X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fcmsis_dap_usb.c;h=a07064be5d904e80fcfdf2c9d17906de087d8b27;hp=95f553b626f147e6718a1399a3d4ad6ee5626105;hb=e3ccae3ed72b47e353fc97d11318a580dadcb7d9;hpb=885f4388144840e411512543cd92fb9335ce806a
diff --git a/src/jtag/drivers/cmsis_dap_usb.c b/src/jtag/drivers/cmsis_dap_usb.c
index 95f553b626..a07064be5d 100644
--- a/src/jtag/drivers/cmsis_dap_usb.c
+++ b/src/jtag/drivers/cmsis_dap_usb.c
@@ -1,4 +1,13 @@
/***************************************************************************
+ * Copyright (C) 2016 by Maksym Hilliaka *
+ * oter@frozen-team.com *
+ * *
+ * Copyright (C) 2016 by Phillip Pearson *
+ * pp@myelin.co.nz *
+ * *
+ * Copyright (C) 2014 by Paul Fertser *
+ * fercerpav@gmail.com *
+ * *
* Copyright (C) 2013 by mike brown *
* mike@theshedworks.org.uk *
* *
@@ -16,9 +25,7 @@
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
- * along with this program; if not, write to the *
- * Free Software Foundation, Inc., *
- * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
+ * along with this program. If not, see . *
***************************************************************************/
#ifdef HAVE_CONFIG_H
@@ -33,12 +40,6 @@
#include
-#ifdef _DEBUG_JTAG_IO_
- #define DEBUG_IO(expr...) LOG_DEBUG(expr)
-#else
- #define DEBUG_IO(expr...) do {} while (0)
-#endif
-
/*
* See CMSIS-DAP documentation:
* Version 0.01 - Beta.
@@ -125,6 +126,15 @@ static bool swd_mode;
#define CMD_DAP_JTAG_CONFIGURE 0x15
#define CMD_DAP_JTAG_IDCODE 0x16
+/* CMSIS-DAP JTAG sequence info masks */
+/* Number of bits to clock through (0 means 64) */
+#define DAP_JTAG_SEQ_TCK 0x3F
+/* TMS will be set during the sequence if this bit is set */
+#define DAP_JTAG_SEQ_TMS 0x40
+/* TDO output will be captured if this bit is set */
+#define DAP_JTAG_SEQ_TDO 0x80
+
+
/* CMSIS-DAP Transfer Commands */
#define CMD_DAP_TFER_CONFIGURE 0x04
#define CMD_DAP_TFER 0x05
@@ -155,6 +165,40 @@ struct cmsis_dap {
uint8_t mode;
};
+struct pending_transfer_result {
+ uint8_t cmd;
+ uint32_t data;
+ void *buffer;
+};
+
+struct pending_scan_result {
+ /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
+ unsigned first;
+ /** Number of bits to read. */
+ unsigned length;
+ /** Location to store the result */
+ uint8_t *buffer;
+ /** Offset in the destination buffer */
+ unsigned buffer_offset;
+};
+
+static int pending_transfer_count, pending_queue_len;
+static struct pending_transfer_result *pending_transfers;
+
+/* pointers to buffers that will receive jtag scan results on the next flush */
+#define MAX_PENDING_SCAN_RESULTS 256
+static int pending_scan_result_count;
+static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
+
+/* queued JTAG sequences that will be executed on the next flush */
+#define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
+static int queued_seq_count;
+static int queued_seq_buf_end;
+static int queued_seq_tdo_ptr;
+static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
+
+static int queued_retval;
+
static struct cmsis_dap *cmsis_dap_handle;
static int cmsis_dap_usb_open(void)
@@ -163,8 +207,10 @@ static int cmsis_dap_usb_open(void)
int i;
struct hid_device_info *devs, *cur_dev;
unsigned short target_vid, target_pid;
+ wchar_t *target_serial = NULL;
bool found = false;
+ bool serial_found = false;
target_vid = 0;
target_pid = 0;
@@ -204,10 +250,14 @@ static int cmsis_dap_usb_open(void)
/* we have found an adapter, so exit further checks */
/* check serial number matches if given */
if (cmsis_dap_serial != NULL) {
- if (wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0)
+ if ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
+ serial_found = true;
break;
+ }
} else
break;
+
+ found = false;
}
cur_dev = cur_dev->next;
@@ -216,6 +266,8 @@ static int cmsis_dap_usb_open(void)
if (NULL != cur_dev) {
target_vid = cur_dev->vendor_id;
target_pid = cur_dev->product_id;
+ if (serial_found)
+ target_serial = cmsis_dap_serial;
}
