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jtag/drivers/cmsis_dap: implement canceling of pending USB requests
[openocd.git] / src / jtag / drivers / cmsis_dap.c
1 // SPDX-License-Identifier: GPL-2.0-or-later
2
3 /***************************************************************************
4 * Copyright (C) 2021 by Adrian Negreanu *
5 * groleo@gmail.com *
6 * *
7 * Copyright (C) 2018 by Mickaël Thomas *
8 * mickael9@gmail.com *
9 * *
10 * Copyright (C) 2016 by Maksym Hilliaka *
11 * oter@frozen-team.com *
12 * *
13 * Copyright (C) 2016 by Phillip Pearson *
14 * pp@myelin.co.nz *
15 * *
16 * Copyright (C) 2014 by Paul Fertser *
17 * fercerpav@gmail.com *
18 * *
19 * Copyright (C) 2013 by mike brown *
20 * mike@theshedworks.org.uk *
21 * *
22 * Copyright (C) 2013 by Spencer Oliver *
23 * spen@spen-soft.co.uk *
24 ***************************************************************************/
25
26 #ifdef HAVE_CONFIG_H
27 #include "config.h"
28 #endif
29
30 #include <transport/transport.h>
31 #include "helper/replacements.h"
32 #include <jtag/adapter.h>
33 #include <jtag/swd.h>
34 #include <jtag/interface.h>
35 #include <jtag/commands.h>
36 #include <jtag/tcl.h>
37 #include <target/cortex_m.h>
38
39 #include "cmsis_dap.h"
40 #include "libusb_helper.h"
41
42 static const struct cmsis_dap_backend *const cmsis_dap_backends[] = {
43 #if BUILD_CMSIS_DAP_USB == 1
44 &cmsis_dap_usb_backend,
45 #endif
46
47 #if BUILD_CMSIS_DAP_HID == 1
48 &cmsis_dap_hid_backend,
49 #endif
50 };
51
52 /* USB Config */
53
54 /* Known vid/pid pairs:
55 * VID 0xc251: Keil Software
56 * PID 0xf001: LPC-Link-II CMSIS_DAP
57 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
58 * PID 0x2722: Keil ULINK2 CMSIS-DAP
59 * PID 0x2750: Keil ULINKplus CMSIS-DAP
60 *
61 * VID 0x0d28: mbed Software
62 * PID 0x0204: MBED CMSIS-DAP
63 */
64
65 #define MAX_USB_IDS 8
66 /* vid = pid = 0 marks the end of the list */
67 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
68 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
69 static int cmsis_dap_backend = -1;
70 static bool swd_mode;
71
72 /* CMSIS-DAP General Commands */
73 #define CMD_DAP_INFO 0x00
74 #define CMD_DAP_LED 0x01
75 #define CMD_DAP_CONNECT 0x02
76 #define CMD_DAP_DISCONNECT 0x03
77 #define CMD_DAP_WRITE_ABORT 0x08
78 #define CMD_DAP_DELAY 0x09
79 #define CMD_DAP_RESET_TARGET 0x0A
80
81 /* CMD_INFO */
82 #define INFO_ID_VENDOR 0x01 /* string */
83 #define INFO_ID_PRODUCT 0x02 /* string */
84 #define INFO_ID_SERNUM 0x03 /* string */
85 #define INFO_ID_FW_VER 0x04 /* string */
86 #define INFO_ID_TD_VEND 0x05 /* string */
87 #define INFO_ID_TD_NAME 0x06 /* string */
88 #define INFO_ID_CAPS 0xf0 /* byte */
89 #define INFO_ID_PKT_CNT 0xfe /* byte */
90 #define INFO_ID_PKT_SZ 0xff /* short */
91 #define INFO_ID_SWO_BUF_SZ 0xfd /* word */
92
93 #define INFO_CAPS_SWD BIT(0)
94 #define INFO_CAPS_JTAG BIT(1)
95 #define INFO_CAPS_SWO_UART BIT(2)
96 #define INFO_CAPS_SWO_MANCHESTER BIT(3)
97 #define INFO_CAPS_ATOMIC_CMDS BIT(4)
98 #define INFO_CAPS_TEST_DOMAIN_TIMER BIT(5)
99 #define INFO_CAPS_SWO_STREAMING_TRACE BIT(6)
100 #define INFO_CAPS_UART_PORT BIT(7)
101 #define INFO_CAPS_USB_COM_PORT BIT(8)
102 #define INFO_CAPS__NUM_CAPS 9
103
104 /* CMD_LED */
105 #define LED_ID_CONNECT 0x00
106 #define LED_ID_RUN 0x01
107
108 #define LED_OFF 0x00
109 #define LED_ON 0x01
110
111 /* CMD_CONNECT */
112 #define CONNECT_DEFAULT 0x00
113 #define CONNECT_SWD 0x01
114 #define CONNECT_JTAG 0x02
115
116 /* CMSIS-DAP Common SWD/JTAG Commands */
117 #define CMD_DAP_DELAY 0x09
118 #define CMD_DAP_SWJ_PINS 0x10
119 #define CMD_DAP_SWJ_CLOCK 0x11
120 #define CMD_DAP_SWJ_SEQ 0x12
121
122 /*
123 * PINS
124 * Bit 0: SWCLK/TCK
125 * Bit 1: SWDIO/TMS
126 * Bit 2: TDI
127 * Bit 3: TDO
128 * Bit 5: nTRST
129 * Bit 7: nRESET
130 */
131
132 #define SWJ_PIN_TCK (1<<0)
133 #define SWJ_PIN_TMS (1<<1)
134 #define SWJ_PIN_TDI (1<<2)
135 #define SWJ_PIN_TDO (1<<3)
136 #define SWJ_PIN_TRST (1<<5)
137 #define SWJ_PIN_SRST (1<<7)
138
139 /* CMSIS-DAP SWD Commands */
140 #define CMD_DAP_SWD_CONFIGURE 0x13
141 #define CMD_DAP_SWD_SEQUENCE 0x1D
142
143 /* CMSIS-DAP JTAG Commands */
144 #define CMD_DAP_JTAG_SEQ 0x14
145 #define CMD_DAP_JTAG_CONFIGURE 0x15
146 #define CMD_DAP_JTAG_IDCODE 0x16
147
148 /* CMSIS-DAP JTAG sequence info masks */
149 /* Number of bits to clock through (0 means 64) */
150 #define DAP_JTAG_SEQ_TCK 0x3F
151 /* TMS will be set during the sequence if this bit is set */
152 #define DAP_JTAG_SEQ_TMS 0x40
153 /* TDO output will be captured if this bit is set */
154 #define DAP_JTAG_SEQ_TDO 0x80
155
156
157 /* CMSIS-DAP Transfer Commands */
158 #define CMD_DAP_TFER_CONFIGURE 0x04
159 #define CMD_DAP_TFER 0x05
160 #define CMD_DAP_TFER_BLOCK 0x06
161 #define CMD_DAP_TFER_ABORT 0x07
162
163 /* DAP_TransferBlock increases the sum of command/response sizes
164 * (due to 16-bit Transfer Count) if used in a small packet.
