X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fdrivers%2Fvsllink.c;h=ea9152c090b93b3c53d9bb3d3e7236a798e4e83f;hp=2274be40d84cb069d4b7dcd13ed16ff9c8442c80;hb=3d59e0f61257ef4dd19a49bd793e24a8e6eaa675;hpb=54fc164d3a2e3b83f5a91533cac7829f019a14f2

diff --git a/src/jtag/drivers/vsllink.c b/src/jtag/drivers/vsllink.c
index 2274be40d8..ea9152c090 100644
--- a/src/jtag/drivers/vsllink.c
+++ b/src/jtag/drivers/vsllink.c
@@ -12,9 +12,7 @@
  *   GNU General Public License for more details.                          *
  *                                                                         *
  *   You should have received a copy of the GNU General Public License     *
- *   along with this program; if not, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
+ *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  ***************************************************************************/
 
 /* Versaloon is a programming tool for multiple MCUs.
@@ -28,7 +26,8 @@
 
 #include <jtag/interface.h>
 #include <jtag/commands.h>
-#include "usb_common.h"
+#include <jtag/swd.h>
+#include <libusb.h>
 
 #include "versaloon/versaloon_include.h"
 #include "versaloon/versaloon.h"
@@ -38,18 +37,18 @@ static int vsllink_tms_offset;
 struct pending_scan_result {
 	int src_offset;
 	int dest_offset;
-	int length; /* Number of bits to read */
-	struct scan_command *command; /* Corresponding scan command */
+	int length;	/* Number of bits to read */
+	struct scan_command *command;	/* Corresponding scan command */
 	uint8_t *ack;
 	uint8_t *buffer;
-	bool last; /* indicate the last scan pending */
+	bool last;	/* indicate the last scan pending */
 };
 
 #define MAX_PENDING_SCAN_RESULTS 256
 
 static int pending_scan_results_length;
 static struct pending_scan_result
-		pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
+	pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 
 /* Queue command functions */
 static void vsllink_end_state(tap_state_t state);
@@ -59,7 +58,7 @@ static void vsllink_tms(int num_bits, const uint8_t *bits);
 static void vsllink_runtest(int num_cycles);
 static void vsllink_stableclocks(int num_cycles, int tms);
 static void vsllink_scan(bool ir_scan, enum scan_type type,
-	uint8_t *buffer, int scan_size, struct scan_command *command);
+		uint8_t *buffer, int scan_size, struct scan_command *command);
 static void vsllink_reset(int trst, int srst);
 
 /* VSLLink tap buffer functions */
@@ -70,15 +69,20 @@ static void vsllink_tap_ensure_pending(int scans);
 static void vsllink_tap_append_scan(int length, uint8_t *buffer,
 		struct scan_command *command);
 
+/* VSLLink SWD functions */
+static int_least32_t vsllink_swd_frequency(int_least32_t hz);
+static int vsllink_swd_switch_seq(enum swd_special_seq seq);
+
 /* VSLLink lowlevel functions */
 struct vsllink {
-	struct usb_dev_handle *usb_handle;
+	struct libusb_context *libusb_ctx;
+	struct libusb_device_handle *usb_device_handle;
 };
 
-static struct vsllink *vsllink_usb_open(void);
+static int vsllink_usb_open(struct vsllink *vsllink);
 static void vsllink_usb_close(struct vsllink *vsllink);
 
-#if defined _DEBUG_USB_COMMS_ || defined _DEBUG_JTAG_IO_
+#if defined _DEBUG_JTAG_IO_
 static void vsllink_debug_buffer(uint8_t *buffer, int length);
 #endif
 
@@ -88,7 +92,9 @@ static uint8_t *tms_buffer;
 static uint8_t *tdi_buffer;
 static uint8_t *tdo_buffer;
 
-struct vsllink *vsllink_handle;
+static bool swd_mode;
+
+static struct vsllink *vsllink_handle;
 
 static int vsllink_execute_queue(void)
 {
@@ -105,9 +111,8 @@ static int vsllink_execute_queue(void)
 		switch (cmd->type) {
 			case JTAG_RUNTEST:
 				DEBUG_JTAG_IO("runtest %i cycles, end in %s",
-					cmd->cmd.runtest->num_cycles,
-					tap_state_name(cmd->cmd.runtest
-							->end_state));
+						cmd->cmd.runtest->num_cycles,
+						tap_state_name(cmd->cmd.runtest->end_state));
 
 				vsllink_end_state(cmd->cmd.runtest->end_state);
 				vsllink_runtest(cmd->cmd.runtest->num_cycles);
@@ -115,24 +120,18 @@ static int vsllink_execute_queue(void)
 
 			case JTAG_TLR_RESET:
 				DEBUG_JTAG_IO("statemove end in %s",
-					tap_state_name(cmd->cmd.statemove
-							->end_state));
+						tap_state_name(cmd->cmd.statemove->end_state));
 
