1 /* SPDX-License-Identifier: GPL-2.0-or-later */
3 /***************************************************************************
4 * Copyright (C) 2021 by Adrian Negreanu *
7 * Copyright (C) 2018 by Mickaƫl Thomas *
10 * Copyright (C) 2016 by Maksym Hilliaka *
11 * oter@frozen-team.com *
13 * Copyright (C) 2016 by Phillip Pearson *
16 * Copyright (C) 2014 by Paul Fertser *
17 * fercerpav@gmail.com *
19 * Copyright (C) 2013 by mike brown *
20 * mike@theshedworks.org.uk *
22 * Copyright (C) 2013 by Spencer Oliver *
23 * spen@spen-soft.co.uk *
24 ***************************************************************************/
30 #include <transport/transport.h>
31 #include "helper/replacements.h"
32 #include <jtag/adapter.h>
34 #include <jtag/interface.h>
35 #include <jtag/commands.h>
37 #include <target/cortex_m.h>
39 #include "cmsis_dap.h"
40 #include "libusb_helper.h"
42 static const struct cmsis_dap_backend *const cmsis_dap_backends[] = {
43 #if BUILD_CMSIS_DAP_USB == 1
44 &cmsis_dap_usb_backend,
47 #if BUILD_CMSIS_DAP_HID == 1
48 &cmsis_dap_hid_backend,
54 /* Known vid/pid pairs:
55 * VID 0xc251: Keil Software
56 * PID 0xf001: LPC-Link-II CMSIS_DAP
57 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
58 * PID 0x2722: Keil ULINK2 CMSIS-DAP
59 * PID 0x2750: Keil ULINKplus CMSIS-DAP
61 * VID 0x0d28: mbed Software
62 * PID 0x0204: MBED CMSIS-DAP
66 /* vid = pid = 0 marks the end of the list */
67 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
68 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
69 static int cmsis_dap_backend = -1;
72 /* CMSIS-DAP General Commands */
73 #define CMD_DAP_INFO 0x00
74 #define CMD_DAP_LED 0x01
75 #define CMD_DAP_CONNECT 0x02
76 #define CMD_DAP_DISCONNECT 0x03
77 #define CMD_DAP_WRITE_ABORT 0x08
78 #define CMD_DAP_DELAY 0x09
79 #define CMD_DAP_RESET_TARGET 0x0A
82 #define INFO_ID_VENDOR 0x01 /* string */
83 #define INFO_ID_PRODUCT 0x02 /* string */
84 #define INFO_ID_SERNUM 0x03 /* string */
85 #define INFO_ID_FW_VER 0x04 /* string */
86 #define INFO_ID_TD_VEND 0x05 /* string */
87 #define INFO_ID_TD_NAME 0x06 /* string */
88 #define INFO_ID_CAPS 0xf0 /* byte */
89 #define INFO_ID_PKT_CNT 0xfe /* byte */
90 #define INFO_ID_PKT_SZ 0xff /* short */
91 #define INFO_ID_SWO_BUF_SZ 0xfd /* word */
93 #define INFO_CAPS_SWD BIT(0)
94 #define INFO_CAPS_JTAG BIT(1)
95 #define INFO_CAPS_SWO_UART BIT(2)
96 #define INFO_CAPS_SWO_MANCHESTER BIT(3)
97 #define INFO_CAPS_ATOMIC_CMDS BIT(4)
98 #define INFO_CAPS_TEST_DOMAIN_TIMER BIT(5)
99 #define INFO_CAPS_SWO_STREAMING_TRACE BIT(6)
100 #define INFO_CAPS_UART_PORT BIT(7)
101 #define INFO_CAPS_USB_COM_PORT BIT(8)
102 #define INFO_CAPS__NUM_CAPS 9
105 #define LED_ID_CONNECT 0x00
106 #define LED_ID_RUN 0x01
112 #define CONNECT_DEFAULT 0x00
113 #define CONNECT_SWD 0x01
114 #define CONNECT_JTAG 0x02
116 /* CMSIS-DAP Common SWD/JTAG Commands */
117 #define CMD_DAP_DELAY 0x09
118 #define CMD_DAP_SWJ_PINS 0x10
119 #define CMD_DAP_SWJ_CLOCK 0x11
120 #define CMD_DAP_SWJ_SEQ 0x12
132 #define SWJ_PIN_TCK (1<<0)
133 #define SWJ_PIN_TMS (1<<1)
134 #define SWJ_PIN_TDI (1<<2)
135 #define SWJ_PIN_TDO (1<<3)
136 #define SWJ_PIN_TRST (1<<5)
137 #define SWJ_PIN_SRST (1<<7)
139 /* CMSIS-DAP SWD Commands */
140 #define CMD_DAP_SWD_CONFIGURE 0x13
141 #define CMD_DAP_SWD_SEQUENCE 0x1D
143 /* CMSIS-DAP JTAG Commands */
144 #define CMD_DAP_JTAG_SEQ 0x14
145 #define CMD_DAP_JTAG_CONFIGURE 0x15
146 #define CMD_DAP_JTAG_IDCODE 0x16