165 * Prevent using it until we have at least r/w operations. */
166 #define CMD_DAP_TFER_BLOCK_MIN_OPS 4
167
168 /* DAP Status Code */
169 #define DAP_OK 0
170 #define DAP_ERROR 0xFF
171
172 /* CMSIS-DAP SWO Commands */
173 #define CMD_DAP_SWO_TRANSPORT 0x17
174 #define CMD_DAP_SWO_MODE 0x18
175 #define CMD_DAP_SWO_BAUDRATE 0x19
176 #define CMD_DAP_SWO_CONTROL 0x1A
177 #define CMD_DAP_SWO_STATUS 0x1B
178 #define CMD_DAP_SWO_DATA 0x1C
179 #define CMD_DAP_SWO_EX_STATUS 0x1E
180
181 /* SWO transport mode for reading trace data */
182 #define DAP_SWO_TRANSPORT_NONE 0
183 #define DAP_SWO_TRANSPORT_DATA 1
184 #define DAP_SWO_TRANSPORT_WINUSB 2
185
186 /* SWO trace capture mode */
187 #define DAP_SWO_MODE_OFF 0
188 #define DAP_SWO_MODE_UART 1
189 #define DAP_SWO_MODE_MANCHESTER 2
190
191 /* SWO trace data capture */
192 #define DAP_SWO_CONTROL_STOP 0
193 #define DAP_SWO_CONTROL_START 1
194
195 /* SWO trace status */
196 #define DAP_SWO_STATUS_CAPTURE_INACTIVE 0
197 #define DAP_SWO_STATUS_CAPTURE_ACTIVE 1
198 #define DAP_SWO_STATUS_CAPTURE_MASK BIT(0)
199 #define DAP_SWO_STATUS_STREAM_ERROR_MASK BIT(6)
200 #define DAP_SWO_STATUS_BUFFER_OVERRUN_MASK BIT(7)
201
202 /* CMSIS-DAP Vendor Commands
203 * None as yet... */
204
205 static const char * const info_caps_str[INFO_CAPS__NUM_CAPS] = {
206 "SWD supported",
207 "JTAG supported",
208 "SWO-UART supported",
209 "SWO-MANCHESTER supported",
210 "Atomic commands supported",
211 "Test domain timer supported",
212 "SWO streaming trace supported",
213 "UART communication port supported",
214 "UART via USB COM port supported",
215 };
216
217 struct pending_scan_result {
218 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
219 unsigned int first;
220 /** Number of bits to read. */
221 unsigned int length;
222 /** Location to store the result */
223 uint8_t *buffer;
224 /** Offset in the destination buffer */
225 unsigned int buffer_offset;
226 };
227
228 /* Read mode */
229 enum cmsis_dap_blocking {
230 CMSIS_DAP_NON_BLOCKING,
231 CMSIS_DAP_BLOCKING
232 };
233
234 /* Each block in FIFO can contain up to pending_queue_len transfers */
235 static unsigned int pending_queue_len;
236 static unsigned int tfer_max_command_size;
237 static unsigned int tfer_max_response_size;
238
239 /* pointers to buffers that will receive jtag scan results on the next flush */
240 #define MAX_PENDING_SCAN_RESULTS 256
241 static int pending_scan_result_count;
242 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
243
244 /* queued JTAG sequences that will be executed on the next flush */
245 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_usable_size - 3)
246 static int queued_seq_count;
247 static int queued_seq_buf_end;
248 static int queued_seq_tdo_ptr;
249 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
250
251 static int queued_retval;
252
253 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
254
255 static struct cmsis_dap *cmsis_dap_handle;
256
257
258 static int cmsis_dap_quit(void);
259
260 static int cmsis_dap_open(void)
261 {
262 const struct cmsis_dap_backend *backend = NULL;
263
264 struct cmsis_dap *dap = calloc(1, sizeof(struct cmsis_dap));
265 if (!dap) {
266 LOG_ERROR("unable to allocate memory");
267 return ERROR_FAIL;
268 }
269
270 if (cmsis_dap_backend >= 0) {
271 /* Use forced backend */
272 backend = cmsis_dap_backends[cmsis_dap_backend];
273 if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) != ERROR_OK)
274 backend = NULL;
275 } else {
276 /* Try all backends */
277 for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
278 backend = cmsis_dap_backends[i];
279 if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) == ERROR_OK)
280 break;
281 else
282 backend = NULL;
283 }
284 }
285
286 if (!backend) {
287 LOG_ERROR("unable to find a matching CMSIS-DAP device");
288 free(dap);
289 return ERROR_FAIL;
290 }
291
292 dap->backend = backend;
293
294 cmsis_dap_handle = dap;
295
296 return ERROR_OK;
297 }
298
299 static void cmsis_dap_close(struct cmsis_dap *dap)
300 {
301 if (dap->backend) {
302 dap->backend->close(dap);
303 dap->backend = NULL;
304 }
305
306 free(dap->packet_buffer);
307
308 for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++) {
309 free(dap->pending_fifo[i].transfers);
310 dap->pending_fifo[i].transfers = NULL;
311 }
312
313 free(cmsis_dap_handle);
314 cmsis_dap_handle = NULL;
315 }
316
317 static void cmsis_dap_flush_read(struct cmsis_dap *dap)
318 {
319 unsigned int i;
320 /* Some CMSIS-DAP adapters keep buffered packets over
321 * USB close/open so we need to flush up to 64 old packets
322 * to be sure all buffers are empty */
323 for (i = 0; i < 64; i++) {
324 int retval = dap->backend->read(dap, 10, NULL);
325 if (retval == ERROR_TIMEOUT_REACHED)
326 break;
327 }
328 if (i)
329 LOG_DEBUG("Flushed %u packets", i);
330 }
331
332 /* Send a message and receive the reply */
333 static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
334 {
335 if (dap->write_count + dap->read_count) {
336 LOG_ERROR("internal: queue not empty before xfer");
337 }
338 if (dap->pending_fifo_block_count) {
339 LOG_ERROR("pending %u blocks, flushing", dap->pending_fifo_block_count);
340 while (dap->pending_fifo_block_count) {
341 dap->backend->read(dap, 10, NULL);
342 dap->pending_fifo_block_count--;
343 }
344 dap->pending_fifo_put_idx = 0;
345 dap->pending_fifo_get_idx = 0;
346 }
347
348 uint8_t current_cmd = dap->command[0];
349 int retval = dap->backend->write(dap, txlen, LIBUSB_TIMEOUT_MS);
350 if (retval < 0)
351 return retval;
352
353 /* get reply */
354 retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS, NULL);
355 if (retval < 0)
356 return retval;
357
358 uint8_t *resp = dap->response;
359 if (resp[0] == DAP_ERROR) {
360 LOG_ERROR("CMSIS-DAP command 0x%" PRIx8 " not implemented", current_cmd);
361 return ERROR_NOT_IMPLEMENTED;
362 }
363
364 if (resp[0] != current_cmd) {
365 LOG_ERROR("CMSIS-DAP command mismatch. Sent 0x%" PRIx8
366 " received 0x%" PRIx8, current_cmd, resp[0]);
367
368 dap->backend->cancel_all(dap);
369 cmsis_dap_flush_read(dap);
370 return ERROR_FAIL;
371 }
372
373 return ERROR_OK;
374 }
375
376 static int cmsis_dap_cmd_dap_swj_pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
377 {
378 uint8_t *command = cmsis_dap_handle->command;
379
380 command[0] = CMD_DAP_SWJ_PINS;
381 command[1] = pins;
382 command[2] = mask;
383 h_u32_to_le(&command[3], delay);
384
385 int retval = cmsis_dap_xfer(cmsis_dap_handle, 7);
386 if (retval != ERROR_OK) {
387 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
388 return ERROR_JTAG_DEVICE_ERROR;
389 }
390
391 if (input)
392 *input = cmsis_dap_handle->response[1];
393
394 return ERROR_OK;
395 }
396
397 static int cmsis_dap_cmd_dap_swj_clock(uint32_t swj_clock)
398 {
399 uint8_t *command = cmsis_dap_handle->command;
400
401 /* set clock in Hz */
402 swj_clock *= 1000;
403
404 command[0] = CMD_DAP_SWJ_CLOCK;
405 h_u32_to_le(&command[1], swj_clock);
406
407 int retval = cmsis_dap_xfer(cmsis_dap_handle, 5);
408 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
409 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
410 return ERROR_JTAG_DEVICE_ERROR;
411 }
412
413 return ERROR_OK;
414 }
415
416 /* clock a sequence of bits out on TMS, to change JTAG states */
417 static int cmsis_dap_cmd_dap_swj_sequence(uint8_t s_len, const uint8_t *sequence)
418 {
419 uint8_t *command = cmsis_dap_handle->command;
420
421 #ifdef CMSIS_DAP_JTAG_DEBUG
422 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
423 for (unsigned int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
424 printf("%02X ", sequence[i]);
425
426 printf("\n");
427 #endif
428
429 command[0] = CMD_DAP_SWJ_SEQ;
430 command[1] = s_len;
431 bit_copy(&command[2], 0, sequence, 0, s_len);
432
433 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2 + DIV_ROUND_UP(s_len, 8));
434 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK)
435 return ERROR_FAIL;
436
437 return ERROR_OK;
438 }
439
440 static int cmsis_dap_cmd_dap_info(uint8_t info, uint8_t **data)
441 {
442 uint8_t *command = cmsis_dap_handle->command;
443
444 command[0] = CMD_DAP_INFO;
445 command[1] = info;
446
447 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
448 if (retval != ERROR_OK) {
449 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
450 return ERROR_JTAG_DEVICE_ERROR;
451 }
452
453 *data = &cmsis_dap_handle->response[1];
454
455 return ERROR_OK;
456 }
457
458 static int cmsis_dap_cmd_dap_led(uint8_t led, uint8_t state)
459 {
460 uint8_t *command = cmsis_dap_handle->command;
461
462 command[0] = CMD_DAP_LED;
463 command[1] = led;
464 command[2] = state;
465
466 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
467 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
468 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
469 return ERROR_JTAG_DEVICE_ERROR;
470 }
471
472 return ERROR_OK;
473 }
474
475 static int cmsis_dap_cmd_dap_connect(uint8_t mode)
476 {
477 uint8_t *command = cmsis_dap_handle->command;
478
479 command[0] = CMD_DAP_CONNECT;
480 command[1] = mode;
481
482 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
483 if (retval != ERROR_OK) {
484 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
485 return ERROR_JTAG_DEVICE_ERROR;
486 }
487
488 if (cmsis_dap_handle->response[1] != mode) {
489 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
490 return ERROR_JTAG_DEVICE_ERROR;
491 }
492
493 return ERROR_OK;
494 }
495
496 static int cmsis_dap_cmd_dap_disconnect(void)
497 {
498 uint8_t *command = cmsis_dap_handle->command;
499
500 command[0] = CMD_DAP_DISCONNECT;
501
502 int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
503 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
504 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
505 return ERROR_JTAG_DEVICE_ERROR;
506 }
507
508 return ERROR_OK;
509 }
510
511 static int cmsis_dap_cmd_dap_tfer_configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
512 {
513 uint8_t *command = cmsis_dap_handle->command;
514
515 command[0] = CMD_DAP_TFER_CONFIGURE;
516 command[1] = idle;
517 h_u16_to_le(&command[2], retry_count);
518 h_u16_to_le(&command[4], match_retry);
519
520 int retval = cmsis_dap_xfer(cmsis_dap_handle, 6);
521 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
522 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
523 return ERROR_JTAG_DEVICE_ERROR;
524 }
525
526 return ERROR_OK;
527 }
528
529 static int cmsis_dap_cmd_dap_swd_configure(uint8_t cfg)
530 {
531 uint8_t *command = cmsis_dap_handle->command;
532
533 command[0] = CMD_DAP_SWD_CONFIGURE;
534 command[1] = cfg;
535
536 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
537 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
538 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
539 return ERROR_JTAG_DEVICE_ERROR;
540 }
541
542 return ERROR_OK;
543 }
544
545 #if 0
546 static int cmsis_dap_cmd_dap_delay(uint16_t delay_us)
547 {
548 uint8_t *command = cmsis_dap_handle->command;
549
550 command[0] = CMD_DAP_DELAY;
551 h_u16_to_le(&command[1], delay_us);
552
553 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
554 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
555 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
556 return ERROR_JTAG_DEVICE_ERROR;
557 }
558
559 return ERROR_OK;
560 }
561 #endif
562
563 static int cmsis_dap_metacmd_targetsel(uint32_t instance_id)
564 {
565 uint8_t *command = cmsis_dap_handle->command;
566 const uint32_t SEQ_RD = 0x80, SEQ_WR = 0x00;
567
568 /* SWD multi-drop requires a transfer ala CMD_DAP_TFER,
569 but with no expectation of an SWD ACK response. In
570 CMSIS-DAP v1.20 and v2.00, CMD_DAP_SWD_SEQUENCE was
571 added to allow this special sequence to be generated.
