1 /***************************************************************************
2 * Copyright (C) 2016 by Maksym Hilliaka *
3 * oter@frozen-team.com *
5 * Copyright (C) 2016 by Phillip Pearson *
8 * Copyright (C) 2014 by Paul Fertser *
9 * fercerpav@gmail.com *
11 * Copyright (C) 2013 by mike brown *
12 * mike@theshedworks.org.uk *
14 * Copyright (C) 2013 by Spencer Oliver *
15 * spen@spen-soft.co.uk *
17 * This program is free software; you can redistribute it and/or modify *
18 * it under the terms of the GNU General Public License as published by *
19 * the Free Software Foundation; either version 2 of the License, or *
20 * (at your option) any later version. *
22 * This program is distributed in the hope that it will be useful, *
23 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
24 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
25 * GNU General Public License for more details. *
27 * You should have received a copy of the GNU General Public License *
28 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
29 ***************************************************************************/
35 #include <transport/transport.h>
37 #include <jtag/interface.h>
38 #include <jtag/commands.h>
44 * See CMSIS-DAP documentation:
45 * Version 0.01 - Beta.
50 /* Known vid/pid pairs:
51 * VID 0xc251: Keil Software
52 * PID 0xf001: LPC-Link-II CMSIS_DAP
53 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
54 * PID 0x2722: Keil ULINK2 CMSIS-DAP
56 * VID 0x0d28: mbed Software
57 * PID 0x0204: MBED CMSIS-DAP
61 /* vid = pid = 0 marks the end of the list */
62 static uint16_t cmsis_dap_vid
[MAX_USB_IDS
+ 1] = { 0 };
63 static uint16_t cmsis_dap_pid
[MAX_USB_IDS
+ 1] = { 0 };
64 static wchar_t *cmsis_dap_serial
;
67 #define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
68 #define USB_TIMEOUT 1000
70 /* CMSIS-DAP General Commands */
71 #define CMD_DAP_INFO 0x00
72 #define CMD_DAP_LED 0x01
73 #define CMD_DAP_CONNECT 0x02
74 #define CMD_DAP_DISCONNECT 0x03
75 #define CMD_DAP_WRITE_ABORT 0x08
76 #define CMD_DAP_DELAY 0x09
77 #define CMD_DAP_RESET_TARGET 0x0A
80 #define INFO_ID_VENDOR 0x01 /* string */
81 #define INFO_ID_PRODUCT 0x02 /* string */
82 #define INFO_ID_SERNUM 0x03 /* string */
83 #define INFO_ID_FW_VER 0x04 /* string */
84 #define INFO_ID_TD_VEND 0x05 /* string */
85 #define INFO_ID_TD_NAME 0x06 /* string */
86 #define INFO_ID_CAPS 0xf0 /* byte */
87 #define INFO_ID_PKT_CNT 0xfe /* byte */
88 #define INFO_ID_PKT_SZ 0xff /* short */
90 #define INFO_CAPS_SWD 0x01
91 #define INFO_CAPS_JTAG 0x02
94 #define LED_ID_CONNECT 0x00
95 #define LED_ID_RUN 0x01
101 #define CONNECT_DEFAULT 0x00
102 #define CONNECT_SWD 0x01
103 #define CONNECT_JTAG 0x02
105 /* CMSIS-DAP Common SWD/JTAG Commands */
106 #define CMD_DAP_DELAY 0x09
107 #define CMD_DAP_SWJ_PINS 0x10
108 #define CMD_DAP_SWJ_CLOCK 0x11
109 #define CMD_DAP_SWJ_SEQ 0x12
121 #define SWJ_PIN_TCK (1<<0)
122 #define SWJ_PIN_TMS (1<<1)
123 #define SWJ_PIN_TDI (1<<2)
124 #define SWJ_PIN_TDO (1<<3)
125 #define SWJ_PIN_TRST (1<<5)
126 #define SWJ_PIN_SRST (1<<7)
128 /* CMSIS-DAP SWD Commands */
129 #define CMD_DAP_SWD_CONFIGURE 0x13
131 /* CMSIS-DAP JTAG Commands */
132 #define CMD_DAP_JTAG_SEQ 0x14
133 #define CMD_DAP_JTAG_CONFIGURE 0x15
134 #define CMD_DAP_JTAG_IDCODE 0x16
136 /* CMSIS-DAP JTAG sequence info masks */
137 /* Number of bits to clock through (0 means 64) */
138 #define DAP_JTAG_SEQ_TCK 0x3F
139 /* TMS will be set during the sequence if this bit is set */
140 #define DAP_JTAG_SEQ_TMS 0x40
141 /* TDO output will be captured if this bit is set */
142 #define DAP_JTAG_SEQ_TDO 0x80
145 /* CMSIS-DAP Transfer Commands */
146 #define CMD_DAP_TFER_CONFIGURE 0x04
147 #define CMD_DAP_TFER 0x05
148 #define CMD_DAP_TFER_BLOCK 0x06
149 #define CMD_DAP_TFER_ABORT 0x07
151 /* DAP Status Code */
153 #define DAP_ERROR 0xFF
155 /* CMSIS-DAP Vendor Commands
158 static const char * const info_caps_str
[] = {
163 /* max clock speed (kHz) */
164 #define DAP_MAX_CLOCK 5000
167 hid_device
*dev_handle
;
168 uint16_t packet_size
;
170 uint8_t *packet_buffer
;
175 struct pending_transfer_result
{
181 struct pending_request_block
{
182 struct pending_transfer_result
*transfers
;
186 struct pending_scan_result
{
187 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
189 /** Number of bits to read. */
191 /** Location to store the result */
193 /** Offset in the destination buffer */
194 unsigned buffer_offset
;
197 /* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued
198 * until the first response arrives */
199 #define MAX_PENDING_REQUESTS 3
201 /* Pending requests are organized as a FIFO - circular buffer */
202 /* Each block in FIFO can contain up to pending_queue_len transfers */
203 static int pending_queue_len
;
204 static struct pending_request_block pending_fifo
[MAX_PENDING_REQUESTS
];
205 static int pending_fifo_put_idx
, pending_fifo_get_idx
;
206 static int pending_fifo_block_count
;
208 /* pointers to buffers that will receive jtag scan results on the next flush */
209 #define MAX_PENDING_SCAN_RESULTS 256
210 static int pending_scan_result_count
;
211 static struct pending_scan_result pending_scan_results
[MAX_PENDING_SCAN_RESULTS
];
213 /* queued JTAG sequences that will be executed on the next flush */
214 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
215 static int queued_seq_count
;
216 static int queued_seq_buf_end
;
217 static int queued_seq_tdo_ptr
;
218 static uint8_t queued_seq_buf
[1024]; /* TODO: make dynamic / move into cmsis object */
220 static int queued_retval
;
222 static uint8_t output_pins
= SWJ_PIN_SRST
| SWJ_PIN_TRST
;
224 static struct cmsis_dap
