14a23d4421511a3f6a81f05382e378009ca5a3ba
[openocd.git] / src / jtag / drivers / cmsis_dap_usb.c
1 /***************************************************************************
2 * Copyright (C) 2016 by Maksym Hilliaka *
3 * oter@frozen-team.com *
4 * *
5 * Copyright (C) 2016 by Phillip Pearson *
6 * pp@myelin.co.nz *
7 * *
8 * Copyright (C) 2014 by Paul Fertser *
9 * fercerpav@gmail.com *
10 * *
11 * Copyright (C) 2013 by mike brown *
12 * mike@theshedworks.org.uk *
13 * *
14 * Copyright (C) 2013 by Spencer Oliver *
15 * spen@spen-soft.co.uk *
16 * *
17 * This program is free software; you can redistribute it and/or modify *
18 * it under the terms of the GNU General Public License as published by *
19 * the Free Software Foundation; either version 2 of the License, or *
20 * (at your option) any later version. *
21 * *
22 * This program is distributed in the hope that it will be useful, *
23 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
24 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
25 * GNU General Public License for more details. *
26 * *
27 * You should have received a copy of the GNU General Public License *
28 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
29 ***************************************************************************/
30
31 #ifdef HAVE_CONFIG_H
32 #include "config.h"
33 #endif
34
35 #include <transport/transport.h>
36 #include <jtag/swd.h>
37 #include <jtag/interface.h>
38 #include <jtag/commands.h>
39 #include <jtag/tcl.h>
40
41 #include <hidapi.h>
42
43 /*
44 * See CMSIS-DAP documentation:
45 * Version 0.01 - Beta.
46 */
47
48 /* USB Config */
49
50 /* Known vid/pid pairs:
51 * VID 0xc251: Keil Software
52 * PID 0xf001: LPC-Link-II CMSIS_DAP
53 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
54 * PID 0x2722: Keil ULINK2 CMSIS-DAP
55 *
56 * VID 0x0d28: mbed Software
57 * PID 0x0204: MBED CMSIS-DAP
58 */
59
60 #define MAX_USB_IDS 8
61 /* vid = pid = 0 marks the end of the list */
62 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
63 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
64 static wchar_t *cmsis_dap_serial;
65 static bool swd_mode;
66
67 #define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
68 #define USB_TIMEOUT 1000
69
70 /* CMSIS-DAP General Commands */
71 #define CMD_DAP_INFO 0x00
72 #define CMD_DAP_LED 0x01
73 #define CMD_DAP_CONNECT 0x02
74 #define CMD_DAP_DISCONNECT 0x03
75 #define CMD_DAP_WRITE_ABORT 0x08
76 #define CMD_DAP_DELAY 0x09
77 #define CMD_DAP_RESET_TARGET 0x0A
78
79 /* CMD_INFO */
80 #define INFO_ID_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 */
89
90 #define INFO_CAPS_SWD 0x01
91 #define INFO_CAPS_JTAG 0x02
92
93 /* CMD_LED */
94 #define LED_ID_CONNECT 0x00
95 #define LED_ID_RUN 0x01
96
97 #define LED_OFF 0x00
98 #define LED_ON 0x01
99
100 /* CMD_CONNECT */
101 #define CONNECT_DEFAULT 0x00
102 #define CONNECT_SWD 0x01
103 #define CONNECT_JTAG 0x02
104
105 /* CMSIS-DAP Common SWD/JTAG Commands */
106 #define CMD_DAP_DELAY 0x09
107 #define CMD_DAP_SWJ_PINS 0x10
108 #define CMD_DAP_SWJ_CLOCK 0x11
109 #define CMD_DAP_SWJ_SEQ 0x12
110
111 /*
112 * PINS
113 * Bit 0: SWCLK/TCK
114 * Bit 1: SWDIO/TMS
115 * Bit 2: TDI
116 * Bit 3: TDO
117 * Bit 5: nTRST
118 * Bit 7: nRESET
119 */
120
121 #define SWJ_PIN_TCK (1<<0)
122 #define SWJ_PIN_TMS (1<<1)
123 #define SWJ_PIN_TDI (1<<2)
124 #define SWJ_PIN_TDO (1<<3)
125 #define SWJ_PIN_TRST (1<<5)
126 #define SWJ_PIN_SRST (1<<7)
127
128 /* CMSIS-DAP SWD Commands */
129 #define CMD_DAP_SWD_CONFIGURE 0x13
130
131 /* CMSIS-DAP JTAG Commands */
132 #define CMD_DAP_JTAG_SEQ 0x14
133 #define CMD_DAP_JTAG_CONFIGURE 0x15
134 #define CMD_DAP_JTAG_IDCODE 0x16
135
136 /* CMSIS-DAP JTAG sequence info masks */
137 /* Number of bits to clock through (0 means 64) */
138 #define DAP_JTAG_SEQ_TCK 0x3F
139 /* TMS will be set during the sequence if this bit is set */
140 #define DAP_JTAG_SEQ_TMS 0x40
141 /* TDO output will be captured if this bit is set */
142 #define DAP_JTAG_SEQ_TDO 0x80
143
144
145 /* CMSIS-DAP Transfer Commands */
146 #define CMD_DAP_TFER_CONFIGURE 0x04
147 #define CMD_DAP_TFER 0x05
148 #define CMD_DAP_TFER_BLOCK 0x06
149 #define CMD_DAP_TFER_ABORT 0x07
150
151 /* DAP Status Code */
152 #define DAP_OK 0
153 #define DAP_ERROR 0xFF
154
155 /* CMSIS-DAP Vendor Commands
156 * None as yet... */
157
158 static const char * const info_caps_str[] = {
159 "SWD Supported",
160 "JTAG Supported"
161 };
162
163 /* max clock speed (kHz) */
164 #define DAP_MAX_CLOCK 5000
165
166 struct cmsis_dap {
167 hid_device *dev_handle;
168 uint16_t packet_size;
169 int packet_count;
170 uint8_t *packet_buffer;
171 uint8_t caps;
172 uint8_t mode;
173 };
174
175 struct pending_transfer_result {
176 uint8_t cmd;
177 uint32_t data;
178 void *buffer;
179 };
180
181 struct pending_request_block {
182 struct pending_transfer_result *transfers;
183 int transfer_count;
184 };
185
186 struct pending_scan_result {
187 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
188 unsigned first;
189 /** Number of bits to read. */
190 unsigned length;
191 /** Location to store the result */
192 uint8_t *buffer;
193 /** Offset in the destination buffer */
194 unsigned buffer_offset;
195 };
196
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
200
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;
207
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];
212
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 */
219
220 static int queued_retval;
221
222 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
223
224 static struct cmsis_dap *cmsis_dap_handle;
225
226 static int cmsis_dap_usb_open(void)
227 {
228 hid_device *dev = NULL;
229 int i;
230 struct hid_device_info *devs, *cur_dev;
231 unsigned short target_vid, target_pid;
232 wchar_t *target_serial = NULL;
233
234 bool found = false;
235 bool serial_found = false;
236
237 target_vid = 0;
238 target_pid = 0;
239
240 /*
241 * The CMSIS-DAP specification stipulates:
242 * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