148 /* CMSIS-DAP JTAG sequence info masks */
149 /* Number of bits to clock through (0 means 64) */
150 #define DAP_JTAG_SEQ_TCK 0x3F
151 /* TMS will be set during the sequence if this bit is set */
152 #define DAP_JTAG_SEQ_TMS 0x40
153 /* TDO output will be captured if this bit is set */
154 #define DAP_JTAG_SEQ_TDO 0x80
157 /* CMSIS-DAP Transfer Commands */
158 #define CMD_DAP_TFER_CONFIGURE 0x04
159 #define CMD_DAP_TFER 0x05
160 #define CMD_DAP_TFER_BLOCK 0x06
161 #define CMD_DAP_TFER_ABORT 0x07
163 /* DAP Status Code */
165 #define DAP_ERROR 0xFF
167 /* CMSIS-DAP SWO Commands */
168 #define CMD_DAP_SWO_TRANSPORT 0x17
169 #define CMD_DAP_SWO_MODE 0x18
170 #define CMD_DAP_SWO_BAUDRATE 0x19
171 #define CMD_DAP_SWO_CONTROL 0x1A
172 #define CMD_DAP_SWO_STATUS 0x1B
173 #define CMD_DAP_SWO_DATA 0x1C
174 #define CMD_DAP_SWO_EX_STATUS 0x1E
176 /* SWO transport mode for reading trace data */
177 #define DAP_SWO_TRANSPORT_NONE 0
178 #define DAP_SWO_TRANSPORT_DATA 1
179 #define DAP_SWO_TRANSPORT_WINUSB 2
181 /* SWO trace capture mode */
182 #define DAP_SWO_MODE_OFF 0
183 #define DAP_SWO_MODE_UART 1
184 #define DAP_SWO_MODE_MANCHESTER 2
186 /* SWO trace data capture */
187 #define DAP_SWO_CONTROL_STOP 0
188 #define DAP_SWO_CONTROL_START 1
190 /* SWO trace status */
191 #define DAP_SWO_STATUS_CAPTURE_INACTIVE 0
192 #define DAP_SWO_STATUS_CAPTURE_ACTIVE 1
193 #define DAP_SWO_STATUS_CAPTURE_MASK BIT(0)
194 #define DAP_SWO_STATUS_STREAM_ERROR_MASK BIT(6)
195 #define DAP_SWO_STATUS_BUFFER_OVERRUN_MASK BIT(7)
197 /* CMSIS-DAP Vendor Commands
200 static const char * const info_caps_str[INFO_CAPS__NUM_CAPS] = {
203 "SWO-UART supported",
204 "SWO-MANCHESTER supported",
205 "Atomic commands supported",
206 "Test domain timer supported",
207 "SWO streaming trace supported",
208 "UART communication port supported",
209 "UART via USB COM port supported",
212 struct pending_transfer_result {
218 struct pending_request_block {
219 struct pending_transfer_result *transfers;
223 struct pending_scan_result {
224 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
226 /** Number of bits to read. */
228 /** Location to store the result */
230 /** Offset in the destination buffer */
231 unsigned buffer_offset;
234 /* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued
235 * until the first response arrives */
236 #define MAX_PENDING_REQUESTS 3
238 /* Pending requests are organized as a FIFO - circular buffer */
239 /* Each block in FIFO can contain up to pending_queue_len transfers */
240 static int pending_queue_len;
241 static struct pending_request_block pending_fifo[MAX_PENDING_REQUESTS];
242 static int pending_fifo_put_idx, pending_fifo_get_idx;
243 static int pending_fifo_block_count;
245 /* pointers to buffers that will receive jtag scan results on the next flush */
246 #define MAX_PENDING_SCAN_RESULTS 256
247 static int pending_scan_result_count;
248 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
250 /* queued JTAG sequences that will be executed on the next flush */
251 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
252 static int queued_seq_count;
253 static int queued_seq_buf_end;
254 static int queued_seq_tdo_ptr;
255 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
257 static int queued_retval;
259 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
261 static struct cmsis_dap *cmsis_dap_handle;
264 static int cmsis_dap_quit(void);
266 static int cmsis_dap_open(void)
268 const struct cmsis_dap_backend *backend = NULL;
