src/jtag/drivers/kitprog.c

   1 /* SPDX-License-Identifier: GPL-2.0-or-later */
   2
   3 /***************************************************************************
   4  *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
   5  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   6  *                                                                         *
   7  *   Copyright (C) 2008 by Spencer Oliver                                  *
   8  *   spen@spen-soft.co.uk                                                  *
   9  *                                                                         *
  10  *   Copyright (C) 2011 by Jean-Christophe PLAGNIOL-VIILARD                *
  11  *   plagnioj@jcrosoft.com                                                 *
  12  *                                                                         *
  13  *   Copyright (C) 2015 by Marc Schink                                     *
  14  *   openocd-dev@marcschink.de                                             *
  15  *                                                                         *
  16  *   Copyright (C) 2015 by Paul Fertser                                    *
  17  *   fercerpav@gmail.com                                                   *
  18  *                                                                         *
  19  *   Copyright (C) 2015-2017 by Forest Crossman                            *
  20  *   cyrozap@gmail.com                                                     *
  21  ***************************************************************************/
  22
  23 #ifdef HAVE_CONFIG_H
  24 #include "config.h"
  25 #endif
  26
  27 #include <stdint.h>
  28
  29 #include <hidapi.h>
  30
  31 #include <jtag/interface.h>
  32 #include <jtag/swd.h>
  33 #include <jtag/commands.h>
  34
  35 #include "libusb_helper.h"
  36
  37 #define VID 0x04b4
  38 #define PID 0xf139
  39
  40 #define BULK_EP_IN  1
  41 #define BULK_EP_OUT 2
  42
  43 #define CONTROL_TYPE_READ  0x01
  44 #define CONTROL_TYPE_WRITE 0x02
  45
  46 #define CONTROL_COMMAND_PROGRAM 0x07
  47
  48 #define CONTROL_MODE_POLL_PROGRAMMER_STATUS  0x01
  49 #define CONTROL_MODE_RESET_TARGET            0x04
  50 #define CONTROL_MODE_SET_PROGRAMMER_PROTOCOL 0x40
  51 #define CONTROL_MODE_SYNCHRONIZE_TRANSFER    0x41
  52 #define CONTROL_MODE_ACQUIRE_SWD_TARGET      0x42
  53 #define CONTROL_MODE_SEND_SWD_SEQUENCE       0x43
  54
  55 #define PROTOCOL_JTAG 0x00
  56 #define PROTOCOL_SWD  0x01
  57
  58 #define DEVICE_PSOC4   0x00
  59 #define DEVICE_PSOC3   0x01
  60 #define DEVICE_UNKNOWN 0x02
  61 #define DEVICE_PSOC5   0x03
  62
  63 #define ACQUIRE_MODE_RESET       0x00
  64 #define ACQUIRE_MODE_POWER_CYCLE 0x01
  65
  66 #define SEQUENCE_LINE_RESET  0x00
  67 #define SEQUENCE_JTAG_TO_SWD 0x01
  68
  69 #define PROGRAMMER_NOK_NACK 0x00
  70 #define PROGRAMMER_OK_ACK   0x01
  71
  72 #define HID_TYPE_WRITE 0x00
  73 #define HID_TYPE_READ  0x01
  74 #define HID_TYPE_START 0x02
  75
  76 #define HID_COMMAND_POWER      0x80
  77 #define HID_COMMAND_VERSION    0x81
  78 #define HID_COMMAND_RESET      0x82
  79 #define HID_COMMAND_CONFIGURE  0x8f
  80 #define HID_COMMAND_BOOTLOADER 0xa0
  81
  82 /* 512 bytes seems to work reliably */
  83 #define SWD_MAX_BUFFER_LENGTH 512
  84
  85 struct kitprog {
  86         hid_device *hid_handle;
  87         struct libusb_device_handle *usb_handle;
  88         uint16_t packet_size;
  89         uint16_t packet_index;
  90         uint8_t *packet_buffer;
  91         char *serial;
  92         uint8_t hardware_version;
  93         uint8_t minor_version;
  94         uint8_t major_version;
  95         uint16_t millivolts;
  96
  97         bool supports_jtag_to_swd;
  98 };
  99
 100 struct pending_transfer_result {
 101         uint8_t cmd;
 102         uint32_t data;
 103         void *buffer;
 104 };
 105
 106 static bool kitprog_init_acquire_psoc;
 107
 108 static int pending_transfer_count, pending_queue_len;
 109 static struct pending_transfer_result *pending_transfers;
 110
 111 static int queued_retval;
 112
 113 static struct kitprog *kitprog_handle;
 114
 115 static int kitprog_usb_open(void);
 116 static void kitprog_usb_close(void);
 117
 118 static int kitprog_hid_command(uint8_t *command, size_t command_length,
