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openocd/src/jtag/drivers/cmsis_dap.c

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/***************************************************************************
* Copyright (C) 2018 by Mickaël Thomas *
* mickael9@gmail.com *
* *
* Copyright (C) 2016 by Maksym Hilliaka *
* oter@frozen-team.com *
* *
* Copyright (C) 2016 by Phillip Pearson *
* pp@myelin.co.nz *
* *
* 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, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
#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 "cmsis_dap.h"
static const struct cmsis_dap_backend *const cmsis_dap_backends[] = {
#if BUILD_CMSIS_DAP_USB == 1
&cmsis_dap_usb_backend,
#endif
#if BUILD_CMSIS_DAP_HID == 1
&cmsis_dap_hid_backend,
#endif
};
/* 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
* PID 0x2750: Keil ULINKplus 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 char *cmsis_dap_serial;
static int cmsis_dap_backend = -1;
static bool swd_mode;
#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_VENDOR 0x01 /* string */
#define INFO_ID_PRODUCT 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
*/
#define SWJ_PIN_TCK (1<<0)
#define SWJ_PIN_TMS (1<<1)
#define SWJ_PIN_TDI (1<<2)
#define SWJ_PIN_TDO (1<<3)
#define SWJ_PIN_TRST (1<<5)
#define SWJ_PIN_SRST (1<<7)
/* CMSIS-DAP SWD Commands */
#define CMD_DAP_SWD_CONFIGURE 0x13
/* CMSIS-DAP JTAG Commands */
#define CMD_DAP_JTAG_SEQ 0x14
#define CMD_DAP_JTAG_CONFIGURE 0x15
#define CMD_DAP_JTAG_IDCODE 0x16
/* CMSIS-DAP JTAG sequence info masks */
/* Number of bits to clock through (0 means 64) */
#define DAP_JTAG_SEQ_TCK 0x3F
/* TMS will be set during the sequence if this bit is set */
#define DAP_JTAG_SEQ_TMS 0x40
/* TDO output will be captured if this bit is set */
#define DAP_JTAG_SEQ_TDO 0x80
/* 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"
};
struct pending_transfer_result {
uint8_t cmd;
uint32_t data;
void *buffer;
};
struct pending_request_block {
struct pending_transfer_result *transfers;
int transfer_count;
};
struct pending_scan_result {
/** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
unsigned first;
/** Number of bits to read. */
unsigned length;
/** Location to store the result */
uint8_t *buffer;
/** Offset in the destination buffer */
unsigned buffer_offset;
};
/* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued
* until the first response arrives */
#define MAX_PENDING_REQUESTS 3
/* Pending requests are organized as a FIFO - circular buffer */
/* Each block in FIFO can contain up to pending_queue_len transfers */
static int pending_queue_len;
static struct pending_request_block pending_fifo[MAX_PENDING_REQUESTS];
static int pending_fifo_put_idx, pending_fifo_get_idx;
static int pending_fifo_block_count;
/* pointers to buffers that will receive jtag scan results on the next flush */
#define MAX_PENDING_SCAN_RESULTS 256
static int pending_scan_result_count;
static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
/* queued JTAG sequences that will be executed on the next flush */
#define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
static int queued_seq_count;
static int queued_seq_buf_end;
static int queued_seq_tdo_ptr;
static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
static int queued_retval;
static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
static struct cmsis_dap *cmsis_dap_handle;
static int cmsis_dap_open(void)
{
const struct cmsis_dap_backend *backend = NULL;
struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
if (dap == NULL) {
LOG_ERROR("unable to allocate memory");
return ERROR_FAIL;
}
dap->caps = 0;
dap->mode = 0;
dap->packet_size = 0; /* initialized by backend */
if (cmsis_dap_backend >= 0) {
/* Use forced backend */
backend = cmsis_dap_backends[cmsis_dap_backend];
if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, cmsis_dap_serial) != ERROR_OK)