243 * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
244 */
245 devs = hid_enumerate(0x0, 0x0);
246 cur_dev = devs;
247 while (NULL != cur_dev) {
248 if (0 == cmsis_dap_vid[0]) {
249 if (NULL == cur_dev->product_string) {
250 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
251 cur_dev->vendor_id, cur_dev->product_id);
252 } else {
253 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
254 /* if the user hasn't specified VID:PID *and*
255 * product string contains "CMSIS-DAP", pick it
256 */
257 found = true;
258 }
259 }
260 } else {
261 /* otherwise, exhaustively compare against all VID:PID in list */
262 for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
263 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
264 found = true;
265 }
266
267 if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
268 found = true;
269 }
270
271 if (found) {
272 /* we have found an adapter, so exit further checks */
273 /* check serial number matches if given */
274 if (cmsis_dap_serial != NULL) {
275 if ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
276 serial_found = true;
277 break;
278 }
279 } else
280 break;
281
282 found = false;
283 }
284
285 cur_dev = cur_dev->next;
286 }
287
288 if (NULL != cur_dev) {
289 target_vid = cur_dev->vendor_id;
290 target_pid = cur_dev->product_id;
291 if (serial_found)
292 target_serial = cmsis_dap_serial;
293 }
294
295 hid_free_enumeration(devs);
296
297 if (target_vid == 0 && target_pid == 0) {
298 LOG_ERROR("unable to find CMSIS-DAP device");
299 return ERROR_FAIL;
300 }
301
302 if (hid_init() != 0) {
303 LOG_ERROR("unable to open HIDAPI");
304 return ERROR_FAIL;
305 }
306
307 dev = hid_open(target_vid, target_pid, target_serial);
308
309 if (dev == NULL) {
310 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
311 return ERROR_FAIL;
312 }
313
314 struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
315 if (dap == NULL) {
316 LOG_ERROR("unable to allocate memory");
317 return ERROR_FAIL;
318 }
319
320 dap->dev_handle = dev;
321 dap->caps = 0;
322 dap->mode = 0;
323
324 cmsis_dap_handle = dap;
325
326 /* allocate default packet buffer, may be changed later.
327 * currently with HIDAPI we have no way of getting the output report length
328 * without this info we cannot communicate with the adapter.
329 * For the moment we ahve to hard code the packet size */
330
331 int packet_size = PACKET_SIZE;
332
333 /* atmel cmsis-dap uses 512 byte reports */
334 /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained
335 * board */
336 /* TODO: HID report descriptor should be parsed instead of
337 * hardcoding a match by VID */
338 if (target_vid == 0x03eb && target_pid != 0x2145)
339 packet_size = 512 + 1;
340
341 cmsis_dap_handle->packet_buffer = malloc(packet_size);
342 cmsis_dap_handle->packet_size = packet_size;
343
344 if (cmsis_dap_handle->packet_buffer == NULL) {
345 LOG_ERROR("unable to allocate memory");
346 return ERROR_FAIL;
347 }
348
349 return ERROR_OK;
350 }
351
352 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
353 {
354 hid_close(dap->dev_handle);
355 hid_exit();
356
357 free(cmsis_dap_handle->packet_buffer);
358 free(cmsis_dap_handle);
359 cmsis_dap_handle = NULL;
360 free(cmsis_dap_serial);
361 cmsis_dap_serial = NULL;
362
363 for (int i = 0; i < MAX_PENDING_REQUESTS; i++) {
364 free(pending_fifo[i].transfers);
365 pending_fifo[i].transfers = NULL;
366 }
367
368 return;
369 }
370
371 static int cmsis_dap_usb_write(struct cmsis_dap *dap, int txlen)
372 {
373 #ifdef CMSIS_DAP_JTAG_DEBUG
374 LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
375 #endif
376 /* Pad the rest of the TX buffer with 0's */
377 memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
378
379 /* write data to device */
380 int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
381 if (retval == -1) {
382 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
383 return ERROR_FAIL;
384 }
385
386 return ERROR_OK;
387 }
388
389 /* Send a message and receive the reply */
390 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
391 {
392 if (pending_fifo_block_count) {
393 LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count);
394 while (pending_fifo_block_count) {
395 hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, 10);
396 pending_fifo_block_count--;
397 }
398 pending_fifo_put_idx = 0;
399 pending_fifo_get_idx = 0;
400 }
401
402 int retval = cmsis_dap_usb_write(dap, txlen);
403 if (retval != ERROR_OK)
404 return retval;
405
406 /* get reply */
407 retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
408 if (retval == -1 || retval == 0) {
409 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
410 return ERROR_FAIL;
411 }
412
413 return ERROR_OK;
414 }
415
416 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
417 {
418 int retval;
419 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
420
421 buffer[0] = 0; /* report number */
422 buffer[1] = CMD_DAP_SWJ_PINS;
423 buffer[2] = pins;
424 buffer[3] = mask;
425 buffer[4] = delay & 0xff;
426 buffer[5] = (delay >> 8) & 0xff;
427 buffer[6] = (delay >> 16) & 0xff;
428 buffer[7] = (delay >> 24) & 0xff;
429 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
430
431 if (retval != ERROR_OK) {
432 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
433 return ERROR_JTAG_DEVICE_ERROR;
434 }
435
436 if (input)
437 *input = buffer[1];
438
439 return ERROR_OK;
440 }
441
442 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
443 {
444 int retval;
445 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
446
447 /* set clock in Hz */
448 swj_clock *= 1000;
449 buffer[0] = 0; /* report number */
450 buffer[1] = CMD_DAP_SWJ_CLOCK;
451 buffer[2] = swj_clock & 0xff;
452 buffer[3] = (swj_clock >> 8) & 0xff;
453 buffer[4] = (swj_clock >> 16) & 0xff;
454 buffer[5] = (swj_clock >> 24) & 0xff;
455 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
456
457 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
458 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
459 return ERROR_JTAG_DEVICE_ERROR;
