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