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

Linking to existing account procedure

If you already have an account and want to add another login method you MUST first sign in with your existing account and then change URL to read https://review.openocd.org/login/?link to get to this page again but this time it'll work for linking. Thank you.

SSH host keys fingerprints

1024 SHA256:YKx8b7u5ZWdcbp7/4AeXNaqElP49m6QrwfXaqQGJAOk gerrit-code-review@openocd.zylin.com (DSA)
384 SHA256:jHIbSQa4REvwCFG4cq5LBlBLxmxSqelQPem/EXIrxjk gerrit-code-review@openocd.org (ECDSA)
521 SHA256:UAOPYkU9Fjtcao0Ul/Rrlnj/OsQvt+pgdYSZ4jOYdgs gerrit-code-review@openocd.org (ECDSA)
256 SHA256:A13M5QlnozFOvTllybRZH6vm7iSt0XLxbA48yfc2yfY gerrit-code-review@openocd.org (ECDSA)
256 SHA256:spYMBqEYoAOtK7yZBrcwE8ZpYt6b68Cfh9yEVetvbXg gerrit-code-review@openocd.org (ED25519)
+--[ED25519 256]--+
|=..              |
|+o..   .         |
|*.o   . .        |
|+B . . .         |
|Bo. = o S        |
|Oo.+ + =         |
|oB=.* = . o      |
| =+=.+   + E     |
|. .=o   . o      |
+----[SHA256]-----+
2048 SHA256:0Onrb7/PHjpo6iVZ7xQX2riKN83FJ3KGU0TvI0TaFG4 gerrit-code-review@openocd.zylin.com (RSA)