1 /***************************************************************************
2 * Copyright (C) 2018 by Mickaƫl Thomas *
5 * Copyright (C) 2016 by Maksym Hilliaka *
6 * oter@frozen-team.com *
8 * Copyright (C) 2016 by Phillip Pearson *
11 * Copyright (C) 2014 by Paul Fertser *
12 * fercerpav@gmail.com *
14 * Copyright (C) 2013 by mike brown *
15 * mike@theshedworks.org.uk *
17 * Copyright (C) 2013 by Spencer Oliver *
18 * spen@spen-soft.co.uk *
20 * This program is free software; you can redistribute it and/or modify *
21 * it under the terms of the GNU General Public License as published by *
22 * the Free Software Foundation; either version 2 of the License, or *
23 * (at your option) any later version. *
25 * This program is distributed in the hope that it will be useful, *
26 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
27 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
28 * GNU General Public License for more details. *
30 * You should have received a copy of the GNU General Public License *
31 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
32 ***************************************************************************/
38 #include <transport/transport.h>
40 #include <jtag/interface.h>
41 #include <jtag/commands.h>
44 #include "cmsis_dap.h"
46 static const struct cmsis_dap_backend
*const cmsis_dap_backends
[] = {
47 #if BUILD_CMSIS_DAP_USB == 1
48 &cmsis_dap_usb_backend
,
51 #if BUILD_CMSIS_DAP_HID == 1
52 &cmsis_dap_hid_backend
,
58 /* Known vid/pid pairs:
59 * VID 0xc251: Keil Software
60 * PID 0xf001: LPC-Link-II CMSIS_DAP
61 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
62 * PID 0x2722: Keil ULINK2 CMSIS-DAP
63 * PID 0x2750: Keil ULINKplus CMSIS-DAP
65 * VID 0x0d28: mbed Software
66 * PID 0x0204: MBED CMSIS-DAP
70 /* vid = pid = 0 marks the end of the list */
71 static uint16_t cmsis_dap_vid
[MAX_USB_IDS
+ 1] = { 0 };
72 static uint16_t cmsis_dap_pid
[MAX_USB_IDS
+ 1] = { 0 };
73 static char *cmsis_dap_serial
;
74 static int cmsis_dap_backend
= -1;
77 #define USB_TIMEOUT 1000
79 /* CMSIS-DAP General Commands */
80 #define CMD_DAP_INFO 0x00
81 #define CMD_DAP_LED 0x01
82 #define CMD_DAP_CONNECT 0x02
83 #define CMD_DAP_DISCONNECT 0x03
84 #define CMD_DAP_WRITE_ABORT 0x08
85 #define CMD_DAP_DELAY 0x09
86 #define CMD_DAP_RESET_TARGET 0x0A
89 #define INFO_ID_VENDOR 0x01 /* string */
90 #define INFO_ID_PRODUCT 0x02 /* string */
91 #define INFO_ID_SERNUM 0x03 /* string */
92 #define INFO_ID_FW_VER 0x04 /* string */
93 #define INFO_ID_TD_VEND 0x05 /* string */
94 #define INFO_ID_TD_NAME 0x06 /* string */
95 #define INFO_ID_CAPS 0xf0 /* byte */
96 #define INFO_ID_PKT_CNT 0xfe /* byte */
97 #define INFO_ID_PKT_SZ 0xff /* short */
99 #define INFO_CAPS_SWD 0x01
100 #define INFO_CAPS_JTAG 0x02
103 #define LED_ID_CONNECT 0x00
104 #define LED_ID_RUN 0x01
110 #define CONNECT_DEFAULT 0x00
111 #define CONNECT_SWD 0x01
112 #define CONNECT_JTAG 0x02
114 /* CMSIS-DAP Common SWD/JTAG Commands */
115 #define CMD_DAP_DELAY 0x09
116 #define CMD_DAP_SWJ_PINS 0x10
117 #define CMD_DAP_SWJ_CLOCK 0x11
118 #define CMD_DAP_SWJ_SEQ 0x12
130 #define SWJ_PIN_TCK (1<<0)
131 #define SWJ_PIN_TMS (1<<1)
132 #define SWJ_PIN_TDI (1<<2)
133 #define SWJ_PIN_TDO (1<<3)
134 #define SWJ_PIN_TRST (1<<5)
135 #define SWJ_PIN_SRST (1<<7)
137 /* CMSIS-DAP SWD Commands */
138 #define CMD_DAP_SWD_CONFIGURE 0x13
140 /* CMSIS-DAP JTAG Commands */
141 #define CMD_DAP_JTAG_SEQ 0x14
142 #define CMD_DAP_JTAG_CONFIGURE 0x15
143 #define CMD_DAP_JTAG_IDCODE 0x16
145 /* CMSIS-DAP JTAG sequence info masks */
146 /* Number of bits to clock through (0 means 64) */
147 #define DAP_JTAG_SEQ_TCK 0x3F
148 /* TMS will be set during the sequence if this bit is set */
149 #define DAP_JTAG_SEQ_TMS 0x40
150 /* TDO output will be captured if this bit is set */
151 #define DAP_JTAG_SEQ_TDO 0x80
154 /* CMSIS-DAP Transfer Commands */
155 #define CMD_DAP_TFER_CONFIGURE 0x04
156 #define CMD_DAP_TFER 0x05
157 #define CMD_DAP_TFER_BLOCK 0x06
158 #define CMD_DAP_TFER_ABORT 0x07
160 /* DAP Status Code */
162 #define DAP_ERROR 0xFF
164 /* CMSIS-DAP Vendor Commands
167 static const char * const info_caps_str
[] = {
172 struct pending_transfer_result
{
178 struct pending_request_block
{
179 struct pending_transfer_result
*transfers
;
183 struct pending_scan_result
{
184 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
186 /** Number of bits to read. */
188 /** Location to store the result */
190 /** Offset in the destination buffer */
191 unsigned buffer_offset
;
194 /* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued
195 * until the first response arrives */
196 #define MAX_PENDING_REQUESTS 3
198 /* Pending requests are organized as a FIFO - circular buffer */
199 /* Each block in FIFO can contain up to pending_queue_len transfers */
200 static int pending_queue_len
;
201 static struct pending_request_block pending_fifo
[MAX_PENDING_REQUESTS
];
202 static int pending_fifo_put_idx
, pending_fifo_get_idx
;
203 static int pending_fifo_block_count
;
205 /* pointers to buffers that will receive jtag scan results on the next flush */
206 #define MAX_PENDING_SCAN_RESULTS 256
207 static int pending_scan_result_count
;
208 static struct pending_scan_result pending_scan_results
[MAX_PENDING_SCAN_RESULTS
];
210 /* queued JTAG sequences that will be executed on the next flush */
211 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
212 static int queued_seq_count
;
213 static int queued_seq_buf_end
;
214 static int queued_seq_tdo_ptr
;
215 static uint8_t queued_seq_buf
[1024]; /* TODO: make dynamic / move into cmsis object */
217 static int queued_retval
;
219 static uint8_t output_pins
= SWJ_PIN_SRST
| SWJ_PIN_TRST
;
221 static struct cmsis_dap
*cmsis_dap_handle
;
224 static int cmsis_dap_open(void)
