2142 lines
60 KiB
C
2142 lines
60 KiB
C
/***************************************************************************
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* Copyright (C) 2017 by Texas Instruments, Inc. *
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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, see <http://www.gnu.org/licenses/>. *
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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 <libusb.h>
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/* XDS110 USB serial number length */
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#define XDS110_SERIAL_LEN 8
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/* XDS110 stand-alone probe voltage supply limits */
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#define XDS110_MIN_VOLTAGE 1800
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#define XDS110_MAX_VOLTAGE 3600
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/* XDS110 stand-alone probe hardware ID */
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#define XDS110_STAND_ALONE_ID 0x21
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/* Firmware version that introduced OpenOCD support via block accesses */
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#define OCD_FIRMWARE_VERSION 0x02030011
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#define OCD_FIRMWARE_UPGRADE \
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"XDS110: upgrade to version 2.3.0.11+ for improved support"
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/* Firmware version that introduced improved TCK performance */
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#define FAST_TCK_FIRMWARE_VERSION 0x03000000
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/* Firmware version that introduced 10 MHz and 12 MHz TCK support */
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#define FAST_TCK_PLUS_FIRMWARE_VERSION 0x03000003
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/***************************************************************************
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* USB Connection Buffer Definitions *
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***************************************************************************/
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/* Max USB packet size for up to USB 3.0 */
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#define MAX_PACKET 1024
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/*
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* Maximum data payload that can be handled in a single call
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* Limitation is the size of the buffers in the XDS110 firmware
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*/
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#define MAX_DATA_BLOCK 4096
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#ifndef USB_PAYLOAD_SIZE
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/* Largest data block plus parameters */
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#define USB_PAYLOAD_SIZE (MAX_DATA_BLOCK + 60)
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#endif
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#define MAX_RESULT_QUEUE (MAX_DATA_BLOCK / 4)
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/***************************************************************************
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* XDS110 Firmware API Definitions *
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***************************************************************************/
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/*
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* Default values controlling how the host communicates commands
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* with XDS110 firmware (automatic retry count and wait timeout)
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*/
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#define DEFAULT_ATTEMPTS (1)
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#define DEFAULT_TIMEOUT (4000)
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/* XDS110 API error codes */
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#define SC_ERR_NONE 0
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#define SC_ERR_XDS110_FAIL -261
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#define SC_ERR_SWD_WAIT -613
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#define SC_ERR_SWD_FAULT -614
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#define SC_ERR_SWD_PROTOCOL -615
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#define SC_ERR_SWD_PARITY -616
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#define SC_ERR_SWD_DEVICE_ID -617
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/* TCK frequency limits */
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#define XDS110_MIN_TCK_SPEED 100 /* kHz */
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#define XDS110_MAX_SLOW_TCK_SPEED 2500 /* kHz */
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#define XDS110_MAX_FAST_TCK_SPEED 14000 /* kHz */
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#define XDS110_DEFAULT_TCK_SPEED 2500 /* kHz */
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/* Fixed TCK delay values for "Fast" TCK frequencies */
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#define FAST_TCK_DELAY_14000_KHZ 0
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#define FAST_TCK_DELAY_10000_KHZ 0xfffffffd
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#define FAST_TCK_DELAY_12000_KHZ 0xfffffffe
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#define FAST_TCK_DELAY_8500_KHZ 1
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#define FAST_TCK_DELAY_5500_KHZ 2
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/* For TCK frequencies below 5500 kHz, use calculated delay */
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/* Scan mode on connect */
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#define MODE_JTAG 1
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/* XDS110 API JTAG state definitions */
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#define XDS_JTAG_STATE_RESET 1
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#define XDS_JTAG_STATE_IDLE 2
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#define XDS_JTAG_STATE_SHIFT_DR 3
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#define XDS_JTAG_STATE_SHIFT_IR 4
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#define XDS_JTAG_STATE_PAUSE_DR 5
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#define XDS_JTAG_STATE_PAUSE_IR 6
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#define XDS_JTAG_STATE_EXIT1_DR 8
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#define XDS_JTAG_STATE_EXIT1_IR 9
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#define XDS_JTAG_STATE_EXIT2_DR 10
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#define XDS_JTAG_STATE_EXIT2_IR 11
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#define XDS_JTAG_STATE_SELECT_DR 12
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#define XDS_JTAG_STATE_SELECT_IR 13
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#define XDS_JTAG_STATE_UPDATE_DR 14
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#define XDS_JTAG_STATE_UPDATE_IR 15
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#define XDS_JTAG_STATE_CAPTURE_DR 16
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#define XDS_JTAG_STATE_CAPTURE_IR 17
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/* XDS110 API JTAG transit definitions */
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#define XDS_JTAG_TRANSIT_QUICKEST 1
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#define XDS_JTAG_TRANSIT_VIA_CAPTURE 2
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#define XDS_JTAG_TRANSIT_VIA_IDLE 3
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/* DAP register definitions as used by XDS110 APIs */
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#define DAP_AP 0 /* DAP AP register type */
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#define DAP_DP 1 /* DAP DP register type */
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#define DAP_DP_IDCODE 0x0 /* DAP DP IDCODE register (read only) */
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#define DAP_DP_ABORT 0x0 /* DAP DP ABORT register (write only) */
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#define DAP_DP_STAT 0x4 /* DAP DP STAT register (for read only) */
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#define DAP_DP_CTRL 0x4 /* DAP DP CTRL register (for write only) */
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#define DAP_DP_ADDR 0x8 /* DAP DP SELECT register (legacy name) */
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#define DAP_DP_RESEND 0x8 /* DAP DP RESEND register (read only) */
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#define DAP_DP_SELECT 0x8 /* DAP DP SELECT register (write only) */
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#define DAP_DP_RDBUFF 0xc /* DAP DP RDBUFF Read Buffer register */
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#define DAP_AP_CSW 0x00 /* DAP AP Control Status Word */
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#define DAP_AP_TAR 0x04 /* DAP AP Transfer Address */
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#define DAP_AP_DRW 0x0C /* DAP AP Data Read/Write */
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#define DAP_AP_BD0 0x10 /* DAP AP Banked Data 0 */
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#define DAP_AP_BD1 0x14 /* DAP AP Banked Data 1 */
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#define DAP_AP_BD2 0x18 /* DAP AP Banked Data 2 */
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#define DAP_AP_BD3 0x1C /* DAP AP Banked Data 3 */
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#define DAP_AP_RTBL 0xF8 /* DAP AP Debug ROM Table */
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#define DAP_AP_IDR 0xFC /* DAP AP Identification Register */
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/* Command packet definitions */
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#define XDS_OUT_LEN 1 /* command (byte) */
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#define XDS_IN_LEN 4 /* error code (int) */
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/* XDS API Commands */
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#define XDS_CONNECT 0x01 /* Connect JTAG connection */
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#define XDS_DISCONNECT 0x02 /* Disconnect JTAG connection */