backend = NULL;
} else {
/* Try all backends */
for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
backend = cmsis_dap_backends[i];
if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, cmsis_dap_serial) == ERROR_OK)
break;
else
backend = NULL;
}
}
if (backend == NULL) {
LOG_ERROR("unable to find a matching CMSIS-DAP device");
free(dap);
return ERROR_FAIL;
}
assert(dap->packet_size > 0);
dap->backend = backend;
dap->packet_buffer = malloc(dap->packet_size);
if (dap->packet_buffer == NULL) {
LOG_ERROR("unable to allocate memory");
dap->backend->close(dap);
free(dap);
return ERROR_FAIL;
}
cmsis_dap_handle = dap;
return ERROR_OK;
}
static void cmsis_dap_close(struct cmsis_dap *dap)
{
if (dap->backend) {
dap->backend->close(dap);
dap->backend = NULL;
}
free(cmsis_dap_handle->packet_buffer);
free(cmsis_dap_handle);
cmsis_dap_handle = NULL;
free(cmsis_dap_serial);
cmsis_dap_serial = NULL;
for (int i = 0; i < MAX_PENDING_REQUESTS; i++) {
free(pending_fifo[i].transfers);
pending_fifo[i].transfers = NULL;
}
}
/* Send a message and receive the reply */
static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
{
if (pending_fifo_block_count) {
LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count);
while (pending_fifo_block_count) {
dap->backend->read(dap, 10);
pending_fifo_block_count--;
}
pending_fifo_put_idx = 0;
pending_fifo_get_idx = 0;
}
int retval = dap->backend->write(dap, txlen, USB_TIMEOUT);
if (retval < 0)
return retval;
/* get reply */
retval = dap->backend->read(dap, USB_TIMEOUT);
if (retval < 0)
return retval;
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_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_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;
}
/* clock a sequence of bits out on TMS, to change JTAG states */
static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
{
int retval;
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
#ifdef CMSIS_DAP_JTAG_DEBUG
LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
printf("%02X ", sequence[i]);
printf("\n");
#endif
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_SWJ_SEQ;
buffer[2] = s_len;
bit_copy(&buffer[3], 0, sequence, 0, s_len);
retval = cmsis_dap_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_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_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 led, uint8_t state)
{
int retval;
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_LED;
buffer[2] = led;
buffer[3] = state;
retval = cmsis_dap_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_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_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_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_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_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 void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
{
uint8_t *buffer = dap->packet_buffer;
struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx);
if (queued_retval != ERROR_OK) {
LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
goto skip;
}
if (block->transfer_count == 0)
goto skip;
size_t idx = 0;
buffer[idx++] = 0; /* report number */
buffer[idx++] = CMD_DAP_TFER;
buffer[idx++] = 0x00; /* DAP Index */
buffer[idx++] = block->transfer_count;
for (int i = 0; i < block->transfer_count; i++) {
struct pending_transfer_result *transfer = &(block->transfers[i]);
uint8_t cmd = transfer->cmd;
uint32_t data = transfer->data;
LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
cmd & SWD_CMD_APnDP ? "AP" : "DP",
cmd & SWD_CMD_RnW ? "read" : "write",
(cmd & SWD_CMD_A32) >> 1, data);
/* 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;
}
}
int retval = dap->backend->write(dap, idx, USB_TIMEOUT);
if (retval < 0) {
queued_retval = retval;
goto skip;
} else {
queued_retval = ERROR_OK;
}
pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count;
pending_fifo_block_count++;
if (pending_fifo_block_count > dap->packet_count)
LOG_ERROR("too much pending writes %d", pending_fifo_block_count);
return;
skip:
block->transfer_count = 0;
}
static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
{
uint8_t *buffer = dap->packet_buffer;
struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx];
if (pending_fifo_block_count == 0)
LOG_ERROR("no pending write");
/* get reply */
int retval = dap->backend->read(dap, timeout_ms);
if (retval == ERROR_TIMEOUT_REACHED && timeout_ms < USB_TIMEOUT)
return;
if (retval <= 0) {
LOG_DEBUG("error reading data");
queued_retval = ERROR_FAIL;
goto skip;
}
if (buffer[2] & 0x08) {
LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", buffer[1]);
queued_retval = ERROR_FAIL;
goto skip;
}
uint8_t ack = buffer[2] & 0x07;
if (ack != SWD_ACK_OK) {
LOG_DEBUG("SWD ack not OK @ %d %s", buffer[1],
ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
goto skip;
}
if (block->transfer_count != buffer[1])
LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
block->transfer_count, buffer[1]);
LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d", buffer[1], pending_fifo_get_idx);
size_t idx = 3;
for (int i = 0; i < buffer[1]; i++) {
struct pending_transfer_result *transfer = &(block->transfers[i]);
if (transfer->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_IO("Read result: %"PRIx32, data);
/* Imitate posted AP reads */
if ((transfer->cmd & SWD_CMD_APnDP) ||
((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
tmp = last_read;
last_read = data;
}
if (transfer->buffer)
*(uint32_t *)(transfer->buffer) = tmp;
}
}
skip:
block->transfer_count = 0;
pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count;
pending_fifo_block_count--;
}
static int cmsis_dap_swd_run_queue(void)
{
if (pending_fifo_block_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
while (pending_fifo_block_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
pending_fifo_put_idx = 0;
pending_fifo_get_idx = 0;
int retval = queued_retval;
queued_retval = ERROR_OK;
return retval;
}
static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
{
if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len) {
if (pending_fifo_block_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
/* Not enough room in the queue. Run the queue. */
cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
if (pending_fifo_block_count >= cmsis_dap_handle->packet_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
}
if (queued_retval != ERROR_OK)
return;
struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
transfer->data = data;
transfer->cmd = cmd;
if (cmd & SWD_CMD_RnW) {
/* Queue a read transaction */
transfer->buffer = dst;
}
block->transfer_count++;
}
static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
{
assert(!(cmd & SWD_CMD_RnW));
cmsis_dap_swd_queue_cmd(cmd, NULL, value);
}
static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
{
assert(cmd & SWD_CMD_RnW);
cmsis_dap_swd_queue_cmd(cmd, value, 0);
}
static int cmsis_dap_get_serial_info(void)
{
uint8_t *data;
int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM, &data);
if (retval != ERROR_OK)
return retval;
if (data[0]) /* strlen */
LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
return ERROR_OK;
}
static int cmsis_dap_get_version_info(void)
{
uint8_t *data;
/* 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 & SWJ_PIN_TCK) ? 1 : 0,
(d & SWJ_PIN_TMS) ? 1 : 0,
(d & SWJ_PIN_TDI) ? 1 : 0,
(d & SWJ_PIN_TDO) ? 1 : 0,
(d & SWJ_PIN_TRST) ? 1 : 0,
(d & SWJ_PIN_SRST) ? 1 : 0);
}
return retval;
}
static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
{
const uint8_t *s;
unsigned int s_len;
int retval;
if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
/* Following workaround deasserts reset on most adapters.
* Do not reconnect if a reset line is active!