*cmsis_dap_handle
;
226 static int cmsis_dap_usb_open(void)
228 hid_device
*dev
= NULL
;
230 struct hid_device_info
*devs
, *cur_dev
;
231 unsigned short target_vid
, target_pid
;
237 if (hid_init() != 0) {
238 LOG_ERROR("unable to open HIDAPI");
243 * The CMSIS-DAP specification stipulates:
244 * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
245 * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
247 devs
= hid_enumerate(0x0, 0x0);
249 while (NULL
!= cur_dev
) {
250 if (0 == cmsis_dap_vid
[0]) {
251 if (NULL
== cur_dev
->product_string
) {
252 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
253 cur_dev
->vendor_id
, cur_dev
->product_id
);
255 if (wcsstr(cur_dev
->product_string
, L
"CMSIS-DAP")) {
256 /* if the user hasn't specified VID:PID *and*
257 * product string contains "CMSIS-DAP", pick it
263 /* otherwise, exhaustively compare against all VID:PID in list */
264 for (i
= 0; cmsis_dap_vid
[i
] || cmsis_dap_pid
[i
]; i
++) {
265 if ((cmsis_dap_vid
[i
] == cur_dev
->vendor_id
) && (cmsis_dap_pid
[i
] == cur_dev
->product_id
))
269 if (cmsis_dap_vid
[i
] || cmsis_dap_pid
[i
])
274 /* we have found an adapter, so exit further checks */
275 /* check serial number matches if given */
276 if (cmsis_dap_serial
!= NULL
) {
277 if ((cur_dev
->serial_number
!= NULL
) && wcscmp(cmsis_dap_serial
, cur_dev
->serial_number
) == 0) {
286 cur_dev
= cur_dev
->next
;
289 if (NULL
!= cur_dev
) {
290 target_vid
= cur_dev
->vendor_id
;
291 target_pid
= cur_dev
->product_id
;
294 if (target_vid
== 0 && target_pid
== 0) {
295 LOG_ERROR("unable to find CMSIS-DAP device");
296 hid_free_enumeration(devs
);
300 dev
= hid_open_path(cur_dev
->path
);
301 hid_free_enumeration(devs
);
304 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid
, target_pid
);
308 struct cmsis_dap
*dap
= malloc(sizeof(struct cmsis_dap
));
310 LOG_ERROR("unable to allocate memory");
314 dap
->dev_handle
= dev
;
318 cmsis_dap_handle
= dap
;
320 /* allocate default packet buffer, may be changed later.
321 * currently with HIDAPI we have no way of getting the output report length
322 * without this info we cannot communicate with the adapter.
323 * For the moment we ahve to hard code the packet size */
325 int packet_size
= PACKET_SIZE
;
327 /* atmel cmsis-dap uses 512 byte reports */
328 /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained
330 /* TODO: HID report descriptor should be parsed instead of
331 * hardcoding a match by VID */
332 if (target_vid
== 0x03eb && target_pid
!= 0x2145)
333 packet_size
= 512 + 1;
335 cmsis_dap_handle
->packet_buffer
= malloc(packet_size
);
336 cmsis_dap_handle
->packet_size
= packet_size
;
338 if (cmsis_dap_handle
->packet_buffer
== NULL
) {
339 LOG_ERROR("unable to allocate memory");
346 static void cmsis_dap_usb_close(struct cmsis_dap
*dap
)
348 hid_close(dap
->dev_handle
);
351 free(cmsis_dap_handle
->packet_buffer
);
352 free(cmsis_dap_handle
);
353 cmsis_dap_handle
= NULL
;
354 free(cmsis_dap_serial
);
355 cmsis_dap_serial
= NULL
;
357 for (int i
= 0; i
< MAX_PENDING_REQUESTS
; i
++) {
358 free(pending_fifo
[i
].transfers
);
359 pending_fifo
[i
].transfers
= NULL
;
363 static int cmsis_dap_usb_write(struct cmsis_dap
*dap
, int txlen
)
365 #ifdef CMSIS_DAP_JTAG_DEBUG
366 LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap
->packet_buffer
[1]);
368 /* Pad the rest of the TX buffer with 0's */
369 memset(dap
->packet_buffer
+ txlen
, 0, dap
->packet_size
- txlen
);
371 /* write data to device */
372 int retval
= hid_write(dap
->dev_handle
, dap
->packet_buffer
, dap
->packet_size
);
374 LOG_ERROR("error writing data: %ls", hid_error(dap
->dev_handle
));
381 /* Send a message and receive the reply */
382 static int cmsis_dap_usb_xfer(struct cmsis_dap
*dap
, int txlen
)
384 if (pending_fifo_block_count
) {
385 LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count
);
386 while (pending_fifo_block_count
) {
387 hid_read_timeout(dap
->dev_handle
, dap
->packet_buffer
, dap
->packet_size
, 10);
388 pending_fifo_block_count
--;
390 pending_fifo_put_idx
= 0;
391 pending_fifo_get_idx
= 0;
394 int retval
= cmsis_dap_usb_write(dap
, txlen
);
395 if (retval
!= ERROR_OK
)
399 retval
= hid_read_timeout(dap
->dev_handle
, dap
->packet_buffer
, dap
->packet_size
, USB_TIMEOUT
);
400 if (retval
== -1 || retval
== 0) {
401 LOG_DEBUG("error reading data: %ls", hid_error(dap
->dev_handle
));
408 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins
, uint8_t mask
, uint32_t delay
, uint8_t *input
)
411 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
413 buffer
[0] = 0; /* report number */
414 buffer
[1] = CMD_DAP_SWJ_PINS
;
417 buffer
[4] = delay
& 0xff;
418 buffer
[5] = (delay
>> 8) & 0xff;
419 buffer
[6] = (delay
>> 16) & 0xff;
420 buffer
[7] = (delay
>> 24) & 0xff;
421 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 8);
423 if (retval
!= ERROR_OK
) {
424 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
425 return ERROR_JTAG_DEVICE_ERROR
;
434 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock
)
437 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
439 /* set clock in Hz */
441 buffer
[0] = 0; /* report number */
442 buffer
[1] = CMD_DAP_SWJ_CLOCK
;
443 buffer
[2] = swj_clock
& 0xff;
444 buffer
[3] = (swj_clock
>> 8) & 0xff;
445 buffer
[4] = (swj_clock
>> 16) & 0xff;
446 buffer
[5] = (swj_clock
>> 24) & 0xff;
447 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 6);
449 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
450 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
451 return ERROR_JTAG_DEVICE_ERROR
;
457 /* clock a sequence of bits out on TMS, to change JTAG states */