572 The purpose of this operation is to select the target
573 corresponding to the instance_id that is written */
574
575 LOG_DEBUG_IO("DP write reg TARGETSEL %" PRIx32, instance_id);
576
577 size_t idx = 0;
578 command[idx++] = CMD_DAP_SWD_SEQUENCE;
579 command[idx++] = 3; /* sequence count */
580
581 /* sequence 0: packet request for TARGETSEL */
582 command[idx++] = SEQ_WR | 8;
583 command[idx++] = SWD_CMD_START | swd_cmd(false, false, DP_TARGETSEL) | SWD_CMD_STOP | SWD_CMD_PARK;
584
585 /* sequence 1: read Trn ACK Trn, no expectation for target to ACK */
586 command[idx++] = SEQ_RD | 5;
587
588 /* sequence 2: WDATA plus parity */
589 command[idx++] = SEQ_WR | (32 + 1);
590 h_u32_to_le(command + idx, instance_id);
591 idx += 4;
592 command[idx++] = parity_u32(instance_id);
593
594 int retval = cmsis_dap_xfer(cmsis_dap_handle, idx);
595 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
596 LOG_ERROR("CMSIS-DAP command SWD_Sequence failed.");
597 return ERROR_JTAG_DEVICE_ERROR;
598 }
599
600 return ERROR_OK;
601 }
602
603 /**
604 * Sets the SWO transport mode.
605 * @param[in] transport The transport mode. Can be None, SWO_Data or
606 * WinUSB (requires CMSIS-DAP v2).
607 */
608 static int cmsis_dap_cmd_dap_swo_transport(uint8_t transport)
609 {
610 uint8_t *command = cmsis_dap_handle->command;
611
612 command[0] = CMD_DAP_SWO_TRANSPORT;
613 command[1] = transport;
614
615 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
616 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
617 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Transport(%d) failed.", transport);
618 return ERROR_JTAG_DEVICE_ERROR;
619 }
620
621 return ERROR_OK;
622 }
623
624 /**
625 * Sets the SWO trace capture mode.
626 * @param[in] mode Trace capture mode. Can be UART or MANCHESTER.
627 */
628 static int cmsis_dap_cmd_dap_swo_mode(uint8_t mode)
629 {
630 uint8_t *command = cmsis_dap_handle->command;
631
632 command[0] = CMD_DAP_SWO_MODE;
633 command[1] = mode;
634
635 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
636 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
637 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Mode(%d) failed.", mode);
638 return ERROR_JTAG_DEVICE_ERROR;
639 }
640
641 return ERROR_OK;
642 }
643
644 /**
645 * Sets the baudrate for capturing SWO trace data.
646 * Can be called iteratively to determine supported baudrates.
647 * @param[in] in_baudrate Requested baudrate.
648 * @param[out] dev_baudrate Actual baudrate or 0 (baudrate not configured).
649 * When requested baudrate is not achievable the
650 * closest configured baudrate can be returned or
651 * 0 which indicates that baudrate was not configured.
652 */
653 static int cmsis_dap_cmd_dap_swo_baudrate(
654 uint32_t in_baudrate,
655 uint32_t *dev_baudrate)
656 {
657 uint8_t *command = cmsis_dap_handle->command;
658
659 command[0] = CMD_DAP_SWO_BAUDRATE;
660 h_u32_to_le(&command[1], in_baudrate);
661
662 int retval = cmsis_dap_xfer(cmsis_dap_handle, 5);
663 uint32_t rvbr = le_to_h_u32(&cmsis_dap_handle->response[1]);
664 if (retval != ERROR_OK || rvbr == 0) {
665 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Baudrate(%u) -> %u failed.", in_baudrate, rvbr);
666 if (dev_baudrate)
667 *dev_baudrate = 0;
668 return ERROR_JTAG_DEVICE_ERROR;
669 }
670
671 if (dev_baudrate)
672 *dev_baudrate = rvbr;
673
674 return ERROR_OK;
675 }
676
677 /**
678 * Controls the SWO trace data capture.
679 * @param[in] control Start or stop a trace. Starting capture automatically
680 * flushes any existing trace data in buffers which has
681 * not yet been read.
682 */
683 static int cmsis_dap_cmd_dap_swo_control(uint8_t control)
684 {
685 uint8_t *command = cmsis_dap_handle->command;
686
687 command[0] = CMD_DAP_SWO_CONTROL;
688 command[1] = control;
689
690 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
691 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
692 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Control(%d) failed.", control);
693 return ERROR_JTAG_DEVICE_ERROR;
694 }
695
696 return ERROR_OK;
697 }
698
699 /**
700 * Reads the SWO trace status.
701 * @param[out] trace_status The trace's status.
702 * Bit0: Trace Capture (1 - active, 0 - inactive).
703 * Bit6: Trace Stream Error.
704 * Bit7: Trace Buffer Overrun.
705 * @param[out] trace_count Number of bytes in Trace Buffer (not yet read).
706 */
707 static int cmsis_dap_cmd_dap_swo_status(
708 uint8_t *trace_status,
709 size_t *trace_count)
710 {
711 uint8_t *command = cmsis_dap_handle->command;
712
713 command[0] = CMD_DAP_SWO_STATUS;
714
715 int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
716 if (retval != ERROR_OK) {
717 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Status failed.");
718 return ERROR_JTAG_DEVICE_ERROR;
719 }
720
721 if (trace_status)
722 *trace_status = cmsis_dap_handle->response[1];
723 if (trace_count)
724 *trace_count = le_to_h_u32(&cmsis_dap_handle->response[2]);
725
726 return ERROR_OK;
727 }
728
729 /**
730 * Reads the captured SWO trace data from Trace Buffer.
731 * @param[in] max_trace_count Maximum number of Trace Data bytes to read.
732 * @param[out] trace_status The trace's status.
733 * @param[out] trace_count Number of Trace Data bytes read.
734 * @param[out] data Trace Data bytes read.
735 */
736 static int cmsis_dap_cmd_dap_swo_data(
737 size_t max_trace_count,
738 uint8_t *trace_status,
739 size_t *trace_count,
740 uint8_t *data)
741 {
742 uint8_t *command = cmsis_dap_handle->command;
743
744 command[0] = CMD_DAP_SWO_DATA;
745 h_u16_to_le(&command[1], max_trace_count);
746
747 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
748 if (retval != ERROR_OK) {
749 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Data failed.");
750 return ERROR_JTAG_DEVICE_ERROR;
751 }
752
753 *trace_status = cmsis_dap_handle->response[1];
754 *trace_count = le_to_h_u16(&cmsis_dap_handle->response[2]);
755
756 if (*trace_count > 0)
757 memcpy(data, &cmsis_dap_handle->response[4], *trace_count);
758
759 return ERROR_OK;
760 }
761
762 static void cmsis_dap_swd_discard_all_pending(struct cmsis_dap *dap)
763 {
764 for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++)
765 dap->pending_fifo[i].transfer_count = 0;
766
767 dap->pending_fifo_put_idx = 0;
768 dap->pending_fifo_get_idx = 0;
769 dap->pending_fifo_block_count = 0;
770 }
771
772 static void cmsis_dap_swd_cancel_transfers(struct cmsis_dap *dap)
773 {
774 dap->backend->cancel_all(dap);
775 cmsis_dap_flush_read(dap);
776 cmsis_dap_swd_discard_all_pending(dap);
777 }
778
779 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
780 {
781 uint8_t *command = dap->command;
782 struct pending_request_block *block = &dap->pending_fifo[dap->pending_fifo_put_idx];
783
784 assert(dap->write_count + dap->read_count == block->transfer_count);
785
786 /* Reset packet size check counters for the next packet */
787 dap->write_count = 0;
788 dap->read_count = 0;
789
790 LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %u%s",
791 block->transfer_count, dap->pending_fifo_put_idx,
792 cmsis_dap_handle->swd_cmds_differ ? "" : ", same swd ops");
793
794 if (queued_retval != ERROR_OK) {
795 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
796 goto skip;
797 }
798
799 if (block->transfer_count == 0) {
800 LOG_ERROR("internal: write an empty queue?!");
801 goto skip;
802 }
803
804 bool block_cmd = !cmsis_dap_handle->swd_cmds_differ
805 && block->transfer_count >= CMD_DAP_TFER_BLOCK_MIN_OPS;
806 block->command = block_cmd ? CMD_DAP_TFER_BLOCK : CMD_DAP_TFER;
807
808 command[0] = block->command;
809 command[1] = 0x00; /* DAP Index */
810
811 unsigned int idx;
812 if (block_cmd) {
813 h_u16_to_le(&command[2], block->transfer_count);
814 idx = 4; /* The first transfer will store the common DAP register */
815 } else {
816 command[2] = block->transfer_count;
817 idx = 3;
818 }
819
820 for (unsigned int i = 0; i < block->transfer_count; i++) {
821 struct pending_transfer_result *transfer = &(block->transfers[i]);
822 uint8_t cmd = transfer->cmd;
823 uint32_t data = transfer->data;
824
825 LOG_DEBUG_IO("%s %s reg %x %" PRIx32,
826 cmd & SWD_CMD_APNDP ? "AP" : "DP",
827 cmd & SWD_CMD_RNW ? "read" : "write",
828 (cmd & SWD_CMD_A32) >> 1, data);
829
830 /* When proper WAIT handling is implemented in the
831 * common SWD framework, this kludge can be
832 * removed. However, this might lead to minor
833 * performance degradation as the adapter wouldn't be
834 * able to automatically retry anything (because ARM
835 * has forgotten to implement sticky error flags
836 * clearing). See also comments regarding
837 * cmsis_dap_cmd_dap_tfer_configure() and
838 * cmsis_dap_cmd_dap_swd_configure() in
839 * cmsis_dap_init().
