X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fcmsis_dap_usb.c;h=ee1cb533c050a730a880350b53b793be5287e304;hp=dd37522ad169e595cc05cedd0a2f3caed93e0cdb;hb=HEAD;hpb=aa2c38d50cfc30b651b47cfe93dcc4238c887d68 diff --git a/src/jtag/drivers/cmsis_dap_usb.c b/src/jtag/drivers/cmsis_dap_usb.c deleted file mode 100644 index dd37522ad1..0000000000 --- a/src/jtag/drivers/cmsis_dap_usb.c +++ /dev/null @@ -1,1648 +0,0 @@ -/*************************************************************************** - * 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 * - * * - * Copyright (C) 2013 by Spencer Oliver * - * spen@spen-soft.co.uk * - * * - * This program is free software; you can redistribute it and/or modify * - * it under the terms of the GNU General Public License as published by * - * the Free Software Foundation; either version 2 of the License, or * - * (at your option) any later version. * - * * - * This program is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * - * 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, see . * - ***************************************************************************/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include -#include -#include -#include -#include - -#include - -/* - * See CMSIS-DAP documentation: - * Version 0.01 - Beta. - */ - -/* USB Config */ - -/* Known vid/pid pairs: - * VID 0xc251: Keil Software - * PID 0xf001: LPC-Link-II CMSIS_DAP - * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board) - * PID 0x2722: Keil ULINK2 CMSIS-DAP - * - * VID 0x0d28: mbed Software - * PID 0x0204: MBED CMSIS-DAP - */ - -#define MAX_USB_IDS 8 -/* vid = pid = 0 marks the end of the list */ -static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 }; -static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 }; -static wchar_t *cmsis_dap_serial; -static bool swd_mode; - -#define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */ -#define USB_TIMEOUT 1000 - -/* CMSIS-DAP General Commands */ -#define CMD_DAP_INFO 0x00 -#define CMD_DAP_LED 0x01 -#define CMD_DAP_CONNECT 0x02 -#define CMD_DAP_DISCONNECT 0x03 -#define CMD_DAP_WRITE_ABORT 0x08 -#define CMD_DAP_DELAY 0x09 -#define CMD_DAP_RESET_TARGET 0x0A - -/* CMD_INFO */ -#define INFO_ID_VID 0x00 /* string */ -#define INFO_ID_PID 0x02 /* string */ -#define INFO_ID_SERNUM 0x03 /* string */ -#define INFO_ID_FW_VER 0x04 /* string */ -#define INFO_ID_TD_VEND 0x05 /* string */ -#define INFO_ID_TD_NAME 0x06 /* string */ -#define INFO_ID_CAPS 0xf0 /* byte */ -#define INFO_ID_PKT_CNT 0xfe /* byte */ -#define INFO_ID_PKT_SZ 0xff /* short */ - -#define INFO_CAPS_SWD 0x01 -#define INFO_CAPS_JTAG 0x02 - -/* CMD_LED */ -#define LED_ID_CONNECT 0x00 -#define LED_ID_RUN 0x01 - -#define LED_OFF 0x00 -#define LED_ON 0x01 - -/* CMD_CONNECT */ -#define CONNECT_DEFAULT 0x00 -#define CONNECT_SWD 0x01 -#define CONNECT_JTAG 0x02 - -/* CMSIS-DAP Common SWD/JTAG Commands */ -#define CMD_DAP_DELAY 0x09 -#define CMD_DAP_SWJ_PINS 0x10 -#define CMD_DAP_SWJ_CLOCK 0x11 -#define CMD_DAP_SWJ_SEQ 0x12 - -/* - * PINS - * Bit 0: SWCLK/TCK - * Bit 1: SWDIO/TMS - * Bit 2: TDI - * Bit 3: TDO - * Bit 5: nTRST - * Bit 7: nRESET - */ - -#define SWJ_PIN_TCK (1<<0) -#define SWJ_PIN_TMS (1<<1) -#define SWJ_PIN_TDI (1<<2) -#define SWJ_PIN_TDO (1<<3) -#define SWJ_PIN_TRST (1<<5) -#define SWJ_PIN_SRST (1<<7) - -/* CMSIS-DAP SWD Commands */ -#define CMD_DAP_SWD_CONFIGURE 0x13 - -/* CMSIS-DAP JTAG Commands */ -#define CMD_DAP_JTAG_SEQ 0x14 -#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 -#define CMD_DAP_TFER_BLOCK 0x06 -#define CMD_DAP_TFER_ABORT 0x07 - -/* DAP Status Code */ -#define DAP_OK 0 -#define DAP_ERROR 0xFF - -/* CMSIS-DAP Vendor Commands - * None as yet... */ - -static const char * const info_caps_str[] = { - "SWD Supported", - "JTAG Supported" -}; - -/* max clock speed (kHz) */ -#define DAP_MAX_CLOCK 5000 - -struct cmsis_dap { - hid_device *dev_handle; - uint16_t packet_size; - uint16_t packet_count; - uint8_t *packet_buffer; - uint8_t caps; - 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) -{ - hid_device *dev = NULL; - 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; - - /* - * The CMSIS-DAP specification stipulates: - * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the - * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer." - */ - devs = hid_enumerate(0x0, 0x0); - cur_dev = devs; - while (NULL != cur_dev) { - if (0 == cmsis_dap_vid[0]) { - if (NULL == cur_dev->product_string) { - LOG_DEBUG("Cannot read product string of device 0x%x:0x%x", - cur_dev->vendor_id, cur_dev->product_id); - } else { - if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) { - /* if the user hasn't specified VID:PID *and* - * product string contains "CMSIS-DAP", pick it - */ - found = true; - } - } - } else { - /* otherwise, exhaustively compare against all VID:PID in list */ - for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) { - if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id)) - found = true; - } - - if (cmsis_dap_vid[i] || cmsis_dap_pid[i]) - found = true; - } - - if (found) { - /* we have found an adapter, so exit further checks */ - /* check serial number matches if given */ - if (cmsis_dap_serial != NULL) { - 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; - } - - 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); - - if (target_vid == 0 && target_pid == 0) { - LOG_ERROR("unable to find CMSIS-DAP device"); - return ERROR_FAIL; - } - - if (hid_init() != 0) { - LOG_ERROR("unable to open HIDAPI"); - return ERROR_FAIL; - } - - dev = hid_open(target_vid, target_pid, target_serial); - - if (dev == NULL) { - LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid); - return ERROR_FAIL; - } - - struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap)); - if (dap == NULL) { - LOG_ERROR("unable to allocate memory"); - return ERROR_FAIL; - } - - dap->dev_handle = dev; - dap->caps = 0; - dap->mode = 0; - - cmsis_dap_handle = dap; - - /* allocate default packet buffer, may be changed later. - * currently with HIDAPI we have no way of getting the output report length - * without this info we cannot communicate with the adapter. - * For the moment we ahve to hard code the packet size */ - - int packet_size = PACKET_SIZE; - - /* atmel cmsis-dap uses 512 byte reports */ - /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained - * board */ - /* TODO: HID report descriptor should be parsed instead of - * hardcoding a match by VID */ - if (target_vid == 0x03eb && target_pid != 0x2145) - packet_size = 512 + 1; - - cmsis_dap_handle->packet_buffer = malloc(packet_size); - cmsis_dap_handle->packet_size = packet_size; - - if (cmsis_dap_handle->packet_buffer == NULL) { - LOG_ERROR("unable to allocate memory"); - return ERROR_FAIL; - } - - return ERROR_OK; -} - -static void cmsis_dap_usb_close(struct cmsis_dap *dap) -{ - hid_close(dap->dev_handle); - hid_exit(); - - 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; -} - -/* 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 - txlen); - - /* write data to device */ - int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size); - if (retval == -1) { - LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle)); - return ERROR_FAIL; - } - - /* get reply */ - retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT); - if (retval == -1 || retval == 0) { - LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle)); - return ERROR_FAIL; - } - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_SWJ_PINS; - buffer[2] = pins; - buffer[3] = mask; - buffer[4] = delay & 0xff; - buffer[5] = (delay >> 8) & 0xff; - buffer[6] = (delay >> 16) & 0xff; - buffer[7] = (delay >> 24) & 0xff; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8); - - if (retval != ERROR_OK) { - LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - if (input) - *input = buffer[1]; - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - /* set clock in Hz */ - swj_clock *= 1000; - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_SWJ_CLOCK; - buffer[2] = swj_clock & 0xff; - buffer[3] = (swj_clock >> 