458 static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len
, const uint8_t *sequence
)
461 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
463 #ifdef CMSIS_DAP_JTAG_DEBUG
464 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len
);
465 for (int i
= 0; i
< DIV_ROUND_UP(s_len
, 8); ++i
)
466 printf("%02X ", sequence
[i
]);
471 buffer
[0] = 0; /* report number */
472 buffer
[1] = CMD_DAP_SWJ_SEQ
;
474 bit_copy(&buffer
[3], 0, sequence
, 0, s_len
);
476 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, DIV_ROUND_UP(s_len
, 8) + 3);
478 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
)
484 static int cmsis_dap_cmd_DAP_Info(uint8_t info
, uint8_t **data
)
487 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
489 buffer
[0] = 0; /* report number */
490 buffer
[1] = CMD_DAP_INFO
;
492 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 3);
494 if (retval
!= ERROR_OK
) {
495 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
496 return ERROR_JTAG_DEVICE_ERROR
;
499 *data
= &(buffer
[1]);
504 static int cmsis_dap_cmd_DAP_LED(uint8_t led
, uint8_t state
)
507 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
509 buffer
[0] = 0; /* report number */
510 buffer
[1] = CMD_DAP_LED
;
513 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 4);
515 if (retval
!= ERROR_OK
|| buffer
[1] != 0x00) {
516 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
517 return ERROR_JTAG_DEVICE_ERROR
;
523 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode
)
526 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
528 buffer
[0] = 0; /* report number */
529 buffer
[1] = CMD_DAP_CONNECT
;
531 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 3);
533 if (retval
!= ERROR_OK
) {
534 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
535 return ERROR_JTAG_DEVICE_ERROR
;
538 if (buffer
[1] != mode
) {
539 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode
);
540 return ERROR_JTAG_DEVICE_ERROR
;
546 static int cmsis_dap_cmd_DAP_Disconnect(void)
549 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
551 buffer
[0] = 0; /* report number */
552 buffer
[1] = CMD_DAP_DISCONNECT
;
553 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 2);
555 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
556 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
557 return ERROR_JTAG_DEVICE_ERROR
;
563 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle
, uint16_t retry_count
, uint16_t match_retry
)
566 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
568 buffer
[0] = 0; /* report number */
569 buffer
[1] = CMD_DAP_TFER_CONFIGURE
;
571 buffer
[3] = retry_count
& 0xff;
572 buffer
[4] = (retry_count
>> 8) & 0xff;
573 buffer
[5] = match_retry
& 0xff;
574 buffer
[6] = (match_retry
>> 8) & 0xff;
575 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 7);
577 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
578 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
579 return ERROR_JTAG_DEVICE_ERROR
;
585 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg
)
588 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
590 buffer
[0] = 0; /* report number */
591 buffer
[1] = CMD_DAP_SWD_CONFIGURE
;
593 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 3);
595 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
596 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
597 return ERROR_JTAG_DEVICE_ERROR
;
604 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us
)
607 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
609 buffer
[0] = 0; /* report number */
610 buffer
[1] = CMD_DAP_DELAY
;
611 buffer
[2] = delay_us
& 0xff;
612 buffer
[3] = (delay_us
>> 8) & 0xff;
613 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, 4);
615 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
616 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
617 return ERROR_JTAG_DEVICE_ERROR
;
624 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap
*dap
)
626 uint8_t *buffer
= dap
->packet_buffer
;
627 struct pending_request_block
*block
= &pending_fifo
[pending_fifo_put_idx
];
629 LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block
->transfer_count
, pending_fifo_put_idx
);
631 if (queued_retval
!= ERROR_OK
) {
632 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval
);
636 if (block
->transfer_count
== 0)
640 buffer
[idx
++] = 0; /* report number */
641 buffer
[idx
++] = CMD_DAP_TFER
;
642 buffer
[idx
++] = 0x00; /* DAP Index */
643 buffer
[idx
++] = block
->transfer_count
;
645 for (int i
= 0; i
< block
->transfer_count
; i
++) {
646 struct pending_transfer_result
*transfer
= &(block
->transfers
[i
]);
647 uint8_t cmd
= transfer
->cmd
;
648 uint32_t data
= transfer
->data
;
650 LOG_DEBUG_IO("%s %s reg %x %"PRIx32
,
651 cmd
& SWD_CMD_APnDP
? "AP" : "DP",
652 cmd
& SWD_CMD_RnW
? "read" : "write",
653 (cmd
& SWD_CMD_A32
) >> 1, data
);
655 /* When proper WAIT handling is implemented in the
656 * common SWD framework, this kludge can be
657 * removed. However, this might lead to minor
658 * performance degradation as the adapter wouldn't be
659 * able to automatically retry anything (because ARM
660 * has forgotten to implement sticky error flags
661 * clearing). See also comments regarding
662 * cmsis_dap_cmd_DAP_TFER_Configure() and
663 * cmsis_dap_cmd_DAP_SWD_Configure() in
666 if (!(cmd
& SWD_CMD_RnW
) &&
667 !(cmd
& SWD_CMD_APnDP
) &&
668 (cmd
& SWD_CMD_A32
) >> 1 == DP_CTRL_STAT
&&
669 (data
& CORUNDETECT
)) {
670 LOG_DEBUG("refusing to enable sticky overrun detection");
671 data
&= ~CORUNDETECT
;
674 buffer
[idx
++] = (cmd
>> 1) & 0x0f;
675 if (!(cmd
& SWD_CMD_RnW
)) {