-				vsllink_end_state(cmd->cmd.statemove
-							->end_state);
+				vsllink_end_state(cmd->cmd.statemove->end_state);
 				vsllink_state_move();
 				break;
 
 			case JTAG_PATHMOVE:
 				DEBUG_JTAG_IO("pathmove: %i states, end in %s",
-					cmd->cmd.pathmove->num_states,
-					tap_state_name(cmd->cmd.pathmove
-						->path[cmd->cmd.pathmove
-							->num_states - 1]));
-
-				vsllink_path_move(
-					cmd->cmd.pathmove->num_states,
-					cmd->cmd.pathmove->path);
+						cmd->cmd.pathmove->num_states,
+						tap_state_name(cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]));
+
+				vsllink_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 				break;
 
 			case JTAG_SCAN:
@@ -141,27 +140,25 @@ static int vsllink_execute_queue(void)
 				vsllink_end_state(cmd->cmd.scan->end_state);
 
 				scan_size = jtag_build_buffer(
-					cmd->cmd.scan, &buffer);
+						cmd->cmd.scan, &buffer);
 
 				if (cmd->cmd.scan->ir_scan)
 					DEBUG_JTAG_IO(
-						"JTAG Scan write IR(%d bits), "
-						"end in %s:",
-						scan_size,
-						tap_state_name(cmd->cmd.scan
-								->end_state));
+							"JTAG Scan write IR(%d bits), "
+							"end in %s:",
+							scan_size,
+							tap_state_name(cmd->cmd.scan->end_state));
 
 				else
 					DEBUG_JTAG_IO(
-						"JTAG Scan write DR(%d bits), "
-						"end in %s:",
-						scan_size,
-						tap_state_name(cmd->cmd.scan
-							->end_state));
+							"JTAG Scan write DR(%d bits), "
+							"end in %s:",
+							scan_size,
+							tap_state_name(cmd->cmd.scan->end_state));
 
 #ifdef _DEBUG_JTAG_IO_
 				vsllink_debug_buffer(buffer,
-					DIV_ROUND_UP(scan_size, 8));
+						DIV_ROUND_UP(scan_size, 8));
 #endif
 
 				type = jtag_scan_type(cmd->cmd.scan);
@@ -193,7 +190,7 @@ static int vsllink_execute_queue(void)
 
 			case JTAG_STABLECLOCKS:
 				DEBUG_JTAG_IO("add %d clocks",
-					cmd->cmd.stableclocks->num_cycles);
+						cmd->cmd.stableclocks->num_cycles);
 
 				switch (tap_get_state()) {
 				case TAP_RESET:
@@ -210,29 +207,28 @@ static int vsllink_execute_queue(void)
 					/* else, tms should be '0' */
 					scan_size = 0;
 					break;
-					/* above stable states are OK */
+				/* above stable states are OK */
 				default:
-					 LOG_ERROR("jtag_add_clocks() "
-						"in non-stable state \"%s\"",
-						tap_state_name(tap_get_state())
-						);
-				 exit(-1);
+					LOG_ERROR("jtag_add_clocks() "
+							"in non-stable state \"%s\"",
+							tap_state_name(tap_get_state())
+					);
+					exit(-1);
 				}
-				vsllink_stableclocks(cmd->cmd.stableclocks
-						->num_cycles, scan_size);
+				vsllink_stableclocks(cmd->cmd.stableclocks->num_cycles, scan_size);
 				break;
 
-			case JTAG_TMS:
-				DEBUG_JTAG_IO("add %d jtag tms",
-						cmd->cmd.tms->num_bits);
+				case JTAG_TMS:
+					DEBUG_JTAG_IO("add %d jtag tms",
+							cmd->cmd.tms->num_bits);
 
-				vsllink_tms(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
-				break;
+					vsllink_tms(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
+					break;
 
