PORT BIT(8)
113 #define INFO_CAPS__NUM_CAPS 9
114
115 /* CMD_LED */
116 #define LED_ID_CONNECT 0x00
117 #define LED_ID_RUN 0x01
118
119 #define LED_OFF 0x00
120 #define LED_ON 0x01
121
122 /* CMD_CONNECT */
123 #define CONNECT_DEFAULT 0x00
124 #define CONNECT_SWD 0x01
125 #define CONNECT_JTAG 0x02
126
127 /* CMSIS-DAP Common SWD/JTAG Commands */
128 #define CMD_DAP_DELAY 0x09
129 #define CMD_DAP_SWJ_PINS 0x10
130 #define CMD_DAP_SWJ_CLOCK 0x11
131 #define CMD_DAP_SWJ_SEQ 0x12
132
133 /*
134 * PINS
135 * Bit 0: SWCLK/TCK
136 * Bit 1: SWDIO/TMS
137 * Bit 2: TDI
138 * Bit 3: TDO
139 * Bit 5: nTRST
140 * Bit 7: nRESET
141 */
142
143 #define SWJ_PIN_TCK (1<<0)
144 #define SWJ_PIN_TMS (1<<1)
145 #define SWJ_PIN_TDI (1<<2)
146 #define SWJ_PIN_TDO (1<<3)
147 #define SWJ_PIN_TRST (1<<5)
148 #define SWJ_PIN_SRST (1<<7)
149
150 /* CMSIS-DAP SWD Commands */
151 #define CMD_DAP_SWD_CONFIGURE 0x13
152 #define CMD_DAP_SWD_SEQUENCE 0x1D
153
154 /* CMSIS-DAP JTAG Commands */
155 #define CMD_DAP_JTAG_SEQ 0x14
156 #define CMD_DAP_JTAG_CONFIGURE 0x15
157 #define CMD_DAP_JTAG_IDCODE 0x16
158
159 /* CMSIS-DAP JTAG sequence info masks */
160 /* Number of bits to clock through (0 means 64) */
161 #define DAP_JTAG_SEQ_TCK 0x3F
162 /* TMS will be set during the sequence if this bit is set */
163 #define DAP_JTAG_SEQ_TMS 0x40
164 /* TDO output will be captured if this bit is set */
165 #define DAP_JTAG_SEQ_TDO 0x80
166
167
168 /* CMSIS-DAP Transfer Commands */
169 #define CMD_DAP_TFER_CONFIGURE 0x04
170 #define CMD_DAP_TFER 0x05
171 #define CMD_DAP_TFER_BLOCK 0x06
172 #define CMD_DAP_TFER_ABORT 0x07
173
174 /* DAP Status Code */
175 #define DAP_OK 0
176 #define DAP_ERROR 0xFF
177
178 /* CMSIS-DAP SWO Commands */
179 #define CMD_DAP_SWO_TRANSPORT 0x17
180 #define CMD_DAP_SWO_MODE 0x18
181 #define CMD_DAP_SWO_BAUDRATE 0x19
182 #define CMD_DAP_SWO_CONTROL 0x1A
183 #define CMD_DAP_SWO_STATUS 0x1B
184 #define CMD_DAP_SWO_DATA 0x1C
185 #define CMD_DAP_SWO_EX_STATUS 0x1E
186
187 /* SWO transport mode for reading trace data */
188 #define DAP_SWO_TRANSPORT_NONE 0
189 #define DAP_SWO_TRANSPORT_DATA 1
190 #define DAP_SWO_TRANSPORT_WINUSB 2
191
192 /* SWO trace capture mode */
193 #define DAP_SWO_MODE_OFF 0
194 #define DAP_SWO_MODE_UART 1
195 #define DAP_SWO_MODE_MANCHESTER 2
196
197 /* SWO trace data capture */
198 #define DAP_SWO_CONTROL_STOP 0
199 #define DAP_SWO_CONTROL_START 1
200
201 /* SWO trace status */
202 #define DAP_SWO_STATUS_CAPTURE_INACTIVE 0
203 #define DAP_SWO_STATUS_CAPTURE_ACTIVE 1
204 #define DAP_SWO_STATUS_CAPTURE_MASK BIT(0)
205 #define DAP_SWO_STATUS_STREAM_ERROR_MASK BIT(6)
206 #define DAP_SWO_STATUS_BUFFER_OVERRUN_MASK BIT(7)
207
208 /* CMSIS-DAP Vendor Commands
209 * None as yet... */
210
211 static const char * const info_caps_str[INFO_CAPS__NUM_CAPS] = {
212 "SWD supported",
213 "JTAG supported",
214 "SWO-UART supported",
215 "SWO-MANCHESTER supported",
216 "Atomic commands supported",
217 "Test domain timer supported",
218 "SWO streaming trace supported",
219 "UART communication port supported",
220 "UART via USB COM port supported",
221 };
222
223 struct pending_transfer_result {
224 uint8_t cmd;
225 uint32_t data;
226 void *buffer;
227 };
228
229 struct pending_request_block {
230 struct pending_transfer_result *transfers;
231 int transfer_count;
232 };
233
234 struct pending_scan_result {
235 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
236 unsigned first;
237 /** Number of bits to read. */
238 unsigned length;
239 /** Location to store the result */
240 uint8_t *buffer;
241 /** Offset in the destination buffer */
242 unsigned buffer_offset;
243 };
244
245 /* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued
246 * until the first response arrives */
247 #define MAX_PENDING_REQUESTS 3
248
249 /* Pending requests are organized as a FIFO - circular buffer */
250 /* Each block in FIFO can contain up to pending_queue_len transfers */
251 static int pending_queue_len;
252 static struct pending_request_block pending_fifo[MAX_PENDING_REQUESTS];
253 static int pending_fifo_put_idx, pending_fifo_get_idx;
254 static int pending_fifo_block_count;
255
256 /* pointers to buffers that will receive jtag scan results on the next flush */
257 #define MAX_PENDING_SCAN_RESULTS 256
258 static int pending_scan_result_count;
259 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
260
261 /* queued JTAG sequences that will be executed on the next flush */
262 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
263 static int queued_seq_count;
264 static int queued_seq_buf_end;
265 static int queued_seq_tdo_ptr;
266 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
267
268 static int queued_retval;
269
270 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
271
272 static struct cmsis_dap *cmsis_dap_handle;
273
274
275 static int cmsis_dap_quit(void);
276
277 static int cmsis_dap_open(void)
278 {
279 const struct cmsis_dap_backend *backend = NULL;
280
281 struct cmsis_dap *dap = calloc(1, sizeof(struct cmsis_dap));
282 if (!dap) {
283 LOG_ERROR("unable to allocate memory");
284 return ERROR_FAIL;
285 }
286
287 if (cmsis_dap_backend >= 0) {
288 /* Use forced backend */
289 backend = cmsis_dap_backends[cmsis_dap_backend];
290 if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) != ERROR_OK)
291 backend = NULL;
292 } else {
293 /* Try all backends */
294 for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
295 backend = cmsis_dap_backends[i];
296 if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) == ERROR_OK)
297 break;
298 else
299 backend = NULL;
300 }
301 }
302
303 if (!backend) {
304 LOG_ERROR("unable to find a matching CMSIS-DAP device");
305 free(dap);
306 return ERROR_FAIL;
307 }
308
309 dap->backend = backend;
310
311 cmsis_dap_handle = dap;
312
313 return ERROR_OK;
314 }
315
316 static void cmsis_dap_close(struct cmsis_dap *dap)
317 {
318 if (dap->backend) {
319 dap->backend->close(dap);
320 dap->backend = NULL;
321 }
322
323 free(cmsis_dap_handle->packet_buffer);
324 free(cmsis_dap_handle);
325 cmsis_dap_handle = NULL;
326
327 for (int i = 0; i < MAX_PENDING_REQUESTS; i++) {
328 free(pending_fifo[i].transfers);
329 pending_fifo[i].transfers = NULL;
330 }
331 }
332
333 static void cmsis_dap_flush_read(struct cmsis_dap *dap)
334 {
335 unsigned int i;
336 /* Some CMSIS-DAP adapters keep buffered packets over
337 * USB close/open so we need to flush up to 64 old packets
338 * to be sure all buffers are empty */
339 for (i = 0; i < 64; i++) {
340 int retval = dap->backend->read(dap, 10);
341 if (retval == ERROR_TIMEOUT_REACHED)
342 break;
343 }
344 if (i)
345 LOG_DEBUG("Flushed %u packets", i);
346 }
347
348 /* Send a message and receive the reply */
349 static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
350 {
351 if (pending_fifo_block_count) {
352 LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count);
353 while (pending_fifo_block_count) {
354 dap->backend->read(dap, 10);
355 pending_fifo_block_count--;
356 }
357 pending_fifo_put_idx = 0;
358 pending_fifo_get_idx = 0;
359 }
360
361 uint8_t current_cmd = cmsis_dap_handle->command[0];
362 int retval = dap->backend->write(dap, txlen, LIBUSB_TIMEOUT_MS);
363 if (retval < 0)
364 return retval;
365
366 /* get reply */