460 }
461
462 return ERROR_OK;
463 }
464
465 /* clock a sequence of bits out on TMS, to change JTAG states */
466 static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
467 {
468 int retval;
469 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
470
471 #ifdef CMSIS_DAP_JTAG_DEBUG
472 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
473 for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
474 printf("%02X ", sequence[i]);
475
476 printf("\n");
477 #endif
478
479 buffer[0] = 0; /* report number */
480 buffer[1] = CMD_DAP_SWJ_SEQ;
481 buffer[2] = s_len;
482 bit_copy(&buffer[3], 0, sequence, 0, s_len);
483
484 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
485
486 if (retval != ERROR_OK || buffer[1] != DAP_OK)
487 return ERROR_FAIL;
488
489 return ERROR_OK;
490 }
491
492 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
493 {
494 int retval;
495 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
496
497 buffer[0] = 0; /* report number */
498 buffer[1] = CMD_DAP_INFO;
499 buffer[2] = info;
500 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
501
502 if (retval != ERROR_OK) {
503 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
504 return ERROR_JTAG_DEVICE_ERROR;
505 }
506
507 *data = &(buffer[1]);
508
509 return ERROR_OK;
510 }
511
512 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
513 {
514 int retval;
515 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
516
517 buffer[0] = 0; /* report number */
518 buffer[1] = CMD_DAP_LED;
519 buffer[2] = 0x00;
520 buffer[3] = leds;
521 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
522
523 if (retval != ERROR_OK || buffer[1] != 0x00) {
524 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
525 return ERROR_JTAG_DEVICE_ERROR;
526 }
527
528 return ERROR_OK;
529 }
530
531 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
532 {
533 int retval;
534 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
535
536 buffer[0] = 0; /* report number */
537 buffer[1] = CMD_DAP_CONNECT;
538 buffer[2] = mode;
539 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
540
541 if (retval != ERROR_OK) {
542 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
543 return ERROR_JTAG_DEVICE_ERROR;
544 }
545
546 if (buffer[1] != mode) {
547 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
548 return ERROR_JTAG_DEVICE_ERROR;
549 }
550
551 return ERROR_OK;
552 }
553
554 static int cmsis_dap_cmd_DAP_Disconnect(void)
555 {
556 int retval;
557 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
558
559 buffer[0] = 0; /* report number */
560 buffer[1] = CMD_DAP_DISCONNECT;
561 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
562
563 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
564 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
565 return ERROR_JTAG_DEVICE_ERROR;
566 }
567
568 return ERROR_OK;
569 }
570
571 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
572 {
573 int retval;
574 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
575
576 buffer[0] = 0; /* report number */
577 buffer[1] = CMD_DAP_TFER_CONFIGURE;
578 buffer[2] = idle;
579 buffer[3] = retry_count & 0xff;
580 buffer[4] = (retry_count >> 8) & 0xff;
581 buffer[5] = match_retry & 0xff;
582 buffer[6] = (match_retry >> 8) & 0xff;
583 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
584
585 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
586 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
587 return ERROR_JTAG_DEVICE_ERROR;
588 }
589
590 return ERROR_OK;
591 }
592
593 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
594 {
595 int retval;
596 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
597
598 buffer[0] = 0; /* report number */
599 buffer[1] = CMD_DAP_SWD_CONFIGURE;
600 buffer[2] = cfg;
601 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
602
603 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
604 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
605 return ERROR_JTAG_DEVICE_ERROR;
606 }
607
608 return ERROR_OK;
609 }
610
611 #if 0
612 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
613 {
614 int retval;
615 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
616
617 buffer[0] = 0; /* report number */
618 buffer[1] = CMD_DAP_DELAY;
619 buffer[2] = delay_us & 0xff;
620 buffer[3] = (delay_us >> 8) & 0xff;
621 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
622
623 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
624 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
625 return ERROR_JTAG_DEVICE_ERROR;
626 }
627
628 return ERROR_OK;
629 }
630 #endif
631
632 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
633 {
634 uint8_t *buffer = dap->packet_buffer;
635 struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
636
637 LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx);
638
639 if (queued_retval != ERROR_OK) {
640 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
641 goto skip;
642 }
643
644 if (block->transfer_count == 0)
645 goto skip;
646
647 size_t idx = 0;
648 buffer[idx++] = 0; /* report number */
649 buffer[idx++] = CMD_DAP_TFER;
650 buffer[idx++] = 0x00; /* DAP Index */
651 buffer[idx++] = block->transfer_count;
652
653 for (int i = 0; i < block->transfer_count; i++) {
654 struct pending_transfer_result *transfer = &(block->transfers[i]);
655 uint8_t cmd = transfer->cmd;
656 uint32_t data = transfer->data;
657
658 LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
659 cmd & SWD_CMD_APnDP ? "AP" : "DP",
660 cmd & SWD_CMD_RnW ? "read" : "write",
661 (cmd & SWD_CMD_A32) >> 1, data);
662
663 /* When proper WAIT handling is implemented in the
664 * common SWD framework, this kludge can be
665 * removed. However, this might lead to minor
666 * performance degradation as the adapter wouldn't be
667 * able to automatically retry anything (because ARM
668 * has forgotten to implement sticky error flags
669 * clearing). See also comments regarding
670 * cmsis_dap_cmd_DAP_TFER_Configure() and
671 * cmsis_dap_cmd_DAP_SWD_Configure() in
672 * cmsis_dap_init().