hid_free_enumeration(devs);
@@ -230,10 +282,10 @@ static int cmsis_dap_usb_open(void)
return ERROR_FAIL;
}
- dev = hid_open(target_vid, target_pid, NULL);
+ dev = hid_open(target_vid, target_pid, target_serial);
if (dev == NULL) {
- LOG_ERROR("unable to open CMSIS-DAP device");
+ LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
return ERROR_FAIL;
}
@@ -257,6 +309,8 @@ static int cmsis_dap_usb_open(void)
int packet_size = PACKET_SIZE;
/* atmel cmsis-dap uses 512 byte reports */
+ /* TODO: HID report descriptor should be parsed instead of
+ * hardcoding a match by VID */
if (target_vid == 0x03eb)
packet_size = 512 + 1;
@@ -276,18 +330,13 @@ static void cmsis_dap_usb_close(struct cmsis_dap *dap)
hid_close(dap->dev_handle);
hid_exit();
- if (cmsis_dap_handle->packet_buffer)
- free(cmsis_dap_handle->packet_buffer);
-
- if (cmsis_dap_handle) {
- free(cmsis_dap_handle);
- cmsis_dap_handle = NULL;
- }
-
- if (cmsis_dap_serial) {
- free(cmsis_dap_serial);
- cmsis_dap_serial = NULL;
- }
+ free(cmsis_dap_handle->packet_buffer);
+ free(cmsis_dap_handle);
+ cmsis_dap_handle = NULL;
+ free(cmsis_dap_serial);
+ cmsis_dap_serial = NULL;
+ free(pending_transfers);
+ pending_transfers = NULL;
return;
}
@@ -295,8 +344,11 @@ static void cmsis_dap_usb_close(struct cmsis_dap *dap)
/* Send a message and receive the reply */
static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
{
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
+#endif
/* Pad the rest of the TX buffer with 0's */
- memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
+ memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
/* write data to device */
int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
@@ -364,6 +416,33 @@ static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
return ERROR_OK;
}
+/* clock a sequence of bits out on TMS, to change JTAG states */
+static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
+{
+ int retval;
+ uint8_t *buffer = cmsis_dap_handle->packet_buffer;
+
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
+ for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
+ printf("%02X ", sequence[i]);
+
+ printf("\n");
+#endif
+
+ buffer[0] = 0; /* report number */
+ buffer[1] = CMD_DAP_SWJ_SEQ;
+ buffer[2] = s_len;
+ bit_copy(&buffer[3], 0, sequence, 0, s_len);
+
+ retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
+
+ if (retval != ERROR_OK || buffer[1] != DAP_OK)
+ return ERROR_FAIL;
+
+ return ERROR_OK;
+}
+
static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
{
int retval;
@@ -443,7 +522,7 @@ static int cmsis_dap_cmd_DAP_Disconnect(void)
return ERROR_OK;
}
-static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16_t retry)
+static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
{
int retval;
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
@@ -451,10 +530,10 @@ static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_TFER_CONFIGURE;
buffer[2] = idle;
- buffer[3] = delay & 0xff;
- buffer[4] = (delay >> 8) & 0xff;
- buffer[5] = retry & 0xff;
- buffer[6] = (retry >> 8) & 0xff;
+ buffer[3] = retry_count & 0xff;
+ buffer[4] = (retry_count >> 8) & 0xff;
+ buffer[5] = match_retry & 0xff;
+ buffer[6] = (match_retry >> 8) & 0xff;
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
if (retval != ERROR_OK || buffer[1] != DAP_OK) {
@@ -504,75 +583,139 @@ static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
}
#endif
-static int queued_retval;
-
-static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
+static int cmsis_dap_swd_run_queue(void)
{
- if (queued_retval != ERROR_OK)
- return;
-
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
- int retval;
- uint32_t val;
- DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8, cmd);
+ LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_TFER;
- buffer[2] = 0x00;
- buffer[3] = 0x01;
- buffer[4] = cmd;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
-
- /* TODO - need better response checking */
