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openocd/src/jtag/drivers/cmsis_dap_usb.c

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/***************************************************************************
* Copyright (C) 2014 by Paul Fertser *
* fercerpav@gmail.com *
* *
* 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>
/*
* 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 };
static wchar_t *cmsis_dap_serial;
static bool swd_mode;
#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 const char * const 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;
};
struct pending_transfer_result {
uint8_t cmd;
uint32_t data;
void *buffer;
};
static int pending_transfer_count, pending_queue_len;
static struct pending_transfer_result *pending_transfers;
static int queued_retval;
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;
wchar_t *target_serial = NULL;
bool found = false;
bool serial_found = false;
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 identify 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]) {
if (NULL == cur_dev->product_string) {
LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
cur_dev->vendor_id, cur_dev->product_id);
} else {
if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
/* if the user hasn't specified VID:PID *and*
* product string contains "CMSIS-DAP", pick it
*/
found = true;
}
}
} 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))
found = true;
}
if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
found = true;
}
if (found) {
/* we have found an adapter, so exit further checks */
/* check serial number matches if given */
if (cmsis_dap_serial != NULL) {
if (wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
serial_found = true;
break;
}
} else
break;
}
cur_dev = cur_dev->next;
}
if (NULL != cur_dev) {
target_vid = cur_dev->vendor_id;
target_pid = cur_dev->product_id;
if (serial_found)
target_serial = cmsis_dap_serial;
}
hid_free_enumeration(devs);
if (target_vid == 0 && target_pid == 0) {
LOG_ERROR("unable to find CMSIS-DAP device");
return ERROR_FAIL;
}
if (hid_init() != 0) {
LOG_ERROR("unable to open HIDAPI");
return ERROR_FAIL;
}
dev = hid_open(target_vid, target_pid, target_serial);
if (dev == NULL) {
LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
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 */
/* TODO: HID report descriptor should be parsed instead of
* hardcoding a match by VID */
if (target_vid == 0x03eb)
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();
free(cmsis_dap_handle->packet_buffer);
free(cmsis_dap_handle);
cmsis_dap_handle = NULL;
free(cmsis_dap_serial);
cmsis_dap_serial = NULL;
free(pending_transfers);
pending_transfers = 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 - 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 delay, 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] = delay & 0xff;
buffer[5] = (delay >> 8) & 0xff;
buffer[6] = (delay >> 16) & 0xff;
buffer[7] = (delay >> 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 retry_count, uint16_t match_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] = retry_count & 0xff;
buffer[4] = (retry_count >> 8) & 0xff;
buffer[5] = match_retry & 0xff;
buffer[6] = (match_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_run_queue(struct adiv5_dap *dap)
{
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
if (queued_retval != ERROR_OK) {
LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
goto skip;
}
if (!pending_transfer_count)
goto skip;
size_t idx = 0;
buffer[idx++] = 0; /* report number */
buffer[idx++] = CMD_DAP_TFER;
buffer[idx++] = 0x00; /* DAP Index */
buffer[idx++] = pending_transfer_count;
for (int i = 0; i < pending_transfer_count; i++) {
uint8_t cmd = pending_transfers[i].cmd;
uint32_t data = pending_transfers[i].data;
LOG_DEBUG("%s %s reg %x %"PRIx32,
cmd & SWD_CMD_APnDP ? "AP" : "DP",
cmd & SWD_CMD_RnW ? "read" : "write",
(cmd & SWD_CMD_A32) >> 1, data);
/* When proper WAIT handling is implemented in the
* common SWD framework, this kludge can be
* removed. However, this might lead to minor
* performance degradation as the adapter wouldn't be
* able to automatically retry anything (because ARM
* has forgotten to implement sticky error flags
* clearing). See also comments regarding
* cmsis_dap_cmd_DAP_TFER_Configure() and
* cmsis_dap_cmd_DAP_SWD_Configure() in
* cmsis_dap_init().