840 */
841 if (!(cmd & SWD_CMD_RNW) &&
842 !(cmd & SWD_CMD_APNDP) &&
843 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
844 (data & CORUNDETECT)) {
845 LOG_DEBUG("refusing to enable sticky overrun detection");
846 data &= ~CORUNDETECT;
847 }
848
849 if (!block_cmd || i == 0)
850 command[idx++] = (cmd >> 1) & 0x0f;
851
852 if (!(cmd & SWD_CMD_RNW)) {
853 h_u32_to_le(&command[idx], data);
854 idx += 4;
855 }
856 }
857
858 int retval = dap->backend->write(dap, idx, LIBUSB_TIMEOUT_MS);
859 if (retval < 0) {
860 queued_retval = retval;
861 goto skip;
862 }
863
864 dap->pending_fifo_put_idx = (dap->pending_fifo_put_idx + 1) % dap->packet_count;
865 dap->pending_fifo_block_count++;
866 if (dap->pending_fifo_block_count > dap->packet_count)
867 LOG_ERROR("internal: too much pending writes %u", dap->pending_fifo_block_count);
868
869 return;
870
871 skip:
872 block->transfer_count = 0;
873 }
874
875 static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, enum cmsis_dap_blocking blocking)
876 {
877 int retval;
878 struct pending_request_block *block = &dap->pending_fifo[dap->pending_fifo_get_idx];
879
880 if (dap->pending_fifo_block_count == 0) {
881 LOG_ERROR("internal: no pending write when reading?!");
882 return;
883 }
884
885 if (queued_retval != ERROR_OK) {
886 /* keep reading blocks until the pipeline is empty */
887 retval = dap->backend->read(dap, 10, NULL);
888 if (retval == ERROR_TIMEOUT_REACHED || retval == 0) {
889 /* timeout means that we flushed the pipeline,
890 * we can safely discard remaining pending requests */
891 cmsis_dap_swd_discard_all_pending(dap);
892 return;
893 }
894 goto skip;
895 }
896
897 /* get reply */
898 struct timeval tv = {
899 .tv_sec = 0,
900 .tv_usec = 0
901 };
902 retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS, blocking ? NULL : &tv);
903 bool timeout = (retval == ERROR_TIMEOUT_REACHED || retval == 0);
904 if (timeout && blocking == CMSIS_DAP_NON_BLOCKING)
905 return;
906
907 if (retval <= 0) {
908 LOG_DEBUG("error reading adapter response");
909 queued_retval = ERROR_FAIL;
910 if (timeout) {
911 /* timeout means that we flushed the pipeline,
912 * we can safely discard remaining pending requests */
913 cmsis_dap_swd_discard_all_pending(dap);
914 return;
915 }
916 goto skip;
917 }
918
919 uint8_t *resp = dap->response;
920 if (resp[0] != block->command) {
921 LOG_ERROR("CMSIS-DAP command mismatch. Expected 0x%x received 0x%" PRIx8,
922 block->command, resp[0]);
923 cmsis_dap_swd_cancel_transfers(dap);
924 queued_retval = ERROR_FAIL;
925 return;
926 }
927
928 unsigned int transfer_count;
929 unsigned int idx;
930 if (block->command == CMD_DAP_TFER_BLOCK) {
931 transfer_count = le_to_h_u16(&resp[1]);
932 idx = 3;
933 } else {
934 transfer_count = resp[1];
935 idx = 2;
936 }
937 if (resp[idx] & 0x08) {
938 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", transfer_count);
939 queued_retval = ERROR_FAIL;
940 goto skip;
941 }
942 uint8_t ack = resp[idx++] & 0x07;
943 if (ack != SWD_ACK_OK) {
944 LOG_DEBUG("SWD ack not OK @ %d %s", transfer_count,
945 ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
946 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
947 /* TODO: use results of transfers completed before the error occurred? */
948 goto skip;
949 }
950
951 if (block->transfer_count != transfer_count) {
952 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
953 block->transfer_count, transfer_count);
954 cmsis_dap_swd_cancel_transfers(dap);
955 queued_retval = ERROR_FAIL;
956 return;
957 }
958
959 LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %u, %s mode",
960 transfer_count, dap->pending_fifo_get_idx,
961 blocking ? "blocking" : "nonblocking");
962
963 for (unsigned int i = 0; i < transfer_count; i++) {
964 struct pending_transfer_result *transfer = &(block->transfers[i]);
965 if (transfer->cmd & SWD_CMD_RNW) {
966 static uint32_t last_read;
967 uint32_t data = le_to_h_u32(&resp[idx]);
968 uint32_t tmp = data;
969 idx += 4;
970
971 LOG_DEBUG_IO("Read result: %" PRIx32, data);
972
973 /* Imitate posted AP reads */
974 if ((transfer->cmd & SWD_CMD_APNDP) ||
975 ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
976 tmp = last_read;
977 last_read = data;
978 }
979
980 if (transfer->buffer)
981 *(uint32_t *)(transfer->buffer) = tmp;
982 }
983 }
984
985 skip:
986 block->transfer_count = 0;
987 dap->pending_fifo_get_idx = (dap->pending_fifo_get_idx + 1) % dap->packet_count;
988 dap->pending_fifo_block_count--;
989 }
990
991 static int cmsis_dap_swd_run_queue(void)
992 {
993 if (cmsis_dap_handle->write_count + cmsis_dap_handle->read_count) {
994 if (cmsis_dap_handle->pending_fifo_block_count)
995 cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_NON_BLOCKING);
996
997 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
998 }
999
1000 while (cmsis_dap_handle->pending_fifo_block_count)
1001 cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_BLOCKING);
1002
1003 cmsis_dap_handle->pending_fifo_put_idx = 0;
1004 cmsis_dap_handle->pending_fifo_get_idx = 0;
1005
1006 int retval = queued_retval;
1007 queued_retval = ERROR_OK;
1008
1009 return retval;
1010 }
1011
1012 static unsigned int cmsis_dap_tfer_cmd_size(unsigned int write_count,
1013 unsigned int read_count, bool block_tfer)
1014 {
1015 unsigned int size;
1016 if (block_tfer) {
1017 size = 5; /* DAP_TransferBlock header */
1018 size += write_count * 4; /* data */
1019 } else {
1020 size = 3; /* DAP_Transfer header */
1021 size += write_count * (1 + 4); /* DAP register + data */
1022 size += read_count; /* DAP register */
1023 }
1024 return size;
1025 }
1026
1027 static unsigned int cmsis_dap_tfer_resp_size(unsigned int write_count,
1028 unsigned int read_count, bool block_tfer)
1029 {
1030 unsigned int size;
1031 if (block_tfer)
1032 size = 4; /* DAP_TransferBlock response header */
1033 else
1034 size = 3; /* DAP_Transfer response header */
1035
1036 size += read_count * 4; /* data */
1037 return size;
1038 }
1039
1040 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
1041 {
1042 /* TARGETSEL register write cannot be queued */
1043 if (swd_cmd(false, false, DP_TARGETSEL) == cmd) {
1044 queued_retval = cmsis_dap_swd_run_queue();
1045
1046 cmsis_dap_metacmd_targetsel(data);
1047 return;
1048 }
1049
1050 /* Compute sizes of the DAP Transfer command and the expected response
1051 * for all queued and this operation */
1052 unsigned int write_count = cmsis_dap_handle->write_count;
1053 unsigned int read_count = cmsis_dap_handle->read_count;
1054 bool block_cmd;
1055 if (write_count + read_count < CMD_DAP_TFER_BLOCK_MIN_OPS)
1056 block_cmd = false;
1057 else
1058 block_cmd = !cmsis_dap_handle->swd_cmds_differ
1059 && cmd == cmsis_dap_handle->common_swd_cmd;
1060
1061 if (cmd & SWD_CMD_RNW)
1062 read_count++;
1063 else
1064 write_count++;
1065
1066 unsigned int cmd_size = cmsis_dap_tfer_cmd_size(write_count, read_count,
1067 block_cmd);
1068 unsigned int resp_size = cmsis_dap_tfer_resp_size(write_count, read_count,
1069 block_cmd);
1070 unsigned int max_transfer_count = block_cmd ? 65535 : 255;
1071
1072 /* Does the DAP Transfer command and also its expected response fit into one packet? */
1073 if (cmd_size > tfer_max_command_size
1074 || resp_size > tfer_max_response_size
1075 || write_count + read_count > max_transfer_count) {
1076 if (cmsis_dap_handle->pending_fifo_block_count)
1077 cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_NON_BLOCKING);
1078
1079 /* Not enough room in the queue. Run the queue. */
1080 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
1081
1082 if (cmsis_dap_handle->pending_fifo_block_count >= cmsis_dap_handle->packet_count)
1083 cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_BLOCKING);
1084 }
1085
1086 assert(cmsis_dap_handle->pending_fifo[cmsis_dap_handle->pending_fifo_put_idx].transfer_count < pending_queue_len);
1087
1088 if (queued_retval != ERROR_OK)
1089 return;
1090
1091 struct pending_request_block *block = &cmsis_dap_handle->pending_fifo[cmsis_dap_handle->pending_fifo_put_idx];
1092 struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
1093 transfer->data = data;
1094 transfer->cmd = cmd;
1095 if (block->transfer_count == 0) {
1096 cmsis_dap_handle->swd_cmds_differ = false;
1097 cmsis_dap_handle->common_swd_cmd = cmd;
1098 } else if (cmd != cmsis_dap_handle->common_swd_cmd) {
1099 cmsis_dap_handle->swd_cmds_differ = true;
1100 }
1101
1102 if (cmd & SWD_CMD_RNW) {
1103 /* Queue a read transaction */
1104 transfer->buffer = dst;
1105 cmsis_dap_handle->read_count++;
1106 } else {
1107 cmsis_dap_handle->write_count++;
1108 }
1109 block->transfer_count++;
1110 }
1111
1112 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
1113 {
1114 assert(!(cmd & SWD_CMD_RNW));
1115 cmsis_dap_swd_queue_cmd(cmd, NULL, value);
1116 }
1117