676 buffer
[idx
++] = (data
) & 0xff;
677 buffer
[idx
++] = (data
>> 8) & 0xff;
678 buffer
[idx
++] = (data
>> 16) & 0xff;
679 buffer
[idx
++] = (data
>> 24) & 0xff;
683 queued_retval
= cmsis_dap_usb_write(dap
, idx
);
684 if (queued_retval
!= ERROR_OK
)
687 pending_fifo_put_idx
= (pending_fifo_put_idx
+ 1) % dap
->packet_count
;
688 pending_fifo_block_count
++;
689 if (pending_fifo_block_count
> dap
->packet_count
)
690 LOG_ERROR("too much pending writes %d", pending_fifo_block_count
);
695 block
->transfer_count
= 0;
698 static void cmsis_dap_swd_read_process(struct cmsis_dap
*dap
, int timeout_ms
)
700 uint8_t *buffer
= dap
->packet_buffer
;
701 struct pending_request_block
*block
= &pending_fifo
[pending_fifo_get_idx
];
703 if (pending_fifo_block_count
== 0)
704 LOG_ERROR("no pending write");
707 int retval
= hid_read_timeout(dap
->dev_handle
, dap
->packet_buffer
, dap
->packet_size
, timeout_ms
);
708 if (retval
== 0 && timeout_ms
< USB_TIMEOUT
)
711 if (retval
== -1 || retval
== 0) {
712 LOG_DEBUG("error reading data: %ls", hid_error(dap
->dev_handle
));
713 queued_retval
= ERROR_FAIL
;
717 if (buffer
[2] & 0x08) {
718 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", buffer
[1]);
719 queued_retval
= ERROR_FAIL
;
722 uint8_t ack
= buffer
[2] & 0x07;
723 if (ack
!= SWD_ACK_OK
) {
724 LOG_DEBUG("SWD ack not OK @ %d %s", buffer
[1],
725 ack
== SWD_ACK_WAIT
? "WAIT" : ack
== SWD_ACK_FAULT
? "FAULT" : "JUNK");
726 queued_retval
= ack
== SWD_ACK_WAIT
? ERROR_WAIT
: ERROR_FAIL
;
730 if (block
->transfer_count
!= buffer
[1])
731 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
732 block
->transfer_count
, buffer
[1]);
734 LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d", buffer
[1], pending_fifo_get_idx
);
736 for (int i
= 0; i
< buffer
[1]; i
++) {
737 struct pending_transfer_result
*transfer
= &(block
->transfers
[i
]);
738 if (transfer
->cmd
& SWD_CMD_RnW
) {
739 static uint32_t last_read
;
740 uint32_t data
= le_to_h_u32(&buffer
[idx
]);
744 LOG_DEBUG_IO("Read result: %"PRIx32
, data
);
746 /* Imitate posted AP reads */
747 if ((transfer
->cmd
& SWD_CMD_APnDP
) ||
748 ((transfer
->cmd
& SWD_CMD_A32
) >> 1 == DP_RDBUFF
)) {
753 if (transfer
->buffer
)
754 *(uint32_t *)(transfer
->buffer
) = tmp
;
759 block
->transfer_count
= 0;
760 pending_fifo_get_idx
= (pending_fifo_get_idx
+ 1) % dap
->packet_count
;
761 pending_fifo_block_count
--;
764 static int cmsis_dap_swd_run_queue(void)
766 if (pending_fifo_block_count
)
767 cmsis_dap_swd_read_process(cmsis_dap_handle
, 0);
769 cmsis_dap_swd_write_from_queue(cmsis_dap_handle
);
771 while (pending_fifo_block_count
)
772 cmsis_dap_swd_read_process(cmsis_dap_handle
, USB_TIMEOUT
);
774 pending_fifo_put_idx
= 0;
775 pending_fifo_get_idx
= 0;
777 int retval
= queued_retval
;
778 queued_retval
= ERROR_OK
;
783 static void cmsis_dap_swd_queue_cmd(uint8_t cmd
, uint32_t *dst
, uint32_t data
)
785 if (pending_fifo
[pending_fifo_put_idx
].transfer_count
== pending_queue_len
) {
786 if (pending_fifo_block_count
)
787 cmsis_dap_swd_read_process(cmsis_dap_handle
, 0);
789 /* Not enough room in the queue. Run the queue. */
790 cmsis_dap_swd_write_from_queue(cmsis_dap_handle
);
792 if (pending_fifo_block_count
>= cmsis_dap_handle
->packet_count
)
793 cmsis_dap_swd_read_process(cmsis_dap_handle
, USB_TIMEOUT
);
796 if (queued_retval
!= ERROR_OK
)
799 struct pending_request_block
*block
= &pending_fifo
[pending_fifo_put_idx
];
800 struct pending_transfer_result
*transfer
= &(block
->transfers
[block
->transfer_count
]);
801 transfer
->data
= data
;
803 if (cmd
& SWD_CMD_RnW
) {
804 /* Queue a read transaction */
805 transfer
->buffer
= dst
;
807 block
->transfer_count
++;
810 static void cmsis_dap_swd_write_reg(uint8_t cmd
, uint32_t value
, uint32_t ap_delay_clk
)
812 assert(!(cmd
& SWD_CMD_RnW
));
813 cmsis_dap_swd_queue_cmd(cmd
, NULL
, value
);
816 static void cmsis_dap_swd_read_reg(uint8_t cmd
, uint32_t *value
, uint32_t ap_delay_clk
)
818 assert(cmd
& SWD_CMD_RnW
);
819 cmsis_dap_swd_queue_cmd(cmd
, value
, 0);
822 static int cmsis_dap_get_serial_info(void)
826 int retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM
, &data
);
827 if (retval
!= ERROR_OK
)
830 if (data
[0]) /* strlen */
831 LOG_INFO("CMSIS-DAP: Serial# = %s", &data
[1]);
836 static int cmsis_dap_get_version_info(void)
840 /* INFO_ID_FW_VER - string */
841 int retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER
, &data
);
842 if (retval
!= ERROR_OK
)
845 if (data
[0]) /* strlen */
846 LOG_INFO("CMSIS-DAP: FW Version = %s", &data
[1]);
851 static int cmsis_dap_get_caps_info(void)
855 /* INFO_ID_CAPS - byte */
856 int retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS
, &data
);
857 if (retval
!= ERROR_OK
)
861 uint8_t caps
= data
[1];
863 cmsis_dap_handle
->caps
= caps
;
865 if (caps
& INFO_CAPS_SWD
)
866 LOG_INFO("CMSIS-DAP: %s", info_caps_str
[0]);
867 if (caps
& INFO_CAPS_JTAG
)
868 LOG_INFO("CMSIS-DAP: %s", info_caps_str
[1]);
874 static int cmsis_dap_get_status(void)
878 int retval
= cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d
);
880 if (retval
== ERROR_OK
) {
881 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
882 (d
& SWJ_PIN_TCK
) ? 1 : 0,
883 (d
& SWJ_PIN_TMS
) ? 1 : 0,
884 (d
& SWJ_PIN_TDI
) ? 1 : 0,
885 (d
& SWJ_PIN_TDO
) ? 1 : 0,
886 (d
& SWJ_PIN_TRST
) ? 1 : 0,
887 (d
& SWJ_PIN_SRST
) ? 1 : 0);
893 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq
)
899 if ((output_pins
& (SWJ_PIN_SRST
| SWJ_PIN_TRST
)) == (SWJ_PIN_SRST
| SWJ_PIN_TRST
)) {
900 /* Following workaround deasserts reset on most adapters.
901 * Do not reconnect if a reset line is active!
