--- /dev/null
+/***************************************************************************
+ * Copyright (C) 2017 by Texas Instruments, Inc. *
+ * *
+ * 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 <http://www.gnu.org/licenses/>. *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <transport/transport.h>
+#include <jtag/swd.h>
+#include <jtag/interface.h>
+#include <jtag/commands.h>
+#include <jtag/tcl.h>
+#include <libusb.h>
+
+/* XDS110 USB serial number length */
+#define XDS110_SERIAL_LEN 8
+
+/* Firmware version that introduced OpenOCD support via block accesses */
+#define OCD_FIRMWARE_VERSION 0x02030011
+#define OCD_FIRMWARE_UPGRADE \
+ "XDS110: upgrade to version 2.3.0.11+ for improved support"
+
+/***************************************************************************
+ * USB Connection Buffer Definitions *
+ ***************************************************************************/
+
+/* Max USB packet size for up to USB 3.0 */
+#define MAX_PACKET 1024
+
+/*
+ * Maximum data payload that can be handled in a single call
+ * Limitation is the size of the buffers in the XDS110 firmware
+ */
+#define MAX_DATA_BLOCK 4096
+
+#ifndef USB_PAYLOAD_SIZE
+/* Largest data block plus parameters */
+#define USB_PAYLOAD_SIZE (MAX_DATA_BLOCK + 60)
+#endif
+#define MAX_RESULT_QUEUE (MAX_DATA_BLOCK / 4)
+
+/***************************************************************************
+ * USB Connection Endpoints *
+ ***************************************************************************/
+
+/* Bulk endpoints used by the XDS110 debug interface */
+#define INTERFACE_DEBUG (2)
+#define ENDPOINT_DEBUG_IN (3 | LIBUSB_ENDPOINT_IN)
+#define ENDPOINT_DEBUG_OUT (2 | LIBUSB_ENDPOINT_OUT)
+
+/***************************************************************************
+ * XDS110 Firmware API Definitions *
+ ***************************************************************************/
+
+/*
+ * Default values controlling how the host communicates commands
+ * with XDS110 firmware (automatic retry count and wait timeout)
+ */
+#define DEFAULT_ATTEMPTS (1)
+#define DEFAULT_TIMEOUT (4000)
+
+/* XDS110 API error codes */
+#define SC_ERR_NONE 0
+#define SC_ERR_XDS110_FAIL -261
+#define SC_ERR_SWD_WAIT -613
+#define SC_ERR_SWD_FAULT -614
+#define SC_ERR_SWD_PROTOCOL -615
+#define SC_ERR_SWD_PARITY -616
+#define SC_ERR_SWD_DEVICE_ID -617
+
+/* TCK frequency limits */
+#define XDS110_MIN_TCK_SPEED 100 /* kHz */
+#define XDS110_MAX_TCK_SPEED 2500 /* kHz */
+#define XDS110_TCK_PULSE_INCREMENT 66.0
+
+/* Scan mode on connect */
+#define MODE_JTAG 1
+
+/* XDS110 API JTAG state definitions */
+#define XDS_JTAG_STATE_RESET 1
+#define XDS_JTAG_STATE_IDLE 2
+#define XDS_JTAG_STATE_SHIFT_DR 3
+#define XDS_JTAG_STATE_SHIFT_IR 4
+#define XDS_JTAG_STATE_PAUSE_DR 5
+#define XDS_JTAG_STATE_PAUSE_IR 6
+#define XDS_JTAG_STATE_EXIT1_DR 8
+#define XDS_JTAG_STATE_EXIT1_IR 9
+#define XDS_JTAG_STATE_EXIT2_DR 10
+#define XDS_JTAG_STATE_EXIT2_IR 11
+#define XDS_JTAG_STATE_SELECT_DR 12
+#define XDS_JTAG_STATE_SELECT_IR 13
+#define XDS_JTAG_STATE_UPDATE_DR 14
+#define XDS_JTAG_STATE_UPDATE_IR 15
+#define XDS_JTAG_STATE_CAPTURE_DR 16
+#define XDS_JTAG_STATE_CAPTURE_IR 17
+
+/* XDS110 API JTAG transit definitions */
+#define XDS_JTAG_TRANSIT_QUICKEST 1
+#define XDS_JTAG_TRANSIT_VIA_CAPTURE 2
+#define XDS_JTAG_TRANSIT_VIA_IDLE 3
+
+/* DAP register definitions as used by XDS110 APIs */
+
+#define DAP_AP 0 /* DAP AP register type */
+#define DAP_DP 1 /* DAP DP register type */
+
+#define DAP_DP_IDCODE 0x0 /* DAP DP IDCODE register (read only) */
+#define DAP_DP_ABORT 0x0 /* DAP DP ABORT register (write only) */
+#define DAP_DP_STAT 0x4 /* DAP DP STAT register (for read only) */
+#define DAP_DP_CTRL 0x4 /* DAP DP CTRL register (for write only) */
+#define DAP_DP_ADDR 0x8 /* DAP DP SELECT register (legacy name) */
+#define DAP_DP_RESEND 0x8 /* DAP DP RESEND register (read only) */
+#define DAP_DP_SELECT 0x8 /* DAP DP SELECT register (write only) */
+#define DAP_DP_RDBUFF 0xc /* DAP DP RDBUFF Read Buffer register */
+
+#define DAP_AP_CSW 0x00 /* DAP AP Control Status Word */
+#define DAP_AP_TAR 0x04 /* DAP AP Transfer Address */
+#define DAP_AP_DRW 0x0C /* DAP AP Data Read/Write */
+#define DAP_AP_BD0 0x10 /* DAP AP Banked Data 0 */
+#define DAP_AP_BD1 0x14 /* DAP AP Banked Data 1 */
+#define DAP_AP_BD2 0x18 /* DAP AP Banked Data 2 */
+#define DAP_AP_BD3 0x1C /* DAP AP Banked Data 3 */
+#define DAP_AP_RTBL 0xF8 /* DAP AP Debug ROM Table */
+#define DAP_AP_IDR 0xFC /* DAP AP Identification Register */
+
+/* Command packet definitions */
+
+#define XDS_OUT_LEN 1 /* command (byte) */
+#define XDS_IN_LEN 4 /* error code (int) */
+
+/* XDS API Commands */
+#define XDS_CONNECT 0x01 /* Connect JTAG connection */
+#define XDS_DISCONNECT 0x02 /* Disconnect JTAG connection */
+#define XDS_VERSION 0x03 /* Get firmware version and hardware ID */
+#define XDS_SET_TCK 0x04 /* Set TCK delay (to set TCK frequency) */
+#define XDS_SET_TRST 0x05 /* Assert or deassert nTRST signal */
+#define XDS_CYCLE_TCK 0x07 /* Toggle TCK for a number of cycles */
+#define XDS_GOTO_STATE 0x09 /* Go to requested JTAG state */
+#define XDS_JTAG_SCAN 0x0c /* Send and receive JTAG scan */
+#define XDS_SET_SRST 0x0e /* Assert or deassert nSRST signal */
+#define CMAPI_CONNECT 0x0f /* CMAPI connect */
+#define CMAPI_DISCONNECT 0x10 /* CMAPI disconnect */
+#define CMAPI_ACQUIRE 0x11 /* CMAPI acquire */
+#define CMAPI_RELEASE 0x12 /* CMAPI release */
+#define CMAPI_REG_READ 0x15 /* CMAPI DAP register read */
+#define CMAPI_REG_WRITE 0x16 /* CMAPI DAP register write */
+#define SWD_CONNECT 0x17 /* Switch from JTAG to SWD connection */
+#define SWD_DISCONNECT 0x18 /* Switch from SWD to JTAG connection */
+#define CJTAG_CONNECT 0x2b /* Switch from JTAG to cJTAG connection */
+#define CJTAG_DISCONNECT 0x2c /* Switch from cJTAG to JTAG connection */
+#define OCD_DAP_REQUEST 0x3a /* Handle block of DAP requests */
+#define OCD_SCAN_REQUEST 0x3b /* Handle block of JTAG scan requests */
+#define OCD_PATHMOVE 0x3c /* Handle PATHMOVE to navigate JTAG states */
+
+#define CMD_IR_SCAN 1
+#define CMD_DR_SCAN 2
+#define CMD_RUNTEST 3
+#define CMD_STABLECLOCKS 4
+
+/* Array to convert from OpenOCD tap_state_t to XDS JTAG state */
+const uint32_t xds_jtag_state[] = {
+ XDS_JTAG_STATE_EXIT2_DR, /* TAP_DREXIT2 = 0x0 */
+ XDS_JTAG_STATE_EXIT1_DR, /* TAP_DREXIT1 = 0x1 */
+ XDS_JTAG_STATE_SHIFT_DR, /* TAP_DRSHIFT = 0x2 */
+ XDS_JTAG_STATE_PAUSE_DR, /* TAP_DRPAUSE = 0x3 */
+ XDS_JTAG_STATE_SELECT_IR, /* TAP_IRSELECT = 0x4 */
+ XDS_JTAG_STATE_UPDATE_DR, /* TAP_DRUPDATE = 0x5 */
+ XDS_JTAG_STATE_CAPTURE_DR, /* TAP_DRCAPTURE = 0x6 */
+ XDS_JTAG_STATE_SELECT_DR, /* TAP_DRSELECT = 0x7 */
+ XDS_JTAG_STATE_EXIT2_IR, /* TAP_IREXIT2 = 0x8 */