1118 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
1119 {
1120 assert(cmd & SWD_CMD_RNW);
1121 cmsis_dap_swd_queue_cmd(cmd, value, 0);
1122 }
1123
1124 static int cmsis_dap_get_serial_info(void)
1125 {
1126 uint8_t *data;
1127
1128 int retval = cmsis_dap_cmd_dap_info(INFO_ID_SERNUM, &data);
1129 if (retval != ERROR_OK)
1130 return retval;
1131
1132 if (data[0]) /* strlen */
1133 LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
1134
1135 return ERROR_OK;
1136 }
1137
1138 static int cmsis_dap_get_version_info(void)
1139 {
1140 uint8_t *data;
1141
1142 /* INFO_ID_FW_VER - string */
1143 int retval = cmsis_dap_cmd_dap_info(INFO_ID_FW_VER, &data);
1144 if (retval != ERROR_OK)
1145 return retval;
1146
1147 if (data[0]) /* strlen */
1148 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
1149
1150 return ERROR_OK;
1151 }
1152
1153 static int cmsis_dap_get_caps_info(void)
1154 {
1155 uint8_t *data;
1156
1157 /* INFO_ID_CAPS - byte */
1158 int retval = cmsis_dap_cmd_dap_info(INFO_ID_CAPS, &data);
1159 if (retval != ERROR_OK)
1160 return retval;
1161
1162 if (data[0] == 1 || data[0] == 2) {
1163 uint16_t caps = data[1];
1164 if (data[0] == 2)
1165 caps |= (uint16_t)data[2] << 8;
1166
1167 cmsis_dap_handle->caps = caps;
1168
1169 for (unsigned int i = 0; i < INFO_CAPS__NUM_CAPS; ++i) {
1170 if (caps & BIT(i))
1171 LOG_INFO("CMSIS-DAP: %s", info_caps_str[i]);
1172 }
1173 }
1174
1175 return ERROR_OK;
1176 }
1177
1178 static int cmsis_dap_get_swo_buf_sz(uint32_t *swo_buf_sz)
1179 {
1180 uint8_t *data;
1181
1182 /* INFO_ID_SWO_BUF_SZ - word */
1183 int retval = cmsis_dap_cmd_dap_info(INFO_ID_SWO_BUF_SZ, &data);
1184 if (retval != ERROR_OK)
1185 return retval;
1186
1187 if (data[0] != 4)
1188 return ERROR_FAIL;
1189
1190 *swo_buf_sz = le_to_h_u32(&data[1]);
1191
1192 LOG_INFO("CMSIS-DAP: SWO Trace Buffer Size = %u bytes", *swo_buf_sz);
1193
1194 return ERROR_OK;
1195 }
1196
1197 static int cmsis_dap_get_status(void)
1198 {
1199 uint8_t d;
1200
1201 int retval = cmsis_dap_cmd_dap_swj_pins(0, 0, 0, &d);
1202
1203 if (retval == ERROR_OK) {
1204 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
1205 (d & SWJ_PIN_TCK) ? 1 : 0,
1206 (d & SWJ_PIN_TMS) ? 1 : 0,
1207 (d & SWJ_PIN_TDI) ? 1 : 0,
1208 (d & SWJ_PIN_TDO) ? 1 : 0,
1209 (d & SWJ_PIN_TRST) ? 1 : 0,
1210 (d & SWJ_PIN_SRST) ? 1 : 0);
1211 }
1212
1213 return retval;
1214 }
1215
1216 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
1217 {
1218 const uint8_t *s;
1219 unsigned int s_len;
1220 int retval;
1221
1222 if (swd_mode)
1223 queued_retval = cmsis_dap_swd_run_queue();
1224
1225 if (seq != LINE_RESET &&
1226 (output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST))
1227 == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
1228 /* Following workaround deasserts reset on most adapters.
1229 * Do not reconnect if a reset line is active!
1230 * Reconnecting would break connecting under reset. */
1231
1232 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
1233 cmsis_dap_cmd_dap_disconnect();
1234
1235 /* When we are reconnecting, DAP_Connect needs to be rerun, at
1236 * least on Keil ULINK-ME */
1237 retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1238 if (retval != ERROR_OK)
1239 return retval;
1240 }
1241
1242 switch (seq) {
1243 case LINE_RESET:
1244 LOG_DEBUG_IO("SWD line reset");
1245 s = swd_seq_line_reset;
1246 s_len = swd_seq_line_reset_len;
1247 break;
1248 case JTAG_TO_SWD:
1249 LOG_DEBUG("JTAG-to-SWD");
1250 s = swd_seq_jtag_to_swd;
1251 s_len = swd_seq_jtag_to_swd_len;
1252 break;
1253 case JTAG_TO_DORMANT:
1254 LOG_DEBUG("JTAG-to-DORMANT");
1255 s = swd_seq_jtag_to_dormant;
1256 s_len = swd_seq_jtag_to_dormant_len;
1257 break;
1258 case SWD_TO_JTAG:
1259 LOG_DEBUG("SWD-to-JTAG");
1260 s = swd_seq_swd_to_jtag;
1261 s_len = swd_seq_swd_to_jtag_len;
1262 break;
1263 case SWD_TO_DORMANT:
1264 LOG_DEBUG("SWD-to-DORMANT");
1265 s = swd_seq_swd_to_dormant;
1266 s_len = swd_seq_swd_to_dormant_len;
1267 break;
1268 case DORMANT_TO_SWD:
1269 LOG_DEBUG("DORMANT-to-SWD");
1270 s = swd_seq_dormant_to_swd;
1271 s_len = swd_seq_dormant_to_swd_len;
1272 break;
1273 case DORMANT_TO_JTAG:
1274 LOG_DEBUG("DORMANT-to-JTAG");
1275 s = swd_seq_dormant_to_jtag;
1276 s_len = swd_seq_dormant_to_jtag_len;
1277 break;
1278 default:
1279 LOG_ERROR("Sequence %d not supported", seq);
1280 return ERROR_FAIL;
1281 }
1282
1283 retval = cmsis_dap_cmd_dap_swj_sequence(s_len, s);
1284 if (retval != ERROR_OK)
1285 return retval;
1286
1287 /* Atmel EDBG needs renew clock setting after SWJ_Sequence
1288 * otherwise default frequency is used */
1289 return cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1290 }
1291
1292 static int cmsis_dap_swd_open(void)
1293 {
1294 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
1295 LOG_ERROR("CMSIS-DAP: SWD not supported");
1296 return ERROR_JTAG_DEVICE_ERROR;
1297 }
1298
1299 int retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1300 if (retval != ERROR_OK)
1301 return retval;
1302
1303 /* Add more setup here.??... */
1304
1305 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
1306 return ERROR_OK;
1307 }
1308
1309 static int cmsis_dap_init(void)
1310 {
1311 uint8_t *data;
1312
1313 int retval = cmsis_dap_open();
1314 if (retval != ERROR_OK)
1315 return retval;
1316
1317 cmsis_dap_flush_read(cmsis_dap_handle);
1318
1319 retval = cmsis_dap_get_caps_info();
1320 if (retval != ERROR_OK)
1321 return retval;
1322
1323 retval = cmsis_dap_get_version_info();
1324 if (retval != ERROR_OK)
1325 return retval;
1326
1327 retval = cmsis_dap_get_serial_info();
1328 if (retval != ERROR_OK)
1329 return retval;
1330
1331 if (swd_mode) {
1332 retval = cmsis_dap_swd_open();
1333 if (retval != ERROR_OK)
1334 return retval;
1335 } else {
1336 /* Connect in JTAG mode */
1337 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
1338 LOG_ERROR("CMSIS-DAP: JTAG not supported");
1339 return ERROR_JTAG_DEVICE_ERROR;
1340 }
1341
1342 retval = cmsis_dap_cmd_dap_connect(CONNECT_JTAG);
1343 if (retval != ERROR_OK)
1344 return retval;
1345
1346 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
1347 }
1348
1349 /* Be conservative and suppress submitting multiple HID requests
1350 * until we get packet count info from the adaptor */
1351 cmsis_dap_handle->packet_count = 1;
1352
1353 /* INFO_ID_PKT_SZ - short */
1354 retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_SZ, &data);
1355 if (retval != ERROR_OK)
1356 goto init_err;
1357
1358 if (data[0] == 2) { /* short */
1359 uint16_t pkt_sz = data[1] + (data[2] << 8);
1360 if (pkt_sz != cmsis_dap_handle->packet_size) {
1361 cmsis_dap_handle->backend->packet_buffer_free(cmsis_dap_handle);
1362 retval = cmsis_dap_handle->backend->packet_buffer_alloc(cmsis_dap_handle, pkt_sz);
1363 if (retval != ERROR_OK)
1364 goto init_err;
1365
1366 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRIu16, pkt_sz);
1367 }
1368 }
1369
1370 /* Maximal number of transfers which fit to one packet:
1371 * Limited by response size: 3 bytes of response header + 4 per read
1372 * Plus writes to full command size: 3 bytes cmd header + 1 per read + 5 per write */
1373 tfer_max_command_size = cmsis_dap_handle->packet_usable_size;
1374 tfer_max_response_size = cmsis_dap_handle->packet_usable_size;
1375 unsigned int max_reads = tfer_max_response_size / 4;
1376 pending_queue_len = max_reads + (tfer_max_command_size - max_reads) / 5;
1377 cmsis_dap_handle->write_count = 0;
1378 cmsis_dap_handle->read_count = 0;
1379
1380 /* INFO_ID_PKT_CNT - byte */
1381 retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_CNT, &data);
1382 if (retval != ERROR_OK)
1383 goto init_err;
1384
1385 if (data[0] == 1) { /* byte */
1386 unsigned int pkt_cnt = data[1];
1387 if (pkt_cnt > 1)
1388 cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
1389
1390 LOG_DEBUG("CMSIS-DAP: Packet Count = %u", pkt_cnt);
1391 }
1392
1393 LOG_DEBUG("Allocating FIFO for %u pending packets", cmsis_dap_handle->packet_count);
1394 for (unsigned int i = 0; i < cmsis_dap_handle->packet_count; i++) {
1395 cmsis_dap_handle->pending_fifo[i].transfers = malloc(pending_queue_len
1396 * sizeof(struct pending_transfer_result));
1397 if (!cmsis_dap_handle->pending_fifo[i].transfers) {
1398 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
1399 retval = ERROR_FAIL;
1400 goto init_err;
1401 }
1402 }
1403
1404 /* Intentionally not checked for error, just logs an info message
1405 * not vital for further debugging */
1406 (void)cmsis_dap_get_status();
1407
1408 /* Now try to connect to the target
1409 * TODO: This is all SWD only @ present */
1410 retval = cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1411 if (retval != ERROR_OK)
1412 goto init_err;
1413
1414 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
1415 * up to 64 times. This must be changed to 0 if sticky