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#define XDS_VERSION 0x03 /* Get firmware version and hardware ID */
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#define XDS_SET_TCK 0x04 /* Set TCK delay (to set TCK frequency) */
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#define XDS_SET_TRST 0x05 /* Assert or deassert nTRST signal */
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#define XDS_CYCLE_TCK 0x07 /* Toggle TCK for a number of cycles */
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#define XDS_GOTO_STATE 0x09 /* Go to requested JTAG state */
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#define XDS_JTAG_SCAN 0x0c /* Send and receive JTAG scan */
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#define XDS_SET_SRST 0x0e /* Assert or deassert nSRST signal */
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#define CMAPI_CONNECT 0x0f /* CMAPI connect */
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#define CMAPI_DISCONNECT 0x10 /* CMAPI disconnect */
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#define CMAPI_ACQUIRE 0x11 /* CMAPI acquire */
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#define CMAPI_RELEASE 0x12 /* CMAPI release */
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#define CMAPI_REG_READ 0x15 /* CMAPI DAP register read */
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#define CMAPI_REG_WRITE 0x16 /* CMAPI DAP register write */
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#define SWD_CONNECT 0x17 /* Switch from JTAG to SWD connection */
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#define SWD_DISCONNECT 0x18 /* Switch from SWD to JTAG connection */
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#define CJTAG_CONNECT 0x2b /* Switch from JTAG to cJTAG connection */
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#define CJTAG_DISCONNECT 0x2c /* Switch from cJTAG to JTAG connection */
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#define XDS_SET_SUPPLY 0x32 /* Set up stand-alone probe upply voltage */
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#define OCD_DAP_REQUEST 0x3a /* Handle block of DAP requests */
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#define OCD_SCAN_REQUEST 0x3b /* Handle block of JTAG scan requests */
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#define OCD_PATHMOVE 0x3c /* Handle PATHMOVE to navigate JTAG states */
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#define CMD_IR_SCAN 1
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#define CMD_DR_SCAN 2
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#define CMD_RUNTEST 3
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#define CMD_STABLECLOCKS 4
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/* Array to convert from OpenOCD tap_state_t to XDS JTAG state */
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static const uint32_t xds_jtag_state[] = {
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XDS_JTAG_STATE_EXIT2_DR, /* TAP_DREXIT2 = 0x0 */
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XDS_JTAG_STATE_EXIT1_DR, /* TAP_DREXIT1 = 0x1 */
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XDS_JTAG_STATE_SHIFT_DR, /* TAP_DRSHIFT = 0x2 */
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XDS_JTAG_STATE_PAUSE_DR, /* TAP_DRPAUSE = 0x3 */
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XDS_JTAG_STATE_SELECT_IR, /* TAP_IRSELECT = 0x4 */
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XDS_JTAG_STATE_UPDATE_DR, /* TAP_DRUPDATE = 0x5 */
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XDS_JTAG_STATE_CAPTURE_DR, /* TAP_DRCAPTURE = 0x6 */
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XDS_JTAG_STATE_SELECT_DR, /* TAP_DRSELECT = 0x7 */
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XDS_JTAG_STATE_EXIT2_IR, /* TAP_IREXIT2 = 0x8 */
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XDS_JTAG_STATE_EXIT1_IR, /* TAP_IREXIT1 = 0x9 */
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XDS_JTAG_STATE_SHIFT_IR, /* TAP_IRSHIFT = 0xa */
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XDS_JTAG_STATE_PAUSE_IR, /* TAP_IRPAUSE = 0xb */
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XDS_JTAG_STATE_IDLE, /* TAP_IDLE = 0xc */
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XDS_JTAG_STATE_UPDATE_IR, /* TAP_IRUPDATE = 0xd */
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XDS_JTAG_STATE_CAPTURE_IR, /* TAP_IRCAPTURE = 0xe */
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XDS_JTAG_STATE_RESET, /* TAP_RESET = 0xf */
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};
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struct scan_result {
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bool first;
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uint8_t *buffer;
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uint32_t num_bits;
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};
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struct xds110_info {
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/* USB connection handles and data buffers */
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libusb_context *ctx;
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libusb_device_handle *dev;
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unsigned char read_payload[USB_PAYLOAD_SIZE];
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unsigned char write_packet[3];
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unsigned char write_payload[USB_PAYLOAD_SIZE];
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/* Device vid/pid */
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uint16_t vid;
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uint16_t pid;
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/* Debug interface */
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uint8_t interface;
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uint8_t endpoint_in;
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uint8_t endpoint_out;
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/* Status flags */
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bool is_connected;
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bool is_cmapi_connected;
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bool is_cmapi_acquired;
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bool is_swd_mode;
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bool is_ap_dirty;
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/* DAP register caches */
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uint32_t select;
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uint32_t rdbuff;
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bool use_rdbuff;
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/* TCK speed and delay count*/
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uint32_t speed;
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uint32_t delay_count;
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/* XDS110 serial number */
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char serial[XDS110_SERIAL_LEN + 1];
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/* XDS110 voltage supply setting */
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uint32_t voltage;
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/* XDS110 firmware and hardware version */
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uint32_t firmware;
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uint16_t hardware;
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/* Transaction queues */
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unsigned char txn_requests[MAX_DATA_BLOCK];
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uint32_t *txn_dap_results[MAX_DATA_BLOCK / 4];
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struct scan_result txn_scan_results[MAX_DATA_BLOCK / 4];
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uint32_t txn_request_size;
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uint32_t txn_result_size;
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uint32_t txn_result_count;
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};
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static struct xds110_info xds110 = {
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.ctx = NULL,
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.dev = NULL,
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.vid = 0,
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.pid = 0,
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.interface = 0,
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.endpoint_in = 0,
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.endpoint_out = 0,
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.is_connected = false,
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.is_cmapi_connected = false,
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.is_cmapi_acquired = false,
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.is_swd_mode = false,
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.is_ap_dirty = false,
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.speed = XDS110_DEFAULT_TCK_SPEED,
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.delay_count = 0,
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.serial = {0},
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.voltage = 0,
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.firmware = 0,
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.hardware = 0,
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.txn_request_size = 0,
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.txn_result_size = 0,
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.txn_result_count = 0
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};
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static inline void xds110_set_u32(uint8_t *buffer, uint32_t value)
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{
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buffer[3] = (value >> 24) & 0xff;
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buffer[2] = (value >> 16) & 0xff;
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buffer[1] = (value >> 8) & 0xff;
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buffer[0] = (value >> 0) & 0xff;
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}
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static inline void xds110_set_u16(uint8_t *buffer, uint16_t value)
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{
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buffer[1] = (value >> 8) & 0xff;
