--- /dev/null
+/***************************************************************************
+ * Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net> *
+ * based on Dominic Rath's and Benedikt Sauter's usbprog.c *
+ * *
+ * Copyright (C) 2008 by Spencer Oliver *
+ * spen@spen-soft.co.uk *
+ * *
+ * Copyright (C) 2011 by Jean-Christophe PLAGNIOL-VIILARD *
+ * plagnioj@jcrosoft.com *
+ * *
+ * Copyright (C) 2015 by Marc Schink *
+ * openocd-dev@marcschink.de *
+ * *
+ * Copyright (C) 2015 by Paul Fertser *
+ * fercerpav@gmail.com *
+ * *
+ * Copyright (C) 2015-2017 by Forest Crossman *
+ * cyrozap@gmail.com *
+ * *
+ * 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 <stdint.h>
+
+#include <hidapi.h>
+
+#include <jtag/interface.h>
+#include <jtag/swd.h>
+#include <jtag/commands.h>
+
+#include "libusb_common.h"
+
+#define VID 0x04b4
+#define PID 0xf139
+
+#define BULK_EP_IN 1
+#define BULK_EP_OUT 2
+
+#define CONTROL_TYPE_READ 0x01
+#define CONTROL_TYPE_WRITE 0x02
+
+#define CONTROL_COMMAND_PROGRAM 0x07
+
+#define CONTROL_MODE_POLL_PROGRAMMER_STATUS 0x01
+#define CONTROL_MODE_RESET_TARGET 0x04
+#define CONTROL_MODE_SET_PROGRAMMER_PROTOCOL 0x40
+#define CONTROL_MODE_SYNCHRONIZE_TRANSFER 0x41
+#define CONTROL_MODE_ACQUIRE_SWD_TARGET 0x42
+#define CONTROL_MODE_SEND_SWD_SEQUENCE 0x43
+
+#define PROTOCOL_JTAG 0x00
+#define PROTOCOL_SWD 0x01
+
+#define DEVICE_PSOC4 0x00
+#define DEVICE_PSOC3 0x01
+#define DEVICE_UNKNOWN 0x02
+#define DEVICE_PSOC5 0x03
+
+#define ACQUIRE_MODE_RESET 0x00
+#define ACQUIRE_MODE_POWER_CYCLE 0x01
+
+#define SEQUENCE_LINE_RESET 0x00
+#define SEQUENCE_JTAG_TO_SWD 0x01
+
+#define PROGRAMMER_NOK_NACK 0x00
+#define PROGRAMMER_OK_ACK 0x01
+
+#define HID_TYPE_WRITE 0x00
+#define HID_TYPE_READ 0x01
+#define HID_TYPE_START 0x02
+
+#define HID_COMMAND_POWER 0x80
+#define HID_COMMAND_VERSION 0x81
+#define HID_COMMAND_RESET 0x82
+#define HID_COMMAND_CONFIGURE 0x8f
+#define HID_COMMAND_BOOTLOADER 0xa0
+
+/* 512 bytes seems to work reliably */
+#define SWD_MAX_BUFFER_LENGTH 512
+
+struct kitprog {
+ hid_device *hid_handle;
+ struct jtag_libusb_device_handle *usb_handle;
+ uint16_t packet_size;
+ uint16_t packet_index;
+ uint8_t *packet_buffer;
+ char *serial;
+ uint8_t hardware_version;
+ uint8_t minor_version;
+ uint8_t major_version;
+ uint16_t millivolts;
+
+ bool supports_jtag_to_swd;
+};
+
+struct pending_transfer_result {
+ uint8_t cmd;
+ uint32_t data;
+ void *buffer;
+};
+
+static char *kitprog_serial;
+static bool kitprog_init_acquire_psoc;
+
+static int pending_transfer_count, pending_queue_len;
+static struct pending_transfer_result *pending_transfers;
+
+static int queued_retval;
+
+static struct kitprog *kitprog_handle;
+
+static int kitprog_usb_open(void);
+static void kitprog_usb_close(void);
+
+static int kitprog_hid_command(uint8_t *command, size_t command_length,
+ uint8_t *data, size_t data_length);
+static int kitprog_get_version(void);
+static int kitprog_get_millivolts(void);
+static int kitprog_get_info(void);
+static int kitprog_set_protocol(uint8_t protocol);
+static int kitprog_get_status(void);
+static int kitprog_set_unknown(void);
+static int kitprog_acquire_psoc(uint8_t psoc_type, uint8_t acquire_mode,
+ uint8_t max_attempts);
+static int kitprog_reset_target(void);
+static int kitprog_swd_sync(void);
+static int kitprog_swd_seq(uint8_t seq_type);
+
+static int kitprog_generic_acquire(void);
+
+static int kitprog_swd_run_queue(void);