226 const struct cmsis_dap_backend
*backend
= NULL
;
228 struct cmsis_dap
*dap
= malloc(sizeof(struct cmsis_dap
));
230 LOG_ERROR("unable to allocate memory");
236 dap
->packet_size
= 0; /* initialized by backend */
238 if (cmsis_dap_backend
>= 0) {
239 /* Use forced backend */
240 backend
= cmsis_dap_backends
[cmsis_dap_backend
];
241 if (backend
->open(dap
, cmsis_dap_vid
, cmsis_dap_pid
, cmsis_dap_serial
) != ERROR_OK
)
244 /* Try all backends */
245 for (unsigned int i
= 0; i
< ARRAY_SIZE(cmsis_dap_backends
); i
++) {
246 backend
= cmsis_dap_backends
[i
];
247 if (backend
->open(dap
, cmsis_dap_vid
, cmsis_dap_pid
, cmsis_dap_serial
) == ERROR_OK
)
254 if (backend
== NULL
) {
255 LOG_ERROR("unable to find a matching CMSIS-DAP device");
260 assert(dap
->packet_size
> 0);
262 dap
->backend
= backend
;
263 dap
->packet_buffer
= malloc(dap
->packet_size
);
265 if (dap
->packet_buffer
== NULL
) {
266 LOG_ERROR("unable to allocate memory");
267 dap
->backend
->close(dap
);
272 cmsis_dap_handle
= dap
;
277 static void cmsis_dap_close(struct cmsis_dap
*dap
)
280 dap
->backend
->close(dap
);
284 free(cmsis_dap_handle
->packet_buffer
);
285 free(cmsis_dap_handle
);
286 cmsis_dap_handle
= NULL
;
287 free(cmsis_dap_serial
);
288 cmsis_dap_serial
= NULL
;
290 for (int i
= 0; i
< MAX_PENDING_REQUESTS
; i
++) {
291 free(pending_fifo
[i
].transfers
);
292 pending_fifo
[i
].transfers
= NULL
;
296 /* Send a message and receive the reply */
297 static int cmsis_dap_xfer(struct cmsis_dap
*dap
, int txlen
)
299 if (pending_fifo_block_count
) {
300 LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count
);
301 while (pending_fifo_block_count
) {
302 dap
->backend
->read(dap
, 10);
303 pending_fifo_block_count
--;
305 pending_fifo_put_idx
= 0;
306 pending_fifo_get_idx
= 0;
309 int retval
= dap
->backend
->write(dap
, txlen
, USB_TIMEOUT
);
314 retval
= dap
->backend
->read(dap
, USB_TIMEOUT
);
321 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins
, uint8_t mask
, uint32_t delay
, uint8_t *input
)
324 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
326 buffer
[0] = 0; /* report number */
327 buffer
[1] = CMD_DAP_SWJ_PINS
;
330 buffer
[4] = delay
& 0xff;
331 buffer
[5] = (delay
>> 8) & 0xff;
332 buffer
[6] = (delay
>> 16) & 0xff;
333 buffer
[7] = (delay
>> 24) & 0xff;
334 retval
= cmsis_dap_xfer(cmsis_dap_handle
, 8);
336 if (retval
!= ERROR_OK
) {
337 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
338 return ERROR_JTAG_DEVICE_ERROR
;
347 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock
)
350 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
352 /* set clock in Hz */
354 buffer
[0] = 0; /* report number */
355 buffer
[1] = CMD_DAP_SWJ_CLOCK
;
356 buffer
[2] = swj_clock
& 0xff;
357 buffer
[3] = (swj_clock
>> 8) & 0xff;
358 buffer
[4] = (swj_clock
>> 16) & 0xff;
359 buffer
[5] = (swj_clock
>> 24) & 0xff;
360 retval
= cmsis_dap_xfer(cmsis_dap_handle
, 6);
362 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
363 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
364 return ERROR_JTAG_DEVICE_ERROR
;
370 /* clock a sequence of bits out on TMS, to change JTAG states */
371 static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len
, const uint8_t *sequence
)
374 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
376 #ifdef CMSIS_DAP_JTAG_DEBUG
377 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len
);
378 for (int i
= 0; i
< DIV_ROUND_UP(s_len
, 8); ++i
)
379 printf("%02X ", sequence
[i
]);
384 buffer
[0] = 0; /* report number */
385 buffer
[1] = CMD_DAP_SWJ_SEQ
;
387 bit_copy(&buffer
[3], 0, sequence
, 0, s_len
);
389 retval
= cmsis_dap_xfer(cmsis_dap_handle
, DIV_ROUND_UP(s_len
, 8) + 3);
391 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
)
397 static int cmsis_dap_cmd_DAP_Info(uint8_t info
, uint8_t **data
)
400 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
402 buffer
[0] = 0; /* report number */
403 buffer
[1] = CMD_DAP_INFO
;
405 retval
= cmsis_dap_xfer(cmsis_dap_handle
, 3);
407 if (retval
!= ERROR_OK
) {
408 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
409 return ERROR_JTAG_DEVICE_ERROR
;
412 *data
= &(buffer
[1]);
417 static int cmsis_dap_cmd_DAP_LED(uint8_t led
, uint8_t state
)
420 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
422 buffer
[0] = 0; /* report number */
423 buffer
[1] = CMD_DAP_LED
;
426 retval
= cmsis_dap_xfer(cmsis_dap_handle
, 4);
428 if (retval
!= ERROR_OK
|| buffer
[1] != 0x00) {
429 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
430 return ERROR_JTAG_DEVICE_ERROR
;
436 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode
)
439 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
441 buffer
[0] = 0; /* report number */
442 buffer
[1] = CMD_DAP_CONNECT
;
444 retval
= cmsis_dap_xfer(cmsis_dap_handle
, 3);
446 if (retval
!= ERROR_OK
) {
447 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
448 return ERROR_JTAG_DEVICE_ERROR
;
451 if (buffer
[1] != mode
) {
452 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode
);
453 return ERROR_JTAG_DEVICE_ERROR
;
459 static int cmsis_dap_cmd_DAP_Disconnect(void)
462 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
464 buffer
[0] = 0; /* report number */
465 buffer
[1] = CMD_DAP_DISCONNECT
;
466 retval
= cmsis_dap_xfer(cmsis_dap_handle
, 2);
468 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
469 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
470 return ERROR_JTAG_DEVICE_ERROR
;
476 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle
, uint16_t retry_count
, uint16_t match_retry
)
479 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
481 buffer
[0] = 0; /* report number */
482 buffer
[1] = CMD_DAP_TFER_CONFIGURE
;
484 buffer
[3] = retry_count
& 0xff;
485 buffer
[4] = (retry_count