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buffer[0] = (value >> 0) & 0xff;
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}
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static inline uint32_t xds110_get_u32(uint8_t *buffer)
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{
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uint32_t value = (((uint32_t)buffer[3]) << 24) |
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(((uint32_t)buffer[2]) << 16) |
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(((uint32_t)buffer[1]) << 8) |
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(((uint32_t)buffer[0]) << 0);
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return value;
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}
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static inline uint16_t xds110_get_u16(uint8_t *buffer)
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{
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uint16_t value = (((uint32_t)buffer[1]) << 8) |
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(((uint32_t)buffer[0]) << 0);
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return value;
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}
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/***************************************************************************
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* usb connection routines *
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* *
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* The following functions handle connecting, reading, and writing to *
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* the XDS110 over USB using the libusb library. *
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***************************************************************************/
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static bool usb_connect(void)
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{
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libusb_context *ctx = NULL;
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libusb_device **list = NULL;
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libusb_device_handle *dev = NULL;
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struct libusb_device_descriptor desc;
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/* The vid/pids of possible XDS110 configurations */
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uint16_t vids[] = { 0x0451, 0x0451, 0x1cbe };
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uint16_t pids[] = { 0xbef3, 0xbef4, 0x02a5 };
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/* Corresponding interface and endpoint numbers for configurations */
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uint8_t interfaces[] = { 2, 2, 0 };
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uint8_t endpoints_in[] = { 3, 3, 1 };
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uint8_t endpoints_out[] = { 2, 2, 1 };
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ssize_t count = 0;
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ssize_t i = 0;
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int result = 0;
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bool found = false;
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uint32_t device = 0;
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bool match = false;
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/* Initialize libusb context */
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result = libusb_init(&ctx);
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if (0 == result) {
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/* Get list of USB devices attached to system */
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count = libusb_get_device_list(ctx, &list);
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if (count <= 0) {
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result = -1;
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list = NULL;
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}
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}
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if (0 == result) {
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/* Scan through list of devices for any XDS110s */
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for (i = 0; i < count; i++) {
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/* Check for device vid/pid match */
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libusb_get_device_descriptor(list[i], &desc);
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match = false;
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for (device = 0; device < sizeof(vids)/sizeof(vids[0]); device++) {
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if (desc.idVendor == vids[device] &&
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desc.idProduct == pids[device]) {
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match = true;
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break;
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}
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}
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if (match) {
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result = libusb_open(list[i], &dev);
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if (0 == result) {
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const int max_data = 256;
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unsigned char data[max_data + 1];
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*data = '\0';
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/* May be the requested device if serial number matches */
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if (0 == xds110.serial[0]) {
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/* No serial number given; match first XDS110 found */
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found = true;
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break;
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} else {
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/* Get the device's serial number string */
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result = libusb_get_string_descriptor_ascii(dev,
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desc.iSerialNumber, data, max_data);
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if (0 < result &&
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0 == strcmp((char *)data, (char *)xds110.serial)) {
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found = true;
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break;
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}
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}
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/* If we fall though to here, we don't want this device */
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libusb_close(dev);
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dev = NULL;
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}
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}
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}
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}
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/*
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* We can fall through the for() loop with two possible exit conditions:
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* 1) found the right XDS110, and that device is open
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* 2) didn't find the XDS110, and no devices are currently open
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*/
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if (NULL != list) {
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/* Free the device list, we're done with it */
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libusb_free_device_list(list, 1);
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}
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if (found) {
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/* Save the vid/pid of the device we're using */
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xds110.vid = vids[device];
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xds110.pid = pids[device];
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/* Save the debug interface and endpoints for the device */
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xds110.interface = interfaces[device];
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xds110.endpoint_in = endpoints_in[device] | LIBUSB_ENDPOINT_IN;
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xds110.endpoint_out = endpoints_out[device] | LIBUSB_ENDPOINT_OUT;
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/* Save the context and device handles */
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xds110.ctx = ctx;
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xds110.dev = dev;
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/* Set libusb to auto detach kernel */
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(void)libusb_set_auto_detach_kernel_driver(dev, 1);
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/* Claim the debug interface on the XDS110 */
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result = libusb_claim_interface(dev, xds110.interface);
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} else {
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/* Couldn't find an XDS110, flag the error */
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result = -1;
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}
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/* On an error, clean up what we can */
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if (0 != result) {
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if (NULL != dev) {
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/* Release the debug and data interface on the XDS110 */
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(void)libusb_release_interface(dev, xds110.interface);
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libusb_close(dev);
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}
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if (NULL != ctx)
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libusb_exit(ctx);
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xds110.ctx = NULL;
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xds110.dev = NULL;
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}