- if (retval != ERROR_OK || buffer[1] != 0x01) {
- LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
- queued_retval = buffer[2];
- return;
+ if (queued_retval != ERROR_OK) {
+ LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
+ goto skip;
}
- val = le_to_h_u32(&buffer[3]);
- DEBUG_IO("0x%08" PRIx32, val);
+ if (!pending_transfer_count)
+ goto skip;
+
+ size_t idx = 0;
+ buffer[idx++] = 0; /* report number */
+ buffer[idx++] = CMD_DAP_TFER;
+ buffer[idx++] = 0x00; /* DAP Index */
+ buffer[idx++] = pending_transfer_count;
+
+ for (int i = 0; i < pending_transfer_count; i++) {
+ uint8_t cmd = pending_transfers[i].cmd;
+ uint32_t data = pending_transfers[i].data;
+
+ LOG_DEBUG("%s %s reg %x %"PRIx32,
+ cmd & SWD_CMD_APnDP ? "AP" : "DP",
+ cmd & SWD_CMD_RnW ? "read" : "write",
+ (cmd & SWD_CMD_A32) >> 1, data);
+
+ /* When proper WAIT handling is implemented in the
+ * common SWD framework, this kludge can be
+ * removed. However, this might lead to minor
+ * performance degradation as the adapter wouldn't be
+ * able to automatically retry anything (because ARM
+ * has forgotten to implement sticky error flags
+ * clearing). See also comments regarding
+ * cmsis_dap_cmd_DAP_TFER_Configure() and
+ * cmsis_dap_cmd_DAP_SWD_Configure() in
+ * cmsis_dap_init().
+ */
+ if (!(cmd & SWD_CMD_RnW) &&
+ !(cmd & SWD_CMD_APnDP) &&
+ (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
+ (data & CORUNDETECT)) {
+ LOG_DEBUG("refusing to enable sticky overrun detection");
+ data &= ~CORUNDETECT;
+ }
+
+ buffer[idx++] = (cmd >> 1) & 0x0f;
+ if (!(cmd & SWD_CMD_RnW)) {
+ buffer[idx++] = (data) & 0xff;
+ buffer[idx++] = (data >> 8) & 0xff;
+ buffer[idx++] = (data >> 16) & 0xff;
+ buffer[idx++] = (data >> 24) & 0xff;
+ }
+ }
- if (value)
- *value = val;
+ queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
+ if (queued_retval != ERROR_OK)
+ goto skip;
+
+ idx = 2;
+ uint8_t ack = buffer[idx] & 0x07;
+ if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
+ LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
+ ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
+ queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
+ goto skip;
+ }
+ idx++;
+
+ if (pending_transfer_count != buffer[1])
+ LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
+ pending_transfer_count, buffer[1]);
+
+ for (int i = 0; i < buffer[1]; i++) {
+ if (pending_transfers[i].cmd & SWD_CMD_RnW) {
+ static uint32_t last_read;
+ uint32_t data = le_to_h_u32(&buffer[idx]);
+ uint32_t tmp = data;
+ idx += 4;
+
+ LOG_DEBUG("Read result: %"PRIx32, data);
+
+ /* Imitate posted AP reads */
+ if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
+ ((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
+ tmp = last_read;
+ last_read = data;
+ }
- queued_retval = retval;
+ if (pending_transfers[i].buffer)
+ *(uint32_t *)pending_transfers[i].buffer = tmp;
+ }
+ }
+
+skip:
+ pending_transfer_count = 0;
+ int retval = queued_retval;
+ queued_retval = ERROR_OK;
+
+ return retval;
}
-static void cmsis_dap_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
+static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
{
+ if (pending_transfer_count == pending_queue_len) {
+ /* Not enough room in the queue. Run the queue. */
+ queued_retval = cmsis_dap_swd_run_queue();
+ }
+
if (queued_retval != ERROR_OK)
return;
- uint8_t *buffer = cmsis_dap_handle->packet_buffer;
-
- DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
-
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_TFER;
- buffer[2] = 0x00;
- buffer[3] = 0x01;
- buffer[4] = cmd;
- buffer[5] = (value) & 0xff;
- buffer[6] = (value >> 8) & 0xff;
- buffer[7] = (value >> 16) & 0xff;
- buffer[8] = (value >> 24) & 0xff;
- int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
-
- if (buffer[1] != 0x01) {
- LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
- retval = buffer[2];
+ pending_transfers[pending_transfer_count].data = data;
+ pending_transfers[pending_transfer_count].cmd = cmd;