+static void kitprog_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data);
+static int kitprog_swd_switch_seq(enum swd_special_seq seq);
+
+
+static inline int mm_to_version(uint8_t major, uint8_t minor)
+{
+ return (major << 8) | minor;
+}
+
+static int kitprog_init(void)
+{
+ int retval;
+
+ kitprog_handle = malloc(sizeof(struct kitprog));
+ if (kitprog_handle == NULL) {
+ LOG_ERROR("Failed to allocate memory");
+ return ERROR_FAIL;
+ }
+
+ if (kitprog_usb_open() != ERROR_OK) {
+ LOG_ERROR("Can't find a KitProg device! Please check device connections and permissions.");
+ return ERROR_JTAG_INIT_FAILED;
+ }
+
+ /* Get the current KitProg version and target voltage */
+ if (kitprog_get_info() != ERROR_OK)
+ return ERROR_FAIL;
+
+ /* Compatibility check */
+ kitprog_handle->supports_jtag_to_swd = true;
+ int kitprog_version = mm_to_version(kitprog_handle->major_version, kitprog_handle->minor_version);
+ if (kitprog_version < mm_to_version(2, 14)) {
+ LOG_WARNING("KitProg firmware versions below v2.14 do not support sending JTAG to SWD sequences. These sequences will be substituted with SWD line resets.");
+ kitprog_handle->supports_jtag_to_swd = false;
+ }
+
+ /* I have no idea what this does */
+ if (kitprog_set_unknown() != ERROR_OK)
+ return ERROR_FAIL;
+
+ /* SWD won't work unless we do this */
+ if (kitprog_swd_sync() != ERROR_OK)
+ return ERROR_FAIL;
+
+ /* Set the protocol to SWD */
+ if (kitprog_set_protocol(PROTOCOL_SWD) != ERROR_OK)
+ return ERROR_FAIL;
+
+ /* Reset the SWD bus */
+ if (kitprog_swd_seq(SEQUENCE_LINE_RESET) != ERROR_OK)
+ return ERROR_FAIL;
+
+ if (kitprog_init_acquire_psoc) {
+ /* Try to acquire any device that will respond */
+ retval = kitprog_generic_acquire();
+ if (retval != ERROR_OK) {
+ LOG_ERROR("No PSoC devices found");
+ return retval;
+ }
+ }
+
+ /* Allocate packet buffers and queues */
+ kitprog_handle->packet_size = SWD_MAX_BUFFER_LENGTH;
+ kitprog_handle->packet_buffer = malloc(SWD_MAX_BUFFER_LENGTH);
+ if (kitprog_handle->packet_buffer == NULL) {
+ LOG_ERROR("Failed to allocate memory for the packet buffer");
+ return ERROR_FAIL;
+ }
+
+ pending_queue_len = SWD_MAX_BUFFER_LENGTH / 5;
+ pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
+ if (pending_transfers == NULL) {
+ LOG_ERROR("Failed to allocate memory for the SWD transfer queue");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_quit(void)
+{
+ kitprog_usb_close();
+
+ if (kitprog_handle->packet_buffer != NULL)
+ free(kitprog_handle->packet_buffer);
+ if (kitprog_handle->serial != NULL)
+ free(kitprog_handle->serial);
+ if (kitprog_handle != NULL)
+ free(kitprog_handle);
+
+ if (kitprog_serial != NULL)
+ free(kitprog_serial);
+
+ if (pending_transfers != NULL)
+ free(pending_transfers);
+
+ return ERROR_OK;
+}
+
+/*************** kitprog usb functions *********************/
+
+static int kitprog_get_usb_serial(void)
+{
+ int retval;
+ const uint8_t str_index = 128; /* This seems to be a constant */
+ char desc_string[256+1]; /* Max size of string descriptor */
+
+ retval = libusb_get_string_descriptor_ascii(kitprog_handle->usb_handle,
+ str_index, (unsigned char *)desc_string, sizeof(desc_string)-1);
+ if (retval < 0) {
+ LOG_ERROR("libusb_get_string_descriptor_ascii() failed with %d", retval);
+ return ERROR_FAIL;
+ }
+
+ /* Null terminate descriptor string */
+ desc_string[retval] = '\0';
+
+ /* Allocate memory for the serial number */