-			default:
-				LOG_ERROR("BUG: unknown JTAG command type "
-					"encountered: %d", cmd->type);
-				exit(-1);
+				default:
+					LOG_ERROR("BUG: unknown JTAG command type "
+							"encountered: %d", cmd->type);
+					exit(-1);
 		}
 		cmd = cmd->next;
 	}
@@ -242,6 +238,11 @@ static int vsllink_execute_queue(void)
 
 static int vsllink_speed(int speed)
 {
+	if (swd_mode) {
+		vsllink_swd_frequency(speed * 1000);
+		return ERROR_OK;
+	}
+
 	versaloon_interface.adaptors.jtag_raw.config(0, (uint16_t)speed);
 	return versaloon_interface.adaptors.peripheral_commit();
 }
@@ -262,18 +263,15 @@ static int vsllink_speed_div(int jtag_speed, int *khz)
 
 static void vsllink_free_buffer(void)
 {
-	if (tdi_buffer != NULL)
-	{
+	if (tdi_buffer != NULL) {
 		free(tdi_buffer);
 		tdi_buffer = NULL;
 	}
-	if (tdo_buffer != NULL)
-	{
+	if (tdo_buffer != NULL) {
 		free(tdo_buffer);
 		tdo_buffer = NULL;
 	}
-	if (tms_buffer != NULL)
-	{
+	if (tms_buffer != NULL) {
 		free(tms_buffer);
 		tms_buffer = NULL;
 	}
@@ -284,68 +282,100 @@ static int vsllink_quit(void)
 	versaloon_interface.adaptors.gpio.config(0, GPIO_SRST | GPIO_TRST,
 		0, 0, GPIO_SRST | GPIO_TRST);
 	versaloon_interface.adaptors.gpio.fini(0);
-	versaloon_interface.adaptors.jtag_raw.fini(0);
+
+	if (swd_mode)
+		versaloon_interface.adaptors.swd.fini(0);
+	else
+		versaloon_interface.adaptors.jtag_raw.fini(0);
+
 	versaloon_interface.adaptors.peripheral_commit();
 	versaloon_interface.fini();
 
 	vsllink_free_buffer();
 	vsllink_usb_close(vsllink_handle);
 
+	free(vsllink_handle);
+
 	return ERROR_OK;
 }
 
-static int vsllink_init(void)
+static int vsllink_interface_init(void)
 {
-	vsllink_handle = vsllink_usb_open();
-	if (vsllink_handle == 0) {
-		LOG_ERROR("Can't find USB JTAG Interface!"\
-				"Please check connection and permissions.");
+	vsllink_handle = malloc(sizeof(struct vsllink));
+	if (NULL == vsllink_handle) {
+		LOG_ERROR("unable to allocate memory");
+		return ERROR_FAIL;
+	}
+
+	libusb_init(&vsllink_handle->libusb_ctx);
+
+	if (ERROR_OK != vsllink_usb_open(vsllink_handle)) {
+		LOG_ERROR("Can't find USB JTAG Interface!" \
+			"Please check connection and permissions.");
 		return ERROR_JTAG_INIT_FAILED;
 	}
 	LOG_DEBUG("vsllink found on %04X:%04X",
-			versaloon_interface.usb_setting.vid,
-			versaloon_interface.usb_setting.pid);
-	versaloon_usb_device_handle = vsllink_handle->usb_handle;
+		versaloon_interface.usb_setting.vid,
+		versaloon_interface.usb_setting.pid);
+	versaloon_usb_device_handle = vsllink_handle->usb_device_handle;
 
 	if (ERROR_OK != versaloon_interface.init())
-	{
 		return ERROR_FAIL;
-	}
-	if (versaloon_interface.usb_setting.buf_size < 32)
-	{
+	if (versaloon_interface.usb_setting.buf_size < 32) {
 		versaloon_interface.fini();
 		return ERROR_FAIL;
 	}
 
-	// malloc buffer size for tap
-	tap_buffer_size = versaloon_interface.usb_setting.buf_size - 32;
-	vsllink_free_buffer();
-	tdi_buffer = (uint8_t *)malloc(tap_buffer_size);
-	tdo_buffer = (uint8_t *)malloc(tap_buffer_size);
-	tms_buffer = (uint8_t *)malloc(tap_buffer_size);
-	if ((NULL == tdi_buffer) || (NULL == tdo_buffer) || (NULL == tms_buffer))
-	{
-		vsllink_quit();
-		return ERROR_FAIL;
-	}
+	return ERROR_OK;
+}
+
+static int vsllink_init(void)
+{
+	int retval = vsllink_interface_init();
+	if (ERROR_OK != retval)
+		return retval;
 
