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