>> 8) & 0xff;
486 buffer
[5] = match_retry
& 0xff;
487 buffer
[6] = (match_retry
>> 8) & 0xff;
488 retval
= cmsis_dap_xfer(cmsis_dap_handle
, 7);
490 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
491 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
492 return ERROR_JTAG_DEVICE_ERROR
;
498 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg
)
501 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
503 buffer
[0] = 0; /* report number */
504 buffer
[1] = CMD_DAP_SWD_CONFIGURE
;
506 retval
= cmsis_dap_xfer(cmsis_dap_handle
, 3);
508 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
509 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
510 return ERROR_JTAG_DEVICE_ERROR
;
517 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us
)
520 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
522 buffer
[0] = 0; /* report number */
523 buffer
[1] = CMD_DAP_DELAY
;
524 buffer
[2] = delay_us
& 0xff;
525 buffer
[3] = (delay_us
>> 8) & 0xff;
526 retval
= cmsis_dap_xfer(cmsis_dap_handle
, 4);
528 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
529 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
530 return ERROR_JTAG_DEVICE_ERROR
;
537 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap
*dap
)
539 uint8_t *buffer
= dap
->packet_buffer
;
540 struct pending_request_block
*block
= &pending_fifo
[pending_fifo_put_idx
];
542 LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block
->transfer_count
, pending_fifo_put_idx
);
544 if (queued_retval
!= ERROR_OK
) {
545 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval
);
549 if (block
->transfer_count
== 0)
553 buffer
[idx
++] = 0; /* report number */
554 buffer
[idx
++] = CMD_DAP_TFER
;
555 buffer
[idx
++] = 0x00; /* DAP Index */
556 buffer
[idx
++] = block
->transfer_count
;
558 for (int i
= 0; i
< block
->transfer_count
; i
++) {
559 struct pending_transfer_result
*transfer
= &(block
->transfers
[i
]);
560 uint8_t cmd
= transfer
->cmd
;
561 uint32_t data
= transfer
->data
;
563 LOG_DEBUG_IO("%s %s reg %x %"PRIx32
,
564 cmd
& SWD_CMD_APnDP
? "AP" : "DP",
565 cmd
& SWD_CMD_RnW
? "read" : "write",
566 (cmd
& SWD_CMD_A32
) >> 1, data
);
568 /* When proper WAIT handling is implemented in the
569 * common SWD framework, this kludge can be
570 * removed. However, this might lead to minor
571 * performance degradation as the adapter wouldn't be
572 * able to automatically retry anything (because ARM
573 * has forgotten to implement sticky error flags
574 * clearing). See also comments regarding
575 * cmsis_dap_cmd_DAP_TFER_Configure() and
576 * cmsis_dap_cmd_DAP_SWD_Configure() in
579 if (!(cmd
& SWD_CMD_RnW
) &&
580 !(cmd
& SWD_CMD_APnDP
) &&
581 (cmd
& SWD_CMD_A32
) >> 1 == DP_CTRL_STAT
&&
582 (data
& CORUNDETECT
)) {
583 LOG_DEBUG("refusing to enable sticky overrun detection");
584 data
&= ~CORUNDETECT
;
587 buffer
[idx
++] = (cmd
>> 1) & 0x0f;
588 if (!(cmd
& SWD_CMD_RnW
)) {
589 buffer
[idx
++] = (data
) & 0xff;
590 buffer
[idx
++] = (data
>> 8) & 0xff;
591 buffer
[idx
++] = (data
>> 16) & 0xff;
592 buffer
[idx
++] = (data
>> 24) & 0xff;
596 int retval
= dap
->backend
->write(dap
, idx
, USB_TIMEOUT
);
599 queued_retval
= retval
;
602 queued_retval
= ERROR_OK
;
605 pending_fifo_put_idx
= (pending_fifo_put_idx
+ 1) % dap
->packet_count
;
606 pending_fifo_block_count
++;
607 if (pending_fifo_block_count
> dap
->packet_count
)
608 LOG_ERROR("too much pending writes %d", pending_fifo_block_count
);
613 block
->transfer_count
= 0;
616 static void cmsis_dap_swd_read_process(struct cmsis_dap
*dap
, int timeout_ms
)
618 uint8_t *buffer
= dap
->packet_buffer
;
619 struct pending_request_block
*block
= &pending_fifo
[pending_fifo_get_idx
];
621 if (pending_fifo_block_count
== 0)
622 LOG_ERROR("no pending write");
625 int retval
= dap
->backend
->read(dap
, timeout_ms
);
626 if (retval
== ERROR_TIMEOUT_REACHED
&& timeout_ms
< USB_TIMEOUT
)
630 LOG_DEBUG("error reading data");
631 queued_retval
= ERROR_FAIL
;
635 if (buffer
[2] & 0x08) {
636 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", buffer
[1]);
637 queued_retval
= ERROR_FAIL
;
640 uint8_t ack
= buffer
[2] & 0x07;
641 if (ack
!= SWD_ACK_OK
) {
642 LOG_DEBUG("SWD ack not OK @ %d %s", buffer
[1],
643 ack
== SWD_ACK_WAIT
? "WAIT" : ack
== SWD_ACK_FAULT
? "FAULT" : "JUNK");
644 queued_retval
= ack
== SWD_ACK_WAIT
? ERROR_WAIT
: ERROR_FAIL
;
648 if (block
->transfer_count
!= buffer
[1])
649 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
650 block
->transfer_count
, buffer
[1]);
652 LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d", buffer
[1], pending_fifo_get_idx
);
654 for (int i
= 0; i
< buffer
[1]; i
++) {
655 struct pending_transfer_result
*transfer
= &(block
->transfers
[i
]);
656 if (transfer
->cmd
& SWD_CMD_RnW
) {
657 static uint32_t last_read
;
658 uint32_t data
= le_to_h_u32(&buffer
[idx
]);
662 LOG_DEBUG_IO("Read result: %"PRIx32
, data
);
664 /* Imitate posted AP reads */
665 if ((transfer
->cmd
& SWD_CMD_APnDP
) ||
666 ((transfer
->cmd
& SWD_CMD_A32
) >> 1 == DP_RDBUFF
)) {
671 if (transfer
->buffer
)
672 *(uint32_t *)(transfer
->buffer
) = tmp
;
677 block
->transfer_count
= 0;
678 pending_fifo_get_idx
= (pending_fifo_get_idx
+ 1) % dap
->packet_count
;
679 pending_fifo_block_count
--;
682 static int cmsis_dap_swd_run_queue(void)
684 if (pending_fifo_block_count
)
685 cmsis_dap_swd_read_process(cmsis_dap_handle
, 0);
687 cmsis_dap_swd_write_from_queue(cmsis_dap_handle
);
689 while (pending_fifo_block_count
)
690 cmsis_dap_swd_read_process(cmsis_dap_handle
, USB_TIMEOUT
);
692 pending_fifo_put_idx
= 0;
693 pending_fifo_get_idx
= 0;
695 int retval
= queued_retval
;
696 queued_retval
= ERROR_OK
;
701 static void cmsis_dap_swd_queue_cmd(uint8_t cmd
, uint32_t *dst
, uint32_t data
)