 119                 uint8_t *data, size_t data_length);
 120 static int kitprog_get_version(void);
 121 static int kitprog_get_millivolts(void);
 122 static int kitprog_get_info(void);
 123 static int kitprog_set_protocol(uint8_t protocol);
 124 static int kitprog_get_status(void);
 125 static int kitprog_set_unknown(void);
 126 static int kitprog_acquire_psoc(uint8_t psoc_type, uint8_t acquire_mode,
 127                 uint8_t max_attempts);
 128 static int kitprog_reset_target(void);
 129 static int kitprog_swd_sync(void);
 130 static int kitprog_swd_seq(uint8_t seq_type);
 131
 132 static int kitprog_generic_acquire(void);
 133
 134 static int kitprog_swd_run_queue(void);
 135 static void kitprog_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data);
 136 static int kitprog_swd_switch_seq(enum swd_special_seq seq);
 137
 138
 139 static inline int mm_to_version(uint8_t major, uint8_t minor)
 140 {
 141         return (major << 8) | minor;
 142 }
 143
 144 static int kitprog_init(void)
 145 {
 146         int retval;
 147
 148         kitprog_handle = malloc(sizeof(struct kitprog));
 149         if (!kitprog_handle) {
 150                 LOG_ERROR("Failed to allocate memory");
 151                 return ERROR_FAIL;
 152         }
 153
 154         if (kitprog_usb_open() != ERROR_OK) {
 155                 LOG_ERROR("Can't find a KitProg device! Please check device connections and permissions.");
 156                 return ERROR_JTAG_INIT_FAILED;
 157         }
 158
 159         /* Get the current KitProg version and target voltage */
 160         if (kitprog_get_info() != ERROR_OK)
 161                 return ERROR_FAIL;
 162
 163         /* Compatibility check */
 164         kitprog_handle->supports_jtag_to_swd = true;
 165         int kitprog_version = mm_to_version(kitprog_handle->major_version, kitprog_handle->minor_version);
 166         if (kitprog_version < mm_to_version(2, 14)) {
 167                 LOG_WARNING("KitProg firmware versions below v2.14 do not support sending JTAG to SWD sequences. These sequences will be substituted with SWD line resets.");
 168                 kitprog_handle->supports_jtag_to_swd = false;
 169         }
 170
 171         /* I have no idea what this does */
 172         if (kitprog_set_unknown() != ERROR_OK)
 173                 return ERROR_FAIL;
 174
 175         /* SWD won't work unless we do this */
 176         if (kitprog_swd_sync() != ERROR_OK)
 177                 return ERROR_FAIL;
 178
 179         /* Set the protocol to SWD */
 180         if (kitprog_set_protocol(PROTOCOL_SWD) != ERROR_OK)
 181                 return ERROR_FAIL;
 182
 183         /* Reset the SWD bus */
 184         if (kitprog_swd_seq(SEQUENCE_LINE_RESET) != ERROR_OK)
 185                 return ERROR_FAIL;
 186
 187         if (kitprog_init_acquire_psoc) {
 188                 /* Try to acquire any device that will respond */
 189                 retval = kitprog_generic_acquire();
 190                 if (retval != ERROR_OK) {
 191                         LOG_ERROR("No PSoC devices found");
 192                         return retval;
 193                 }
 194         }
 195
 196         /* Allocate packet buffers and queues */
 197         kitprog_handle->packet_size = SWD_MAX_BUFFER_LENGTH;
 198         kitprog_handle->packet_buffer = malloc(SWD_MAX_BUFFER_LENGTH);
 199         if (!kitprog_handle->packet_buffer) {
 200                 LOG_ERROR("Failed to allocate memory for the packet buffer");
 201                 return ERROR_FAIL;
 202         }
 203
 204         pending_queue_len = SWD_MAX_BUFFER_LENGTH / 5;
 205         pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
 206         if (!pending_transfers) {
 207                 LOG_ERROR("Failed to allocate memory for the SWD transfer queue");
 208                 return ERROR_FAIL;
 209         }
 210
 211         return ERROR_OK;
 212 }
 213
 214 static int kitprog_quit(void)
 215 {
 216         kitprog_usb_close();
 217
 218         free(kitprog_handle->packet_buffer);
 219         free(kitprog_handle->serial);
 220         free(kitprog_handle);
 221         free(pending_transfers);
 222
 223         return ERROR_OK;
 224 }
 225
 226 /*************** kitprog usb functions *********************/
 227
 228 static int kitprog_get_usb_serial(void)
 229 {
