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[openocd.git] / src / jtag / drivers / cmsis_dap_usb.c
1 /***************************************************************************
2 * Copyright (C) 2016 by Maksym Hilliaka *
3 * oter@frozen-team.com *
4 * *
5 * Copyright (C) 2016 by Phillip Pearson *
6 * pp@myelin.co.nz *
7 * *
8 * Copyright (C) 2014 by Paul Fertser *
9 * fercerpav@gmail.com *
10 * *
11 * Copyright (C) 2013 by mike brown *
12 * mike@theshedworks.org.uk *
13 * *
14 * Copyright (C) 2013 by Spencer Oliver *
15 * spen@spen-soft.co.uk *
16 * *
17 * This program is free software; you can redistribute it and/or modify *
18 * it under the terms of the GNU General Public License as published by *
19 * the Free Software Foundation; either version 2 of the License, or *
20 * (at your option) any later version. *
21 * *
22 * This program is distributed in the hope that it will be useful, *
23 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
24 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
25 * GNU General Public License for more details. *
26 * *
27 * You should have received a copy of the GNU General Public License *
28 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
29 ***************************************************************************/
30
31 #ifdef HAVE_CONFIG_H
32 #include "config.h"
33 #endif
34
35 #include <transport/transport.h>
36 #include <jtag/swd.h>
37 #include <jtag/interface.h>
38 #include <jtag/commands.h>
39 #include <jtag/tcl.h>
40
41 #include <hidapi.h>
42
43 /*
44 * See CMSIS-DAP documentation:
45 * Version 0.01 - Beta.
46 */
47
48 /* USB Config */
49
50 /* Known vid/pid pairs:
51 * VID 0xc251: Keil Software
52 * PID 0xf001: LPC-Link-II CMSIS_DAP
53 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
54 * PID 0x2722: Keil ULINK2 CMSIS-DAP
55 *
56 * VID 0x0d28: mbed Software
57 * PID 0x0204: MBED CMSIS-DAP
58 */
59
60 #define MAX_USB_IDS 8
61 /* vid = pid = 0 marks the end of the list */
62 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
63 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
64 static wchar_t *cmsis_dap_serial;
65 static bool swd_mode;
66
67 #define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
68 #define USB_TIMEOUT 1000
69
70 /* CMSIS-DAP General Commands */
71 #define CMD_DAP_INFO 0x00
72 #define CMD_DAP_LED 0x01
73 #define CMD_DAP_CONNECT 0x02
74 #define CMD_DAP_DISCONNECT 0x03
75 #define CMD_DAP_WRITE_ABORT 0x08
76 #define CMD_DAP_DELAY 0x09
77 #define CMD_DAP_RESET_TARGET 0x0A
78
79 /* CMD_INFO */
80 #define INFO_ID_VID 0x00 /* string */
81 #define INFO_ID_PID 0x02 /* string */
82 #define INFO_ID_SERNUM 0x03 /* string */
83 #define INFO_ID_FW_VER 0x04 /* string */
84 #define INFO_ID_TD_VEND 0x05 /* string */
85 #define INFO_ID_TD_NAME 0x06 /* string */
86 #define INFO_ID_CAPS 0xf0 /* byte */
87 #define INFO_ID_PKT_CNT 0xfe /* byte */
88 #define INFO_ID_PKT_SZ 0xff /* short */
89
90 #define INFO_CAPS_SWD 0x01
91 #define INFO_CAPS_JTAG 0x02
92
93 /* CMD_LED */
94 #define LED_ID_CONNECT 0x00
95 #define LED_ID_RUN 0x01
96
97 #define LED_OFF 0x00
98 #define LED_ON 0x01
99
100 /* CMD_CONNECT */
101 #define CONNECT_DEFAULT 0x00
102 #define CONNECT_SWD 0x01
103 #define CONNECT_JTAG 0x02
104
105 /* CMSIS-DAP Common SWD/JTAG Commands */
106 #define CMD_DAP_DELAY 0x09
107 #define CMD_DAP_SWJ_PINS 0x10
108 #define CMD_DAP_SWJ_CLOCK 0x11
109 #define CMD_DAP_SWJ_SEQ 0x12
110
111 /*
112 * PINS
113 * Bit 0: SWCLK/TCK
114 * Bit 1: SWDIO/TMS
115 * Bit 2: TDI
116 * Bit 3: TDO
117 * Bit 5: nTRST
118 * Bit 7: nRESET
119 */
120
121 #define SWJ_PIN_TCK (1<<0)
122 #define SWJ_PIN_TMS (1<<1)
123 #define SWJ_PIN_TDI (1<<2)
124 #define SWJ_PIN_TDO (1<<3)
125 #define SWJ_PIN_TRST (1<<5)
126 #define SWJ_PIN_SRST (1<<7)
127
128 /* CMSIS-DAP SWD Commands */
129 #define CMD_DAP_SWD_CONFIGURE 0x13
130
131 /* CMSIS-DAP JTAG Commands */
132 #define CMD_DAP_JTAG_SEQ 0x14
133 #define CMD_DAP_JTAG_CONFIGURE 0x15
134 #define CMD_DAP_JTAG_IDCODE 0x16
135
136 /* CMSIS-DAP JTAG sequence info masks */
137 /* Number of bits to clock through (0 means 64) */
138 #define DAP_JTAG_SEQ_TCK 0x3F
139 /* TMS will be set during the sequence if this bit is set */
140 #define DAP_JTAG_SEQ_TMS 0x40
141 /* TDO output will be captured if this bit is set */
142 #define DAP_JTAG_SEQ_TDO 0x80
143
144
145 /* CMSIS-DAP Transfer Commands */
146 #define CMD_DAP_TFER_CONFIGURE 0x04
147 #define CMD_DAP_TFER 0x05
148 #define CMD_DAP_TFER_BLOCK 0x06
149 #define CMD_DAP_TFER_ABORT 0x07
150
151 /* DAP Status Code */
152 #define DAP_OK 0
153 #define DAP_ERROR 0xFF
154
155 /* CMSIS-DAP Vendor Commands
156 * None as yet... */
157
158 static const char * const info_caps_str[] = {
159 "SWD Supported",
160 "JTAG Supported"
161 };
162
163 /* max clock speed (kHz) */
164 #define DAP_MAX_CLOCK 5000
165
166 struct cmsis_dap {
167 hid_device *dev_handle;
168 uint16_t packet_size;
169 uint16_t packet_count;
170 uint8_t *packet_buffer;
171 uint8_t caps;
172 uint8_t mode;
173 };
174
175 struct pending_transfer_result {
176 uint8_t cmd;
177 uint32_t data;
178 void *buffer;
179 };
180
181 struct pending_scan_result {
182 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
183 unsigned first;
184 /** Number of bits to read. */
185 unsigned length;
186 /** Location to store the result */
187 uint8_t *buffer;
188 /** Offset in the destination buffer */
189 unsigned buffer_offset;
190 };
191
192 static int pending_transfer_count, pending_queue_len;
193 static struct pending_transfer_result *pending_transfers;
194
195 /* pointers to buffers that will receive jtag scan results on the next flush */
196 #define MAX_PENDING_SCAN_RESULTS 256
197 static int pending_scan_result_count;
198 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
199
200 /* queued JTAG sequences that will be executed on the next flush */
201 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
202 static int queued_seq_count;
203 static int queued_seq_buf_end;