-	versaloon_interface.adaptors.jtag_raw.init(0);
-	versaloon_interface.adaptors.jtag_raw.config(0, jtag_get_speed_khz());
 	versaloon_interface.adaptors.gpio.init(0);
-	versaloon_interface.adaptors.gpio.config(0, GPIO_SRST | GPIO_TRST,
-				GPIO_TRST, GPIO_SRST, GPIO_SRST);
+	versaloon_interface.adaptors.gpio.config(0, GPIO_SRST, 0, GPIO_SRST,
+		GPIO_SRST);
+	versaloon_interface.adaptors.delay.delayms(100);
+	versaloon_interface.adaptors.peripheral_commit();
+
+	if (swd_mode) {
+		versaloon_interface.adaptors.gpio.config(0, GPIO_TRST, 0,
+			GPIO_TRST, GPIO_TRST);
+		versaloon_interface.adaptors.swd.init(0);
+		vsllink_swd_frequency(jtag_get_speed_khz() * 1000);
+		vsllink_swd_switch_seq(JTAG_TO_SWD);
+
+	} else {
+		/* malloc buffer size for tap */
+		tap_buffer_size = versaloon_interface.usb_setting.buf_size / 2 - 32;
+		vsllink_free_buffer();
+		tdi_buffer = malloc(tap_buffer_size);
+		tdo_buffer = malloc(tap_buffer_size);
+		tms_buffer = malloc(tap_buffer_size);
+		if ((NULL == tdi_buffer) || (NULL == tdo_buffer) || (NULL == tms_buffer)) {
+			vsllink_quit();
+			return ERROR_FAIL;
+		}
+
+		versaloon_interface.adaptors.jtag_raw.init(0);
+		versaloon_interface.adaptors.jtag_raw.config(0, jtag_get_speed_khz());
+		versaloon_interface.adaptors.gpio.config(0, GPIO_SRST | GPIO_TRST,
+			GPIO_TRST, GPIO_SRST, GPIO_SRST);
+	}
+
 	if (ERROR_OK != versaloon_interface.adaptors.peripheral_commit())
-	{
 		return ERROR_FAIL;
-	}
 
 	vsllink_reset(0, 0);
 	vsllink_tap_init();
 	return ERROR_OK;
 }
 
-/***************************************************************************/
-/* Queue command implementations */
+/**************************************************************************
+ * Queue command implementations */
 
 static void vsllink_end_state(tap_state_t state)
 {
@@ -362,9 +392,9 @@ static void vsllink_state_move(void)
 {
 	int i;
 	uint8_t tms_scan = tap_get_tms_path(tap_get_state(),
-					tap_get_end_state());
+			tap_get_end_state());
 	uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(),
-					tap_get_end_state());
+			tap_get_end_state());
 
 	for (i = 0; i < tms_scan_bits; i++)
 		vsllink_tap_append_step((tms_scan >> i) & 1, 0);
@@ -381,8 +411,8 @@ static void vsllink_path_move(int num_states, tap_state_t *path)
 			vsllink_tap_append_step(1, 0);
 		else {
 			LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
-						tap_state_name(tap_get_state()),
-						tap_state_name(path[i]));
+				tap_state_name(tap_get_state()),
+				tap_state_name(path[i]));
 			exit(-1);
 		}
 
@@ -394,9 +424,8 @@ static void vsllink_path_move(int num_states, tap_state_t *path)
 
 static void vsllink_tms(int num_bits, const uint8_t *bits)
 {
-	for (int i = 0; i < num_bits; i++) {
+	for (int i = 0; i < num_bits; i++)
 		vsllink_tap_append_step((bits[i / 8] >> (i % 8)) & 1, 0);
-	}
 }
 
 static void vsllink_stableclocks(int num_cycles, int tms)
@@ -419,15 +448,15 @@ static void vsllink_runtest(int num_cycles)
 
 	vsllink_stableclocks(num_cycles, 0);
 
-	// post-process
-	// set end_state
+	/* post-process */
+	/* set end_state */
 	vsllink_end_state(saved_end_state);
 	if (tap_get_end_state() != tap_get_end_state())
 		vsllink_state_move();
 }
 
 static void vsllink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
-				int scan_size, struct scan_command *command)
+	int scan_size, struct scan_command *command)
 {
 	tap_state_t saved_end_state;
 
@@ -462,20 +491,20 @@ static void vsllink_reset(int trst, int srst)
 	else
 		versaloon_interface.adaptors.gpio.config(0, GPIO_SRST, GPIO_SRST, 0, 0);
 
-	if (!trst)
-		versaloon_interface.adaptors.gpio.out(0, GPIO_TRST, GPIO_TRST);
-	else
-		versaloon_interface.adaptors.gpio.out(0, GPIO_TRST, 0);
+	if (!swd_mode) {
+		if (!trst)
+			versaloon_interface.adaptors.gpio.out(0, GPIO_TRST, GPIO_TRST);
+		else
+			versaloon_interface.adaptors.gpio.out(0, GPIO_TRST, 0);
+	}
+
 	versaloon_interface.adaptors.peripheral_commit();
 }
 
 COMMAND_HANDLER(vsllink_handle_usb_vid_command)
 {
-	if (CMD_ARGC != 1) {
-		LOG_ERROR("parameter error, "
-					"should be one parameter for VID");
-		return ERROR_OK;
-	}
+	if (CMD_ARGC != 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
 