 230         int retval;
 231         const uint8_t str_index = 128; /* This seems to be a constant */
 232         char desc_string[256+1]; /* Max size of string descriptor */
 233
 234         retval = libusb_get_string_descriptor_ascii(kitprog_handle->usb_handle,
 235                         str_index, (unsigned char *)desc_string, sizeof(desc_string)-1);
 236         if (retval < 0) {
 237                 LOG_ERROR("libusb_get_string_descriptor_ascii() failed with %d", retval);
 238                 return ERROR_FAIL;
 239         }
 240
 241         /* Null terminate descriptor string */
 242         desc_string[retval] = '\0';
 243
 244         /* Allocate memory for the serial number */
 245         kitprog_handle->serial = calloc(retval + 1, sizeof(char));
 246         if (!kitprog_handle->serial) {
 247                 LOG_ERROR("Failed to allocate memory for the serial number");
 248                 return ERROR_FAIL;
 249         }
 250
 251         /* Store the serial number */
 252         strncpy(kitprog_handle->serial, desc_string, retval + 1);
 253
 254         return ERROR_OK;
 255 }
 256
 257 static int kitprog_usb_open(void)
 258 {
 259         const uint16_t vids[] = { VID, 0 };
 260         const uint16_t pids[] = { PID, 0 };
 261
 262         if (jtag_libusb_open(vids, pids, &kitprog_handle->usb_handle, NULL) != ERROR_OK) {
 263                 LOG_ERROR("Failed to open or find the device");
 264                 return ERROR_FAIL;
 265         }
 266
 267         /* Get the serial number for the device */
 268         if (kitprog_get_usb_serial() != ERROR_OK)
 269                 LOG_WARNING("Failed to get KitProg serial number");
 270
 271         /* Convert the ASCII serial number into a (wchar_t *) */
 272         size_t len = strlen(kitprog_handle->serial);
 273         wchar_t *hid_serial = calloc(len + 1, sizeof(wchar_t));
 274         if (!hid_serial) {
 275                 LOG_ERROR("Failed to allocate memory for the serial number");
 276                 return ERROR_FAIL;
 277         }
 278         if (mbstowcs(hid_serial, kitprog_handle->serial, len + 1) == (size_t)-1) {
 279                 free(hid_serial);
 280                 LOG_ERROR("Failed to convert serial number");
 281                 return ERROR_FAIL;
 282         }
 283
 284         /* Use HID for the KitBridge interface */
 285         kitprog_handle->hid_handle = hid_open(VID, PID, hid_serial);
 286         free(hid_serial);
 287         if (!kitprog_handle->hid_handle) {
 288                 LOG_ERROR("Failed to open KitBridge (HID) interface");
 289                 return ERROR_FAIL;
 290         }
 291
 292         /* Claim the KitProg Programmer (bulk transfer) interface */
 293         if (libusb_claim_interface(kitprog_handle->usb_handle, 1) != ERROR_OK) {
 294                 LOG_ERROR("Failed to claim KitProg Programmer (bulk transfer) interface");
 295                 return ERROR_FAIL;
 296         }
 297
 298         return ERROR_OK;
 299 }
 300
 301 static void kitprog_usb_close(void)
 302 {
 303         if (kitprog_handle->hid_handle) {
 304                 hid_close(kitprog_handle->hid_handle);
 305                 hid_exit();
 306         }
 307
 308         jtag_libusb_close(kitprog_handle->usb_handle);
 309 }
 310
 311 /*************** kitprog lowlevel functions *********************/
 312
 313 static int kitprog_hid_command(uint8_t *command, size_t command_length,
 314                 uint8_t *data, size_t data_length)
 315 {
 316         int ret;
 317
 318         ret = hid_write(kitprog_handle->hid_handle, command, command_length);
 319         if (ret < 0) {
 320                 LOG_DEBUG("HID write returned %i", ret);
 321                 return ERROR_FAIL;
 322         }
 323
 324         ret = hid_read(kitprog_handle->hid_handle, data, data_length);
 325         if (ret < 0) {
 326                 LOG_DEBUG("HID read returned %i", ret);
 327                 return ERROR_FAIL;
 328         }
 329
 330         return ERROR_OK;
 331 }
 332
 333 static int kitprog_get_version(void)
 334 {
 335         int ret;
 336
 337         unsigned char command[3] = {HID_TYPE_START | HID_TYPE_WRITE, 0x00, HID_COMMAND_VERSION};
 338         unsigned char data[64];
 339
 340         ret = kitprog_hid_command(command, sizeof(command), data, sizeof(data));