673 */
674 if (!(cmd & SWD_CMD_RnW) &&
675 !(cmd & SWD_CMD_APnDP) &&
676 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
677 (data & CORUNDETECT)) {
678 LOG_DEBUG("refusing to enable sticky overrun detection");
679 data &= ~CORUNDETECT;
680 }
681
682 buffer[idx++] = (cmd >> 1) & 0x0f;
683 if (!(cmd & SWD_CMD_RnW)) {
684 buffer[idx++] = (data) & 0xff;
685 buffer[idx++] = (data >> 8) & 0xff;
686 buffer[idx++] = (data >> 16) & 0xff;
687 buffer[idx++] = (data >> 24) & 0xff;
688 }
689 }
690
691 queued_retval = cmsis_dap_usb_write(dap, idx);
692 if (queued_retval != ERROR_OK)
693 goto skip;
694
695 pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count;
696 pending_fifo_block_count++;
697 if (pending_fifo_block_count > dap->packet_count)
698 LOG_ERROR("too much pending writes %d", pending_fifo_block_count);
699
700 return;
701
702 skip:
703 block->transfer_count = 0;
704 }
705
706 static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
707 {
708 uint8_t *buffer = dap->packet_buffer;
709 struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx];
710
711 if (pending_fifo_block_count == 0)
712 LOG_ERROR("no pending write");
713
714 /* get reply */
715 int retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, timeout_ms);
716 if (retval == 0 && timeout_ms < USB_TIMEOUT)
717 return;
718
719 if (retval == -1 || retval == 0) {
720 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
721 queued_retval = ERROR_FAIL;
722 goto skip;
723 }
724
725 if (buffer[2] & 0x08) {
726 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", buffer[1]);
727 queued_retval = ERROR_FAIL;
728 goto skip;
729 }
730 uint8_t ack = buffer[2] & 0x07;
731 if (ack != SWD_ACK_OK) {
732 LOG_DEBUG("SWD ack not OK @ %d %s", buffer[1],
733 ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
734 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
735 goto skip;
736 }
737
738 if (block->transfer_count != buffer[1])
739 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
740 block->transfer_count, buffer[1]);
741
742 LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d", buffer[1], pending_fifo_get_idx);
743 size_t idx = 3;
744 for (int i = 0; i < buffer[1]; i++) {
745 struct pending_transfer_result *transfer = &(block->transfers[i]);
746 if (transfer->cmd & SWD_CMD_RnW) {
747 static uint32_t last_read;
748 uint32_t data = le_to_h_u32(&buffer[idx]);
749 uint32_t tmp = data;
750 idx += 4;
751
752 LOG_DEBUG_IO("Read result: %"PRIx32, data);
753
754 /* Imitate posted AP reads */
755 if ((transfer->cmd & SWD_CMD_APnDP) ||
756 ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
757 tmp = last_read;
758 last_read = data;
759 }
760
761 if (transfer->buffer)
762 *(uint32_t *)(transfer->buffer) = tmp;
763 }
764 }
765
766 skip:
767 block->transfer_count = 0;
768 pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count;
769 pending_fifo_block_count--;
770 }
771
772 static int cmsis_dap_swd_run_queue(void)
773 {
774 if (pending_fifo_block_count)
775 cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
776
777 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
778
779 while (pending_fifo_block_count)
780 cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
781
782 pending_fifo_put_idx = 0;
783 pending_fifo_get_idx = 0;
784
785 int retval = queued_retval;
786 queued_retval = ERROR_OK;
787
788 return retval;
789 }
790
791 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
792 {
793 if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len) {
794 if (pending_fifo_block_count)
795 cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
796
797 /* Not enough room in the queue. Run the queue. */
798 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
799
800 if (pending_fifo_block_count >= cmsis_dap_handle->packet_count)
801 cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
802 }
803
804 if (queued_retval != ERROR_OK)
805 return;
806
807 struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
808 struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
809 transfer->data = data;
810 transfer->cmd = cmd;
811 if (cmd & SWD_CMD_RnW) {
812 /* Queue a read transaction */
813 transfer->buffer = dst;
814 }
815 block->transfer_count++;
816 }
817
818 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
819 {
820 assert(!(cmd & SWD_CMD_RnW));
821 cmsis_dap_swd_queue_cmd(cmd, NULL, value);
822 }
823
824 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
825 {
826 assert(cmd & SWD_CMD_RnW);
827 cmsis_dap_swd_queue_cmd(cmd, value, 0);
828 }
829
830 static int cmsis_dap_get_serial_info(void)
831 {
832 uint8_t *data;
833
834 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM, &data);
835 if (retval != ERROR_OK)
836 return retval;
837
838 if (data[0]) /* strlen */
839 LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
840
841 return ERROR_OK;
842 }
843
844 static int cmsis_dap_get_version_info(void)
845 {
846 uint8_t *data;
847
848 /* INFO_ID_FW_VER - string */
849 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
850 if (retval != ERROR_OK)
851 return retval;
852
853 if (data[0]) /* strlen */
854 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
855
856 return ERROR_OK;
857 }
858
859 static int cmsis_dap_get_caps_info(void)
860 {
861 uint8_t *data;
862
863 /* INFO_ID_CAPS - byte */
864 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
865 if (retval != ERROR_OK)
866 return retval;
867
868 if (data[0] == 1) {
869 uint8_t caps = data[1];
870
871 cmsis_dap_handle->caps = caps;
872
873 if (caps & INFO_CAPS_SWD)
874 LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
875 if (caps & INFO_CAPS_JTAG)
876 LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
877 }
878
879 return ERROR_OK;
880 }
881
882 static int cmsis_dap_get_status(void)
883 {
884 uint8_t d;
885
886 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
887
888 if (retval == ERROR_OK) {
889 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
890 (d & SWJ_PIN_TCK) ? 1 : 0,
891 (d & SWJ_PIN_TMS) ? 1 : 0,
892 (d & SWJ_PIN_TDI) ? 1 : 0,
893 (d & SWJ_PIN_TDO) ? 1 : 0,
894 (d & SWJ_PIN_TRST) ? 1 : 0,
895 (d & SWJ_PIN_SRST) ? 1 : 0);
896 }
897
898 return retval;
899 }
900
901 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
902 {
903 const uint8_t *s;
904 unsigned int s_len;
905 int retval;
906
907 if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
908 /* Following workaround deasserts reset on most adapters.
909 * Do not reconnect if a reset line is active!
