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8c815230d475d199976f624677540139b44785fc
[openocd.git] / src / jtag / drivers / cmsis_dap_usb.c
1 /***************************************************************************
2 * Copyright (C) 2013 by mike brown *
3 * mike@theshedworks.org.uk *
4 * *
5 * Copyright (C) 2013 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
7 * *
8 * This program is free software; you can redistribute it and/or modify *
9 * it under the terms of the GNU General Public License as published by *
10 * the Free Software Foundation; either version 2 of the License, or *
11 * (at your option) any later version. *
12 * *
13 * This program is distributed in the hope that it will be useful, *
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
16 * GNU General Public License for more details. *
17 * *
18 * You should have received a copy of the GNU General Public License *
19 * along with this program; if not, write to the *
20 * Free Software Foundation, Inc., *
21 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
22 ***************************************************************************/
23
24 #ifdef HAVE_CONFIG_H
25 #include "config.h"
26 #endif
27
28 #include <transport/transport.h>
29 #include <jtag/swd.h>
30 #include <jtag/interface.h>
31 #include <jtag/commands.h>
32 #include <jtag/tcl.h>
33
34 #include <hidapi.h>
35
36 #ifdef _DEBUG_JTAG_IO_
37 #define DEBUG_IO(expr...) LOG_DEBUG(expr)
38 #else
39 #define DEBUG_IO(expr...) do {} while (0)
40 #endif
41
42 /*
43 * See CMSIS-DAP documentation:
44 * Version 0.01 - Beta.
45 */
46
47 /* USB Config */
48
49 /* Known vid/pid pairs:
50 * VID 0xc251: Keil Software
51 * PID 0xf001: LPC-Link-II CMSIS_DAP
52 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
53 * PID 0x2722: Keil ULINK2 CMSIS-DAP
54 *
55 * VID 0x0d28: mbed Software
56 * PID 0x0204: MBED CMSIS-DAP
57 */
58
59 #define MAX_USB_IDS 8
60 /* vid = pid = 0 marks the end of the list */
61 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
62 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
63
64 #define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
65 #define USB_TIMEOUT 1000
66
67 /* CMSIS-DAP General Commands */
68 #define CMD_DAP_INFO 0x00
69 #define CMD_DAP_LED 0x01
70 #define CMD_DAP_CONNECT 0x02
71 #define CMD_DAP_DISCONNECT 0x03
72 #define CMD_DAP_WRITE_ABORT 0x08
73 #define CMD_DAP_DELAY 0x09
74 #define CMD_DAP_RESET_TARGET 0x0A
75
76 /* CMD_INFO */
77 #define INFO_ID_VID 0x00 /* string */
78 #define INFO_ID_PID 0x02 /* string */
79 #define INFO_ID_SERNUM 0x03 /* string */
80 #define INFO_ID_FW_VER 0x04 /* string */
81 #define INFO_ID_TD_VEND 0x05 /* string */
82 #define INFO_ID_TD_NAME 0x06 /* string */
83 #define INFO_ID_CAPS 0xf0 /* byte */
84 #define INFO_ID_PKT_CNT 0xfe /* byte */
85 #define INFO_ID_PKT_SZ 0xff /* short */
86
87 #define INFO_CAPS_SWD 0x01
88 #define INFO_CAPS_JTAG 0x02
89
90 /* CMD_LED */
91 #define LED_ID_CONNECT 0x00
92 #define LED_ID_RUN 0x01
93
94 #define LED_OFF 0x00
95 #define LED_ON 0x01
96
97 /* CMD_CONNECT */
98 #define CONNECT_DEFAULT 0x00
99 #define CONNECT_SWD 0x01
100 #define CONNECT_JTAG 0x02
101
102 /* CMSIS-DAP Common SWD/JTAG Commands */
103 #define CMD_DAP_DELAY 0x09