 341         if (ret != ERROR_OK)
 342                 return ret;
 343
 344         kitprog_handle->hardware_version = data[1];
 345         kitprog_handle->minor_version = data[2];
 346         kitprog_handle->major_version = data[3];
 347
 348         return ERROR_OK;
 349 }
 350
 351 static int kitprog_get_millivolts(void)
 352 {
 353         int ret;
 354
 355         unsigned char command[3] = {HID_TYPE_START | HID_TYPE_READ, 0x00, HID_COMMAND_POWER};
 356         unsigned char data[64];
 357
 358         ret = kitprog_hid_command(command, sizeof(command), data, sizeof(data));
 359         if (ret != ERROR_OK)
 360                 return ret;
 361
 362         kitprog_handle->millivolts = (data[4] << 8) | data[3];
 363
 364         return ERROR_OK;
 365 }
 366
 367 static int kitprog_get_info(void)
 368 {
 369         /* Get the device version information */
 370         if (kitprog_get_version() == ERROR_OK) {
 371                 LOG_INFO("KitProg v%u.%02u",
 372                         kitprog_handle->major_version, kitprog_handle->minor_version);
 373                 LOG_INFO("Hardware version: %u",
 374                         kitprog_handle->hardware_version);
 375         } else {
 376                 LOG_ERROR("Failed to get KitProg version");
 377                 return ERROR_FAIL;
 378         }
 379
 380         /* Get the current reported target voltage */
 381         if (kitprog_get_millivolts() == ERROR_OK) {
 382                 LOG_INFO("VTARG = %u.%03u V",
 383                         kitprog_handle->millivolts / 1000, kitprog_handle->millivolts % 1000);
 384         } else {
 385                 LOG_ERROR("Failed to get target voltage");
 386                 return ERROR_FAIL;
 387         }
 388
 389         return ERROR_OK;
 390 }
 391
 392 static int kitprog_set_protocol(uint8_t protocol)
 393 {
 394         int transferred;
 395         char status = PROGRAMMER_NOK_NACK;
 396
 397         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 398                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 399                 CONTROL_TYPE_WRITE,
 400                 (CONTROL_MODE_SET_PROGRAMMER_PROTOCOL << 8) | CONTROL_COMMAND_PROGRAM,
 401                 protocol, &status, 1, 0);
 402
 403         if (transferred == 0) {
 404                 LOG_DEBUG("Zero bytes transferred");
 405                 return ERROR_FAIL;
 406         }
 407
 408         if (status != PROGRAMMER_OK_ACK) {
 409                 LOG_DEBUG("Programmer did not respond OK");
 410                 return ERROR_FAIL;
 411         }
 412
 413         return ERROR_OK;
 414 }
 415
 416 static int kitprog_get_status(void)
 417 {
 418         int transferred = 0;
 419         char status = PROGRAMMER_NOK_NACK;
 420
 421         /* Try a maximum of three times */
 422         for (int i = 0; (i < 3) && (transferred == 0); i++) {
 423                 transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 424                         LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 425                         CONTROL_TYPE_READ,
 426                         (CONTROL_MODE_POLL_PROGRAMMER_STATUS << 8) | CONTROL_COMMAND_PROGRAM,
 427                         0, &status, 1, 0);
 428                 jtag_sleep(1000);
 429         }
 430
 431         if (transferred == 0) {
 432                 LOG_DEBUG("Zero bytes transferred");
 433                 return ERROR_FAIL;
 434         }
 435
 436         if (status != PROGRAMMER_OK_ACK) {
 437                 LOG_DEBUG("Programmer did not respond OK");
 438                 return ERROR_FAIL;
 439         }
 440
 441         return ERROR_OK;
 442 }
 443
 444 static int kitprog_set_unknown(void)
 445 {
 446         int transferred;
 447         char status = PROGRAMMER_NOK_NACK;
 448
 449         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 450                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 451                 CONTROL_TYPE_WRITE,
 452                 (0x03 << 8) | 0x04,
 453                 0, &status, 1, 0);
 454
 455         if (transferred == 0) {
 456                 LOG_DEBUG("Zero bytes transferred");
 457                 return ERROR_FAIL;
 458         }
 459
 460         if (status != PROGRAMMER_OK_ACK) {
 461                 LOG_DEBUG("Programmer did not respond OK");