910 * Reconnecting would break connecting under reset. */
911
912 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
913 cmsis_dap_cmd_DAP_Disconnect();
914
915 /* When we are reconnecting, DAP_Connect needs to be rerun, at
916 * least on Keil ULINK-ME */
917 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
918 if (retval != ERROR_OK)
919 return retval;
920 }
921
922 switch (seq) {
923 case LINE_RESET:
924 LOG_DEBUG("SWD line reset");
925 s = swd_seq_line_reset;
926 s_len = swd_seq_line_reset_len;
927 break;
928 case JTAG_TO_SWD:
929 LOG_DEBUG("JTAG-to-SWD");
930 s = swd_seq_jtag_to_swd;
931 s_len = swd_seq_jtag_to_swd_len;
932 break;
933 case SWD_TO_JTAG:
934 LOG_DEBUG("SWD-to-JTAG");
935 s = swd_seq_swd_to_jtag;
936 s_len = swd_seq_swd_to_jtag_len;
937 break;
938 default:
939 LOG_ERROR("Sequence %d not supported", seq);
940 return ERROR_FAIL;
941 }
942
943 retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
944 if (retval != ERROR_OK)
945 return retval;
946
947 /* Atmel EDBG needs renew clock setting after SWJ_Sequence
948 * otherwise default frequency is used */
949 return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
950 }
951
952 static int cmsis_dap_swd_open(void)
953 {
954 int retval;
955
956 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
957 LOG_ERROR("CMSIS-DAP: SWD not supported");
958 return ERROR_JTAG_DEVICE_ERROR;
959 }
960
961 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
962 if (retval != ERROR_OK)
963 return retval;
964
965 /* Add more setup here.??... */
966
967 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
968 return ERROR_OK;
969 }
970
971 static int cmsis_dap_init(void)
972 {
973 int retval;
974 uint8_t *data;
975
976 retval = cmsis_dap_usb_open();
977 if (retval != ERROR_OK)
978 return retval;
979
980 retval = cmsis_dap_get_caps_info();
981 if (retval != ERROR_OK)
982 return retval;
983
984 retval = cmsis_dap_get_version_info();
985 if (retval != ERROR_OK)
986 return retval;
987
988 retval = cmsis_dap_get_serial_info();
989 if (retval != ERROR_OK)
990 return retval;
991
992 if (swd_mode) {
993 retval = cmsis_dap_swd_open();
994 if (retval != ERROR_OK)
995 return retval;
996 } else {
997 /* Connect in JTAG mode */
998 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
999 LOG_ERROR("CMSIS-DAP: JTAG not supported");
1000 return ERROR_JTAG_DEVICE_ERROR;
1001 }
1002
1003 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
1004 if (retval != ERROR_OK)
1005 return retval;
1006
1007 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
1008 }
1009
1010 /* Be conservative and supress submiting multiple HID requests
1011 * until we get packet count info from the adaptor */
1012 cmsis_dap_handle->packet_count = 1;
1013 pending_queue_len = 12;
1014
1015 /* INFO_ID_PKT_SZ - short */
1016 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
1017 if (retval != ERROR_OK)
1018 return retval;
1019
1020 if (data[0] == 2) { /* short */
1021 uint16_t pkt_sz = data[1] + (data[2] << 8);
1022
1023 /* 4 bytes of command header + 5 bytes per register
1024 * write. For bulk read sequences just 4 bytes are
1025 * needed per transfer, so this is suboptimal. */
1026 pending_queue_len = (pkt_sz - 4) / 5;
1027
1028 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
1029 /* reallocate buffer */
1030 cmsis_dap_handle->packet_size = pkt_sz + 1;
1031 cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
1032 cmsis_dap_handle->packet_size);
1033 if (cmsis_dap_handle->packet_buffer == NULL) {
1034 LOG_ERROR("unable to reallocate memory");
1035 return ERROR_FAIL;
1036 }
1037 }
1038
1039 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
1040 }
1041
1042 /* INFO_ID_PKT_CNT - byte */
1043 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
1044 if (retval != ERROR_OK)
1045 return retval;
1046
1047 if (data[0] == 1) { /* byte */
1048 int pkt_cnt = data[1];
1049 if (pkt_cnt > 1)
1050 cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
1051
1052 LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt);
1053 }
1054
1055 LOG_DEBUG("Allocating FIFO for %d pending HID requests", cmsis_dap_handle->packet_count);
1056 for (int i = 0; i < cmsis_dap_handle->packet_count; i++) {
1057 pending_fifo[i].transfers = malloc(pending_queue_len * sizeof(struct pending_transfer_result));
1058 if (!pending_fifo[i].transfers) {
1059 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
1060 return ERROR_FAIL;
1061 }
1062 }
1063
1064
1065 retval = cmsis_dap_get_status();
1066 if (retval != ERROR_OK)
1067 return ERROR_FAIL;
1068
1069 /* Now try to connect to the target
1070 * TODO: This is all SWD only @ present */
1071 retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
1072 if (retval != ERROR_OK)
1073 return ERROR_FAIL;
1074
1075 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
1076 * up to 64 times. This must be changed to 0 if sticky
1077 * overrun detection is enabled. */
1078 retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
1079 if (retval != ERROR_OK)
1080 return ERROR_FAIL;
1081
1082 if (swd_mode) {
1083 /* Data Phase (bit 2) must be set to 1 if sticky overrun
1084 * detection is enabled */
1085 retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
1086 if (retval != ERROR_OK)
1087 return ERROR_FAIL;
1088 }
1089
1090 retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
1091 if (retval != ERROR_OK)
1092 return ERROR_FAIL;
1093
1094 /* support connecting with srst asserted */
1095 enum reset_types jtag_reset_config = jtag_get_reset_config();
1096
1097 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
1098 if (jtag_reset_config & RESET_SRST_NO_GATING) {
1099 retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, SWJ_PIN_SRST, 0, NULL);
1100 if (retval != ERROR_OK)
1101 return ERROR_FAIL;
1102 LOG_INFO("Connecting under reset");
1103 }
1104 }
1105
1106 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
1107
1108 LOG_INFO("CMSIS-DAP: Interface ready");
1109
1110 return ERROR_OK;
1111 }
1112
1113 static int cmsis_dap_swd_init(void)
1114 {
1115 swd_mode = true;
1116 return ERROR_OK;
1117 }
1118
1119 static int cmsis_dap_quit(void)
1120 {
1121 cmsis_dap_cmd_DAP_Disconnect();
1122 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
1123
1124 cmsis_dap_usb_close(cmsis_dap_handle);
1125
1126 return ERROR_OK;
1127 }
1128
1129 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
1130 {
1131 /* Set both TRST and SRST even if they're not enabled as
1132 * there's no way to tristate them */
1133
1134 output_pins = 0;
1135 if (!cmd->cmd.reset->srst)
1136 output_pins |= SWJ_PIN_SRST;
1137 if (!cmd->cmd.reset->trst)