270 struct cmsis_dap *dap = calloc(1, sizeof(struct cmsis_dap));
272 LOG_ERROR("unable to allocate memory");
276 if (cmsis_dap_backend >= 0) {
277 /* Use forced backend */
278 backend = cmsis_dap_backends[cmsis_dap_backend];
279 if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) != ERROR_OK)
282 /* Try all backends */
283 for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
284 backend = cmsis_dap_backends[i];
285 if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) == ERROR_OK)
293 LOG_ERROR("unable to find a matching CMSIS-DAP device");
298 dap->backend = backend;
300 cmsis_dap_handle = dap;
305 static void cmsis_dap_close(struct cmsis_dap *dap)
308 dap->backend->close(dap);
312 free(cmsis_dap_handle->packet_buffer);
313 free(cmsis_dap_handle);
314 cmsis_dap_handle = NULL;
316 for (int i = 0; i < MAX_PENDING_REQUESTS; i++) {
317 free(pending_fifo[i].transfers);
318 pending_fifo[i].transfers = NULL;
322 static void cmsis_dap_flush_read(struct cmsis_dap *dap)
325 /* Some CMSIS-DAP adapters keep buffered packets over
326 * USB close/open so we need to flush up to 64 old packets
327 * to be sure all buffers are empty */
328 for (i = 0; i < 64; i++) {
329 int retval = dap->backend->read(dap, 10);
330 if (retval == ERROR_TIMEOUT_REACHED)
334 LOG_DEBUG("Flushed %u packets", i);
337 /* Send a message and receive the reply */
338 static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
340 if (pending_fifo_block_count) {
341 LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count);
342 while (pending_fifo_block_count) {
343 dap->backend->read(dap, 10);
344 pending_fifo_block_count--;
346 pending_fifo_put_idx = 0;
347 pending_fifo_get_idx = 0;
350 uint8_t current_cmd = cmsis_dap_handle->command[0];
351 int retval = dap->backend->write(dap, txlen, LIBUSB_TIMEOUT_MS);
356 retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS);
360 uint8_t *resp = cmsis_dap_handle->response;
361 if (resp[0] == DAP_ERROR) {
362 LOG_ERROR("CMSIS-DAP command 0x%" PRIx8 " not implemented", current_cmd);
363 return ERROR_NOT_IMPLEMENTED;
366 if (resp[0] != current_cmd) {
367 LOG_ERROR("CMSIS-DAP command mismatch. Sent 0x%" PRIx8
368 " received 0x%" PRIx8, current_cmd, resp[0]);
370 cmsis_dap_flush_read(dap);
377 static int cmsis_dap_cmd_dap_swj_pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
379 uint8_t *command = cmsis_dap_handle->command;
381 command[0] = CMD_DAP_SWJ_PINS;
384 h_u32_to_le(&command[3], delay);
386 int retval = cmsis_dap_xfer(cmsis_dap_handle, 7);
387 if (retval != ERROR_OK) {
388 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
389 return ERROR_JTAG_DEVICE_ERROR;
393 *input = cmsis_dap_handle->response[1];
398 static int cmsis_dap_cmd_dap_swj_clock(uint32_t swj_clock)
400 uint8_t *command = cmsis_dap_handle->command;
402 /* set clock in Hz */
405 command[0] = CMD_DAP_SWJ_CLOCK;
406 h_u32_to_le(&command[1], swj_clock);
408 int retval = cmsis_dap_xfer(cmsis_dap_handle, 5);
409 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
410 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
411 return ERROR_JTAG_DEVICE_ERROR;
417 /* clock a sequence of bits out on TMS, to change JTAG states */
418 static int cmsis_dap_cmd_dap_swj_sequence(uint8_t s_len, const uint8_t *sequence)
420 uint8_t *command = cmsis_dap_handle->command;
422 #ifdef CMSIS_DAP_JTAG_DEBUG
423 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
424 for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