703 if (pending_fifo
[pending_fifo_put_idx
].transfer_count
== pending_queue_len
) {
704 if (pending_fifo_block_count
)
705 cmsis_dap_swd_read_process(cmsis_dap_handle
, 0);
707 /* Not enough room in the queue. Run the queue. */
708 cmsis_dap_swd_write_from_queue(cmsis_dap_handle
);
710 if (pending_fifo_block_count
>= cmsis_dap_handle
->packet_count
)
711 cmsis_dap_swd_read_process(cmsis_dap_handle
, USB_TIMEOUT
);
714 if (queued_retval
!= ERROR_OK
)
717 struct pending_request_block
*block
= &pending_fifo
[pending_fifo_put_idx
];
718 struct pending_transfer_result
*transfer
= &(block
->transfers
[block
->transfer_count
]);
719 transfer
->data
= data
;
721 if (cmd
& SWD_CMD_RnW
) {
722 /* Queue a read transaction */
723 transfer
->buffer
= dst
;
725 block
->transfer_count
++;
728 static void cmsis_dap_swd_write_reg(uint8_t cmd
, uint32_t value
, uint32_t ap_delay_clk
)
730 assert(!(cmd
& SWD_CMD_RnW
));
731 cmsis_dap_swd_queue_cmd(cmd
, NULL
, value
);
734 static void cmsis_dap_swd_read_reg(uint8_t cmd
, uint32_t *value
, uint32_t ap_delay_clk
)
736 assert(cmd
& SWD_CMD_RnW
);
737 cmsis_dap_swd_queue_cmd(cmd
, value
, 0);
740 static int cmsis_dap_get_serial_info(void)
744 int retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM
, &data
);
745 if (retval
!= ERROR_OK
)
748 if (data
[0]) /* strlen */
749 LOG_INFO("CMSIS-DAP: Serial# = %s", &data
[1]);
754 static int cmsis_dap_get_version_info(void)
758 /* INFO_ID_FW_VER - string */
759 int retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER
, &data
);
760 if (retval
!= ERROR_OK
)
763 if (data
[0]) /* strlen */
764 LOG_INFO("CMSIS-DAP: FW Version = %s", &data
[1]);
769 static int cmsis_dap_get_caps_info(void)
773 /* INFO_ID_CAPS - byte */
774 int retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS
, &data
);
775 if (retval
!= ERROR_OK
)
779 uint8_t caps
= data
[1];
781 cmsis_dap_handle
->caps
= caps
;
783 if (caps
& INFO_CAPS_SWD
)
784 LOG_INFO("CMSIS-DAP: %s", info_caps_str
[0]);
785 if (caps
& INFO_CAPS_JTAG
)
786 LOG_INFO("CMSIS-DAP: %s", info_caps_str
[1]);
792 static int cmsis_dap_get_status(void)
796 int retval
= cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d
);
798 if (retval
== ERROR_OK
) {
799 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
800 (d
& SWJ_PIN_TCK
) ? 1 : 0,
801 (d
& SWJ_PIN_TMS
) ? 1 : 0,
802 (d
& SWJ_PIN_TDI
) ? 1 : 0,
803 (d
& SWJ_PIN_TDO
) ? 1 : 0,
804 (d
& SWJ_PIN_TRST
) ? 1 : 0,
805 (d
& SWJ_PIN_SRST
) ? 1 : 0);
811 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq
)
817 if ((output_pins
& (SWJ_PIN_SRST
| SWJ_PIN_TRST
)) == (SWJ_PIN_SRST
| SWJ_PIN_TRST
)) {
818 /* Following workaround deasserts reset on most adapters.
819 * Do not reconnect if a reset line is active!
820 * Reconnecting would break connecting under reset. */
822 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
823 cmsis_dap_cmd_DAP_Disconnect();
825 /* When we are reconnecting, DAP_Connect needs to be rerun, at
826 * least on Keil ULINK-ME */
827 retval
= cmsis_dap_cmd_DAP_Connect(CONNECT_SWD
);
828 if (retval
!= ERROR_OK
)
834 LOG_DEBUG("SWD line reset");
835 s
= swd_seq_line_reset
;
836 s_len
= swd_seq_line_reset_len
;
839 LOG_DEBUG("JTAG-to-SWD");
840 s
= swd_seq_jtag_to_swd
;
841 s_len
= swd_seq_jtag_to_swd_len
;
844 LOG_DEBUG("SWD-to-JTAG");
845 s
= swd_seq_swd_to_jtag
;
846 s_len
= swd_seq_swd_to_jtag_len
;
849 LOG_ERROR("Sequence %d not supported", seq
);
853 retval
= cmsis_dap_cmd_DAP_SWJ_Sequence(s_len
, s
);
854 if (retval
!= ERROR_OK
)
857 /* Atmel EDBG needs renew clock setting after SWJ_Sequence
858 * otherwise default frequency is used */
859 return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
862 static int cmsis_dap_swd_open(void)
866 if (!(cmsis_dap_handle
->caps
& INFO_CAPS_SWD
)) {
867 LOG_ERROR("CMSIS-DAP: SWD not supported");
868 return ERROR_JTAG_DEVICE_ERROR
;
871 retval
= cmsis_dap_cmd_DAP_Connect(CONNECT_SWD
);
872 if (retval
!= ERROR_OK
)
875 /* Add more setup here.??... */
877 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
881 static int cmsis_dap_init(void)
886 retval
= cmsis_dap_open();
887 if (retval
!= ERROR_OK
)
890 retval
= cmsis_dap_get_caps_info();
891 if (retval
!= ERROR_OK
)
894 retval
= cmsis_dap_get_version_info();
895 if (retval
!= ERROR_OK
)
898 retval
= cmsis_dap_get_serial_info();
899 if (retval
!= ERROR_OK
)
903 retval
= cmsis_dap_swd_open();
904 if (retval
!= ERROR_OK
)
907 /* Connect in JTAG mode */
908 if (!(cmsis_dap_handle
->caps
& INFO_CAPS_JTAG
)) {
909 LOG_ERROR("CMSIS-DAP: JTAG not supported");
910 return ERROR_JTAG_DEVICE_ERROR
;
913 retval
= cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG
);
914 if (retval
!= ERROR_OK
)
917 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
920 /* Be conservative and suppress submitting multiple HID requests
921 * until we get packet count info from the adaptor */
922 cmsis_dap_handle
->packet_count
= 1;
923 pending_queue_len
= 12;
925 /* INFO_ID_PKT_SZ - short */
926 retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ
, &data
);
927 if (retval
!= ERROR_OK
)
930 if (data
[0] == 2) { /* short */
931 uint16_t pkt_sz
= data
[1] + (data
[2] << 8);
933 /* 4 bytes of command header + 5 bytes per register
934 * write. For bulk read sequences just 4 bytes are
935 * needed per transfer, so this is suboptimal. */
936 pending_queue_len
= (pkt_sz
- 4) / 5;
938 if (cmsis_dap_handle
->packet_size
!= pkt_sz
+ 1) {
939 /* reallocate buffer */
940 cmsis_dap_handle
->packet_size
= pkt_sz
+ 1;
941 cmsis_dap_handle
->packet_buffer
= realloc(cmsis_dap_handle
->packet_buffer
,
942 cmsis_dap_handle
->packet_size
);
943 if (cmsis_dap_handle
->packet_buffer
== NULL
) {
944 LOG_ERROR("unable to reallocate memory");
949 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16
, pkt_sz