* Reconnecting would break connecting under reset. */
/* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
cmsis_dap_cmd_DAP_Disconnect();
/* When we are reconnecting, DAP_Connect needs to be rerun, at
* least on Keil ULINK-ME */
retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
if (retval != ERROR_OK)
return retval;
}
switch (seq) {
case LINE_RESET:
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;
}
retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
if (retval != ERROR_OK)
return retval;
/* Atmel EDBG needs renew clock setting after SWJ_Sequence
* otherwise default frequency is used */
return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
}
static int cmsis_dap_swd_open(void)
{
int retval;
if (!(cmsis_dap_handle->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;
retval = cmsis_dap_open();
if (retval != ERROR_OK)
return retval;
retval = cmsis_dap_get_caps_info();
if (retval != ERROR_OK)
return retval;
retval = cmsis_dap_get_version_info();
if (retval != ERROR_OK)
return retval;
retval = cmsis_dap_get_serial_info();
if (retval != ERROR_OK)
return retval;
if (swd_mode) {
retval = cmsis_dap_swd_open();
if (retval != ERROR_OK)
return retval;
} else {
/* Connect in JTAG mode */
if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
LOG_ERROR("CMSIS-DAP: JTAG not supported");
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)");
}
/* Be conservative and suppress submitting multiple HID requests
* until we get packet count info from the adaptor */
cmsis_dap_handle->packet_count = 1;
pending_queue_len = 12;
/* 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;
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 */
int pkt_cnt = data[1];
if (pkt_cnt > 1)
cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt);
}
LOG_DEBUG("Allocating FIFO for %d pending packets", cmsis_dap_handle->packet_count);
for (int i = 0; i < cmsis_dap_handle->packet_count; i++) {
pending_fifo[i].transfers = malloc(pending_queue_len * sizeof(struct pending_transfer_result));
if (!pending_fifo[i].transfers) {
LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
return ERROR_FAIL;
}
}
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;
if (swd_mode) {
/* Data Phase (bit 2) must be set to 1 if sticky overrun
* detection is enabled */
retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
if (retval != ERROR_OK)
return ERROR_FAIL;
}
/* Both LEDs on */
retval = cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT, LED_ON);
if (retval != ERROR_OK)
return ERROR_FAIL;
retval = cmsis_dap_cmd_DAP_LED(LED_ID_RUN, LED_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, SWJ_PIN_SRST, 0, NULL);
if (retval != ERROR_OK)
return ERROR_FAIL;
LOG_INFO("Connecting under reset");
}
}
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();
/* Both LEDs off */
cmsis_dap_cmd_DAP_LED(LED_ID_RUN, LED_OFF);
cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT, LED_OFF);
cmsis_dap_close(cmsis_dap_handle);
return ERROR_OK;
}
static int cmsis_dap_reset(int trst, int srst)
{
/* Set both TRST and SRST even if they're not enabled as
* there's no way to tristate them */
output_pins = 0;
if (!srst)
output_pins |= SWJ_PIN_SRST;
if (!trst)
output_pins |= SWJ_PIN_TRST;
int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins,
SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
if (retval != ERROR_OK)
LOG_ERROR("CMSIS-DAP: Interface reset failed");
return retval;
}
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);
}
/* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
{
LOG_INFO("cmsis-dap JTAG TLR_RESET");
uint8_t seq = 0xff;
int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
if (ret == ERROR_OK)
tap_set_state(TAP_RESET);
return ret;
}
/* Set new end state */
static void cmsis_dap_end_state(tap_state_t state)
{
if (tap_is_state_stable(state))
tap_set_end_state(state);
else {
LOG_ERROR("BUG: %i is not a valid end state", state);
exit(-1);
}
}
#ifdef SPRINT_BINARY
static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
{
if (!len)
return;
/*
buf = { 0x18 } len=5 should result in: 11000
buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
i=3 there means i/8 = 0 so c = 0xFF, and
*/
for (int i = offset; i < offset + len; ++i) {