425 printf("%02X ", sequence[i]);
430 command[0] = CMD_DAP_SWJ_SEQ;
432 bit_copy(&command[2], 0, sequence, 0, s_len);
434 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2 + DIV_ROUND_UP(s_len, 8));
435 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK)
441 static int cmsis_dap_cmd_dap_info(uint8_t info, uint8_t **data)
443 uint8_t *command = cmsis_dap_handle->command;
445 command[0] = CMD_DAP_INFO;
448 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
449 if (retval != ERROR_OK) {
450 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
451 return ERROR_JTAG_DEVICE_ERROR;
454 *data = &cmsis_dap_handle->response[1];
459 static int cmsis_dap_cmd_dap_led(uint8_t led, uint8_t state)
461 uint8_t *command = cmsis_dap_handle->command;
463 command[0] = CMD_DAP_LED;
467 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
468 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
469 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
470 return ERROR_JTAG_DEVICE_ERROR;
476 static int cmsis_dap_cmd_dap_connect(uint8_t mode)
478 uint8_t *command = cmsis_dap_handle->command;
480 command[0] = CMD_DAP_CONNECT;
483 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
484 if (retval != ERROR_OK) {
485 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
486 return ERROR_JTAG_DEVICE_ERROR;
489 if (cmsis_dap_handle->response[1] != mode) {
490 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
491 return ERROR_JTAG_DEVICE_ERROR;
497 static int cmsis_dap_cmd_dap_disconnect(void)
499 uint8_t *command = cmsis_dap_handle->command;
501 command[0] = CMD_DAP_DISCONNECT;
503 int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
504 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
505 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
506 return ERROR_JTAG_DEVICE_ERROR;
512 static int cmsis_dap_cmd_dap_tfer_configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
514 uint8_t *command = cmsis_dap_handle->command;
516 command[0] = CMD_DAP_TFER_CONFIGURE;
518 h_u16_to_le(&command[2], retry_count);
519 h_u16_to_le(&command[4], match_retry);
521 int retval = cmsis_dap_xfer(cmsis_dap_handle, 6);
522 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
523 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
524 return ERROR_JTAG_DEVICE_ERROR;
530 static int cmsis_dap_cmd_dap_swd_configure(uint8_t cfg)
532 uint8_t *command = cmsis_dap_handle->command;
534 command[0] = CMD_DAP_SWD_CONFIGURE;
537 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
538 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
539 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
540 return ERROR_JTAG_DEVICE_ERROR;
547 static int cmsis_dap_cmd_dap_delay(uint16_t delay_us)
549 uint8_t *command = cmsis_dap_handle->command;
551 command[0] = CMD_DAP_DELAY;
552 h_u16_to_le(&command[1], delay_us);
554 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
555 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
556 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
557 return ERROR_JTAG_DEVICE_ERROR;
564 static int cmsis_dap_metacmd_targetsel(uint32_t instance_id)
566 uint8_t *command = cmsis_dap_handle->command;
567 const uint32_t SEQ_RD = 0x80, SEQ_WR = 0x00;
569 /* SWD multi-drop requires a transfer ala CMD_DAP_TFER,
570 but with no expectation of an SWD ACK response. In
571 CMSIS-DAP v1.20 and v2.00, CMD_DAP_SWD_SEQUENCE was
572 added to allow this special sequence to be generated.