+ if (cmd & SWD_CMD_RnW) {
+ /* Queue a read transaction */
+ pending_transfers[pending_transfer_count].buffer = dst;
}
+ pending_transfer_count++;
+}
- queued_retval = retval;
+static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
+{
+ assert(!(cmd & SWD_CMD_RnW));
+ cmsis_dap_swd_queue_cmd(cmd, NULL, value);
}
-static int cmsis_dap_swd_run(struct adiv5_dap *dap)
+static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
{
- int retval = queued_retval;
- queued_retval = ERROR_OK;
- return retval;
+ assert(cmd & SWD_CMD_RnW);
+ cmsis_dap_swd_queue_cmd(cmd, value, 0);
}
static int cmsis_dap_get_version_info(void)
@@ -632,125 +775,51 @@ static int cmsis_dap_get_status(void)
return retval;
}
-static int cmsis_dap_reset_link(void)
+static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
{
- uint8_t *buffer = cmsis_dap_handle->packet_buffer;
-
- LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
- LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
-
- /* reset line with SWDIO high for >50 cycles */
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_SWJ_SEQ;
- buffer[2] = 7 * 8;
- buffer[3] = 0xff;
- buffer[4] = 0xff;
- buffer[5] = 0xff;
- buffer[6] = 0xff;
- buffer[7] = 0xff;
- buffer[8] = 0xff;
- buffer[9] = 0xff;
- int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
-
- if (retval != ERROR_OK || buffer[1] != DAP_OK)
- return ERROR_FAIL;
-
- /* 16bit JTAG-SWD sequence */
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_SWJ_SEQ;
- buffer[2] = 2 * 8;
- buffer[3] = 0x9e;
- buffer[4] = 0xe7;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
-
- if (retval != ERROR_OK || buffer[1] != DAP_OK)
- return ERROR_FAIL;
-
- /* another reset just incase */
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_SWJ_SEQ;
- buffer[2] = 7 * 8;
- buffer[3] = 0xff;
- buffer[4] = 0xff;
- buffer[5] = 0xff;
- buffer[6] = 0xff;
- buffer[7] = 0xff;
- buffer[8] = 0xff;
- buffer[9] = 0xff;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
-
- if (retval != ERROR_OK || buffer[1] != DAP_OK)
- return ERROR_FAIL;
-
- /* 16 cycle idle period */
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_SWJ_SEQ;
- buffer[2] = 2 * 8;
- buffer[3] = 0x00;
- buffer[4] = 0x00;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
-
- if (retval != ERROR_OK || buffer[1] != DAP_OK)
- return ERROR_FAIL;
-
- DEBUG_IO("DAP Read IDCODE");
+ const uint8_t *s;
+ unsigned int s_len;
+ int retval;
- /* read the id code is always the next sequence */
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_TFER;
- buffer[2] = 0x00;
- buffer[3] = 0x01;
- buffer[4] = 0x02;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
+ /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
+ cmsis_dap_cmd_DAP_Disconnect();
+ /* When we are reconnecting, DAP_Connect needs to be rerun, at
+ * least on Keil ULINK-ME */
+ retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
+ CONNECT_SWD : CONNECT_JTAG);
if (retval != ERROR_OK)
return retval;
- if (buffer[1] == 0) {
- LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
-
- LOG_DEBUG("DAP Reset Target");
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_RESET_TARGET;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
- LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
-
- LOG_DEBUG("DAP Write Abort");
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_WRITE_ABORT;
- buffer[2] = 0x00;
- buffer[3] = 0x1e/*0x1f*/;
- buffer[4] = 0x00;
- buffer[5] = 0x00;
- buffer[6] = 0x00;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
- LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
-
- return 0x80 + buffer[1];
+ switch (seq) {
+ case LINE_RESET:
+ LOG_DEBUG("SWD line reset");
+ s = swd_seq_line_reset;
+ s_len = swd_seq_line_reset_len;
+ break;
+ case JTAG_TO_SWD:
+ LOG_DEBUG("JTAG-to-SWD");
+ s = swd_seq_jtag_to_swd;
+ s_len = swd_seq_jtag_to_swd_len;
+ break;
+ case SWD_TO_JTAG:
+ LOG_DEBUG("SWD-to-JTAG");
+ s = swd_seq_swd_to_jtag;
+ s_len = swd_seq_swd_to_jtag_len;