uint8_t c = buf[i / 8], mask = 1 << (i % 8);
if ((i != offset) && !(i % 8))
putchar(' ');
*s++ = (c & mask) ? '1' : '0';
}
*s = 0;
}
#endif
#ifdef CMSIS_DAP_JTAG_DEBUG
static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
{
/* cmd is a usb packet to go to the cmsis-dap interface */
printf("cmsis-dap buffer (%d b): ", cmdlen);
for (int i = 0; i < cmdlen; ++i)
printf(" %02x", cmd[i]);
printf("\n");
switch (cmd[1]) {
case CMD_DAP_JTAG_SEQ: {
printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
/*
* #2 = number of sequences
* #3 = sequence info 1
* #4...4+n_bytes-1 = sequence 1
* #4+n_bytes = sequence info 2
* #5+n_bytes = sequence 2 (single bit)
*/
int pos = 3;
for (int seq = 0; seq < cmd[2]; ++seq) {
uint8_t info = cmd[pos++];
int len = info & DAP_JTAG_SEQ_TCK;
if (len == 0)
len = 64;
printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
printf(" %02x", cmd[pos+i]);
pos += DIV_ROUND_UP(len, 8);
printf("\n");
}
if (pos != cmdlen) {
printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
exit(-1);
}
break;
}
default:
LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
break;
}
}
#endif
static void cmsis_dap_flush(void)
{
if (!queued_seq_count)
return;
LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
/* prep CMSIS-DAP packet */
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_JTAG_SEQ;
buffer[2] = queued_seq_count;
memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
#ifdef CMSIS_DAP_JTAG_DEBUG
debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
#endif
/* send command to USB device */
int retval = cmsis_dap_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
if (retval != ERROR_OK || buffer[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
exit(-1);
}
#ifdef CMSIS_DAP_JTAG_DEBUG
LOG_DEBUG_IO("USB response buf:");
for (int c = 0; c < queued_seq_buf_end + 3; ++c)
printf("%02X ", buffer[c]);
printf("\n");
#endif
/* copy scan results into client buffers */
for (int i = 0; i < pending_scan_result_count; ++i) {
struct pending_scan_result *scan = &pending_scan_results[i];
LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
#ifdef CMSIS_DAP_JTAG_DEBUG
for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
printf("%02X ", buffer[2+scan->first+b]);
printf("\n");
#endif
bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
}
/* reset */
queued_seq_count = 0;
queued_seq_buf_end = 0;
queued_seq_tdo_ptr = 0;
pending_scan_result_count = 0;
}
/* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
*
* sequence=NULL means clock out zeros on TDI
* tdo_buffer=NULL means don't capture TDO
*/
static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
{
LOG_DEBUG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
queued_seq_buf_end,
s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
if (s_len == 0)
return;
if (s_len > 64) {
LOG_DEBUG_IO("START JTAG SEQ SPLIT");
for (int offset = 0; offset < s_len; offset += 64) {
int len = s_len - offset;
if (len > 64)
len = 64;
LOG_DEBUG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
cmsis_dap_add_jtag_sequence(
len,
sequence,
s_offset + offset,
tms,
tdo_buffer,
tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
);
}
LOG_DEBUG_IO("END JTAG SEQ SPLIT");
return;
}
int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
/* empty out the buffer */
cmsis_dap_flush();
++queued_seq_count;
/* control byte */
queued_seq_buf[queued_seq_buf_end] =
(tms ? DAP_JTAG_SEQ_TMS : 0) |
(tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
(s_len == 64 ? 0 : s_len);
if (sequence != NULL)
bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
else
memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
queued_seq_buf_end += cmd_len;
if (tdo_buffer != NULL) {
struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
scan->first = queued_seq_tdo_ptr;
queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
scan->length = s_len;
scan->buffer = tdo_buffer;
scan->buffer_offset = tdo_buffer_offset;
}
}
/* queue a sequence of bits to clock out TMS, executing if the buffer is full */
static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
{
LOG_DEBUG_IO("%d bits: %02X", s_len, *sequence);
/* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
because even though it seems ridiculously inefficient, it