 	COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0],
 		versaloon_interface.usb_setting.vid);
@@ -484,23 +513,32 @@ COMMAND_HANDLER(vsllink_handle_usb_vid_command)
 
 COMMAND_HANDLER(vsllink_handle_usb_pid_command)
 {
-	if (CMD_ARGC != 1) {
-		LOG_ERROR("parameter error, "
-					"should be one parameter for PID");
-		return ERROR_OK;
-	}
+	if (CMD_ARGC != 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
 	COMMAND_PARSE_NUMBER(u16, CMD_ARGV[0],
 		versaloon_interface.usb_setting.pid);
 	return ERROR_OK;
 }
 
+COMMAND_HANDLER(vsllink_handle_usb_serial_command)
+{
+	if (CMD_ARGC > 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	free(versaloon_interface.usb_setting.serialstring);
+
+	if (CMD_ARGC == 1)
+		versaloon_interface.usb_setting.serialstring = strdup(CMD_ARGV[0]);
+	else
+		versaloon_interface.usb_setting.serialstring = NULL;
+
+	return ERROR_OK;
+}
+
 COMMAND_HANDLER(vsllink_handle_usb_bulkin_command)
 {
-	if (CMD_ARGC != 1) {
-		LOG_ERROR("parameter error, "
-			"should be one parameter for BULKIN endpoint");
-		return ERROR_OK;
-	}
+	if (CMD_ARGC != 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
 
 	COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0],
 		versaloon_interface.usb_setting.ep_in);
@@ -512,11 +550,8 @@ COMMAND_HANDLER(vsllink_handle_usb_bulkin_command)
 
 COMMAND_HANDLER(vsllink_handle_usb_bulkout_command)
 {
-	if (CMD_ARGC != 1) {
-		LOG_ERROR("parameter error, "
-			"should be one parameter for BULKOUT endpoint");
-		return ERROR_OK;
-	}
+	if (CMD_ARGC != 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
 
 	COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0],
 		versaloon_interface.usb_setting.ep_out);
@@ -528,19 +563,16 @@ COMMAND_HANDLER(vsllink_handle_usb_bulkout_command)
 
 COMMAND_HANDLER(vsllink_handle_usb_interface_command)
 {
-	if (CMD_ARGC != 1) {
-		LOG_ERROR("parameter error, "
-			"should be one parameter for interface number");
-		return ERROR_OK;
-	}
+	if (CMD_ARGC != 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
 
 	COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0],
 		versaloon_interface.usb_setting.interface);
 	return ERROR_OK;
 }
 
-/***************************************************************************/
-/* VSLLink tap functions */
+/**************************************************************************
+ * VSLLink tap functions */
 
 static void vsllink_tap_init(void)
 {
@@ -552,7 +584,7 @@ static void vsllink_tap_init(void)
 static void vsllink_tap_ensure_pending(int scans)
 {
 	int available_scans =
-			MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
+		MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 
 	if (scans > available_scans)
 		vsllink_tap_execute();
@@ -582,7 +614,7 @@ static void vsllink_tap_append_step(int tms, int tdi)
 }
 
 static void vsllink_tap_append_scan(int length, uint8_t *buffer,
-		struct scan_command *command)
+	struct scan_command *command)
 {
 	struct pending_scan_result *pending_scan_result;
 	int len_tmp, len_all, i;
@@ -591,8 +623,8 @@ static void vsllink_tap_append_scan(int length, uint8_t *buffer,
 	while (len_all < length) {
 		vsllink_tap_ensure_pending(1);
 		pending_scan_result =
-				&pending_scan_results_buffer[
-					pending_scan_results_length];
+			&pending_scan_results_buffer[
+				pending_scan_results_length];
 
 		if ((length - len_all) > (tap_buffer_size * 8 - tap_length)) {
 			/* Use all memory available
@@ -612,9 +644,9 @@ static void vsllink_tap_append_scan(int length, uint8_t *buffer,
 
 		for (i = 0; i < len_tmp; i++) {
 			vsllink_tap_append_step(((len_all + i) < length-1
-						? 0 : 1),
-					(buffer[(len_all + i)/8]
-						>> ((len_all + i)%8)) & 1);
+						 ? 0 : 1),
+				(buffer[(len_all + i)/8]
+				 >> ((len_all + i)%8)) & 1);
 		}
 
 		len_all += len_tmp;
@@ -629,7 +661,7 @@ static int vsllink_jtag_execute(void)
 	if (tap_length <= 0)
 		return ERROR_OK;
 