204 static int queued_seq_tdo_ptr;
205 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
206
207 static int queued_retval;
208
209 static struct cmsis_dap *cmsis_dap_handle;
210
211 static int cmsis_dap_usb_open(void)
212 {
213 hid_device *dev = NULL;
214 int i;
215 struct hid_device_info *devs, *cur_dev;
216 unsigned short target_vid, target_pid;
217 wchar_t *target_serial = NULL;
218
219 bool found = false;
220 bool serial_found = false;
221
222 target_vid = 0;
223 target_pid = 0;
224
225 /*
226 * The CMSIS-DAP specification stipulates:
227 * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
228 * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
229 */
230 devs = hid_enumerate(0x0, 0x0);
231 cur_dev = devs;
232 while (NULL != cur_dev) {
233 if (0 == cmsis_dap_vid[0]) {
234 if (NULL == cur_dev->product_string) {
235 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
236 cur_dev->vendor_id, cur_dev->product_id);
237 } else {
238 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
239 /* if the user hasn't specified VID:PID *and*
240 * product string contains "CMSIS-DAP", pick it
241 */
242 found = true;
243 }
244 }
245 } else {
246 /* otherwise, exhaustively compare against all VID:PID in list */
247 for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
248 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
249 found = true;
250 }
251
252 if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
253 found = true;
254 }
255
256 if (found) {
257 /* we have found an adapter, so exit further checks */
258 /* check serial number matches if given */
259 if (cmsis_dap_serial != NULL) {
260 if ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
261 serial_found = true;
262 break;
263 }
264 } else
265 break;
266
267 found = false;
268 }
269
270 cur_dev = cur_dev->next;
271 }
272
273 if (NULL != cur_dev) {
274 target_vid = cur_dev->vendor_id;
275 target_pid = cur_dev->product_id;
276 if (serial_found)
277 target_serial = cmsis_dap_serial;
278 }
279
280 hid_free_enumeration(devs);
281
282 if (target_vid == 0 && target_pid == 0) {
283 LOG_ERROR("unable to find CMSIS-DAP device");
284 return ERROR_FAIL;
285 }
286
287 if (hid_init() != 0) {
288 LOG_ERROR("unable to open HIDAPI");
289 return ERROR_FAIL;
290 }
291
292 dev = hid_open(target_vid, target_pid, target_serial);
293
294 if (dev == NULL) {
295 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
296 return ERROR_FAIL;
297 }
298
299 struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
300 if (dap == NULL) {
301 LOG_ERROR("unable to allocate memory");
302 return ERROR_FAIL;
303 }
304
305 dap->dev_handle = dev;
306 dap->caps = 0;
307 dap->mode = 0;
308
309 cmsis_dap_handle = dap;
310
311 /* allocate default packet buffer, may be changed later.
312 * currently with HIDAPI we have no way of getting the output report length
313 * without this info we cannot communicate with the adapter.
314 * For the moment we ahve to hard code the packet size */
315
316 int packet_size = PACKET_SIZE;
317
318 /* atmel cmsis-dap uses 512 byte reports */
319 /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained
320 * board */
321 /* TODO: HID report descriptor should be parsed instead of
322 * hardcoding a match by VID */
323 if (target_vid == 0x03eb && target_pid != 0x2145)
324 packet_size = 512 + 1;
325
326 cmsis_dap_handle->packet_buffer = malloc(packet_size);
327 cmsis_dap_handle->packet_size = packet_size;
328
329 if (cmsis_dap_handle->packet_buffer == NULL) {
330 LOG_ERROR("unable to allocate memory");
331 return ERROR_FAIL;
332 }
333
334 return ERROR_OK;
335 }
336
337 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
338 {
339 hid_close(dap->dev_handle);
340 hid_exit();
341
342 free(cmsis_dap_handle->packet_buffer);
343 free(cmsis_dap_handle);
344 cmsis_dap_handle = NULL;
345 free(cmsis_dap_serial);
346 cmsis_dap_serial = NULL;
347 free(pending_transfers);
348 pending_transfers = NULL;
349
350 return;
351 }
352
353 /* Send a message and receive the reply */
354 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
355 {
356 #ifdef CMSIS_DAP_JTAG_DEBUG
357 LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
358 #endif
359 /* Pad the rest of the TX buffer with 0's */
360 memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
361
362 /* write data to device */
363 int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
364 if (retval == -1) {
365 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
366 return ERROR_FAIL;
367 }
368
369 /* get reply */
370 retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
371 if (retval == -1 || retval == 0) {
372 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
373 return ERROR_FAIL;
374 }
375
376 return ERROR_OK;
377 }
378
379 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
380 {
381 int retval;
382 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
383
384 buffer[0] = 0; /* report number */
385 buffer[1] = CMD_DAP_SWJ_PINS;
386 buffer[2] = pins;
387 buffer[3] = mask;
388 buffer[4] = delay & 0xff;
389 buffer[5] = (delay >> 8) & 0xff;
390 buffer[6] = (delay >> 16) & 0xff;
391 buffer[7] = (delay >> 24) & 0xff;
392 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
393
394 if (retval != ERROR_OK) {
395 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
396 return ERROR_JTAG_DEVICE_ERROR;
397 }
398
399 if (input)
400 *input = buffer[1];
401
402 return ERROR_OK;
403 }
404
405 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
406 {
407 int retval;
408 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
409
410 /* set clock in Hz */
411 swj_clock *= 1000;
412 buffer[0] = 0; /* report number */
413 buffer[1] = CMD_DAP_SWJ_CLOCK;
414 buffer[2] = swj_clock & 0xff;
415 buffer[3] = (swj_clock >> 8) & 0xff;
416 buffer[4] = (swj_clock >> 16) & 0xff;
417 buffer[5] = (swj_clock >> 24) & 0xff;
418 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
419
420 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