104 #define CMD_DAP_SWJ_PINS 0x10
105 #define CMD_DAP_SWJ_CLOCK 0x11
106 #define CMD_DAP_SWJ_SEQ 0x12
107
108 /*
109 * PINS
110 * Bit 0: SWCLK/TCK
111 * Bit 1: SWDIO/TMS
112 * Bit 2: TDI
113 * Bit 3: TDO
114 * Bit 5: nTRST
115 * Bit 7: nRESET
116 */
117
118 /* CMSIS-DAP SWD Commands */
119 #define CMD_DAP_SWD_CONFIGURE 0x13
120
121 /* CMSIS-DAP JTAG Commands */
122 #define CMD_DAP_JTAG_SEQ 0x14
123 #define CMD_DAP_JTAG_CONFIGURE 0x15
124 #define CMD_DAP_JTAG_IDCODE 0x16
125
126 /* CMSIS-DAP Transfer Commands */
127 #define CMD_DAP_TFER_CONFIGURE 0x04
128 #define CMD_DAP_TFER 0x05
129 #define CMD_DAP_TFER_BLOCK 0x06
130 #define CMD_DAP_TFER_ABORT 0x07
131
132 /* DAP Status Code */
133 #define DAP_OK 0
134 #define DAP_ERROR 0xFF
135
136 /* CMSIS-DAP Vendor Commands
137 * None as yet... */
138
139 static char *info_caps_str[] = {
140 "SWD Supported",
141 "JTAG Supported"
142 };
143
144 /* max clock speed (kHz) */
145 #define DAP_MAX_CLOCK 5000
146
147 struct cmsis_dap {
148 hid_device *dev_handle;
149 uint16_t packet_size;
150 uint16_t packet_count;
151 uint8_t *packet_buffer;
152 uint8_t caps;
153 uint8_t mode;
154 };
155
156 static struct cmsis_dap *cmsis_dap_handle;
157
158 static int cmsis_dap_usb_open(void)
159 {
160 hid_device *dev = NULL;
161 int i;
162 struct hid_device_info *devs, *cur_dev;
163 unsigned short target_vid, target_pid;
164
165 target_vid = 0;
166 target_pid = 0;
167
168 /*
169 The CMSIS-DAP specification stipulates:
170 "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
171 debuggers to idenify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
172 */
173 devs = hid_enumerate(0x0, 0x0);
174 cur_dev = devs;
175 while (NULL != cur_dev) {
176 if (0 == cmsis_dap_vid[0]) {
177 if (NULL == cur_dev->product_string) {
178 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
179 cur_dev->vendor_id, cur_dev->product_id);
180 } else {
181 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP"))
182 /*
183 if the user hasn't specified VID:PID *and*
184 product string contains "CMSIS-DAP", pick it
185 */
186 break;
187 }
188 } else {
189 /*
190 otherwise, exhaustively compare against all VID:PID in list
191 */
192 for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
193 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
194 break;
195 }
196 }
197
198 cur_dev = cur_dev->next;
199 }
200
201 if (NULL != cur_dev) {
202 target_vid = cur_dev->vendor_id;
203 target_pid = cur_dev->product_id;
204 }
205
206 hid_free_enumeration(devs);
207
208 if (hid_init() != 0) {
209 LOG_ERROR("unable to open HIDAPI");
210 return ERROR_FAIL;
211 }
212
213 dev = hid_open(target_vid, target_pid, NULL);
214
215 if (dev == NULL) {
216 LOG_ERROR("unable to open CMSIS-DAP device");
217 return ERROR_FAIL;
218 }
219
220 struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
221 if (dap == NULL) {
222 LOG_ERROR("unable to allocate memory");
223 return ERROR_FAIL;
224 }
225
226 dap->dev_handle = dev;
227 dap->caps = 0;
228 dap->mode = 0;
229
230 cmsis_dap_handle = dap;
231
232 /* allocate default packet buffer, may be changed later.
233 * currently with HIDAPI we have no way of getting the output report length
234 * without this info we cannot communicate with the adapter.
