openocd/src/jtag/drivers/cmsis_dap_usb.c

/***************************************************************************
 *   Copyright (C) 2013 by mike brown                                      *
 *   mike@theshedworks.org.uk                                              *
 *                                                                         *
 *   Copyright (C) 2013 by Spencer Oliver                                  *
 *   spen@spen-soft.co.uk                                                  *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   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.,                                       *
 *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
 ***************************************************************************/

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <transport/transport.h>
#include <jtag/swd.h>
#include <jtag/interface.h>
#include <jtag/commands.h>
#include <jtag/tcl.h>

#include <hidapi.h>

#ifdef _DEBUG_JTAG_IO_
 #define DEBUG_IO(expr...) LOG_DEBUG(expr)
#else
 #define DEBUG_IO(expr...) do {} while (0)
#endif

/*
 * See CMSIS-DAP documentation:
 * Version 0.01 - Beta.
 */

/* USB Config */

/* Known vid/pid pairs:
 * VID 0xc251: Keil Software
 * PID 0xf001: LPC-Link-II CMSIS_DAP
 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
 * PID 0x2722: Keil ULINK2 CMSIS-DAP
 *
 * VID 0x0d28: mbed Software
 * PID 0x0204: MBED CMSIS-DAP
 */

#define MAX_USB_IDS 8
/* vid = pid = 0 marks the end of the list */
static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };

#define PACKET_SIZE       (64 + 1)	/* 64 bytes plus report id */
#define USB_TIMEOUT       1000

/* CMSIS-DAP General Commands */
#define CMD_DAP_INFO              0x00
#define CMD_DAP_LED               0x01
#define CMD_DAP_CONNECT           0x02
#define CMD_DAP_DISCONNECT        0x03
#define CMD_DAP_WRITE_ABORT       0x08
#define CMD_DAP_DELAY             0x09
#define CMD_DAP_RESET_TARGET      0x0A

/* CMD_INFO */
#define INFO_ID_VID               0x00      /* string */
#define INFO_ID_PID               0x02      /* string */
#define INFO_ID_SERNUM            0x03      /* string */
#define INFO_ID_FW_VER            0x04      /* string */
#define INFO_ID_TD_VEND           0x05      /* string */
#define INFO_ID_TD_NAME           0x06      /* string */
#define INFO_ID_CAPS              0xf0      /* byte */
#define INFO_ID_PKT_CNT           0xfe      /* byte */
#define INFO_ID_PKT_SZ            0xff      /* short */

#define INFO_CAPS_SWD             0x01
#define INFO_CAPS_JTAG            0x02

/* CMD_LED */
#define LED_ID_CONNECT            0x00
#define LED_ID_RUN                0x01

#define LED_OFF                   0x00
#define LED_ON                    0x01

/* CMD_CONNECT */
#define CONNECT_DEFAULT           0x00
#define CONNECT_SWD               0x01
#define CONNECT_JTAG              0x02

/* CMSIS-DAP Common SWD/JTAG Commands */
#define CMD_DAP_DELAY             0x09
#define CMD_DAP_SWJ_PINS          0x10
#define CMD_DAP_SWJ_CLOCK         0x11
#define CMD_DAP_SWJ_SEQ           0x12

/*
 * PINS
 * Bit 0: SWCLK/TCK
 * Bit 1: SWDIO/TMS
 * Bit 2: TDI
 * Bit 3: TDO
 * Bit 5: nTRST
 * Bit 7: nRESET
 */

/* CMSIS-DAP SWD Commands */
#define CMD_DAP_SWD_CONFIGURE     0x13

/* CMSIS-DAP JTAG Commands */
#define CMD_DAP_JTAG_SEQ          0x14
#define CMD_DAP_JTAG_CONFIGURE    0x15
#define CMD_DAP_JTAG_IDCODE       0x16