 462                 return ERROR_FAIL;
 463         }
 464
 465         return ERROR_OK;
 466 }
 467
 468 static int kitprog_acquire_psoc(uint8_t psoc_type, uint8_t acquire_mode,
 469                 uint8_t max_attempts)
 470 {
 471         int transferred;
 472         char status = PROGRAMMER_NOK_NACK;
 473
 474         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 475                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 476                 CONTROL_TYPE_WRITE,
 477                 (CONTROL_MODE_ACQUIRE_SWD_TARGET << 8) | CONTROL_COMMAND_PROGRAM,
 478                 (max_attempts << 8) | (acquire_mode << 4) | psoc_type, &status, 1, 0);
 479
 480         if (transferred == 0) {
 481                 LOG_DEBUG("Zero bytes transferred");
 482                 return ERROR_FAIL;
 483         }
 484
 485         if (status != PROGRAMMER_OK_ACK) {
 486                 LOG_DEBUG("Programmer did not respond OK");
 487                 return ERROR_FAIL;
 488         }
 489
 490         return ERROR_OK;
 491 }
 492
 493 static int kitprog_reset_target(void)
 494 {
 495         int transferred;
 496         char status = PROGRAMMER_NOK_NACK;
 497
 498         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 499                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 500                 CONTROL_TYPE_WRITE,
 501                 (CONTROL_MODE_RESET_TARGET << 8) | CONTROL_COMMAND_PROGRAM,
 502                 0, &status, 1, 0);
 503
 504         if (transferred == 0) {
 505                 LOG_DEBUG("Zero bytes transferred");
 506                 return ERROR_FAIL;
 507         }
 508
 509         if (status != PROGRAMMER_OK_ACK) {
 510                 LOG_DEBUG("Programmer did not respond OK");
 511                 return ERROR_FAIL;
 512         }
 513
 514         return ERROR_OK;
 515 }
 516
 517 static int kitprog_swd_sync(void)
 518 {
 519         int transferred;
 520         char status = PROGRAMMER_NOK_NACK;
 521
 522         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 523                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 524                 CONTROL_TYPE_WRITE,
 525                 (CONTROL_MODE_SYNCHRONIZE_TRANSFER << 8) | CONTROL_COMMAND_PROGRAM,
 526                 0, &status, 1, 0);
 527
 528         if (transferred == 0) {
 529                 LOG_DEBUG("Zero bytes transferred");
 530                 return ERROR_FAIL;
 531         }
 532
 533         if (status != PROGRAMMER_OK_ACK) {
 534                 LOG_DEBUG("Programmer did not respond OK");
 535                 return ERROR_FAIL;
 536         }
 537
 538         return ERROR_OK;
 539 }
 540
 541 static int kitprog_swd_seq(uint8_t seq_type)
 542 {
 543         int transferred;
 544         char status = PROGRAMMER_NOK_NACK;
 545
 546         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 547                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 548                 CONTROL_TYPE_WRITE,
 549                 (CONTROL_MODE_SEND_SWD_SEQUENCE << 8) | CONTROL_COMMAND_PROGRAM,
 550                 seq_type, &status, 1, 0);
 551
 552         if (transferred == 0) {
 553                 LOG_DEBUG("Zero bytes transferred");
 554                 return ERROR_FAIL;
 555         }
 556
 557         if (status != PROGRAMMER_OK_ACK) {
 558                 LOG_DEBUG("Programmer did not respond OK");
 559                 return ERROR_FAIL;
 560         }
 561
 562         return ERROR_OK;
 563 }
 564
 565 static int kitprog_generic_acquire(void)
 566 {
 567         const uint8_t devices[] = {DEVICE_PSOC4, DEVICE_PSOC3, DEVICE_PSOC5};
 568
 569         int retval;
 570         int acquire_count = 0;
 571
 572         /* Due to the way the SWD port is shared between the Test Controller (TC)
 573          * and the Cortex-M3 DAP on the PSoC 5LP, the TC is the default SWD target
 574          * after power is applied. To access the DAP, the PSoC 5LP requires at least
 575          * one acquisition sequence to be run (which switches the SWD mux from the
 576          * TC to the DAP). However, after the mux is switched, the Cortex-M3 will be
 577          * held in reset until a series of registers are written to (see section 5.2
 578          * of the PSoC 5LP Device Programming Specifications for details).
