1092 lines
26 KiB
C
1092 lines
26 KiB
C
/***************************************************************************
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* Copyright (C) 2013 by mike brown *
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* mike@theshedworks.org.uk *
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* *
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* Copyright (C) 2013 by Spencer Oliver *
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* spen@spen-soft.co.uk *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 2 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, write to the *
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* Free Software Foundation, Inc., *
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
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***************************************************************************/
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#ifdef HAVE_CONFIG_H
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#include "config.h"
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#endif
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#include <transport/transport.h>
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#include <jtag/swd.h>
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#include <jtag/interface.h>
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#include <jtag/commands.h>
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#include <jtag/tcl.h>
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#include <hidapi.h>
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#ifdef _DEBUG_JTAG_IO_
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#define DEBUG_IO(expr...) LOG_DEBUG(expr)
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#else
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#define DEBUG_IO(expr...) do {} while (0)
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#endif
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/*
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* See CMSIS-DAP documentation:
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* Version 0.01 - Beta.
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*/
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/* USB Config */
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/* Known vid/pid pairs:
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* VID 0xc251: Keil Software
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* PID 0xf001: LPC-Link-II CMSIS_DAP
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* PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
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* PID 0x2722: Keil ULINK2 CMSIS-DAP
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*
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* VID 0x0d28: mbed Software
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* PID 0x0204: MBED CMSIS-DAP
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*/
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#define MAX_USB_IDS 8
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/* vid = pid = 0 marks the end of the list */
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static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0xc251, 0xc251, 0xc251, 0x0d28, 0x03eb, 0 };
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static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0xf001, 0xf002, 0x2722, 0x0204, 0x2111, 0 };
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#define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
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#define USB_TIMEOUT 1000
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/* CMSIS-DAP General Commands */
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#define CMD_DAP_INFO 0x00
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#define CMD_DAP_LED 0x01
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#define CMD_DAP_CONNECT 0x02
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#define CMD_DAP_DISCONNECT 0x03
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#define CMD_DAP_WRITE_ABORT 0x08
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#define CMD_DAP_DELAY 0x09
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#define CMD_DAP_RESET_TARGET 0x0A
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/* CMD_INFO */
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#define INFO_ID_VID 0x00 /* string */
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#define INFO_ID_PID 0x02 /* string */
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#define INFO_ID_SERNUM 0x03 /* string */
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#define INFO_ID_FW_VER 0x04 /* string */
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#define INFO_ID_TD_VEND 0x05 /* string */
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#define INFO_ID_TD_NAME 0x06 /* string */
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#define INFO_ID_CAPS 0xf0 /* byte */
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#define INFO_ID_PKT_CNT 0xfe /* byte */
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#define INFO_ID_PKT_SZ 0xff /* short */
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#define INFO_CAPS_SWD 0x01
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#define INFO_CAPS_JTAG 0x02
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/* CMD_LED */
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#define LED_ID_CONNECT 0x00
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#define LED_ID_RUN 0x01
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#define LED_OFF 0x00
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#define LED_ON 0x01
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/* CMD_CONNECT */
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#define CONNECT_DEFAULT 0x00
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#define CONNECT_SWD 0x01
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#define CONNECT_JTAG 0x02
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/* CMSIS-DAP Common SWD/JTAG Commands */
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#define CMD_DAP_DELAY 0x09
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#define CMD_DAP_SWJ_PINS 0x10
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#define CMD_DAP_SWJ_CLOCK 0x11
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#define CMD_DAP_SWJ_SEQ 0x12
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/*
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* PINS
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* Bit 0: SWCLK/TCK
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* Bit 1: SWDIO/TMS
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* Bit 2: TDI
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* Bit 3: TDO
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* Bit 5: nTRST
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* Bit 7: nRESET
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*/
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/* CMSIS-DAP SWD Commands */
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#define CMD_DAP_SWD_CONFIGURE 0x13
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/* CMSIS-DAP JTAG Commands */
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#define CMD_DAP_JTAG_SEQ 0x14
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#define CMD_DAP_JTAG_CONFIGURE 0x15
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#define CMD_DAP_JTAG_IDCODE 0x16
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/* CMSIS-DAP Transfer Commands */
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#define CMD_DAP_TFER_CONFIGURE 0x04
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#define CMD_DAP_TFER 0x05
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#define CMD_DAP_TFER_BLOCK 0x06
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#define CMD_DAP_TFER_ABORT 0x07
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/* DAP Status Code */
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#define DAP_OK 0
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#define DAP_ERROR 0xFF
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/* CMSIS-DAP Vendor Commands
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* None as yet... */
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static char *info_caps_str[] = {
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"SWD Supported",
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"JTAG Supported"
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};
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/* max clock speed (kHz) */
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#define DAP_MAX_CLOCK 5000
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struct cmsis_dap {
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hid_device *dev_handle;
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uint16_t packet_size;
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uint16_t packet_count;
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uint8_t *packet_buffer;