/* CMSIS-DAP Transfer Commands */
#define CMD_DAP_TFER_CONFIGURE    0x04
#define CMD_DAP_TFER              0x05
#define CMD_DAP_TFER_BLOCK        0x06
#define CMD_DAP_TFER_ABORT        0x07

/* DAP Status Code */
#define DAP_OK                    0
#define DAP_ERROR                 0xFF

/* CMSIS-DAP Vendor Commands
 * None as yet... */

static char *info_caps_str[] = {
	"SWD  Supported",
	"JTAG Supported"
};

/* max clock speed (kHz) */
#define DAP_MAX_CLOCK             5000

struct cmsis_dap {
	hid_device *dev_handle;
	uint16_t packet_size;
	uint16_t packet_count;
	uint8_t *packet_buffer;
	uint8_t caps;
	uint8_t mode;
};

static struct cmsis_dap *cmsis_dap_handle;

static int cmsis_dap_usb_open(void)
{
	hid_device *dev = NULL;
	int i;
	struct hid_device_info *devs, *cur_dev;
	unsigned short target_vid, target_pid;

	target_vid = 0;
	target_pid = 0;

	/*
	The CMSIS-DAP specification stipulates:
	"The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
	debuggers to idenify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
	*/
	devs = hid_enumerate(0x0, 0x0);
	cur_dev = devs;
	while (NULL != cur_dev) {
		if ((0 == cmsis_dap_vid[0]) && wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
			/*
			if the user hasn't specified VID:PID *and*
			product string contains "CMSIS-DAP", pick it
			*/
			break;
		} else {
			/*
			otherwise, exhaustively compare against all VID:PID in list
			*/
			for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
				if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
					break;
			}
		}

		cur_dev = cur_dev->next;
	}

	if (NULL != cur_dev) {
		target_vid = cur_dev->vendor_id;
		target_pid = cur_dev->product_id;
	}

	hid_free_enumeration(devs);

	if (hid_init() != 0) {
		LOG_ERROR("unable to open HIDAPI");
		return ERROR_FAIL;
	}

	dev = hid_open(target_vid, target_pid, NULL);

	if (dev == NULL) {
		LOG_ERROR("unable to open CMSIS-DAP device");
		return ERROR_FAIL;
	}

	struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
	if (dap == NULL) {
		LOG_ERROR("unable to allocate memory");
		return ERROR_FAIL;
	}

	dap->dev_handle = dev;
	dap->caps = 0;
	dap->mode = 0;

	cmsis_dap_handle = dap;

	/* allocate default packet buffer, may be changed later.
	 * currently with HIDAPI we have no way of getting the output report length
	 * without this info we cannot communicate with the adapter.
	 * For the moment we ahve to hard code the packet size */

	int packet_size = PACKET_SIZE;

	/* atmel cmsis-dap uses 512 byte reports */
	if (target_vid == 0x03eb && target_pid == 0x2111)
		packet_size = 512 + 1;

	cmsis_dap_handle->packet_buffer = malloc(packet_size);
	cmsis_dap_handle->packet_size = packet_size;

	if (cmsis_dap_handle->packet_buffer == NULL) {
		LOG_ERROR("unable to allocate memory");
		return ERROR_FAIL;
	}

	return ERROR_OK;
}

static void cmsis_dap_usb_close(struct cmsis_dap *dap)
{
	hid_close(dap->dev_handle);
	hid_exit();

	if (cmsis_dap_handle->packet_buffer)
		free(cmsis_dap_handle->packet_buffer);

	if (cmsis_dap_handle) {
		free(cmsis_dap_handle);
		cmsis_dap_handle = NULL;
	}

	return;
}

/* Send a message and receive the reply */
static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
{
	/* Pad the rest of the TX buffer with 0's */
	memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);

	/* write data to device */
	int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
	if (retval == -1) {
		LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
		return ERROR_FAIL;
	}