+ break;
+ default:
+ LOG_ERROR("Sequence %d not supported", seq);
+ return ERROR_FAIL;
}
- LOG_DEBUG("DAP Write Abort");
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_WRITE_ABORT;
- buffer[2] = 0x00;
- buffer[3] = 0x1e;
- buffer[4] = 0x00;
- buffer[5] = 0x00;
- buffer[6] = 0x00;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
- LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
-
- return retval;
+ return cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
}
static int cmsis_dap_swd_open(void)
{
int retval;
- DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_open");
-
if (cmsis_dap_handle == NULL) {
-
/* SWD init */
retval = cmsis_dap_usb_open();
if (retval != ERROR_OK)
@@ -823,6 +892,16 @@ static int cmsis_dap_init(void)
if (data[0] == 2) { /* short */
uint16_t pkt_sz = data[1] + (data[2] << 8);
+ /* 4 bytes of command header + 5 bytes per register
+ * write. For bulk read sequences just 4 bytes are
+ * needed per transfer, so this is suboptimal. */
+ pending_queue_len = (pkt_sz - 4) / 5;
+ pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
+ if (!pending_transfers) {
+ LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
+ return ERROR_FAIL;
+ }
+
if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
/* reallocate buffer */
cmsis_dap_handle->packet_size = pkt_sz + 1;
@@ -854,14 +933,19 @@ static int cmsis_dap_init(void)
/* Now try to connect to the target
* TODO: This is all SWD only @ present */
- retval = cmsis_dap_cmd_DAP_SWJ_Clock(100); /* 100kHz */
+ retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
if (retval != ERROR_OK)
return ERROR_FAIL;
+ /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
+ * up to 64 times. This must be changed to 0 if sticky
+ * overrun detection is enabled. */
retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
if (retval != ERROR_OK)
return ERROR_FAIL;
- retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
+ /* Data Phase (bit 2) must be set to 1 if sticky overrun
+ * detection is enabled */
+ retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
if (retval != ERROR_OK)
return ERROR_FAIL;
@@ -881,11 +965,7 @@ static int cmsis_dap_init(void)
}
}
- retval = cmsis_dap_reset_link();
- if (retval != ERROR_OK)
- return ERROR_FAIL;
-
- cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
+ cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
LOG_INFO("CMSIS-DAP: Interface ready");
@@ -925,17 +1005,456 @@ static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
jtag_sleep(cmd->cmd.sleep->us);
}
+/* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
+static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
+{
+ LOG_INFO("cmsis-dap JTAG TLR_RESET");
+ uint8_t seq = 0xff;
+ int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
+ if (ret == ERROR_OK)
+ tap_set_state(TAP_RESET);
+ return ret;
+}
+
+/* Set new end state */
+static void cmsis_dap_end_state(tap_state_t state)
+{
+ if (tap_is_state_stable(state))
+ tap_set_end_state(state);
+ else {
+ LOG_ERROR("BUG: %i is not a valid end state", state);
+ exit(-1);
+ }
+}
+
+#ifdef SPRINT_BINARY
+static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
+{
+ if (!len)
+ return;
+
+ /*
+ buf = { 0x18 } len=5 should result in: 11000
+ buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
+ buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
+ i=3 there means i/8 = 0 so c = 0xFF, and
+ */
+ for (int i = offset; i < offset + len; ++i) {
+ uint8_t c = buf[i / 8], mask = 1 << (i % 8);
+ if ((i != offset) && !(i % 8))
+ putchar(' ');
+ *s++ = (c & mask) ? '1' : '0';
+ }
+ *s = 0;
+}
+#endif
+
+#ifdef CMSIS_DAP_JTAG_DEBUG
+static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
+{
+ /* cmd is a usb packet to go to the cmsis-dap interface */
+ printf("cmsis-dap buffer (%d b): ", cmdlen);
+ for (int i = 0; i < cmdlen; ++i)
+ printf(" %02x", cmd[i]);
+ printf("\n");
+ switch (cmd[1]) {
+ case CMD_DAP_JTAG_SEQ: {
+ printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
+ /*
+ * #2 = number of sequences
+ * #3 = sequence info 1
+ * #4...4+n_bytes-1 = sequence 1
+ * #4+n_bytes = sequence info 2
+ * #5+n_bytes = sequence 2 (single bit)
+ */
+ int pos = 3;
+ for (int seq = 0; seq < cmd[2]; ++seq) {
+ uint8_t info = cmd[pos++];
+ int len = info & DAP_JTAG_SEQ_TCK;
+ if (len == 0)
+ len = 64;
+ printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
+ seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
+ for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
+ printf(" %02x", cmd[pos+i]);
+ pos += DIV_ROUND_UP(len, 8);
+ printf("\n");
+ }
+ if (pos != cmdlen) {
+ printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
+ exit(-1);
+ }
+
+ break;
+ }
+ default:
+ LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
+ break;
+ }
+}
+#endif
+
+static void cmsis_dap_flush(void)
+{
+ if (!queued_seq_count)
+ return;
+
+ DEBUG_JTAG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
+ queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
+
+ /* prep CMSIS-DAP packet */
+ uint8_t *buffer = cmsis_dap_handle->packet_buffer;
+ buffer[0] = 0; /* report number */
+ buffer[1] = CMD_DAP_JTAG_SEQ;
+ buffer[2] = queued_seq_count;
+ memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
+
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
+#endif
+
+ /* send command to USB device */
+ int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
+ if (retval != ERROR_OK || buffer[1] != DAP_OK) {
+ LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
+ exit(-1);
+ }
+
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ DEBUG_JTAG_IO("USB response buf:");
+ for (int c = 0; c < queued_seq_buf_end + 3; ++c)
+ printf("%02X ", buffer[c]);
+ printf("\n");
+#endif
+
+ /* copy scan results into client buffers */
+ for (int i = 0; i < pending_scan_result_count; ++i) {
+ struct pending_scan_result *scan = &pending_scan_results[i];
+ DEBUG_JTAG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
+ i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
+ printf("%02X ", buffer[2+scan->first+b]);
+ printf("\n");
+#endif
+ bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
+ }
+
+ /* reset */
+ queued_seq_count = 0;
+ queued_seq_buf_end = 0;
+ queued_seq_tdo_ptr = 0;
+ pending_scan_result_count = 0;
+}
+
+/* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
+ *
+ * sequence=NULL means clock out zeros on TDI
+ * tdo_buffer=NULL means don't capture TDO
+ */
+static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
+ bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
+{
+ DEBUG_JTAG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
+ queued_seq_buf_end,
+ s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
+
+ if (s_len == 0)
+ return;
+
+ if (s_len > 64) {
+ DEBUG_JTAG_IO("START JTAG SEQ SPLIT");
+ for (int offset = 0; offset < s_len; offset += 64) {
+ int len = s_len - offset;
+ if (len > 64)
+ len = 64;
+ DEBUG_JTAG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
+ cmsis_dap_add_jtag_sequence(
+ len,
+ sequence,
+ s_offset + offset,
+ tms,
+ tdo_buffer,
+ tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
+ );
+ }
+ DEBUG_JTAG_IO("END JTAG SEQ SPLIT");
+ return;
+ }
+
+ int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
+ if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
+ /* empty out the buffer */
+ cmsis_dap_flush();
+
+ ++queued_seq_count;
+
+ /* control byte */
+ queued_seq_buf[queued_seq_buf_end] =
+ (tms ? DAP_JTAG_SEQ_TMS : 0) |
+ (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
+ (s_len == 64 ? 0 : s_len);
+
+ if (sequence != NULL)
+ bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
+ else
+ memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
+
+ queued_seq_buf_end += cmd_len;
+
+ if (tdo_buffer != NULL) {
+ struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
+ scan->first = queued_seq_tdo_ptr;
+ queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
+ scan->length = s_len;