235 * For the moment we ahve to hard code the packet size */
236
237 int packet_size = PACKET_SIZE;
238
239 /* atmel cmsis-dap uses 512 byte reports */
240 if (target_vid == 0x03eb)
241 packet_size = 512 + 1;
242
243 cmsis_dap_handle->packet_buffer = malloc(packet_size);
244 cmsis_dap_handle->packet_size = packet_size;
245
246 if (cmsis_dap_handle->packet_buffer == NULL) {
247 LOG_ERROR("unable to allocate memory");
248 return ERROR_FAIL;
249 }
250
251 return ERROR_OK;
252 }
253
254 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
255 {
256 hid_close(dap->dev_handle);
257 hid_exit();
258
259 if (cmsis_dap_handle->packet_buffer)
260 free(cmsis_dap_handle->packet_buffer);
261
262 if (cmsis_dap_handle) {
263 free(cmsis_dap_handle);
264 cmsis_dap_handle = NULL;
265 }
266
267 return;
268 }
269
270 /* Send a message and receive the reply */
271 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
272 {
273 /* Pad the rest of the TX buffer with 0's */
274 memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
275
276 /* write data to device */
277 int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
278 if (retval == -1) {
279 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
280 return ERROR_FAIL;
281 }
282
283 /* get reply */
284 retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
285 if (retval == -1 || retval == 0) {
286 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
287 return ERROR_FAIL;
288 }
289
290 return ERROR_OK;
291 }
292
293 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
294 {
295 int retval;
296 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
297
298 buffer[0] = 0; /* report number */
299 buffer[1] = CMD_DAP_SWJ_PINS;
300 buffer[2] = pins;
301 buffer[3] = mask;
302 buffer[4] = delay & 0xff;
303 buffer[5] = (delay >> 8) & 0xff;
304 buffer[6] = (delay >> 16) & 0xff;
305 buffer[7] = (delay >> 24) & 0xff;
306 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
307
308 if (retval != ERROR_OK) {
309 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
310 return ERROR_JTAG_DEVICE_ERROR;
311 }
312
313 if (input)
314 *input = buffer[1];
315
316 return ERROR_OK;
317 }
318
319 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
320 {
321 int retval;
322 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
323
324 /* set clock in Hz */
325 swj_clock *= 1000;
326 buffer[0] = 0; /* report number */
327 buffer[1] = CMD_DAP_SWJ_CLOCK;
328 buffer[2] = swj_clock & 0xff;
329 buffer[3] = (swj_clock >> 8) & 0xff;
330 buffer[4] = (swj_clock >> 16) & 0xff;
331 buffer[5] = (swj_clock >> 24) & 0xff;
332 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
333
334 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
335 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
336 return ERROR_JTAG_DEVICE_ERROR;
337 }
338
339 return ERROR_OK;
340 }
341
342 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
343 {
344 int retval;
345 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
346
347 buffer[0] = 0; /* report number */
348 buffer[1] = CMD_DAP_INFO;
349 buffer[2] = info;
350 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
351
352 if (retval != ERROR_OK) {
353 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
354 return ERROR_JTAG_DEVICE_ERROR;
355 }
356
357 *data = &(buffer[1]);
358
359 return ERROR_OK;
360 }
361
362 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
363 {
364 int retval;
365 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
366
367 buffer[0] = 0; /* report number */
368 buffer[1] = CMD_DAP_LED;
369 buffer[2] = 0x00;
370 buffer[3] = leds;
371 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
372
373 if (retval != ERROR_OK || buffer[1] != 0x00) {
374 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
375 return ERROR_JTAG_DEVICE_ERROR;
376 }
377
378 return ERROR_OK;
379 }
380
381 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
382 {
383 int retval;
384 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
385
386 buffer[0] = 0; /* report number */
387 buffer[1] = CMD_DAP_CONNECT;
388 buffer[2] = mode;
389 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
390
391 if (retval != ERROR_OK) {