+ XDS_JTAG_STATE_EXIT1_IR, /* TAP_IREXIT1 = 0x9 */
+ XDS_JTAG_STATE_SHIFT_IR, /* TAP_IRSHIFT = 0xa */
+ XDS_JTAG_STATE_PAUSE_IR, /* TAP_IRPAUSE = 0xb */
+ XDS_JTAG_STATE_IDLE, /* TAP_IDLE = 0xc */
+ XDS_JTAG_STATE_UPDATE_IR, /* TAP_IRUPDATE = 0xd */
+ XDS_JTAG_STATE_CAPTURE_IR, /* TAP_IRCAPTURE = 0xe */
+ XDS_JTAG_STATE_RESET, /* TAP_RESET = 0xf */
+};
+
+struct scan_result {
+ bool first;
+ uint8_t *buffer;
+ uint32_t num_bits;
+};
+
+struct xds110_info {
+ /* USB connection handles and data buffers */
+ libusb_context *ctx;
+ libusb_device_handle *dev;
+ unsigned char read_payload[USB_PAYLOAD_SIZE];
+ unsigned char write_packet[3];
+ unsigned char write_payload[USB_PAYLOAD_SIZE];
+ /* Status flags */
+ bool is_connected;
+ bool is_cmapi_connected;
+ bool is_cmapi_acquired;
+ bool is_swd_mode;
+ bool is_ap_dirty;
+ /* DAP register caches */
+ uint32_t select;
+ uint32_t rdbuff;
+ bool use_rdbuff;
+ /* TCK speed and delay count*/
+ uint32_t speed;
+ uint32_t delay_count;
+ /* XDS110 serial number */
+ char serial[XDS110_SERIAL_LEN + 1];
+ /* XDS110 firmware and hardware version */
+ uint32_t firmware;
+ uint16_t hardware;
+ /* Transaction queues */
+ unsigned char txn_requests[MAX_DATA_BLOCK];
+ uint32_t *txn_dap_results[MAX_DATA_BLOCK / 4];
+ struct scan_result txn_scan_results[MAX_DATA_BLOCK / 4];
+ uint32_t txn_request_size;
+ uint32_t txn_result_size;
+ uint32_t txn_result_count;
+};
+
+static struct xds110_info xds110 = {
+ .ctx = NULL,
+ .dev = NULL,
+ .is_connected = false,
+ .is_cmapi_connected = false,
+ .is_cmapi_acquired = false,
+ .is_swd_mode = false,
+ .is_ap_dirty = false,
+ .speed = XDS110_MAX_TCK_SPEED,
+ .delay_count = 0,
+ .serial = {0},
+ .firmware = 0,
+ .hardware = 0,
+ .txn_request_size = 0,
+ .txn_result_size = 0,
+ .txn_result_count = 0
+};
+
+static inline void xds110_set_u32(uint8_t *buffer, uint32_t value)
+{
+ buffer[3] = (value >> 24) & 0xff;
+ buffer[2] = (value >> 16) & 0xff;
+ buffer[1] = (value >> 8) & 0xff;
+ buffer[0] = (value >> 0) & 0xff;
+}
+
+static inline void xds110_set_u16(uint8_t *buffer, uint16_t value)
+{
+ buffer[1] = (value >> 8) & 0xff;
+ buffer[0] = (value >> 0) & 0xff;
+}
+
+static inline uint32_t xds110_get_u32(uint8_t *buffer)
+{
+ uint32_t value = (((uint32_t)buffer[3]) << 24) |
+ (((uint32_t)buffer[2]) << 16) |
+ (((uint32_t)buffer[1]) << 8) |
+ (((uint32_t)buffer[0]) << 0);
+ return value;
+}
+
+static inline uint16_t xds110_get_u16(uint8_t *buffer)
+{
+ uint16_t value = (((uint32_t)buffer[1]) << 8) |
+ (((uint32_t)buffer[0]) << 0);
+ return value;
+}
+
+/***************************************************************************
+ * usb connection routines *
+ * *
+ * The following functions handle connecting, reading, and writing to *
+ * the XDS110 over USB using the libusb library. *
+ ***************************************************************************/
+
+static bool usb_connect(void)
+{
+ libusb_context *ctx = NULL;
+ libusb_device **list = NULL;
+ libusb_device_handle *dev = NULL;
+
+ struct libusb_device_descriptor desc;
+
+ uint16_t vid = 0x0451;
+ uint16_t pid = 0xbef3;
+ ssize_t count = 0;
+ ssize_t i = 0;
+ int result = 0;
+ bool found = false;
+
+ /* Initialize libusb context */
+ result = libusb_init(&ctx);
+
+ if (0 == result) {
+ /* Get list of USB devices attached to system */
+ count = libusb_get_device_list(ctx, &list);
+ if (count <= 0) {
+ result = -1;
+ list = NULL;
+ }
+ }
+
+ if (0 == result) {
+ /* Scan through list of devices for any XDS110s */
+ for (i = 0; i < count; i++) {
+ /* Check for device VID/PID match */
+ libusb_get_device_descriptor(list[i], &desc);
+ if (desc.idVendor == vid && desc.idProduct == pid) {
+ result = libusb_open(list[i], &dev);
+ if (0 == result) {
+ const int MAX_DATA = 256;
+ unsigned char data[MAX_DATA + 1];
+ *data = '\0';
+
+ /* May be the requested device if serial number matches */
+ if (0 == xds110.serial[0]) {
+ /* No serial number given; match first XDS110 found */
+ found = true;
+ break;
+ } else {
+ /* Get the device's serial number string */
+ result = libusb_get_string_descriptor_ascii(dev,
+ desc.iSerialNumber, data, MAX_DATA);
+ if (0 < result &&
+ 0 == strcmp((char *)data, (char *)xds110.serial)) {
+ found = true;
+ break;
+ }
+ }
+
+ /* If we fall though to here, we don't want this device */
+ libusb_close(dev);
+ dev = NULL;
+ }
+ }
+ }
+ }
+
+ /*
+ * We can fall through the for() loop with two possible exit conditions:
+ * 1) found the right XDS110, and that device is open
+ * 2) didn't find the XDS110, and no devices are currently open
+ */
+
+ if (NULL != list) {
+ /* Free the device list, we're done with it */
+ libusb_free_device_list(list, 1);
+ }
+
+ if (found) {
+ /* Save the context and device handles */
+ xds110.ctx = ctx;
+ xds110.dev = dev;
+
+ /* Set libusb to auto detach kernel and disable debug messages */
+ (void)libusb_set_auto_detach_kernel_driver(dev, 1);
+ libusb_set_debug(ctx, LIBUSB_LOG_LEVEL_NONE);
+
+ /* Claim the debug interface on the XDS110 */
+ result = libusb_claim_interface(dev, INTERFACE_DEBUG);
+ } else {
+ /* Couldn't find an XDS110, flag the error */
+ result = -1;
+ }
+
+ /* On an error, clean up what we can */
+ if (0 != result) {
+ if (NULL != dev) {
+ /* Release the debug and data interface on the XDS110 */
+ (void)libusb_release_interface(dev, INTERFACE_DEBUG);
+ libusb_close(dev);
+ }
+ if (NULL != ctx)
+ libusb_exit(ctx);
+ xds110.ctx = NULL;
+ xds110.dev = NULL;
+ }
+
+ /* Log the results */
+ if (0 == result)
+ LOG_INFO("XDS110: connected");
+ else
+ LOG_ERROR("XDS110: failed to connect");
+
+ return (0 == result) ? true : false;
+}
+
+static void usb_disconnect(void)
+{
+ if (NULL != xds110.dev) {
+ /* Release the debug and data interface on the XDS110 */
+ (void)libusb_release_interface(xds110.dev, INTERFACE_DEBUG);
+ libusb_close(xds110.dev);
+ xds110.dev = NULL;
+ }
+ if (NULL != xds110.ctx) {
+ libusb_exit(xds110.ctx);
+ xds110.ctx = NULL;
+ }
+
+ LOG_INFO("XDS110: disconnected");
+}
+
+static bool usb_read(unsigned char *buffer, int size, int *bytes_read,
+ int timeout)
+{
+ int result;
+
+ if (NULL == xds110.dev || NULL == buffer || NULL == bytes_read)
+ return false;
+
+ /* Force a non-zero timeout to prevent blocking */
+ if (0 == timeout)
+ timeout = DEFAULT_TIMEOUT;
+
+ result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_IN, buffer, size,
+ bytes_read, timeout);
+
+ return (0 == result) ? true : false;
+}
+
+static bool usb_write(unsigned char *buffer, int size, int *written)
+{
+ int bytes_written = 0;
+ int result = LIBUSB_SUCCESS;
+ int retries = 0;
+
+ if (NULL == xds110.dev || NULL == buffer)
+ return false;
+
+ result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_OUT, buffer,
+ size, &bytes_written, 0);
+
+ while (LIBUSB_ERROR_PIPE == result && retries < 3) {