allows us to combine TMS and scan sequences into the same
USB packet. */
/* TODO: combine runs of the same tms value */
for (int i = 0; i < s_len; ++i) {
bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
}
}
/* Move to the end state by queuing a sequence to clock into TMS */
static void cmsis_dap_state_move(void)
{
uint8_t tms_scan;
uint8_t tms_scan_bits;
tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms",
tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
tms_scan_bits, tms_scan);
cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
tap_set_state(tap_get_end_state());
}
/* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
static void cmsis_dap_execute_scan(struct jtag_command *cmd)
{
LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
jtag_scan_type(cmd->cmd.scan));
/* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
while (cmd->cmd.scan->num_fields > 0
&& cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
cmd->cmd.scan->num_fields--;
LOG_DEBUG("discarding trailing empty field");
}
if (cmd->cmd.scan->num_fields == 0) {
LOG_DEBUG("empty scan, doing nothing");
return;
}
if (cmd->cmd.scan->ir_scan) {
if (tap_get_state() != TAP_IRSHIFT) {
cmsis_dap_end_state(TAP_IRSHIFT);
cmsis_dap_state_move();
}
} else {
if (tap_get_state() != TAP_DRSHIFT) {
cmsis_dap_end_state(TAP_DRSHIFT);
cmsis_dap_state_move();
}
}
cmsis_dap_end_state(cmd->cmd.scan->end_state);
struct scan_field *field = cmd->cmd.scan->fields;
unsigned scan_size = 0;
for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
scan_size += field->num_bits;
LOG_DEBUG_IO("%s%s field %d/%d %d bits",
field->in_value ? "in" : "",
field->out_value ? "out" : "",
i,
cmd->cmd.scan->num_fields,
field->num_bits);
if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
LOG_DEBUG_IO("Last field and have to move out of SHIFT state");
/* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
* movement. This last field can't have length zero, it was checked above. */
cmsis_dap_add_jtag_sequence(
field->num_bits - 1, /* number of bits to clock */
field->out_value, /* output sequence */
0, /* output offset */
false, /* TMS low */
field->in_value,
0);
/* Clock the last bit out, with TMS high */
uint8_t last_bit = 0;
if (field->out_value)
bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
cmsis_dap_add_jtag_sequence(
1,
&last_bit,
0,
true,
field->in_value,
field->num_bits - 1);
tap_set_state(tap_state_transition(tap_get_state(), 1));
/* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
cmsis_dap_add_jtag_sequence(
1,
&last_bit,
0,
false,
NULL,
0);
tap_set_state(tap_state_transition(tap_get_state(), 0));
} else {
LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards");
/* Clocking part of a sequence into DR or IR with TMS=0,
leaving TMS=0 at the end so we can continue later */
cmsis_dap_add_jtag_sequence(
field->num_bits,
field->out_value,
0,
false,
field->in_value,
0);
}
}
if (tap_get_state() != tap_get_end_state()) {
cmsis_dap_end_state(tap_get_end_state());
cmsis_dap_state_move();
}
LOG_DEBUG_IO("%s scan, %i bits, end in %s",
(cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
tap_state_name(tap_get_end_state()));
}
static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
{
int i;
uint8_t tms0 = 0x00;
uint8_t tms1 = 0xff;
for (i = 0; i < num_states; i++) {
if (path[i] == tap_state_transition(tap_get_state(), false))
cmsis_dap_add_tms_sequence(&tms0, 1);
else if (path[i] == tap_state_transition(tap_get_state(), true))
cmsis_dap_add_tms_sequence(&tms1, 1);
else {
LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
tap_state_name(tap_get_state()), tap_state_name(path[i]));
exit(-1);
}
tap_set_state(path[i]);
}
cmsis_dap_end_state(tap_get_state());
}
static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
{
LOG_DEBUG_IO("pathmove: %i states, end in %i",
cmd->cmd.pathmove->num_states,
cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
}
static void cmsis_dap_stableclocks(int num_cycles)
{
int i;
uint8_t tms = tap_get_state() == TAP_RESET;
/* TODO: Perform optimizations? */
/* Execute num_cycles. */
for (i = 0; i < num_cycles; i++)
cmsis_dap_add_tms_sequence(&tms, 1);
}
static void cmsis_dap_runtest(int num_cycles)
{
tap_state_t saved_end_state = tap_get_end_state();