392 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
393 return ERROR_JTAG_DEVICE_ERROR;
394 }
395
396 if (buffer[1] != mode) {
397 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
398 return ERROR_JTAG_DEVICE_ERROR;
399 }
400
401 return ERROR_OK;
402 }
403
404 static int cmsis_dap_cmd_DAP_Disconnect(void)
405 {
406 int retval;
407 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
408
409 buffer[0] = 0; /* report number */
410 buffer[1] = CMD_DAP_DISCONNECT;
411 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
412
413 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
414 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
415 return ERROR_JTAG_DEVICE_ERROR;
416 }
417
418 return ERROR_OK;
419 }
420
421 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16_t retry)
422 {
423 int retval;
424 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
425
426 buffer[0] = 0; /* report number */
427 buffer[1] = CMD_DAP_TFER_CONFIGURE;
428 buffer[2] = idle;
429 buffer[3] = delay & 0xff;
430 buffer[4] = (delay >> 8) & 0xff;
431 buffer[5] = retry & 0xff;
432 buffer[6] = (retry >> 8) & 0xff;
433 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
434
435 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
436 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
437 return ERROR_JTAG_DEVICE_ERROR;
438 }
439
440 return ERROR_OK;
441 }
442
443 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
444 {
445 int retval;
446 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
447
448 buffer[0] = 0; /* report number */
449 buffer[1] = CMD_DAP_SWD_CONFIGURE;
450 buffer[2] = cfg;
451 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
452
453 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
454 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
455 return ERROR_JTAG_DEVICE_ERROR;
456 }
457
458 return ERROR_OK;
459 }
460
461 #if 0
462 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
463 {
464 int retval;
465 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
466
467 buffer[0] = 0; /* report number */
468 buffer[1] = CMD_DAP_DELAY;
469 buffer[2] = delay_us & 0xff;
470 buffer[3] = (delay_us >> 8) & 0xff;
471 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
472
473 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
474 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
475 return ERROR_JTAG_DEVICE_ERROR;
476 }
477
478 return ERROR_OK;
479 }
480 #endif
481
482 static int cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value)
483 {
484 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
485 int retval;
486 uint32_t val;
487
488 DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8, cmd);
489
490 buffer[0] = 0; /* report number */
491 buffer[1] = CMD_DAP_TFER;
492 buffer[2] = 0x00;
493 buffer[3] = 0x01;
494 buffer[4] = cmd;
495 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
496
497 /* TODO - need better response checking */
498 if (retval != ERROR_OK || buffer[1] != 0x01) {
499 LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
500 return buffer[2];
501 }
502
503 val = le_to_h_u32(&buffer[3]);
504 DEBUG_IO("0x%08" PRIx32, val);
505
506 if (value)
507 *value = val;
508
509 return retval;
510 }
511
512 static int cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value)
513 {
514 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
515
516 DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
517
518 buffer[0] = 0; /* report number */
519 buffer[1] = CMD_DAP_TFER;
520 buffer[2] = 0x00;
521 buffer[3] = 0x01;
522 buffer[4] = cmd;
523 buffer[5] = (value) & 0xff;
524 buffer[6] = (value >> 8) & 0xff;
525 buffer[7] = (value >> 16) & 0xff;
526 buffer[8] = (value >> 24) & 0xff;
527 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
528
529 if (buffer[1] != 0x01) {
530 LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
531 retval = buffer[2];
532 }
533
534 return retval;
535 }
536
537 static int cmsis_dap_get_version_info(void)
538 {
539 uint8_t *data;
540
541 /* INFO_ID_FW_VER - string */
542 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
543 if (retval != ERROR_OK)
544 return retval;
545
546 if (data[0]) /* strlen */