367 retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS);
368 if (retval < 0)
369 return retval;
370
371 uint8_t *resp = cmsis_dap_handle->response;
372 if (resp[0] == DAP_ERROR) {
373 LOG_ERROR("CMSIS-DAP command 0x%" PRIx8 " not implemented", current_cmd);
374 return ERROR_NOT_IMPLEMENTED;
375 }
376
377 if (resp[0] != current_cmd) {
378 LOG_ERROR("CMSIS-DAP command mismatch. Sent 0x%" PRIx8
379 " received 0x%" PRIx8, current_cmd, resp[0]);
380
381 cmsis_dap_flush_read(dap);
382 return ERROR_FAIL;
383 }
384
385 return ERROR_OK;
386 }
387
388 static int cmsis_dap_cmd_dap_swj_pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
389 {
390 uint8_t *command = cmsis_dap_handle->command;
391
392 command[0] = CMD_DAP_SWJ_PINS;
393 command[1] = pins;
394 command[2] = mask;
395 h_u32_to_le(&command[3], delay);
396
397 int retval = cmsis_dap_xfer(cmsis_dap_handle, 7);
398 if (retval != ERROR_OK) {
399 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
400 return ERROR_JTAG_DEVICE_ERROR;
401 }
402
403 if (input)
404 *input = cmsis_dap_handle->response[1];
405
406 return ERROR_OK;
407 }
408
409 static int cmsis_dap_cmd_dap_swj_clock(uint32_t swj_clock)
410 {
411 uint8_t *command = cmsis_dap_handle->command;
412
413 /* set clock in Hz */
414 swj_clock *= 1000;
415
416 command[0] = CMD_DAP_SWJ_CLOCK;
417 h_u32_to_le(&command[1], swj_clock);
418
419 int retval = cmsis_dap_xfer(cmsis_dap_handle, 5);
420 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
421 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
422 return ERROR_JTAG_DEVICE_ERROR;
423 }
424
425 return ERROR_OK;
426 }
427
428 /* clock a sequence of bits out on TMS, to change JTAG states */
429 static int cmsis_dap_cmd_dap_swj_sequence(uint8_t s_len, const uint8_t *sequence)
430 {
431 uint8_t *command = cmsis_dap_handle->command;
432
433 #ifdef CMSIS_DAP_JTAG_DEBUG
434 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
435 for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
436 printf("%02X ", sequence[i]);
437
438 printf("\n");
439 #endif
440
441 command[0] = CMD_DAP_SWJ_SEQ;
442 command[1] = s_len;
443 bit_copy(&command[2], 0, sequence, 0, s_len);
444
445 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2 + DIV_ROUND_UP(s_len, 8));
446 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK)
447 return ERROR_FAIL;
448
449 return ERROR_OK;
450 }
451
452 static int cmsis_dap_cmd_dap_info(uint8_t info, uint8_t **data)
453 {
454 uint8_t *command = cmsis_dap_handle->command;
455
456 command[0] = CMD_DAP_INFO;
457 command[1] = info;
458
459 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
460 if (retval != ERROR_OK) {
461 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
462 return ERROR_JTAG_DEVICE_ERROR;
463 }
464
465 *data = &cmsis_dap_handle->response[1];
466
467 return ERROR_OK;
468 }
469
470 static int cmsis_dap_cmd_dap_led(uint8_t led, uint8_t state)
471 {
472 uint8_t *command = cmsis_dap_handle->command;
473
474 command[0] = CMD_DAP_LED;
475 command[1] = led;
476 command[2] = state;
477
478 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
479 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
480 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
481 return ERROR_JTAG_DEVICE_ERROR;
482 }
483
484 return ERROR_OK;
485 }
486
487 static int cmsis_dap_cmd_dap_connect(uint8_t mode)
488 {
489 uint8_t *command = cmsis_dap_handle->command;
490
491 command[0] = CMD_DAP_CONNECT;
492 command[1] = mode;
493
494 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
495 if (retval != ERROR_OK) {
496 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
497 return ERROR_JTAG_DEVICE_ERROR;
498 }
499
500 if (cmsis_dap_handle->response[1] != mode) {
501 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
502 return ERROR_JTAG_DEVICE_ERROR;
503 }
504
505 return ERROR_OK;
506 }
507
508 static int cmsis_dap_cmd_dap_disconnect(void)
509 {
510 uint8_t *command = cmsis_dap_handle->command;
511
512 command[0] = CMD_DAP_DISCONNECT;
513
514 int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
515 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
516 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
517 return ERROR_JTAG_DEVICE_ERROR;
518 }
519
520 return ERROR_OK;
521 }
522
523 static int cmsis_dap_cmd_dap_tfer_configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
524 {
525 uint8_t *command = cmsis_dap_handle->command;
526
527 command[0] = CMD_DAP_TFER_CONFIGURE;
528 command[1] = idle;
529 h_u16_to_le(&command[2], retry_count);
530 h_u16_to_le(&command[4], match_retry);
531
532 int retval = cmsis_dap_xfer(cmsis_dap_handle, 6);
533 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
534 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
535 return ERROR_JTAG_DEVICE_ERROR;
536 }
537
538 return ERROR_OK;
539 }
540
541 static int cmsis_dap_cmd_dap_swd_configure(uint8_t cfg)
542 {
543 uint8_t *command = cmsis_dap_handle->command;
544
545 command[0] = CMD_DAP_SWD_CONFIGURE;
546 command[1] = cfg;
547
548 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
549 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
550 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
551 return ERROR_JTAG_DEVICE_ERROR;
552 }
553
554 return ERROR_OK;
555 }
556
557 #if 0
558 static int cmsis_dap_cmd_dap_delay(uint16_t delay_us)
559 {
560 uint8_t *command = cmsis_dap_handle->command;
561
562 command[0] = CMD_DAP_DELAY;
563 h_u16_to_le(&command[1], delay_us);
564
565 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
566 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
567 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
568 return ERROR_JTAG_DEVICE_ERROR;
569 }
570
571 return ERROR_OK;
572 }
573 #endif
574
575 static int cmsis_dap_metacmd_targetsel(uint32_t instance_id)
576 {
577 uint8_t *command = cmsis_dap_handle->command;
578 const uint32_t SEQ_RD = 0x80, SEQ_WR = 0x00;
579
580 /* SWD multi-drop requires a transfer ala CMD_DAP_TFER,
581 but with no expectation of an SWD ACK response. In
582 CMSIS-DAP v1.20 and v2.00, CMD_DAP_SWD_SEQUENCE was
583 added to allow this special sequence to be generated.
584 The purpose of this operation is to select the target
585 corresponding to the instance_id that is written */
586
587 size_t idx = 0;
588 command[idx++] = CMD_DAP_SWD_SEQUENCE;
589 command[idx++] = 3; /* sequence count */
590
591 /* sequence 0: packet request for TARGETSEL */
592 command[idx++] = SEQ_WR | 8;
593 command[idx++] = SWD_CMD_START | swd_cmd(false, false, DP_TARGETSEL) | SWD_CMD_STOP | SWD_CMD_PARK;
594
595 /* sequence 1: read Trn ACK Trn, no expectation for target to ACK */
596 command[idx++] = SEQ_RD | 5;
597
598 /* sequence 2: WDATA plus parity */
599 command[idx++] = SEQ_WR | (32 + 1);
600 h_u32_to_le(command + idx, instance_id);
601 idx += 4;
602 command[idx++] = parity_u32(instance_id);
603
604 int retval = cmsis_dap_xfer(cmsis_dap_handle, idx);
605 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
606 LOG_ERROR("CMSIS-DAP command SWD_Sequence failed.");
607 return ERROR_JTAG_DEVICE_ERROR;
608 }
609
610 return ERROR_OK;
611 }
612
613 /**
614 * Sets the SWO transport mode.
615 * @param[in] transport The transport mode. Can be None, SWO_Data or
616 * WinUSB (requires CMSIS-DAP v2).