+ /* Try clearing the pipe stall and retry transfer */
+ libusb_clear_halt(xds110.dev, ENDPOINT_DEBUG_OUT);
+ result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_OUT, buffer,
+ size, &bytes_written, 0);
+ retries++;
+ }
+
+ if (NULL != written)
+ *written = bytes_written;
+
+ return (0 == result && size == bytes_written) ? true : false;
+}
+
+static bool usb_get_response(uint32_t *total_bytes_read, uint32_t timeout)
+{
+ static unsigned char buffer[MAX_PACKET];
+ int bytes_read;
+ uint16_t size;
+ uint16_t count;
+ bool success;
+
+ size = 0;
+ success = true;
+ while (success) {
+ success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout);
+ if (success) {
+ /*
+ * Validate that this appears to be a good response packet
+ * First check it contains enough data for header and error
+ * code, plus the first character is the start character
+ */
+ if (bytes_read >= 7 && '*' == buffer[0]) {
+ /* Extract the payload size */
+ size = xds110_get_u16(&buffer[1]);
+ /* Sanity test on payload size */
+ if (USB_PAYLOAD_SIZE >= size && 4 <= size) {
+ /* Check we didn't get more data than expected */
+ if ((bytes_read - 3) <= size) {
+ /* Packet appears to be valid, move on */
+ break;
+ }
+ }
+ }
+ }
+ /*
+ * Somehow received an invalid packet, retry till we
+ * time out or a valid response packet is received
+ */
+ }
+
+ /* Abort now if we didn't receive a valid response */
+ if (!success) {
+ if (NULL != total_bytes_read)
+ *total_bytes_read = 0;
+ return false;
+ }
+
+ /* Build the return payload into xds110.read_payload */
+
+ /* Copy over payload data from received buffer (skipping header) */
+ count = 0;
+ bytes_read -= 3;
+ memcpy((void *)&xds110.read_payload[count], (void *)&buffer[3], bytes_read);
+ count += bytes_read;
+ /*
+ * Drop timeout to just 1/2 second. Once the XDS110 starts sending
+ * a response, the remaining packets should arrive in short order
+ */
+ if (timeout > 500)
+ timeout = 500; /* ms */
+
+ /* If there's more data to retrieve, get it now */
+ while ((count < size) && success) {
+ success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout);
+ if (success) {
+ if ((count + bytes_read) > size) {
+ /* Read too much data, not a valid packet, abort */
+ success = false;
+ } else {
+ /* Copy this data over to xds110.read_payload */
+ memcpy((void *)&xds110.read_payload[count], (void *)buffer,
+ bytes_read);
+ count += bytes_read;
+ }
+ }
+ }
+
+ if (!success)
+ count = 0;
+ if (NULL != total_bytes_read)
+ *total_bytes_read = count;
+
+ return success;
+}
+
+static bool usb_send_command(uint16_t size)
+{
+ int written;
+ bool success = true;
+
+ /* Check the packet length */
+ if (size > USB_PAYLOAD_SIZE)
+ return false;
+
+ /* Place the start character into the packet buffer */
+ xds110.write_packet[0] = '*';
+
+ /* Place the payload size into the packet buffer */
+ xds110_set_u16(&xds110.write_packet[1], size);
+
+ /* Adjust size to include header */
+ size += 3;
+
+ /* Send the data via the USB connection */
+ success = usb_write(xds110.write_packet, (int)size, &written);
+
+ /* Check if the correct number of bytes was written */
+ if (written != (int)size)
+ success = false;
+
+ return success;
+}
+
+/***************************************************************************
+ * XDS110 firmware API routines *
+ * *
+ * The following functions handle calling into the XDS110 firmware to *
+ * perform requested debug actions. *
+ ***************************************************************************/
+
+static bool xds_execute(uint32_t out_length, uint32_t in_length,
+ uint32_t attempts, uint32_t timeout)
+{
+ bool done = false;
+ bool success = true;
+ int error = 0;
+ uint32_t bytes_read = 0;
+
+ if (NULL == xds110.dev)
+ return false;
+
+ while (!done && attempts > 0) {
+ attempts--;
+
+ /* Send command to XDS110 */
+ success = usb_send_command(out_length);
+
+ if (success) {
+ /* Get response from XDS110 */
+ success = usb_get_response(&bytes_read, timeout);
+ }
+
+ if (success) {
+ /* Check for valid response from XDS code handling */
+ if (bytes_read != in_length) {
+ /* Unexpected amount of data returned */
+ success = false;
+ } else {
+ /* Extract error code from return packet */
+ error = (int)xds110_get_u32(&xds110.read_payload[0]);
+ done = true;
+ }
+ }
+ }
+
+ if (!success)
+ error = SC_ERR_XDS110_FAIL;
+
+ if (0 != error)
+ success = false;
+
+ return success;
+}
+
+static bool xds_connect(void)
+{
+ bool success;
+
+ xds110.write_payload[0] = XDS_CONNECT;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool xds_disconnect(void)
+{
+ bool success;
+
+ xds110.write_payload[0] = XDS_DISCONNECT;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool xds_version(uint32_t *firmware_id, uint16_t *hardware_id)
+{
+ uint8_t *fw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
+ uint8_t *hw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 4]; /* 16-bits */
+
+ bool success;
+
+ xds110.write_payload[0] = XDS_VERSION;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN + 6, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ if (success) {
+ if (NULL != firmware_id)
+ *firmware_id = xds110_get_u32(fw_id_pntr);
+ if (NULL != hardware_id)
+ *hardware_id = xds110_get_u16(hw_id_pntr);
+ }
+
+ return success;
+}
+
+static bool xds_set_tck_delay(uint32_t delay)
+{
+ uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
+
+ bool success;
+
+ xds110.write_payload[0] = XDS_SET_TCK;
+
+ xds110_set_u32(delay_pntr, delay);
+
+ success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool xds_set_trst(uint8_t trst)
+{
+ uint8_t *trst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
+
+ bool success;
+
+ xds110.write_payload[0] = XDS_SET_TRST;
+
+ *trst_pntr = trst;
+
+ success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool xds_cycle_tck(uint32_t count)
+{
+ uint8_t *count_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
+
+ bool success;
+
+ xds110.write_payload[0] = XDS_CYCLE_TCK;
+
+ xds110_set_u32(count_pntr, count);
+
+ success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool xds_goto_state(uint32_t state)
+{
+ uint8_t *state_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
+ uint8_t *transit_pntr = &xds110.write_payload[XDS_OUT_LEN+4]; /* 32-bits */
+
+ bool success;
+
+ xds110.write_payload[0] = XDS_GOTO_STATE;
+
+ xds110_set_u32(state_pntr, state);
+ xds110_set_u32(transit_pntr, XDS_JTAG_TRANSIT_QUICKEST);
+
+ success = xds_execute(XDS_OUT_LEN+8, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool xds_jtag_scan(uint32_t shift_state, uint16_t shift_bits,
+ uint32_t end_state, uint8_t *data_out, uint8_t *data_in)
+{
+ uint8_t *bits_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 16-bits */
+ uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