573 The purpose of this operation is to select the target
574 corresponding to the instance_id that is written */
577 command[idx++] = CMD_DAP_SWD_SEQUENCE;
578 command[idx++] = 3; /* sequence count */
580 /* sequence 0: packet request for TARGETSEL */
581 command[idx++] = SEQ_WR | 8;
582 command[idx++] = SWD_CMD_START | swd_cmd(false, false, DP_TARGETSEL) | SWD_CMD_STOP | SWD_CMD_PARK;
584 /* sequence 1: read Trn ACK Trn, no expectation for target to ACK */
585 command[idx++] = SEQ_RD | 5;
587 /* sequence 2: WDATA plus parity */
588 command[idx++] = SEQ_WR | (32 + 1);
589 h_u32_to_le(command + idx, instance_id);
591 command[idx++] = parity_u32(instance_id);
593 int retval = cmsis_dap_xfer(cmsis_dap_handle, idx);
594 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
595 LOG_ERROR("CMSIS-DAP command SWD_Sequence failed.");
596 return ERROR_JTAG_DEVICE_ERROR;
603 * Sets the SWO transport mode.
604 * @param[in] transport The transport mode. Can be None, SWO_Data or
605 * WinUSB (requires CMSIS-DAP v2).
607 static int cmsis_dap_cmd_dap_swo_transport(uint8_t transport)
609 uint8_t *command = cmsis_dap_handle->command;
611 command[0] = CMD_DAP_SWO_TRANSPORT;
612 command[1] = transport;
614 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
615 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
616 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Transport(%d) failed.", transport);
617 return ERROR_JTAG_DEVICE_ERROR;
624 * Sets the SWO trace capture mode.
625 * @param[in] mode Trace capture mode. Can be UART or MANCHESTER.
627 static int cmsis_dap_cmd_dap_swo_mode(uint8_t mode)
629 uint8_t *command = cmsis_dap_handle->command;
631 command[0] = CMD_DAP_SWO_MODE;
634 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
635 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
636 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Mode(%d) failed.", mode);
637 return ERROR_JTAG_DEVICE_ERROR;
644 * Sets the baudrate for capturing SWO trace data.
645 * Can be called iteratively to determine supported baudrates.
646 * @param[in] in_baudrate Requested baudrate.
647 * @param[out] dev_baudrate Actual baudrate or 0 (baudrate not configured).
648 * When requested baudrate is not achievable the
649 * closest configured baudrate can be returned or
650 * 0 which indicates that baudrate was not configured.
652 static int cmsis_dap_cmd_dap_swo_baudrate(
653 uint32_t in_baudrate,
654 uint32_t *dev_baudrate)
656 uint8_t *command = cmsis_dap_handle->command;
658 command[0] = CMD_DAP_SWO_BAUDRATE;
659 h_u32_to_le(&command[1], in_baudrate);
661 int retval = cmsis_dap_xfer(cmsis_dap_handle, 4);
662 uint32_t rvbr = le_to_h_u32(&cmsis_dap_handle->response[1]);
663 if (retval != ERROR_OK || rvbr == 0) {
664 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Baudrate(%u) -> %u failed.", in_baudrate, rvbr);
667 return ERROR_JTAG_DEVICE_ERROR;
671 *dev_baudrate = rvbr;
677 * Controls the SWO trace data capture.