617 */
618 static int cmsis_dap_cmd_dap_swo_transport(uint8_t transport)
619 {
620 uint8_t *command = cmsis_dap_handle->command;
621
622 command[0] = CMD_DAP_SWO_TRANSPORT;
623 command[1] = transport;
624
625 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
626 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
627 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Transport(%d) failed.", transport);
628 return ERROR_JTAG_DEVICE_ERROR;
629 }
630
631 return ERROR_OK;
632 }
633
634 /**
635 * Sets the SWO trace capture mode.
636 * @param[in] mode Trace capture mode. Can be UART or MANCHESTER.
637 */
638 static int cmsis_dap_cmd_dap_swo_mode(uint8_t mode)
639 {
640 uint8_t *command = cmsis_dap_handle->command;
641
642 command[0] = CMD_DAP_SWO_MODE;
643 command[1] = mode;
644
645 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
646 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
647 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Mode(%d) failed.", mode);
648 return ERROR_JTAG_DEVICE_ERROR;
649 }
650
651 return ERROR_OK;
652 }
653
654 /**
655 * Sets the baudrate for capturing SWO trace data.
656 * Can be called iteratively to determine supported baudrates.
657 * @param[in] in_baudrate Requested baudrate.
658 * @param[out] dev_baudrate Actual baudrate or 0 (baudrate not configured).
659 * When requested baudrate is not achievable the
660 * closest configured baudrate can be returned or
661 * 0 which indicates that baudrate was not configured.
662 */
663 static int cmsis_dap_cmd_dap_swo_baudrate(
664 uint32_t in_baudrate,
665 uint32_t *dev_baudrate)
666 {
667 uint8_t *command = cmsis_dap_handle->command;
668
669 command[0] = CMD_DAP_SWO_BAUDRATE;
670 h_u32_to_le(&command[1], in_baudrate);
671
672 int retval = cmsis_dap_xfer(cmsis_dap_handle, 4);
673 uint32_t rvbr = le_to_h_u32(&cmsis_dap_handle->response[1]);
674 if (retval != ERROR_OK || rvbr == 0) {
675 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Baudrate(%u) -> %u failed.", in_baudrate, rvbr);
676 if (dev_baudrate)
677 *dev_baudrate = 0;
678 return ERROR_JTAG_DEVICE_ERROR;
679 }
680
681 if (dev_baudrate)
682 *dev_baudrate = rvbr;
683
684 return ERROR_OK;
685 }
686
687 /**
688 * Controls the SWO trace data capture.
689 * @param[in] control Start or stop a trace. Starting capture automatically
690 * flushes any existing trace data in buffers which has
691 * not yet been read.
692 */
693 static int cmsis_dap_cmd_dap_swo_control(uint8_t control)
694 {
695 uint8_t *command = cmsis_dap_handle->command;
696
697 command[0] = CMD_DAP_SWO_CONTROL;
698 command[1] = control;
699
700 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
701 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
702 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Control(%d) failed.", control);
703 return ERROR_JTAG_DEVICE_ERROR;
704 }
705
706 return ERROR_OK;
707 }
708
709 /**
710 * Reads the SWO trace status.
711 * @param[out] trace_status The trace's status.
712 * Bit0: Trace Capture (1 - active, 0 - inactive).
713 * Bit6: Trace Stream Error.
714 * Bit7: Trace Buffer Overrun.
715 * @param[out] trace_count Number of bytes in Trace Buffer (not yet read).
716 */
717 static int cmsis_dap_cmd_dap_swo_status(
718 uint8_t *trace_status,
719 size_t *trace_count)
720 {
721 uint8_t *command = cmsis_dap_handle->command;
722
723 command[0] = CMD_DAP_SWO_STATUS;
724
725 int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
726 if (retval != ERROR_OK) {
727 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Status failed.");
728 return ERROR_JTAG_DEVICE_ERROR;
729 }
730
731 if (trace_status)
732 *trace_status = cmsis_dap_handle->response[1];
733 if (trace_count)
734 *trace_count = le_to_h_u32(&cmsis_dap_handle->response[2]);
735
736 return ERROR_OK;
737 }
738
739 /**
740 * Reads the captured SWO trace data from Trace Buffer.
741 * @param[in] max_trace_count Maximum number of Trace Data bytes to read.
742 * @param[out] trace_status The trace's status.
743 * @param[out] trace_count Number of Trace Data bytes read.
744 * @param[out] data Trace Data bytes read.
745 */
746 static int cmsis_dap_cmd_dap_swo_data(
747 size_t max_trace_count,
748 uint8_t *trace_status,
749 size_t *trace_count,
750 uint8_t *data)
751 {
752 uint8_t *command = cmsis_dap_handle->command;
753
754 command[0] = CMD_DAP_SWO_DATA;
755 h_u16_to_le(&command[1], max_trace_count);
756
757 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
758 if (retval != ERROR_OK) {
759 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Data failed.");
760 return ERROR_JTAG_DEVICE_ERROR;
761 }
762
763 *trace_status = cmsis_dap_handle->response[1];
764 *trace_count = le_to_h_u16(&cmsis_dap_handle->response[2]);
765
766 if (*trace_count > 0)
767 memcpy(data, &cmsis_dap_handle->response[4], *trace_count);
768
769 return ERROR_OK;
770 }
771
772 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
773 {
774 uint8_t *command = cmsis_dap_handle->command;
775 struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
776
777 LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx);
778
779 if (queued_retval != ERROR_OK) {
780 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
781 goto skip;
782 }
783
784 if (block->transfer_count == 0)
785 goto skip;
786
787 command[0] = CMD_DAP_TFER;
788 command[1] = 0x00; /* DAP Index */
789 command[2] = block->transfer_count;
790 size_t idx = 3;
791
792 for (int i = 0; i < block->transfer_count; i++) {
793 struct pending_transfer_result *transfer = &(block->transfers[i]);
794 uint8_t cmd = transfer->cmd;
795 uint32_t data = transfer->data;
796
797 LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
798 cmd & SWD_CMD_APNDP ? "AP" : "DP",
799 cmd & SWD_CMD_RNW ? "read" : "write",
800 (cmd & SWD_CMD_A32) >> 1, data);
801
802 /* When proper WAIT handling is implemented in the
803 * common SWD framework, this kludge can be
804 * removed. However, this might lead to minor
805 * performance degradation as the adapter wouldn't be
806 * able to automatically retry anything (because ARM
807 * has forgotten to implement sticky error flags
808 * clearing). See also comments regarding
809 * cmsis_dap_cmd_dap_tfer_configure() and
810 * cmsis_dap_cmd_dap_swd_configure() in
811 * cmsis_dap_init().