421 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
422 return ERROR_JTAG_DEVICE_ERROR;
423 }
424
425 return ERROR_OK;
426 }
427
428 /* clock a sequence of bits out on TMS, to change JTAG states */
429 static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
430 {
431 int retval;
432 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
433
434 #ifdef CMSIS_DAP_JTAG_DEBUG
435 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
436 for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
437 printf("%02X ", sequence[i]);
438
439 printf("\n");
440 #endif
441
442 buffer[0] = 0; /* report number */
443 buffer[1] = CMD_DAP_SWJ_SEQ;
444 buffer[2] = s_len;
445 bit_copy(&buffer[3], 0, sequence, 0, s_len);
446
447 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
448
449 if (retval != ERROR_OK || buffer[1] != DAP_OK)
450 return ERROR_FAIL;
451
452 return ERROR_OK;
453 }
454
455 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
456 {
457 int retval;
458 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
459
460 buffer[0] = 0; /* report number */
461 buffer[1] = CMD_DAP_INFO;
462 buffer[2] = info;
463 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
464
465 if (retval != ERROR_OK) {
466 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
467 return ERROR_JTAG_DEVICE_ERROR;
468 }
469
470 *data = &(buffer[1]);
471
472 return ERROR_OK;
473 }
474
475 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
476 {
477 int retval;
478 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
479
480 buffer[0] = 0; /* report number */
481 buffer[1] = CMD_DAP_LED;
482 buffer[2] = 0x00;
483 buffer[3] = leds;
484 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
485
486 if (retval != ERROR_OK || buffer[1] != 0x00) {
487 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
488 return ERROR_JTAG_DEVICE_ERROR;
489 }
490
491 return ERROR_OK;
492 }
493
494 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
495 {
496 int retval;
497 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
498
499 buffer[0] = 0; /* report number */
500 buffer[1] = CMD_DAP_CONNECT;
501 buffer[2] = mode;
502 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
503
504 if (retval != ERROR_OK) {
505 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
506 return ERROR_JTAG_DEVICE_ERROR;
507 }
508
509 if (buffer[1] != mode) {
510 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
511 return ERROR_JTAG_DEVICE_ERROR;
512 }
513
514 return ERROR_OK;
515 }
516
517 static int cmsis_dap_cmd_DAP_Disconnect(void)
518 {
519 int retval;
520 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
521
522 buffer[0] = 0; /* report number */
523 buffer[1] = CMD_DAP_DISCONNECT;
524 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
525
526 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
527 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
528 return ERROR_JTAG_DEVICE_ERROR;
529 }
530
531 return ERROR_OK;
532 }
533
534 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
535 {
536 int retval;
537 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
538
539 buffer[0] = 0; /* report number */
540 buffer[1] = CMD_DAP_TFER_CONFIGURE;
541 buffer[2] = idle;
542 buffer[3] = retry_count & 0xff;
543 buffer[4] = (retry_count >> 8) & 0xff;
544 buffer[5] = match_retry & 0xff;
545 buffer[6] = (match_retry >> 8) & 0xff;
546 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
547
548 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
549 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
550 return ERROR_JTAG_DEVICE_ERROR;
551 }
552
553 return ERROR_OK;
554 }
555
556 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
557 {
558 int retval;
559 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
560
561 buffer[0] = 0; /* report number */
562 buffer[1] = CMD_DAP_SWD_CONFIGURE;
563 buffer[2] = cfg;
564 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
565
566 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
567 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
568 return ERROR_JTAG_DEVICE_ERROR;
569 }
570
571 return ERROR_OK;
572 }
573
574 #if 0
575 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
576 {
577 int retval;
578 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
579
580 buffer[0] = 0; /* report number */
581 buffer[1] = CMD_DAP_DELAY;
582 buffer[2] = delay_us & 0xff;
583 buffer[3] = (delay_us >> 8) & 0xff;
584 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
585
586 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
587 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
588 return ERROR_JTAG_DEVICE_ERROR;
589 }
590
591 return ERROR_OK;
592 }
593 #endif
594
595 static int cmsis_dap_swd_run_queue(void)
596 {
597 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
598
599 LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
600
601 if (queued_retval != ERROR_OK) {
602 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
603 goto skip;
604 }
605
606 if (!pending_transfer_count)
607 goto skip;
608
609 size_t idx = 0;
610 buffer[idx++] = 0; /* report number */
611 buffer[idx++] = CMD_DAP_TFER;
612 buffer[idx++] = 0x00; /* DAP Index */
613 buffer[idx++] = pending_transfer_count;
614
615 for (int i = 0; i < pending_transfer_count; i++) {
616 uint8_t cmd = pending_transfers[i].cmd;
617 uint32_t data = pending_transfers[i].data;
618
619 LOG_DEBUG("%s %s reg %x %"PRIx32,
620 cmd & SWD_CMD_APnDP ? "AP" : "DP",
621 cmd & SWD_CMD_RnW ? "read" : "write",
622 (cmd & SWD_CMD_A32) >> 1, data);
623
624 /* When proper WAIT handling is implemented in the
625 * common SWD framework, this kludge can be
626 * removed. However, this might lead to minor
627 * performance degradation as the adapter wouldn't be
628 * able to automatically retry anything (because ARM
629 * has forgotten to implement sticky error flags
630 * clearing). See also comments regarding
631 * cmsis_dap_cmd_DAP_TFER_Configure() and
632 * cmsis_dap_cmd_DAP_SWD_Configure() in
633 * cmsis_dap_init().