678 * @param[in] control Start or stop a trace. Starting capture automatically
679 * flushes any existing trace data in buffers which has
682 static int cmsis_dap_cmd_dap_swo_control(uint8_t control)
684 uint8_t *command = cmsis_dap_handle->command;
686 command[0] = CMD_DAP_SWO_CONTROL;
687 command[1] = control;
689 int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
690 if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
691 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Control(%d) failed.", control);
692 return ERROR_JTAG_DEVICE_ERROR;
699 * Reads the SWO trace status.
700 * @param[out] trace_status The trace's status.
701 * Bit0: Trace Capture (1 - active, 0 - inactive).
702 * Bit6: Trace Stream Error.
703 * Bit7: Trace Buffer Overrun.
704 * @param[out] trace_count Number of bytes in Trace Buffer (not yet read).
706 static int cmsis_dap_cmd_dap_swo_status(
707 uint8_t *trace_status,
710 uint8_t *command = cmsis_dap_handle->command;
712 command[0] = CMD_DAP_SWO_STATUS;
714 int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
715 if (retval != ERROR_OK) {
716 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Status failed.");
717 return ERROR_JTAG_DEVICE_ERROR;
721 *trace_status = cmsis_dap_handle->response[1];
723 *trace_count = le_to_h_u32(&cmsis_dap_handle->response[2]);
729 * Reads the captured SWO trace data from Trace Buffer.
730 * @param[in] max_trace_count Maximum number of Trace Data bytes to read.
731 * @param[out] trace_status The trace's status.
732 * @param[out] trace_count Number of Trace Data bytes read.
733 * @param[out] data Trace Data bytes read.
735 static int cmsis_dap_cmd_dap_swo_data(
736 size_t max_trace_count,
737 uint8_t *trace_status,
741 uint8_t *command = cmsis_dap_handle->command;
743 command[0] = CMD_DAP_SWO_DATA;
744 h_u16_to_le(&command[1], max_trace_count);
746 int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
747 if (retval != ERROR_OK) {
748 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Data failed.");
749 return ERROR_JTAG_DEVICE_ERROR;
752 *trace_status = cmsis_dap_handle->response[1];
753 *trace_count = le_to_h_u16(&cmsis_dap_handle->response[2]);
755 if (*trace_count > 0)
756 memcpy(data, &cmsis_dap_handle->response[4], *trace_count);
761 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
763 uint8_t *command = cmsis_dap_handle->command;
764 struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
766 LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx);
768 if (queued_retval != ERROR_OK) {
769 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
773 if (block->transfer_count == 0)
776 command[0] = CMD_DAP_TFER;
777 command[1] = 0x00; /* DAP Index */
778 command[2] = block->transfer_count;
781 for (int i = 0; i < block->transfer_count; i++) {
782 struct pending_transfer_result *transfer = &(block->transfers[i]);
783 uint8_t cmd = transfer->cmd;
784 uint32_t data = transfer->data;
786 LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
787 cmd & SWD_CMD_APNDP ? "AP" : "DP",
788 cmd & SWD_CMD_RNW ? "read" : "write",
789 (cmd & SWD_CMD_A32) >> 1, data);
791 /* When proper WAIT handling is implemented in the
792 * common SWD framework, this kludge can be
793 * removed. However, this might lead to minor
794 * performance degradation as the adapter wouldn't be
795 * able to automatically retry anything (because ARM
796 * has forgotten to implement sticky error flags
797 * clearing). See also comments regarding
798 * cmsis_dap_cmd_dap_tfer_configure() and
799 * cmsis_dap_cmd_dap_swd_configure() in
802 if (!(cmd & SWD_CMD_RNW) &&
803 !(cmd & SWD_CMD_APNDP) &&
804 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
805 (data & CORUNDETECT)) {
806 LOG_DEBUG("refusing to enable sticky overrun detection");