	/* get reply */
	retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
	if (retval == -1 || retval == 0) {
		LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
		return ERROR_FAIL;
	}

	return ERROR_OK;
}

static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t wait, uint8_t *input)
{
	int retval;
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_SWJ_PINS;
	buffer[2] = pins;
	buffer[3] = mask;
	buffer[4] = wait & 0xff;
	buffer[5] = (wait >> 8) & 0xff;
	buffer[6] = (wait >> 16) & 0xff;
	buffer[7] = (wait >> 24) & 0xff;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);

	if (retval != ERROR_OK) {
		LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
		return ERROR_JTAG_DEVICE_ERROR;
	}

	if (input)
		*input = buffer[1];

	return ERROR_OK;
}

static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
{
	int retval;
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	/* set clock in Hz */
	swj_clock *= 1000;
	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_SWJ_CLOCK;
	buffer[2] = swj_clock & 0xff;
	buffer[3] = (swj_clock >> 8) & 0xff;
	buffer[4] = (swj_clock >> 16) & 0xff;
	buffer[5] = (swj_clock >> 24) & 0xff;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);

	if (retval != ERROR_OK || buffer[1] != DAP_OK) {
		LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
		return ERROR_JTAG_DEVICE_ERROR;
	}

	return ERROR_OK;
}

static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
{
	int retval;
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_INFO;
	buffer[2] = info;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);

	if (retval != ERROR_OK) {
		LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
		return ERROR_JTAG_DEVICE_ERROR;
	}

	*data = &(buffer[1]);

	return ERROR_OK;
}

static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
{
	int retval;
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_LED;
	buffer[2] = 0x00;
	buffer[3] = leds;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);

	if (retval != ERROR_OK || buffer[1] != 0x00) {
		LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
		return ERROR_JTAG_DEVICE_ERROR;
	}

	return ERROR_OK;
}

static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
{
	int retval;
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_CONNECT;
	buffer[2] = mode;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);

	if (retval != ERROR_OK) {
		LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
		return ERROR_JTAG_DEVICE_ERROR;
	}

	if (buffer[1] != mode) {
		LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
		return ERROR_JTAG_DEVICE_ERROR;
	}

	return ERROR_OK;
}

static int cmsis_dap_cmd_DAP_Disconnect(void)
{
	int retval;
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_DISCONNECT;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);

	if (retval != ERROR_OK || buffer[1] != DAP_OK) {
		LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
		return ERROR_JTAG_DEVICE_ERROR;
	}

	return ERROR_OK;
}

static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t wait, uint16_t retry)
{
	int retval;
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_TFER_CONFIGURE;
	buffer[2] = idle;
	buffer[3] = wait & 0xff;
	buffer[4] = (wait >> 8) & 0xff;
	buffer[5] = retry & 0xff;
	buffer[6] = (retry >> 8) & 0xff;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);

	if (retval != ERROR_OK || buffer[1] != DAP_OK) {
		LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
		return ERROR_JTAG_DEVICE_ERROR;
	}

	return ERROR_OK;
}

static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
{
	int retval;
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_SWD_CONFIGURE;
	buffer[2] = cfg;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);

	if (retval != ERROR_OK || buffer[1] != DAP_OK) {
		LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
		return ERROR_JTAG_DEVICE_ERROR;
	}

	return ERROR_OK;
}

#if 0
static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
{
	int retval;
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_DELAY;
	buffer[2] = delay_us & 0xff;
	buffer[3] = (delay_us >> 8) & 0xff;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);

	if (retval != ERROR_OK || buffer[1] != DAP_OK) {
		LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
		return ERROR_JTAG_DEVICE_ERROR;
	}

	return ERROR_OK;
}
#endif

static int cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value)
{
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;
	int retval;
	uint32_t val;

	DEBUG_IO("CMSIS-DAP: Read  Reg 0x%02" PRIx8, cmd);

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_TFER;
	buffer[2] = 0x00;
	buffer[3] = 0x01;
	buffer[4] = cmd;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);

	/* TODO - need better response checking */
	if (retval != ERROR_OK || buffer[1] != 0x01) {
		LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
		return buffer[2];
	}

	val = le_to_h_u32(&buffer[3]);
	DEBUG_IO("0x%08" PRIx32, val);

	if (value)
		*value = val;

	return retval;
}

static int cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value)
{
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);

	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_TFER;
	buffer[2] = 0x00;
	buffer[3] = 0x01;
	buffer[4] = cmd;
	buffer[5] = (value) & 0xff;
	buffer[6] = (value >> 8) & 0xff;
	buffer[7] = (value >> 16) & 0xff;
	buffer[8] = (value >> 24) & 0xff;
	int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);

	if (buffer[1] != 0x01) {
		LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
		retval = buffer[2];
	}

	return retval;
}

static int cmsis_dap_swd_read_block(uint8_t cmd, uint32_t blocksize, uint8_t *dest_buf)
{
	uint8_t *buffer;
	int tfer_sz;
	int retval = ERROR_OK;
	uint16_t read_count;

	DEBUG_IO("CMSIS-DAP: Read Block 0x%02" PRIx8 " %" PRIu32, cmd, blocksize);

	while (blocksize) {

		buffer = cmsis_dap_handle->packet_buffer;
		tfer_sz = blocksize;
		if (tfer_sz > 15)
			tfer_sz = 8;

		buffer[0] = 0;	/* report number */
		buffer[1] = CMD_DAP_TFER_BLOCK;
		buffer[2] = 0x00;
		buffer[3] = tfer_sz;
		buffer[4] = 0x00;
		buffer[5] = cmd;
		retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);

		read_count = le_to_h_u16(&buffer[1]);
		if (read_count != tfer_sz) {
			LOG_ERROR("CMSIS-DAP: Block Read Error (0x%02" PRIx8 ")", buffer[3]);
			retval = buffer[3];
		}

		read_count *= 4;
		memcpy(dest_buf, &buffer[4], read_count);

		dest_buf += read_count;
		blocksize -= tfer_sz;
	}

	return retval;
}

static int cmsis_dap_get_version_info(void)
{
	uint8_t *data;

	/* INFO_ID_FW_VER - string */
	int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
	if (retval != ERROR_OK)
		return retval;

	if (data[0]) /* strlen */
		LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);

	return ERROR_OK;
}

static int cmsis_dap_get_caps_info(void)
{
	uint8_t *data;

	/* INFO_ID_CAPS - byte */
	int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
	if (retval != ERROR_OK)
		return retval;

	if (data[0] == 1) {
		uint8_t caps = data[1];

		cmsis_dap_handle->caps = caps;

		if (caps & INFO_CAPS_SWD)
			LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
		if (caps & INFO_CAPS_JTAG)
			LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
	}

	return ERROR_OK;
}

static int cmsis_dap_get_status(void)
{
	uint8_t d;

	int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);

	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 */
	}

	return retval;
}

static int cmsis_dap_reset_link(void)
{
	uint8_t *buffer = cmsis_dap_handle->packet_buffer;

	LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
	LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");

	/* reset line with SWDIO high for >50 cycles */
	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_SWJ_SEQ;
	buffer[2] = 7 * 8;
	buffer[3] = 0xff;
	buffer[4] = 0xff;
	buffer[5] = 0xff;
	buffer[6] = 0xff;
	buffer[7] = 0xff;
	buffer[8] = 0xff;
	buffer[9] = 0xff;
	int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);

	if (retval != ERROR_OK || buffer[1] != DAP_OK)
		return ERROR_FAIL;

	/* 16bit JTAG-SWD sequence */
	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_SWJ_SEQ;
	buffer[2] = 2 * 8;
	buffer[3] = 0x9e;
	buffer[4] = 0xe7;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);

	if (retval != ERROR_OK || buffer[1] != DAP_OK)
		return ERROR_FAIL;

	/* another reset just incase */
	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_SWJ_SEQ;
	buffer[2] = 7 * 8;
	buffer[3] = 0xff;
	buffer[4] = 0xff;
	buffer[5] = 0xff;
	buffer[6] = 0xff;
	buffer[7] = 0xff;
	buffer[8] = 0xff;
	buffer[9] = 0xff;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);

	if (retval != ERROR_OK || buffer[1] != DAP_OK)
		return ERROR_FAIL;

	/* 16 cycle idle period */
	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_SWJ_SEQ;
	buffer[2] = 2 * 8;
	buffer[3] = 0x00;
	buffer[4] = 0x00;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);

	if (retval != ERROR_OK || buffer[1] != DAP_OK)
		return ERROR_FAIL;

	DEBUG_IO("DAP Read IDCODE");

	/* read the id code is always the next sequence */
	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_TFER;
	buffer[2] = 0x00;
	buffer[3] = 0x01;
	buffer[4] = 0x02;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);

	if (retval != ERROR_OK)
		return retval;

	if (buffer[1] == 0) {
		LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);

		LOG_DEBUG("DAP Reset Target");
		buffer[0] = 0;	/* report number */
		buffer[1] = CMD_DAP_RESET_TARGET;
		retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
		LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);

		LOG_DEBUG("DAP Write Abort");
		buffer[0] = 0;	/* report number */
		buffer[1] = CMD_DAP_WRITE_ABORT;
		buffer[2] = 0x00;
		buffer[3] = 0x1e/*0x1f*/;
		buffer[4] = 0x00;
		buffer[5] = 0x00;
		buffer[6] = 0x00;
		retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
		LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);

		return 0x80 + buffer[1];
	}

	LOG_DEBUG("DAP Write Abort");
	buffer[0] = 0;	/* report number */
	buffer[1] = CMD_DAP_WRITE_ABORT;
	buffer[2] = 0x00;
	buffer[3] = 0x1e;
	buffer[4] = 0x00;
	buffer[5] = 0x00;
	buffer[6] = 0x00;
	retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
	LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);

	return retval;
}

static int cmsis_dap_init(void)
{
	int retval;
	uint8_t *data;

	if (cmsis_dap_handle == NULL) {

		/* JTAG init */
		retval = cmsis_dap_usb_open();
		if (retval != ERROR_OK)
			return retval;

		retval = cmsis_dap_get_caps_info();
		if (retval != ERROR_OK)
			return retval;

		/* Connect in JTAG mode */
		if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
			LOG_ERROR("CMSIS-DAP: JTAG not supported");
			return ERROR_JTAG_DEVICE_ERROR;
		}

		retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
		if (retval != ERROR_OK)
			return retval;

		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)
		return retval;

	if (data[0] == 2) {  /* short */
		uint16_t pkt_sz = data[1] + (data[2] << 8);

		if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
			/* reallocate buffer */
			cmsis_dap_handle->packet_size = pkt_sz + 1;
			cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
					cmsis_dap_handle->packet_size);
			if (cmsis_dap_handle->packet_buffer == NULL) {
				LOG_ERROR("unable to reallocate memory");
				return ERROR_FAIL;
			}
		}

		LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
	}

	/* INFO_ID_PKT_CNT - byte */
	retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
	if (retval != ERROR_OK)
		return retval;

	if (data[0] == 1) { /* byte */
		uint16_t pkt_cnt = data[1];
		cmsis_dap_handle->packet_count = pkt_cnt;
		LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
	}

	retval = cmsis_dap_get_status();
	if (retval != ERROR_OK)
		return ERROR_FAIL;

	/* Now try to connect to the target
	 * TODO: This is all SWD only @ present */
	retval = cmsis_dap_cmd_DAP_SWJ_Clock(100);		/* 100kHz */
	if (retval != ERROR_OK)
		return ERROR_FAIL;

	retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
	if (retval != ERROR_OK)
		return ERROR_FAIL;
	retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
	if (retval != ERROR_OK)
		return ERROR_FAIL;

	retval = cmsis_dap_cmd_DAP_LED(0x03);		/* Both LEDs on */
	if (retval != ERROR_OK)
		return ERROR_FAIL;

	/* support connecting with srst asserted */
	enum reset_types jtag_reset_config = jtag_get_reset_config();

	if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
		if (jtag_reset_config & RESET_SRST_NO_GATING) {
			retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
			if (retval != ERROR_OK)
				return ERROR_FAIL;
			LOG_INFO("Connecting under reset");
		}
	}

	retval = cmsis_dap_reset_link();
	if (retval != ERROR_OK)
		return ERROR_FAIL;

	cmsis_dap_cmd_DAP_LED(0x00);				/* Both LEDs off */

	LOG_INFO("CMSIS-DAP: Interface ready");

	return ERROR_OK;
}

static int cmsis_dap_swd_init(uint8_t trn)
{
	int retval;

	DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_init");

	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;
	}

	retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
	if (retval != ERROR_OK)
		return retval;

	/* Add more setup here.??... */

	LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
	return ERROR_OK;
}

static int cmsis_dap_quit(void)
{
	cmsis_dap_cmd_DAP_Disconnect();
	cmsis_dap_cmd_DAP_LED(0x00);		/* Both LEDs off */

	cmsis_dap_usb_close(cmsis_dap_handle);

	return ERROR_OK;
}

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);
	if (retval != ERROR_OK)
		LOG_ERROR("CMSIS-DAP: Interface reset failed");
}

static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
{
#if 0
	int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
	if (retval != ERROR_OK)
#endif
		jtag_sleep(cmd->cmd.sleep->us);
}

static void cmsis_dap_execute_command(struct jtag_command *cmd)
{
	switch (cmd->type) {
		case JTAG_RESET:
			cmsis_dap_execute_reset(cmd);
			break;
		case JTAG_SLEEP:
			cmsis_dap_execute_sleep(cmd);
			break;
		default:
			LOG_ERROR("BUG: unknown JTAG command type encountered");
			exit(-1);
	}
}

static int cmsis_dap_execute_queue(void)
{
	struct jtag_command *cmd = jtag_command_queue;

	while (cmd != NULL) {
		cmsis_dap_execute_command(cmd);
		cmd = cmd->next;
	}

	return ERROR_OK;
}

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 == 0) {
		LOG_INFO("RTCK not supported");
		return ERROR_JTAG_NOT_IMPLEMENTED;
	}

	return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
}

static int cmsis_dap_speed_div(int speed, int *khz)
{
	*khz = speed;
	return ERROR_OK;
}

static int cmsis_dap_khz(int khz, int *jtag_speed)
{
	*jtag_speed = khz;
	return ERROR_OK;
}

COMMAND_HANDLER(cmsis_dap_handle_info_command)
{
	if (cmsis_dap_get_version_info() == ERROR_OK)
		cmsis_dap_get_status();

	return ERROR_OK;
}

COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
{
	if (CMD_ARGC > MAX_USB_IDS * 2) {
		LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
			"(maximum is %d pairs)", MAX_USB_IDS);
		CMD_ARGC = MAX_USB_IDS * 2;
	}
	if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
		LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
		if (CMD_ARGC < 2)
			return ERROR_COMMAND_SYNTAX_ERROR;
		/* remove the incomplete trailing id */
		CMD_ARGC -= 1;
	}

	unsigned i;
	for (i = 0; i < CMD_ARGC; i += 2) {
		COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
		COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
	}

	/*
	 * Explicitly terminate, in case there are multiples instances of
	 * cmsis_dap_vid_pid.
	 */
	cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;

	return ERROR_OK;
}

static const struct command_registration cmsis_dap_subcommand_handlers[] = {
	{
		.name = "info",
		.handler = &cmsis_dap_handle_info_command,
		.mode = COMMAND_EXEC,
		.usage = "",
		.help = "show cmsis-dap info",
	},
	COMMAND_REGISTRATION_DONE
};

COMMAND_HANDLER(cmsis_dap_reset_command)
{
	LOG_DEBUG("cmsis_dap_reset_command");
	return ERROR_OK;
}

COMMAND_HANDLER(cmsis_dap_jtag_command)
{
	LOG_DEBUG("cmsis_dap_jtag_command");
	return ERROR_OK;
}

static const struct command_registration cmsis_dap_jtag_subcommand_handlers[] = {
	{
		.name = "init",
		.mode = COMMAND_ANY,
		.handler = cmsis_dap_jtag_command,
		.usage = ""
	 },
	{
		.name = "arp_init",
		.mode = COMMAND_ANY,
		.handler = cmsis_dap_jtag_command,
		.usage = ""
	 },
	{
		.name = "arp_init-reset",
		.mode = COMMAND_ANY,
		.handler = cmsis_dap_reset_command,
		.usage = ""
	 },
	{
		.name = "tapisenabled",
		.mode = COMMAND_EXEC,
		.jim_handler = jim_jtag_tap_enabler,
	 },
	{
		.name = "tapenable",
		.mode = COMMAND_EXEC,
		.jim_handler = jim_jtag_tap_enabler,
	 },
	{
		.name = "tapdisable",
		.mode = COMMAND_EXEC,
		.handler = cmsis_dap_jtag_command,
		.usage = "",
	 },
	{
		.name = "configure",
		.mode = COMMAND_EXEC,
		.handler = cmsis_dap_jtag_command,
		.usage = "",
	 },
	{
		.name = "cget",
		.mode = COMMAND_EXEC,
		.jim_handler = jim_jtag_configure,
	 },
	{
		.name = "names",
		.mode = COMMAND_ANY,
		.handler = cmsis_dap_jtag_command,
		.usage = "",
	 },
	 COMMAND_REGISTRATION_DONE
};

static const struct command_registration cmsis_dap_command_handlers[] = {
	{
		.name = "cmsis-dap",
		.mode = COMMAND_ANY,
		.help = "perform CMSIS-DAP management",
		.usage = "<cmd>",
		.chain = cmsis_dap_subcommand_handlers,
	},
	{
		.name = "cmsis_dap_vid_pid",
		.handler = &cmsis_dap_handle_vid_pid_command,
		.mode = COMMAND_CONFIG,
		.help = "the vendor ID and product ID of the CMSIS-DAP device",
		.usage = "(vid pid)* ",
	},
	{
		/* this is currently a nasty hack so we get
		 * reset working with non jtag interfaces */
		.name = "jtag",
		.mode = COMMAND_ANY,
		.usage = "",
		.chain = cmsis_dap_jtag_subcommand_handlers,
	},
	COMMAND_REGISTRATION_DONE
};

static const struct swd_driver cmsis_dap_swd_driver = {
	.init       = cmsis_dap_swd_init,
	.read_reg   = cmsis_dap_swd_read_reg,
	.write_reg  = cmsis_dap_swd_write_reg,
	.read_block = cmsis_dap_swd_read_block
};

const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};

struct jtag_interface cmsis_dap_interface = {
	.name = "cmsis-dap",
	.commands = cmsis_dap_command_handlers,
	.swd = &cmsis_dap_swd_driver,
	.transports = cmsis_dap_transport,

	.execute_queue = cmsis_dap_execute_queue,
	.speed = cmsis_dap_speed,
	.speed_div = cmsis_dap_speed_div,
	.khz = cmsis_dap_khz,
	.init = cmsis_dap_init,
	.quit = cmsis_dap_quit,
};