634 */
635 if (!(cmd & SWD_CMD_RnW) &&
636 !(cmd & SWD_CMD_APnDP) &&
637 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
638 (data & CORUNDETECT)) {
639 LOG_DEBUG("refusing to enable sticky overrun detection");
640 data &= ~CORUNDETECT;
641 }
642
643 buffer[idx++] = (cmd >> 1) & 0x0f;
644 if (!(cmd & SWD_CMD_RnW)) {
645 buffer[idx++] = (data) & 0xff;
646 buffer[idx++] = (data >> 8) & 0xff;
647 buffer[idx++] = (data >> 16) & 0xff;
648 buffer[idx++] = (data >> 24) & 0xff;
649 }
650 }
651
652 queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
653 if (queued_retval != ERROR_OK)
654 goto skip;
655
656 idx = 2;
657 uint8_t ack = buffer[idx] & 0x07;
658 if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
659 LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
660 ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
661 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
662 goto skip;
663 }
664 idx++;
665
666 if (pending_transfer_count != buffer[1])
667 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
668 pending_transfer_count, buffer[1]);
669
670 for (int i = 0; i < buffer[1]; i++) {
671 if (pending_transfers[i].cmd & SWD_CMD_RnW) {
672 static uint32_t last_read;
673 uint32_t data = le_to_h_u32(&buffer[idx]);
674 uint32_t tmp = data;
675 idx += 4;
676
677 LOG_DEBUG("Read result: %"PRIx32, data);
678
679 /* Imitate posted AP reads */
680 if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
681 ((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
682 tmp = last_read;
683 last_read = data;
684 }
685
686 if (pending_transfers[i].buffer)
687 *(uint32_t *)pending_transfers[i].buffer = tmp;
688 }
689 }
690
691 skip:
692 pending_transfer_count = 0;
693 int retval = queued_retval;
694 queued_retval = ERROR_OK;
695
696 return retval;
697 }
698
699 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
700 {
701 if (pending_transfer_count == pending_queue_len) {
702 /* Not enough room in the queue. Run the queue. */
703 queued_retval = cmsis_dap_swd_run_queue();
704 }
705
706 if (queued_retval != ERROR_OK)
707 return;
708
709 pending_transfers[pending_transfer_count].data = data;
710 pending_transfers[pending_transfer_count].cmd = cmd;
711 if (cmd & SWD_CMD_RnW) {
712 /* Queue a read transaction */
713 pending_transfers[pending_transfer_count].buffer = dst;
714 }
715 pending_transfer_count++;
716 }
717
718 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
719 {
720 assert(!(cmd & SWD_CMD_RnW));
721 cmsis_dap_swd_queue_cmd(cmd, NULL, value);
722 }
723
724 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
725 {
726 assert(cmd & SWD_CMD_RnW);
727 cmsis_dap_swd_queue_cmd(cmd, value, 0);
728 }
729
730 static int cmsis_dap_get_version_info(void)
731 {
732 uint8_t *data;
733
734 /* INFO_ID_FW_VER - string */
735 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
736 if (retval != ERROR_OK)
737 return retval;
738
739 if (data[0]) /* strlen */
740 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
741
742 return ERROR_OK;
743 }
744
745 static int cmsis_dap_get_caps_info(void)
746 {
747 uint8_t *data;
748
749 /* INFO_ID_CAPS - byte */
750 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
751 if (retval != ERROR_OK)
752 return retval;
753
754 if (data[0] == 1) {
755 uint8_t caps = data[1];
756
757 cmsis_dap_handle->caps = caps;
758
759 if (caps & INFO_CAPS_SWD)
760 LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
761 if (caps & INFO_CAPS_JTAG)
762 LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
763 }
764
765 return ERROR_OK;
766 }
767
768 static int cmsis_dap_get_status(void)
769 {
770 uint8_t d;
771
772 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
773
774 if (retval == ERROR_OK) {
775 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
776 (d & SWJ_PIN_TCK) ? 1 : 0,
777 (d & SWJ_PIN_TMS) ? 1 : 0,
778 (d & SWJ_PIN_TDI) ? 1 : 0,
779 (d & SWJ_PIN_TDO) ? 1 : 0,
780 (d & SWJ_PIN_TRST) ? 1 : 0,
781 (d & SWJ_PIN_SRST) ? 1 : 0);
782 }
783
784 return retval;
785 }
786
787 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
788 {
789 const uint8_t *s;
790 unsigned int s_len;
791 int retval;
792
793 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
794 cmsis_dap_cmd_DAP_Disconnect();
795
796 /* When we are reconnecting, DAP_Connect needs to be rerun, at
797 * least on Keil ULINK-ME */
798 retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
799 CONNECT_SWD : CONNECT_JTAG);
800 if (retval != ERROR_OK)
801 return retval;
802
803 switch (seq) {
804 case LINE_RESET:
805 LOG_DEBUG("SWD line reset");
806 s = swd_seq_line_reset;
807 s_len = swd_seq_line_reset_len;
808 break;
809 case JTAG_TO_SWD:
810 LOG_DEBUG("JTAG-to-SWD");
811 s = swd_seq_jtag_to_swd;
812 s_len = swd_seq_jtag_to_swd_len;
813 break;
814 case SWD_TO_JTAG:
815 LOG_DEBUG("SWD-to-JTAG");
816 s = swd_seq_swd_to_jtag;
817 s_len = swd_seq_swd_to_jtag_len;
818 break;
819 default:
820 LOG_ERROR("Sequence %d not supported", seq);
821 return ERROR_FAIL;
822 }
823
824 return cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
825 }
826
827 static int cmsis_dap_swd_open(void)
828 {
829 int retval;
830
831 if (cmsis_dap_handle == NULL) {
832 /* SWD init */
833 retval = cmsis_dap_usb_open();
834 if (retval != ERROR_OK)
835 return retval;
836
837 retval = cmsis_dap_get_caps_info();
838 if (retval != ERROR_OK)
839 return retval;
840 }
841
842 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
843 LOG_ERROR("CMSIS-DAP: SWD not supported");
844 return ERROR_JTAG_DEVICE_ERROR;
845 }
846
847 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
848 if (retval != ERROR_OK)
849 return retval;
850
851 /* Add more setup here.??... */
852
853 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
854 return ERROR_OK;
855 }
856
857 static int cmsis_dap_init(void)
858 {
859 int retval;
860 uint8_t *data;
861
862 if (swd_mode) {
863 retval = cmsis_dap_swd_open();
864 if (retval != ERROR_OK)
865 return retval;
866 }
867
868 if (cmsis_dap_handle == NULL) {
869
870 /* JTAG init */
871 retval = cmsis_dap_usb_open();
872 if (retval != ERROR_OK)
873 return retval;
874
875 retval = cmsis_dap_get_caps_info();
876 if (retval != ERROR_OK)
877 return retval;
878
879 /* Connect in JTAG mode */
880 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
881 LOG_ERROR("CMSIS-DAP: JTAG not supported");
882 return ERROR_JTAG_DEVICE_ERROR;
883 }
884
885 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
886 if (retval != ERROR_OK)
887 return retval;
888
889 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
890 }
891
892 retval = cmsis_dap_get_version_info();
893 if (retval != ERROR_OK)
894 return retval;
895
896 /* INFO_ID_PKT_SZ - short */
897 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
898 if (retval != ERROR_OK)
899 return retval;
900
901 if (data[0] == 2) { /* short */
902 uint16_t pkt_sz = data[1] + (data[2] << 8);
903
904 /* 4 bytes of command header + 5 bytes per register
905 * write. For bulk read sequences just 4 bytes are
906 * needed per transfer, so this is suboptimal. */
907 pending_queue_len = (pkt_sz - 4) / 5;
908 pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
909 if (!pending_transfers) {
910 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
911 return ERROR_FAIL;
912 }
913
914 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
915 /* reallocate buffer */
916 cmsis_dap_handle->packet_size = pkt_sz + 1;
917 cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
918 cmsis_dap_handle->packet_size);
919 if (cmsis_dap_handle->packet_buffer == NULL) {
920 LOG_ERROR("unable to reallocate memory");
921 return ERROR_FAIL;
922 }
923 }
924
925 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
926 }
927
928 /* INFO_ID_PKT_CNT - byte */
929 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
930 if (retval != ERROR_OK)
931 return retval;
932
933 if (data[0] == 1) { /* byte */
934 uint16_t pkt_cnt = data[1];
935 cmsis_dap_handle->packet_count = pkt_cnt;
936 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
937 }
938
939 retval = cmsis_dap_get_status();
940 if (retval != ERROR_OK)
941 return ERROR_FAIL;
942
943 /* Now try to connect to the target
944 * TODO: This is all SWD only @ present */
945 retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
946 if (retval != ERROR_OK)
947 return ERROR_FAIL;
948
949 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
950 * up to 64 times. This must be changed to 0 if sticky
951 * overrun detection is enabled. */
952 retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
953 if (retval != ERROR_OK)
954 return ERROR_FAIL;
955 /* Data Phase (bit 2) must be set to 1 if sticky overrun
956 * detection is enabled */
957 retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
958 if (retval != ERROR_OK)
959 return ERROR_FAIL;
960
961 retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
962 if (retval != ERROR_OK)
963 return ERROR_FAIL;
964
965 /* support connecting with srst asserted */
966 enum reset_types jtag_reset_config = jtag_get_reset_config();
967
968 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
969 if (jtag_reset_config & RESET_SRST_NO_GATING) {
970 retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
971 if (retval != ERROR_OK)
972 return ERROR_FAIL;
973 LOG_INFO("Connecting under reset");
974 }
975 }
976
977 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
978
979 LOG_INFO("CMSIS-DAP: Interface ready");
980
981 return ERROR_OK;
982 }
983
984 static int cmsis_dap_swd_init(void)
985 {
986 swd_mode = true;
987 return ERROR_OK;
988 }
989
990 static int cmsis_dap_quit(void)
991 {
992 cmsis_dap_cmd_DAP_Disconnect();
993 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
994
995 cmsis_dap_usb_close(cmsis_dap_handle);
996
997 return ERROR_OK;
998 }
999
1000 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
1001 {
1002 /* Set both TRST and SRST even if they're not enabled as
1003 * there's no way to tristate them */
1004 uint8_t pins = 0;
1005
1006 if (!cmd->cmd.reset->srst)
1007 pins |= SWJ_PIN_SRST;
1008 if (!cmd->cmd.reset->trst)
1009 pins |= SWJ_PIN_TRST;
1010
1011 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(pins,
1012 SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1013 if (retval != ERROR_OK)
1014 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1015 }
1016
1017 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1018 {
1019 #if 0
1020 int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
1021 if (retval != ERROR_OK)
1022 #endif
1023 jtag_sleep(cmd->cmd.sleep->us);
1024 }
1025
1026 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1027 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1028 {
1029 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1030 uint8_t seq = 0xff;
1031 int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
1032 if (ret == ERROR_OK)
1033 tap_set_state(TAP_RESET);
1034 return ret;
1035 }
1036
1037 /* Set new end state */
1038 static void cmsis_dap_end_state(tap_state_t state)
1039 {
1040 if (tap_is_state_stable(state))
1041 tap_set_end_state(state);
1042 else {
1043 LOG_ERROR("BUG: %i is not a valid end state", state);
1044 exit(-1);
1045 }
1046 }
1047
1048 #ifdef SPRINT_BINARY
1049 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1050 {
1051 if (!len)
1052 return;
1053
1054 /*
1055 buf = { 0x18 } len=5 should result in: 11000
1056 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1057 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1058 i=3 there means i/8 = 0 so c = 0xFF, and
1059 */
1060 for (int i = offset; i < offset + len; ++i) {
1061 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1062 if ((i != offset) && !(i % 8))
1063 putchar(' ');
1064 *s++ = (c & mask) ? '1' : '0';
1065 }
1066 *s = 0;
1067 }
1068 #endif
1069
1070 #ifdef CMSIS_DAP_JTAG_DEBUG
1071 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1072 {
1073 /* cmd is a usb packet to go to the cmsis-dap interface */
1074 printf("cmsis-dap buffer (%d b): ", cmdlen);
1075 for (int i = 0; i < cmdlen; ++i)
1076 printf(" %02x", cmd[i]);
1077 printf("\n");
1078 switch (cmd[1]) {
1079 case CMD_DAP_JTAG_SEQ: {
1080 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
1081 /*
1082 * #2 = number of sequences
1083 * #3 = sequence info 1
1084 * #4...4+n_bytes-1 = sequence 1
1085 * #4+n_bytes = sequence info 2
1086 * #5+n_bytes = sequence 2 (single bit)
1087 */
1088 int pos = 3;
1089 for (int seq = 0; seq < cmd[2]; ++seq) {
1090 uint8_t info = cmd[pos++];
1091 int len = info & DAP_JTAG_SEQ_TCK;
1092 if (len == 0)
1093 len = 64;
1094 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1095 seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1096 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1097 printf(" %02x", cmd[pos+i]);
1098 pos += DIV_ROUND_UP(len, 8);
1099 printf("\n");
1100 }
1101 if (pos != cmdlen) {
1102 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1103 exit(-1);
1104 }
1105
1106 break;
1107 }
1108 default:
1109 LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1110 break;
1111 }
1112 }
1113 #endif
1114
1115 static void cmsis_dap_flush(void)
1116 {
1117 if (!queued_seq_count)
1118 return;
1119
1120 DEBUG_JTAG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1121 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1122
1123 /* prep CMSIS-DAP packet */
1124 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
1125 buffer[0] = 0; /* report number */
1126 buffer[1] = CMD_DAP_JTAG_SEQ;
1127 buffer[2] = queued_seq_count;
1128 memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
1129
1130 #ifdef CMSIS_DAP_JTAG_DEBUG
1131 debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
1132 #endif
1133
1134 /* send command to USB device */
1135 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
1136 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
1137 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1138 exit(-1);
1139 }
1140
1141 #ifdef CMSIS_DAP_JTAG_DEBUG
1142 DEBUG_JTAG_IO("USB response buf:");
1143 for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1144 printf("%02X ", buffer[c]);
1145 printf("\n");
1146 #endif
1147
1148 /* copy scan results into client buffers */
1149 for (int i = 0; i < pending_scan_result_count; ++i) {
1150 struct pending_scan_result *scan = &pending_scan_results[i];
1151 DEBUG_JTAG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1152 i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1153 #ifdef CMSIS_DAP_JTAG_DEBUG
1154 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1155 printf("%02X ", buffer[2+scan->first+b]);
1156 printf("\n");
1157 #endif
1158 bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
1159 }
1160
1161 /* reset */
1162 queued_seq_count = 0;
1163 queued_seq_buf_end = 0;
1164 queued_seq_tdo_ptr = 0;
1165 pending_scan_result_count = 0;
1166 }
1167
1168 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1169 *
1170 * sequence=NULL means clock out zeros on TDI
1171 * tdo_buffer=NULL means don't capture TDO
1172 */
1173 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1174 bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1175 {
1176 DEBUG_JTAG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1177 queued_seq_buf_end,
1178 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1179
1180 if (s_len == 0)
1181 return;
1182
1183 if (s_len > 64) {
1184 DEBUG_JTAG_IO("START JTAG SEQ SPLIT");
1185 for (int offset = 0; offset < s_len; offset += 64) {
1186 int len = s_len - offset;
1187 if (len > 64)
1188 len = 64;
1189 DEBUG_JTAG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1190 cmsis_dap_add_jtag_sequence(
1191 len,
1192 sequence,
1193 s_offset + offset,
1194 tms,
1195 tdo_buffer,
1196 tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
1197 );
1198 }
1199 DEBUG_JTAG_IO("END JTAG SEQ SPLIT");
1200 return;
1201 }
1202
1203 int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1204 if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1205 /* empty out the buffer */
1206 cmsis_dap_flush();
1207
1208 ++queued_seq_count;
1209
1210 /* control byte */
1211 queued_seq_buf[queued_seq_buf_end] =
1212 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1213 (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
1214 (s_len == 64 ? 0 : s_len);
1215
1216 if (sequence != NULL)
1217 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1218 else
1219 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1220
1221 queued_seq_buf_end += cmd_len;
1222
1223 if (tdo_buffer != NULL) {
1224 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1225 scan->first = queued_seq_tdo_ptr;
1226 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1227 scan->length = s_len;
1228 scan->buffer = tdo_buffer;
1229 scan->buffer_offset = tdo_buffer_offset;
1230 }
1231 }
1232
1233 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1234 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1235 {
1236 DEBUG_JTAG_IO("%d bits: %02X", s_len, *sequence);
1237 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1238 because even though it seems ridiculously inefficient, it
1239 allows us to combine TMS and scan sequences into the same
1240 USB packet. */
1241 /* TODO: combine runs of the same tms value */
1242 for (int i = 0; i < s_len; ++i) {