807 data &= ~CORUNDETECT;
810 command[idx++] = (cmd >> 1) & 0x0f;
811 if (!(cmd & SWD_CMD_RNW)) {
812 h_u32_to_le(&command[idx], data);
817 int retval = dap->backend->write(dap, idx, LIBUSB_TIMEOUT_MS);
819 queued_retval = retval;
822 queued_retval = ERROR_OK;
825 pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count;
826 pending_fifo_block_count++;
827 if (pending_fifo_block_count > dap->packet_count)
828 LOG_ERROR("too much pending writes %d", pending_fifo_block_count);
833 block->transfer_count = 0;
836 static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
838 struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx];
840 if (pending_fifo_block_count == 0)
841 LOG_ERROR("no pending write");
844 int retval = dap->backend->read(dap, timeout_ms);
845 if (retval == ERROR_TIMEOUT_REACHED && timeout_ms < LIBUSB_TIMEOUT_MS)
849 LOG_DEBUG("error reading data");
850 queued_retval = ERROR_FAIL;
854 uint8_t *resp = dap->response;
855 if (resp[0] != CMD_DAP_TFER) {
856 LOG_ERROR("CMSIS-DAP command mismatch. Expected 0x%x received 0x%" PRIx8,
857 CMD_DAP_TFER, resp[0]);
858 queued_retval = ERROR_FAIL;
862 uint8_t transfer_count = resp[1];
863 uint8_t ack = resp[2] & 0x07;
864 if (resp[2] & 0x08) {
865 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", transfer_count);
866 queued_retval = ERROR_FAIL;
869 if (ack != SWD_ACK_OK) {
870 LOG_DEBUG("SWD ack not OK @ %d %s", transfer_count,
871 ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
872 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
873 /* TODO: use results of transfers completed before the error occurred? */
877 if (block->transfer_count != transfer_count)
878 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
879 block->transfer_count, transfer_count);
881 LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d",
882 transfer_count, pending_fifo_get_idx);
884 for (int i = 0; i < transfer_count; i++) {
885 struct pending_transfer_result *transfer = &(block->transfers[i]);
886 if (transfer->cmd & SWD_CMD_RNW) {
887 static uint32_t last_read;
888 uint32_t data = le_to_h_u32(&resp[idx]);
892 LOG_DEBUG_IO("Read result: %"PRIx32, data);
894 /* Imitate posted AP reads */
895 if ((transfer->cmd & SWD_CMD_APNDP) ||
896 ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
901 if (transfer->buffer)
902 *(uint32_t *)(transfer->buffer) = tmp;
907 block->transfer_count = 0;
908 pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count;
909 pending_fifo_block_count--;
912 static int cmsis_dap_swd_run_queue(void)
914 if (pending_fifo_block_count)
915 cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
917 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
919 while (pending_fifo_block_count)
920 cmsis_dap_swd_read_process(cmsis_dap_handle, LIBUSB_TIMEOUT_MS);
922 pending_fifo_put_idx = 0;
923 pending_fifo_get_idx = 0;
925 int retval = queued_retval;
926 queued_retval = ERROR_OK;
931 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
933 bool targetsel_cmd = swd_cmd(false, false, DP_TARGETSEL) == cmd;
935 if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len
937 if (pending_fifo_block_count)
938 cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
940 /* Not enough room in the queue. Run the queue. */
941 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
943 if (pending_fifo_block_count >= cmsis_dap_handle->packet_count)
944 cmsis_dap_swd_read_process(cmsis_dap_handle, LIBUSB_TIMEOUT_MS);
947 if (queued_retval != ERROR_OK)
951 cmsis_dap_metacmd_targetsel(data);
955 struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
956 struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
957 transfer->data = data;
959 if (cmd & SWD_CMD_RNW) {
960 /* