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drivers: cmsis-dap: fix connection in JTAG mode
[openocd.git] / src / jtag / drivers / cmsis_dap_usb.c
diff --git a/src/jtag/drivers/cmsis_dap_usb.c b/src/jtag/drivers/cmsis_dap_usb.c
index a07064be5d904e80fcfdf2c9d17906de087d8b27..9e723b51d103ffe8c62bdd67166ac0b421fd972b 100644 (file)
--- a/src/jtag/drivers/cmsis_dap_usb.c
+++ b/src/jtag/drivers/cmsis_dap_usb.c
@@ -118,6 +118,13 @@ static bool swd_mode;
  * Bit 7: nRESET
  */
 
+#define SWJ_PIN_TCK               (1<<0)
+#define SWJ_PIN_TMS               (1<<1)
+#define SWJ_PIN_TDI               (1<<2)
+#define SWJ_PIN_TDO               (1<<3)
+#define SWJ_PIN_TRST              (1<<5)
+#define SWJ_PIN_SRST              (1<<7)
+
 /* CMSIS-DAP SWD Commands */
 #define CMD_DAP_SWD_CONFIGURE     0x13
 
@@ -199,6 +206,8 @@ static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis obj
 
 static int queued_retval;
 
+static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
+
 static struct cmsis_dap *cmsis_dap_handle;
 
 static int cmsis_dap_usb_open(void)
@@ -309,9 +318,11 @@ static int cmsis_dap_usb_open(void)
        int packet_size = PACKET_SIZE;
 
        /* atmel cmsis-dap uses 512 byte reports */
+       /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained
+        * board */
        /* TODO: HID report descriptor should be parsed instead of
         * hardcoding a match by VID */
-       if (target_vid == 0x03eb)
+       if (target_vid == 0x03eb && target_pid != 0x2145)
                packet_size = 512 + 1;
 
        cmsis_dap_handle->packet_buffer = malloc(packet_size);
@@ -587,7 +598,7 @@ static int cmsis_dap_swd_run_queue(void)
 {
        uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 
-       LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
+       LOG_DEBUG_IO("Executing %d queued transactions", pending_transfer_count);
 
        if (queued_retval != ERROR_OK) {
                LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
@@ -607,7 +618,7 @@ static int cmsis_dap_swd_run_queue(void)
                uint8_t cmd = pending_transfers[i].cmd;
                uint32_t data = pending_transfers[i].data;
 
-               LOG_DEBUG("%s %s reg %x %"PRIx32,
+               LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
                                cmd & SWD_CMD_APnDP ? "AP" : "DP",
                                cmd & SWD_CMD_RnW ? "read" : "write",
                          (cmd & SWD_CMD_A32) >> 1, data);
@@ -665,7 +676,7 @@ static int cmsis_dap_swd_run_queue(void)
                        uint32_t tmp = data;
                        idx += 4;
 
-                       LOG_DEBUG("Read result: %"PRIx32, data);
+                       LOG_DEBUG_IO("Read result: %"PRIx32, data);
 
                        /* Imitate posted AP reads */
                        if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
@@ -718,6 +729,20 @@ static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_del
        cmsis_dap_swd_queue_cmd(cmd, value, 0);
 }
 
+static int cmsis_dap_get_serial_info(void)
+{
+       uint8_t *data;
+
+       int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM, &data);
+       if (retval != ERROR_OK)
+               return retval;
+
+       if (data[0]) /* strlen */
+               LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
+
+       return ERROR_OK;
+}
+
 static int cmsis_dap_get_version_info(void)
 {
        uint8_t *data;
@@ -764,12 +789,12 @@ static int cmsis_dap_get_status(void)
 
        if (retval == ERROR_OK) {
                LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
-                       (d & (0x01 << 0)) ? 1 : 0,      /* Bit 0: SWCLK/TCK */
-                       (d & (0x01 << 1)) ? 1 : 0,      /* Bit 1: SWDIO/TMS */
-                       (d & (0x01 << 2)) ? 1 : 0,      /* Bit 2: TDI */
-                       (d & (0x01 << 3)) ? 1 : 0,      /* Bit 3: TDO */
-                       (d & (0x01 << 5)) ? 1 : 0,      /* Bit 5: nTRST */
-                       (d & (0x01 << 7)) ? 1 : 0);     /* Bit 7: nRESET */
+                       (d & SWJ_PIN_TCK) ? 1 : 0,
+                       (d & SWJ_PIN_TMS) ? 1 : 0,
+                       (d & SWJ_PIN_TDI) ? 1 : 0,
+                       (d & SWJ_PIN_TDO) ? 1 : 0,
+                       (d & SWJ_PIN_TRST) ? 1 : 0,
+                       (d & SWJ_PIN_SRST) ? 1 : 0);
        }
 
        return retval;
@@ -781,15 +806,20 @@ static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
        unsigned int s_len;
        int retval;
 
-       /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
-       cmsis_dap_cmd_DAP_Disconnect();
+       if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
+               /* Following workaround deasserts reset on most adapters.
+                * Do not reconnect if a reset line is active!
+                * Reconnecting would break connecting under reset. */
 
-       /* When we are reconnecting, DAP_Connect needs to be rerun, at
-        * least on Keil ULINK-ME */
-       retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
-                                          CONNECT_SWD : CONNECT_JTAG);
-       if (retval != ERROR_OK)
-               return retval;
+               /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
+               cmsis_dap_cmd_DAP_Disconnect();
+
+               /* When we are reconnecting, DAP_Connect needs to be rerun, at
+                * least on Keil ULINK-ME */
+               retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
+               if (retval != ERROR_OK)
+                       return retval;
+       }
 
        switch (seq) {
        case LINE_RESET:
@@ -812,24 +842,19 @@ static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
                return ERROR_FAIL;
        }
 
-       return cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
+       retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
+       if (retval != ERROR_OK)
+               return retval;
+
+       /* Atmel EDBG needs renew clock setting after SWJ_Sequence
+        * otherwise default frequency is used */
+       return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
 }
 
 static int cmsis_dap_swd_open(void)
 {
        int retval;
 
-       if (cmsis_dap_handle == NULL) {
-               /* SWD init */
-               retval = cmsis_dap_usb_open();
-               if (retval != ERROR_OK)
-                       return retval;
-
-               retval = cmsis_dap_get_caps_info();
-               if (retval != ERROR_OK)
-                       return retval;
-       }
-
        if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
                LOG_ERROR("CMSIS-DAP: SWD not supported");
                return ERROR_JTAG_DEVICE_ERROR;
@@ -850,23 +875,27 @@ static int cmsis_dap_init(void)
        int retval;
        uint8_t *data;
 
-       if (swd_mode) {
-               retval = cmsis_dap_swd_open();
-               if (retval != ERROR_OK)
-                       return retval;
-       }
+       retval = cmsis_dap_usb_open();
+       if (retval != ERROR_OK)
+               return retval;
 
-       if (cmsis_dap_handle == NULL) {
+       retval = cmsis_dap_get_caps_info();
+       if (retval != ERROR_OK)
+               return retval;
 
-               /* JTAG init */
-               retval = cmsis_dap_usb_open();
-               if (retval != ERROR_OK)
-                       return retval;
+       retval = cmsis_dap_get_version_info();
+       if (retval != ERROR_OK)
+               return retval;
 
-               retval = cmsis_dap_get_caps_info();
+       retval = cmsis_dap_get_serial_info();
+       if (retval != ERROR_OK)
+               return retval;
+
+       if (swd_mode) {
+               retval = cmsis_dap_swd_open();
                if (retval != ERROR_OK)
                        return retval;
-
+       } else {
                /* Connect in JTAG mode */
                if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
                        LOG_ERROR("CMSIS-DAP: JTAG not supported");
@@ -880,10 +909,6 @@ static int cmsis_dap_init(void)
                LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
        }
 
-       retval = cmsis_dap_get_version_info();
-       if (retval != ERROR_OK)
-               return retval;
-
        /* INFO_ID_PKT_SZ - short */
        retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
        if (retval != ERROR_OK)
@@ -941,14 +966,17 @@ static int cmsis_dap_init(void)
         * up to 64 times. This must be changed to 0 if sticky
         * overrun detection is enabled. */
        retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
-       if (retval != ERROR_OK)
-               return ERROR_FAIL;
-       /* Data Phase (bit 2) must be set to 1 if sticky overrun
-        * detection is enabled */
-       retval = cmsis_dap_cmd_DAP_SWD_Configure(0);    /* 1 TRN, no Data Phase */
        if (retval != ERROR_OK)
                return ERROR_FAIL;
 
+       if (swd_mode) {
+               /* Data Phase (bit 2) must be set to 1 if sticky overrun
+                * detection is enabled */
+               retval = cmsis_dap_cmd_DAP_SWD_Configure(0);    /* 1 TRN, no Data Phase */
+               if (retval != ERROR_OK)
+                       return ERROR_FAIL;
+       }
+
        retval = cmsis_dap_cmd_DAP_LED(0x03);           /* Both LEDs on */
        if (retval != ERROR_OK)
                return ERROR_FAIL;
@@ -990,8 +1018,17 @@ static int cmsis_dap_quit(void)
 
 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
 {
-       int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
-                       (1 << 7), 0, NULL);
+       /* Set both TRST and SRST even if they're not enabled as
+        * there's no way to tristate them */
+
+       output_pins = 0;
+       if (!cmd->cmd.reset->srst)
+               output_pins |= SWJ_PIN_SRST;
+       if (!cmd->cmd.reset->trst)
+               output_pins |= SWJ_PIN_TRST;
+
+       int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins,
+                       SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
        if (retval != ERROR_OK)
                LOG_ERROR("CMSIS-DAP: Interface reset failed");
 }
@@ -1423,6 +1460,12 @@ static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
        cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
 }
 
+static void cmsis_dap_execute_tms(struct jtag_command *cmd)
+{
+       DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
+       cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
+}
+
 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
  * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
 static void cmsis_dap_execute_command(struct jtag_command *cmd)
@@ -1453,6 +1496,8 @@ static void cmsis_dap_execute_command(struct jtag_command *cmd)
                        cmsis_dap_execute_stableclocks(cmd);
                        break;
                case JTAG_TMS:
+                       cmsis_dap_execute_tms(cmd);
+                       break;
                default:
                        LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
                        exit(-1);
@@ -1475,13 +1520,11 @@ static int cmsis_dap_execute_queue(void)
 
 static int cmsis_dap_speed(int speed)
 {
-       if (speed > DAP_MAX_CLOCK) {
-               LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
-               speed = DAP_MAX_CLOCK;
-       }
+       if (speed > DAP_MAX_CLOCK)
+               LOG_INFO("High speed (adapter_khz %d) may be limited by adapter firmware.", speed);
 
        if (speed == 0) {
-               LOG_INFO("RTCK not supported");
+               LOG_ERROR("RTCK not supported. Set nonzero adapter_khz.");
                return ERROR_JTAG_NOT_IMPLEMENTED;
        }
 
@@ -1617,6 +1660,7 @@ static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
 
 struct jtag_interface cmsis_dap_interface = {
        .name = "cmsis-dap",
+       .supported = DEBUG_CAP_TMS_SEQ,
        .commands = cmsis_dap_command_handlers,
        .swd = &cmsis_dap_swd_driver,
        .transports = cmsis_dap_transport,
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