902 * Reconnecting would break connecting under reset. */
904 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
905 cmsis_dap_cmd_DAP_Disconnect();
907 /* When we are reconnecting, DAP_Connect needs to be rerun, at
908 * least on Keil ULINK-ME */
909 retval
= cmsis_dap_cmd_DAP_Connect(CONNECT_SWD
);
910 if (retval
!= ERROR_OK
)
916 LOG_DEBUG("SWD line reset");
917 s
= swd_seq_line_reset
;
918 s_len
= swd_seq_line_reset_len
;
921 LOG_DEBUG("JTAG-to-SWD");
922 s
= swd_seq_jtag_to_swd
;
923 s_len
= swd_seq_jtag_to_swd_len
;
926 LOG_DEBUG("SWD-to-JTAG");
927 s
= swd_seq_swd_to_jtag
;
928 s_len
= swd_seq_swd_to_jtag_len
;
931 LOG_ERROR("Sequence %d not supported", seq
);
935 retval
= cmsis_dap_cmd_DAP_SWJ_Sequence(s_len
, s
);
936 if (retval
!= ERROR_OK
)
939 /* Atmel EDBG needs renew clock setting after SWJ_Sequence
940 * otherwise default frequency is used */
941 return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
944 static int cmsis_dap_swd_open(void)
948 if (!(cmsis_dap_handle
->caps
& INFO_CAPS_SWD
)) {
949 LOG_ERROR("CMSIS-DAP: SWD not supported");
950 return ERROR_JTAG_DEVICE_ERROR
;
953 retval
= cmsis_dap_cmd_DAP_Connect(CONNECT_SWD
);
954 if (retval
!= ERROR_OK
)
957 /* Add more setup here.??... */
959 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
963 static int cmsis_dap_init(void)
968 retval
= cmsis_dap_usb_open();
969 if (retval
!= ERROR_OK
)
972 retval
= cmsis_dap_get_caps_info();
973 if (retval
!= ERROR_OK
)
976 retval
= cmsis_dap_get_version_info();
977 if (retval
!= ERROR_OK
)
980 retval
= cmsis_dap_get_serial_info();
981 if (retval
!= ERROR_OK
)
985 retval
= cmsis_dap_swd_open();
986 if (retval
!= ERROR_OK
)
989 /* Connect in JTAG mode */
990 if (!(cmsis_dap_handle
->caps
& INFO_CAPS_JTAG
)) {
991 LOG_ERROR("CMSIS-DAP: JTAG not supported");
992 return ERROR_JTAG_DEVICE_ERROR
;
995 retval
= cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG
);
996 if (retval
!= ERROR_OK
)
999 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
1002 /* Be conservative and supress submiting multiple HID requests
1003 * until we get packet count info from the adaptor */
1004 cmsis_dap_handle
->packet_count
= 1;
1005 pending_queue_len
= 12;
1007 /* INFO_ID_PKT_SZ - short */
1008 retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ
, &data
);
1009 if (retval
!= ERROR_OK
)
1012 if (data
[0] == 2) { /* short */
1013 uint16_t pkt_sz
= data
[1] + (data
[2] << 8);
1015 /* 4 bytes of command header + 5 bytes per register
1016 * write. For bulk read sequences just 4 bytes are
1017 * needed per transfer, so this is suboptimal. */
1018 pending_queue_len
= (pkt_sz
- 4) / 5;
1020 if (cmsis_dap_handle
->packet_size
!= pkt_sz
+ 1) {
1021 /* reallocate buffer */
1022 cmsis_dap_handle
->packet_size
= pkt_sz
+ 1;
1023 cmsis_dap_handle
->packet_buffer
= realloc(cmsis_dap_handle
->packet_buffer
,
1024 cmsis_dap_handle
->packet_size
);
1025 if (cmsis_dap_handle
->packet_buffer
== NULL
) {
1026 LOG_ERROR("unable to reallocate memory");
1031 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16
, pkt_sz
);
1034 /* INFO_ID_PKT_CNT - byte */
1035 retval
= cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT
, &data
);
1036 if (retval
!= ERROR_OK
)
1039 if (data
[0] == 1) { /* byte */
1040 int pkt_cnt
= data
[1];
1042 cmsis_dap_handle
->packet_count
= MIN(MAX_PENDING_REQUESTS
, pkt_cnt
);
1044 LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt
);
1047 LOG_DEBUG("Allocating FIFO for %d pending HID requests", cmsis_dap_handle
->packet_count
);
1048 for (int i
= 0; i
< cmsis_dap_handle
->packet_count
; i
++) {
1049 pending_fifo
[i
].transfers
= malloc(pending_queue_len
* sizeof(struct pending_transfer_result
));
1050 if (!pending_fifo
[i
].transfers
) {
1051 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
1057 retval
= cmsis_dap_get_status();
1058 if (retval
!= ERROR_OK
)
1061 /* Now try to connect to the target
1062 * TODO: This is all SWD only @ present */
1063 retval
= cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
1064 if (retval
!= ERROR_OK
)
1067 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
1068 * up to 64 times. This must be changed to 0 if sticky
1069 * overrun detection is enabled. */
1070 retval
= cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
1071 if (retval
!= ERROR_OK
)
1075 /* Data Phase (bit 2) must be set to 1 if sticky overrun
1076 * detection is enabled */
1077 retval
= cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
1078 if (retval
!= ERROR_OK
)
1082 retval
= cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT
, LED_ON
);
1083 if (retval
!= ERROR_OK
)
1086 retval
= cmsis_dap_cmd_DAP_LED(LED_ID_RUN
, LED_ON
);
1087 if (retval
!= ERROR_OK
)
1090 /* support connecting with srst asserted */
1091 enum reset_types jtag_reset_config
= jtag_get_reset_config();
1093 if (jtag_reset_config
& RESET_CNCT_UNDER_SRST
) {
1094 if (jtag_reset_config
& RESET_SRST_NO_GATING
) {
1095 retval
= cmsis_dap_cmd_DAP_SWJ_Pins(0, SWJ_PIN_SRST
, 0, NULL
);
1096 if (retval
!= ERROR_OK
)
1098 LOG_INFO("Connecting under reset");
1101 LOG_INFO("CMSIS-DAP: Interface ready");
1106 static int cmsis_dap_swd_init(void)
1112 static int cmsis_dap_quit(void)
1114 cmsis_dap_cmd_DAP_Disconnect();
1116 cmsis_dap_cmd_DAP_LED(LED_ID_RUN
, LED_OFF
);
1117 cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT
, LED_OFF
);
1119 cmsis_dap_usb_close(cmsis_dap_handle
);
1124 static int cmsis_dap_reset(int trst
, int srst
)
1126 /* Set both TRST and SRST even if they're not enabled as
1127 * there's no way to tristate them */
1131 output_pins
|= SWJ_PIN_SRST
;
1133 output_pins
|= SWJ_PIN_TRST
;
1135 int retval
= cmsis_dap_cmd_DAP_SWJ_Pins(output_pins
,
1136 SWJ_PIN_TRST
| SWJ_PIN_SRST
, 0, NULL
);
1137 if (retval
!= ERROR_OK
)