8) & 0xff; - buffer[4] = (swj_clock >> 16) & 0xff; - buffer[5] = (swj_clock >> 24) & 0xff; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - 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; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_INFO; - buffer[2] = info; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3); - - if (retval != ERROR_OK) { - LOG_ERROR("CMSIS-DAP command CMD_INFO failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - *data = &(buffer[1]); - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_LED(uint8_t leds) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_LED; - buffer[2] = 0x00; - buffer[3] = leds; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4); - - if (retval != ERROR_OK || buffer[1] != 0x00) { - LOG_ERROR("CMSIS-DAP command CMD_LED failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_Connect(uint8_t mode) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_CONNECT; - buffer[2] = mode; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3); - - if (retval != ERROR_OK) { - LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - if (buffer[1] != mode) { - LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_Disconnect(void) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_DISCONNECT; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -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; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_TFER_CONFIGURE; - buffer[2] = idle; - 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) { - LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_SWD_CONFIGURE; - buffer[2] = cfg; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -#if 0 -static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_DELAY; - buffer[2] = delay_us & 0xff; - buffer[3] = (delay_us >> 8) & 0xff; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_Delay failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} -#endif - -static int cmsis_dap_swd_run_queue(void) -{ - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - LOG_DEBUG("Executing %d queued transactions", pending_transfer_count); - - if (queued_retval != ERROR_OK) { - LOG_DEBUG("Skipping due to previous errors: %d", queued_retval); - goto skip; - } - - 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; - } - } - - 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; - } - - 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_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; - - 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++; -} - -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 void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk) -{ - assert(cmd & SWD_CMD_RnW); - cmsis_dap_swd_queue_cmd(cmd, value, 0); -} - -static int cmsis_dap_get_version_info(void) -{ - uint8_t *data; - - /* INFO_ID_FW_VER - string */ - int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data); - if (retval != ERROR_OK) - return retval; - - if (data[0]) /* strlen */ - LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]); - - return ERROR_OK; -} - -static int cmsis_dap_get_caps_info(void) -{ - uint8_t *data; - - /* INFO_ID_CAPS - byte */ - int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data); - if (retval != ERROR_OK) - return retval; - - if (data[0] == 1) { - uint8_t caps = data[1]; - - cmsis_dap_handle->caps = caps; - - if (caps & INFO_CAPS_SWD) - LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]); - if (caps & INFO_CAPS_JTAG) - LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]); - } - - return ERROR_OK; -} - -static int cmsis_dap_get_status(void) -{ - uint8_t d; - - int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d); - - if (retval == ERROR_OK) { - LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d", - (d & SWJ_PIN_TCK) ? 1 : 0, - (d & SWJ_PIN_TMS) ? 1 : 0, - (d & SWJ_PIN_TDI) ? 1 : 0, - (d & SWJ_PIN_TDO) ? 1 : 0, - (d & SWJ_PIN_TRST) ? 1 : 0, - (d & SWJ_PIN_SRST) ? 