 579          *
 580          * Instead of writing the registers in this function, we just do what the
 581          * Cypress tools do and run the acquisition sequence a second time. This
 582          * will take the Cortex-M3 out of reset and enable debugging.
 583          */
 584         for (int i = 0; i < 2; i++) {
 585                 for (uint8_t j = 0; j < sizeof(devices) && acquire_count == i; j++) {
 586                         retval = kitprog_acquire_psoc(devices[j], ACQUIRE_MODE_RESET, 3);
 587                         if (retval != ERROR_OK) {
 588                                 LOG_DEBUG("Acquisition function failed for device 0x%02x.", devices[j]);
 589                                 return retval;
 590                         }
 591
 592                         if (kitprog_get_status() == ERROR_OK)
 593                                 acquire_count++;
 594                 }
 595
 596                 jtag_sleep(10);
 597         }
 598
 599         if (acquire_count < 2)
 600                 return ERROR_FAIL;
 601
 602         return ERROR_OK;
 603 }
 604
 605 /*************** swd wrapper functions *********************/
 606
 607 static int kitprog_swd_init(void)
 608 {
 609         return ERROR_OK;
 610 }
 611
 612 static void kitprog_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
 613 {
 614         assert(!(cmd & SWD_CMD_RNW));
 615         kitprog_swd_queue_cmd(cmd, NULL, value);
 616 }
 617
 618 static void kitprog_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
 619 {
 620         assert(cmd & SWD_CMD_RNW);
 621         kitprog_swd_queue_cmd(cmd, value, 0);
 622 }
 623
 624 /*************** swd lowlevel functions ********************/
 625
 626 static int kitprog_swd_switch_seq(enum swd_special_seq seq)
 627 {
 628         switch (seq) {
 629                 case JTAG_TO_SWD:
 630                         if (kitprog_handle->supports_jtag_to_swd) {
 631                                 LOG_DEBUG("JTAG to SWD");
 632                                 if (kitprog_swd_seq(SEQUENCE_JTAG_TO_SWD) != ERROR_OK)
 633                                         return ERROR_FAIL;
 634                                 break;
 635                         } else {
 636                                 LOG_DEBUG("JTAG to SWD not supported");
 637                                 /* Fall through to fix target reset issue */
 638                         }
 639                         /* fallthrough */
 640                 case LINE_RESET:
 641                         LOG_DEBUG("SWD line reset");
 642                         if (kitprog_swd_seq(SEQUENCE_LINE_RESET) != ERROR_OK)
 643                                 return ERROR_FAIL;
 644                         break;
 645                 default:
 646                         LOG_ERROR("Sequence %d not supported.", seq);
 647                         return ERROR_FAIL;
 648         }
 649
 650         return ERROR_OK;
 651 }
 652
 653 static int kitprog_swd_run_queue(void)
 654 {
 655         int ret;
 656
 657         size_t read_count = 0;
 658         size_t read_index = 0;
 659         size_t write_count = 0;
 660         uint8_t *buffer = kitprog_handle->packet_buffer;
 661
 662         do {
 663                 LOG_DEBUG_IO("Executing %d queued transactions", pending_transfer_count);
 664
 665                 if (queued_retval != ERROR_OK) {
 666                         LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 667                         break;
 668                 }
 669
 670                 if (!pending_transfer_count)
 671                         break;
 672
 673                 for (int i = 0; i < pending_transfer_count; i++) {
 674                         uint8_t cmd = pending_transfers[i].cmd;
 675                         uint32_t data = pending_transfers[i].data;
 676
 677                         /* When proper WAIT handling is implemented in the
 678                          * common SWD framework, this kludge can be
 679                          * removed. However, this might lead to minor
 680                          * performance degradation as the adapter wouldn't be
 681                          * able to automatically retry anything (because ARM
 682                          * has forgotten to implement sticky error flags
 683                          * clearing). See also comments regarding
 684                          * cmsis_dap_cmd_DAP_TFER_Configure() and
 685                          * cmsis_dap_cmd_DAP_SWD_Configure() in
 686                          * cmsis_dap_init().