1138 output_pins |= SWJ_PIN_TRST;
1139
1140 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins,
1141 SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1142 if (retval != ERROR_OK)
1143 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1144 }
1145
1146 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1147 {
1148 #if 0
1149 int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
1150 if (retval != ERROR_OK)
1151 #endif
1152 jtag_sleep(cmd->cmd.sleep->us);
1153 }
1154
1155 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1156 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1157 {
1158 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1159 uint8_t seq = 0xff;
1160 int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
1161 if (ret == ERROR_OK)
1162 tap_set_state(TAP_RESET);
1163 return ret;
1164 }
1165
1166 /* Set new end state */
1167 static void cmsis_dap_end_state(tap_state_t state)
1168 {
1169 if (tap_is_state_stable(state))
1170 tap_set_end_state(state);
1171 else {
1172 LOG_ERROR("BUG: %i is not a valid end state", state);
1173 exit(-1);
1174 }
1175 }
1176
1177 #ifdef SPRINT_BINARY
1178 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1179 {
1180 if (!len)
1181 return;
1182
1183 /*
1184 buf = { 0x18 } len=5 should result in: 11000
1185 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1186 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1187 i=3 there means i/8 = 0 so c = 0xFF, and
1188 */
1189 for (int i = offset; i < offset + len; ++i) {
1190 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1191 if ((i != offset) && !(i % 8))
1192 putchar(' ');
1193 *s++ = (c & mask) ? '1' : '0';
1194 }
1195 *s = 0;
1196 }
1197 #endif
1198
1199 #ifdef CMSIS_DAP_JTAG_DEBUG
1200 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1201 {
1202 /* cmd is a usb packet to go to the cmsis-dap interface */
1203 printf("cmsis-dap buffer (%d b): ", cmdlen);
1204 for (int i = 0; i < cmdlen; ++i)
1205 printf(" %02x", cmd[i]);
1206 printf("\n");
1207 switch (cmd[1]) {
1208 case CMD_DAP_JTAG_SEQ: {
1209 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
1210 /*
1211 * #2 = number of sequences
1212 * #3 = sequence info 1
1213 * #4...4+n_bytes-1 = sequence 1
1214 * #4+n_bytes = sequence info 2
1215 * #5+n_bytes = sequence 2 (single bit)
1216 */
1217 int pos = 3;
1218 for (int seq = 0; seq < cmd[2]; ++seq) {
1219 uint8_t info = cmd[pos++];
1220 int len = info & DAP_JTAG_SEQ_TCK;
1221 if (len == 0)
1222 len = 64;
1223 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1224 seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1225 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1226 printf(" %02x", cmd[pos+i]);
1227 pos += DIV_ROUND_UP(len, 8);
1228 printf("\n");
1229 }
1230 if (pos != cmdlen) {
1231 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1232 exit(-1);
1233 }
1234
1235 break;
1236 }
1237 default:
1238 LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1239 break;
1240 }
1241 }
1242 #endif
1243
1244 static void cmsis_dap_flush(void)
1245 {
1246 if (!queued_seq_count)
1247 return;
1248
1249 DEBUG_JTAG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1250 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1251
1252 /* prep CMSIS-DAP packet */
1253 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
1254 buffer[0] = 0; /* report number */
1255 buffer[1] = CMD_DAP_JTAG_SEQ;
1256 buffer[2] = queued_seq_count;
1257 memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
1258
1259 #ifdef CMSIS_DAP_JTAG_DEBUG
1260 debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
1261 #endif
1262
1263 /* send command to USB device */
1264 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
1265 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
1266 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1267 exit(-1);
1268 }
1269
1270 #ifdef CMSIS_DAP_JTAG_DEBUG
1271 DEBUG_JTAG_IO("USB response buf:");
1272 for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1273 printf("%02X ", buffer[c]);
1274 printf("\n");
1275 #endif
1276
1277 /* copy scan results into client buffers */
1278 for (int i = 0; i < pending_scan_result_count; ++i) {
1279 struct pending_scan_result *scan = &pending_scan_results[i];
1280 DEBUG_JTAG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1281 i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1282 #ifdef CMSIS_DAP_JTAG_DEBUG
1283 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1284 printf("%02X ", buffer[2+scan->first+b]);
1285 printf("\n");
1286 #endif
1287 bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
1288 }
1289
1290 /* reset */
1291 queued_seq_count = 0;
1292 queued_seq_buf_end = 0;
1293 queued_seq_tdo_ptr = 0;
1294 pending_scan_result_count = 0;
1295 }
1296
1297 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1298 *
1299 * sequence=NULL means clock out zeros on TDI
1300 * tdo_buffer=NULL means don't capture TDO
1301 */
1302 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1303 bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1304 {
1305 DEBUG_JTAG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1306 queued_seq_buf_end,
1307 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1308
1309 if (s_len == 0)
1310 return;
1311
1312 if (s_len > 64) {
1313 DEBUG_JTAG_IO("START JTAG SEQ SPLIT");
1314 for (int offset = 0; offset < s_len; offset += 64) {
1315 int len = s_len - offset;
1316 if (len > 64)
1317 len = 64;
1318 DEBUG_JTAG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1319 cmsis_dap_add_jtag_sequence(
1320 len,
1321 sequence,
1322 s_offset + offset,
1323 tms,
1324 tdo_buffer,
1325 tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
1326 );
1327 }
1328 DEBUG_JTAG_IO("END JTAG SEQ SPLIT");
1329 return;
1330 }
1331
1332 int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1333 if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1334 /* empty out the buffer */
1335 cmsis_dap_flush();
1336
1337 ++queued_seq_count;
1338
1339 /* control byte */
1340 queued_seq_buf[queued_seq_buf_end] =
1341 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1342 (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
1343 (s_len == 64 ? 0 : s_len);
1344
1345 if (sequence != NULL)
1346 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1347 else
1348 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1349
1350 queued_seq_buf_end += cmd_len;
1351
1352 if (tdo_buffer != NULL) {
1353 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1354 scan->first = queued_seq_tdo_ptr;
1355 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1356 scan->length = s_len;