*/
if (!(cmd & SWD_CMD_RnW) &&
!(cmd & SWD_CMD_APnDP) &&
(cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
(data & CORUNDETECT)) {
LOG_DEBUG("refusing to enable sticky overrun detection");
data &= ~CORUNDETECT;
}
buffer[idx++] = (cmd >> 1) & 0x0f;
if (!(cmd & SWD_CMD_RnW)) {
buffer[idx++] = (data) & 0xff;
buffer[idx++] = (data >> 8) & 0xff;
buffer[idx++] = (data >> 16) & 0xff;
buffer[idx++] = (data >> 24) & 0xff;
}
}
queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
if (queued_retval != ERROR_OK)
goto skip;
idx = 2;
uint8_t ack = buffer[idx] & 0x07;
if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
goto skip;
}
idx++;
if (pending_transfer_count != buffer[1])
LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
pending_transfer_count, buffer[1]);
for (int i = 0; i < buffer[1]; i++) {
if (pending_transfers[i].cmd & SWD_CMD_RnW) {
static uint32_t last_read;
uint32_t data = le_to_h_u32(&buffer[idx]);
uint32_t tmp = data;
idx += 4;
LOG_DEBUG("Read result: %"PRIx32, data);
/* Imitate posted AP reads */
if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
tmp = last_read;
last_read = data;
}
if (pending_transfers[i].buffer)
*(uint32_t *)pending_transfers[i].buffer = tmp;
}
}
skip:
pending_transfer_count = 0;
int retval = queued_retval;
queued_retval = ERROR_OK;
return retval;
}
static void cmsis_dap_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data)
{
if (pending_transfer_count == pending_queue_len) {
/* Not enough room in the queue. Run the queue. */
queued_retval = cmsis_dap_swd_run_queue(dap);
}
if (queued_retval != ERROR_OK)
return;
pending_transfers[pending_transfer_count].data = data;
pending_transfers[pending_transfer_count].cmd = cmd;
if (cmd & SWD_CMD_RnW) {
/* Queue a read transaction */
pending_transfers[pending_transfer_count].buffer = dst;
}
pending_transfer_count++;
}
static void cmsis_dap_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
{
assert(!(cmd & SWD_CMD_RnW));
cmsis_dap_swd_queue_cmd(dap, cmd, NULL, value);
}
static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
{
assert(cmd & SWD_CMD_RnW);
cmsis_dap_swd_queue_cmd(dap, cmd, value, 0);
}
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_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
{
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
const uint8_t *s;
unsigned int s_len;
int retval;
/* When we are reconnecting, DAP_Connect needs to be rerun, at
* least on Keil ULINK-ME */
retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
CONNECT_SWD : CONNECT_JTAG);
if (retval != ERROR_OK)
return retval;
switch (seq) {
case LINE_RESET:
LOG_DEBUG("SWD line reset");
s = swd_seq_line_reset;
s_len = swd_seq_line_reset_len;
break;
case JTAG_TO_SWD:
LOG_DEBUG("JTAG-to-SWD");
s = swd_seq_jtag_to_swd;
s_len = swd_seq_jtag_to_swd_len;
break;
case SWD_TO_JTAG:
LOG_DEBUG("SWD-to-JTAG");
s = swd_seq_swd_to_jtag;
s_len = swd_seq_swd_to_jtag_len;
break;
default:
LOG_ERROR("Sequence %d not supported", seq);
return ERROR_FAIL;
}
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_SWJ_SEQ;
buffer[2] = s_len;
bit_copy(&buffer[3], 0, s, 0, s_len);
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
if (retval != ERROR_OK || buffer[1] != DAP_OK)
return ERROR_FAIL;
return ERROR_OK;
}
static int cmsis_dap_swd_open(void)
{
int retval;
if (cmsis_dap_handle == NULL) {
/* SWD init */
retval = cmsis_dap_usb_open();
if (retval != ERROR_OK)
return retval;
retval = cmsis_dap_get_caps_info();
if (retval != ERROR_OK)
return retval;
}
if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
LOG_ERROR("CMSIS-DAP: SWD not supported");
return ERROR_JTAG_DEVICE_ERROR;
}
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_init(void)
{
int retval;
uint8_t *data;
if (swd_mode) {
retval = cmsis_dap_swd_open();
if (retval != ERROR_OK)
return retval;
}
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);
/* 4 bytes of command header + 5 bytes per register
* write. For bulk read sequences just 4 bytes are
* needed per transfer, so this is suboptimal. */
pending_queue_len = (pkt_sz - 4) / 5;
pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
if (!pending_transfers) {
LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
return ERROR_FAIL;
}
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(jtag_get_speed_khz());
if (retval != ERROR_OK)
return ERROR_FAIL;
/* Ask CMSIS-DAP to automatically retry on receiving WAIT for
* up to 64 times. This must be changed to 0 if sticky
* overrun detection is enabled. */
retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
if (retval != ERROR_OK)
return ERROR_FAIL;
/* Data Phase (bit 2) must be set to 1 if sticky overrun
* detection is enabled */
retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
if (retval != ERROR_OK)
return ERROR_FAIL;
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");
}
}
cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
LOG_INFO("CMSIS-DAP: Interface ready");
return ERROR_OK;
}
static int cmsis_dap_swd_init(void)
{
swd_mode = true;
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;
}
static int_least32_t cmsis_dap_swd_frequency(struct adiv5_dap *dap, int_least32_t hz)
{
if (hz > 0)
cmsis_dap_speed(hz / 1000);
return hz;
}
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;
}
COMMAND_HANDLER(cmsis_dap_handle_serial_command)
{
if (CMD_ARGC == 1) {
size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
if (cmsis_dap_serial == NULL) {
LOG_ERROR("unable to allocate memory");
return ERROR_OK;
}
if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
free(cmsis_dap_serial);
cmsis_dap_serial = NULL;
LOG_ERROR("unable to convert serial");
}
} else {
LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
}
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
};
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)* ",
},
{
.name = "cmsis_dap_serial",
.handler = &cmsis_dap_handle_serial_command,
.mode = COMMAND_CONFIG,
.help = "set the serial number of the adapter",
.usage = "serial_string",
},
COMMAND_REGISTRATION_DONE
};
static const struct swd_driver cmsis_dap_swd_driver = {
.init = cmsis_dap_swd_init,
.frequency = cmsis_dap_swd_frequency,
.switch_seq = cmsis_dap_swd_switch_seq,
.read_reg = cmsis_dap_swd_read_reg,
.write_reg = cmsis_dap_swd_write_reg,
.run = cmsis_dap_swd_run_queue,
};
static const char * const cmsis_dap_transport[] = { "swd", 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,
};
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