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