547 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
548
549 return ERROR_OK;
550 }
551
552 static int cmsis_dap_get_caps_info(void)
553 {
554 uint8_t *data;
555
556 /* INFO_ID_CAPS - byte */
557 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
558 if (retval != ERROR_OK)
559 return retval;
560
561 if (data[0] == 1) {
562 uint8_t caps = data[1];
563
564 cmsis_dap_handle->caps = caps;
565
566 if (caps & INFO_CAPS_SWD)
567 LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
568 if (caps & INFO_CAPS_JTAG)
569 LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
570 }
571
572 return ERROR_OK;
573 }
574
575 static int cmsis_dap_get_status(void)
576 {
577 uint8_t d;
578
579 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
580
581 if (retval == ERROR_OK) {
582 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
583 (d & (0x01 << 0)) ? 1 : 0, /* Bit 0: SWCLK/TCK */
584 (d & (0x01 << 1)) ? 1 : 0, /* Bit 1: SWDIO/TMS */
585 (d & (0x01 << 2)) ? 1 : 0, /* Bit 2: TDI */
586 (d & (0x01 << 3)) ? 1 : 0, /* Bit 3: TDO */
587 (d & (0x01 << 5)) ? 1 : 0, /* Bit 5: nTRST */
588 (d & (0x01 << 7)) ? 1 : 0); /* Bit 7: nRESET */
589 }
590
591 return retval;
592 }
593
594 static int cmsis_dap_reset_link(void)
595 {
596 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
597
598 LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
599 LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
600
601 /* reset line with SWDIO high for >50 cycles */
602 buffer[0] = 0; /* report number */
603 buffer[1] = CMD_DAP_SWJ_SEQ;
604 buffer[2] = 7 * 8;
605 buffer[3] = 0xff;
606 buffer[4] = 0xff;
607 buffer[5] = 0xff;
608 buffer[6] = 0xff;
609 buffer[7] = 0xff;
610 buffer[8] = 0xff;
611 buffer[9] = 0xff;
612 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
613
614 if (retval != ERROR_OK || buffer[1] != DAP_OK)
615 return ERROR_FAIL;
616
617 /* 16bit JTAG-SWD sequence */
618 buffer[0] = 0; /* report number */
619 buffer[1] = CMD_DAP_SWJ_SEQ;
620 buffer[2] = 2 * 8;
621 buffer[3] = 0x9e;
622 buffer[4] = 0xe7;
623 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
624
625 if (retval != ERROR_OK || buffer[1] != DAP_OK)
626 return ERROR_FAIL;
627
628 /* another reset just incase */
629 buffer[0] = 0; /* report number */
630 buffer[1] = CMD_DAP_SWJ_SEQ;
631 buffer[2] = 7 * 8;
632 buffer[3] = 0xff;
633 buffer[4] = 0xff;
634 buffer[5] = 0xff;
635 buffer[6] = 0xff;
636 buffer[7] = 0xff;
637 buffer[8] = 0xff;
638 buffer[9] = 0xff;
639 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
640
641 if (retval != ERROR_OK || buffer[1] != DAP_OK)
642 return ERROR_FAIL;
643
644 /* 16 cycle idle period */
645 buffer[0] = 0; /* report number */
646 buffer[1] = CMD_DAP_SWJ_SEQ;
647 buffer[2] = 2 * 8;
648 buffer[3] = 0x00;
649 buffer[4] = 0x00;
650 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
651
652 if (retval != ERROR_OK || buffer[1] != DAP_OK)
653 return ERROR_FAIL;
654
655 DEBUG_IO("DAP Read IDCODE");
656
657 /* read the id code is always the next sequence */
658 buffer[0] = 0; /* report number */
659 buffer[1] = CMD_DAP_TFER;
660 buffer[2] = 0x00;
661 buffer[3] = 0x01;
662 buffer[4] = 0x02;
663 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
664
665 if (retval != ERROR_OK)
666 return retval;
667
668 if (buffer[1] == 0) {
669 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
670
671 LOG_DEBUG("DAP Reset Target");
672 buffer[0] = 0; /* report number */
673 buffer[1] = CMD_DAP_RESET_TARGET;
674 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
675 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
676
677 LOG_DEBUG("DAP Write Abort");
678 buffer[0] = 0; /* report number */
679 buffer[1] = CMD_DAP_WRITE_ABORT;
680 buffer[2] = 0x00;
681 buffer[3] = 0x1e/*0x1f*/;
682 buffer[4] = 0x00;
683 buffer[5] = 0x00;
684 buffer[6] = 0x00;
685 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
686 LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
687
688 return 0x80 + buffer[1];
689 }
690
691 LOG_DEBUG("DAP Write Abort");
692 buffer[0] = 0; /* report number */
693 buffer[1] = CMD_DAP_WRITE_ABORT;
694 buffer[2] = 0x00;
695 buffer[3] = 0x1e;
696 buffer[4] = 0x00;
697 buffer[5] = 0x00;
698 buffer[6] = 0x00;