1357 scan->buffer = tdo_buffer;
1358 scan->buffer_offset = tdo_buffer_offset;
1359 }
1360 }
1361
1362 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1363 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1364 {
1365 DEBUG_JTAG_IO("%d bits: %02X", s_len, *sequence);
1366 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1367 because even though it seems ridiculously inefficient, it
1368 allows us to combine TMS and scan sequences into the same
1369 USB packet. */
1370 /* TODO: combine runs of the same tms value */
1371 for (int i = 0; i < s_len; ++i) {
1372 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1373 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1374 }
1375 }
1376
1377 /* Move to the end state by queuing a sequence to clock into TMS */
1378 static void cmsis_dap_state_move(void)
1379 {
1380 uint8_t tms_scan;
1381 uint8_t tms_scan_bits;
1382
1383 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1384 tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1385
1386 DEBUG_JTAG_IO("state move from %s to %s: %d clocks, %02X on tms",
1387 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1388 tms_scan_bits, tms_scan);
1389 cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1390
1391 tap_set_state(tap_get_end_state());
1392 }
1393
1394
1395 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1396 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1397 {
1398 DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1399 jtag_scan_type(cmd->cmd.scan));
1400
1401 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1402 while (cmd->cmd.scan->num_fields > 0
1403 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1404 cmd->cmd.scan->num_fields--;
1405 LOG_DEBUG("discarding trailing empty field");
1406 }
1407
1408 if (cmd->cmd.scan->num_fields == 0) {
1409 LOG_DEBUG("empty scan, doing nothing");
1410 return;
1411 }
1412
1413 if (cmd->cmd.scan->ir_scan) {
1414 if (tap_get_state() != TAP_IRSHIFT) {
1415 cmsis_dap_end_state(TAP_IRSHIFT);
1416 cmsis_dap_state_move();
1417 }
1418 } else {
1419 if (tap_get_state() != TAP_DRSHIFT) {
1420 cmsis_dap_end_state(TAP_DRSHIFT);
1421 cmsis_dap_state_move();
1422 }
1423 }
1424
1425 cmsis_dap_end_state(cmd->cmd.scan->end_state);
1426
1427 struct scan_field *field = cmd->cmd.scan->fields;
1428 unsigned scan_size = 0;
1429
1430 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1431 scan_size += field->num_bits;
1432 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
1433 field->in_value ? "in" : "",
1434 field->out_value ? "out" : "",
1435 i,
1436 cmd->cmd.scan->num_fields,
1437 field->num_bits);
1438
1439 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1440 DEBUG_JTAG_IO("Last field and have to move out of SHIFT state");
1441 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1442 * movement. This last field can't have length zero, it was checked above. */
1443 cmsis_dap_add_jtag_sequence(
1444 field->num_bits - 1, /* number of bits to clock */
1445 field->out_value, /* output sequence */
1446 0, /* output offset */
1447 false, /* TMS low */
1448 field->in_value,
1449 0);
1450
1451 /* Clock the last bit out, with TMS high */
1452 uint8_t last_bit = 0;
1453 if (field->out_value)
1454 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1455 cmsis_dap_add_jtag_sequence(
1456 1,
1457 &last_bit,
1458 0,
1459 true,
1460 field->in_value,
1461 field->num_bits - 1);
1462 tap_set_state(tap_state_transition(tap_get_state(), 1));
1463
1464 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1465 cmsis_dap_add_jtag_sequence(
1466 1,
1467 &last_bit,
1468 0,
1469 false,
1470 NULL,
1471 0);
1472 tap_set_state(tap_state_transition(tap_get_state(), 0));
1473 } else {
1474 DEBUG_JTAG_IO("Internal field, staying in SHIFT state afterwards");
1475 /* Clocking part of a sequence into DR or IR with TMS=0,
1476 leaving TMS=0 at the end so we can continue later */
1477 cmsis_dap_add_jtag_sequence(
1478 field->num_bits,
1479 field->out_value,
1480 0,
1481 false,
1482 field->in_value,
1483 0);
1484 }
1485 }
1486
1487 if (tap_get_state() != tap_get_end_state()) {
1488 cmsis_dap_end_state(tap_get_end_state());
1489 cmsis_dap_state_move();
1490 }
1491
1492 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
1493 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1494 tap_state_name(tap_get_end_state()));
1495 }
1496
1497 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1498 {
1499 int i;
1500 uint8_t tms0 = 0x00;
1501 uint8_t tms1 = 0xff;
1502
1503 for (i = 0; i < num_states; i++) {
1504 if (path[i] == tap_state_transition(tap_get_state(), false))
1505 cmsis_dap_add_tms_sequence(&tms0, 1);
1506 else if (path[i] == tap_state_transition(tap_get_state(), true))
1507 cmsis_dap_add_tms_sequence(&tms1, 1);
1508 else {
1509 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1510 tap_state_name(tap_get_state()), tap_state_name(path[i]));
1511 exit(-1);
1512 }
1513
1514 tap_set_state(path[i]);
1515 }
1516
1517 cmsis_dap_end_state(tap_get_state());
1518 }
1519
1520 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1521 {
1522 DEBUG_JTAG_IO("pathmove: %i states, end in %i",
1523 cmd->cmd.pathmove->num_states,
1524 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1525
1526 cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1527 }
1528
1529 static void cmsis_dap_stableclocks(int num_cycles)
1530 {
1531 int i;
1532
1533 uint8_t tms = tap_get_state() == TAP_RESET;
1534 /* TODO: Perform optimizations? */
1535 /* Execute num_cycles. */
1536 for (i = 0; i < num_cycles; i++)
1537 cmsis_dap_add_tms_sequence(&tms, 1);
1538 }
1539
1540 static void cmsis_dap_runtest(int num_cycles)
1541 {
1542 tap_state_t saved_end_state = tap_get_end_state();
1543
1544 /* Only do a state_move when we're not already in IDLE. */
1545 if (tap_get_state() != TAP_IDLE) {
1546 cmsis_dap_end_state(TAP_IDLE);
1547 cmsis_dap_state_move();
1548 }
1549 cmsis_dap_stableclocks(num_cycles);
1550
1551 /* Finish in end_state. */
1552 cmsis_dap_end_state(saved_end_state);
1553
1554 if (tap_get_state() != tap_get_end_state())
1555 cmsis_dap_state_move();
1556 }
1557
1558 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1559 {
1560 DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1561 cmd->cmd.runtest->end_state);
1562
1563 cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1564 cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1565 }
1566
1567 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1568 {
1569 DEBUG_JTAG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1570 cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1571 }