1416 * overrun detection is enabled. */
1417 retval = cmsis_dap_cmd_dap_tfer_configure(0, 64, 0);
1418 if (retval != ERROR_OK)
1419 goto init_err;
1420
1421 if (swd_mode) {
1422 /* Data Phase (bit 2) must be set to 1 if sticky overrun
1423 * detection is enabled */
1424 retval = cmsis_dap_cmd_dap_swd_configure(0); /* 1 TRN, no Data Phase */
1425 if (retval != ERROR_OK)
1426 goto init_err;
1427 }
1428 /* Both LEDs on */
1429 /* Intentionally not checked for error, debugging will work
1430 * without LEDs */
1431 (void)cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_ON);
1432 (void)cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_ON);
1433
1434 /* support connecting with srst asserted */
1435 enum reset_types jtag_reset_config = jtag_get_reset_config();
1436
1437 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
1438 if (jtag_reset_config & RESET_SRST_NO_GATING) {
1439 retval = cmsis_dap_cmd_dap_swj_pins(0, SWJ_PIN_SRST, 0, NULL);
1440 if (retval != ERROR_OK)
1441 goto init_err;
1442 LOG_INFO("Connecting under reset");
1443 }
1444 }
1445 LOG_INFO("CMSIS-DAP: Interface ready");
1446 return ERROR_OK;
1447
1448 init_err:
1449 cmsis_dap_quit();
1450 return retval;
1451 }
1452
1453 static int cmsis_dap_swd_init(void)
1454 {
1455 swd_mode = true;
1456 return ERROR_OK;
1457 }
1458
1459 static int cmsis_dap_quit(void)
1460 {
1461 cmsis_dap_cmd_dap_disconnect();
1462
1463 /* Both LEDs off */
1464 cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_OFF);
1465 cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_OFF);
1466
1467 cmsis_dap_close(cmsis_dap_handle);
1468
1469 return ERROR_OK;
1470 }
1471
1472 static int cmsis_dap_reset(int trst, int srst)
1473 {
1474 /* Set both TRST and SRST even if they're not enabled as
1475 * there's no way to tristate them */
1476
1477 output_pins = 0;
1478 if (!srst)
1479 output_pins |= SWJ_PIN_SRST;
1480 if (!trst)
1481 output_pins |= SWJ_PIN_TRST;
1482
1483 int retval = cmsis_dap_cmd_dap_swj_pins(output_pins,
1484 SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1485 if (retval != ERROR_OK)
1486 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1487 return retval;
1488 }
1489
1490 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1491 {
1492 #if 0
1493 int retval = cmsis_dap_cmd_dap_delay(cmd->cmd.sleep->us);
1494 if (retval != ERROR_OK)
1495 #endif
1496 jtag_sleep(cmd->cmd.sleep->us);
1497 }
1498
1499 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1500 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1501 {
1502 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1503 uint8_t seq = 0xff;
1504
1505 int retval = cmsis_dap_cmd_dap_swj_sequence(8, &seq);
1506 if (retval == ERROR_OK)
1507 tap_set_state(TAP_RESET);
1508 return retval;
1509 }
1510
1511 /* Set new end state */
1512 static void cmsis_dap_end_state(tap_state_t state)
1513 {
1514 if (tap_is_state_stable(state))
1515 tap_set_end_state(state);
1516 else {
1517 LOG_ERROR("BUG: %i is not a valid end state", state);
1518 exit(-1);
1519 }
1520 }
1521
1522 #ifdef SPRINT_BINARY
1523 static void sprint_binary(char *s, const uint8_t *buf, unsigned int offset, unsigned int len)
1524 {
1525 if (!len)
1526 return;
1527
1528 /*
1529 buf = { 0x18 } len=5 should result in: 11000
1530 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1531 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1532 i=3 there means i/8 = 0 so c = 0xFF, and
1533 */
1534 for (unsigned int i = offset; i < offset + len; ++i) {
1535 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1536 if ((i != offset) && !(i % 8))
1537 putchar(' ');
1538 *s++ = (c & mask) ? '1' : '0';
1539 }
1540 *s = 0;
1541 }
1542 #endif
1543
1544 #ifdef CMSIS_DAP_JTAG_DEBUG
1545 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1546 {
1547 /* cmd is a usb packet to go to the cmsis-dap interface */
1548 printf("cmsis-dap buffer (%d b): ", cmdlen);
1549 for (int i = 0; i < cmdlen; ++i)
1550 printf(" %02x", cmd[i]);
1551 printf("\n");
1552 switch (cmd[0]) {
1553 case CMD_DAP_JTAG_SEQ: {
1554 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[0], cmd[1]);
1555 /*
1556 * #1 = number of sequences
1557 * #2 = sequence info 1
1558 * #3...4+n_bytes-1 = sequence 1
1559 * #4+n_bytes = sequence info 2
1560 * #5+n_bytes = sequence 2 (single bit)
1561 */
1562 int pos = 2;
1563 for (int seq = 0; seq < cmd[1]; ++seq) {
1564 uint8_t info = cmd[pos++];
1565 int len = info & DAP_JTAG_SEQ_TCK;
1566 if (len == 0)
1567 len = 64;
1568 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1569 seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1570 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1571 printf(" %02x", cmd[pos+i]);
1572 pos += DIV_ROUND_UP(len, 8);
1573 printf("\n");
1574 }
1575 if (pos != cmdlen) {
1576 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1577 exit(-1);
1578 }
1579
1580 break;
1581 }
1582 default:
1583 LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1584 break;
1585 }
1586 }
1587 #endif
1588
1589 static void cmsis_dap_flush(void)
1590 {
1591 if (!queued_seq_count)
1592 return;
1593
1594 LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1595 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1596
1597 /* prepare CMSIS-DAP packet */
1598 uint8_t *command = cmsis_dap_handle->command;
1599 command[0] = CMD_DAP_JTAG_SEQ;
1600 command[1] = queued_seq_count;
1601 memcpy(&command[2], queued_seq_buf, queued_seq_buf_end);
1602
1603 #ifdef CMSIS_DAP_JTAG_DEBUG
1604 debug_parse_cmsis_buf(command, queued_seq_buf_end + 2);
1605 #endif
1606
1607 /* send command to USB device */
1608 int retval = cmsis_dap_xfer(cmsis_dap_handle, queued_seq_buf_end + 2);
1609
1610 uint8_t *resp = cmsis_dap_handle->response;
1611 if (retval != ERROR_OK || resp[1] != DAP_OK) {
1612 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1613 exit(-1);
1614 }
1615
1616 #ifdef CMSIS_DAP_JTAG_DEBUG
1617 LOG_DEBUG_IO("USB response buf:");
1618 for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1619 printf("%02X ", resp[c]);
1620 printf("\n");
1621 #endif
1622
1623 /* copy scan results into client buffers */
1624 for (int i = 0; i < pending_scan_result_count; ++i) {
1625 struct pending_scan_result *scan = &pending_scan_results[i];
1626 LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1627 i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1628 #ifdef CMSIS_DAP_JTAG_DEBUG
1629 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1630 printf("%02X ", resp[2+scan->first+b]);
1631 printf("\n");
1632 #endif
1633 bit_copy(scan->buffer, scan->buffer_offset, &resp[2 + scan->first], 0, scan->length);
1634 }
1635
1636 /* reset */
1637 queued_seq_count = 0;
1638 queued_seq_buf_end = 0;
1639 queued_seq_tdo_ptr = 0;
1640 pending_scan_result_count = 0;
1641 }
1642
1643 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1644 *
1645 * sequence=NULL means clock out zeros on TDI
1646 * tdo_buffer=NULL means don't capture TDO
1647 */
1648 static void cmsis_dap_add_jtag_sequence(unsigned int s_len, const uint8_t *sequence,
1649 unsigned int s_offset, bool tms,
1650 uint8_t *tdo_buffer, unsigned int tdo_buffer_offset)
1651 {
1652 LOG_DEBUG_IO("[at %d] %u bits, tms %s, seq offset %u, tdo buf %p, tdo offset %u",
1653 queued_seq_buf_end,
1654 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1655
1656 if (s_len == 0)
1657 return;
1658
1659 if (s_len > 64) {
1660 LOG_DEBUG_IO("START JTAG SEQ SPLIT");
1661 for (unsigned int offset = 0; offset < s_len; offset += 64) {
1662 unsigned int len = s_len - offset;
1663 if (len > 64)
1664 len = 64;
1665 LOG_DEBUG_IO("Splitting long jtag sequence: %u-bit chunk starting at offset %u", len, offset);
1666 cmsis_dap_add_jtag_sequence(
1667 len,
1668 sequence,
1669 s_offset + offset,
1670 tms,
1671 tdo_buffer,
1672 !tdo_buffer ? 0 : (tdo_buffer_offset + offset)
1673 );
1674 }
1675 LOG_DEBUG_IO("END JTAG SEQ SPLIT");
1676 return;
1677 }
1678
1679 unsigned int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1680 if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1681 /* empty out the buffer */
1682 cmsis_dap_flush();
1683
1684 ++queued_seq_count;
1685
1686 /* control byte */
1687 queued_seq_buf[queued_seq_buf_end] =
1688 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1689 (tdo_buffer ? DAP_JTAG_SEQ_TDO : 0) |
1690 (s_len == 64 ? 0 : s_len);
1691
1692 if (sequence)
1693 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1694 else
1695 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1696
1697 queued_seq_buf_end += cmd_len;
1698
1699 if (tdo_buffer) {
1700 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1701 scan->first = queued_seq_tdo_ptr;
1702 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1703 scan->length = s_len;
1704 scan->buffer = tdo_buffer;
1705 scan->buffer_offset = tdo_buffer_offset;
1706 }