 687                          */
 688                         if (!(cmd & SWD_CMD_RNW) &&
 689                                 !(cmd & SWD_CMD_APNDP) &&
 690                                 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
 691                                 (data & CORUNDETECT)) {
 692                                 LOG_DEBUG("refusing to enable sticky overrun detection");
 693                                 data &= ~CORUNDETECT;
 694                         }
 695
 696                         LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
 697                                         cmd & SWD_CMD_APNDP ? "AP" : "DP",
 698                                         cmd & SWD_CMD_RNW ? "read" : "write",
 699                                   (cmd & SWD_CMD_A32) >> 1, data);
 700
 701                         buffer[write_count++] = (cmd | SWD_CMD_START | SWD_CMD_PARK) & ~SWD_CMD_STOP;
 702                         read_count++;
 703                         if (!(cmd & SWD_CMD_RNW)) {
 704                                 buffer[write_count++] = (data) & 0xff;
 705                                 buffer[write_count++] = (data >> 8) & 0xff;
 706                                 buffer[write_count++] = (data >> 16) & 0xff;
 707                                 buffer[write_count++] = (data >> 24) & 0xff;
 708                         } else {
 709                                 read_count += 4;
 710                         }
 711                 }
 712
 713                 if (jtag_libusb_bulk_write(kitprog_handle->usb_handle,
 714                                            BULK_EP_OUT, (char *)buffer,
 715                                            write_count, 0, &ret)) {
 716                         LOG_ERROR("Bulk write failed");
 717                         queued_retval = ERROR_FAIL;
 718                         break;
 719                 } else {
 720                         queued_retval = ERROR_OK;
 721                 }
 722
 723                 /* KitProg firmware does not send a zero length packet
 724                  * after the bulk-in transmission of a length divisible by bulk packet
 725                  * size (64 bytes) as required by the USB specification.
 726                  * Therefore libusb would wait for continuation of transmission.
 727                  * Workaround: Limit bulk read size to expected number of bytes
 728                  * for problematic transfer sizes. Otherwise use the maximum buffer
 729                  * size here because the KitProg sometimes doesn't like bulk reads
 730                  * of fewer than 62 bytes. (?!?!)
 731                  */
 732                 size_t read_count_workaround = SWD_MAX_BUFFER_LENGTH;
 733                 if (read_count % 64 == 0)
 734                         read_count_workaround = read_count;
 735
 736                 if (jtag_libusb_bulk_read(kitprog_handle->usb_handle,
 737                                 BULK_EP_IN | LIBUSB_ENDPOINT_IN, (char *)buffer,
 738                                 read_count_workaround, 1000, &ret)) {
 739                         LOG_ERROR("Bulk read failed");
 740                         queued_retval = ERROR_FAIL;
 741                         break;
 742                 } else {
 743                         /* Handle garbage data by offsetting the initial read index */
 744                         if ((unsigned int)ret > read_count)
 745                                 read_index = ret - read_count;
 746                         queued_retval = ERROR_OK;
 747                 }
 748
 749                 for (int i = 0; i < pending_transfer_count; i++) {
 750                         if (pending_transfers[i].cmd & SWD_CMD_RNW) {
 751                                 uint32_t data = le_to_h_u32(&buffer[read_index]);
 752
 753                                 LOG_DEBUG_IO("Read result: %"PRIx32, data);
 754
 755                                 if (pending_transfers[i].buffer)
 756                                         *(uint32_t *)pending_transfers[i].buffer = data;
 757
 758                                 read_index += 4;
 759                         }
 760
 761                         uint8_t ack = buffer[read_index] & 0x07;
 762                         if (ack != SWD_ACK_OK || (buffer[read_index] & 0x08)) {
 763                                 LOG_DEBUG("SWD ack not OK: %d %s", i,
 764                                           ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
 765                                 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 766                                 break;
 767                         }
 768                         read_index++;