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/* Log the results */
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if (0 == result)
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LOG_INFO("XDS110: connected");
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else
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LOG_ERROR("XDS110: failed to connect");
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return (0 == result) ? true : false;
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}
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static void usb_disconnect(void)
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{
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if (NULL != xds110.dev) {
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/* Release the debug and data interface on the XDS110 */
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(void)libusb_release_interface(xds110.dev, xds110.interface);
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libusb_close(xds110.dev);
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|
xds110.dev = NULL;
|
|
}
|
|
if (NULL != xds110.ctx) {
|
|
libusb_exit(xds110.ctx);
|
|
xds110.ctx = NULL;
|
|
}
|
|
|
|
LOG_INFO("XDS110: disconnected");
|
|
}
|
|
|
|
static bool usb_read(unsigned char *buffer, int size, int *bytes_read,
|
|
int timeout)
|
|
{
|
|
int result;
|
|
|
|
if (NULL == xds110.dev || NULL == buffer || NULL == bytes_read)
|
|
return false;
|
|
|
|
/* Force a non-zero timeout to prevent blocking */
|
|
if (0 == timeout)
|
|
timeout = DEFAULT_TIMEOUT;
|
|
|
|
result = libusb_bulk_transfer(xds110.dev, xds110.endpoint_in, buffer, size,
|
|
bytes_read, timeout);
|
|
|
|
return (0 == result) ? true : false;
|
|
}
|
|
|
|
static bool usb_write(unsigned char *buffer, int size, int *written)
|
|
{
|
|
int bytes_written = 0;
|
|
int result = LIBUSB_SUCCESS;
|
|
int retries = 0;
|
|
|
|
if (NULL == xds110.dev || NULL == buffer)
|
|
return false;
|
|
|
|
result = libusb_bulk_transfer(xds110.dev, xds110.endpoint_out, buffer,
|
|
size, &bytes_written, 0);
|
|
|
|
while (LIBUSB_ERROR_PIPE == result && retries < 3) {
|
|
/* Try clearing the pipe stall and retry transfer */
|
|
libusb_clear_halt(xds110.dev, xds110.endpoint_out);
|
|
result = libusb_bulk_transfer(xds110.dev, xds110.endpoint_out, buffer,
|
|
size, &bytes_written, 0);
|
|
retries++;
|
|
}
|
|
|
|
if (NULL != written)
|
|
*written = bytes_written;
|
|
|
|
return (0 == result && size == bytes_written) ? true : false;
|
|
}
|
|
|
|
static bool usb_get_response(uint32_t *total_bytes_read, uint32_t timeout)
|
|
{
|
|
static unsigned char buffer[MAX_PACKET];
|
|
int bytes_read;
|
|
uint16_t size;
|
|
uint16_t count;
|
|
bool success;
|
|
|
|
size = 0;
|
|
success = true;
|
|
while (success) {
|
|
success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout);
|
|
if (success) {
|
|
/*
|
|
* Validate that this appears to be a good response packet
|
|
* First check it contains enough data for header and error
|
|
* code, plus the first character is the start character
|
|
*/
|
|
if (bytes_read >= 7 && '*' == buffer[0]) {
|
|
/* Extract the payload size */
|
|
size = xds110_get_u16(&buffer[1]);
|
|
/* Sanity test on payload size */
|
|
if (USB_PAYLOAD_SIZE >= size && 4 <= size) {
|
|
/* Check we didn't get more data than expected */
|
|
if ((bytes_read - 3) <= size) {
|
|
/* Packet appears to be valid, move on */
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
/*
|
|
* Somehow received an invalid packet, retry till we
|
|
* time out or a valid response packet is received
|
|
*/
|
|
}
|
|
|
|
/* Abort now if we didn't receive a valid response */
|
|
if (!success) {
|
|
if (NULL != total_bytes_read)
|
|
*total_bytes_read = 0;
|
|
return false;
|
|
}
|
|
|
|
/* Build the return payload into xds110.read_payload */
|
|
|
|
/* Copy over payload data from received buffer (skipping header) */
|
|
count = 0;
|
|
bytes_read -= 3;
|
|
memcpy((void *)&xds110.read_payload[count], (void *)&buffer[3], bytes_read);
|
|
count += bytes_read;
|
|
/*
|
|
* Drop timeout to just 1/2 second. Once the XDS110 starts sending
|
|
* a response, the remaining packets should arrive in short order
|
|
*/
|
|
if (timeout > 500)
|
|
timeout = 500; /* ms */
|
|
|
|
/* If there's more data to retrieve, get it now */
|
|
while ((count < size) && success) {
|
|
success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout);
|
|
if (success) {
|
|
if ((count + bytes_read) > size) {
|
|
/* Read too much data, not a valid packet, abort */
|
|
success = false;
|
|
} else {
|
|
/* Copy this data over to xds110.read_payload */
|
|
memcpy((void *)&xds110.read_payload[count], (void *)buffer,
|
|
bytes_read);
|
|
count += bytes_read;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!success)
|
|
count = 0;
|
|
if (NULL != total_bytes_read)
|
|
*total_bytes_read = count;
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool usb_send_command(uint16_t size)
|
|
{
|
|
int written;
|
|
bool success = true;
|
|
|
|
/* Check the packet length */
|
|
if (size > USB_PAYLOAD_SIZE)
|
|
return false;
|
|
|
|
/* Place the start character into the packet buffer */
|
|
xds110.write_packet[0] = '*';
|
|
|
|
/* Place the payload size into the packet buffer */
|
|
xds110_set_u16(&xds110.write_packet[1], size);
|
|
|
|
/* Adjust size to include header */
|
|
size += 3;
|
|
|
|
/* Send the data via the USB connection */
|
|
success = usb_write(xds110.write_packet, (int)size, &written);
|
|
|
|
/* Check if the correct number of bytes was written */
|
|
if (written != (int)size)
|
|
success = false;
|
|
|
|
return success;
|
|
}
|
|
|
|
/***************************************************************************
|
|
* XDS110 firmware API routines *
|
|
* *
|
|
* The following functions handle calling into the XDS110 firmware to *
|
|
* perform requested debug actions. *
|
|
***************************************************************************/
|
|
|
|
static bool xds_execute(uint32_t out_length, uint32_t in_length,
|
|
uint32_t attempts, uint32_t timeout)
|
|
{
|
|
bool done = false;
|
|
bool success = true;
|
|
int error = 0;
|
|
uint32_t bytes_read = 0;
|
|
|
|
if (NULL == xds110.dev)
|
|
return false;
|
|
|
|
while (!done && attempts > 0) {
|
|
attempts--;
|
|
|
|
/* Send command to XDS110 */
|
|
success = usb_send_command(out_length);
|
|
|
|
if (success) {
|
|
/* Get response from XDS110 */
|
|
success = usb_get_response(&bytes_read, timeout);
|
|
}
|
|
|
|
if (success) {
|
|
/* Check for valid response from XDS code handling */
|
|
if (bytes_read != in_length) {
|
|
/* Unexpected amount of data returned */
|
|
success = false;
|
|
LOG_DEBUG("XDS110: command 0x%02x return %" PRIu32 " bytes, expected %" PRIu32,
|
|
xds110.write_payload[0], bytes_read, in_length);
|
|
} else {
|
|
/* Extract error code from return packet */
|
|
error = (int)xds110_get_u32(&xds110.read_payload[0]);
|
|
done = true;
|
|
if (SC_ERR_NONE != error)
|
|
LOG_DEBUG("XDS110: command 0x%02x returned error %d",
|
|
xds110.write_payload[0], error);
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!success)
|
|
error = SC_ERR_XDS110_FAIL;
|
|
|
|
if (0 != error)
|
|
success = false;
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_connect(void)
|
|
{
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_CONNECT;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_disconnect(void)
|
|
{
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_DISCONNECT;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_version(uint32_t *firmware_id, uint16_t *hardware_id)
|
|
{
|
|
uint8_t *fw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
|
|
uint8_t *hw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 4]; /* 16-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_VERSION;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN + 6, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
if (success) {
|
|
if (NULL != firmware_id)
|
|
*firmware_id = xds110_get_u32(fw_id_pntr);
|
|
if (NULL != hardware_id)
|
|
*hardware_id = xds110_get_u16(hw_id_pntr);
|
|
}
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_set_tck_delay(uint32_t delay)
|
|
{
|
|
uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_SET_TCK;
|
|
|
|
xds110_set_u32(delay_pntr, delay);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_set_trst(uint8_t trst)
|
|
{
|
|
uint8_t *trst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_SET_TRST;
|
|
|
|
*trst_pntr = trst;
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_cycle_tck(uint32_t count)
|
|
{
|
|
uint8_t *count_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_CYCLE_TCK;
|
|
|
|
xds110_set_u32(count_pntr, count);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_goto_state(uint32_t state)
|
|
{
|
|
uint8_t *state_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
|
|
uint8_t *transit_pntr = &xds110.write_payload[XDS_OUT_LEN+4]; /* 32-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_GOTO_STATE;
|
|
|
|
xds110_set_u32(state_pntr, state);
|
|
xds110_set_u32(transit_pntr, XDS_JTAG_TRANSIT_QUICKEST);
|
|
|
|
success = xds_execute(XDS_OUT_LEN+8, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_jtag_scan(uint32_t shift_state, uint16_t shift_bits,
|
|
uint32_t end_state, uint8_t *data_out, uint8_t *data_in)
|
|
{
|
|
uint8_t *bits_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 16-bits */
|
|
uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
|
|
uint8_t *trans1_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 8-bits */
|
|
uint8_t *end_pntr = &xds110.write_payload[XDS_OUT_LEN + 4]; /* 8-bits */
|
|
uint8_t *trans2_pntr = &xds110.write_payload[XDS_OUT_LEN + 5]; /* 8-bits */
|
|
uint8_t *pre_pntr = &xds110.write_payload[XDS_OUT_LEN + 6]; /* 16-bits */
|
|
uint8_t *pos_pntr = &xds110.write_payload[XDS_OUT_LEN + 8]; /* 16-bits */
|
|
uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 10]; /* 16-bits */
|
|
uint8_t *rep_pntr = &xds110.write_payload[XDS_OUT_LEN + 12]; /* 16-bits */
|
|
uint8_t *out_pntr = &xds110.write_payload[XDS_OUT_LEN + 14]; /* 16-bits */
|
|
uint8_t *in_pntr = &xds110.write_payload[XDS_OUT_LEN + 16]; /* 16-bits */
|
|
uint8_t *data_out_pntr = &xds110.write_payload[XDS_OUT_LEN + 18];
|
|
uint8_t *data_in_pntr = &xds110.read_payload[XDS_IN_LEN+0];
|
|
|
|
uint16_t total_bytes = DIV_ROUND_UP(shift_bits, 8);
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_JTAG_SCAN;
|
|
|
|
xds110_set_u16(bits_pntr, shift_bits); /* bits to scan */
|
|
*path_pntr = (uint8_t)(shift_state & 0xff); /* IR vs DR path */
|
|
*trans1_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* start state route */
|
|
*end_pntr = (uint8_t)(end_state & 0xff); /* JTAG state after scan */
|
|
*trans2_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* end state route */
|
|
xds110_set_u16(pre_pntr, 0); /* number of preamble bits */