+ uint8_t *trans1_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 8-bits */
+ uint8_t *end_pntr = &xds110.write_payload[XDS_OUT_LEN + 4]; /* 8-bits */
+ uint8_t *trans2_pntr = &xds110.write_payload[XDS_OUT_LEN + 5]; /* 8-bits */
+ uint8_t *pre_pntr = &xds110.write_payload[XDS_OUT_LEN + 6]; /* 16-bits */
+ uint8_t *pos_pntr = &xds110.write_payload[XDS_OUT_LEN + 8]; /* 16-bits */
+ uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 10]; /* 16-bits */
+ uint8_t *rep_pntr = &xds110.write_payload[XDS_OUT_LEN + 12]; /* 16-bits */
+ uint8_t *out_pntr = &xds110.write_payload[XDS_OUT_LEN + 14]; /* 16-bits */
+ uint8_t *in_pntr = &xds110.write_payload[XDS_OUT_LEN + 16]; /* 16-bits */
+ uint8_t *data_out_pntr = &xds110.write_payload[XDS_OUT_LEN + 18];
+ uint8_t *data_in_pntr = &xds110.read_payload[XDS_IN_LEN+0];
+
+ uint16_t total_bytes = DIV_ROUND_UP(shift_bits, 8);
+
+ bool success;
+
+ xds110.write_payload[0] = XDS_JTAG_SCAN;
+
+ xds110_set_u16(bits_pntr, shift_bits); /* bits to scan */
+ *path_pntr = (uint8_t)(shift_state & 0xff); /* IR vs DR path */
+ *trans1_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* start state route */
+ *end_pntr = (uint8_t)(end_state & 0xff); /* JTAG state after scan */
+ *trans2_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* end state route */
+ xds110_set_u16(pre_pntr, 0); /* number of preamble bits */
+ xds110_set_u16(pos_pntr, 0); /* number of postamble bits */
+ xds110_set_u16(delay_pntr, 0); /* number of extra TCKs after scan */
+ xds110_set_u16(rep_pntr, 1); /* number of repetitions */
+ xds110_set_u16(out_pntr, total_bytes); /* out buffer offset (if repeats) */
+ xds110_set_u16(in_pntr, total_bytes); /* in buffer offset (if repeats) */
+
+ memcpy((void *)data_out_pntr, (void *)data_out, total_bytes);
+
+ success = xds_execute(XDS_OUT_LEN + 18 + total_bytes,
+ XDS_IN_LEN + total_bytes, DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT);
+
+ if (success)
+ memcpy((void *)data_in, (void *)data_in_pntr, total_bytes);
+
+ return success;
+}
+
+static bool xds_set_srst(uint8_t srst)
+{
+ uint8_t *srst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
+
+ bool success;
+
+ xds110.write_payload[0] = XDS_SET_SRST;
+
+ *srst_pntr = srst;
+
+ success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool cmapi_connect(uint32_t *idcode)
+{
+ uint8_t *idcode_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
+
+ bool success;
+
+ xds110.write_payload[0] = CMAPI_CONNECT;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN+4, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ if (success) {
+ if (NULL != idcode)
+ *idcode = xds110_get_u32(idcode_pntr);
+ }
+
+ return success;
+}
+
+static bool cmapi_disconnect(void)
+{
+ bool success;
+
+ xds110.write_payload[0] = CMAPI_DISCONNECT;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool cmapi_acquire(void)
+{
+ bool success;
+
+ xds110.write_payload[0] = CMAPI_ACQUIRE;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool cmapi_release(void)
+{
+ bool success;
+
+ xds110.write_payload[0] = CMAPI_RELEASE;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool cmapi_read_dap_reg(uint32_t type, uint32_t ap_num,
+ uint32_t address, uint32_t *value)
+{
+ uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
+ uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */
+ uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
+ uint8_t *value_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
+
+ bool success;
+
+ xds110.write_payload[0] = CMAPI_REG_READ;
+
+ *type_pntr = (uint8_t)(type & 0xff);
+ *ap_num_pntr = (uint8_t)(ap_num & 0xff);
+ *address_pntr = (uint8_t)(address & 0xff);
+
+ success = xds_execute(XDS_OUT_LEN + 3, XDS_IN_LEN + 4, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ if (success) {
+ if (NULL != value)
+ *value = xds110_get_u32(value_pntr);
+ }
+
+ return success;
+}
+
+static bool cmapi_write_dap_reg(uint32_t type, uint32_t ap_num,
+ uint32_t address, uint32_t *value)
+{
+ uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
+ uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */
+ uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
+ uint8_t *value_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 32-bits */
+
+ bool success;
+
+ if (NULL == value)
+ return false;
+
+ xds110.write_payload[0] = CMAPI_REG_WRITE;
+
+ *type_pntr = (uint8_t)(type & 0xff);
+ *ap_num_pntr = (uint8_t)(ap_num & 0xff);
+ *address_pntr = (uint8_t)(address & 0xff);
+ xds110_set_u32(value_pntr, *value);
+
+ success = xds_execute(XDS_OUT_LEN + 7, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool swd_connect(void)
+{
+ bool success;
+
+ xds110.write_payload[0] = SWD_CONNECT;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool swd_disconnect(void)
+{
+ bool success;
+
+ xds110.write_payload[0] = SWD_DISCONNECT;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool cjtag_connect(uint32_t format)
+{
+ uint8_t *format_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
+
+ bool success;
+
+ xds110.write_payload[0] = CJTAG_CONNECT;
+
+ xds110_set_u32(format_pntr, format);
+
+ success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool cjtag_disconnect(void)
+{
+ bool success;
+
+ xds110.write_payload[0] = CJTAG_DISCONNECT;
+
+ success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+static bool ocd_dap_request(uint8_t *dap_requests, uint32_t request_size,
+ uint32_t *dap_results, uint32_t result_count)
+{
+ uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0];
+ uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0];
+
+ bool success;
+
+ if (NULL == dap_requests || NULL == dap_results)
+ return false;
+
+ xds110.write_payload[0] = OCD_DAP_REQUEST;
+
+ memcpy((void *)request_pntr, (void *)dap_requests, request_size);
+
+ success = xds_execute(XDS_OUT_LEN + request_size,
+ XDS_IN_LEN + (result_count * 4), DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ if (success && (result_count > 0))
+ memcpy((void *)dap_results, (void *)result_pntr, result_count * 4);
+
+ return success;
+}
+
+static bool ocd_scan_request(uint8_t *scan_requests, uint32_t request_size,
+ uint8_t *scan_results, uint32_t result_size)
+{
+ uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0];
+ uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0];
+
+ bool success;
+
+ if (NULL == scan_requests || NULL == scan_results)
+ return false;
+
+ xds110.write_payload[0] = OCD_SCAN_REQUEST;
+
+ memcpy((void *)request_pntr, (void *)scan_requests, request_size);
+
+ success = xds_execute(XDS_OUT_LEN + request_size,
+ XDS_IN_LEN + result_size, DEFAULT_ATTEMPTS,
+ DEFAULT_TIMEOUT);
+
+ if (success && (result_size > 0))
+ memcpy((void *)scan_results, (void *)result_pntr, result_size);
+
+ return success;
+}
+
+static bool ocd_pathmove(uint32_t num_states, uint8_t *path)
+{
+ uint8_t *num_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
+ uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 4];
+
+ bool success;
+
+ if (NULL == path)
+ return false;
+
+ xds110.write_payload[0] = OCD_PATHMOVE;
+
+ xds110_set_u32(num_pntr, num_states);
+
+ memcpy((void *)path_pntr, (void *)path, num_states);
+
+ success = xds_execute(XDS_OUT_LEN + 4 + num_states, XDS_IN_LEN,
+ DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT);
+
+ return success;
+}
+
+/***************************************************************************
+ * swd driver interface *
+ * *
+ * The following functions provide SWD support to OpenOCD. *
+ ***************************************************************************/
+
+static int xds110_swd_init(void)
+{
+ xds110.is_swd_mode = true;
+ return ERROR_OK;
+}
+
+static int xds110_swd_switch_seq(enum swd_special_seq seq)
+{
+ uint32_t idcode;
+ bool success;
+
+ switch (seq) {
+ case LINE_RESET:
+ LOG_ERROR("Sequence SWD line reset (%d) not supported", seq);
+ return ERROR_FAIL;
+ case JTAG_TO_SWD:
+ LOG_DEBUG("JTAG-to-SWD");
+ xds110.is_swd_mode = false;
+ xds110.is_cmapi_connected = false;
+ xds110.is_cmapi_acquired = false;
+ /* Run sequence to put target in SWD mode */
+ success = swd_connect();
+ /* Re-iniitialize CMAPI API for DAP access */
+ if (success) {
+ xds110.is_swd_mode = true;
+ success = cmapi_connect(&idcode);
+ if (success) {
+ xds110.is_cmapi_connected = true;
+ success = cmapi_acquire();
+ }
+ }
+ break;
+ case SWD_TO_JTAG:
+ LOG_DEBUG("SWD-to-JTAG");
+ xds110.is_swd_mode = false;
+ xds110.is_cmapi_connected = false;
+ xds110.is_cmapi_acquired = false;
+ /* Run sequence to put target in JTAG mode */
+ success = swd_disconnect();
+ if (success) {
+ /* Re-initialize JTAG interface */
+ success = cjtag_connect(MODE_JTAG);
+ }
+ break;
+ default:
+ LOG_ERROR("Sequence %d not supported", seq);
+ return ERROR_FAIL;
+ }
+
+ if (success)
+ return ERROR_OK;
+ else
+ return ERROR_FAIL;
+}
+
+static bool xds110_legacy_read_reg(uint8_t cmd, uint32_t *value)
+{
+ /* Make sure this is a read request */
+ bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
+ /* Determine whether this is a DP or AP register access */
+ uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
+ /* Determine the AP number from cached SELECT value */
+ uint32_t ap_num = (xds110.select & 0xff000000) >> 24;
+ /* Extract register address from command */
+ uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
+ /* Extract bank address from cached SELECT value */
+ uint32_t bank = (xds110.select & 0x000000f0);
+
+ uint32_t reg_value = 0;
+ uint32_t temp_value = 0;
+
+ bool success;
+
+ if (!is_read_request)
+ return false;
+
+ if (DAP_AP == type) {
+ /* Add bank address to register address for CMAPI call */
+ address |= bank;
+ }
+
+ if (DAP_DP == type && DAP_DP_RDBUFF == address && xds110.use_rdbuff) {
+ /* If RDBUFF is cached and this is a DP RDBUFF read, use the cache */
+ reg_value = xds110.rdbuff;
+ success = true;
+ } else if (DAP_AP == type && DAP_AP_DRW == address && xds110.use_rdbuff) {
+ /* If RDBUFF is cached and this is an AP DRW read, use the cache, */
+ /* but still call into the firmware to get the next read. */
+ reg_value = xds110.rdbuff;
+ success = cmapi_read_dap_reg(type, ap_num, address, &temp_value);
+ } else {
+ success = cmapi_read_dap_reg(type, ap_num, address, &temp_value);
+ if (success)
+ reg_value = temp_value;
+ }
+
+ /* Mark that we have consumed or invalidated the RDBUFF cache */
+ xds110.use_rdbuff = false;
+
+ /* Handle result of read attempt */
+ if (!success)
+ LOG_ERROR("XDS110: failed to read DAP register");
+ else if (NULL != value)
+ *value = reg_value;
+
+ if (success && DAP_AP == type) {
+ /*
+ * On a successful DAP AP read, we actually have the value from RDBUFF,
+ * the firmware will have run the AP request and made the RDBUFF read
+ */
+ xds110.use_rdbuff = true;
+ xds110.rdbuff = temp_value;
+ }
+
+ return success;
+}
+
+static bool xds110_legacy_write_reg(uint8_t cmd, uint32_t value)
+{
+ /* Make sure this isn't a read request */
+ bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
+ /* Determine whether this is a DP or AP register access */
+ uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
+ /* Determine the AP number from cached SELECT value */
+ uint32_t ap_num = (xds110.select & 0xff000000) >> 24;
+ /* Extract register address from command */
+ uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
+ /* Extract bank address from cached SELECT value */
+ uint32_t bank = (xds110.select & 0x000000f0);
+
+ bool success;
+
+ if (is_read_request)
+ return false;
+
+ /* Invalidate the RDBUFF cache */
+ xds110.use_rdbuff = false;
+
+ if (DAP_AP == type) {
+ /* Add bank address to register address for CMAPI call */
+ address |= bank;
+ /* Any write to an AP register invalidates the firmware's cache */
+ xds110.is_ap_dirty = true;
+ } else if (DAP_DP_SELECT == address) {
+ /* Any write to the SELECT register invalidates the firmware's cache */
+ xds110.is_ap_dirty = true;
+ }
+
+ success = cmapi_write_dap_reg(type, ap_num, address, &value);
+
+ if (!success) {
+ LOG_ERROR("XDS110: failed to write DAP register");
+ } else {
+ /*
+ * If the debugger wrote to SELECT, cache the value
+ * to use to build the apNum and address values above
+ */
+ if ((DAP_DP == type) && (DAP_DP_SELECT == address))
+ xds110.select = value;
+ }
+
+ return success;
+}
+
+static int xds110_swd_run_queue(void)
+{
+ static uint32_t dap_results[MAX_RESULT_QUEUE];
+ uint8_t cmd;
+ uint32_t request;
+ uint32_t result;
+ uint32_t value;
+ bool success = true;
+
+ if (0 == xds110.txn_request_size)
+ return ERROR_OK;
+
+ /* Terminate request queue */
+ xds110.txn_requests[xds110.txn_request_size++] = 0;
+
+ if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
+ /* XDS110 firmware has the API to directly handle the queue */
+ success = ocd_dap_request(xds110.txn_requests,
+ xds110.txn_request_size, dap_results, xds110.txn_result_count);
+ } else {
+ /* Legacy firmware needs to handle queue via discrete DAP calls */
+ request = 0;
+ result = 0;
+ while (xds110.txn_requests[request] != 0) {
+ cmd = xds110.txn_requests[request++];
+ if (0 == (SWD_CMD_RnW & cmd)) {
+ /* DAP register write command */
+ value = (uint32_t)(xds110.txn_requests[request++]) << 0;
+ value |= (uint32_t)(xds110.txn_requests[request++]) << 8;
+ value |= (uint32_t)(xds110.txn_requests[request++]) << 16;
+ value |= (uint32_t)(xds110.txn_requests[request++]) << 24;
+ if (success)
+ success = xds110_legacy_write_reg(cmd, value);
+ } else {
+ /* DAP register read command */
+ value = 0;
+ if (success)
+ success = xds110_legacy_read_reg(cmd, &value);
+ dap_results[result++] = value;