/* Only do a state_move when we're not already in IDLE. */
if (tap_get_state() != TAP_IDLE) {
cmsis_dap_end_state(TAP_IDLE);
cmsis_dap_state_move();
}
cmsis_dap_stableclocks(num_cycles);
/* Finish in end_state. */
cmsis_dap_end_state(saved_end_state);
if (tap_get_state() != tap_get_end_state())
cmsis_dap_state_move();
}
static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
{
LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
cmd->cmd.runtest->end_state);
cmsis_dap_end_state(cmd->cmd.runtest->end_state);
cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
}
static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
{
LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
}
static void cmsis_dap_execute_tms(struct jtag_command *cmd)
{
LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
}
/* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
* JTAG_RUNTEST, JTAG_STABLECLOCKS? */
static void cmsis_dap_execute_command(struct jtag_command *cmd)
{
switch (cmd->type) {
case JTAG_SLEEP:
cmsis_dap_flush();
cmsis_dap_execute_sleep(cmd);
break;
case JTAG_TLR_RESET:
cmsis_dap_flush();
cmsis_dap_execute_tlr_reset(cmd);
break;
case JTAG_SCAN:
cmsis_dap_execute_scan(cmd);
break;
case JTAG_PATHMOVE:
cmsis_dap_execute_pathmove(cmd);
break;
case JTAG_RUNTEST:
cmsis_dap_execute_runtest(cmd);
break;
case JTAG_STABLECLOCKS:
cmsis_dap_execute_stableclocks(cmd);
break;
case JTAG_TMS:
cmsis_dap_execute_tms(cmd);
break;
default:
LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
exit(-1);
}
}
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;
}
cmsis_dap_flush();
return ERROR_OK;
}
static int cmsis_dap_speed(int speed)
{
if (speed == 0) {
LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\".");
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_cmd_command)
{
int retval;
unsigned i;
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
buffer[0] = 0; /* report number */
for (i = 0; i < CMD_ARGC; i++)
buffer[i + 1] = strtoul(CMD_ARGV[i], NULL, 16);
retval = cmsis_dap_xfer(cmsis_dap_handle, CMD_ARGC + 1);
if (retval != ERROR_OK) {
LOG_ERROR("CMSIS-DAP command failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8,
buffer[1], buffer[2], buffer[3], buffer[4]);
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)
cmsis_dap_serial = strdup(CMD_ARGV[0]);
else
LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
return ERROR_OK;
}
COMMAND_HANDLER(cmsis_dap_handle_backend_command)
{
if (CMD_ARGC == 1) {
if (strcmp(CMD_ARGV[0], "auto") == 0) {
cmsis_dap_backend = -1; /* autoselect */
} else {
for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
if (strcasecmp(cmsis_dap_backends[i]->name, CMD_ARGV[0]) == 0) {
cmsis_dap_backend = i;
return ERROR_OK;
}
}
LOG_ERROR("invalid backend argument to cmsis_dap_backend <backend>");
}
} else {
LOG_ERROR("expected exactly one argument to cmsis_dap_backend <backend>");
}
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",
},
{
.name = "cmd",
.handler = &cmsis_dap_handle_cmd_command,
.mode = COMMAND_EXEC,
.usage = "",
.help = "issue cmsis-dap command",
},
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",
},
{
.name = "cmsis_dap_backend",
.handler = &cmsis_dap_handle_backend_command,
.mode = COMMAND_CONFIG,
.help = "set the communication backend to use (USB bulk or HID).",
.usage = "(auto | usb_bulk | hid)",
},
#if BUILD_CMSIS_DAP_USB
{
.name = "cmsis_dap_usb",
.chain = cmsis_dap_usb_subcommand_handlers,
.mode = COMMAND_ANY,
.help = "USB bulk backend-specific commands",
.usage = "<cmd>",
},
#endif
COMMAND_REGISTRATION_DONE
};
static const struct swd_driver cmsis_dap_swd_driver = {
.init = cmsis_dap_swd_init,
.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", "jtag", NULL };
static struct jtag_interface cmsis_dap_interface = {
.supported = DEBUG_CAP_TMS_SEQ,
.execute_queue = cmsis_dap_execute_queue,
};
struct adapter_driver cmsis_dap_adapter_driver = {
.name = "cmsis-dap",
.transports = cmsis_dap_transport,
.commands = cmsis_dap_command_handlers,
.init = cmsis_dap_init,
.quit = cmsis_dap_quit,
.reset = cmsis_dap_reset,
.speed = cmsis_dap_speed,
.khz = cmsis_dap_khz,
.speed_div = cmsis_dap_speed_div,
.jtag_ops = &cmsis_dap_interface,
.swd_ops = &cmsis_dap_swd_driver,
};
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