);
952 /* INFO_ID_PKT_CNT - byte */
953 retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT
, &data
);
954 if (retval
!= ERROR_OK
)
957 if (data
[0] == 1) { /* byte */
958 int pkt_cnt
= data
[1];
960 cmsis_dap_handle
->packet_count
= MIN(MAX_PENDING_REQUESTS
, pkt_cnt
);
962 LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt
);
965 LOG_DEBUG("Allocating FIFO for %d pending packets", cmsis_dap_handle
->packet_count
);
966 for (int i
= 0; i
< cmsis_dap_handle
->packet_count
; i
++) {
967 pending_fifo
[i
].transfers
= malloc(pending_queue_len
* sizeof(struct pending_transfer_result
));
968 if (!pending_fifo
[i
].transfers
) {
969 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
975 retval
= cmsis_dap_get_status();
976 if (retval
!= ERROR_OK
)
979 /* Now try to connect to the target
980 * TODO: This is all SWD only @ present */
981 retval
= cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
982 if (retval
!= ERROR_OK
)
985 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
986 * up to 64 times. This must be changed to 0 if sticky
987 * overrun detection is enabled. */
988 retval
= cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
989 if (retval
!= ERROR_OK
)
993 /* Data Phase (bit 2) must be set to 1 if sticky overrun
994 * detection is enabled */
995 retval
= cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
996 if (retval
!= ERROR_OK
)
1000 retval
= cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT
, LED_ON
);
1001 if (retval
!= ERROR_OK
)
1004 retval
= cmsis_dap_cmd_DAP_LED(LED_ID_RUN
, LED_ON
);
1005 if (retval
!= ERROR_OK
)
1008 /* support connecting with srst asserted */
1009 enum reset_types jtag_reset_config
= jtag_get_reset_config();
1011 if (jtag_reset_config
& RESET_CNCT_UNDER_SRST
) {
1012 if (jtag_reset_config
& RESET_SRST_NO_GATING
) {
1013 retval
= cmsis_dap_cmd_DAP_SWJ_Pins(0, SWJ_PIN_SRST
, 0, NULL
);
1014 if (retval
!= ERROR_OK
)
1016 LOG_INFO("Connecting under reset");
1019 LOG_INFO("CMSIS-DAP: Interface ready");
1024 static int cmsis_dap_swd_init(void)
1030 static int cmsis_dap_quit(void)
1032 cmsis_dap_cmd_DAP_Disconnect();
1034 cmsis_dap_cmd_DAP_LED(LED_ID_RUN
, LED_OFF
);
1035 cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT
, LED_OFF
);
1037 cmsis_dap_close(cmsis_dap_handle
);
1042 static int cmsis_dap_reset(int trst
, int srst
)
1044 /* Set both TRST and SRST even if they're not enabled as
1045 * there's no way to tristate them */
1049 output_pins
|= SWJ_PIN_SRST
;
1051 output_pins
|= SWJ_PIN_TRST
;
1053 int retval
= cmsis_dap_cmd_DAP_SWJ_Pins(output_pins
,
1054 SWJ_PIN_TRST
| SWJ_PIN_SRST
, 0, NULL
);
1055 if (retval
!= ERROR_OK
)
1056 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1060 static void cmsis_dap_execute_sleep(struct jtag_command
*cmd
)
1063 int retval
= cmsis_dap_cmd_DAP_Delay(cmd
->cmd
.sleep
->us
);
1064 if (retval
!= ERROR_OK
)
1066 jtag_sleep(cmd
->cmd
.sleep
->us
);
1069 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1070 static int cmsis_dap_execute_tlr_reset(struct jtag_command
*cmd
)
1072 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1074 int ret
= cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq
);
1075 if (ret
== ERROR_OK
)
1076 tap_set_state(TAP_RESET
);
1080 /* Set new end state */
1081 static void cmsis_dap_end_state(tap_state_t state
)
1083 if (tap_is_state_stable(state
))
1084 tap_set_end_state(state
);
1086 LOG_ERROR("BUG: %i is not a valid end state", state
);
1091 #ifdef SPRINT_BINARY
1092 static void sprint_binary(char *s
, const uint8_t *buf
, int offset
, int len
)
1098 buf = { 0x18 } len=5 should result in: 11000
1099 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1100 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1101 i=3 there means i/8 = 0 so c = 0xFF, and
1103 for (int i
= offset
; i
< offset
+ len
; ++i
) {
1104 uint8_t c
= buf
[i
/ 8], mask
= 1 << (i
% 8);
1105 if ((i
!= offset
) && !(i
% 8))
1107 *s
++ = (c
& mask
) ? '1' : '0';
1113 #ifdef CMSIS_DAP_JTAG_DEBUG
1114 static void debug_parse_cmsis_buf(const uint8_t *cmd
, int cmdlen
)
1116 /* cmd is a usb packet to go to the cmsis-dap interface */
1117 printf("cmsis-dap buffer (%d b): ", cmdlen
);
1118 for (int i
= 0; i
< cmdlen
; ++i
)
1119 printf(" %02x", cmd
[i
]);
1122 case CMD_DAP_JTAG_SEQ
: {
1123 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd
[1], cmd
[2]);
1125 * #2 = number of sequences
1126 * #3 = sequence info 1
1127 * #4...4+n_bytes-1 = sequence 1
1128 * #4+n_bytes = sequence info 2
1129 * #5+n_bytes = sequence 2 (single bit)
1132 for (int seq
= 0; seq
< cmd
[2]; ++seq
) {
1133 uint8_t info
= cmd
[pos
++];
1134 int len
= info
& DAP_JTAG_SEQ_TCK
;
1137 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1138 seq
, pos
, info
, len
, info
& DAP_JTAG_SEQ_TMS
, info
& DAP_JTAG_SEQ_TDO
);
1139 for (int i
= 0; i
< DIV_ROUND_UP(len
, 8); ++i
)
1140 printf(" %02x", cmd
[pos
+i
]);
1141 pos
+= DIV_ROUND_UP(len
, 8);
1144 if (pos
!= cmdlen
) {
1145 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos
, cmdlen
);
1152 LOG_DEBUG("unknown cmsis-dap command %02x", cmd
[1]);
1158 static void cmsis_dap_flush(void)
1160 if (!queued_seq_count
)
1163 LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1164 queued_seq_count
, queued_seq_buf_end
, pending_scan_result_count
);
1166 /* prep CMSIS-DAP packet */
1167 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
1168 buffer
[0] = 0; /* report number */
1169 buffer
[1] = CMD_DAP_JTAG_SEQ
;
1170 buffer
[2] = queued_seq_count
;
1171 memcpy(buffer
+ 3, queued_seq_buf
, queued_seq_buf_end
);
1173 #ifdef CMSIS_DAP_JTAG_DEBUG
1174 debug_parse_cmsis_buf(buffer
, queued_seq_buf_end
+ 3);
1177 /* send command to USB device */
1178 int retval
= cmsis_dap_xfer(cmsis_dap_handle
, queued_seq_buf_end
+ 3);
1179 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
1180 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1184 #ifdef CMSIS_DAP_JTAG_DEBUG
1185 LOG_DEBUG_IO("USB response buf:");
1186 for (int c
= 0; c
< queued_seq_buf_end
+ 3; ++c
)
1187 printf("%02X ", buffer
[c
]);
1191 /* copy scan results into client buffers */
1192 for (int i
= 0; i
< pending_scan_result_count
; ++i
) {
1193 struct pending_scan_result
*scan
= &pending_scan_results
[i
];
1194 LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1195 i
, pending_scan_result_count
, scan
->length
, scan
->first
+ 2, scan
->buffer_offset
);
1196 #ifdef CMSIS_DAP_JTAG_DEBUG
1197 for (uint32_t b
= 0; b
< DIV_ROUND_UP(scan
->length
, 8); ++b
)
1198 printf("%02X ", buffer
[2+scan
->first
+b
]);
1201 bit_copy(scan
->buffer
, scan
->buffer_offset
, buffer
+ 2 + scan
->first
, 0, scan
->length
);
1205 queued_seq_count
= 0;
1206 queued_seq_buf_end
= 0;
1207 queued_seq_tdo_ptr
= 0;
1208 pending_scan_result_count
= 0;
1211 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1213 * sequence=NULL means clock out zeros on TDI
1214 * tdo_buffer=NULL means don't capture TDO
1216 static void cmsis_dap_add_jtag_sequence(int s_len
, const uint8_t *sequence
, int s_offset
,
1217 bool tms
, uint8_t *tdo_buffer
, int tdo_buffer_offset
)
1219 LOG_DEBUG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1221 s_len
, tms
? "HIGH" : "LOW", s_offset
, tdo_buffer
, tdo_buffer_offset
);
1227 LOG_DEBUG_IO("START JTAG SEQ SPLIT");
1228 for (int offset
= 0; offset
< s_len
; offset
+= 64) {
1229 int len
= s_len
- offset
;
1232 LOG_DEBUG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len
, offset
);
1233 cmsis_dap_add_jtag_sequence(
1239 tdo_buffer
== NULL
? 0 : (tdo_buffer_offset
+ offset
)
1242 LOG_DEBUG_IO("END JTAG SEQ SPLIT");
1246 int cmd_len
= 1 + DIV_ROUND_UP(s_len
, 8);
1247 if (queued_seq_count
>= 255 || queued_seq_buf_end
+ cmd_len
> QUEUED_SEQ_BUF_LEN
)
1248 /* empty out the buffer */
1254 queued_seq_buf
[queued_seq_buf_end
] =
1255 (tms
? DAP_JTAG_SEQ_TMS
: 0) |
1256 (tdo_buffer
!= NULL
? DAP_JTAG_SEQ_TDO
: 0) |
1257 (s_len
== 64 ? 0 : s_len
);
1259 if (sequence
!= NULL
)
1260 bit_copy(&queued_seq_buf
[queued_seq_buf_end
+ 1], 0, sequence
, s_offset
, s_len
);
1262 memset(&queued_seq_buf
[queued_seq_buf_end
+ 1], 0, DIV_ROUND_UP(s_len
, 8));
1264 queued_seq_buf_end
+= cmd_len
;
1266 if (tdo_buffer
!= NULL
) {
1267 struct pending_scan_result
*scan
= &pending_scan_results
[pending_scan_result_count
++];
1268 scan
->first
= queued_seq_tdo_ptr
;
1269 queued_seq_tdo_ptr
+= DIV_ROUND_UP(s_len
, 8);
1270 scan
->length
= s_len
;
1271 scan
->buffer
= tdo_buffer
;
1272 scan
->buffer_offset
= tdo_buffer_offset
;
1276 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1277 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence
, int s_len
)
1279 LOG_DEBUG_IO("%d bits: %02X", s_len
, *sequence
);
1280 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1281 because even though it seems ridiculously inefficient, it
1282 allows us to combine TMS and scan sequences into the same
1284 /* TODO: combine runs of the same tms value */
1285 for (int i
= 0; i
< s_len
; ++i
) {
1286 bool bit
= (sequence
[i
/ 8] & (1 << (i
% 8))) != 0;
1287 cmsis_dap_add_jtag_sequence(1, NULL
, 0, bit
, NULL
, 0);
1291 /* Move to the end state by queuing a sequence to clock into TMS */
1292 static void cmsis_dap_state_move(void)
1295 uint8_t tms_scan_bits
;
1297 tms_scan
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1298 tms_scan_bits
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1300 LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms",
1301 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1302 tms_scan_bits
, tms_scan
);
1303 cmsis_dap_add_tms_sequence(&tms_scan
, tms_scan_bits
);
1305 tap_set_state(tap_get_end_state());
1309 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1310 static void cmsis_dap_execute_scan(struct jtag_command
*cmd
)
1312 LOG_DEBUG_IO("%s type:%d", cmd
->cmd
.scan
->ir_scan
? "IRSCAN" : "DRSCAN",
1313 jtag_scan_type(cmd
->cmd
.scan
));
1315 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1316 while (cmd
->cmd
.scan
->num_fields
> 0
1317 && cmd
->cmd
.scan
->fields
[cmd
->cmd
.scan
->num_fields
- 1].num_bits
== 0) {
1318 cmd
->cmd
.scan
->num_fields
--;
1319 LOG_DEBUG("discarding trailing empty field");
1322 if (cmd
->cmd
.scan
->num_fields
== 0) {
1323 LOG_DEBUG("empty scan, doing nothing");
1327 if (cmd
->cmd
.scan
->ir_scan
) {
1328 if (tap_get_state() != TAP_IRSHIFT
) {
1329 cmsis_dap_end_state(TAP_IRSHIFT
);
1330 cmsis_dap_state_move();
1333 if (tap_get_state() != TAP_DRSHIFT
) {
1334 cmsis_dap_end_state(TAP_DRSHIFT
);
1335 cmsis_dap_state_move();
1339 cmsis_dap_end_state(cmd
->cmd
.scan
->end_state
);
1341 struct scan_field
*field
= cmd
->cmd
.scan
->fields
;
1342 unsigned scan_size
= 0;
1344 for (int i
= 0; i
< cmd
->cmd
.scan
->num_fields
; i
++, field
++) {
1345 scan_size
+= field
->num_bits
;
1346 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
1347 field
->in_value
? "in" : "",
1348 field
->out_value
? "out" : "",
1350 cmd
->cmd
.scan
->num_fields
,
1353 if (i
== cmd
->cmd
.scan
->num_fields
- 1 && tap_get_state() != tap_get_end_state()) {
1354 LOG_DEBUG_IO("Last field and have to move out of SHIFT state");
1355 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1356 * movement. This last field can't have length zero, it was checked above. */
1357 cmsis_dap_add_jtag_sequence(
1358 field
->num_bits
- 1, /* number of bits to clock */
1359 field
->out_value
, /* output sequence */
1360 0, /* output offset */
1361 false, /* TMS low */
1365 /* Clock the last bit out, with TMS high */
1366 uint8_t last_bit
= 0;
1367 if (field
->out_value
)
1368 bit_copy(&last_bit