+ }
+ }
+ }
+
+ /* Transfer results into caller's buffers */
+ for (result = 0; result < xds110.txn_result_count; result++)
+ if (0 != xds110.txn_dap_results[result])
+ *xds110.txn_dap_results[result] = dap_results[result];
+
+ xds110.txn_request_size = 0;
+ xds110.txn_result_size = 0;
+ xds110.txn_result_count = 0;
+
+ return (success) ? ERROR_OK : ERROR_FAIL;
+}
+
+static void xds110_swd_queue_cmd(uint8_t cmd, uint32_t *value)
+{
+ /* Check if this is a read or write request */
+ bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
+ /* Determine whether this is a DP or AP register access */
+ uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
+ /* Extract register address from command */
+ uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
+ uint32_t request_size = (is_read_request) ? 1 : 5;
+
+ /* Check if new request would be too large to fit */
+ if (((xds110.txn_request_size + request_size + 1) > MAX_DATA_BLOCK) ||
+ ((xds110.txn_result_count + 1) > MAX_RESULT_QUEUE))
+ xds110_swd_run_queue();
+
+ /* Set the START bit in cmd to ensure cmd is not zero */
+ /* (a value of zero is used to terminate the buffer) */
+ cmd |= SWD_CMD_START;
+
+ /* Add request to queue; queue is built marshalled for XDS110 call */
+ if (is_read_request) {
+ /* Queue read request, save pointer to pass back result */
+ xds110.txn_requests[xds110.txn_request_size++] = cmd;
+ xds110.txn_dap_results[xds110.txn_result_count++] = value;
+ xds110.txn_result_size += 4;
+ } else {
+ /* Check for and prevent sticky overrun detection */
+ if (DAP_DP == type && DAP_DP_CTRL == address &&
+ (*value & CORUNDETECT)) {
+ LOG_DEBUG("XDS110: refusing to enable sticky overrun detection");
+ *value &= ~CORUNDETECT;
+ }
+ /* Queue write request, add value directly to queue buffer */
+ xds110.txn_requests[xds110.txn_request_size++] = cmd;
+ xds110.txn_requests[xds110.txn_request_size++] = (*value >> 0) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (*value >> 8) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (*value >> 16) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (*value >> 24) & 0xff;
+ }
+}
+
+static void xds110_swd_read_reg(uint8_t cmd, uint32_t *value,
+ uint32_t ap_delay_clk)
+{
+ xds110_swd_queue_cmd(cmd, value);
+}
+static void xds110_swd_write_reg(uint8_t cmd, uint32_t value,
+ uint32_t ap_delay_clk)
+{
+ xds110_swd_queue_cmd(cmd, &value);
+}
+
+/***************************************************************************
+ * jtag interface *
+ * *
+ * The following functions provide XDS110 interface to OpenOCD. *
+ ***************************************************************************/
+
+static void xds110_show_info(void)
+{
+ uint32_t firmware = xds110.firmware;
+
+ LOG_INFO("XDS110: firmware version = %d.%d.%d.%d",
+ (((firmware >> 28) & 0xf) * 10) + ((firmware >> 24) & 0xf),
+ (((firmware >> 20) & 0xf) * 10) + ((firmware >> 16) & 0xf),
+ (((firmware >> 12) & 0xf) * 10) + ((firmware >> 8) & 0xf),
+ (((firmware >> 4) & 0xf) * 10) + ((firmware >> 0) & 0xf));
+ LOG_INFO("XDS110: hardware version = 0x%04x", xds110.hardware);
+ if (0 != xds110.serial[0])
+ LOG_INFO("XDS110: serial number = %s)", xds110.serial);
+ if (xds110.is_swd_mode) {
+ LOG_INFO("XDS110: connected to target via SWD");
+ LOG_INFO("XDS110: SWCLK set to %d kHz", xds110.speed);
+ } else {
+ LOG_INFO("XDS110: connected to target via JTAG");
+ LOG_INFO("XDS110: TCK set to %d kHz", xds110.speed);
+ }
+
+ /* Alert user that there's a better firmware to use */
+ if (firmware < OCD_FIRMWARE_VERSION) {
+ LOG_WARNING("XDS110: the firmware is not optimized for OpenOCD");
+ LOG_WARNING(OCD_FIRMWARE_UPGRADE);
+ }
+}
+
+static int xds110_quit(void)
+{
+ if (xds110.is_cmapi_acquired) {
+ (void)cmapi_release();
+ xds110.is_cmapi_acquired = false;
+ }
+ if (xds110.is_cmapi_connected) {
+ (void)cmapi_disconnect();
+ xds110.is_cmapi_connected = false;
+ }
+ if (xds110.is_connected) {
+ if (xds110.is_swd_mode) {
+ /* Switch out of SWD mode */
+ (void)swd_disconnect();
+ } else {
+ /* Switch out of cJTAG mode */
+ (void)cjtag_disconnect();
+ }
+ /* Tell firmware we're disconnecting */
+ (void)xds_disconnect();
+ xds110.is_connected = false;
+ }
+ /* Close down the USB connection to the XDS110 debug probe */
+ usb_disconnect();
+
+ return ERROR_OK;
+}
+
+static int xds110_init(void)
+{
+ bool success;
+
+ /* Establish USB connection to the XDS110 debug probe */
+ success = usb_connect();
+
+ if (success) {
+ /* Send connect message to XDS110 firmware */
+ success = xds_connect();
+ if (success)
+ xds110.is_connected = true;
+ }
+
+ if (success) {
+ uint32_t firmware;
+ uint16_t hardware;
+
+ /* Retrieve version IDs from firmware */
+ /* Version numbers are stored in BCD format */
+ success = xds_version(&firmware, &hardware);
+ if (success) {
+ /* Save the firmware and hardware version */
+ xds110.firmware = firmware;
+ xds110.hardware = hardware;
+ }
+ }
+
+ if (success) {
+ success = xds_set_trst(0);
+ if (success)
+ success = xds_cycle_tck(50);
+ if (success)
+ success = xds_set_trst(1);
+ if (success)
+ success = xds_cycle_tck(50);
+ }
+
+ if (success) {
+ if (xds110.is_swd_mode) {
+ /* Switch to SWD if needed */
+ success = swd_connect();
+ } else {
+ success = cjtag_connect(MODE_JTAG);
+ }
+ }
+
+ if (success && xds110.is_swd_mode) {
+ uint32_t idcode;
+
+ /* Connect to CMAPI interface in XDS110 */
+ success = cmapi_connect(&idcode);
+
+ /* Acquire exclusive access to CMAPI interface */
+ if (success) {
+ xds110.is_cmapi_connected = true;
+ success = cmapi_acquire();
+ if (success)
+ xds110.is_cmapi_acquired = true;
+ }
+ }
+
+ if (!success)
+ xds110_quit();
+
+ if (success)
+ xds110_show_info();
+
+ return (success) ? ERROR_OK : ERROR_FAIL;
+}
+
+static void xds110_legacy_scan(uint32_t shift_state, uint32_t total_bits,
+ uint32_t end_state, uint8_t *data_out, uint8_t *data_in)
+{
+ (void)xds_jtag_scan(shift_state, total_bits, end_state, data_out, data_in);
+}
+
+static void xds110_legacy_runtest(uint32_t clocks, uint32_t end_state)
+{
+ xds_goto_state(XDS_JTAG_STATE_IDLE);
+ xds_cycle_tck(clocks);
+ xds_goto_state(end_state);
+}
+
+static void xds110_legacy_stableclocks(uint32_t clocks)
+{
+ xds_cycle_tck(clocks);
+}
+
+static void xds110_flush(void)
+{
+ uint8_t command;
+ uint32_t clocks;
+ uint32_t shift_state;
+ uint32_t end_state;
+ uint32_t bits;
+ uint32_t bytes;
+ uint32_t request;
+ uint32_t result;
+ uint8_t *data_out;
+ uint8_t data_in[MAX_DATA_BLOCK];
+ uint8_t *data_pntr;
+
+ if (0 == xds110.txn_request_size)
+ return;
+
+ /* Terminate request queue */
+ xds110.txn_requests[xds110.txn_request_size++] = 0;
+
+ if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
+ /* Updated firmware has the API to directly handle the queue */
+ (void)ocd_scan_request(xds110.txn_requests, xds110.txn_request_size,