+ kitprog_handle->serial = calloc(retval + 1, sizeof(char));
+ if (kitprog_handle->serial == NULL) {
+ LOG_ERROR("Failed to allocate memory for the serial number");
+ return ERROR_FAIL;
+ }
+
+ /* Store the serial number */
+ strncpy(kitprog_handle->serial, desc_string, retval + 1);
+
+ return ERROR_OK;
+}
+
+static int kitprog_usb_open(void)
+{
+ const uint16_t vids[] = { VID, 0 };
+ const uint16_t pids[] = { PID, 0 };
+
+ if (jtag_libusb_open(vids, pids, kitprog_serial,
+ &kitprog_handle->usb_handle) != ERROR_OK) {
+ LOG_ERROR("Failed to open or find the device");
+ return ERROR_FAIL;
+ }
+
+ /* Get the serial number for the device */
+ if (kitprog_get_usb_serial() != ERROR_OK)
+ LOG_WARNING("Failed to get KitProg serial number");
+
+ /* Convert the ASCII serial number into a (wchar_t *) */
+ size_t len = strlen(kitprog_handle->serial);
+ wchar_t *hid_serial = calloc(len + 1, sizeof(wchar_t));
+ if (hid_serial == NULL) {
+ LOG_ERROR("Failed to allocate memory for the serial number");
+ return ERROR_FAIL;
+ }
+ if (mbstowcs(hid_serial, kitprog_handle->serial, len + 1) == (size_t)-1) {
+ free(hid_serial);
+ LOG_ERROR("Failed to convert serial number");
+ return ERROR_FAIL;
+ }
+
+ /* Use HID for the KitBridge interface */
+ kitprog_handle->hid_handle = hid_open(VID, PID, hid_serial);
+ free(hid_serial);
+ if (kitprog_handle->hid_handle == NULL) {
+ LOG_ERROR("Failed to open KitBridge (HID) interface");
+ return ERROR_FAIL;
+ }
+
+ /* Claim the KitProg Programmer (bulk transfer) interface */
+ if (jtag_libusb_claim_interface(kitprog_handle->usb_handle, 1) != ERROR_OK) {
+ LOG_ERROR("Failed to claim KitProg Programmer (bulk transfer) interface");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static void kitprog_usb_close(void)
+{
+ if (kitprog_handle->hid_handle != NULL) {
+ hid_close(kitprog_handle->hid_handle);
+ hid_exit();
+ }
+
+ jtag_libusb_close(kitprog_handle->usb_handle);
+}
+
+/*************** kitprog lowlevel functions *********************/
+
+static int kitprog_hid_command(uint8_t *command, size_t command_length,
+ uint8_t *data, size_t data_length)
+{
+ int ret;
+
+ ret = hid_write(kitprog_handle->hid_handle, command, command_length);
+ if (ret < 0) {
+ LOG_DEBUG("HID write returned %i", ret);
+ return ERROR_FAIL;
+ }
+
+ ret = hid_read(kitprog_handle->hid_handle, data, data_length);
+ if (ret < 0) {
+ LOG_DEBUG("HID read returned %i", ret);
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_get_version(void)
+{
+ int ret;
+
+ unsigned char command[3] = {HID_TYPE_START | HID_TYPE_WRITE, 0x00, HID_COMMAND_VERSION};
+ unsigned char data[64];
+
+ ret = kitprog_hid_command(command, sizeof command, data, sizeof data);
+ if (ret != ERROR_OK)
+ return ret;
+
+ kitprog_handle->hardware_version = data[1];
+ kitprog_handle->minor_version = data[2];
+ kitprog_handle->major_version = data[3];
+
+ return ERROR_OK;
+}
+
+static int kitprog_get_millivolts(void)
+{
+ int ret;
+
+ unsigned char command[3] = {HID_TYPE_START | HID_TYPE_READ, 0x00, HID_COMMAND_POWER};
+ unsigned char data[64];
+
+ ret = kitprog_hid_command(command, sizeof command, data, sizeof data);
+ if (ret != ERROR_OK)
+ return ret;
+
+ kitprog_handle->millivolts = (data[4] << 8) | data[3];
+
+ return ERROR_OK;
+}
+
+static int kitprog_get_info(void)
+{
+ /* Get the device version information */
+ if (kitprog_get_version() == ERROR_OK) {
+ LOG_INFO("KitProg v%u.%02u",
+ kitprog_handle->major_version, kitprog_handle->minor_version);