812 */
813 if (!(cmd & SWD_CMD_RNW) &&
814 !(cmd & SWD_CMD_APNDP) &&
815 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
816 (data & CORUNDETECT)) {
817 LOG_DEBUG("refusing to enable sticky overrun detection");
818 data &= ~CORUNDETECT;
819 }
820
821 command[idx++] = (cmd >> 1) & 0x0f;
822 if (!(cmd & SWD_CMD_RNW)) {
823 h_u32_to_le(&command[idx], data);
824 idx += 4;
825 }
826 }
827
828 int retval = dap->backend->write(dap, idx, LIBUSB_TIMEOUT_MS);
829 if (retval < 0) {
830 queued_retval = retval;
831 goto skip;
832 } else {
833 queued_retval = ERROR_OK;
834 }
835
836 pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count;
837 pending_fifo_block_count++;
838 if (pending_fifo_block_count > dap->packet_count)
839 LOG_ERROR("too much pending writes %d", pending_fifo_block_count);
840
841 return;
842
843 skip:
844 block->transfer_count = 0;
845 }
846
847 static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
848 {
849 struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx];
850
851 if (pending_fifo_block_count == 0)
852 LOG_ERROR("no pending write");
853
854 /* get reply */
855 int retval = dap->backend->read(dap, timeout_ms);
856 if (retval == ERROR_TIMEOUT_REACHED && timeout_ms < LIBUSB_TIMEOUT_MS)
857 return;
858
859 if (retval <= 0) {
860 LOG_DEBUG("error reading data");
861 queued_retval = ERROR_FAIL;
862 goto skip;
863 }
864
865 uint8_t *resp = dap->response;
866 if (resp[0] != CMD_DAP_TFER) {
867 LOG_ERROR("CMSIS-DAP command mismatch. Expected 0x%x received 0x%" PRIx8,
868 CMD_DAP_TFER, resp[0]);
869 queued_retval = ERROR_FAIL;
870 goto skip;
871 }
872
873 uint8_t transfer_count = resp[1];
874 uint8_t ack = resp[2] & 0x07;
875 if (resp[2] & 0x08) {
876 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", transfer_count);
877 queued_retval = ERROR_FAIL;
878 goto skip;
879 }
880 if (ack != SWD_ACK_OK) {
881 LOG_DEBUG("SWD ack not OK @ %d %s", transfer_count,
882 ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
883 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
884 /* TODO: use results of transfers completed before the error occurred? */
885 goto skip;
886 }
887
888 if (block->transfer_count != transfer_count)
889 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
890 block->transfer_count, transfer_count);
891
892 LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d",
893 transfer_count, pending_fifo_get_idx);
894 size_t idx = 3;
895 for (int i = 0; i < transfer_count; i++) {
896 struct pending_transfer_result *transfer = &(block->transfers[i]);
897 if (transfer->cmd & SWD_CMD_RNW) {
898 static uint32_t last_read;
899 uint32_t data = le_to_h_u32(&resp[idx]);
900 uint32_t tmp = data;
901 idx += 4;
902
903 LOG_DEBUG_IO("Read result: %"PRIx32, data);
904
905 /* Imitate posted AP reads */
906 if ((transfer->cmd & SWD_CMD_APNDP) ||
907 ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
908 tmp = last_read;
909 last_read = data;
910 }
911
912 if (transfer->buffer)
913 *(uint32_t *)(transfer->buffer) = tmp;
914 }
915 }
916
917 skip:
918 block->transfer_count = 0;
919 pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count;
920 pending_fifo_block_count--;
921 }
922
923 static int cmsis_dap_swd_run_queue(void)
924 {
925 if (pending_fifo_block_count)
926 cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
927
928 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
929
930 while (pending_fifo_block_count)
931 cmsis_dap_swd_read_process(cmsis_dap_handle, LIBUSB_TIMEOUT_MS);
932
933 pending_fifo_put_idx = 0;
934 pending_fifo_get_idx = 0;
935
936 int retval = queued_retval;
937 queued_retval = ERROR_OK;
938
939 return retval;
940 }
941
942 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
943 {
944 bool targetsel_cmd = swd_cmd(false, false, DP_TARGETSEL) == cmd;
945
946 if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len
947 || targetsel_cmd) {
948 if (pending_fifo_block_count)
949 cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
950
951 /* Not enough room in the queue. Run the queue. */
952 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
953
954 if (pending_fifo_block_count >= cmsis_dap_handle->packet_count)
955 cmsis_dap_swd_read_process(cmsis_dap_handle, LIBUSB_TIMEOUT_MS);
956 }
957
958 if (queued_retval != ERROR_OK)
959 return;
960
961 if (targetsel_cmd) {
962 cmsis_dap_metacmd_targetsel(data);
963 return;
964 }
965
966 struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
967 struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
968 transfer->data = data;
969 transfer->cmd = cmd;
970 if (cmd & SWD_CMD_RNW) {
971 /* Queue a read transaction */
972 transfer->buffer = dst;
973 }
974 block->transfer_count++;
975 }
976
977 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
978 {
979 assert(!(cmd & SWD_CMD_RNW));
980 cmsis_dap_swd_queue_cmd(cmd, NULL, value);
981 }
982
983 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
984 {
985 assert(cmd & SWD_CMD_RNW);
986 cmsis_dap_swd_queue_cmd(cmd, value, 0);
987 }
988
989 static int cmsis_dap_get_serial_info(void)
990 {
991 uint8_t *data;
992
993 int retval = cmsis_dap_cmd_dap_info(INFO_ID_SERNUM, &data);
994 if (retval != ERROR_OK)
995 return retval;
996
997 if (data[0]) /* strlen */
998 LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
999
1000 return ERROR_OK;
1001 }
1002
1003 static int cmsis_dap_get_version_info(void)
1004 {
1005 uint8_t *data;
1006
1007 /* INFO_ID_FW_VER - string */
1008 int retval = cmsis_dap_cmd_dap_info(INFO_ID_FW_VER, &data);
1009 if (retval != ERROR_OK)
1010 return retval;
1011
1012 if (data[0]) /* strlen */
1013 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
1014
1015 return ERROR_OK;
1016 }
1017
1018 static int cmsis_dap_get_caps_info(void)
1019 {
1020 uint8_t *data;
1021
1022 /* INFO_ID_CAPS - byte */
1023 int retval = cmsis_dap_cmd_dap_info(INFO_ID_CAPS, &data);
1024 if (retval != ERROR_OK)
1025 return retval;
1026
1027 if (data[0] == 1 || data[0] == 2) {
1028 uint16_t caps = data[1];
1029 if (data[0] == 2)
1030 caps |= (uint16_t)data[2] << 8;
1031
1032 cmsis_dap_handle->caps = caps;
1033
1034 for (int i = 0; i < INFO_CAPS__NUM_CAPS; ++i) {
1035 if (caps & BIT(i))
1036 LOG_INFO("CMSIS-DAP: %s", info_caps_str[i]);
1037 }
1038 }
1039
1040 return ERROR_OK;
1041 }
1042
1043 static int cmsis_dap_get_swo_buf_sz(uint32_t *swo_buf_sz)
1044 {
1045 uint8_t *data;
1046
1047 /* INFO_ID_SWO_BUF_SZ - word */
1048 int retval = cmsis_dap_cmd_dap_info(INFO_ID_SWO_BUF_SZ, &data);
1049 if (retval != ERROR_OK)
1050 return retval;
1051
1052 if (data[0] != 4)
1053 return ERROR_FAIL;
1054
1055 *swo_buf_sz = le_to_h_u32(&data[1]);
1056
1057 LOG_INFO("CMSIS-DAP: SWO Trace Buffer Size = %u bytes", *swo_buf_sz);
1058
1059 return ERROR_OK;
1060 }
1061
1062 static int cmsis_dap_get_status(void)
1063 {
1064 uint8_t d;
1065
1066 int retval = cmsis_dap_cmd_dap_swj_pins(0, 0, 0, &d);
1067
1068 if (retval == ERROR_OK) {
1069 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
1070 (d & SWJ_PIN_TCK) ? 1 : 0,
1071 (d & SWJ_PIN_TMS) ? 1 : 0,
1072 (d & SWJ_PIN_TDI) ? 1 : 0,
1073 (d & SWJ_PIN_TDO) ? 1 : 0,
1074 (d & SWJ_PIN_TRST) ? 1 : 0,
1075 (d & SWJ_PIN_SRST) ? 1 : 0);
1076 }
1077
1078 return retval;
1079 }
1080
1081 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
1082 {
1083 const uint8_t *s;
1084 unsigned int s_len;
1085 int retval;
1086
1087 if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
1088 /* Following workaround deasserts reset on most adapters.
1089 * Do not reconnect if a reset line is active!