1243 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1244 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1245 }
1246 }
1247
1248 /* Move to the end state by queuing a sequence to clock into TMS */
1249 static void cmsis_dap_state_move(void)
1250 {
1251 uint8_t tms_scan;
1252 uint8_t tms_scan_bits;
1253
1254 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1255 tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1256
1257 DEBUG_JTAG_IO("state move from %s to %s: %d clocks, %02X on tms",
1258 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1259 tms_scan_bits, tms_scan);
1260 cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1261
1262 tap_set_state(tap_get_end_state());
1263 }
1264
1265
1266 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1267 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1268 {
1269 DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1270 jtag_scan_type(cmd->cmd.scan));
1271
1272 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1273 while (cmd->cmd.scan->num_fields > 0
1274 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1275 cmd->cmd.scan->num_fields--;
1276 LOG_DEBUG("discarding trailing empty field");
1277 }
1278
1279 if (cmd->cmd.scan->num_fields == 0) {
1280 LOG_DEBUG("empty scan, doing nothing");
1281 return;
1282 }
1283
1284 if (cmd->cmd.scan->ir_scan) {
1285 if (tap_get_state() != TAP_IRSHIFT) {
1286 cmsis_dap_end_state(TAP_IRSHIFT);
1287 cmsis_dap_state_move();
1288 }
1289 } else {
1290 if (tap_get_state() != TAP_DRSHIFT) {
1291 cmsis_dap_end_state(TAP_DRSHIFT);
1292 cmsis_dap_state_move();
1293 }
1294 }
1295
1296 cmsis_dap_end_state(cmd->cmd.scan->end_state);
1297
1298 struct scan_field *field = cmd->cmd.scan->fields;
1299 unsigned scan_size = 0;
1300
1301 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1302 scan_size += field->num_bits;
1303 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
1304 field->in_value ? "in" : "",
1305 field->out_value ? "out" : "",
1306 i,
1307 cmd->cmd.scan->num_fields,
1308 field->num_bits);
1309
1310 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1311 DEBUG_JTAG_IO("Last field and have to move out of SHIFT state");
1312 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1313 * movement. This last field can't have length zero, it was checked above. */
1314 cmsis_dap_add_jtag_sequence(
1315 field->num_bits - 1, /* number of bits to clock */
1316 field->out_value, /* output sequence */
1317 0, /* output offset */
1318 false, /* TMS low */
1319 field->in_value,
1320 0);
1321
1322 /* Clock the last bit out, with TMS high */
1323 uint8_t last_bit = 0;
1324 if (field->out_value)
1325 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1326 cmsis_dap_add_jtag_sequence(
1327 1,
1328 &last_bit,
1329 0,
1330 true,
1331 field->in_value,
1332 field->num_bits - 1);
1333 tap_set_state(tap_state_transition(tap_get_state(), 1));
1334
1335 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1336 cmsis_dap_add_jtag_sequence(
1337 1,
1338 &last_bit,
1339 0,
1340 false,
1341 NULL,
1342 0);
1343 tap_set_state(tap_state_transition(tap_get_state(), 0));
1344 } else {
1345 DEBUG_JTAG_IO("Internal field, staying in SHIFT state afterwards");
1346 /* Clocking part of a sequence into DR or IR with TMS=0,
1347 leaving TMS=0 at the end so we can continue later */
1348 cmsis_dap_add_jtag_sequence(
1349 field->num_bits,
1350 field->out_value,
1351 0,
1352 false,
1353 field->in_value,
1354 0);
1355 }
1356 }
1357
1358 if (tap_get_state() != tap_get_end_state()) {
1359 cmsis_dap_end_state(tap_get_end_state());
1360 cmsis_dap_state_move();
1361 }
1362
1363 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
1364 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1365 tap_state_name(tap_get_end_state()));
1366 }
1367
1368 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1369 {
1370 int i;
1371 uint8_t tms0 = 0x00;
1372 uint8_t tms1 = 0xff;
1373
1374 for (i = 0; i < num_states; i++) {
1375 if (path[i] == tap_state_transition(tap_get_state(), false))
1376 cmsis_dap_add_tms_sequence(&tms0, 1);
1377 else if (path[i] == tap_state_transition(tap_get_state(), true))
1378 cmsis_dap_add_tms_sequence(&tms1, 1);
1379 else {
1380 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1381 tap_state_name(tap_get_state()), tap_state_name(path[i]));
1382 exit(-1);
1383 }
1384
1385 tap_set_state(path[i]);
1386 }
1387
1388 cmsis_dap_end_state(tap_get_state());
1389 }
1390
1391 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1392 {
1393 DEBUG_JTAG_IO("pathmove: %i states, end in %i",
1394 cmd->cmd.pathmove->num_states,
1395 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1396
1397 cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1398 }
1399
1400 static void cmsis_dap_stableclocks(int num_cycles)
1401 {
1402 int i;
1403
1404 uint8_t tms = tap_get_state() == TAP_RESET;
1405 /* TODO: Perform optimizations? */
1406 /* Execute num_cycles. */
1407 for (i = 0; i < num_cycles; i++)
1408 cmsis_dap_add_tms_sequence(&tms, 1);
1409 }
1410
1411 static void cmsis_dap_runtest(int num_cycles)
1412 {
1413 tap_state_t saved_end_state = tap_get_end_state();
1414
1415 /* Only do a state_move when we're not already in IDLE. */
1416 if (tap_get_state() != TAP_IDLE) {
1417 cmsis_dap_end_state(TAP_IDLE);
1418 cmsis_dap_state_move();
1419 }
1420 cmsis_dap_stableclocks(num_cycles);
1421
1422 /* Finish in end_state. */
1423 cmsis_dap_end_state(saved_end_state);
1424
1425 if (tap_get_state() != tap_get_end_state())
1426 cmsis_dap_state_move();
1427 }
1428
1429 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1430 {
1431 DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1432 cmd->cmd.runtest->end_state);
1433
1434 cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1435 cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1436 }