+ LOG_INFO("Hardware version: %u",
+ kitprog_handle->hardware_version);
+ } else {
+ LOG_ERROR("Failed to get KitProg version");
+ return ERROR_FAIL;
+ }
+
+ /* Get the current reported target voltage */
+ if (kitprog_get_millivolts() == ERROR_OK) {
+ LOG_INFO("VTARG = %u.%03u V",
+ kitprog_handle->millivolts / 1000, kitprog_handle->millivolts % 1000);
+ } else {
+ LOG_ERROR("Failed to get target voltage");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_set_protocol(uint8_t protocol)
+{
+ int transferred;
+ char status = PROGRAMMER_NOK_NACK;
+
+ transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
+ LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
+ CONTROL_TYPE_WRITE,
+ (CONTROL_MODE_SET_PROGRAMMER_PROTOCOL << 8) | CONTROL_COMMAND_PROGRAM,
+ protocol, &status, 1, 0);
+
+ if (transferred == 0) {
+ LOG_DEBUG("Zero bytes transferred");
+ return ERROR_FAIL;
+ }
+
+ if (status != PROGRAMMER_OK_ACK) {
+ LOG_DEBUG("Programmer did not respond OK");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_get_status(void)
+{
+ int transferred = 0;
+ char status = PROGRAMMER_NOK_NACK;
+
+ /* Try a maximum of three times */
+ for (int i = 0; (i < 3) && (transferred == 0); i++) {
+ transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
+ LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
+ CONTROL_TYPE_READ,
+ (CONTROL_MODE_POLL_PROGRAMMER_STATUS << 8) | CONTROL_COMMAND_PROGRAM,
+ 0, &status, 1, 0);
+ jtag_sleep(1000);
+ }
+
+ if (transferred == 0) {
+ LOG_DEBUG("Zero bytes transferred");
+ return ERROR_FAIL;
+ }
+
+ if (status != PROGRAMMER_OK_ACK) {
+ LOG_DEBUG("Programmer did not respond OK");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_set_unknown(void)
+{
+ int transferred;
+ char status = PROGRAMMER_NOK_NACK;
+
+ transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
+ LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
+ CONTROL_TYPE_WRITE,
+ (0x03 << 8) | 0x04,
+ 0, &status, 1, 0);
+
+ if (transferred == 0) {
+ LOG_DEBUG("Zero bytes transferred");
+ return ERROR_FAIL;
+ }
+
+ if (status != PROGRAMMER_OK_ACK) {
+ LOG_DEBUG("Programmer did not respond OK");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_acquire_psoc(uint8_t psoc_type, uint8_t acquire_mode,
+ uint8_t max_attempts)
+{
+ int transferred;
+ char status = PROGRAMMER_NOK_NACK;
+
+ transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
+ LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
+ CONTROL_TYPE_WRITE,
+ (CONTROL_MODE_ACQUIRE_SWD_TARGET << 8) | CONTROL_COMMAND_PROGRAM,
+ (max_attempts << 8) | (acquire_mode << 4) | psoc_type, &status, 1, 0);
+
+ if (transferred == 0) {
+ LOG_DEBUG("Zero bytes transferred");
+ return ERROR_FAIL;
+ }
+
+ if (status != PROGRAMMER_OK_ACK) {
+ LOG_DEBUG("Programmer did not respond OK");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_reset_target(void)
+{
+ int transferred;
+ char status = PROGRAMMER_NOK_NACK;
+
+ transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
+ LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
+ CONTROL_TYPE_WRITE,
+ (CONTROL_MODE_RESET_TARGET << 8) | CONTROL_COMMAND_PROGRAM,
+ 0, &status, 1, 0);
+
+ if (transferred == 0) {
+ LOG_DEBUG("Zero bytes transferred");
+ return ERROR_FAIL;
+ }
+
+ if (status != PROGRAMMER_OK_ACK) {
+ LOG_DEBUG("Programmer did not respond OK");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_swd_sync(void)
+{
+ int transferred;