1090 * Reconnecting would break connecting under reset. */
1091
1092 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
1093 cmsis_dap_cmd_dap_disconnect();
1094
1095 /* When we are reconnecting, DAP_Connect needs to be rerun, at
1096 * least on Keil ULINK-ME */
1097 retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1098 if (retval != ERROR_OK)
1099 return retval;
1100 }
1101
1102 switch (seq) {
1103 case LINE_RESET:
1104 LOG_DEBUG_IO("SWD line reset");
1105 s = swd_seq_line_reset;
1106 s_len = swd_seq_line_reset_len;
1107 break;
1108 case JTAG_TO_SWD:
1109 LOG_DEBUG("JTAG-to-SWD");
1110 s = swd_seq_jtag_to_swd;
1111 s_len = swd_seq_jtag_to_swd_len;
1112 break;
1113 case JTAG_TO_DORMANT:
1114 LOG_DEBUG("JTAG-to-DORMANT");
1115 s = swd_seq_jtag_to_dormant;
1116 s_len = swd_seq_jtag_to_dormant_len;
1117 break;
1118 case SWD_TO_JTAG:
1119 LOG_DEBUG("SWD-to-JTAG");
1120 s = swd_seq_swd_to_jtag;
1121 s_len = swd_seq_swd_to_jtag_len;
1122 break;
1123 case SWD_TO_DORMANT:
1124 LOG_DEBUG("SWD-to-DORMANT");
1125 s = swd_seq_swd_to_dormant;
1126 s_len = swd_seq_swd_to_dormant_len;
1127 break;
1128 case DORMANT_TO_SWD:
1129 LOG_DEBUG("DORMANT-to-SWD");
1130 s = swd_seq_dormant_to_swd;
1131 s_len = swd_seq_dormant_to_swd_len;
1132 break;
1133 case DORMANT_TO_JTAG:
1134 LOG_DEBUG("DORMANT-to-JTAG");
1135 s = swd_seq_dormant_to_jtag;
1136 s_len = swd_seq_dormant_to_jtag_len;
1137 break;
1138 default:
1139 LOG_ERROR("Sequence %d not supported", seq);
1140 return ERROR_FAIL;
1141 }
1142
1143 retval = cmsis_dap_cmd_dap_swj_sequence(s_len, s);
1144 if (retval != ERROR_OK)
1145 return retval;
1146
1147 /* Atmel EDBG needs renew clock setting after SWJ_Sequence
1148 * otherwise default frequency is used */
1149 return cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1150 }
1151
1152 static int cmsis_dap_swd_open(void)
1153 {
1154 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
1155 LOG_ERROR("CMSIS-DAP: SWD not supported");
1156 return ERROR_JTAG_DEVICE_ERROR;
1157 }
1158
1159 int retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1160 if (retval != ERROR_OK)
1161 return retval;
1162
1163 /* Add more setup here.??... */
1164
1165 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
1166 return ERROR_OK;
1167 }
1168
1169 static int cmsis_dap_init(void)
1170 {
1171 uint8_t *data;
1172
1173 int retval = cmsis_dap_open();
1174 if (retval != ERROR_OK)
1175 return retval;
1176
1177 cmsis_dap_flush_read(cmsis_dap_handle);
1178
1179 retval = cmsis_dap_get_caps_info();
1180 if (retval != ERROR_OK)
1181 return retval;
1182
1183 retval = cmsis_dap_get_version_info();
1184 if (retval != ERROR_OK)
1185 return retval;
1186
1187 retval = cmsis_dap_get_serial_info();
1188 if (retval != ERROR_OK)
1189 return retval;
1190
1191 if (swd_mode) {
1192 retval = cmsis_dap_swd_open();
1193 if (retval != ERROR_OK)
1194 return retval;
1195 } else {
1196 /* Connect in JTAG mode */
1197 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
1198 LOG_ERROR("CMSIS-DAP: JTAG not supported");
1199 return ERROR_JTAG_DEVICE_ERROR;
1200 }
1201
1202 retval = cmsis_dap_cmd_dap_connect(CONNECT_JTAG);
1203 if (retval != ERROR_OK)
1204 return retval;
1205
1206 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
1207 }
1208
1209 /* Be conservative and suppress submitting multiple HID requests
1210 * until we get packet count info from the adaptor */
1211 cmsis_dap_handle->packet_count = 1;
1212 pending_queue_len = 12;
1213
1214 /* INFO_ID_PKT_SZ - short */
1215 retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_SZ, &data);
1216 if (retval != ERROR_OK)
1217 goto init_err;
1218
1219 if (data[0] == 2) { /* short */
1220 uint16_t pkt_sz = data[1] + (data[2] << 8);
1221 if (pkt_sz != cmsis_dap_handle->packet_size) {
1222
1223 /* 4 bytes of command header + 5 bytes per register
1224 * write. For bulk read sequences just 4 bytes are
1225 * needed per transfer, so this is suboptimal. */
1226 pending_queue_len = (pkt_sz - 4) / 5;
1227
1228 free(cmsis_dap_handle->packet_buffer);
1229 retval = cmsis_dap_handle->backend->packet_buffer_alloc(cmsis_dap_handle, pkt_sz);
1230 if (retval != ERROR_OK)
1231 goto init_err;
1232
1233 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRIu16, pkt_sz);
1234 }
1235 }
1236
1237 /* INFO_ID_PKT_CNT - byte */
1238 retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_CNT, &data);
1239 if (retval != ERROR_OK)
1240 goto init_err;
1241
1242 if (data[0] == 1) { /* byte */
1243 int pkt_cnt = data[1];
1244 if (pkt_cnt > 1)
1245 cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
1246
1247 LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt);
1248 }
1249
1250 LOG_DEBUG("Allocating FIFO for %d pending packets", cmsis_dap_handle->packet_count);
1251 for (int i = 0; i < cmsis_dap_handle->packet_count; i++) {
1252 pending_fifo[i].transfers = malloc(pending_queue_len * sizeof(struct pending_transfer_result));
1253 if (!pending_fifo[i].transfers) {
1254 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
1255 retval = ERROR_FAIL;
1256 goto init_err;
1257 }
1258 }
1259
1260 /* Intentionally not checked for error, just logs an info message
1261 * not vital for further debugging */
1262 (void)cmsis_dap_get_status();
1263
1264 /* Now try to connect to the target
1265 * TODO: This is all SWD only @ present */
1266 retval = cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1267 if (retval != ERROR_OK)
1268 goto init_err;
1269
1270 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
1271 * up to 64 times. This must be changed to 0 if sticky
1272 * overrun detection is enabled. */
1273 retval = cmsis_dap_cmd_dap_tfer_configure(0, 64, 0);
1274 if (retval != ERROR_OK)
1275 goto init_err;
1276
1277 if (swd_mode) {
1278 /* Data Phase (bit 2) must be set to 1 if sticky overrun
1279 * detection is enabled */
1280 retval = cmsis_dap_cmd_dap_swd_configure(0); /* 1 TRN, no Data Phase */
1281 if (retval != ERROR_OK)
1282 goto init_err;
1283 }
1284 /* Both LEDs on */
1285 /* Intentionally not checked for error, debugging will work
1286 * without LEDs */
1287 (void)cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_ON);
1288 (void)cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_ON);
1289
1290 /* support connecting with srst asserted */
1291 enum reset_types jtag_reset_config = jtag_get_reset_config();
1292
1293 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
1294 if (jtag_reset_config & RESET_SRST_NO_GATING) {
1295 retval = cmsis_dap_cmd_dap_swj_pins(0, SWJ_PIN_SRST, 0, NULL);
1296 if (retval != ERROR_OK)
1297 goto init_err;
1298 LOG_INFO("Connecting under reset");
1299 }
1300 }
1301 LOG_INFO("CMSIS-DAP: Interface ready");
1302 return ERROR_OK;
1303
1304 init_err:
1305 cmsis_dap_quit();
1306 return retval;
1307 }
1308
1309 static int cmsis_dap_swd_init(void)
1310 {
1311 swd_mode = true;
1312 return ERROR_OK;
1313 }
1314
1315 static int cmsis_dap_quit(void)
1316 {
1317 cmsis_dap_cmd_dap_disconnect();
1318
1319 /* Both LEDs off */
1320 cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_OFF);
1321 cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_OFF);
1322
1323 cmsis_dap_close(cmsis_dap_handle);
1324
1325 return ERROR_OK;
1326 }
1327
1328 static int cmsis_dap_reset(int trst, int srst)
1329 {
1330 /* Set both TRST and SRST even if they're not enabled as
1331 * there's no way to tristate them */
1332
1333 output_pins = 0;
1334 if (!srst)
1335 output_pins |= SWJ_PIN_SRST;
1336 if (!trst)
1337 output_pins |= SWJ_PIN_TRST;
1338
1339 int retval = cmsis_dap_cmd_dap_swj_pins(output_pins,
1340 SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1341 if (retval != ERROR_OK)
1342 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1343 return retval;
1344 }
1345
1346 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1347 {
1348 #if 0
1349 int retval = cmsis_dap_cmd_dap_delay(cmd->cmd.sleep->us);
1350 if (retval != ERROR_OK)
1351 #endif
1352 jtag_sleep(cmd->cmd.sleep->us);