1707 }
1708
1709 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1710 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1711 {
1712 LOG_DEBUG_IO("%d bits: %02X", s_len, *sequence);
1713 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1714 because even though it seems ridiculously inefficient, it
1715 allows us to combine TMS and scan sequences into the same
1716 USB packet. */
1717 /* TODO: combine runs of the same tms value */
1718 for (int i = 0; i < s_len; ++i) {
1719 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1720 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1721 }
1722 }
1723
1724 /* Move to the end state by queuing a sequence to clock into TMS */
1725 static void cmsis_dap_state_move(void)
1726 {
1727 uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1728 uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1729
1730 LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms",
1731 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1732 tms_scan_bits, tms_scan);
1733 cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1734
1735 tap_set_state(tap_get_end_state());
1736 }
1737
1738
1739 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1740 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1741 {
1742 LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1743 jtag_scan_type(cmd->cmd.scan));
1744
1745 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1746 while (cmd->cmd.scan->num_fields > 0
1747 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1748 cmd->cmd.scan->num_fields--;
1749 LOG_DEBUG("discarding trailing empty field");
1750 }
1751
1752 if (cmd->cmd.scan->num_fields == 0) {
1753 LOG_DEBUG("empty scan, doing nothing");
1754 return;
1755 }
1756
1757 if (cmd->cmd.scan->ir_scan) {
1758 if (tap_get_state() != TAP_IRSHIFT) {
1759 cmsis_dap_end_state(TAP_IRSHIFT);
1760 cmsis_dap_state_move();
1761 }
1762 } else {
1763 if (tap_get_state() != TAP_DRSHIFT) {
1764 cmsis_dap_end_state(TAP_DRSHIFT);
1765 cmsis_dap_state_move();
1766 }
1767 }
1768
1769 cmsis_dap_end_state(cmd->cmd.scan->end_state);
1770
1771 struct scan_field *field = cmd->cmd.scan->fields;
1772 unsigned scan_size = 0;
1773
1774 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1775 scan_size += field->num_bits;
1776 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
1777 field->in_value ? "in" : "",
1778 field->out_value ? "out" : "",
1779 i,
1780 cmd->cmd.scan->num_fields,
1781 field->num_bits);
1782
1783 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1784 LOG_DEBUG_IO("Last field and have to move out of SHIFT state");
1785 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1786 * movement. This last field can't have length zero, it was checked above. */
1787 cmsis_dap_add_jtag_sequence(
1788 field->num_bits - 1, /* number of bits to clock */
1789 field->out_value, /* output sequence */
1790 0, /* output offset */
1791 false, /* TMS low */
1792 field->in_value,
1793 0);
1794
1795 /* Clock the last bit out, with TMS high */
1796 uint8_t last_bit = 0;
1797 if (field->out_value)
1798 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1799 cmsis_dap_add_jtag_sequence(
1800 1,
1801 &last_bit,
1802 0,
1803 true,
1804 field->in_value,
1805 field->num_bits - 1);
1806 tap_set_state(tap_state_transition(tap_get_state(), 1));
1807
1808 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1809 cmsis_dap_add_jtag_sequence(
1810 1,
1811 &last_bit,
1812 0,
1813 false,
1814 NULL,
1815 0);
1816 tap_set_state(tap_state_transition(tap_get_state(), 0));
1817 } else {
1818 LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards");
1819 /* Clocking part of a sequence into DR or IR with TMS=0,
1820 leaving TMS=0 at the end so we can continue later */
1821 cmsis_dap_add_jtag_sequence(
1822 field->num_bits,
1823 field->out_value,
1824 0,
1825 false,
1826 field->in_value,
1827 0);
1828 }
1829 }
1830
1831 if (tap_get_state() != tap_get_end_state()) {
1832 cmsis_dap_end_state(tap_get_end_state());
1833 cmsis_dap_state_move();
1834 }
1835
1836 LOG_DEBUG_IO("%s scan, %i bits, end in %s",
1837 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1838 tap_state_name(tap_get_end_state()));
1839 }
1840
1841 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1842 {
1843 uint8_t tms0 = 0x00;
1844 uint8_t tms1 = 0xff;
1845
1846 for (int i = 0; i < num_states; i++) {
1847 if (path[i] == tap_state_transition(tap_get_state(), false))
1848 cmsis_dap_add_tms_sequence(&tms0, 1);
1849 else if (path[i] == tap_state_transition(tap_get_state(), true))
1850 cmsis_dap_add_tms_sequence(&tms1, 1);
1851 else {
1852 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1853 tap_state_name(tap_get_state()), tap_state_name(path[i]));
1854 exit(-1);
1855 }
1856
1857 tap_set_state(path[i]);
1858 }
1859
1860 cmsis_dap_end_state(tap_get_state());
1861 }
1862
1863 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1864 {
1865 LOG_DEBUG_IO("pathmove: %i states, end in %i",
1866 cmd->cmd.pathmove->num_states,
1867 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1868
1869 cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1870 }
1871
1872 static void cmsis_dap_stableclocks(int num_cycles)
1873 {
1874 uint8_t tms = tap_get_state() == TAP_RESET;
1875 /* TODO: Perform optimizations? */
1876 /* Execute num_cycles. */
1877 for (int i = 0; i < num_cycles; i++)
1878 cmsis_dap_add_tms_sequence(&tms, 1);
1879 }
1880
1881 static void cmsis_dap_runtest(int num_cycles)
1882 {
1883 tap_state_t saved_end_state = tap_get_end_state();
1884
1885 /* Only do a state_move when we're not already in IDLE. */
1886 if (tap_get_state() != TAP_IDLE) {
1887 cmsis_dap_end_state(TAP_IDLE);
1888 cmsis_dap_state_move();
1889 }
1890 cmsis_dap_stableclocks(num_cycles);
1891
1892 /* Finish in end_state. */
1893 cmsis_dap_end_state(saved_end_state);
1894
1895 if (tap_get_state() != tap_get_end_state())
1896 cmsis_dap_state_move();
1897 }
1898
1899 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1900 {
1901 LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1902 cmd->cmd.runtest->end_state);
1903
1904 cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1905 cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1906 }
1907
1908 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1909 {
1910 LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1911 cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1912 }
1913
1914 static void cmsis_dap_execute_tms(struct jtag_command *cmd)
1915 {
1916 LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
1917 cmsis_dap_cmd_dap_swj_sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
1918 }
1919
1920 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1921 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1922 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1923 {
1924 switch (cmd->type) {
1925 case JTAG_SLEEP:
1926 cmsis_dap_flush();
1927 cmsis_dap_execute_sleep(cmd);
1928 break;
1929 case JTAG_TLR_RESET:
1930 cmsis_dap_flush();
1931 cmsis_dap_execute_tlr_reset(cmd);
1932 break;
1933 case JTAG_SCAN:
1934 cmsis_dap_execute_scan(cmd);
1935 break;
1936 case JTAG_PATHMOVE:
1937 cmsis_dap_execute_pathmove(cmd);
1938 break;
1939 case JTAG_RUNTEST:
1940 cmsis_dap_execute_runtest(cmd);
1941 break;
1942 case JTAG_STABLECLOCKS:
1943 cmsis_dap_execute_stableclocks(cmd);
1944 break;
1945 case JTAG_TMS:
1946 cmsis_dap_execute_tms(cmd);
1947 break;
1948 default:
1949 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1950 exit(-1);
1951 }
1952 }
1953
1954 static int cmsis_dap_execute_queue(void)
1955 {
1956 struct jtag_command *cmd = jtag_command_queue;
1957
1958 while (cmd) {
1959 cmsis_dap_execute_command(cmd);
1960 cmd = cmd->next;
1961 }
1962
1963 cmsis_dap_flush();
1964
1965 return ERROR_OK;
1966 }
1967
1968 static int cmsis_dap_speed(int speed)
1969 {
1970 if (speed == 0) {
1971 LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\".");
1972 return ERROR_JTAG_NOT_IMPLEMENTED;
1973 }
1974
1975 return cmsis_dap_cmd_dap_swj_clock(speed);
1976 }
1977
1978 static int cmsis_dap_speed_div(int speed, int *khz)
1979 {
1980 *khz = speed;
1981 return ERROR_OK;
1982 }
1983
1984 static int cmsis_dap_khz(int khz, int *jtag_speed)
1985 {
1986 *jtag_speed = khz;
1987 return ERROR_OK;
1988 }
1989
1990 static bool calculate_swo_prescaler(unsigned int traceclkin_freq,
1991 uint32_t trace_freq, uint16_t *prescaler)
1992 {
1993 unsigned int presc = (traceclkin_freq + trace_freq / 2) / trace_freq;
1994 if (presc == 0 || presc > TPIU_ACPR_MAX_SWOSCALER + 1)
1995 return false;
1996
1997 /* Probe's UART speed must be within 3% of the TPIU's SWO baud rate. */
1998 unsigned int max_deviation = (traceclkin_freq * 3) / 100;
1999 if (presc * trace_freq < traceclkin_freq - max_deviation ||
2000 presc * trace_freq > traceclkin_freq + max_deviation)