+ scan->buffer = tdo_buffer;
+ scan->buffer_offset = tdo_buffer_offset;
+ }
+}
+
+/* queue a sequence of bits to clock out TMS, executing if the buffer is full */
+static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
+{
+ DEBUG_JTAG_IO("%d bits: %02X", s_len, *sequence);
+ /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
+ because even though it seems ridiculously inefficient, it
+ allows us to combine TMS and scan sequences into the same
+ USB packet. */
+ /* TODO: combine runs of the same tms value */
+ for (int i = 0; i < s_len; ++i) {
+ bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
+ cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
+ }
+}
+
+/* Move to the end state by queuing a sequence to clock into TMS */
+static void cmsis_dap_state_move(void)
+{
+ uint8_t tms_scan;
+ uint8_t tms_scan_bits;
+
+ tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+ tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+
+ DEBUG_JTAG_IO("state move from %s to %s: %d clocks, %02X on tms",
+ tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
+ tms_scan_bits, tms_scan);
+ cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
+
+ tap_set_state(tap_get_end_state());
+}
+
+
+/* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
+static void cmsis_dap_execute_scan(struct jtag_command *cmd)
+{
+ DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
+ jtag_scan_type(cmd->cmd.scan));
+
+ /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
+ while (cmd->cmd.scan->num_fields > 0
+ && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
+ cmd->cmd.scan->num_fields--;
+ LOG_DEBUG("discarding trailing empty field");
+ }
+
+ if (cmd->cmd.scan->num_fields == 0) {
+ LOG_DEBUG("empty scan, doing nothing");
+ return;
+ }
+
+ if (cmd->cmd.scan->ir_scan) {
+ if (tap_get_state() != TAP_IRSHIFT) {
+ cmsis_dap_end_state(TAP_IRSHIFT);
+ cmsis_dap_state_move();
+ }
+ } else {
+ if (tap_get_state() != TAP_DRSHIFT) {
+ cmsis_dap_end_state(TAP_DRSHIFT);
+ cmsis_dap_state_move();
+ }
+ }
+
+ cmsis_dap_end_state(cmd->cmd.scan->end_state);
+
+ struct scan_field *field = cmd->cmd.scan->fields;
+ unsigned scan_size = 0;
+
+ for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
+ scan_size += field->num_bits;
+ DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
+ field->in_value ? "in" : "",
+ field->out_value ? "out" : "",
+ i,
+ cmd->cmd.scan->num_fields,
+ field->num_bits);
+
+ if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
+ DEBUG_JTAG_IO("Last field and have to move out of SHIFT state");
+ /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
+ * movement. This last field can't have length zero, it was checked above. */
+ cmsis_dap_add_jtag_sequence(
+ field->num_bits - 1, /* number of bits to clock */
+ field->out_value, /* output sequence */
+ 0, /* output offset */
+ false, /* TMS low */
+ field->in_value,
+ 0);
+
+ /* Clock the last bit out, with TMS high */
+ uint8_t last_bit = 0;
+ if (field->out_value)
+ bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
+ cmsis_dap_add_jtag_sequence(
+ 1,
+ &last_bit,
+ 0,
+ true,
+ field->in_value,
+ field->num_bits - 1);
+ tap_set_state(tap_state_transition(tap_get_state(), 1));
+
+ /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
+ cmsis_dap_add_jtag_sequence(
+ 1,
+ &last_bit,
+ 0,
+ false,
+ NULL,
+ 0);
+ tap_set_state(tap_state_transition(tap_get_state(), 0));
+ } else {
+ DEBUG_JTAG_IO("Internal field, staying in SHIFT state afterwards");
+ /* Clocking part of a sequence into DR or IR with TMS=0,
+ leaving TMS=0 at the end so we can continue later */
+ cmsis_dap_add_jtag_sequence(
+ field->num_bits,
+ field->out_value,
+ 0,
+ false,
+ field->in_value,
+ 0);
+ }
+ }
+
+ if (tap_get_state() != tap_get_end_state()) {
+ cmsis_dap_end_state(tap_get_end_state());
+ cmsis_dap_state_move();
+ }
+
+ DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
+ (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