699 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
700 LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
701
702 return retval;
703 }
704
705 static int cmsis_dap_init(void)
706 {
707 int retval;
708 uint8_t *data;
709
710 if (cmsis_dap_handle == NULL) {
711
712 /* JTAG init */
713 retval = cmsis_dap_usb_open();
714 if (retval != ERROR_OK)
715 return retval;
716
717 retval = cmsis_dap_get_caps_info();
718 if (retval != ERROR_OK)
719 return retval;
720
721 /* Connect in JTAG mode */
722 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
723 LOG_ERROR("CMSIS-DAP: JTAG not supported");
724 return ERROR_JTAG_DEVICE_ERROR;
725 }
726
727 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
728 if (retval != ERROR_OK)
729 return retval;
730
731 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
732 }
733
734 retval = cmsis_dap_get_version_info();
735 if (retval != ERROR_OK)
736 return retval;
737
738 /* INFO_ID_PKT_SZ - short */
739 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
740 if (retval != ERROR_OK)
741 return retval;
742
743 if (data[0] == 2) { /* short */
744 uint16_t pkt_sz = data[1] + (data[2] << 8);
745
746 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
747 /* reallocate buffer */
748 cmsis_dap_handle->packet_size = pkt_sz + 1;
749 cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
750 cmsis_dap_handle->packet_size);
751 if (cmsis_dap_handle->packet_buffer == NULL) {
752 LOG_ERROR("unable to reallocate memory");
753 return ERROR_FAIL;
754 }
755 }
756
757 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
758 }
759
760 /* INFO_ID_PKT_CNT - byte */
761 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
762 if (retval != ERROR_OK)
763 return retval;
764
765 if (data[0] == 1) { /* byte */
766 uint16_t pkt_cnt = data[1];
767 cmsis_dap_handle->packet_count = pkt_cnt;
768 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
769 }
770
771 retval = cmsis_dap_get_status();
772 if (retval != ERROR_OK)
773 return ERROR_FAIL;
774
775 /* Now try to connect to the target
776 * TODO: This is all SWD only @ present */
777 retval = cmsis_dap_cmd_DAP_SWJ_Clock(100); /* 100kHz */
778 if (retval != ERROR_OK)
779 return ERROR_FAIL;
780
781 retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
782 if (retval != ERROR_OK)
783 return ERROR_FAIL;
784 retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
785 if (retval != ERROR_OK)
786 return ERROR_FAIL;
787
788 retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
789 if (retval != ERROR_OK)
790 return ERROR_FAIL;
791
792 /* support connecting with srst asserted */
793 enum reset_types jtag_reset_config = jtag_get_reset_config();
794
795 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
796 if (jtag_reset_config & RESET_SRST_NO_GATING) {
797 retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
798 if (retval != ERROR_OK)
799 return ERROR_FAIL;
800 LOG_INFO("Connecting under reset");
801 }
802 }
803
804 retval = cmsis_dap_reset_link();
805 if (retval != ERROR_OK)
806 return ERROR_FAIL;
807
808 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
809
810 LOG_INFO("CMSIS-DAP: Interface ready");
811
812 return ERROR_OK;
813 }
814
815 static int cmsis_dap_swd_init(uint8_t trn)
816 {
817 int retval;
818
819 DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_init");
820
821 if (cmsis_dap_handle == NULL) {
822
823 /* SWD init */
824 retval = cmsis_dap_usb_open();
825 if (retval != ERROR_OK)
826 return retval;
827
828 retval = cmsis_dap_get_caps_info();
829 if (retval != ERROR_OK)
830 return retval;
831 }
832
833 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
834 LOG_ERROR("CMSIS-DAP: SWD not supported");
835 return ERROR_JTAG_DEVICE_ERROR;
836 }
837
838 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
839 if (retval != ERROR_OK)
840 return retval;
841
842 /* Add more setup here.??... */
843
844 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
845 return ERROR_OK;
846 }
847
848 static int cmsis_dap_quit(void)
849 {
850 cmsis_dap_cmd_DAP_Disconnect();
851 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
852
853 cmsis_dap_usb_close(cmsis_dap_handle);
854
855 return ERROR_OK;