1138 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1142 static void cmsis_dap_execute_sleep(struct jtag_command
*cmd
)
1145 int retval
= cmsis_dap_cmd_DAP_Delay(cmd
->cmd
.sleep
->us
);
1146 if (retval
!= ERROR_OK
)
1148 jtag_sleep(cmd
->cmd
.sleep
->us
);
1151 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1152 static int cmsis_dap_execute_tlr_reset(struct jtag_command
*cmd
)
1154 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1156 int ret
= cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq
);
1157 if (ret
== ERROR_OK
)
1158 tap_set_state(TAP_RESET
);
1162 /* Set new end state */
1163 static void cmsis_dap_end_state(tap_state_t state
)
1165 if (tap_is_state_stable(state
))
1166 tap_set_end_state(state
);
1168 LOG_ERROR("BUG: %i is not a valid end state", state
);
1173 #ifdef SPRINT_BINARY
1174 static void sprint_binary(char *s
, const uint8_t *buf
, int offset
, int len
)
1180 buf = { 0x18 } len=5 should result in: 11000
1181 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1182 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1183 i=3 there means i/8 = 0 so c = 0xFF, and
1185 for (int i
= offset
; i
< offset
+ len
; ++i
) {
1186 uint8_t c
= buf
[i
/ 8], mask
= 1 << (i
% 8);
1187 if ((i
!= offset
) && !(i
% 8))
1189 *s
++ = (c
& mask
) ? '1' : '0';
1195 #ifdef CMSIS_DAP_JTAG_DEBUG
1196 static void debug_parse_cmsis_buf(const uint8_t *cmd
, int cmdlen
)
1198 /* cmd is a usb packet to go to the cmsis-dap interface */
1199 printf("cmsis-dap buffer (%d b): ", cmdlen
);
1200 for (int i
= 0; i
< cmdlen
; ++i
)
1201 printf(" %02x", cmd
[i
]);
1204 case CMD_DAP_JTAG_SEQ
: {
1205 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd
[1], cmd
[2]);
1207 * #2 = number of sequences
1208 * #3 = sequence info 1
1209 * #4...4+n_bytes-1 = sequence 1
1210 * #4+n_bytes = sequence info 2
1211 * #5+n_bytes = sequence 2 (single bit)
1214 for (int seq
= 0; seq
< cmd
[2]; ++seq
) {
1215 uint8_t info
= cmd
[pos
++];
1216 int len
= info
& DAP_JTAG_SEQ_TCK
;
1219 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1220 seq
, pos
, info
, len
, info
& DAP_JTAG_SEQ_TMS
, info
& DAP_JTAG_SEQ_TDO
);
1221 for (int i
= 0; i
< DIV_ROUND_UP(len
, 8); ++i
)
1222 printf(" %02x", cmd
[pos
+i
]);
1223 pos
+= DIV_ROUND_UP(len
, 8);
1226 if (pos
!= cmdlen
) {
1227 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos
, cmdlen
);
1234 LOG_DEBUG("unknown cmsis-dap command %02x", cmd
[1]);
1240 static void cmsis_dap_flush(void)
1242 if (!queued_seq_count
)
1245 LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1246 queued_seq_count
, queued_seq_buf_end
, pending_scan_result_count
);
1248 /* prep CMSIS-DAP packet */
1249 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
1250 buffer
[0] = 0; /* report number */
1251 buffer
[1] = CMD_DAP_JTAG_SEQ
;
1252 buffer
[2] = queued_seq_count
;
1253 memcpy(buffer
+ 3, queued_seq_buf
, queued_seq_buf_end
);
1255 #ifdef CMSIS_DAP_JTAG_DEBUG
1256 debug_parse_cmsis_buf(buffer
, queued_seq_buf_end
+ 3);
1259 /* send command to USB device */
1260 int retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, queued_seq_buf_end
+ 3);
1261 if (retval
!= ERROR_OK
|| buffer
[1] != DAP_OK
) {
1262 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1266 #ifdef CMSIS_DAP_JTAG_DEBUG
1267 LOG_DEBUG_IO("USB response buf:");
1268 for (int c
= 0; c
< queued_seq_buf_end
+ 3; ++c
)
1269 printf("%02X ", buffer
[c
]);
1273 /* copy scan results into client buffers */
1274 for (int i
= 0; i
< pending_scan_result_count
; ++i
) {
1275 struct pending_scan_result
*scan
= &pending_scan_results
[i
];
1276 LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1277 i
, pending_scan_result_count
, scan
->length
, scan
->first
+ 2, scan
->buffer_offset
);
1278 #ifdef CMSIS_DAP_JTAG_DEBUG
1279 for (uint32_t b
= 0; b
< DIV_ROUND_UP(scan
->length
, 8); ++b
)
1280 printf("%02X ", buffer
[2+scan
->first
+b
]);
1283 bit_copy(scan
->buffer
, scan
->buffer_offset
, buffer
+ 2 + scan
->first
, 0, scan
->length
);
1287 queued_seq_count
= 0;
1288 queued_seq_buf_end
= 0;
1289 queued_seq_tdo_ptr
= 0;
1290 pending_scan_result_count
= 0;
1293 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1295 * sequence=NULL means clock out zeros on TDI
1296 * tdo_buffer=NULL means don't capture TDO
1298 static void cmsis_dap_add_jtag_sequence(int s_len
, const uint8_t *sequence
, int s_offset
,
1299 bool tms
, uint8_t *tdo_buffer
, int tdo_buffer_offset
)
1301 LOG_DEBUG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1303 s_len
, tms
? "HIGH" : "LOW", s_offset
, tdo_buffer
, tdo_buffer_offset
);
1309 LOG_DEBUG_IO("START JTAG SEQ SPLIT");
1310 for (int offset
= 0; offset
< s_len
; offset
+= 64) {
1311 int len
= s_len
- offset
;
1314 LOG_DEBUG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len
, offset
);
1315 cmsis_dap_add_jtag_sequence(
1321 tdo_buffer
== NULL
? 0 : (tdo_buffer_offset
+ offset
)
1324 LOG_DEBUG_IO("END JTAG SEQ SPLIT");
1328 int cmd_len
= 1 + DIV_ROUND_UP(s_len
, 8);
1329 if (queued_seq_count
>= 255 || queued_seq_buf_end
+ cmd_len
> QUEUED_SEQ_BUF_LEN
)
1330 /* empty out the buffer */
1336 queued_seq_buf
[queued_seq_buf_end
] =
1337 (tms
? DAP_JTAG_SEQ_TMS
: 0) |
1338 (tdo_buffer
!= NULL
? DAP_JTAG_SEQ_TDO
: 0) |
1339 (s_len
== 64 ? 0 : s_len
);
1341 if (sequence
!= NULL
)
1342 bit_copy(&queued_seq_buf
[queued_seq_buf_end
+ 1], 0, sequence
, s_offset
, s_len
);
1344 memset(&queued_seq_buf
[queued_seq_buf_end
+ 1], 0, DIV_ROUND_UP(s_len
, 8));
1346 queued_seq_buf_end
+= cmd_len
;
1348 if (tdo_buffer
!= NULL
) {
1349 struct pending_scan_result
*scan
= &pending_scan_results
[pending_scan_result_count
++];
1350 scan
->first
= queued_seq_tdo_ptr
;
1351 queued_seq_tdo_ptr
+= DIV_ROUND_UP(s_len
, 8);
1352 scan
->length
= s_len
;
1353 scan
->buffer
= tdo_buffer
;
1354 scan