2001 return false;
2002
2003 *prescaler = presc;
2004
2005 return true;
2006 }
2007
2008 /**
2009 * @see adapter_driver::config_trace
2010 */
2011 static int cmsis_dap_config_trace(
2012 bool trace_enabled,
2013 enum tpiu_pin_protocol pin_protocol,
2014 uint32_t port_size,
2015 unsigned int *swo_freq,
2016 unsigned int traceclkin_hz,
2017 uint16_t *swo_prescaler)
2018 {
2019 int retval;
2020
2021 if (!trace_enabled) {
2022 if (cmsis_dap_handle->trace_enabled) {
2023 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
2024 if (retval != ERROR_OK) {
2025 LOG_ERROR("Failed to disable the SWO-trace.");
2026 return retval;
2027 }
2028 }
2029 cmsis_dap_handle->trace_enabled = false;
2030 LOG_INFO("SWO-trace disabled.");
2031 return ERROR_OK;
2032 }
2033
2034 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWO_UART) &&
2035 !(cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
2036 LOG_ERROR("SWO-trace is not supported by the device.");
2037 return ERROR_FAIL;
2038 }
2039
2040 uint8_t swo_mode;
2041 if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_UART &&
2042 (cmsis_dap_handle->caps & INFO_CAPS_SWO_UART)) {
2043 swo_mode = DAP_SWO_MODE_UART;
2044 } else if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_MANCHESTER &&
2045 (cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
2046 swo_mode = DAP_SWO_MODE_MANCHESTER;
2047 } else {
2048 LOG_ERROR("Selected pin protocol is not supported.");
2049 return ERROR_FAIL;
2050 }
2051
2052 if (*swo_freq == 0) {
2053 LOG_INFO("SWO-trace frequency autodetection not implemented.");
2054 return ERROR_FAIL;
2055 }
2056
2057 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
2058 if (retval != ERROR_OK)
2059 return retval;
2060
2061 cmsis_dap_handle->trace_enabled = false;
2062
2063 retval = cmsis_dap_get_swo_buf_sz(&cmsis_dap_handle->swo_buf_sz);
2064 if (retval != ERROR_OK)
2065 return retval;
2066
2067 retval = cmsis_dap_cmd_dap_swo_transport(DAP_SWO_TRANSPORT_DATA);
2068 if (retval != ERROR_OK)
2069 return retval;
2070
2071 retval = cmsis_dap_cmd_dap_swo_mode(swo_mode);
2072 if (retval != ERROR_OK)
2073 return retval;
2074
2075 retval = cmsis_dap_cmd_dap_swo_baudrate(*swo_freq, swo_freq);
2076 if (retval != ERROR_OK)
2077 return retval;
2078
2079 if (!calculate_swo_prescaler(traceclkin_hz, *swo_freq,
2080 swo_prescaler)) {
2081 LOG_ERROR("SWO frequency is not suitable. Please choose a "
2082 "different frequency or use auto-detection.");
2083 return ERROR_FAIL;
2084 }
2085
2086 LOG_INFO("SWO frequency: %u Hz.", *swo_freq);
2087 LOG_INFO("SWO prescaler: %u.", *swo_prescaler);
2088
2089 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_START);
2090 if (retval != ERROR_OK)
2091 return retval;
2092
2093 cmsis_dap_handle->trace_enabled = true;
2094
2095 return ERROR_OK;
2096 }
2097
2098 /**
2099 * @see adapter_driver::poll_trace
2100 */
2101 static int cmsis_dap_poll_trace(uint8_t *buf, size_t *size)
2102 {
2103 uint8_t trace_status;
2104 size_t trace_count;
2105
2106 if (!cmsis_dap_handle->trace_enabled) {
2107 *size = 0;
2108 return ERROR_OK;
2109 }
2110
2111 int retval = cmsis_dap_cmd_dap_swo_status(&trace_status, &trace_count);
2112 if (retval != ERROR_OK)
2113 return retval;
2114 if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
2115 return ERROR_FAIL;
2116
2117 *size = trace_count < *size ? trace_count : *size;
2118 size_t read_so_far = 0;
2119 do {
2120 size_t rb = 0;
2121 uint32_t packet_size = cmsis_dap_handle->packet_size - 4 /*data-reply*/;
2122 uint32_t remaining = *size - read_so_far;
2123 if (remaining < packet_size)
2124 packet_size = remaining;
2125 retval = cmsis_dap_cmd_dap_swo_data(
2126 packet_size,
2127 &trace_status,
2128 &rb,
2129 &buf[read_so_far]);
2130 if (retval != ERROR_OK)
2131 return retval;
2132 if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
2133 return ERROR_FAIL;
2134
2135 read_so_far += rb;
2136 } while (read_so_far < *size);
2137
2138 return ERROR_OK;
2139 }
2140
2141 COMMAND_HANDLER(cmsis_dap_handle_info_command)
2142 {
2143 if (cmsis_dap_get_version_info() == ERROR_OK)
2144 cmsis_dap_get_status();
2145
2146 return ERROR_OK;
2147 }
2148
2149 COMMAND_HANDLER(cmsis_dap_handle_cmd_command)
2150 {
2151 uint8_t *command = cmsis_dap_handle->command;
2152
2153 for (unsigned i = 0; i < CMD_ARGC; i++)
2154 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[i], command[i]);
2155
2156 int retval = cmsis_dap_xfer(cmsis_dap_handle, CMD_ARGC);
2157
2158 if (retval != ERROR_OK) {
2159 LOG_ERROR("CMSIS-DAP command failed.");
2160 return ERROR_JTAG_DEVICE_ERROR;
2161 }
2162
2163 uint8_t *resp = cmsis_dap_handle->response;
2164 LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8,
2165 resp[1], resp[2], resp[3], resp[4]);
2166
2167 return ERROR_OK;
2168 }
2169
2170 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
2171 {
2172 if (CMD_ARGC > MAX_USB_IDS * 2) {
2173 LOG_WARNING("ignoring extra IDs in cmsis-dap vid_pid "
2174 "(maximum is %d pairs)", MAX_USB_IDS);
2175 CMD_ARGC = MAX_USB_IDS * 2;
2176 }
2177 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
2178 LOG_WARNING("incomplete cmsis-dap vid_pid configuration directive");
2179 if (CMD_ARGC < 2)
2180 return ERROR_COMMAND_SYNTAX_ERROR;
2181 /* remove the incomplete trailing id */
2182 CMD_ARGC -= 1;
2183 }
2184
2185 unsigned i;
2186 for (i = 0; i < CMD_ARGC; i += 2) {
2187 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
2188 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
2189 }
2190
2191 /*
2192 * Explicitly terminate, in case there are multiples instances of
2193 * cmsis_dap_vid_pid.
2194 */
2195 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
2196
2197 return ERROR_OK;
2198 }
2199
2200 COMMAND_HANDLER(cmsis_dap_handle_backend_command)
2201 {
2202 if (CMD_ARGC == 1) {
2203 if (strcmp(CMD_ARGV[0], "auto") == 0) {
2204 cmsis_dap_backend = -1; /* autoselect */
2205 } else {
2206 for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
2207 if (strcasecmp(cmsis_dap_backends[i]->name, CMD_ARGV[0]) == 0) {
2208 cmsis_dap_backend = i;
2209 return ERROR_OK;
2210 }
2211 }
2212
2213 command_print(CMD, "invalid backend argument to cmsis-dap backend <backend>");
2214 return ERROR_COMMAND_ARGUMENT_INVALID;
2215 }
2216 } else {
2217 return ERROR_COMMAND_SYNTAX_ERROR;
2218 }
2219
2220 return ERROR_OK;
2221 }
2222
2223 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
2224 {
2225 .name = "info",
2226 .handler = &cmsis_dap_handle_info_command,
2227 .mode = COMMAND_EXEC,
2228 .usage = "",
2229 .help = "show cmsis-dap info",
2230 },
2231 {
2232 .name = "cmd",
2233 .handler = &cmsis_dap_handle_cmd_command,
2234 .mode = COMMAND_EXEC,
2235 .usage = "",
2236 .help = "issue cmsis-dap command",
2237 },
2238 {
2239 .name = "vid_pid",
2240 .handler = &cmsis_dap_handle_vid_pid_command,
2241 .mode = COMMAND_CONFIG,
2242 .help = "the vendor ID and product ID of the CMSIS-DAP device",
2243 .usage = "(vid pid)*",
2244 },
2245 {
2246 .name = "backend",
2247 .handler = &cmsis_dap_handle_backend_command,
2248 .mode = COMMAND_CONFIG,
2249 .help = "set the communication backend to use (USB bulk or HID).",
2250 .usage = "(auto | usb_bulk | hid)",
2251 },
2252 #if BUILD_CMSIS_DAP_USB
2253 {
2254 .name = "usb",
2255 .chain = cmsis_dap_usb_subcommand_handlers,
2256 .mode = COMMAND_ANY,
2257 .help = "USB bulk backend-specific commands",
2258 .usage = "<cmd>",
2259 },
2260 #endif
2261 COMMAND_REGISTRATION_DONE
2262 };
2263
2264
2265 static const struct command_registration cmsis_dap_command_handlers[] = {
2266 {
2267 .name = "cmsis-dap",
2268 .mode = COMMAND_ANY,
2269 .help = "perform CMSIS-DAP management",
2270 .usage = "<cmd>",
2271 .chain = cmsis_dap_subcommand_handlers,
2272 },
2273 COMMAND_REGISTRATION_DONE
2274 };
2275
2276 static const struct swd_driver cmsis_dap_swd_driver = {
2277 .init = cmsis_dap_swd_init,
2278 .switch_seq = cmsis_dap_swd_switch_seq,
2279 .read_reg = cmsis_dap_swd_read_reg,
2280 .write_reg = cmsis_dap_swd_write_reg,
2281 .run = cmsis_dap_swd_run_queue,
2282 };
2283
2284 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
2285
2286 static struct jtag_interface cmsis_dap_interface = {
2287 .supported = DEBUG_CAP_TMS_SEQ,
2288 .execute_queue = cmsis_dap_execute_queue,
2289 };
2290
2291 struct adapter_driver cmsis_dap_adapter_driver = {
2292 .name = "cmsis-dap",
2293 .transports = cmsis_dap_transport,
2294 .commands = cmsis_dap_command_handlers,
2295
2296 .init = cmsis_dap_init,
2297 .quit = cmsis_dap_quit,
2298 .reset = cmsis_dap_reset,
2299 .speed = cmsis_dap_speed,
2300 .khz = cmsis_dap_khz,
2301 .speed_div = cmsis_dap_speed_div,
2302 .config_trace = cmsis_dap_config_trace,
2303 .poll_trace = cmsis_dap_poll_trace,
2304
2305 .jtag_ops = &cmsis_dap_interface,
2306 .swd_ops = &cmsis_dap_swd_driver,
2307 };
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