1572
1573 static void cmsis_dap_execute_tms(struct jtag_command *cmd)
1574 {
1575 DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
1576 cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
1577 }
1578
1579 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1580 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1581 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1582 {
1583 switch (cmd->type) {
1584 case JTAG_RESET:
1585 cmsis_dap_flush();
1586 cmsis_dap_execute_reset(cmd);
1587 break;
1588 case JTAG_SLEEP:
1589 cmsis_dap_flush();
1590 cmsis_dap_execute_sleep(cmd);
1591 break;
1592 case JTAG_TLR_RESET:
1593 cmsis_dap_flush();
1594 cmsis_dap_execute_tlr_reset(cmd);
1595 break;
1596 case JTAG_SCAN:
1597 cmsis_dap_execute_scan(cmd);
1598 break;
1599 case JTAG_PATHMOVE:
1600 cmsis_dap_execute_pathmove(cmd);
1601 break;
1602 case JTAG_RUNTEST:
1603 cmsis_dap_execute_runtest(cmd);
1604 break;
1605 case JTAG_STABLECLOCKS:
1606 cmsis_dap_execute_stableclocks(cmd);
1607 break;
1608 case JTAG_TMS:
1609 cmsis_dap_execute_tms(cmd);
1610 break;
1611 default:
1612 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1613 exit(-1);
1614 }
1615 }
1616
1617 static int cmsis_dap_execute_queue(void)
1618 {
1619 struct jtag_command *cmd = jtag_command_queue;
1620
1621 while (cmd != NULL) {
1622 cmsis_dap_execute_command(cmd);
1623 cmd = cmd->next;
1624 }
1625
1626 cmsis_dap_flush();
1627
1628 return ERROR_OK;
1629 }
1630
1631 static int cmsis_dap_speed(int speed)
1632 {
1633 if (speed > DAP_MAX_CLOCK)
1634 LOG_INFO("High speed (adapter_khz %d) may be limited by adapter firmware.", speed);
1635
1636 if (speed == 0) {
1637 LOG_ERROR("RTCK not supported. Set nonzero adapter_khz.");
1638 return ERROR_JTAG_NOT_IMPLEMENTED;
1639 }
1640
1641 return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
1642 }
1643
1644 static int cmsis_dap_speed_div(int speed, int *khz)
1645 {
1646 *khz = speed;
1647 return ERROR_OK;
1648 }
1649
1650 static int cmsis_dap_khz(int khz, int *jtag_speed)
1651 {
1652 *jtag_speed = khz;
1653 return ERROR_OK;
1654 }
1655
1656 static int_least32_t cmsis_dap_swd_frequency(int_least32_t hz)
1657 {
1658 if (hz > 0)
1659 cmsis_dap_speed(hz / 1000);
1660
1661 return hz;
1662 }
1663
1664
1665 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1666 {
1667 if (cmsis_dap_get_version_info() == ERROR_OK)
1668 cmsis_dap_get_status();
1669
1670 return ERROR_OK;
1671 }
1672
1673 COMMAND_HANDLER(cmsis_dap_handle_cmd_command)
1674 {
1675 int retval;
1676 unsigned i;
1677 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
1678
1679 buffer[0] = 0; /* report number */
1680
1681 for (i = 0; i < CMD_ARGC; i++)
1682 buffer[i + 1] = strtoul(CMD_ARGV[i], NULL, 16);
1683
1684 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, CMD_ARGC + 1);
1685
1686 if (retval != ERROR_OK) {
1687 LOG_ERROR("CMSIS-DAP command failed.");
1688 return ERROR_JTAG_DEVICE_ERROR;
1689 }
1690
1691 LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8,
1692 buffer[1], buffer[2], buffer[3], buffer[4]);
1693
1694 return ERROR_OK;
1695 }
1696
1697 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
1698 {
1699 if (CMD_ARGC > MAX_USB_IDS * 2) {
1700 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1701 "(maximum is %d pairs)", MAX_USB_IDS);
1702 CMD_ARGC = MAX_USB_IDS * 2;
1703 }
1704 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
1705 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1706 if (CMD_ARGC < 2)
1707 return ERROR_COMMAND_SYNTAX_ERROR;
1708 /* remove the incomplete trailing id */
1709 CMD_ARGC -= 1;
1710 }
1711
1712 unsigned i;
1713 for (i = 0; i < CMD_ARGC; i += 2) {
1714 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
1715 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
1716 }
1717
1718 /*
1719 * Explicitly terminate, in case there are multiples instances of
1720 * cmsis_dap_vid_pid.
1721 */
1722 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1723
1724 return ERROR_OK;
1725 }
1726
1727 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
1728 {
1729 if (CMD_ARGC == 1) {
1730 size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
1731 cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
1732 if (cmsis_dap_serial == NULL) {
1733 LOG_ERROR("unable to allocate memory");
1734 return ERROR_OK;
1735 }
1736 if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
1737 free(cmsis_dap_serial);
1738 cmsis_dap_serial = NULL;
1739 LOG_ERROR("unable to convert serial");
1740 }
1741 } else {
1742 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1743 }
1744
1745 return ERROR_OK;
1746 }
1747
1748 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1749 {
1750 .name = "info",
1751 .handler = &cmsis_dap_handle_info_command,
1752 .mode = COMMAND_EXEC,
1753 .usage = "",
1754 .help = "show cmsis-dap info",
1755 },
1756 {
1757 .name = "cmd",
1758 .handler = &cmsis_dap_handle_cmd_command,
1759 .mode = COMMAND_EXEC,
1760 .usage = "",
1761 .help = "issue cmsis-dap command",
1762 },
1763 COMMAND_REGISTRATION_DONE
1764 };
1765
1766 static const struct command_registration cmsis_dap_command_handlers[] = {
1767 {
1768 .name = "cmsis-dap",
1769 .mode = COMMAND_ANY,
1770 .help = "perform CMSIS-DAP management",
1771 .usage = "<cmd>",
1772 .chain = cmsis_dap_subcommand_handlers,
1773 },
1774 {
1775 .name = "cmsis_dap_vid_pid",
1776 .handler = &cmsis_dap_handle_vid_pid_command,
1777 .mode = COMMAND_CONFIG,
1778 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1779 .usage = "(vid pid)* ",
1780 },
1781 {
1782 .name = "cmsis_dap_serial",
1783 .handler = &cmsis_dap_handle_serial_command,
1784 .mode = COMMAND_CONFIG,
1785 .help = "set the serial number of the adapter",
1786 .usage = "serial_string",
1787 },
1788 COMMAND_REGISTRATION_DONE
1789 };
1790
1791 static const struct swd_driver cmsis_dap_swd_driver = {
1792 .init = cmsis_dap_swd_init,
1793 .frequency = cmsis_dap_swd_frequency,
1794 .switch_seq = cmsis_dap_swd_switch_seq,
1795 .read_reg = cmsis_dap_swd_read_reg,
1796 .write_reg = cmsis_dap_swd_write_reg,
1797 .run = cmsis_dap_swd_run_queue,
1798 };
1799
1800 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
1801
1802 struct jtag_interface cmsis_dap_interface = {
1803 .name = "cmsis-dap",
1804 .supported = DEBUG_CAP_TMS_SEQ,
1805 .commands = cmsis_dap_command_handlers,
1806 .swd = &cmsis_dap_swd_driver,
1807 .transports = cmsis_dap_transport,
1808
1809 .execute_queue = cmsis_dap_execute_queue,
1810 .speed = cmsis_dap_speed,
1811 .speed_div = cmsis_dap_speed_div,
1812 .khz = cmsis_dap_khz,
1813 .init = cmsis_dap_init,
1814 .quit = cmsis_dap_quit,
1815 };