856 }
857
858 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
859 {
860 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
861 (1 << 7), 0, NULL);
862 if (retval != ERROR_OK)
863 LOG_ERROR("CMSIS-DAP: Interface reset failed");
864 }
865
866 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
867 {
868 #if 0
869 int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
870 if (retval != ERROR_OK)
871 #endif
872 jtag_sleep(cmd->cmd.sleep->us);
873 }
874
875 static void cmsis_dap_execute_command(struct jtag_command *cmd)
876 {
877 switch (cmd->type) {
878 case JTAG_RESET:
879 cmsis_dap_execute_reset(cmd);
880 break;
881 case JTAG_SLEEP:
882 cmsis_dap_execute_sleep(cmd);
883 break;
884 default:
885 LOG_ERROR("BUG: unknown JTAG command type encountered");
886 exit(-1);
887 }
888 }
889
890 static int cmsis_dap_execute_queue(void)
891 {
892 struct jtag_command *cmd = jtag_command_queue;
893
894 while (cmd != NULL) {
895 cmsis_dap_execute_command(cmd);
896 cmd = cmd->next;
897 }
898
899 return ERROR_OK;
900 }
901
902 static int cmsis_dap_speed(int speed)
903 {
904 if (speed > DAP_MAX_CLOCK) {
905 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
906 speed = DAP_MAX_CLOCK;
907 }
908
909 if (speed == 0) {
910 LOG_INFO("RTCK not supported");
911 return ERROR_JTAG_NOT_IMPLEMENTED;
912 }
913
914 return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
915 }
916
917 static int cmsis_dap_speed_div(int speed, int *khz)
918 {
919 *khz = speed;
920 return ERROR_OK;
921 }
922
923 static int cmsis_dap_khz(int khz, int *jtag_speed)
924 {
925 *jtag_speed = khz;
926 return ERROR_OK;
927 }
928
929 COMMAND_HANDLER(cmsis_dap_handle_info_command)
930 {
931 if (cmsis_dap_get_version_info() == ERROR_OK)
932 cmsis_dap_get_status();
933
934 return ERROR_OK;
935 }
936
937 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
938 {
939 if (CMD_ARGC > MAX_USB_IDS * 2) {
940 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
941 "(maximum is %d pairs)", MAX_USB_IDS);
942 CMD_ARGC = MAX_USB_IDS * 2;
943 }
944 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
945 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
946 if (CMD_ARGC < 2)
947 return ERROR_COMMAND_SYNTAX_ERROR;
948 /* remove the incomplete trailing id */
949 CMD_ARGC -= 1;
950 }
951
952 unsigned i;
953 for (i = 0; i < CMD_ARGC; i += 2) {
954 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
955 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
956 }
957
958 /*
959 * Explicitly terminate, in case there are multiples instances of
960 * cmsis_dap_vid_pid.
961 */
962 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
963
964 return ERROR_OK;
965 }
966
967 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
968 {
969 .name = "info",
970 .handler = &cmsis_dap_handle_info_command,
971 .mode = COMMAND_EXEC,
972 .usage = "",
973 .help = "show cmsis-dap info",
974 },
975 COMMAND_REGISTRATION_DONE
976 };
977
978 static const struct command_registration cmsis_dap_command_handlers[] = {
979 {
980 .name = "cmsis-dap",
981 .mode = COMMAND_ANY,
982 .help = "perform CMSIS-DAP management",
983 .usage = "<cmd>",
984 .chain = cmsis_dap_subcommand_handlers,
985 },
986 {
987 .name = "cmsis_dap_vid_pid",
988 .handler = &cmsis_dap_handle_vid_pid_command,
989 .mode = COMMAND_CONFIG,
990 .help = "the vendor ID and product ID of the CMSIS-DAP device",
991 .usage = "(vid pid)* ",
992 },
993 COMMAND_REGISTRATION_DONE
994 };
995
996 static const struct swd_driver cmsis_dap_swd_driver = {
997 .init = cmsis_dap_swd_init,
998 .read_reg = cmsis_dap_swd_read_reg,
999 .write_reg = cmsis_dap_swd_write_reg,
1000 };
1001
1002 const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};
1003
1004 struct jtag_interface cmsis_dap_interface = {
1005 .name = "cmsis-dap",
1006 .commands = cmsis_dap_command_handlers,
1007 .swd = &cmsis_dap_swd_driver,
1008 .transports = cmsis_dap_transport,
1009
1010 .execute_queue = cmsis_dap_execute_queue,
1011 .speed = cmsis_dap_speed,
1012 .speed_div = cmsis_dap_speed_div,
1013 .khz = cmsis_dap_khz,
1014 .init = cmsis_dap_init,
1015 .quit = cmsis_dap_quit,
1016 };
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