+ data_in, xds110.txn_result_size);
+ } else {
+ /* Legacy firmware needs to handle queue via discrete JTAG calls */
+ request = 0;
+ result = 0;
+ while (xds110.txn_requests[request] != 0) {
+ command = xds110.txn_requests[request++];
+ switch (command) {
+ case CMD_IR_SCAN:
+ case CMD_DR_SCAN:
+ if (command == CMD_IR_SCAN)
+ shift_state = XDS_JTAG_STATE_SHIFT_IR;
+ else
+ shift_state = XDS_JTAG_STATE_SHIFT_DR;
+ end_state = (uint32_t)(xds110.txn_requests[request++]);
+ bits = (uint32_t)(xds110.txn_requests[request++]) << 0;
+ bits |= (uint32_t)(xds110.txn_requests[request++]) << 8;
+ data_out = &xds110.txn_requests[request];
+ bytes = DIV_ROUND_UP(bits, 8);
+ xds110_legacy_scan(shift_state, bits, end_state, data_out,
+ &data_in[result]);
+ result += bytes;
+ request += bytes;
+ break;
+ case CMD_RUNTEST:
+ clocks = (uint32_t)(xds110.txn_requests[request++]) << 0;
+ clocks |= (uint32_t)(xds110.txn_requests[request++]) << 8;
+ clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16;
+ clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24;
+ end_state = (uint32_t)xds110.txn_requests[request++];
+ xds110_legacy_runtest(clocks, end_state);
+ break;
+ case CMD_STABLECLOCKS:
+ clocks = (uint32_t)(xds110.txn_requests[request++]) << 0;
+ clocks |= (uint32_t)(xds110.txn_requests[request++]) << 8;
+ clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16;
+ clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24;
+ xds110_legacy_stableclocks(clocks);
+ break;
+ default:
+ LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered",
+ command);
+ exit(-1);
+ break;
+ }
+ }
+ }
+
+ /* Transfer results into caller's buffers from data_in buffer */
+ bits = 0; /* Bit offset into current scan result */
+ data_pntr = data_in;
+ for (result = 0; result < xds110.txn_result_count; result++) {
+ if (xds110.txn_scan_results[result].first) {
+ if (bits != 0) {
+ bytes = DIV_ROUND_UP(bits, 8);
+ data_pntr += bytes;
+ }
+ bits = 0;
+ }
+ if (xds110.txn_scan_results[result].buffer != 0)
+ bit_copy(xds110.txn_scan_results[result].buffer, 0, data_pntr,
+ bits, xds110.txn_scan_results[result].num_bits);
+ bits += xds110.txn_scan_results[result].num_bits;
+ }
+
+ xds110.txn_request_size = 0;
+ xds110.txn_result_size = 0;
+ xds110.txn_result_count = 0;
+}
+
+static void xds110_execute_reset(struct jtag_command *cmd)
+{
+ char trst;
+ char srst;
+
+ if (cmd->cmd.reset->trst != -1) {
+ if (cmd->cmd.reset->trst == 0) {
+ /* Deassert nTRST (active low) */
+ trst = 1;
+ } else {
+ /* Assert nTRST (active low) */
+ trst = 0;
+ }
+ (void)xds_set_trst(trst);
+ }
+
+ if (cmd->cmd.reset->srst != -1) {
+ if (cmd->cmd.reset->srst == 0) {
+ /* Deassert nSRST (active low) */
+ srst = 1;
+ } else {
+ /* Assert nSRST (active low) */
+ srst = 0;
+ }
+ (void)xds_set_srst(srst);
+ }
+}
+
+static void xds110_execute_sleep(struct jtag_command *cmd)
+{
+ jtag_sleep(cmd->cmd.sleep->us);
+ return;
+}
+
+static void xds110_execute_tlr_reset(struct jtag_command *cmd)
+{
+ (void)xds_goto_state(XDS_JTAG_STATE_RESET);
+
+ return;
+}
+
+static void xds110_execute_pathmove(struct jtag_command *cmd)
+{
+ uint32_t i;
+ uint32_t num_states;
+ uint8_t *path;
+
+ num_states = (uint32_t)cmd->cmd.pathmove->num_states;
+
+ if (num_states == 0)
+ return;
+
+ path = (uint8_t *)malloc(num_states * sizeof(uint8_t));
+ if (path == 0) {
+ LOG_ERROR("XDS110: unable to allocate memory");
+ return;
+ }
+
+ /* Convert requested path states into XDS API states */
+ for (i = 0; i < num_states; i++)
+ path[i] = (uint8_t)xds_jtag_state[cmd->cmd.pathmove->path[i]];
+
+ if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
+ /* Updated firmware fully supports pathmove */
+ (void)ocd_pathmove(num_states, path);
+ } else {
+ /* Notify user that legacy firmware simply cannot handle pathmove */
+ LOG_ERROR("XDS110: the firmware does not support pathmove command");
+ LOG_ERROR(OCD_FIRMWARE_UPGRADE);
+ /* If pathmove is required, then debug is not possible */
+ exit(-1);
+ }
+
+ free((void *)path);
+
+ return;
+}
+
+static void xds110_queue_scan(struct jtag_command *cmd)
+{
+ int i;
+ uint32_t offset;
+ uint32_t total_fields;
+ uint32_t total_bits;
+ uint32_t total_bytes;
+ uint8_t end_state;
+ uint8_t *buffer;
+
+ /* Calculate the total number of bits to scan */
+ total_bits = 0;
+ total_fields = 0;
+ for (i = 0; i < cmd->cmd.scan->num_fields; i++) {
+ total_fields++;
+ total_bits += (uint32_t)cmd->cmd.scan->fields[i].num_bits;
+ }
+
+ if (total_bits == 0)
+ return;
+
+ total_bytes = DIV_ROUND_UP(total_bits, 8);
+
+ /* Check if new request would be too large to fit */
+ if (((xds110.txn_request_size + 1 + total_bytes + sizeof(end_state) + 1)
+ > MAX_DATA_BLOCK) || ((xds110.txn_result_count + total_fields) >
+ MAX_RESULT_QUEUE))
+ xds110_flush();
+
+ /* Check if this single request is too large to fit */
+ if ((1 + total_bytes + sizeof(end_state) + 1) > MAX_DATA_BLOCK) {
+ LOG_ERROR("BUG: JTAG scan request is too large to handle (%d bits)",
+ total_bits);
+ /* Failing to run this scan mucks up debug on this target */
+ exit(-1);
+ }
+
+ if (cmd->cmd.scan->ir_scan)
+ xds110.txn_requests[xds110.txn_request_size++] = CMD_IR_SCAN;
+ else
+ xds110.txn_requests[xds110.txn_request_size++] = CMD_DR_SCAN;
+
+ end_state = (uint8_t)xds_jtag_state[cmd->cmd.scan->end_state];
+ xds110.txn_requests[xds110.txn_request_size++] = end_state;
+
+ xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 0) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 8) & 0xff;
+
+ /* Build request data by flattening fields into single buffer */
+ /* also populate the results array to return the results when run */
+ offset = 0;
+ buffer = &xds110.txn_requests[xds110.txn_request_size];
+ /* Clear data out buffer to default value of all zeros */
+ memset((void *)buffer, 0x00, total_bytes);
+ for (i = 0; i < cmd->cmd.scan->num_fields; i++) {
+ if (cmd->cmd.scan->fields[i].out_value != 0) {
+ /* Copy over data to scan out into request buffer */
+ bit_copy(buffer, offset, cmd->cmd.scan->fields[i].out_value, 0,
+ cmd->cmd.scan->fields[i].num_bits);
+ }
+ offset += cmd->cmd.scan->fields[i].num_bits;
+ xds110.txn_scan_results[xds110.txn_result_count].first = (i == 0);
+ xds110.txn_scan_results[xds110.txn_result_count].num_bits =
+ cmd->cmd.scan->fields[i].num_bits;
+ xds110.txn_scan_results[xds110.txn_result_count++].buffer =
+ cmd->cmd.scan->fields[i].in_value;
+ }
+ xds110.txn_request_size += total_bytes;
+ xds110.txn_result_size += total_bytes;
+
+ return;
+}
+
+static void xds110_queue_runtest(struct jtag_command *cmd)
+{
+ uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles;
+ uint8_t end_state = (uint8_t)xds_jtag_state[cmd->cmd.runtest->end_state];
+
+ /* Check if new request would be too large to fit */