+ tap_state_name(tap_get_end_state()));
+}
+
+static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
+{
+ int i;
+ uint8_t tms0 = 0x00;
+ uint8_t tms1 = 0xff;
+
+ for (i = 0; i < num_states; i++) {
+ if (path[i] == tap_state_transition(tap_get_state(), false))
+ cmsis_dap_add_tms_sequence(&tms0, 1);
+ else if (path[i] == tap_state_transition(tap_get_state(), true))
+ cmsis_dap_add_tms_sequence(&tms1, 1);
+ else {
+ LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
+ tap_state_name(tap_get_state()), tap_state_name(path[i]));
+ exit(-1);
+ }
+
+ tap_set_state(path[i]);
+ }
+
+ cmsis_dap_end_state(tap_get_state());
+}
+
+static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
+{
+ DEBUG_JTAG_IO("pathmove: %i states, end in %i",
+ cmd->cmd.pathmove->num_states,
+ cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
+
+ cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
+}
+
+static void cmsis_dap_stableclocks(int num_cycles)
+{
+ int i;
+
+ uint8_t tms = tap_get_state() == TAP_RESET;
+ /* TODO: Perform optimizations? */
+ /* Execute num_cycles. */
+ for (i = 0; i < num_cycles; i++)
+ cmsis_dap_add_tms_sequence(&tms, 1);
+}
+
+static void cmsis_dap_runtest(int num_cycles)
+{
+ tap_state_t saved_end_state = tap_get_end_state();
+
+ /* Only do a state_move when we're not already in IDLE. */
+ if (tap_get_state() != TAP_IDLE) {
+ cmsis_dap_end_state(TAP_IDLE);
+ cmsis_dap_state_move();
+ }
+ cmsis_dap_stableclocks(num_cycles);
+
+ /* Finish in end_state. */
+ cmsis_dap_end_state(saved_end_state);
+
+ if (tap_get_state() != tap_get_end_state())
+ cmsis_dap_state_move();
+}
+
+static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
+{
+ DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
+ cmd->cmd.runtest->end_state);
+
+ cmsis_dap_end_state(cmd->cmd.runtest->end_state);
+ cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
+}
+
+static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
+{
+ DEBUG_JTAG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
+ cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
+}
+
+/* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
+ * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
static void cmsis_dap_execute_command(struct jtag_command *cmd)
{
switch (cmd->type) {
case JTAG_RESET:
+ cmsis_dap_flush();
cmsis_dap_execute_reset(cmd);
break;
case JTAG_SLEEP:
+ cmsis_dap_flush();
cmsis_dap_execute_sleep(cmd);
break;
+ case JTAG_TLR_RESET:
+ cmsis_dap_flush();
+ cmsis_dap_execute_tlr_reset(cmd);
+ break;
+ case JTAG_SCAN:
+ cmsis_dap_execute_scan(cmd);
+ break;
+ case JTAG_PATHMOVE:
+ cmsis_dap_execute_pathmove(cmd);
+ break;
+ case JTAG_RUNTEST:
+ cmsis_dap_execute_runtest(cmd);
+ break;
+ case JTAG_STABLECLOCKS:
+ cmsis_dap_execute_stableclocks(cmd);
+ break;
+ case JTAG_TMS:
default:
- LOG_ERROR("BUG: unknown JTAG command type encountered");
+ LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
exit(-1);
}
}
@@ -949,6 +1468,8 @@ static int cmsis_dap_execute_queue(void)
cmd = cmd->next;
}
+ cmsis_dap_flush();
+
return ERROR_OK;
}
@@ -979,6 +1500,15 @@ static int cmsis_dap_khz(int khz, int *jtag_speed)
return ERROR_OK;
}
+static int_least32_t cmsis_dap_swd_frequency(int_least32_t hz)
+{
+ if (hz > 0)
+ cmsis_dap_speed(hz / 1000);
+
+ return hz;
+}
+
+
COMMAND_HANDLER(cmsis_dap_handle_info_command)
{
if (cmsis_dap_get_version_info() == ERROR_OK)
@@ -1076,12 +1606,14 @@ static const struct command_registration cmsis_dap_command_handlers[] = {
static const struct swd_driver cmsis_dap_swd_driver = {
.init = cmsis_dap_swd_init,
+ .frequency = cmsis_dap_swd_frequency,
+ .switch_seq = cmsis_dap_swd_switch_seq,
.read_reg = cmsis_dap_swd_read_reg,
.write_reg = cmsis_dap_swd_write_reg,
- .run = cmsis_dap_swd_run,
+ .run = cmsis_dap_swd_run_queue,
};
-const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};
+static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
struct jtag_interface cmsis_dap_interface = {
.name = "cmsis-dap",