1437
1438 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1439 {
1440 DEBUG_JTAG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1441 cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1442 }
1443
1444 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1445 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1446 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1447 {
1448 switch (cmd->type) {
1449 case JTAG_RESET:
1450 cmsis_dap_flush();
1451 cmsis_dap_execute_reset(cmd);
1452 break;
1453 case JTAG_SLEEP:
1454 cmsis_dap_flush();
1455 cmsis_dap_execute_sleep(cmd);
1456 break;
1457 case JTAG_TLR_RESET:
1458 cmsis_dap_flush();
1459 cmsis_dap_execute_tlr_reset(cmd);
1460 break;
1461 case JTAG_SCAN:
1462 cmsis_dap_execute_scan(cmd);
1463 break;
1464 case JTAG_PATHMOVE:
1465 cmsis_dap_execute_pathmove(cmd);
1466 break;
1467 case JTAG_RUNTEST:
1468 cmsis_dap_execute_runtest(cmd);
1469 break;
1470 case JTAG_STABLECLOCKS:
1471 cmsis_dap_execute_stableclocks(cmd);
1472 break;
1473 case JTAG_TMS:
1474 default:
1475 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1476 exit(-1);
1477 }
1478 }
1479
1480 static int cmsis_dap_execute_queue(void)
1481 {
1482 struct jtag_command *cmd = jtag_command_queue;
1483
1484 while (cmd != NULL) {
1485 cmsis_dap_execute_command(cmd);
1486 cmd = cmd->next;
1487 }
1488
1489 cmsis_dap_flush();
1490
1491 return ERROR_OK;
1492 }
1493
1494 static int cmsis_dap_speed(int speed)
1495 {
1496 if (speed > DAP_MAX_CLOCK) {
1497 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
1498 speed = DAP_MAX_CLOCK;
1499 }
1500
1501 if (speed == 0) {
1502 LOG_INFO("RTCK not supported");
1503 return ERROR_JTAG_NOT_IMPLEMENTED;
1504 }
1505
1506 return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
1507 }
1508
1509 static int cmsis_dap_speed_div(int speed, int *khz)
1510 {
1511 *khz = speed;
1512 return ERROR_OK;
1513 }
1514
1515 static int cmsis_dap_khz(int khz, int *jtag_speed)
1516 {
1517 *jtag_speed = khz;
1518 return ERROR_OK;
1519 }
1520
1521 static int_least32_t cmsis_dap_swd_frequency(int_least32_t hz)
1522 {
1523 if (hz > 0)
1524 cmsis_dap_speed(hz / 1000);
1525
1526 return hz;
1527 }
1528
1529
1530 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1531 {
1532 if (cmsis_dap_get_version_info() == ERROR_OK)
1533 cmsis_dap_get_status();
1534
1535 return ERROR_OK;
1536 }
1537
1538 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
1539 {
1540 if (CMD_ARGC > MAX_USB_IDS * 2) {
1541 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1542 "(maximum is %d pairs)", MAX_USB_IDS);
1543 CMD_ARGC = MAX_USB_IDS * 2;
1544 }
1545 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
1546 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1547 if (CMD_ARGC < 2)
1548 return ERROR_COMMAND_SYNTAX_ERROR;
1549 /* remove the incomplete trailing id */
1550 CMD_ARGC -= 1;
1551 }
1552
1553 unsigned i;
1554 for (i = 0; i < CMD_ARGC; i += 2) {
1555 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
1556 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
1557 }
1558
1559 /*
1560 * Explicitly terminate, in case there are multiples instances of
1561 * cmsis_dap_vid_pid.
1562 */
1563 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1564
1565 return ERROR_OK;
1566 }
1567
1568 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
1569 {
1570 if (CMD_ARGC == 1) {
1571 size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
1572 cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
1573 if (cmsis_dap_serial == NULL) {
1574 LOG_ERROR("unable to allocate memory");
1575 return ERROR_OK;
1576 }
1577 if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
1578 free(cmsis_dap_serial);
1579 cmsis_dap_serial = NULL;
1580 LOG_ERROR("unable to convert serial");
1581 }
1582 } else {
1583 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1584 }
1585
1586 return ERROR_OK;
1587 }
1588
1589 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1590 {
1591 .name = "info",
1592 .handler = &cmsis_dap_handle_info_command,
1593 .mode = COMMAND_EXEC,
1594 .usage = "",
1595 .help = "show cmsis-dap info",
1596 },
1597 COMMAND_REGISTRATION_DONE
1598 };
1599
1600 static const struct command_registration cmsis_dap_command_handlers[] = {
1601 {
1602 .name = "cmsis-dap",
1603 .mode = COMMAND_ANY,
1604 .help = "perform CMSIS-DAP management",
1605 .usage = "<cmd>",
1606 .chain = cmsis_dap_subcommand_handlers,
1607 },
1608 {
1609 .name = "cmsis_dap_vid_pid",
1610 .handler = &cmsis_dap_handle_vid_pid_command,
1611 .mode = COMMAND_CONFIG,
1612 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1613 .usage = "(vid pid)* ",
1614 },
1615 {
1616 .name = "cmsis_dap_serial",
1617 .handler = &cmsis_dap_handle_serial_command,
1618 .mode = COMMAND_CONFIG,
1619 .help = "set the serial number of the adapter",
1620 .usage = "serial_string",
1621 },
1622 COMMAND_REGISTRATION_DONE
1623 };
1624
1625 static const struct swd_driver cmsis_dap_swd_driver = {
1626 .init = cmsis_dap_swd_init,
1627 .frequency = cmsis_dap_swd_frequency,
1628 .switch_seq = cmsis_dap_swd_switch_seq,
1629 .read_reg = cmsis_dap_swd_read_reg,
1630 .write_reg = cmsis_dap_swd_write_reg,
1631 .run = cmsis_dap_swd_run_queue,
1632 };
1633
1634 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
1635
1636 struct jtag_interface cmsis_dap_interface = {
1637 .name = "cmsis-dap",
1638 .commands = cmsis_dap_command_handlers,
1639 .swd = &cmsis_dap_swd_driver,
1640 .transports = cmsis_dap_transport,
1641
1642 .execute_queue = cmsis_dap_execute_queue,
1643 .speed = cmsis_dap_speed,
1644 .speed_div = cmsis_dap_speed_div,
1645 .khz = cmsis_dap_khz,
1646 .init = cmsis_dap_init,
1647 .quit = cmsis_dap_quit,
1648 };
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