, 0, field
->out_value
, field
->num_bits
- 1, 1);
1369 cmsis_dap_add_jtag_sequence(
1375 field
->num_bits
- 1);
1376 tap_set_state(tap_state_transition(tap_get_state(), 1));
1378 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1379 cmsis_dap_add_jtag_sequence(
1386 tap_set_state(tap_state_transition(tap_get_state(), 0));
1388 LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards");
1389 /* Clocking part of a sequence into DR or IR with TMS=0,
1390 leaving TMS=0 at the end so we can continue later */
1391 cmsis_dap_add_jtag_sequence(
1401 if (tap_get_state() != tap_get_end_state()) {
1402 cmsis_dap_end_state(tap_get_end_state());
1403 cmsis_dap_state_move();
1406 LOG_DEBUG_IO("%s scan, %i bits, end in %s",
1407 (cmd
->cmd
.scan
->ir_scan
) ? "IR" : "DR", scan_size
,
1408 tap_state_name(tap_get_end_state()));
1411 static void cmsis_dap_pathmove(int num_states
, tap_state_t
*path
)
1414 uint8_t tms0
= 0x00;
1415 uint8_t tms1
= 0xff;
1417 for (i
= 0; i
< num_states
; i
++) {
1418 if (path
[i
] == tap_state_transition(tap_get_state(), false))
1419 cmsis_dap_add_tms_sequence(&tms0
, 1);
1420 else if (path
[i
] == tap_state_transition(tap_get_state(), true))
1421 cmsis_dap_add_tms_sequence(&tms1
, 1);
1423 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1424 tap_state_name(tap_get_state()), tap_state_name(path
[i
]));
1428 tap_set_state(path
[i
]);
1431 cmsis_dap_end_state(tap_get_state());
1434 static void cmsis_dap_execute_pathmove(struct jtag_command
*cmd
)
1436 LOG_DEBUG_IO("pathmove: %i states, end in %i",
1437 cmd
->cmd
.pathmove
->num_states
,
1438 cmd
->cmd
.pathmove
->path
[cmd
->cmd
.pathmove
->num_states
- 1]);
1440 cmsis_dap_pathmove(cmd
->cmd
.pathmove
->num_states
, cmd
->cmd
.pathmove
->path
);
1443 static void cmsis_dap_stableclocks(int num_cycles
)
1447 uint8_t tms
= tap_get_state() == TAP_RESET
;
1448 /* TODO: Perform optimizations? */
1449 /* Execute num_cycles. */
1450 for (i
= 0; i
< num_cycles
; i
++)
1451 cmsis_dap_add_tms_sequence(&tms
, 1);
1454 static void cmsis_dap_runtest(int num_cycles
)
1456 tap_state_t saved_end_state
= tap_get_end_state();
1458 /* Only do a state_move when we're not already in IDLE. */
1459 if (tap_get_state() != TAP_IDLE
) {
1460 cmsis_dap_end_state(TAP_IDLE
);
1461 cmsis_dap_state_move();
1463 cmsis_dap_stableclocks(num_cycles
);
1465 /* Finish in end_state. */
1466 cmsis_dap_end_state(saved_end_state
);
1468 if (tap_get_state() != tap_get_end_state())
1469 cmsis_dap_state_move();
1472 static void cmsis_dap_execute_runtest(struct jtag_command
*cmd
)
1474 LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd
->cmd
.runtest
->num_cycles
,
1475 cmd
->cmd
.runtest
->end_state
);
1477 cmsis_dap_end_state(cmd
->cmd
.runtest
->end_state
);
1478 cmsis_dap_runtest(cmd
->cmd
.runtest
->num_cycles
);
1481 static void cmsis_dap_execute_stableclocks(struct jtag_command
*cmd
)
1483 LOG_DEBUG_IO("stableclocks %i cycles", cmd
->cmd
.runtest
->num_cycles
);
1484 cmsis_dap_stableclocks(cmd
->cmd
.runtest
->num_cycles
);
1487 static void cmsis_dap_execute_tms(struct jtag_command
*cmd
)
1489 LOG_DEBUG_IO("TMS: %d bits", cmd
->cmd
.tms
->num_bits
);
1490 cmsis_dap_cmd_DAP_SWJ_Sequence(cmd
->cmd
.tms
->num_bits
, cmd
->cmd
.tms
->bits
);
1493 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1494 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1495 static void cmsis_dap_execute_command(struct jtag_command
*cmd
)
1497 switch (cmd
->type
) {
1500 cmsis_dap_execute_sleep(cmd
);
1502 case JTAG_TLR_RESET
:
1504 cmsis_dap_execute_tlr_reset(cmd
);
1507 cmsis_dap_execute_scan(cmd
);
1510 cmsis_dap_execute_pathmove(cmd
);
1513 cmsis_dap_execute_runtest(cmd
);
1515 case JTAG_STABLECLOCKS
:
1516 cmsis_dap_execute_stableclocks(cmd
);
1519 cmsis_dap_execute_tms(cmd
);
1522 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd
->type
);
1527 static int cmsis_dap_execute_queue(void)
1529 struct jtag_command
*cmd
= jtag_command_queue
;
1531 while (cmd
!= NULL
) {
1532 cmsis_dap_execute_command(cmd
);
1541 static int cmsis_dap_speed(int speed
)
1544 LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\".");
1545 return ERROR_JTAG_NOT_IMPLEMENTED
;
1548 return cmsis_dap_cmd_DAP_SWJ_Clock(speed
);
1551 static int cmsis_dap_speed_div(int speed
, int *khz
)
1557 static int cmsis_dap_khz(int khz
, int *jtag_speed
)
1563 COMMAND_HANDLER(cmsis_dap_handle_info_command
)
1565 if (cmsis_dap_get_version_info() == ERROR_OK
)
1566 cmsis_dap_get_status();
1571 COMMAND_HANDLER(cmsis_dap_handle_cmd_command
)
1575 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
1577 buffer
[0] = 0; /* report number */
1579 for (i
= 0; i
< CMD_ARGC
; i
++)
1580 buffer
[i
+ 1] = strtoul(CMD_ARGV
[i
], NULL
, 16);
1582 retval
= cmsis_dap_xfer(cmsis_dap_handle
, CMD_ARGC
+ 1);
1584 if (retval
!= ERROR_OK
) {
1585 LOG_ERROR("CMSIS-DAP command failed.");
1586 return ERROR_JTAG_DEVICE_ERROR
;
1589 LOG_INFO("Returned data %02" PRIx8
" %02" PRIx8
" %02" PRIx8
" %02" PRIx8
,
1590 buffer
[1], buffer
[2], buffer
[3], buffer
[4]);
1595 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command
)
1597 if (CMD_ARGC
> MAX_USB_IDS
* 2) {
1598 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1599 "(maximum is %d pairs)", MAX_USB_IDS
);
1600 CMD_ARGC
= MAX_USB_IDS
* 2;
1602 if (CMD_ARGC
< 2 || (CMD_ARGC
& 1)) {
1603 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1605 return ERROR_COMMAND_SYNTAX_ERROR
;
1606 /* remove the incomplete trailing id */
1611 for (i
= 0; i
< CMD_ARGC
; i
+= 2) {
1612 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
], cmsis_dap_vid
[i
>> 1]);
1613 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], cmsis_dap_pid
[i
>> 1]);
1617 * Explicitly terminate, in case there are multiples instances of
1618 * cmsis_dap_vid_pid.