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uint8_t caps;
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uint8_t mode;
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};
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static struct cmsis_dap *cmsis_dap_handle;
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static int cmsis_dap_usb_open(void)
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{
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hid_device *dev = NULL;
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int i;
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if (hid_init() != 0) {
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LOG_ERROR("unable to open HIDAPI");
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return ERROR_FAIL;
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}
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for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
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dev = hid_open(cmsis_dap_vid[i], cmsis_dap_pid[i], NULL);
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if (dev != NULL)
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break;
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}
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if (dev == NULL) {
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LOG_ERROR("unable to open CMSIS-DAP device");
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return ERROR_FAIL;
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}
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struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
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if (dap == NULL) {
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LOG_ERROR("unable to allocate memory");
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return ERROR_FAIL;
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}
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dap->dev_handle = dev;
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dap->caps = 0;
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dap->mode = 0;
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cmsis_dap_handle = dap;
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/* allocate default packet buffer, may be changed later.
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* currently with HIDAPI we have no way of getting the output report length
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* without this info we cannot communicate with the adapter.
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* For the moment we ahve to hard code the packet size */
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int packet_size = PACKET_SIZE;
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/* atmel cmsis-dap uses 512 byte reports */
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if (cmsis_dap_vid[i] == 0x03eb && cmsis_dap_pid[i] == 0x2111)
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packet_size = 512 + 1;
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cmsis_dap_handle->packet_buffer = malloc(packet_size);
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cmsis_dap_handle->packet_size = packet_size;
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if (cmsis_dap_handle->packet_buffer == NULL) {
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LOG_ERROR("unable to allocate memory");
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return ERROR_FAIL;
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}
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return ERROR_OK;
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}
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static void cmsis_dap_usb_close(struct cmsis_dap *dap)
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{
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hid_close(dap->dev_handle);
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hid_exit();
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if (cmsis_dap_handle->packet_buffer)
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free(cmsis_dap_handle->packet_buffer);
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if (cmsis_dap_handle) {
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free(cmsis_dap_handle);
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cmsis_dap_handle = NULL;
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}
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return;
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}
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/* Send a message and receive the reply */
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static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
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{
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/* Pad the rest of the TX buffer with 0's */
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memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
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/* write data to device */
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int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
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if (retval == -1) {
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LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
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return ERROR_FAIL;
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}
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/* get reply */
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retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
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if (retval == -1 || retval == 0) {
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LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
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return ERROR_FAIL;
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}
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return ERROR_OK;
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}
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static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t wait, uint8_t *input)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_SWJ_PINS;
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buffer[2] = pins;
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buffer[3] = mask;
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buffer[4] = wait & 0xff;
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buffer[5] = (wait >> 8) & 0xff;
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buffer[6] = (wait >> 16) & 0xff;
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buffer[7] = (wait >> 24) & 0xff;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
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if (retval != ERROR_OK) {
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LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
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return ERROR_JTAG_DEVICE_ERROR;
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}
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if (input)
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*input = buffer[1];
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return ERROR_OK;
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}
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static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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/* set clock in Hz */
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swj_clock *= 1000;
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_SWJ_CLOCK;
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buffer[2] = swj_clock & 0xff;
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buffer[3] = (swj_clock >> 8) & 0xff;
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buffer[4] = (swj_clock >> 16) & 0xff;
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buffer[5] = (swj_clock >> 24) & 0xff;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
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if (retval != ERROR_OK || buffer[1] != DAP_OK) {
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LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
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return ERROR_JTAG_DEVICE_ERROR;
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}
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return ERROR_OK;
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}
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static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_INFO;
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buffer[2] = info;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
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if (retval != ERROR_OK) {
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LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
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return ERROR_JTAG_DEVICE_ERROR;
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}
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*data = &(buffer[1]);
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return ERROR_OK;
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}
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static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_LED;
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buffer[2] = 0x00;
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buffer[3] = leds;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
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if (retval != ERROR_OK || buffer[1] != 0x00) {
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LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
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return ERROR_JTAG_DEVICE_ERROR;
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}
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return ERROR_OK;
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}
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static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_CONNECT;
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buffer[2] = mode;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
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if (retval != ERROR_OK) {
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LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
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return ERROR_JTAG_DEVICE_ERROR;
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}
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if (buffer[1] != mode) {
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LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
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return ERROR_JTAG_DEVICE_ERROR;
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}
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return ERROR_OK;
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}
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static int cmsis_dap_cmd_DAP_Disconnect(void)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_DISCONNECT;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
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if (retval != ERROR_OK || buffer[1] != DAP_OK) {
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LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
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return ERROR_JTAG_DEVICE_ERROR;
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}
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return ERROR_OK;
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}
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static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t wait, uint16_t retry)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_TFER_CONFIGURE;
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buffer[2] = idle;
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buffer[3] = wait & 0xff;
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buffer[4] = (wait >> 8) & 0xff;
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buffer[5] = retry & 0xff;
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buffer[6] = (retry >> 8) & 0xff;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
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if (retval != ERROR_OK || buffer[1] != DAP_OK) {
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LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
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return ERROR_JTAG_DEVICE_ERROR;
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}
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return ERROR_OK;
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}
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static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_SWD_CONFIGURE;
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buffer[2] = cfg;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
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if (retval != ERROR_OK || buffer[1] != DAP_OK) {
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LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
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return ERROR_JTAG_DEVICE_ERROR;
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}
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return ERROR_OK;
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}
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#if 0
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static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
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{
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int retval;
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_DELAY;
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buffer[2] = delay_us & 0xff;
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buffer[3] = (delay_us >> 8) & 0xff;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
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if (retval != ERROR_OK || buffer[1] != DAP_OK) {
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LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
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return ERROR_JTAG_DEVICE_ERROR;
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}
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return ERROR_OK;
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}
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#endif
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static int cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value)
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{
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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int retval;
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uint32_t val;
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DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8, cmd);
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_TFER;
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buffer[2] = 0x00;
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buffer[3] = 0x01;
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buffer[4] = cmd;
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retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
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/* TODO - need better response checking */
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if (retval != ERROR_OK || buffer[1] != 0x01) {
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LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
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return buffer[2];
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}
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val = le_to_h_u32(&buffer[3]);
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DEBUG_IO("0x%08" PRIx32, val);
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if (value)
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*value = val;
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return retval;
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}
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static int cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value)
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{
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uint8_t *buffer = cmsis_dap_handle->packet_buffer;
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DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
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buffer[0] = 0; /* report number */
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buffer[1] = CMD_DAP_TFER;
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buffer[2] = 0x00;
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buffer[3] = 0x01;
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buffer[4] = cmd;
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buffer[5] = (value) & 0xff;
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buffer[6] = (value >> 8) & 0xff;
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buffer[7] = (value >> 16) & 0xff;
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buffer[8] = (value >> 24) & 0xff;
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int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
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if (buffer[1] != 0x01) {
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LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
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retval = buffer[2];
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}
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return retval;
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}
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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,
|
|
};
|