-	versaloon_interface.adaptors.jtag_raw.execute(0, tdi_buffer, tms_buffer, 
+	versaloon_interface.adaptors.jtag_raw.execute(0, tdi_buffer, tms_buffer,
 		tdo_buffer, tap_length);
 
 	result = versaloon_interface.adaptors.peripheral_commit();
@@ -654,12 +686,12 @@ static int vsllink_jtag_execute(void)
 				"JTAG scan read(%d bits, from src %d bits to dest %d bits):",
 				length, src_first, dest_first);
 			vsllink_debug_buffer(buffer + dest_first / 8,
-					DIV_ROUND_UP(length, 7));
+				DIV_ROUND_UP(length, 7));
 #endif
 
 			if (last) {
 				if (jtag_read_buffer(buffer, command)
-						!= ERROR_OK) {
+				    != ERROR_OK) {
 					vsllink_tap_init();
 					return ERROR_JTAG_QUEUE_FAILED;
 				}
@@ -680,159 +712,190 @@ static int vsllink_jtag_execute(void)
 
 static int vsllink_tap_execute(void)
 {
+	if (swd_mode)
+		return ERROR_OK;
+
 	return vsllink_jtag_execute();
 }
 
-/*****************************************************************************/
-/* VSLLink USB low-level functions */
+static int vsllink_swd_init(void)
+{
+	LOG_INFO("VSLLink SWD mode enabled");
+	swd_mode = true;
+
+	return ERROR_OK;
+}
 
-static uint8_t usb_check_string(usb_dev_handle *usb, uint8_t stringidx,
-								char * string, char * buff, uint16_t buf_size)
+static int_least32_t vsllink_swd_frequency(int_least32_t hz)
 {
-	int len;
-	uint8_t alloced = 0;
-	uint8_t ret = 1;
+	const int_least32_t delay2hz[] = {
+		1850000, 235000, 130000, 102000, 85000, 72000
+	};
 
-	if (NULL == buff)
-	{
-		buf_size = 256;
-		buff = (char*)malloc(buf_size);
-		if (NULL == buff)
-		{
-			ret = 0;
-			goto free_and_return;
+	if (hz > 0) {
+		uint16_t delay = UINT16_MAX;
+
+		for (uint16_t i = 0; i < ARRAY_SIZE(delay2hz); i++) {
+			if (hz >= delay2hz[i]) {
+				hz = delay2hz[i];
+				delay = i;
+				break;
+			}
 		}
-		alloced = 1;
-	}
 
-	strcpy(buff, "");
-	len = usb_get_string_simple(usb, stringidx, (char *)buff, buf_size);
-	if ((len < 0) || (len != ((int)strlen((const char *)buff))))
-	{
-		ret = 0;
-		goto free_and_return;
-	}
+		if (delay == UINT16_MAX)
+			delay = (500000 / hz) - 1;
 
-	buff[len] = '\0';
-	if ((string != NULL) && strcmp((const char *)buff, string))
-	{
-		ret = 0;
-		goto free_and_return;
-	}
+		/* Calculate retry count after a WAIT response. This will give
+		 * a retry timeout at about ~250 ms. 54 is the number of bits
+		 * found in a transaction. */
+		uint16_t retry_count = 250 * hz / 1000 / 54;
 
-free_and_return:
-	if (alloced && (buff != NULL))
-	{
-		free(buff);
-		buff = NULL;
+		LOG_DEBUG("SWD delay: %d, retry count: %d", delay, retry_count);
+
+		versaloon_interface.adaptors.swd.config(0, 2, retry_count, delay);
 	}
-	return ret;
+
+	return hz;
 }
 
-static usb_dev_handle* find_usb_device(uint16_t VID, uint16_t PID,
-		uint8_t interface, int8_t serialindex, char *serialstring,
-		int8_t productindex, char *productstring)
+static int vsllink_swd_switch_seq(enum swd_special_seq seq)
 {
-	usb_dev_handle *dev_handle = NULL;
-	struct usb_bus *busses;
-	struct usb_bus *bus;
-	struct usb_device *dev;
+	switch (seq) {
+	case LINE_RESET:
+		LOG_DEBUG("SWD line reset");
+		versaloon_interface.adaptors.swd.seqout(0, swd_seq_line_reset,
+				swd_seq_line_reset_len);
+		break;
+	case JTAG_TO_SWD:
+		LOG_DEBUG("JTAG-to-SWD");
+		versaloon_interface.adaptors.swd.seqout(0, swd_seq_jtag_to_swd,
+				swd_seq_jtag_to_swd_len);
+		break;
+	case SWD_TO_JTAG:
+		LOG_DEBUG("SWD-to-JTAG");
+		versaloon_interface.adaptors.swd.seqout(0, swd_seq_swd_to_jtag,
+				swd_seq_swd_to_jtag_len);
+		break;
+	default:
+		LOG_ERROR("Sequence %d not supported", seq);
+		return ERROR_FAIL;
+	}
 