->buffer_offset
= tdo_buffer_offset
;
1358 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1359 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence
, int s_len
)
1361 LOG_DEBUG_IO("%d bits: %02X", s_len
, *sequence
);
1362 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1363 because even though it seems ridiculously inefficient, it
1364 allows us to combine TMS and scan sequences into the same
1366 /* TODO: combine runs of the same tms value */
1367 for (int i
= 0; i
< s_len
; ++i
) {
1368 bool bit
= (sequence
[i
/ 8] & (1 << (i
% 8))) != 0;
1369 cmsis_dap_add_jtag_sequence(1, NULL
, 0, bit
, NULL
, 0);
1373 /* Move to the end state by queuing a sequence to clock into TMS */
1374 static void cmsis_dap_state_move(void)
1377 uint8_t tms_scan_bits
;
1379 tms_scan
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1380 tms_scan_bits
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1382 LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms",
1383 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1384 tms_scan_bits
, tms_scan
);
1385 cmsis_dap_add_tms_sequence(&tms_scan
, tms_scan_bits
);
1387 tap_set_state(tap_get_end_state());
1391 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1392 static void cmsis_dap_execute_scan(struct jtag_command
*cmd
)
1394 LOG_DEBUG_IO("%s type:%d", cmd
->cmd
.scan
->ir_scan
? "IRSCAN" : "DRSCAN",
1395 jtag_scan_type(cmd
->cmd
.scan
));
1397 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1398 while (cmd
->cmd
.scan
->num_fields
> 0
1399 && cmd
->cmd
.scan
->fields
[cmd
->cmd
.scan
->num_fields
- 1].num_bits
== 0) {
1400 cmd
->cmd
.scan
->num_fields
--;
1401 LOG_DEBUG("discarding trailing empty field");
1404 if (cmd
->cmd
.scan
->num_fields
== 0) {
1405 LOG_DEBUG("empty scan, doing nothing");
1409 if (cmd
->cmd
.scan
->ir_scan
) {
1410 if (tap_get_state() != TAP_IRSHIFT
) {
1411 cmsis_dap_end_state(TAP_IRSHIFT
);
1412 cmsis_dap_state_move();
1415 if (tap_get_state() != TAP_DRSHIFT
) {
1416 cmsis_dap_end_state(TAP_DRSHIFT
);
1417 cmsis_dap_state_move();
1421 cmsis_dap_end_state(cmd
->cmd
.scan
->end_state
);
1423 struct scan_field
*field
= cmd
->cmd
.scan
->fields
;
1424 unsigned scan_size
= 0;
1426 for (int i
= 0; i
< cmd
->cmd
.scan
->num_fields
; i
++, field
++) {
1427 scan_size
+= field
->num_bits
;
1428 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
1429 field
->in_value
? "in" : "",
1430 field
->out_value
? "out" : "",
1432 cmd
->cmd
.scan
->num_fields
,
1435 if (i
== cmd
->cmd
.scan
->num_fields
- 1 && tap_get_state() != tap_get_end_state()) {
1436 LOG_DEBUG_IO("Last field and have to move out of SHIFT state");
1437 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1438 * movement. This last field can't have length zero, it was checked above. */
1439 cmsis_dap_add_jtag_sequence(
1440 field
->num_bits
- 1, /* number of bits to clock */
1441 field
->out_value
, /* output sequence */
1442 0, /* output offset */
1443 false, /* TMS low */
1447 /* Clock the last bit out, with TMS high */
1448 uint8_t last_bit
= 0;
1449 if (field
->out_value
)
1450 bit_copy(&last_bit
, 0, field
->out_value
, field
->num_bits
- 1, 1);
1451 cmsis_dap_add_jtag_sequence(
1457 field
->num_bits
- 1);
1458 tap_set_state(tap_state_transition(tap_get_state(), 1));
1460 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1461 cmsis_dap_add_jtag_sequence(
1468 tap_set_state(tap_state_transition(tap_get_state(), 0));
1470 LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards");
1471 /* Clocking part of a sequence into DR or IR with TMS=0,
1472 leaving TMS=0 at the end so we can continue later */
1473 cmsis_dap_add_jtag_sequence(
1483 if (tap_get_state() != tap_get_end_state()) {
1484 cmsis_dap_end_state(tap_get_end_state());
1485 cmsis_dap_state_move();
1488 LOG_DEBUG_IO("%s scan, %i bits, end in %s",
1489 (cmd
->cmd
.scan
->ir_scan
) ? "IR" : "DR", scan_size
,
1490 tap_state_name(tap_get_end_state()));
1493 static void cmsis_dap_pathmove(int num_states
, tap_state_t
*path
)
1496 uint8_t tms0
= 0x00;
1497 uint8_t tms1
= 0xff;
1499 for (i
= 0; i
< num_states
; i
++) {
1500 if (path
[i
] == tap_state_transition(tap_get_state(), false))
1501 cmsis_dap_add_tms_sequence(&tms0
, 1);
1502 else if (path
[i
] == tap_state_transition(tap_get_state(), true))
1503 cmsis_dap_add_tms_sequence(&tms1
, 1);
1505 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1506 tap_state_name(tap_get_state()), tap_state_name(path
[i
]));
1510 tap_set_state(path
[i
]);
1513 cmsis_dap_end_state(tap_get_state());
1516 static void cmsis_dap_execute_pathmove(struct jtag_command
*cmd
)
1518 LOG_DEBUG_IO("pathmove: %i states, end in %i",
1519 cmd
->cmd
.pathmove
->num_states
,
1520 cmd
->cmd
.pathmove
->path
[cmd
->cmd
.pathmove
->num_states
- 1]);
1522 cmsis_dap_pathmove(cmd
->cmd
.pathmove
->num_states
, cmd
->cmd
.pathmove
->path
);
1525 static void cmsis_dap_stableclocks(int num_cycles
)
1529 uint8_t tms
= tap_get_state() == TAP_RESET
;
1530 /* TODO: Perform optimizations? */
1531 /* Execute num_cycles. */
1532 for (i
= 0; i
< num_cycles
; i
++)
1533 cmsis_dap_add_tms_sequence(&tms
, 1);
1536 static void cmsis_dap_runtest(int num_cycles
)
1538 tap_state_t saved_end_state
= tap_get_end_state();
1540 /* Only do a state_move when we're not already in IDLE. */
1541 if (tap_get_state() != TAP_IDLE
) {
1542 cmsis_dap_end_state(TAP_IDLE
);
1543 cmsis_dap_state_move();
1545 cmsis_dap_stableclocks(num_cycles
);
1547 /* Finish in end_state. */
1548 cmsis_dap_end_state(saved_end_state
);
1550 if (tap_get_state() != tap_get_end_state())
1551 cmsis_dap_state_move();
1554 static void cmsis_dap_execute_runtest(struct jtag_command
*cmd
)
1556 LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd
->cmd
.runtest
->num_cycles
,
1557 cmd
->cmd
.runtest
->end_state