|
|
xds110_set_u16(pos_pntr, 0); /* number of postamble bits */
|
|
xds110_set_u16(delay_pntr, 0); /* number of extra TCKs after scan */
|
|
xds110_set_u16(rep_pntr, 1); /* number of repetitions */
|
|
xds110_set_u16(out_pntr, total_bytes); /* out buffer offset (if repeats) */
|
|
xds110_set_u16(in_pntr, total_bytes); /* in buffer offset (if repeats) */
|
|
|
|
memcpy((void *)data_out_pntr, (void *)data_out, total_bytes);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 18 + total_bytes,
|
|
XDS_IN_LEN + total_bytes, DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT);
|
|
|
|
if (success)
|
|
memcpy((void *)data_in, (void *)data_in_pntr, total_bytes);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_set_srst(uint8_t srst)
|
|
{
|
|
uint8_t *srst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_SET_SRST;
|
|
|
|
*srst_pntr = srst;
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool cmapi_connect(uint32_t *idcode)
|
|
{
|
|
uint8_t *idcode_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = CMAPI_CONNECT;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN+4, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
if (success) {
|
|
if (NULL != idcode)
|
|
*idcode = xds110_get_u32(idcode_pntr);
|
|
}
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool cmapi_disconnect(void)
|
|
{
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = CMAPI_DISCONNECT;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool cmapi_acquire(void)
|
|
{
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = CMAPI_ACQUIRE;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool cmapi_release(void)
|
|
{
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = CMAPI_RELEASE;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool cmapi_read_dap_reg(uint32_t type, uint32_t ap_num,
|
|
uint32_t address, uint32_t *value)
|
|
{
|
|
uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
|
|
uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */
|
|
uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
|
|
uint8_t *value_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = CMAPI_REG_READ;
|
|
|
|
*type_pntr = (uint8_t)(type & 0xff);
|
|
*ap_num_pntr = (uint8_t)(ap_num & 0xff);
|
|
*address_pntr = (uint8_t)(address & 0xff);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 3, XDS_IN_LEN + 4, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
if (success) {
|
|
if (NULL != value)
|
|
*value = xds110_get_u32(value_pntr);
|
|
}
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool cmapi_write_dap_reg(uint32_t type, uint32_t ap_num,
|
|
uint32_t address, uint32_t *value)
|
|
{
|
|
uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
|
|
uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */
|
|
uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
|
|
uint8_t *value_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 32-bits */
|
|
|
|
bool success;
|
|
|
|
if (NULL == value)
|
|
return false;
|
|
|
|
xds110.write_payload[0] = CMAPI_REG_WRITE;
|
|
|
|
*type_pntr = (uint8_t)(type & 0xff);
|
|
*ap_num_pntr = (uint8_t)(ap_num & 0xff);
|
|
*address_pntr = (uint8_t)(address & 0xff);
|
|
xds110_set_u32(value_pntr, *value);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 7, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool swd_connect(void)
|
|
{
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = SWD_CONNECT;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool swd_disconnect(void)
|
|
{
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = SWD_DISCONNECT;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool cjtag_connect(uint32_t format)
|
|
{
|
|
uint8_t *format_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = CJTAG_CONNECT;
|
|
|
|
xds110_set_u32(format_pntr, format);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool cjtag_disconnect(void)
|
|
{
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = CJTAG_DISCONNECT;
|
|
|
|
success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds_set_supply(uint32_t voltage)
|
|
{
|
|
uint8_t *volts_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
|
|
uint8_t *source_pntr = &xds110.write_payload[XDS_OUT_LEN + 4]; /* 8-bits */
|
|
|
|
bool success;
|
|
|
|
xds110.write_payload[0] = XDS_SET_SUPPLY;
|
|
|
|
xds110_set_u32(volts_pntr, voltage);
|
|
*source_pntr = (uint8_t)(0 != voltage ? 1 : 0);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 5, XDS_IN_LEN, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool ocd_dap_request(uint8_t *dap_requests, uint32_t request_size,
|
|
uint32_t *dap_results, uint32_t result_count)
|
|
{
|
|
uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0];
|
|
uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0];
|
|
|
|
bool success;
|
|
|
|
if (NULL == dap_requests || NULL == dap_results)
|
|
return false;
|
|
|
|
xds110.write_payload[0] = OCD_DAP_REQUEST;
|
|
|
|
memcpy((void *)request_pntr, (void *)dap_requests, request_size);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + request_size,
|
|
XDS_IN_LEN + (result_count * 4), DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
if (success && (result_count > 0))
|
|
memcpy((void *)dap_results, (void *)result_pntr, result_count * 4);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool ocd_scan_request(uint8_t *scan_requests, uint32_t request_size,
|
|
uint8_t *scan_results, uint32_t result_size)
|
|
{
|
|
uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0];
|
|
uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0];
|
|
|
|
bool success;
|
|
|
|
if (NULL == scan_requests || NULL == scan_results)
|
|
return false;
|
|
|
|
xds110.write_payload[0] = OCD_SCAN_REQUEST;
|
|
|
|
memcpy((void *)request_pntr, (void *)scan_requests, request_size);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + request_size,
|
|
XDS_IN_LEN + result_size, DEFAULT_ATTEMPTS,
|
|
DEFAULT_TIMEOUT);
|
|
|
|
if (success && (result_size > 0))
|
|
memcpy((void *)scan_results, (void *)result_pntr, result_size);
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool ocd_pathmove(uint32_t num_states, uint8_t *path)
|
|
{
|
|
uint8_t *num_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
|
|
uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 4];
|
|
|
|
bool success;
|
|
|
|
if (NULL == path)
|
|
return false;
|
|
|
|
xds110.write_payload[0] = OCD_PATHMOVE;
|
|
|
|
xds110_set_u32(num_pntr, num_states);
|
|
|
|
memcpy((void *)path_pntr, (void *)path, num_states);
|
|
|
|
success = xds_execute(XDS_OUT_LEN + 4 + num_states, XDS_IN_LEN,
|
|
DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT);
|
|
|
|
return success;
|
|
}
|
|
|
|
/***************************************************************************
|
|
* swd driver interface *
|
|
* *
|
|
* The following functions provide SWD support to OpenOCD. *
|
|
***************************************************************************/
|
|
|
|
static int xds110_swd_init(void)
|
|
{
|
|
xds110.is_swd_mode = true;
|
|
return ERROR_OK;
|
|
}
|
|
|
|
static int xds110_swd_switch_seq(enum swd_special_seq seq)
|
|
{
|
|
uint32_t idcode;
|
|
bool success;
|
|
|
|
switch (seq) {
|
|
case LINE_RESET:
|
|
LOG_ERROR("Sequence SWD line reset (%d) not supported", seq);
|
|
return ERROR_FAIL;
|
|
case JTAG_TO_SWD:
|
|
LOG_DEBUG("JTAG-to-SWD");
|
|
xds110.is_swd_mode = false;
|
|
xds110.is_cmapi_connected = false;
|
|
xds110.is_cmapi_acquired = false;
|
|
/* Run sequence to put target in SWD mode */
|
|
success = swd_connect();
|
|
/* Re-initialize CMAPI API for DAP access */
|
|
if (success) {
|
|
xds110.is_swd_mode = true;
|
|
success = cmapi_connect(&idcode);
|
|
if (success) {
|
|
xds110.is_cmapi_connected = true;
|
|
success = cmapi_acquire();
|
|
}
|
|
}
|
|
break;
|
|
case SWD_TO_JTAG:
|
|
LOG_DEBUG("SWD-to-JTAG");
|
|
xds110.is_swd_mode = false;
|
|
xds110.is_cmapi_connected = false;
|
|
xds110.is_cmapi_acquired = false;
|
|
/* Run sequence to put target in JTAG mode */
|
|
success = swd_disconnect();
|
|
if (success) {
|
|
/* Re-initialize JTAG interface */
|
|
success = cjtag_connect(MODE_JTAG);
|
|
}
|
|
break;
|
|
default:
|
|
LOG_ERROR("Sequence %d not supported", seq);
|
|
return ERROR_FAIL;
|
|
}
|
|
|
|
if (success)
|
|
return ERROR_OK;
|
|
else
|
|
return ERROR_FAIL;
|
|
}
|
|
|
|
static bool xds110_legacy_read_reg(uint8_t cmd, uint32_t *value)
|
|
{
|
|
/* Make sure this is a read request */
|
|
bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
|
|
/* Determine whether this is a DP or AP register access */
|
|
uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
|
|
/* Determine the AP number from cached SELECT value */
|
|
uint32_t ap_num = (xds110.select & 0xff000000) >> 24;
|
|
/* Extract register address from command */
|
|
uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
|
|
/* Extract bank address from cached SELECT value */
|
|
uint32_t bank = (xds110.select & 0x000000f0);
|
|
|
|
uint32_t reg_value = 0;
|
|
uint32_t temp_value = 0;
|
|
|
|
bool success;
|
|
|
|
if (!is_read_request)
|
|
return false;
|
|
|
|
if (DAP_AP == type) {
|
|
/* Add bank address to register address for CMAPI call */
|
|
address |= bank;
|
|
}
|
|
|
|
if (DAP_DP == type && DAP_DP_RDBUFF == address && xds110.use_rdbuff) {
|
|
/* If RDBUFF is cached and this is a DP RDBUFF read, use the cache */
|
|
reg_value = xds110.rdbuff;
|
|
success = true;
|
|
} else if (DAP_AP == type && DAP_AP_DRW == address && xds110.use_rdbuff) {
|
|
/* If RDBUFF is cached and this is an AP DRW read, use the cache, */
|
|
/* but still call into the firmware to get the next read. */
|
|
reg_value = xds110.rdbuff;
|
|
success = cmapi_read_dap_reg(type, ap_num, address, &temp_value);
|
|
} else {
|
|
success = cmapi_read_dap_reg(type, ap_num, address, &temp_value);
|
|
if (success)
|
|
reg_value = temp_value;
|
|
}
|
|
|
|
/* Mark that we have consumed or invalidated the RDBUFF cache */
|
|
xds110.use_rdbuff = false;
|
|
|
|
/* Handle result of read attempt */
|
|
if (!success)
|
|
LOG_ERROR("XDS110: failed to read DAP register");
|
|
else if (NULL != value)
|
|
*value = reg_value;
|
|
|
|
if (success && DAP_AP == type) {
|
|
/*
|
|
* On a successful DAP AP read, we actually have the value from RDBUFF,
|
|
* the firmware will have run the AP request and made the RDBUFF read
|
|
*/
|
|
xds110.use_rdbuff = true;
|
|
xds110.rdbuff = temp_value;
|
|
}
|
|
|
|
return success;
|
|
}
|
|
|
|
static bool xds110_legacy_write_reg(uint8_t cmd, uint32_t value)
|
|
{
|
|
/* Make sure this isn't a read request */
|
|
bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
|
|
/* Determine whether this is a DP or AP register access */
|
|
uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
|
|
/* Determine the AP number from cached SELECT value */
|
|
uint32_t ap_num = (xds110.select & 0xff000000) >> 24;
|
|
/* Extract register address from command */