+ if ((xds110.txn_request_size + 1 + sizeof(clocks) + sizeof(end_state) + 1)
+ > MAX_DATA_BLOCK)
+ xds110_flush();
+
+ /* Queue request and cycle count directly to queue buffer */
+ xds110.txn_requests[xds110.txn_request_size++] = CMD_RUNTEST;
+ xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 0) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 8) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = end_state;
+
+ return;
+}
+
+static void xds110_queue_stableclocks(struct jtag_command *cmd)
+{
+ uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles;
+
+ /* Check if new request would be too large to fit */
+ if ((xds110.txn_request_size + 1 + sizeof(clocks) + 1) > MAX_DATA_BLOCK)
+ xds110_flush();
+
+ /* Queue request and cycle count directly to queue buffer */
+ xds110.txn_requests[xds110.txn_request_size++] = CMD_STABLECLOCKS;
+ xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 0) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 8) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff;
+ xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff;
+
+ return;
+}
+
+static void xds110_execute_command(struct jtag_command *cmd)
+{
+ switch (cmd->type) {
+ case JTAG_RESET:
+ xds110_flush();
+ xds110_execute_reset(cmd);
+ break;
+ case JTAG_SLEEP:
+ xds110_flush();
+ xds110_execute_sleep(cmd);
+ break;
+ case JTAG_TLR_RESET:
+ xds110_flush();
+ xds110_execute_tlr_reset(cmd);
+ break;
+ case JTAG_PATHMOVE:
+ xds110_flush();
+ xds110_execute_pathmove(cmd);
+ break;
+ case JTAG_SCAN:
+ xds110_queue_scan(cmd);
+ break;
+ case JTAG_RUNTEST:
+ xds110_queue_runtest(cmd);
+ break;
+ case JTAG_STABLECLOCKS:
+ xds110_queue_stableclocks(cmd);
+ break;
+ case JTAG_TMS:
+ default:
+ LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered",
+ cmd->type);
+ exit(-1);
+ }
+}
+
+static int xds110_execute_queue(void)
+{
+ struct jtag_command *cmd = jtag_command_queue;
+
+ while (cmd != NULL) {
+ xds110_execute_command(cmd);
+ cmd = cmd->next;
+ }
+
+ xds110_flush();
+
+ return ERROR_OK;
+}
+
+static int xds110_speed(int speed)
+{
+ bool success;
+
+ if (speed == 0) {
+ LOG_INFO("XDS110: RTCK not supported");
+ return ERROR_JTAG_NOT_IMPLEMENTED;
+ }
+
+ if (speed > XDS110_MAX_TCK_SPEED) {
+ LOG_INFO("XDS110: reduce speed request: %dkHz to %dkHz maximum",
+ speed, XDS110_MAX_TCK_SPEED);
+ speed = XDS110_MAX_TCK_SPEED;
+ }
+
+ if (speed < XDS110_MIN_TCK_SPEED) {
+ LOG_INFO("XDS110: increase speed request: %dkHz to %dkHz minimum",
+ speed, XDS110_MIN_TCK_SPEED);
+ speed = XDS110_MIN_TCK_SPEED;
+ }
+
+ /* The default is the maximum frequency the XDS110 can support */
+ uint32_t freq_to_use = XDS110_MAX_TCK_SPEED * 1000; /* Hz */
+ uint32_t delay_count = 0;
+
+ if (XDS110_MAX_TCK_SPEED != speed) {
+ freq_to_use = speed * 1000; /* Hz */
+
+ /* Calculate the delay count value */
+ double one_giga = 1000000000;
+ /* Get the pulse duration for the maximum frequency supported in ns */
+ double max_freq_pulse_duration = one_giga /
+ (XDS110_MAX_TCK_SPEED * 1000);
+
+ /* Convert frequency to pulse duration */
+ double freq_to_pulse_width_in_ns = one_giga / freq_to_use;
+
+ /*
+ * Start with the pulse duration for the maximum frequency. Keep
+ * decrementing the time added by each count value till the requested
+ * frequency pulse is less than the calculated value.
+ */
+ double current_value = max_freq_pulse_duration;
+
+ while (current_value < freq_to_pulse_width_in_ns) {
+ current_value += XDS110_TCK_PULSE_INCREMENT;
+ ++delay_count;
+ }
+
+ /*
+ * Determine which delay count yields the best match.
+ * The one obtained above or one less.
+ */
+ if (delay_count) {
+ double diff_freq_1 = freq_to_use -
+ (one_giga / (max_freq_pulse_duration +
+ (XDS110_TCK_PULSE_INCREMENT * delay_count)));
+ double diff_freq_2 = (one_giga / (max_freq_pulse_duration +
+ (XDS110_TCK_PULSE_INCREMENT * (delay_count - 1)))) -
+ freq_to_use;
+
+ /* One less count value yields a better match */
+ if (diff_freq_1 > diff_freq_2)
+ --delay_count;
+ }
+ }
+
+ /* Send the delay count to the XDS110 firmware */
+ success = xds_set_tck_delay(delay_count);
+
+ if (success) {
+ xds110.delay_count = delay_count;
+ xds110.speed = speed;
+ }
+
+ return (success) ? ERROR_OK : ERROR_FAIL;
+}
+
+static int xds110_speed_div(int speed, int *khz)
+{
+ *khz = speed;
+ return ERROR_OK;
+}
+
+static int xds110_khz(int khz, int *jtag_speed)
+{
+ *jtag_speed = khz;
+ return ERROR_OK;
+}
+
+static int_least32_t xds110_swd_frequency(int_least32_t hz)
+{
+ if (hz > 0)
+ xds110_speed(hz / 1000);
+ return hz;
+}
+
+COMMAND_HANDLER(xds110_handle_info_command)
+{
+ xds110_show_info();
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(xds110_handle_serial_command)
+{
+ wchar_t serial[XDS110_SERIAL_LEN + 1];
+
+ xds110.serial[0] = 0;
+
+ if (CMD_ARGC == 1) {
+ size_t len = mbstowcs(0, CMD_ARGV[0], 0);
+ if (len > XDS110_SERIAL_LEN) {
+ LOG_ERROR("XDS110: serial number is limited to %d characters",
+ XDS110_SERIAL_LEN);
+ return ERROR_FAIL;
+ }
+ if ((size_t)-1 == mbstowcs(serial, CMD_ARGV[0], len + 1)) {
+ LOG_ERROR("XDS110: unable to convert serial number");
+ return ERROR_FAIL;
+ }
+
+ for (uint32_t i = 0; i < len; i++)
+ xds110.serial[i] = (char)serial[i];
+
+ xds110.serial[len] = 0;
+ } else {
+ LOG_ERROR("XDS110: expected exactly one argument to xds110_serial "
+ "<serial-number>");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static const struct command_registration xds110_subcommand_handlers[] = {
+ {
+ .name = "info",
+ .handler = &xds110_handle_info_command,
+ .mode = COMMAND_EXEC,
+ .usage = "",
+ .help = "show XDS110 info",
+ },
+ COMMAND_REGISTRATION_DONE
+};
+
+static const struct command_registration xds110_command_handlers[] = {
+ {
+ .name = "xds110",
+ .mode = COMMAND_ANY,
+ .help = "perform XDS110 management",
+ .usage = "<cmd>",
+ .chain = xds110_subcommand_handlers,
+ },
+ {
+ .name = "xds110_serial",
+ .handler = &xds110_handle_serial_command,
+ .mode = COMMAND_CONFIG,
+ .help = "set the XDS110 probe serial number",
+ .usage = "serial_string",
+ },
+ COMMAND_REGISTRATION_DONE
+};
+
+static const struct swd_driver xds110_swd_driver = {
+ .init = xds110_swd_init,
+ .frequency = xds110_swd_frequency,
+ .switch_seq = xds110_swd_switch_seq,
+ .read_reg = xds110_swd_read_reg,
+ .write_reg = xds110_swd_write_reg,
+ .run = xds110_swd_run_queue,
+};
+
+static const char * const xds110_transport[] = { "swd", "jtag", NULL };
+
+struct jtag_interface xds110_interface = {
+ .name = "xds110",
+ .commands = xds110_command_handlers,
+ .swd = &xds110_swd_driver,
+ .transports = xds110_transport,
+
+ .execute_queue = xds110_execute_queue,
+ .speed = xds110_speed,
+ .speed_div = xds110_speed_div,
+ .khz = xds110_khz,
+ .init = xds110_init,
+ .quit = xds110_quit,
+};
Code Review / openocd.git / commitdiff