1353 }
1354
1355 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1356 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1357 {
1358 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1359 uint8_t seq = 0xff;
1360
1361 int retval = cmsis_dap_cmd_dap_swj_sequence(8, &seq);
1362 if (retval == ERROR_OK)
1363 tap_set_state(TAP_RESET);
1364 return retval;
1365 }
1366
1367 /* Set new end state */
1368 static void cmsis_dap_end_state(tap_state_t state)
1369 {
1370 if (tap_is_state_stable(state))
1371 tap_set_end_state(state);
1372 else {
1373 LOG_ERROR("BUG: %i is not a valid end state", state);
1374 exit(-1);
1375 }
1376 }
1377
1378 #ifdef SPRINT_BINARY
1379 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1380 {
1381 if (!len)
1382 return;
1383
1384 /*
1385 buf = { 0x18 } len=5 should result in: 11000
1386 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1387 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1388 i=3 there means i/8 = 0 so c = 0xFF, and
1389 */
1390 for (int i = offset; i < offset + len; ++i) {
1391 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1392 if ((i != offset) && !(i % 8))
1393 putchar(' ');
1394 *s++ = (c & mask) ? '1' : '0';
1395 }
1396 *s = 0;
1397 }
1398 #endif
1399
1400 #ifdef CMSIS_DAP_JTAG_DEBUG
1401 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1402 {
1403 /* cmd is a usb packet to go to the cmsis-dap interface */
1404 printf("cmsis-dap buffer (%d b): ", cmdlen);
1405 for (int i = 0; i < cmdlen; ++i)
1406 printf(" %02x", cmd[i]);
1407 printf("\n");
1408 switch (cmd[1]) {
1409 case CMD_DAP_JTAG_SEQ: {
1410 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
1411 /*
1412 * #2 = number of sequences
1413 * #3 = sequence info 1
1414 * #4...4+n_bytes-1 = sequence 1
1415 * #4+n_bytes = sequence info 2
1416 * #5+n_bytes = sequence 2 (single bit)
1417 */
1418 int pos = 3;
1419 for (int seq = 0; seq < cmd[2]; ++seq) {
1420 uint8_t info = cmd[pos++];
1421 int len = info & DAP_JTAG_SEQ_TCK;
1422 if (len == 0)
1423 len = 64;
1424 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1425 seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1426 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1427 printf(" %02x", cmd[pos+i]);
1428 pos += DIV_ROUND_UP(len, 8);
1429 printf("\n");
1430 }
1431 if (pos != cmdlen) {
1432 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1433 exit(-1);
1434 }
1435
1436 break;
1437 }
1438 default:
1439 LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1440 break;
1441 }
1442 }
1443 #endif
1444
1445 static void cmsis_dap_flush(void)
1446 {
1447 if (!queued_seq_count)
1448 return;
1449
1450 LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1451 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1452
1453 /* prepare CMSIS-DAP packet */
1454 uint8_t *command = cmsis_dap_handle->command;
1455 command[0] = CMD_DAP_JTAG_SEQ;
1456 command[1] = queued_seq_count;
1457 memcpy(&command[2], queued_seq_buf, queued_seq_buf_end);
1458
1459 #ifdef CMSIS_DAP_JTAG_DEBUG
1460 debug_parse_cmsis_buf(command, queued_seq_buf_end + 2);
1461 #endif
1462
1463 /* send command to USB device */
1464 int retval = cmsis_dap_xfer(cmsis_dap_handle, queued_seq_buf_end + 2);
1465
1466 uint8_t *resp = cmsis_dap_handle->response;
1467 if (retval != ERROR_OK || resp[1] != DAP_OK) {
1468 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1469 exit(-1);
1470 }
1471
1472 #ifdef CMSIS_DAP_JTAG_DEBUG
1473 LOG_DEBUG_IO("USB response buf:");
1474 for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1475 printf("%02X ", resp[c]);
1476 printf("\n");
1477 #endif
1478
1479 /* copy scan results into client buffers */
1480 for (int i = 0; i < pending_scan_result_count; ++i) {
1481 struct pending_scan_result *scan = &pending_scan_results[i];
1482 LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1483 i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1484 #ifdef CMSIS_DAP_JTAG_DEBUG
1485 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1486 printf("%02X ", resp[2+scan->first+b]);
1487 printf("\n");
1488 #endif
1489 bit_copy(scan->buffer, scan->buffer_offset, &resp[2 + scan->first], 0, scan->length);
1490 }
1491
1492 /* reset */
1493 queued_seq_count = 0;
1494 queued_seq_buf_end = 0;
1495 queued_seq_tdo_ptr = 0;
1496 pending_scan_result_count = 0;
1497 }
1498
1499 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1500 *
1501 * sequence=NULL means clock out zeros on TDI
1502 * tdo_buffer=NULL means don't capture TDO
1503 */
1504 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1505 bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1506 {
1507 LOG_DEBUG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1508 queued_seq_buf_end,
1509 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1510
1511 if (s_len == 0)
1512 return;
1513
1514 if (s_len > 64) {
1515 LOG_DEBUG_IO("START JTAG SEQ SPLIT");
1516 for (int offset = 0; offset < s_len; offset += 64) {
1517 int len = s_len - offset;
1518 if (len > 64)
1519 len = 64;
1520 LOG_DEBUG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1521 cmsis_dap_add_jtag_sequence(
1522 len,
1523 sequence,
1524 s_offset + offset,
1525 tms,
1526 tdo_buffer,
1527 !tdo_buffer ? 0 : (tdo_buffer_offset + offset)
1528 );
1529 }
1530 LOG_DEBUG_IO("END JTAG SEQ SPLIT");
1531 return;
1532 }
1533
1534 int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1535 if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1536 /* empty out the buffer */
1537 cmsis_dap_flush();
1538
1539 ++queued_seq_count;
1540
1541 /* control byte */
1542 queued_seq_buf[queued_seq_buf_end] =
1543 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1544 (tdo_buffer ? DAP_JTAG_SEQ_TDO : 0) |
1545 (s_len == 64 ? 0 : s_len);
1546
1547 if (sequence)
1548 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1549 else
1550 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1551
1552 queued_seq_buf_end += cmd_len;
1553
1554 if (tdo_buffer) {
1555 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1556 scan->first = queued_seq_tdo_ptr;
1557 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1558 scan->length = s_len;
1559 scan->buffer = tdo_buffer;
1560 scan->buffer_offset = tdo_buffer_offset;
1561 }
1562 }
1563
1564 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1565 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1566 {
1567 LOG_DEBUG_IO("%d bits: %02X", s_len, *sequence);
1568 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1569 because even though it seems ridiculously inefficient, it
1570 allows us to combine TMS and scan sequences into the same
1571 USB packet. */
1572 /* TODO: combine runs of the same tms value */
1573 for (int i = 0; i < s_len; ++i) {
1574 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1575 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1576 }
1577 }
1578
1579 /* Move to the end state by queuing a sequence to clock into TMS */
1580 static void cmsis_dap_state_move(void)
1581 {
1582 uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1583 uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1584
1585 LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms",
1586 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1587 tms_scan_bits, tms_scan);
1588 cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1589
1590 tap_set_state(tap_get_end_state());
1591 }
1592
1593
1594 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1595 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1596 {
1597 LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1598 jtag_scan_type(cmd->cmd.scan));
1599
1600 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1601 while (cmd->cmd.scan->num_fields > 0
1602 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1603 cmd->cmd.scan->num_fields--;
1604 LOG_DEBUG("discarding trailing empty field");
1605 }
1606
1607 if (cmd->cmd.scan->num_fields == 0) {
1608 LOG_DEBUG("empty scan, doing nothing");
1609 return;
1610 }
1611