+ char status = PROGRAMMER_NOK_NACK;
+
+ transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
+ LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
+ CONTROL_TYPE_WRITE,
+ (CONTROL_MODE_SYNCHRONIZE_TRANSFER << 8) | CONTROL_COMMAND_PROGRAM,
+ 0, &status, 1, 0);
+
+ if (transferred == 0) {
+ LOG_DEBUG("Zero bytes transferred");
+ return ERROR_FAIL;
+ }
+
+ if (status != PROGRAMMER_OK_ACK) {
+ LOG_DEBUG("Programmer did not respond OK");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_swd_seq(uint8_t seq_type)
+{
+ int transferred;
+ char status = PROGRAMMER_NOK_NACK;
+
+ transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
+ LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
+ CONTROL_TYPE_WRITE,
+ (CONTROL_MODE_SEND_SWD_SEQUENCE << 8) | CONTROL_COMMAND_PROGRAM,
+ seq_type, &status, 1, 0);
+
+ if (transferred == 0) {
+ LOG_DEBUG("Zero bytes transferred");
+ return ERROR_FAIL;
+ }
+
+ if (status != PROGRAMMER_OK_ACK) {
+ LOG_DEBUG("Programmer did not respond OK");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_generic_acquire(void)
+{
+ const uint8_t devices[] = {DEVICE_PSOC4, DEVICE_PSOC3, DEVICE_PSOC5};
+
+ int retval;
+ int acquire_count = 0;
+
+ /* Due to the way the SWD port is shared between the Test Controller (TC)
+ * and the Cortex-M3 DAP on the PSoC 5LP, the TC is the default SWD target
+ * after power is applied. To access the DAP, the PSoC 5LP requires at least
+ * one acquisition sequence to be run (which switches the SWD mux from the
+ * TC to the DAP). However, after the mux is switched, the Cortex-M3 will be
+ * held in reset until a series of registers are written to (see section 5.2
+ * of the PSoC 5LP Device Programming Specifications for details).
+ *
+ * Instead of writing the registers in this function, we just do what the
+ * Cypress tools do and run the acquisition sequence a second time. This
+ * will take the Cortex-M3 out of reset and enable debugging.
+ */
+ for (int i = 0; i < 2; i++) {
+ for (uint8_t j = 0; j < sizeof devices && acquire_count == i; j++) {
+ retval = kitprog_acquire_psoc(devices[j], ACQUIRE_MODE_RESET, 3);
+ if (retval != ERROR_OK) {
+ LOG_DEBUG("Aquisition function failed for device 0x%02x.", devices[j]);
+ return retval;
+ }
+
+ if (kitprog_get_status() == ERROR_OK)
+ acquire_count++;
+ }
+
+ jtag_sleep(10);
+ }
+
+ if (acquire_count < 2)
+ return ERROR_FAIL;
+
+ return ERROR_OK;
+}
+
+/*************** swd wrapper functions *********************/
+
+static int kitprog_swd_init(void)
+{
+ return ERROR_OK;
+}
+
+static void kitprog_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
+{
+ assert(!(cmd & SWD_CMD_RnW));
+ kitprog_swd_queue_cmd(cmd, NULL, value);
+}
+
+static void kitprog_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
+{
+ assert(cmd & SWD_CMD_RnW);
+ kitprog_swd_queue_cmd(cmd, value, 0);
+}
+
+/*************** swd lowlevel functions ********************/
+
+static int kitprog_swd_switch_seq(enum swd_special_seq seq)
+{
+ switch (seq) {
+ case JTAG_TO_SWD:
+ if (kitprog_handle->supports_jtag_to_swd) {
+ LOG_DEBUG("JTAG to SWD");
+ if (kitprog_swd_seq(SEQUENCE_JTAG_TO_SWD) != ERROR_OK)
+ return ERROR_FAIL;
+ break;
+ } else {
+ LOG_DEBUG("JTAG to SWD not supported");
+ /* Fall through to fix target reset issue */
+ }
+ case LINE_RESET:
+ LOG_DEBUG("SWD line reset");
+ if (kitprog_swd_seq(SEQUENCE_LINE_RESET) != ERROR_OK)
+ return ERROR_FAIL;
+ break;
+ default:
+ LOG_ERROR("Sequence %d not supported.", seq);