);
1559 cmsis_dap_end_state(cmd
->cmd
.runtest
->end_state
);
1560 cmsis_dap_runtest(cmd
->cmd
.runtest
->num_cycles
);
1563 static void cmsis_dap_execute_stableclocks(struct jtag_command
*cmd
)
1565 LOG_DEBUG_IO("stableclocks %i cycles", cmd
->cmd
.runtest
->num_cycles
);
1566 cmsis_dap_stableclocks(cmd
->cmd
.runtest
->num_cycles
);
1569 static void cmsis_dap_execute_tms(struct jtag_command
*cmd
)
1571 LOG_DEBUG_IO("TMS: %d bits", cmd
->cmd
.tms
->num_bits
);
1572 cmsis_dap_cmd_DAP_SWJ_Sequence(cmd
->cmd
.tms
->num_bits
, cmd
->cmd
.tms
->bits
);
1575 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1576 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1577 static void cmsis_dap_execute_command(struct jtag_command
*cmd
)
1579 switch (cmd
->type
) {
1582 cmsis_dap_execute_sleep(cmd
);
1584 case JTAG_TLR_RESET
:
1586 cmsis_dap_execute_tlr_reset(cmd
);
1589 cmsis_dap_execute_scan(cmd
);
1592 cmsis_dap_execute_pathmove(cmd
);
1595 cmsis_dap_execute_runtest(cmd
);
1597 case JTAG_STABLECLOCKS
:
1598 cmsis_dap_execute_stableclocks(cmd
);
1601 cmsis_dap_execute_tms(cmd
);
1604 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd
->type
);
1609 static int cmsis_dap_execute_queue(void)
1611 struct jtag_command
*cmd
= jtag_command_queue
;
1613 while (cmd
!= NULL
) {
1614 cmsis_dap_execute_command(cmd
);
1623 static int cmsis_dap_speed(int speed
)
1625 if (speed
> DAP_MAX_CLOCK
)
1626 LOG_INFO("High speed (adapter speed %d) may be limited by adapter firmware.", speed
);
1629 LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\".");
1630 return ERROR_JTAG_NOT_IMPLEMENTED
;
1633 return cmsis_dap_cmd_DAP_SWJ_Clock(speed
);
1636 static int cmsis_dap_speed_div(int speed
, int *khz
)
1642 static int cmsis_dap_khz(int khz
, int *jtag_speed
)
1648 COMMAND_HANDLER(cmsis_dap_handle_info_command
)
1650 if (cmsis_dap_get_version_info() == ERROR_OK
)
1651 cmsis_dap_get_status();
1656 COMMAND_HANDLER(cmsis_dap_handle_cmd_command
)
1660 uint8_t *buffer
= cmsis_dap_handle
->packet_buffer
;
1662 buffer
[0] = 0; /* report number */
1664 for (i
= 0; i
< CMD_ARGC
; i
++)
1665 buffer
[i
+ 1] = strtoul(CMD_ARGV
[i
], NULL
, 16);
1667 retval
= cmsis_dap_usb_xfer(cmsis_dap_handle
, CMD_ARGC
+ 1);
1669 if (retval
!= ERROR_OK
) {
1670 LOG_ERROR("CMSIS-DAP command failed.");
1671 return ERROR_JTAG_DEVICE_ERROR
;
1674 LOG_INFO("Returned data %02" PRIx8
" %02" PRIx8
" %02" PRIx8
" %02" PRIx8
,
1675 buffer
[1], buffer
[2], buffer
[3], buffer
[4]);
1680 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command
)
1682 if (CMD_ARGC
> MAX_USB_IDS
* 2) {
1683 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1684 "(maximum is %d pairs)", MAX_USB_IDS
);
1685 CMD_ARGC
= MAX_USB_IDS
* 2;
1687 if (CMD_ARGC
< 2 || (CMD_ARGC
& 1)) {
1688 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1690 return ERROR_COMMAND_SYNTAX_ERROR
;
1691 /* remove the incomplete trailing id */
1696 for (i
= 0; i
< CMD_ARGC
; i
+= 2) {
1697 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
], cmsis_dap_vid
[i
>> 1]);
1698 COMMAND_PARSE_NUMBER(u16
, CMD_ARGV
[i
+ 1], cmsis_dap_pid
[i
>> 1]);
1702 * Explicitly terminate, in case there are multiples instances of
1703 * cmsis_dap_vid_pid.
1705 cmsis_dap_vid
[i
>> 1] = cmsis_dap_pid
[i
>> 1] = 0;
1710 COMMAND_HANDLER(cmsis_dap_handle_serial_command
)
1712 if (CMD_ARGC
== 1) {
1713 size_t len
= mbstowcs(NULL
, CMD_ARGV
[0], 0);
1714 cmsis_dap_serial
= calloc(len
+ 1, sizeof(wchar_t));
1715 if (cmsis_dap_serial
== NULL
) {
1716 LOG_ERROR("unable to allocate memory");
1719 if (mbstowcs(cmsis_dap_serial
, CMD_ARGV
[0], len
+ 1) == (size_t)-1) {
1720 free(cmsis_dap_serial
);
1721 cmsis_dap_serial
= NULL
;
1722 LOG_ERROR("unable to convert serial");
1725 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1731 static const struct command_registration cmsis_dap_subcommand_handlers
[] = {
1734 .handler
= &cmsis_dap_handle_info_command
,
1735 .mode
= COMMAND_EXEC
,
1737 .help
= "show cmsis-dap info",
1741 .handler
= &cmsis_dap_handle_cmd_command
,
1742 .mode
= COMMAND_EXEC
,
1744 .help
= "issue cmsis-dap command",
1746 COMMAND_REGISTRATION_DONE
1749 static const struct command_registration cmsis_dap_command_handlers
[] = {
1751 .name
= "cmsis-dap",
1752 .mode
= COMMAND_ANY
,
1753 .help
= "perform CMSIS-DAP management",
1755 .chain
= cmsis_dap_subcommand_handlers
,
1758 .name
= "cmsis_dap_vid_pid",
1759 .handler
= &cmsis_dap_handle_vid_pid_command
,
1760 .mode
= COMMAND_CONFIG
,
1761 .help
= "the vendor ID and product ID of the CMSIS-DAP device",
1762 .usage
= "(vid pid)* ",
1765 .name
= "cmsis_dap_serial",
1766 .handler
= &cmsis_dap_handle_serial_command
,
1767 .mode
= COMMAND_CONFIG
,
1768 .help
= "set the serial number of the adapter",
1769 .usage
= "serial_string",
1771 COMMAND_REGISTRATION_DONE
1774 static const struct swd_driver cmsis_dap_swd_driver
= {
1775 .init
= cmsis_dap_swd_init
,
1776 .switch_seq
= cmsis_dap_swd_switch_seq
,
1777 .read_reg
= cmsis_dap_swd_read_reg
,
1778 .write_reg
= cmsis_dap_swd_write_reg
,
1779 .run
= cmsis_dap_swd_run_queue
,
1782 static const char * const cmsis_dap_transport
[] = { "swd", "jtag", NULL
};
1784 static struct jtag_interface cmsis_dap_interface
= {
1785 .supported
= DEBUG_CAP_TMS_SEQ
,
1786 .execute_queue
= cmsis_dap_execute_queue
,
1789 struct adapter_driver cmsis_dap_adapter_driver
= {
1790 .name
= "cmsis-dap",
1791 .transports
= cmsis_dap_transport
,
1792 .commands
= cmsis_dap_command_handlers
,
1794 .init
= cmsis_dap_init
,
1795 .quit
= cmsis_dap_quit
,
1796 .reset
= cmsis_dap_reset
,
1797 .speed
= cmsis_dap_speed
,
1798 .khz
= cmsis_dap_khz
,
1799 .speed_div
= cmsis_dap_speed_div
,
1801 .jtag_ops
= &cmsis_dap_interface
,
1802 .swd_ops
= &cmsis_dap_swd_driver
,
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