1612 if (cmd->cmd.scan->ir_scan) {
1613 if (tap_get_state() != TAP_IRSHIFT) {
1614 cmsis_dap_end_state(TAP_IRSHIFT);
1615 cmsis_dap_state_move();
1616 }
1617 } else {
1618 if (tap_get_state() != TAP_DRSHIFT) {
1619 cmsis_dap_end_state(TAP_DRSHIFT);
1620 cmsis_dap_state_move();
1621 }
1622 }
1623
1624 cmsis_dap_end_state(cmd->cmd.scan->end_state);
1625
1626 struct scan_field *field = cmd->cmd.scan->fields;
1627 unsigned scan_size = 0;
1628
1629 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1630 scan_size += field->num_bits;
1631 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
1632 field->in_value ? "in" : "",
1633 field->out_value ? "out" : "",
1634 i,
1635 cmd->cmd.scan->num_fields,
1636 field->num_bits);
1637
1638 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1639 LOG_DEBUG_IO("Last field and have to move out of SHIFT state");
1640 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1641 * movement. This last field can't have length zero, it was checked above. */
1642 cmsis_dap_add_jtag_sequence(
1643 field->num_bits - 1, /* number of bits to clock */
1644 field->out_value, /* output sequence */
1645 0, /* output offset */
1646 false, /* TMS low */
1647 field->in_value,
1648 0);
1649
1650 /* Clock the last bit out, with TMS high */
1651 uint8_t last_bit = 0;
1652 if (field->out_value)
1653 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1654 cmsis_dap_add_jtag_sequence(
1655 1,
1656 &last_bit,
1657 0,
1658 true,
1659 field->in_value,
1660 field->num_bits - 1);
1661 tap_set_state(tap_state_transition(tap_get_state(), 1));
1662
1663 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1664 cmsis_dap_add_jtag_sequence(
1665 1,
1666 &last_bit,
1667 0,
1668 false,
1669 NULL,
1670 0);
1671 tap_set_state(tap_state_transition(tap_get_state(), 0));
1672 } else {
1673 LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards");
1674 /* Clocking part of a sequence into DR or IR with TMS=0,
1675 leaving TMS=0 at the end so we can continue later */
1676 cmsis_dap_add_jtag_sequence(
1677 field->num_bits,
1678 field->out_value,
1679 0,
1680 false,
1681 field->in_value,
1682 0);
1683 }
1684 }
1685
1686 if (tap_get_state() != tap_get_end_state()) {
1687 cmsis_dap_end_state(tap_get_end_state());
1688 cmsis_dap_state_move();
1689 }
1690
1691 LOG_DEBUG_IO("%s scan, %i bits, end in %s",
1692 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1693 tap_state_name(tap_get_end_state()));
1694 }
1695
1696 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1697 {
1698 uint8_t tms0 = 0x00;
1699 uint8_t tms1 = 0xff;
1700
1701 for (int i = 0; i < num_states; i++) {
1702 if (path[i] == tap_state_transition(tap_get_state(), false))
1703 cmsis_dap_add_tms_sequence(&tms0, 1);
1704 else if (path[i] == tap_state_transition(tap_get_state(), true))
1705 cmsis_dap_add_tms_sequence(&tms1, 1);
1706 else {
1707 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1708 tap_state_name(tap_get_state()), tap_state_name(path[i]));
1709 exit(-1);
1710 }
1711
1712 tap_set_state(path[i]);
1713 }
1714
1715 cmsis_dap_end_state(tap_get_state());
1716 }
1717
1718 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1719 {
1720 LOG_DEBUG_IO("pathmove: %i states, end in %i",
1721 cmd->cmd.pathmove->num_states,
1722 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1723
1724 cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1725 }
1726
1727 static void cmsis_dap_stableclocks(int num_cycles)
1728 {
1729 uint8_t tms = tap_get_state() == TAP_RESET;
1730 /* TODO: Perform optimizations? */
1731 /* Execute num_cycles. */
1732 for (int i = 0; i < num_cycles; i++)
1733 cmsis_dap_add_tms_sequence(&tms, 1);
1734 }
1735
1736 static void cmsis_dap_runtest(int num_cycles)
1737 {
1738 tap_state_t saved_end_state = tap_get_end_state();
1739
1740 /* Only do a state_move when we're not already in IDLE. */
1741 if (tap_get_state() != TAP_IDLE) {
1742 cmsis_dap_end_state(TAP_IDLE);
1743 cmsis_dap_state_move();
1744 }
1745 cmsis_dap_stableclocks(num_cycles);
1746
1747 /* Finish in end_state. */
1748 cmsis_dap_end_state(saved_end_state);
1749
1750 if (tap_get_state() != tap_get_end_state())
1751 cmsis_dap_state_move();
1752 }
1753
1754 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1755 {
1756 LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1757 cmd->cmd.runtest->end_state);
1758
1759 cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1760 cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1761 }
1762
1763 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1764 {
1765 LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1766 cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1767 }
1768
1769 static void cmsis_dap_execute_tms(struct jtag_command *cmd)
1770 {
1771 LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
1772 cmsis_dap_cmd_dap_swj_sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
1773 }
1774
1775 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1776 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1777 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1778 {
1779 switch (cmd->type) {
1780 case JTAG_SLEEP:
1781 cmsis_dap_flush();
1782 cmsis_dap_execute_sleep(cmd);
1783 break;
1784 case JTAG_TLR_RESET:
1785 cmsis_dap_flush();
1786 cmsis_dap_execute_tlr_reset(cmd);
1787 break;
1788 case JTAG_SCAN:
1789 cmsis_dap_execute_scan(cmd);
1790 break;
1791 case JTAG_PATHMOVE:
1792 cmsis_dap_execute_pathmove(cmd);
1793 break;
1794 case JTAG_RUNTEST:
1795 cmsis_dap_execute_runtest(cmd);
1796 break;
1797 case JTAG_STABLECLOCKS:
1798 cmsis_dap_execute_stableclocks(cmd);
1799 break;
1800 case JTAG_TMS:
1801 cmsis_dap_execute_tms(cmd);
1802 break;
1803 default:
1804 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1805 exit(-1);
1806 }
1807 }
1808
1809 static int cmsis_dap_execute_queue(void)
1810 {
1811 struct jtag_command *cmd = jtag_command_queue;
1812
1813 while (cmd) {
1814 cmsis_dap_execute_command(cmd);
1815 cmd = cmd->next;
1816 }
1817
1818 cmsis_dap_flush();
1819
1820 return ERROR_OK;
1821 }
1822
1823 static int cmsis_dap_speed(int speed)
1824 {
1825 if (speed == 0) {
1826 LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\".");
1827 return ERROR_JTAG_NOT_IMPLEMENTED;
1828 }
1829
1830 return cmsis_dap_cmd_dap_swj_clock(speed);
1831 }
1832
1833 static int cmsis_dap_speed_div(int speed, int *khz)
1834 {
1835 *khz = speed;
1836 return ERROR_OK;
1837 }
1838
1839 static int cmsis_dap_khz(int khz, int *jtag_speed)
1840 {
1841 *jtag_speed = khz;
1842 return ERROR_OK;
1843 }
1844
1845 static bool calculate_swo_prescaler(unsigned int traceclkin_freq,
1846 uint32_t trace_freq, uint16_t *prescaler)
1847 {
1848 unsigned int presc = (traceclkin_freq + trace_freq / 2) / trace_freq;
1849 if (presc == 0 || presc > TPIU_ACPR_MAX_SWOSCALER + 1)
1850 return false;
1851
1852 /* Probe's UART speed must be within 3% of the TPIU's SWO baud rate. */
1853 unsigned int max_deviation = (traceclkin_freq * 3) / 100;
1854 if (presc * trace_freq < traceclkin_freq - max_deviation ||
1855 presc * trace_freq > traceclkin_freq + max_deviation)
1856 return false;
1857
1858 *prescaler = presc;
1859
1860 return true;
1861 }
1862
1863 /**
1864 * @see adapter_driver::config_trace
1865 */
1866 static int cmsis_dap_config_trace(
1867 bool trace_enabled,
1868 enum tpiu_pin_protocol pin_protocol,
1869 uint32_t port_size,
1870 unsigned int *swo_freq,
1871 unsigned int traceclkin_hz,
1872 uint16_t *swo_prescaler)
1873 {
1874 int retval;
1875
1876 if (!trace_enabled) {
1877 if (cmsis_dap_handle->trace_enabled) {
1878 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
1879 if (retval != ERROR_OK) {
1880 LOG_ERROR("Failed to disable the SWO-trace.");
1881 return retval;
1882 }
1883 }
1884 cmsis_dap_handle->trace_enabled = false;
1885 LOG_INFO("SWO-trace disabled.");
1886 return ERROR_OK;
1887 }
1888
1889 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWO_UART) &&
1890 !(cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