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+static int kitprog_swd_run_queue(void)
+{
+ int ret;
+
+ size_t read_count = 0;
+ size_t read_index = 0;
+ size_t write_count = 0;
+ uint8_t *buffer = kitprog_handle->packet_buffer;
+
+ do {
+ LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
+
+ if (queued_retval != ERROR_OK) {
+ LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
+ break;
+ }
+
+ if (!pending_transfer_count)
+ break;
+
+ for (int i = 0; i < pending_transfer_count; i++) {
+ uint8_t cmd = pending_transfers[i].cmd;
+ uint32_t data = pending_transfers[i].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;
+ }
+
+#if 0
+ 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);
+#endif
+
+ buffer[write_count++] = (cmd | SWD_CMD_START | SWD_CMD_PARK) & ~SWD_CMD_STOP;
+ read_count++;
+ if (!(cmd & SWD_CMD_RnW)) {
+ buffer[write_count++] = (data) & 0xff;
+ buffer[write_count++] = (data >> 8) & 0xff;
+ buffer[write_count++] = (data >> 16) & 0xff;
+ buffer[write_count++] = (data >> 24) & 0xff;
+ } else {
+ read_count += 4;
+ }
+ }
+
+ ret = jtag_libusb_bulk_write(kitprog_handle->usb_handle,
+ BULK_EP_OUT, (char *)buffer, write_count, 0);
+ if (ret > 0) {
+ queued_retval = ERROR_OK;
+ } else {
+ LOG_ERROR("Bulk write failed");
+ queued_retval = ERROR_FAIL;
+ break;
+ }
+
+ /* We use the maximum buffer size here because the KitProg sometimes
+ * doesn't like bulk reads of fewer than 62 bytes. (?!?!)
+ */
+ ret = jtag_libusb_bulk_read(kitprog_handle->usb_handle,
+ BULK_EP_IN | LIBUSB_ENDPOINT_IN, (char *)buffer,
+ SWD_MAX_BUFFER_LENGTH, 0);
+ if (ret > 0) {
+ /* Handle garbage data by offsetting the initial read index */
+ if ((unsigned int)ret > read_count)
+ read_index = ret - read_count;
+ queued_retval = ERROR_OK;
+ } else {
+ LOG_ERROR("Bulk read failed");
+ queued_retval = ERROR_FAIL;
+ break;
+ }
+
+ for (int i = 0; i < pending_transfer_count; i++) {
+ if (pending_transfers[i].cmd & SWD_CMD_RnW) {
+ uint32_t data = le_to_h_u32(&buffer[read_index]);
+
+#if 0
+ LOG_DEBUG("Read result: %"PRIx32, data);
+#endif
+
+ if (pending_transfers[i].buffer)
+ *(uint32_t *)pending_transfers[i].buffer = data;
+
+ read_index += 4;
+ }
+
+ uint8_t ack = buffer[read_index] & 0x07;
+ if (ack != SWD_ACK_OK || (buffer[read_index] & 0x08)) {
+ LOG_DEBUG("SWD ack not OK: %d %s", i,
+ ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
+ queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
+ break;
+ }
+ read_index++;
+ }
+ } while (0);
+
+ pending_transfer_count = 0;
+ int retval = queued_retval;
+ queued_retval = ERROR_OK;
+
+ return retval;
+}
+
+static void kitprog_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 = kitprog_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++;
+}
+
+/*************** jtag lowlevel functions ********************/
+
+static void kitprog_execute_reset(struct jtag_command *cmd)
+{
+ int retval = ERROR_OK;
+
+ if (cmd->cmd.reset->srst == 1) {
+ retval = kitprog_reset_target();
+ /* Since the previous command also disables SWCLK output, we need to send an
+ * SWD bus reset command to re-enable it. For some reason, running
+ * kitprog_swd_seq() immediately after kitprog_reset_target() won't
+ * actually fix this. Instead, kitprog_swd_seq() will be run once OpenOCD
+ * tries to send a JTAG-to-SWD sequence, which should happen during
+ * swd_check_reconnect (see the JTAG_TO_SWD case in kitprog_swd_switch_seq).