1620 cmsis_dap_vid
[i
>> 1] = cmsis_dap_pid
[i
>> 1] = 0;
1625 COMMAND_HANDLER(cmsis_dap_handle_serial_command
)
1628 cmsis_dap_serial
= strdup(CMD_ARGV
[0]);
1630 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1635 COMMAND_HANDLER(cmsis_dap_handle_backend_command
)
1637 if (CMD_ARGC
== 1) {
1638 if (strcmp(CMD_ARGV
[0], "auto") == 0) {
1639 cmsis_dap_backend
= -1; /* autoselect */
1641 for (unsigned int i
= 0; i
< ARRAY_SIZE(cmsis_dap_backends
); i
++) {
1642 if (strcasecmp(cmsis_dap_backends
[i
]->name
, CMD_ARGV
[0]) == 0) {
1643 cmsis_dap_backend
= i
;
1648 LOG_ERROR("invalid backend argument to cmsis_dap_backend <backend>");
1651 LOG_ERROR("expected exactly one argument to cmsis_dap_backend <backend>");
1657 static const struct command_registration cmsis_dap_subcommand_handlers
[] = {
1660 .handler
= &cmsis_dap_handle_info_command
,
1661 .mode
= COMMAND_EXEC
,
1663 .help
= "show cmsis-dap info",
1667 .handler
= &cmsis_dap_handle_cmd_command
,
1668 .mode
= COMMAND_EXEC
,
1670 .help
= "issue cmsis-dap command",
1672 COMMAND_REGISTRATION_DONE
1676 static const struct command_registration cmsis_dap_command_handlers
[] = {
1678 .name
= "cmsis-dap",
1679 .mode
= COMMAND_ANY
,
1680 .help
= "perform CMSIS-DAP management",
1682 .chain
= cmsis_dap_subcommand_handlers
,
1685 .name
= "cmsis_dap_vid_pid",
1686 .handler
= &cmsis_dap_handle_vid_pid_command
,
1687 .mode
= COMMAND_CONFIG
,
1688 .help
= "the vendor ID and product ID of the CMSIS-DAP device",
1689 .usage
= "(vid pid)* ",
1692 .name
= "cmsis_dap_serial",
1693 .handler
= &cmsis_dap_handle_serial_command
,
1694 .mode
= COMMAND_CONFIG
,
1695 .help
= "set the serial number of the adapter",
1696 .usage
= "serial_string",
1699 .name
= "cmsis_dap_backend",
1700 .handler
= &cmsis_dap_handle_backend_command
,
1701 .mode
= COMMAND_CONFIG
,
1702 .help
= "set the communication backend to use (USB bulk or HID).",
1703 .usage
= "(auto | usb_bulk | hid)",
1705 #if BUILD_CMSIS_DAP_USB
1707 .name
= "cmsis_dap_usb",
1708 .chain
= cmsis_dap_usb_subcommand_handlers
,
1709 .mode
= COMMAND_ANY
,
1710 .help
= "USB bulk backend-specific commands",
1714 COMMAND_REGISTRATION_DONE
1717 static const struct swd_driver cmsis_dap_swd_driver
= {
1718 .init
= cmsis_dap_swd_init
,
1719 .switch_seq
= cmsis_dap_swd_switch_seq
,
1720 .read_reg
= cmsis_dap_swd_read_reg
,
1721 .write_reg
= cmsis_dap_swd_write_reg
,
1722 .run
= cmsis_dap_swd_run_queue
,
1725 static const char * const cmsis_dap_transport
[] = { "swd", "jtag", NULL
};
1727 static struct jtag_interface cmsis_dap_interface
= {
1728 .supported
= DEBUG_CAP_TMS_SEQ
,
1729 .execute_queue
= cmsis_dap_execute_queue
,
1732 struct adapter_driver cmsis_dap_adapter_driver
= {
1733 .name
= "cmsis-dap",
1734 .transports
= cmsis_dap_transport
,
1735 .commands
= cmsis_dap_command_handlers
,
1737 .init
= cmsis_dap_init
,
1738 .quit
= cmsis_dap_quit
,
1739 .reset
= cmsis_dap_reset
,
1740 .speed
= cmsis_dap_speed
,
1741 .khz
= cmsis_dap_khz
,
1742 .speed_div
= cmsis_dap_speed_div
,
1744 .jtag_ops
= &cmsis_dap_interface
,
1745 .swd_ops
= &cmsis_dap_swd_driver
,
Linking to existing account procedure
If you already have an account and want to add another login method
you
MUST first sign in with your existing account and
then change URL to read
https://review.openocd.org/login/?link
to get to this page again but this time it'll work for linking. Thank you.
SSH host keys fingerprints
1024 SHA256:YKx8b7u5ZWdcbp7/4AeXNaqElP49m6QrwfXaqQGJAOk gerrit-code-review@openocd.zylin.com (DSA)
384 SHA256:jHIbSQa4REvwCFG4cq5LBlBLxmxSqelQPem/EXIrxjk gerrit-code-review@openocd.org (ECDSA)
521 SHA256:UAOPYkU9Fjtcao0Ul/Rrlnj/OsQvt+pgdYSZ4jOYdgs gerrit-code-review@openocd.org (ECDSA)
256 SHA256:A13M5QlnozFOvTllybRZH6vm7iSt0XLxbA48yfc2yfY gerrit-code-review@openocd.org (ECDSA)
256 SHA256:spYMBqEYoAOtK7yZBrcwE8ZpYt6b68Cfh9yEVetvbXg gerrit-code-review@openocd.org (ED25519)
+--[ED25519 256]--+
|=.. |
|+o.. . |
|*.o . . |
|+B . . . |
|Bo. = o S |
|Oo.+ + = |
|oB=.* = . o |
| =+=.+ + E |
|. .=o . o |
+----[SHA256]-----+
2048 SHA256:0Onrb7/PHjpo6iVZ7xQX2riKN83FJ3KGU0TvI0TaFG4 gerrit-code-review@openocd.zylin.com (RSA)