1 : 0); - } - - return retval; -} - -static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq) -{ - const uint8_t *s; - unsigned int s_len; - int retval; - - /* 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; - - 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; - } - - return cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s); -} - -static int cmsis_dap_swd_open(void) -{ - int retval; - - if (cmsis_dap_handle == NULL) { - /* SWD init */ - retval = cmsis_dap_usb_open(); - if (retval != ERROR_OK) - return retval; - - retval = cmsis_dap_get_caps_info(); - if (retval != ERROR_OK) - return retval; - } - - if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) { - LOG_ERROR("CMSIS-DAP: SWD not supported"); - return ERROR_JTAG_DEVICE_ERROR; - } - - retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD); - if (retval != ERROR_OK) - return retval; - - /* Add more setup here.??... */ - - LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)"); - return ERROR_OK; -} - -static int cmsis_dap_init(void) -{ - int retval; - uint8_t *data; - - if (swd_mode) { - retval = cmsis_dap_swd_open(); - if (retval != ERROR_OK) - return retval; - } - - if (cmsis_dap_handle == NULL) { - - /* JTAG init */ - retval = cmsis_dap_usb_open(); - if (retval != ERROR_OK) - return retval; - - retval = cmsis_dap_get_caps_info(); - if (retval != ERROR_OK) - return retval; - - /* Connect in JTAG mode */ - if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) { - LOG_ERROR("CMSIS-DAP: JTAG not supported"); - return ERROR_JTAG_DEVICE_ERROR; - } - - retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG); - if (retval != ERROR_OK) - return retval; - - LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)"); - } - - retval = cmsis_dap_get_version_info(); - if (retval != ERROR_OK) - return retval; - - /* INFO_ID_PKT_SZ - short */ - retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data); - if (retval != ERROR_OK) - return retval; - - 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; - cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer, - cmsis_dap_handle->packet_size); - if (cmsis_dap_handle->packet_buffer == NULL) { - LOG_ERROR("unable to reallocate memory"); - return ERROR_FAIL; - } - } - - LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz); - } - - /* INFO_ID_PKT_CNT - byte */ - retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data); - if (retval != ERROR_OK) - return retval; - - if (data[0] == 1) { /* byte */ - uint16_t pkt_cnt = data[1]; - cmsis_dap_handle->packet_count = pkt_cnt; - LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt); - } - - retval = cmsis_dap_get_status(); - if (retval != ERROR_OK) - return ERROR_FAIL; - - /* Now try to connect to the target - * TODO: This is all SWD only @ present */ - 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; - /* 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; - - retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */ - if (retval != ERROR_OK) - return ERROR_FAIL; - - /* support connecting with srst asserted */ - enum reset_types jtag_reset_config = jtag_get_reset_config(); - - if (jtag_reset_config & RESET_CNCT_UNDER_SRST) { - if (jtag_reset_config & RESET_SRST_NO_GATING) { - retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL); - if (retval != ERROR_OK) - return ERROR_FAIL; - LOG_INFO("Connecting under reset"); - } - } - - cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */ - - LOG_INFO("CMSIS-DAP: Interface ready"); - - return ERROR_OK; -} - -static int cmsis_dap_swd_init(void) -{ - swd_mode = true; - return ERROR_OK; -} - -static int cmsis_dap_quit(void) -{ - cmsis_dap_cmd_DAP_Disconnect(); - cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */ - - cmsis_dap_usb_close(cmsis_dap_handle); - - return ERROR_OK; -} - -static void cmsis_dap_execute_reset(struct jtag_command *cmd) -{ - /* Set both TRST and SRST even if they're not enabled as - * there's no way to tristate them */ - uint8_t pins = 0; - - if (!cmd->cmd.reset->srst) - pins |= SWJ_PIN_SRST; - if (!cmd->cmd.reset->trst) - pins |= SWJ_PIN_TRST; - - int retval = cmsis_dap_cmd_DAP_SWJ_Pins(pins, - SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL); - if (retval != ERROR_OK) - LOG_ERROR("CMSIS-DAP: Interface reset failed"); -} - -static void cmsis_dap_execute_sleep(struct jtag_command *cmd) -{ -#if 0 - int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us); - if (retval != ERROR_OK) -#endif - 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 0x%X encountered", cmd->type); - exit(-1); - } -} - -static int cmsis_dap_execute_queue(void) -{ - struct jtag_command *cmd = jtag_command_queue; - - while (cmd != NULL) { - cmsis_dap_execute_command(cmd); - cmd = cmd->next; - } - - cmsis_dap_flush(); - - return ERROR_OK; -} - -static int cmsis_dap_speed(int speed) -{ - if (speed > DAP_MAX_CLOCK) { - LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK); - speed = DAP_MAX_CLOCK; - } - - if (speed == 0) { - LOG_INFO("RTCK not supported"); - return ERROR_JTAG_NOT_IMPLEMENTED; - } - - return cmsis_dap_cmd_DAP_SWJ_Clock(speed); -} - -static int cmsis_dap_speed_div(int speed, int *khz) -{ - *khz = speed; - return ERROR_OK; -} - -static int cmsis_dap_khz(int khz, int *jtag_speed) -{ - *jtag_speed = khz; - 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) - cmsis_dap_get_status(); - - return ERROR_OK; -} - -COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command) -{ - if (CMD_ARGC > MAX_USB_IDS * 2) { - LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid " - "(maximum is %d pairs)", MAX_USB_IDS); - CMD_ARGC = MAX_USB_IDS * 2; - } - if (CMD_ARGC < 2 || (CMD_ARGC & 1)) { - LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive"); - if (CMD_ARGC < 2) - return ERROR_COMMAND_SYNTAX_ERROR; - /* remove the incomplete trailing id */ - CMD_ARGC -= 1; - } - - unsigned i; - for (i = 0; i < CMD_ARGC; i += 2) { - COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]); - COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]); - } - - /* - * Explicitly terminate, in case there are multiples instances of - * cmsis_dap_vid_pid. - */ - cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0; - - return ERROR_OK; -} - -COMMAND_HANDLER(cmsis_dap_handle_serial_command) -{ - if (CMD_ARGC == 1) { - size_t len = mbstowcs(NULL, CMD_ARGV[0], 0); - cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t)); - if (cmsis_dap_serial == NULL) { - LOG_ERROR("unable to allocate memory"); - return ERROR_OK; - } - if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) { - free(cmsis_dap_serial); - cmsis_dap_serial = NULL; - LOG_ERROR("unable to convert serial"); - } - } else { - LOG_ERROR("expected exactly one argument to cmsis_dap_serial "); - } - - return ERROR_OK; -} - -static const struct command_registration cmsis_dap_subcommand_handlers[] = { - { - .name = "info", - .handler = &cmsis_dap_handle_info_command, - .mode = COMMAND_EXEC, - .usage = "", - .help = "show cmsis-dap info", - }, - COMMAND_REGISTRATION_DONE -}; - -static const struct command_registration cmsis_dap_command_handlers[] = { - { - .name = "cmsis-dap", - .mode = COMMAND_ANY, - .help = "perform CMSIS-DAP management", - .usage = "", - .chain = cmsis_dap_subcommand_handlers, - }, - { - .name = "cmsis_dap_vid_pid", - .handler = &cmsis_dap_handle_vid_pid_command, - .mode = COMMAND_CONFIG, - .help = "the vendor ID and product ID of the CMSIS-DAP device", - .usage = "(vid pid)* ", - }, - { - .name = "cmsis_dap_serial", - .handler = &cmsis_dap_handle_serial_command, - .mode = COMMAND_CONFIG, - .help = "set the serial number of the adapter", - .usage = "serial_string", - }, - COMMAND_REGISTRATION_DONE -}; - -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_queue, -}; - -static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL }; - -struct jtag_interface cmsis_dap_interface = { - .name = "cmsis-dap", - .commands = cmsis_dap_command_handlers, - .swd = &cmsis_dap_swd_driver, - .transports = cmsis_dap_transport, - - .execute_queue = cmsis_dap_execute_queue, - .speed = cmsis_dap_speed, - .speed_div = cmsis_dap_speed_div, - .khz = cmsis_dap_khz, - .init = cmsis_dap_init, - .quit = cmsis_dap_quit, -};