+ */
+ }
+
+ if (retval != ERROR_OK)
+ LOG_ERROR("KitProg: Interface reset failed");
+}
+
+static void kitprog_execute_sleep(struct jtag_command *cmd)
+{
+ jtag_sleep(cmd->cmd.sleep->us);
+}
+
+static void kitprog_execute_command(struct jtag_command *cmd)
+{
+ switch (cmd->type) {
+ case JTAG_RESET:
+ kitprog_execute_reset(cmd);
+ break;
+ case JTAG_SLEEP:
+ kitprog_execute_sleep(cmd);
+ break;
+ default:
+ LOG_ERROR("BUG: unknown JTAG command type encountered");
+ exit(-1);
+ }
+}
+
+static int kitprog_execute_queue(void)
+{
+ struct jtag_command *cmd = jtag_command_queue;
+
+ while (cmd != NULL) {
+ kitprog_execute_command(cmd);
+ cmd = cmd->next;
+ }
+
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(kitprog_handle_info_command)
+{
+ int retval = kitprog_get_info();
+
+ return retval;
+}
+
+
+COMMAND_HANDLER(kitprog_handle_acquire_psoc_command)
+{
+ int retval = kitprog_generic_acquire();
+
+ return retval;
+}
+
+COMMAND_HANDLER(kitprog_handle_serial_command)
+{
+ if (CMD_ARGC == 1) {
+ size_t len = strlen(CMD_ARGV[0]);
+ kitprog_serial = calloc(len + 1, sizeof(char));
+ if (kitprog_serial == NULL) {
+ LOG_ERROR("Failed to allocate memory for the serial number");
+ return ERROR_FAIL;
+ }
+ strncpy(kitprog_serial, CMD_ARGV[0], len + 1);
+ } else {
+ LOG_ERROR("expected exactly one argument to kitprog_serial <serial-number>");
+ return ERROR_FAIL;
+ }
+
+ return ERROR_OK;
+}
+
+COMMAND_HANDLER(kitprog_handle_init_acquire_psoc_command)
+{
+ kitprog_init_acquire_psoc = true;
+
+ return ERROR_OK;
+}
+
+static const struct command_registration kitprog_subcommand_handlers[] = {
+ {
+ .name = "info",
+ .handler = &kitprog_handle_info_command,
+ .mode = COMMAND_EXEC,
+ .usage = "",
+ .help = "show KitProg info",
+ },
+ {
+ .name = "acquire_psoc",
+ .handler = &kitprog_handle_acquire_psoc_command,
+ .mode = COMMAND_EXEC,
+ .usage = "",
+ .help = "try to acquire a PSoC",
+ },
+ COMMAND_REGISTRATION_DONE
+};
+
+static const struct command_registration kitprog_command_handlers[] = {
+ {
+ .name = "kitprog",
+ .mode = COMMAND_ANY,
+ .help = "perform KitProg management",
+ .usage = "<cmd>",
+ .chain = kitprog_subcommand_handlers,
+ },
+ {
+ .name = "kitprog_serial",
+ .handler = &kitprog_handle_serial_command,
+ .mode = COMMAND_CONFIG,
+ .help = "set the serial number of the adapter",
+ .usage = "serial_string",
+ },
+ {
+ .name = "kitprog_init_acquire_psoc",
+ .handler = &kitprog_handle_init_acquire_psoc_command,
+ .mode = COMMAND_CONFIG,
+ .help = "try to acquire a PSoC during init",
+ .usage = "",
+ },
+ COMMAND_REGISTRATION_DONE
+};
+
+static const struct swd_driver kitprog_swd = {
+ .init = kitprog_swd_init,
+ .switch_seq = kitprog_swd_switch_seq,
+ .read_reg = kitprog_swd_read_reg,
+ .write_reg = kitprog_swd_write_reg,
+ .run = kitprog_swd_run_queue,
+};
+
+static const char * const kitprog_transports[] = { "swd", NULL };
+
+struct jtag_interface kitprog_interface = {
+ .name = "kitprog",
+ .commands = kitprog_command_handlers,
+ .transports = kitprog_transports,
+ .swd = &kitprog_swd,
+ .execute_queue = kitprog_execute_queue,
+ .init = kitprog_init,
+ .quit = kitprog_quit
+};
Code Review / openocd.git / commitdiff