|
|
uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
|
|
/* Extract bank address from cached SELECT value */
|
|
uint32_t bank = (xds110.select & 0x000000f0);
|
|
|
|
bool success;
|
|
|
|
if (is_read_request)
|
|
return false;
|
|
|
|
/* Invalidate the RDBUFF cache */
|
|
xds110.use_rdbuff = false;
|
|
|
|
if (DAP_AP == type) {
|
|
/* Add bank address to register address for CMAPI call */
|
|
address |= bank;
|
|
/* Any write to an AP register invalidates the firmware's cache */
|
|
xds110.is_ap_dirty = true;
|
|
} else if (DAP_DP_SELECT == address) {
|
|
/* Any write to the SELECT register invalidates the firmware's cache */
|
|
xds110.is_ap_dirty = true;
|
|
}
|
|
|
|
success = cmapi_write_dap_reg(type, ap_num, address, &value);
|
|
|
|
if (!success) {
|
|
LOG_ERROR("XDS110: failed to write DAP register");
|
|
} else {
|
|
/*
|
|
* If the debugger wrote to SELECT, cache the value
|
|
* to use to build the apNum and address values above
|
|
*/
|
|
if ((DAP_DP == type) && (DAP_DP_SELECT == address))
|
|
xds110.select = value;
|
|
}
|
|
|
|
return success;
|
|
}
|
|
|
|
static int xds110_swd_run_queue(void)
|
|
{
|
|
static uint32_t dap_results[MAX_RESULT_QUEUE];
|
|
uint8_t cmd;
|
|
uint32_t request;
|
|
uint32_t result;
|
|
uint32_t value;
|
|
bool success = true;
|
|
|
|
if (0 == xds110.txn_request_size)
|
|
return ERROR_OK;
|
|
|
|
/* Terminate request queue */
|
|
xds110.txn_requests[xds110.txn_request_size++] = 0;
|
|
|
|
if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
|
|
/* XDS110 firmware has the API to directly handle the queue */
|
|
success = ocd_dap_request(xds110.txn_requests,
|
|
xds110.txn_request_size, dap_results, xds110.txn_result_count);
|
|
} else {
|
|
/* Legacy firmware needs to handle queue via discrete DAP calls */
|
|
request = 0;
|
|
result = 0;
|
|
while (xds110.txn_requests[request] != 0) {
|
|
cmd = xds110.txn_requests[request++];
|
|
if (0 == (SWD_CMD_RnW & cmd)) {
|
|
/* DAP register write command */
|
|
value = (uint32_t)(xds110.txn_requests[request++]) << 0;
|
|
value |= (uint32_t)(xds110.txn_requests[request++]) << 8;
|
|
value |= (uint32_t)(xds110.txn_requests[request++]) << 16;
|
|
value |= (uint32_t)(xds110.txn_requests[request++]) << 24;
|
|
if (success)
|
|
success = xds110_legacy_write_reg(cmd, value);
|
|
} else {
|
|
/* DAP register read command */
|
|
value = 0;
|
|
if (success)
|
|
success = xds110_legacy_read_reg(cmd, &value);
|
|
dap_results[result++] = value;
|
|
}
|
|
}
|
|
}
|
|
|
|
/* Transfer results into caller's buffers */
|
|
for (result = 0; result < xds110.txn_result_count; result++)
|
|
if (0 != xds110.txn_dap_results[result])
|
|
*xds110.txn_dap_results[result] = dap_results[result];
|
|
|
|
xds110.txn_request_size = 0;
|
|
xds110.txn_result_size = 0;
|
|
xds110.txn_result_count = 0;
|
|
|
|
return (success) ? ERROR_OK : ERROR_FAIL;
|
|
}
|
|
|
|
static void xds110_swd_queue_cmd(uint8_t cmd, uint32_t *value)
|
|
{
|
|
/* Check if this is a read or write request */
|
|
bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
|
|
/* Determine whether this is a DP or AP register access */
|
|
uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
|
|
/* Extract register address from command */
|
|
uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
|
|
uint32_t request_size = (is_read_request) ? 1 : 5;
|
|
|
|
/* Check if new request would be too large to fit */
|
|
if (((xds110.txn_request_size + request_size + 1) > MAX_DATA_BLOCK) ||
|
|
((xds110.txn_result_count + 1) > MAX_RESULT_QUEUE))
|
|
xds110_swd_run_queue();
|
|
|
|
/* Set the START bit in cmd to ensure cmd is not zero */
|
|
/* (a value of zero is used to terminate the buffer) */
|
|
cmd |= SWD_CMD_START;
|
|
|
|
/* Add request to queue; queue is built marshalled for XDS110 call */
|
|
if (is_read_request) {
|
|
/* Queue read request, save pointer to pass back result */
|
|
xds110.txn_requests[xds110.txn_request_size++] = cmd;
|
|
xds110.txn_dap_results[xds110.txn_result_count++] = value;
|
|
xds110.txn_result_size += 4;
|
|
} else {
|
|
/* Check for and prevent sticky overrun detection */
|
|
if (DAP_DP == type && DAP_DP_CTRL == address &&
|
|
(*value & CORUNDETECT)) {
|
|
LOG_DEBUG("XDS110: refusing to enable sticky overrun detection");
|
|
*value &= ~CORUNDETECT;
|
|
}
|
|
/* Queue write request, add value directly to queue buffer */
|
|
xds110.txn_requests[xds110.txn_request_size++] = cmd;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (*value >> 0) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (*value >> 8) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (*value >> 16) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (*value >> 24) & 0xff;
|
|
}
|
|
}
|
|
|
|
static void xds110_swd_read_reg(uint8_t cmd, uint32_t *value,
|
|
uint32_t ap_delay_clk)
|
|
{
|
|
xds110_swd_queue_cmd(cmd, value);
|
|
}
|
|
static void xds110_swd_write_reg(uint8_t cmd, uint32_t value,
|
|
uint32_t ap_delay_clk)
|
|
{
|
|
xds110_swd_queue_cmd(cmd, &value);
|
|
}
|
|
|
|
/***************************************************************************
|
|
* jtag interface *
|
|
* *
|
|
* The following functions provide XDS110 interface to OpenOCD. *
|
|
***************************************************************************/
|
|
|
|
static void xds110_show_info(void)
|
|
{
|
|
uint32_t firmware = xds110.firmware;
|
|
|
|
LOG_INFO("XDS110: vid/pid = %04x/%04x", xds110.vid, xds110.pid);
|
|
LOG_INFO("XDS110: firmware version = %" PRIu32 ".%" PRIu32 ".%" PRIu32 ".%" PRIu32,
|
|
(((firmware >> 28) & 0xf) * 10) + ((firmware >> 24) & 0xf),
|
|
(((firmware >> 20) & 0xf) * 10) + ((firmware >> 16) & 0xf),
|
|
(((firmware >> 12) & 0xf) * 10) + ((firmware >> 8) & 0xf),
|
|
(((firmware >> 4) & 0xf) * 10) + ((firmware >> 0) & 0xf));
|
|
LOG_INFO("XDS110: hardware version = 0x%04x", xds110.hardware);
|
|
if (0 != xds110.serial[0])
|
|
LOG_INFO("XDS110: serial number = %s", xds110.serial);
|
|
if (xds110.is_swd_mode) {
|
|
LOG_INFO("XDS110: connected to target via SWD");
|
|
LOG_INFO("XDS110: SWCLK set to %" PRIu32 " kHz", xds110.speed);
|
|
} else {
|
|
LOG_INFO("XDS110: connected to target via JTAG");
|
|
LOG_INFO("XDS110: TCK set to %" PRIu32 " kHz", xds110.speed);
|
|
}
|
|
|
|
/* Alert user that there's a better firmware to use */
|
|
if (firmware < OCD_FIRMWARE_VERSION) {
|
|
LOG_WARNING("XDS110: the firmware is not optimized for OpenOCD");
|
|
LOG_WARNING(OCD_FIRMWARE_UPGRADE);
|
|
}
|
|
}
|
|
|
|
static int xds110_quit(void)
|
|
{
|
|
if (xds110.is_cmapi_acquired) {
|
|
(void)cmapi_release();
|
|
xds110.is_cmapi_acquired = false;
|
|
}
|
|
if (xds110.is_cmapi_connected) {
|
|
(void)cmapi_disconnect();
|
|
xds110.is_cmapi_connected = false;
|
|
}
|
|
if (xds110.is_connected) {
|
|
if (xds110.is_swd_mode) {
|
|
/* Switch out of SWD mode */
|
|
(void)swd_disconnect();
|
|
} else {
|
|
/* Switch out of cJTAG mode */
|
|
(void)cjtag_disconnect();
|
|
}
|
|
/* Tell firmware we're disconnecting */
|
|
(void)xds_disconnect();
|
|
xds110.is_connected = false;
|
|
}
|
|
/* Close down the USB connection to the XDS110 debug probe */
|
|
usb_disconnect();
|
|
|
|
return ERROR_OK;
|
|
}
|
|
|
|
static int xds110_init(void)
|
|
{
|
|
bool success;
|
|
|
|
/* Establish USB connection to the XDS110 debug probe */
|
|
success = usb_connect();
|
|
|
|
if (success) {
|
|
/* Send connect message to XDS110 firmware */
|
|
success = xds_connect();
|
|
if (success)
|
|
xds110.is_connected = true;
|
|
}
|
|
|
|
if (success) {
|
|
uint32_t firmware;
|
|
uint16_t hardware;
|
|
|
|
/* Retrieve version IDs from firmware */
|
|
/* Version numbers are stored in BCD format */
|
|
success = xds_version(&firmware, &hardware);
|
|
if (success) {
|
|
/* Save the firmware and hardware version */
|
|
xds110.firmware = firmware;
|
|
xds110.hardware = hardware;
|
|
}
|
|
}
|
|
|
|
if (success) {
|
|
/* Set supply voltage for stand-alone probes */
|
|
if (XDS110_STAND_ALONE_ID == xds110.hardware) {
|
|
success = xds_set_supply(xds110.voltage);
|
|
/* Allow time for target device to power up */
|
|
/* (CC32xx takes up to 1300 ms before debug is enabled) */
|
|
alive_sleep(1500);
|
|
} else if (0 != xds110.voltage) {
|
|
/* Voltage supply not a feature of embedded probes */
|
|
LOG_WARNING(
|
|
"XDS110: ignoring supply voltage, not supported on this probe");
|
|
}
|
|
}
|
|
|
|
if (success) {
|
|
success = xds_set_trst(0);
|
|
if (success)
|
|
success = xds_cycle_tck(50);
|
|
if (success)
|
|
success = xds_set_trst(1);
|
|
if (success)
|
|
success = xds_cycle_tck(50);
|
|
}
|
|
|
|
if (success) {
|
|
if (xds110.is_swd_mode) {
|
|
/* Switch to SWD if needed */
|
|
success = swd_connect();
|
|
} else {
|
|
success = cjtag_connect(MODE_JTAG);
|
|
}
|
|
}
|
|
|
|
if (success && xds110.is_swd_mode) {
|
|
uint32_t idcode;
|
|
|
|
/* Connect to CMAPI interface in XDS110 */
|
|
success = cmapi_connect(&idcode);
|
|
|
|
/* Acquire exclusive access to CMAPI interface */
|
|
if (success) {
|
|
xds110.is_cmapi_connected = true;
|
|
success = cmapi_acquire();
|
|
if (success)
|
|
xds110.is_cmapi_acquired = true;
|
|
}
|
|
}
|
|
|
|
if (!success)
|
|
xds110_quit();
|
|
|
|
if (success)
|
|
xds110_show_info();
|
|
|
|
return (success) ? ERROR_OK : ERROR_FAIL;
|
|
}
|
|
|
|
static void xds110_legacy_scan(uint32_t shift_state, uint32_t total_bits,
|
|
uint32_t end_state, uint8_t *data_out, uint8_t *data_in)
|
|
{
|
|
(void)xds_jtag_scan(shift_state, total_bits, end_state, data_out, data_in);
|
|
}
|
|
|
|
static void xds110_legacy_runtest(uint32_t clocks, uint32_t end_state)
|
|
{
|
|
xds_goto_state(XDS_JTAG_STATE_IDLE);
|
|
xds_cycle_tck(clocks);
|
|
xds_goto_state(end_state);
|
|
}
|
|
|
|
static void xds110_legacy_stableclocks(uint32_t clocks)
|
|
{
|
|
xds_cycle_tck(clocks);
|
|
}
|
|
|
|
static void xds110_flush(void)
|
|
{
|
|
uint8_t command;
|
|
uint32_t clocks;
|
|
uint32_t shift_state;
|
|
uint32_t end_state;
|
|
uint32_t bits;
|
|
uint32_t bytes;
|
|
uint32_t request;
|
|
uint32_t result;
|
|
uint8_t *data_out;
|
|
uint8_t data_in[MAX_DATA_BLOCK];
|
|
uint8_t *data_pntr;
|
|
|
|
if (0 == xds110.txn_request_size)
|
|
return;
|
|
|
|
/* Terminate request queue */
|
|
xds110.txn_requests[xds110.txn_request_size++] = 0;
|
|
|
|
if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
|
|
/* Updated firmware has the API to directly handle the queue */
|
|
(void)ocd_scan_request(xds110.txn_requests, xds110.txn_request_size,
|
|
data_in, xds110.txn_result_size);
|
|
} else {
|
|
/* Legacy firmware needs to handle queue via discrete JTAG calls */
|
|
request = 0;
|
|
result = 0;
|
|
while (xds110.txn_requests[request] != 0) {
|
|
command = xds110.txn_requests[request++];
|
|
switch (command) {
|
|
case CMD_IR_SCAN:
|
|
case CMD_DR_SCAN:
|
|
if (command == CMD_IR_SCAN)
|
|
shift_state = XDS_JTAG_STATE_SHIFT_IR;
|
|
else
|
|
shift_state = XDS_JTAG_STATE_SHIFT_DR;
|
|
end_state = (uint32_t)(xds110.txn_requests[request++]);
|
|
bits = (uint32_t)(xds110.txn_requests[request++]) << 0;
|
|
bits |= (uint32_t)(xds110.txn_requests[request++]) << 8;
|
|
data_out = &xds110.txn_requests[request];
|
|
bytes = DIV_ROUND_UP(bits, 8);
|
|
xds110_legacy_scan(shift_state, bits, end_state, data_out,
|
|
&data_in[result]);
|
|
result += bytes;
|
|
request += bytes;
|
|
break;
|
|
case CMD_RUNTEST:
|
|
clocks = (uint32_t)(xds110.txn_requests[request++]) << 0;
|
|
clocks |= (uint32_t)(xds110.txn_requests[request++]) << 8;
|
|
clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16;
|
|
clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24;
|
|
end_state = (uint32_t)xds110.txn_requests[request++];
|
|
xds110_legacy_runtest(clocks, end_state);
|
|
break;
|
|
case CMD_STABLECLOCKS:
|
|
clocks = (uint32_t)(xds110.txn_requests[request++]) << 0;
|
|
clocks |= (uint32_t)(xds110.txn_requests[request++]) << 8;
|
|
clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16;
|
|
clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24;
|
|
xds110_legacy_stableclocks(clocks);
|
|
break;
|
|
default:
|
|
LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered",
|
|
command);
|
|
exit(-1);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
/* Transfer results into caller's buffers from data_in buffer */
|
|
bits = 0; /* Bit offset into current scan result */
|
|
data_pntr = data_in;
|
|
for (result = 0; result < xds110.txn_result_count; result++) {
|
|
if (xds110.txn_scan_results[result].first) {
|
|
if (bits != 0) {
|
|
bytes = DIV_ROUND_UP(bits, 8);
|
|
data_pntr += bytes;
|
|
}
|
|
bits = 0;
|
|
}
|
|
if (xds110.txn_scan_results[result].buffer != 0)
|
|
bit_copy(xds110.txn_scan_results[result].buffer, 0, data_pntr,
|
|
bits, xds110.txn_scan_results[result].num_bits);
|
|
bits += xds110.txn_scan_results[result].num_bits;
|
|
}
|
|
|
|
xds110.txn_request_size = 0;
|
|
xds110.txn_result_size = 0;
|
|
xds110.txn_result_count = 0;
|
|
}
|
|
|
|
static int xds110_reset(int trst, int srst)
|
|
{
|
|
uint8_t value;
|
|
bool success;
|
|
int retval = ERROR_OK;
|
|
|
|
if (trst != -1) {
|
|
if (trst == 0) {
|
|
/* Deassert nTRST (active low) */
|
|
value = 1;
|
|
} else {
|
|
/* Assert nTRST (active low) */
|
|
value = 0;
|
|
}
|
|
success = xds_set_trst(value);
|
|
if (!success)
|
|
retval = ERROR_FAIL;
|
|
}
|
|
|
|
if (srst != -1) {
|
|
if (srst == 0) {
|
|
/* Deassert nSRST (active low) */
|
|
value = 1;
|
|
} else {
|
|
/* Assert nSRST (active low) */
|
|
value = 0;
|
|
}
|
|
success = xds_set_srst(value);
|
|
if (!success)
|
|
retval = ERROR_FAIL;
|
|
|
|
/* Toggle TCK to trigger HIB on CC13x/CC26x devices */
|
|
if (success && !xds110.is_swd_mode) {
|
|
/* Toggle TCK for about 50 ms */
|
|
success = xds_cycle_tck(xds110.speed * 50);
|
|
}
|
|
|
|
if (!success)
|
|
retval = ERROR_FAIL;
|
|
}
|
|
|
|
return retval;
|
|
}
|
|
|
|
static void xds110_execute_sleep(struct jtag_command *cmd)
|
|
{
|
|
jtag_sleep(cmd->cmd.sleep->us);
|
|
}
|
|
|
|
static void xds110_execute_tlr_reset(struct jtag_command *cmd)
|
|
{
|
|
(void)xds_goto_state(XDS_JTAG_STATE_RESET);
|
|
}
|
|
|
|
static void xds110_execute_pathmove(struct jtag_command *cmd)
|
|
{
|
|
uint32_t i;
|
|
uint32_t num_states;
|
|
uint8_t *path;
|
|
|
|
num_states = (uint32_t)cmd->cmd.pathmove->num_states;
|
|
|
|
if (num_states == 0)
|
|
return;
|
|
|
|
path = (uint8_t *)malloc(num_states * sizeof(uint8_t));
|
|
if (path == 0) {
|
|
LOG_ERROR("XDS110: unable to allocate memory");
|
|
return;
|
|
}
|
|
|
|
/* Convert requested path states into XDS API states */
|
|
for (i = 0; i < num_states; i++)
|
|
path[i] = (uint8_t)xds_jtag_state[cmd->cmd.pathmove->path[i]];
|
|
|
|
if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
|
|
/* Updated firmware fully supports pathmove */
|
|
(void)ocd_pathmove(num_states, path);
|
|
} else {
|
|
/* Notify user that legacy firmware simply cannot handle pathmove */
|
|
LOG_ERROR("XDS110: the firmware does not support pathmove command");
|
|
LOG_ERROR(OCD_FIRMWARE_UPGRADE);
|
|
/* If pathmove is required, then debug is not possible */
|
|
exit(-1);
|
|
}
|
|
|
|
free((void *)path);
|
|
}
|
|
|
|
static void xds110_queue_scan(struct jtag_command *cmd)
|
|
{
|
|
int i;
|
|
uint32_t offset;
|
|
uint32_t total_fields;
|
|
uint32_t total_bits;
|
|
uint32_t total_bytes;
|
|
uint8_t end_state;
|
|
uint8_t *buffer;
|
|
|
|
/* Calculate the total number of bits to scan */
|
|
total_bits = 0;
|
|
total_fields = 0;
|
|
for (i = 0; i < cmd->cmd.scan->num_fields; i++) {
|
|
total_fields++;
|
|
total_bits += (uint32_t)cmd->cmd.scan->fields[i].num_bits;
|
|
}
|
|
|
|
if (total_bits == 0)
|
|
return;
|
|
|
|
total_bytes = DIV_ROUND_UP(total_bits, 8);
|
|
|
|
/* Check if new request would be too large to fit */
|
|
if (((xds110.txn_request_size + 1 + total_bytes + sizeof(end_state) + 1)
|
|
> MAX_DATA_BLOCK) || ((xds110.txn_result_count + total_fields) >
|
|
MAX_RESULT_QUEUE))
|
|
xds110_flush();
|
|
|
|
/* Check if this single request is too large to fit */
|
|
if ((1 + total_bytes + sizeof(end_state) + 1) > MAX_DATA_BLOCK) {
|
|
LOG_ERROR("BUG: JTAG scan request is too large to handle (%" PRIu32 " bits)",
|
|
total_bits);
|
|
/* Failing to run this scan mucks up debug on this target */
|
|
exit(-1);
|
|
}
|
|
|
|
if (cmd->cmd.scan->ir_scan)
|
|
xds110.txn_requests[xds110.txn_request_size++] = CMD_IR_SCAN;
|
|
else
|
|
xds110.txn_requests[xds110.txn_request_size++] = CMD_DR_SCAN;
|
|
|
|
end_state = (uint8_t)xds_jtag_state[cmd->cmd.scan->end_state];
|
|
xds110.txn_requests[xds110.txn_request_size++] = end_state;
|
|
|
|
xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 0) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 8) & 0xff;
|
|
|
|
/* Build request data by flattening fields into single buffer */
|
|
/* also populate the results array to return the results when run */
|
|
offset = 0;
|
|
buffer = &xds110.txn_requests[xds110.txn_request_size];
|
|
/* Clear data out buffer to default value of all zeros */
|
|
memset((void *)buffer, 0x00, total_bytes);
|
|
for (i = 0; i < cmd->cmd.scan->num_fields; i++) {
|
|
if (cmd->cmd.scan->fields[i].out_value != 0) {
|
|
/* Copy over data to scan out into request buffer */
|
|
bit_copy(buffer, offset, cmd->cmd.scan->fields[i].out_value, 0,
|
|
cmd->cmd.scan->fields[i].num_bits);
|
|
}
|
|
offset += cmd->cmd.scan->fields[i].num_bits;
|
|
xds110.txn_scan_results[xds110.txn_result_count].first = (i == 0);
|
|
xds110.txn_scan_results[xds110.txn_result_count].num_bits =
|
|
cmd->cmd.scan->fields[i].num_bits;
|
|
xds110.txn_scan_results[xds110.txn_result_count++].buffer =
|
|
cmd->cmd.scan->fields[i].in_value;
|
|
}
|
|
xds110.txn_request_size += total_bytes;
|
|
xds110.txn_result_size += total_bytes;
|
|
}
|
|
|
|
static void xds110_queue_runtest(struct jtag_command *cmd)
|
|
{
|
|
uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles;
|
|
uint8_t end_state = (uint8_t)xds_jtag_state[cmd->cmd.runtest->end_state];
|
|
|
|
/* Check if new request would be too large to fit */
|
|
if ((xds110.txn_request_size + 1 + sizeof(clocks) + sizeof(end_state) + 1)
|
|
> MAX_DATA_BLOCK)
|
|
xds110_flush();
|
|
|
|
/* Queue request and cycle count directly to queue buffer */
|
|
xds110.txn_requests[xds110.txn_request_size++] = CMD_RUNTEST;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 0) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 8) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = end_state;
|
|
}
|
|
|
|
static void xds110_queue_stableclocks(struct jtag_command *cmd)
|
|
{
|
|
uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles;
|
|
|
|
/* Check if new request would be too large to fit */
|
|
if ((xds110.txn_request_size + 1 + sizeof(clocks) + 1) > MAX_DATA_BLOCK)
|
|
xds110_flush();
|
|
|
|
/* Queue request and cycle count directly to queue buffer */
|
|
xds110.txn_requests[xds110.txn_request_size++] = CMD_STABLECLOCKS;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 0) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 8) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff;
|
|
xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff;
|
|
}
|
|
|
|
static void xds110_execute_command(struct jtag_command *cmd)
|
|
{
|
|
switch (cmd->type) {
|
|
case JTAG_SLEEP:
|
|
xds110_flush();
|
|
xds110_execute_sleep(cmd);
|
|
break;
|
|
case JTAG_TLR_RESET:
|
|
xds110_flush();
|
|
xds110_execute_tlr_reset(cmd);
|
|
break;
|
|
case JTAG_PATHMOVE:
|
|
xds110_flush();
|
|
xds110_execute_pathmove(cmd);
|
|
break;
|
|
case JTAG_SCAN:
|
|
xds110_queue_scan(cmd);
|
|
break;
|
|
case JTAG_RUNTEST:
|
|
xds110_queue_runtest(cmd);
|
|
break;
|
|
case JTAG_STABLECLOCKS:
|
|
xds110_queue_stableclocks(cmd);
|
|
break;
|
|
case JTAG_TMS:
|
|
default:
|
|
LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered",
|
|
cmd->type);
|
|
exit(-1);
|
|
}
|
|
}
|
|
|
|
static int xds110_execute_queue(void)
|
|
{
|
|
struct jtag_command *cmd = jtag_command_queue;
|
|
|
|
while (cmd != NULL) {
|
|
xds110_execute_command(cmd);
|
|
cmd = cmd->next;
|
|
}
|
|
|
|
xds110_flush();
|
|
|
|
return ERROR_OK;
|
|
}
|
|
|
|
static int xds110_speed(int speed)
|
|
{
|
|
double freq_to_use;
|
|
uint32_t delay_count;
|
|
bool success;
|
|
|
|
if (speed == 0) {
|
|
LOG_INFO("XDS110: RTCK not supported");
|
|
return ERROR_JTAG_NOT_IMPLEMENTED;
|
|
}
|
|
|
|
if (speed < XDS110_MIN_TCK_SPEED) {
|
|
LOG_INFO("XDS110: increase speed request: %d kHz to %d kHz minimum",
|
|
speed, XDS110_MIN_TCK_SPEED);
|
|
speed = XDS110_MIN_TCK_SPEED;
|
|
}
|
|
|
|
/* Older XDS110 firmware had inefficient scan routines and could only */
|
|
/* achieve a peak TCK frequency of about 2500 kHz */
|
|
if (xds110.firmware < FAST_TCK_FIRMWARE_VERSION) {
|
|
|
|
/* Check for request for top speed or higher */
|
|
if (speed >= XDS110_MAX_SLOW_TCK_SPEED) {
|
|
|
|
/* Inform user that speed was adjusted down to max possible */
|
|
if (speed > XDS110_MAX_SLOW_TCK_SPEED) {
|
|
LOG_INFO(
|
|
"XDS110: reduce speed request: %d kHz to %d kHz maximum",
|
|
speed, XDS110_MAX_SLOW_TCK_SPEED);
|
|
speed = XDS110_MAX_SLOW_TCK_SPEED;
|
|
}
|
|
delay_count = 0;
|
|
|
|
} else {
|
|
|
|
const double XDS110_TCK_PULSE_INCREMENT = 66.0;
|
|
freq_to_use = speed * 1000; /* Hz */
|
|
delay_count = 0;
|
|
|
|
/* Calculate the delay count value */
|
|
double one_giga = 1000000000;
|
|
/* Get the pulse duration for the max frequency supported in ns */
|
|
double max_freq_pulse_duration = one_giga /
|
|
(XDS110_MAX_SLOW_TCK_SPEED * 1000);
|
|
|
|
/* Convert frequency to pulse duration */
|
|
double freq_to_pulse_width_in_ns = one_giga / freq_to_use;
|
|
|
|
/*
|
|
* Start with the pulse duration for the maximum frequency. Keep
|
|
* decrementing time added by each count value till the requested
|
|
* frequency pulse is less than the calculated value.
|
|
*/
|
|
double current_value = max_freq_pulse_duration;
|
|
|
|
while (current_value < freq_to_pulse_width_in_ns) {
|
|
current_value += XDS110_TCK_PULSE_INCREMENT;
|
|
++delay_count;
|
|
}
|
|
|
|
/*
|
|
* Determine which delay count yields the best match.
|
|
* The one obtained above or one less.
|
|
*/
|
|
if (delay_count) {
|
|
double diff_freq_1 = freq_to_use -
|
|
(one_giga / (max_freq_pulse_duration +
|
|
(XDS110_TCK_PULSE_INCREMENT * delay_count)));
|
|
double diff_freq_2 = (one_giga / (max_freq_pulse_duration +
|
|
(XDS110_TCK_PULSE_INCREMENT * (delay_count - 1)))) -
|
|
freq_to_use;
|
|
|
|
/* One less count value yields a better match */
|
|
if (diff_freq_1 > diff_freq_2)
|
|
--delay_count;
|
|
}
|
|
}
|
|
|
|
/* Newer firmware has reworked TCK routines that are much more efficient */
|
|
/* and can now achieve a peak TCK frequency of 14000 kHz */
|
|
} else {
|
|
|
|
if (speed >= XDS110_MAX_FAST_TCK_SPEED) {
|
|
if (speed > XDS110_MAX_FAST_TCK_SPEED) {
|
|
LOG_INFO(
|
|
"XDS110: reduce speed request: %d kHz to %d kHz maximum",
|
|
speed, XDS110_MAX_FAST_TCK_SPEED);
|
|
speed = XDS110_MAX_FAST_TCK_SPEED;
|
|
}
|
|
delay_count = 0;
|
|
} else if (speed >= 12000 && xds110.firmware >=
|
|
FAST_TCK_PLUS_FIRMWARE_VERSION) {
|
|
delay_count = FAST_TCK_DELAY_12000_KHZ;
|
|
} else if (speed >= 10000 && xds110.firmware >=
|
|
FAST_TCK_PLUS_FIRMWARE_VERSION) {
|
|
delay_count = FAST_TCK_DELAY_10000_KHZ;
|
|
} else if (speed >= 8500) {
|
|
delay_count = FAST_TCK_DELAY_8500_KHZ;
|
|
} else if (speed >= 5500) {
|
|
delay_count = FAST_TCK_DELAY_5500_KHZ;
|
|
} else {
|
|
/* Calculate the delay count to set the frequency */
|
|
/* Formula determined by measuring the waveform on Saeleae logic */
|
|
/* analyzer using known values for delay count */
|
|
const double m = 17100000.0; /* slope */
|
|
const double b = -1.02; /* y-intercept */
|
|
|
|
freq_to_use = speed * 1000; /* Hz */
|
|
double period = 1.0/freq_to_use;
|
|
double delay = m * period + b;
|
|
|
|
if (delay < 1.0)
|
|
delay_count = 1;
|
|
else
|
|
delay_count = (uint32_t)delay;
|
|
}
|
|
}
|
|
|
|
/* Send the delay count to the XDS110 firmware */
|
|
success = xds_set_tck_delay(delay_count);
|
|
|
|
if (success) {
|
|
xds110.delay_count = delay_count;
|
|
xds110.speed = speed;
|
|
}
|
|
|
|
return (success) ? ERROR_OK : ERROR_FAIL;
|
|
}
|
|
|
|
static int xds110_speed_div(int speed, int *khz)
|
|
{
|
|
*khz = speed;
|
|
return ERROR_OK;
|
|
}
|
|
|
|
static int xds110_khz(int khz, int *jtag_speed)
|
|
{
|
|
*jtag_speed = khz;
|
|
return ERROR_OK;
|
|
}
|
|
|
|
COMMAND_HANDLER(xds110_handle_info_command)
|
|
{
|
|
xds110_show_info();
|
|
return ERROR_OK;
|
|
}
|
|
|
|
COMMAND_HANDLER(xds110_handle_serial_command)
|
|
{
|
|
wchar_t serial[XDS110_SERIAL_LEN + 1];
|
|
|
|
xds110.serial[0] = 0;
|
|
|
|
if (CMD_ARGC == 1) {
|
|
size_t len = mbstowcs(0, CMD_ARGV[0], 0);
|
|
if (len > XDS110_SERIAL_LEN) {
|
|
LOG_ERROR("XDS110: serial number is limited to %d characters",
|
|
XDS110_SERIAL_LEN);
|
|
return ERROR_FAIL;
|
|
}
|
|
if ((size_t)-1 == mbstowcs(serial, CMD_ARGV[0], len + 1)) {
|
|
LOG_ERROR("XDS110: unable to convert serial number");
|
|
return ERROR_FAIL;
|
|
}
|
|
|
|
for (uint32_t i = 0; i < len; i++)
|
|
xds110.serial[i] = (char)serial[i];
|
|
|
|
xds110.serial[len] = 0;
|
|
} else
|
|
return ERROR_COMMAND_SYNTAX_ERROR;
|
|
|
|
return ERROR_OK;
|
|
}
|
|
|
|
COMMAND_HANDLER(xds110_handle_supply_voltage_command)
|
|
{
|
|
uint32_t voltage = 0;
|
|
|
|
if (CMD_ARGC == 1) {
|
|
COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], voltage);
|
|
if (voltage == 0 || (voltage >= XDS110_MIN_VOLTAGE && voltage
|
|
<= XDS110_MAX_VOLTAGE)) {
|
|
/* Requested voltage is in range */
|
|
xds110.voltage = voltage;
|
|
} else {
|
|
LOG_ERROR("XDS110: voltage must be 0 or between %d and %d "
|
|
"millivolts", XDS110_MIN_VOLTAGE, XDS110_MAX_VOLTAGE);
|
|
return ERROR_FAIL;
|
|
}
|
|
xds110.voltage = voltage;
|
|
} else
|
|
return ERROR_COMMAND_SYNTAX_ERROR;
|
|
|
|
return ERROR_OK;
|
|
}
|
|
|
|
static const struct command_registration xds110_subcommand_handlers[] = {
|
|
{
|
|
.name = "info",
|
|
.handler = &xds110_handle_info_command,
|
|
.mode = COMMAND_EXEC,
|
|
.help = "show XDS110 info",
|
|
.usage = "",
|
|
},
|
|
{
|
|
.name = "serial",
|
|
.handler = &xds110_handle_serial_command,
|
|
.mode = COMMAND_CONFIG,
|
|
.help = "set the XDS110 probe serial number",
|
|
.usage = "serial_string",
|
|
},
|
|
{
|
|
.name = "supply",
|
|
.handler = &xds110_handle_supply_voltage_command,
|
|
.mode = COMMAND_CONFIG,
|
|
.help = "set the XDS110 probe supply voltage",
|
|
.usage = "voltage_in_millivolts",
|
|
},
|
|
COMMAND_REGISTRATION_DONE
|
|
};
|
|
|
|
static const struct command_registration xds110_command_handlers[] = {
|
|
{
|
|
.name = "xds110",
|
|
.mode = COMMAND_ANY,
|
|
.help = "perform XDS110 management",
|
|
.usage = "",
|
|
.chain = xds110_subcommand_handlers,
|
|
},
|
|
COMMAND_REGISTRATION_DONE
|
|
};
|
|
|
|
static const struct swd_driver xds110_swd_driver = {
|
|
.init = xds110_swd_init,
|
|
.switch_seq = xds110_swd_switch_seq,
|
|
.read_reg = xds110_swd_read_reg,
|
|
.write_reg = xds110_swd_write_reg,
|
|
.run = xds110_swd_run_queue,
|
|
};
|
|
|
|
static const char * const xds110_transport[] = { "swd", "jtag", NULL };
|
|
|
|
static struct jtag_interface xds110_interface = {
|
|
.execute_queue = xds110_execute_queue,
|
|
};
|
|
|
|
struct adapter_driver xds110_adapter_driver = {
|
|
.name = "xds110",
|
|
.transports = xds110_transport,
|
|
.commands = xds110_command_handlers,
|
|
|
|
.init = xds110_init,
|
|
.quit = xds110_quit,
|
|
.reset = xds110_reset,
|
|
.speed = xds110_speed,
|
|
.khz = xds110_khz,
|
|
.speed_div = xds110_speed_div,
|
|
|
|
.jtag_ops = &xds110_interface,
|
|
.swd_ops = &xds110_swd_driver,
|
|
};
|