1891 LOG_ERROR("SWO-trace is not supported by the device.");
1892 return ERROR_FAIL;
1893 }
1894
1895 uint8_t swo_mode;
1896 if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_UART &&
1897 (cmsis_dap_handle->caps & INFO_CAPS_SWO_UART)) {
1898 swo_mode = DAP_SWO_MODE_UART;
1899 } else if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_MANCHESTER &&
1900 (cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
1901 swo_mode = DAP_SWO_MODE_MANCHESTER;
1902 } else {
1903 LOG_ERROR("Selected pin protocol is not supported.");
1904 return ERROR_FAIL;
1905 }
1906
1907 if (*swo_freq == 0) {
1908 LOG_INFO("SWO-trace frequency autodetection not implemented.");
1909 return ERROR_FAIL;
1910 }
1911
1912 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
1913 if (retval != ERROR_OK)
1914 return retval;
1915
1916 cmsis_dap_handle->trace_enabled = false;
1917
1918 retval = cmsis_dap_get_swo_buf_sz(&cmsis_dap_handle->swo_buf_sz);
1919 if (retval != ERROR_OK)
1920 return retval;
1921
1922 retval = cmsis_dap_cmd_dap_swo_transport(DAP_SWO_TRANSPORT_DATA);
1923 if (retval != ERROR_OK)
1924 return retval;
1925
1926 retval = cmsis_dap_cmd_dap_swo_mode(swo_mode);
1927 if (retval != ERROR_OK)
1928 return retval;
1929
1930 retval = cmsis_dap_cmd_dap_swo_baudrate(*swo_freq, swo_freq);
1931 if (retval != ERROR_OK)
1932 return retval;
1933
1934 if (!calculate_swo_prescaler(traceclkin_hz, *swo_freq,
1935 swo_prescaler)) {
1936 LOG_ERROR("SWO frequency is not suitable. Please choose a "
1937 "different frequency or use auto-detection.");
1938 return ERROR_FAIL;
1939 }
1940
1941 LOG_INFO("SWO frequency: %u Hz.", *swo_freq);
1942 LOG_INFO("SWO prescaler: %u.", *swo_prescaler);
1943
1944 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_START);
1945 if (retval != ERROR_OK)
1946 return retval;
1947
1948 cmsis_dap_handle->trace_enabled = true;
1949
1950 return ERROR_OK;
1951 }
1952
1953 /**
1954 * @see adapter_driver::poll_trace
1955 */
1956 static int cmsis_dap_poll_trace(uint8_t *buf, size_t *size)
1957 {
1958 uint8_t trace_status;
1959 size_t trace_count;
1960
1961 if (!cmsis_dap_handle->trace_enabled) {
1962 *size = 0;
1963 return ERROR_OK;
1964 }
1965
1966 int retval = cmsis_dap_cmd_dap_swo_status(&trace_status, &trace_count);
1967 if (retval != ERROR_OK)
1968 return retval;
1969 if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
1970 return ERROR_FAIL;
1971
1972 *size = trace_count < *size ? trace_count : *size;
1973 size_t read_so_far = 0;
1974 do {
1975 size_t rb = 0;
1976 uint32_t packet_size = cmsis_dap_handle->packet_size - 4 /*data-reply*/;
1977 uint32_t remaining = *size - read_so_far;
1978 if (remaining < packet_size)
1979 packet_size = remaining;
1980 retval = cmsis_dap_cmd_dap_swo_data(
1981 packet_size,
1982 &trace_status,
1983 &rb,
1984 &buf[read_so_far]);
1985 if (retval != ERROR_OK)
1986 return retval;
1987 if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
1988 return ERROR_FAIL;
1989
1990 read_so_far += rb;
1991 } while (read_so_far < *size);
1992
1993 return ERROR_OK;
1994 }
1995
1996 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1997 {
1998 if (cmsis_dap_get_version_info() == ERROR_OK)
1999 cmsis_dap_get_status();
2000
2001 return ERROR_OK;
2002 }
2003
2004 COMMAND_HANDLER(cmsis_dap_handle_cmd_command)
2005 {
2006 uint8_t *command = cmsis_dap_handle->command;
2007
2008 for (unsigned i = 0; i < CMD_ARGC; i++)
2009 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[i], command[i]);
2010
2011 int retval = cmsis_dap_xfer(cmsis_dap_handle, CMD_ARGC);
2012
2013 if (retval != ERROR_OK) {
2014 LOG_ERROR("CMSIS-DAP command failed.");
2015 return ERROR_JTAG_DEVICE_ERROR;
2016 }
2017
2018 uint8_t *resp = cmsis_dap_handle->response;
2019 LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8,
2020 resp[1], resp[2], resp[3], resp[4]);
2021
2022 return ERROR_OK;
2023 }
2024
2025 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
2026 {
2027 if (CMD_ARGC > MAX_USB_IDS * 2) {
2028 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
2029 "(maximum is %d pairs)", MAX_USB_IDS);
2030 CMD_ARGC = MAX_USB_IDS * 2;
2031 }
2032 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
2033 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
2034 if (CMD_ARGC < 2)
2035 return ERROR_COMMAND_SYNTAX_ERROR;
2036 /* remove the incomplete trailing id */
2037 CMD_ARGC -= 1;
2038 }
2039
2040 unsigned i;
2041 for (i = 0; i < CMD_ARGC; i += 2) {
2042 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
2043 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
2044 }
2045
2046 /*
2047 * Explicitly terminate, in case there are multiples instances of
2048 * cmsis_dap_vid_pid.
2049 */
2050 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
2051
2052 return ERROR_OK;
2053 }
2054
2055 COMMAND_HANDLER(cmsis_dap_handle_backend_command)
2056 {
2057 if (CMD_ARGC == 1) {
2058 if (strcmp(CMD_ARGV[0], "auto") == 0) {
2059 cmsis_dap_backend = -1; /* autoselect */
2060 } else {
2061 for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
2062 if (strcasecmp(cmsis_dap_backends[i]->name, CMD_ARGV[0]) == 0) {
2063 cmsis_dap_backend = i;
2064 return ERROR_OK;
2065 }
2066 }
2067
2068 LOG_ERROR("invalid backend argument to cmsis_dap_backend <backend>");
2069 }
2070 } else {
2071 LOG_ERROR("expected exactly one argument to cmsis_dap_backend <backend>");
2072 }
2073
2074 return ERROR_OK;
2075 }
2076
2077 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
2078 {
2079 .name = "info",
2080 .handler = &cmsis_dap_handle_info_command,
2081 .mode = COMMAND_EXEC,
2082 .usage = "",
2083 .help = "show cmsis-dap info",
2084 },
2085 {
2086 .name = "cmd",
2087 .handler = &cmsis_dap_handle_cmd_command,
2088 .mode = COMMAND_EXEC,
2089 .usage = "",
2090 .help = "issue cmsis-dap command",
2091 },
2092 COMMAND_REGISTRATION_DONE
2093 };
2094
2095
2096 static const struct command_registration cmsis_dap_command_handlers[] = {
2097 {
2098 .name = "cmsis-dap",
2099 .mode = COMMAND_ANY,
2100 .help = "perform CMSIS-DAP management",
2101 .usage = "<cmd>",
2102 .chain = cmsis_dap_subcommand_handlers,
2103 },
2104 {
2105 .name = "cmsis_dap_vid_pid",
2106 .handler = &cmsis_dap_handle_vid_pid_command,
2107 .mode = COMMAND_CONFIG,
2108 .help = "the vendor ID and product ID of the CMSIS-DAP device",
2109 .usage = "(vid pid)*",
2110 },
2111 {
2112 .name = "cmsis_dap_backend",
2113 .handler = &cmsis_dap_handle_backend_command,
2114 .mode = COMMAND_CONFIG,
2115 .help = "set the communication backend to use (USB bulk or HID).",
2116 .usage = "(auto | usb_bulk | hid)",
2117 },
2118 #if BUILD_CMSIS_DAP_USB
2119 {
2120 .name = "cmsis_dap_usb",
2121 .chain = cmsis_dap_usb_subcommand_handlers,
2122 .mode = COMMAND_ANY,
2123 .help = "USB bulk backend-specific commands",
2124 .usage = "<cmd>",
2125 },
2126 #endif
2127 COMMAND_REGISTRATION_DONE
2128 };
2129
2130 static const struct swd_driver cmsis_dap_swd_driver = {
2131 .init = cmsis_dap_swd_init,
2132 .switch_seq = cmsis_dap_swd_switch_seq,
2133 .read_reg = cmsis_dap_swd_read_reg,
2134 .write_reg = cmsis_dap_swd_write_reg,
2135 .run = cmsis_dap_swd_run_queue,
2136 };
2137
2138 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
2139
2140 static struct jtag_interface cmsis_dap_interface = {
2141 .supported = DEBUG_CAP_TMS_SEQ,
2142 .execute_queue = cmsis_dap_execute_queue,
2143 };
2144
2145 struct adapter_driver cmsis_dap_adapter_driver = {
2146 .name = "cmsis-dap",
2147 .transports = cmsis_dap_transport,
2148 .commands = cmsis_dap_command_handlers,
2149
2150 .init = cmsis_dap_init,
2151 .quit = cmsis_dap_quit,
2152 .reset = cmsis_dap_reset,
2153 .speed = cmsis_dap_speed,
2154 .khz = cmsis_dap_khz,
2155 .speed_div = cmsis_dap_speed_div,
2156 .config_trace = cmsis_dap_config_trace,
2157 .poll_trace = cmsis_dap_poll_trace,
2158
2159 .jtag_ops = &cmsis_dap_interface,
2160 .swd_ops = &cmsis_dap_swd_driver,
2161 };
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