 769                 }
 770         } while (0);
 771
 772         pending_transfer_count = 0;
 773         int retval = queued_retval;
 774         queued_retval = ERROR_OK;
 775
 776         return retval;
 777 }
 778
 779 static void kitprog_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 780 {
 781         if (pending_transfer_count == pending_queue_len) {
 782                 /* Not enough room in the queue. Run the queue. */
 783                 queued_retval = kitprog_swd_run_queue();
 784         }
 785
 786         if (queued_retval != ERROR_OK)
 787                 return;
 788
 789         pending_transfers[pending_transfer_count].data = data;
 790         pending_transfers[pending_transfer_count].cmd = cmd;
 791         if (cmd & SWD_CMD_RNW) {
 792                 /* Queue a read transaction */
 793                 pending_transfers[pending_transfer_count].buffer = dst;
 794         }
 795         pending_transfer_count++;
 796 }
 797
 798 /*************** jtag lowlevel functions ********************/
 799
 800 static int kitprog_reset(int trst, int srst)
 801 {
 802         int retval = ERROR_OK;
 803
 804         if (trst == 1) {
 805                 LOG_ERROR("KitProg: Interface has no TRST");
 806                 return ERROR_FAIL;
 807         }
 808
 809         if (srst == 1) {
 810                 retval = kitprog_reset_target();
 811                 /* Since the previous command also disables SWCLK output, we need to send an
 812                  * SWD bus reset command to re-enable it. For some reason, running
 813                  * kitprog_swd_seq() immediately after kitprog_reset_target() won't
 814                  * actually fix this. Instead, kitprog_swd_seq() will be run once OpenOCD
 815                  * tries to send a JTAG-to-SWD sequence, which should happen during
 816                  * swd_check_reconnect (see the JTAG_TO_SWD case in kitprog_swd_switch_seq).
 817                  */
 818         }
 819
 820         if (retval != ERROR_OK)
 821                 LOG_ERROR("KitProg: Interface reset failed");
 822         return retval;
 823 }
 824
 825 COMMAND_HANDLER(kitprog_handle_info_command)
 826 {
 827         int retval = kitprog_get_info();
 828
 829         return retval;
 830 }
 831
 832
 833 COMMAND_HANDLER(kitprog_handle_acquire_psoc_command)
 834 {
 835         int retval = kitprog_generic_acquire();
 836
 837         return retval;
 838 }
 839
 840 COMMAND_HANDLER(kitprog_handle_init_acquire_psoc_command)
 841 {
 842         kitprog_init_acquire_psoc = true;
 843
 844         return ERROR_OK;
 845 }
 846
 847 static const struct command_registration kitprog_subcommand_handlers[] = {
 848         {
 849                 .name = "info",
 850                 .handler = &kitprog_handle_info_command,
 851                 .mode = COMMAND_EXEC,
 852                 .usage = "",
 853                 .help = "show KitProg info",
 854         },
 855         {
 856                 .name = "acquire_psoc",
 857                 .handler = &kitprog_handle_acquire_psoc_command,
 858                 .mode = COMMAND_EXEC,
 859                 .usage = "",
 860                 .help = "try to acquire a PSoC",
 861         },
 862         COMMAND_REGISTRATION_DONE
 863 };
 864
 865 static const struct command_registration kitprog_command_handlers[] = {
 866         {
 867                 .name = "kitprog",
 868                 .mode = COMMAND_ANY,
 869                 .help = "perform KitProg management",
 870                 .usage = "<cmd>",
 871                 .chain = kitprog_subcommand_handlers,
 872         },
 873         {
 874                 .name = "kitprog_init_acquire_psoc",
 875                 .handler = &kitprog_handle_init_acquire_psoc_command,
 876                 .mode = COMMAND_CONFIG,
 877                 .help = "try to acquire a PSoC during init",
 878                 .usage = "",
 879         },
 880         COMMAND_REGISTRATION_DONE
 881 };
 882
 883 static const struct swd_driver kitprog_swd = {
 884         .init = kitprog_swd_init,
 885         .switch_seq = kitprog_swd_switch_seq,
 886         .read_reg = kitprog_swd_read_reg,
 887         .write_reg = kitprog_swd_write_reg,
 888         .run = kitprog_swd_run_queue,
 889 };
 890
 891 static const char * const kitprog_transports[] = { "swd", NULL };
 892
 893 struct adapter_driver kitprog_adapter_driver = {
 894         .name = "kitprog",
 895         .transports = kitprog_transports,
 896         .commands = kitprog_command_handlers,
 897
 898         .init = kitprog_init,
 899         .quit = kitprog_quit,
 900         .reset = kitprog_reset,
 901
 902         .swd_ops = &kitprog_swd,
 903 };