-	usb_init();
-	usb_find_busses();
-	usb_find_devices();
-	busses = usb_get_busses();
+	return ERROR_OK;
+}
 
-	for (bus = busses; bus; bus = bus->next)
-	{
-		for (dev = bus->devices; dev; dev = dev->next)
-		{
-			if ((dev->descriptor.idVendor == VID)
-				&& (dev->descriptor.idProduct == PID))
-			{
-				dev_handle = usb_open(dev);
-				if (NULL == dev_handle)
-				{
-					LOG_ERROR("failed to open %04X:%04X, %s", VID, PID,
-								usb_strerror());
-					continue;
-				}
+static void vsllink_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
+{
+	versaloon_interface.adaptors.swd.transact(0, cmd, value, NULL);
+}
 
-				// check description string
-				if (((productstring != NULL) && (productindex >= 0)
-						&& !usb_check_string(dev_handle, productindex,
-												productstring, NULL, 0))
-					|| ((serialstring != NULL) && (serialindex >= 0)
-						&& !usb_check_string(dev_handle, serialindex,
-												serialstring, NULL, 0)))
-				{
-					usb_close(dev_handle);
-					dev_handle = NULL;
-					continue;
-				}
+static void vsllink_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
+{
+	versaloon_interface.adaptors.swd.transact(0, cmd, &value, NULL);
+}
 
-				if (usb_claim_interface(dev_handle, interface) != 0)
-				{
-					LOG_ERROR(ERRMSG_FAILURE_OPERATION_MESSAGE,
-								"claim interface", usb_strerror());
-					usb_close(dev_handle);
-					dev_handle = NULL;
-					continue;
-				}
+static int vsllink_swd_run_queue(void)
+{
+	return versaloon_interface.adaptors.peripheral_commit();
+}
 
-				if (dev_handle != NULL)
-				{
-					return dev_handle;
-				}
-			}
-		}
+/****************************************************************************
+ * VSLLink USB low-level functions */
+
+static int vsllink_check_usb_strings(
+	struct libusb_device_handle *usb_device_handle,
+	struct libusb_device_descriptor *usb_desc)
+{
+	char desc_string[256];
+	int retval;
+
+	if (NULL != versaloon_interface.usb_setting.serialstring) {
+		retval = libusb_get_string_descriptor_ascii(usb_device_handle,
+			usb_desc->iSerialNumber, (unsigned char *)desc_string,
+			sizeof(desc_string));
+		if (retval < 0)
+			return ERROR_FAIL;
+
+		if (strncmp(desc_string, versaloon_interface.usb_setting.serialstring,
+				sizeof(desc_string)))
+			return ERROR_FAIL;
 	}
 
-	return dev_handle;
+	retval = libusb_get_string_descriptor_ascii(usb_device_handle,
+		usb_desc->iProduct, (unsigned char *)desc_string,
+		sizeof(desc_string));
+	if (retval < 0)
+		return ERROR_FAIL;
+
+	if (strstr(desc_string, "Versaloon") == NULL)
+		return ERROR_FAIL;
+
+	return ERROR_OK;
 }
 
-static struct vsllink *vsllink_usb_open(void)
+static int vsllink_usb_open(struct vsllink *vsllink)
 {
-	usb_init();
+	ssize_t num_devices, i;
+	libusb_device **usb_devices;
+	struct libusb_device_descriptor usb_desc;
+	struct libusb_device_handle *usb_device_handle;
+	int retval;
 
-	struct usb_dev_handle *dev;
+	num_devices = libusb_get_device_list(vsllink->libusb_ctx, &usb_devices);
 
-	dev = find_usb_device(versaloon_interface.usb_setting.vid,
-							versaloon_interface.usb_setting.pid,
-							versaloon_interface.usb_setting.interface,
-							0, NULL, 2, "Versaloon");
-	if (NULL == dev)
-		return NULL;
+	if (num_devices <= 0)
+		return ERROR_FAIL;
 
-	struct vsllink *result = malloc(sizeof(struct vsllink));
-	result->usb_handle = dev;
-	return result;
-}
+	for (i = 0; i < num_devices; i++) {
+		libusb_device *device = usb_devices[i];
 
-static void vsllink_usb_close(struct vsllink *vsllink)
-{
-	int ret;
+		retval = libusb_get_device_descriptor(device, &usb_desc);
+		if (retval != 0)
+			continue;
 
-	ret = usb_release_interface(vsllink->usb_handle,
-			versaloon_interface.usb_setting.interface);
-	if (ret != 0) {
-		LOG_ERROR("fail to release interface %d, %d returned",
-					versaloon_interface.usb_setting.interface, ret);
-		exit(-1);
+		if (usb_desc.idVendor != versaloon_interface.usb_setting.vid ||
+			usb_desc.idProduct != versaloon_interface.usb_setting.pid)
+			continue;
+
+		retval = libusb_open(device, &usb_device_handle);
+		if (retval != 0)
+			continue;
+
+		retval = vsllink_check_usb_strings(usb_device_handle, &usb_desc);
+		if (ERROR_OK == retval)
+			break;
+
+		libusb_close(usb_device_handle);
 	}
 
-	ret = usb_close(vsllink->usb_handle);
-	if (ret != 0) {
-		LOG_ERROR("fail to close usb, %d returned", ret);
-		exit(-1);
+	libusb_free_device_list(usb_devices, 1);
+
+	if (i == num_devices)
+		return ERROR_FAIL;
+
+	retval = libusb_claim_interface(usb_device_handle,
+		versaloon_interface.usb_setting.interface);
+	if (retval != 0) {
+		LOG_ERROR("unable to claim interface");
+		libusb_close(usb_device_handle);
+		return ERROR_FAIL;
 	}
 
-	free(vsllink);
+	vsllink->usb_device_handle = usb_device_handle;
+	return ERROR_OK;
+}
+
+static void vsllink_usb_close(struct vsllink *vsllink)
+{
+	libusb_release_interface(vsllink->usb_device_handle,
+		versaloon_interface.usb_setting.interface);
+	libusb_close(vsllink->usb_device_handle);
 }
 
 #define BYTES_PER_LINE  16
 
-#if defined _DEBUG_USB_COMMS_ || defined _DEBUG_JTAG_IO_
+#if defined _DEBUG_JTAG_IO_
 static void vsllink_debug_buffer(uint8_t *buffer, int length)
 {
 	char line[81];
@@ -849,44 +912,71 @@ static void vsllink_debug_buffer(uint8_t *buffer, int length)
 		LOG_DEBUG("%s", line);
 	}
 }
-#endif /* _DEBUG_USB_COMMS_ || _DEBUG_JTAG_IO_ */
+#endif	/* _DEBUG_JTAG_IO_ */
 
 static const struct command_registration vsllink_command_handlers[] = {
 	{
 		.name = "vsllink_usb_vid",
 		.handler = &vsllink_handle_usb_vid_command,
 		.mode = COMMAND_CONFIG,
+		.help = "Set USB VID",
+		.usage = "<vid>",
 	},
 	{
 		.name = "vsllink_usb_pid",
 		.handler = &vsllink_handle_usb_pid_command,
 		.mode = COMMAND_CONFIG,
+		.help = "Set USB PID",
+		.usage = "<pid>",
+	},
+	{
+		.name = "vsllink_usb_serial",
+		.handler = &vsllink_handle_usb_serial_command,
+		.mode = COMMAND_CONFIG,
+		.help = "Set or disable check for USB serial",
+		.usage = "[<serial>]",
 	},
 	{
 		.name = "vsllink_usb_bulkin",
 		.handler = &vsllink_handle_usb_bulkin_command,
 		.mode = COMMAND_CONFIG,
+		.help = "Set USB input endpoint",
+		.usage = "<ep_in>",
 	},
 	{
 		.name = "vsllink_usb_bulkout",
 		.handler = &vsllink_handle_usb_bulkout_command,
 		.mode = COMMAND_CONFIG,
+		.help = "Set USB output endpoint",
+		.usage = "<ep_out>",
 	},
 	{
 		.name = "vsllink_usb_interface",
 		.handler = &vsllink_handle_usb_interface_command,
 		.mode = COMMAND_CONFIG,
+		.help = "Set USB output interface",
+		.usage = "<interface>",
 	},
 	COMMAND_REGISTRATION_DONE
 };
 
-static const char *vsllink_transports[] = {"jtag", "swd", NULL};
+static const char * const vsllink_transports[] = {"jtag", "swd", NULL};
+
+static const struct swd_driver vsllink_swd_driver = {
+	.init = vsllink_swd_init,
+	.frequency = vsllink_swd_frequency,
+	.switch_seq = vsllink_swd_switch_seq,
+	.read_reg = vsllink_swd_read_reg,
+	.write_reg = vsllink_swd_write_reg,
+	.run = vsllink_swd_run_queue,
+};
 
 struct jtag_interface vsllink_interface = {
 	.name = "vsllink",
 	.supported = DEBUG_CAP_TMS_SEQ,
 	.commands = vsllink_command_handlers,
 	.transports = vsllink_transports,
+	.swd = &vsllink_swd_driver,
 
 	.init = vsllink_init,
 	.quit = vsllink_quit,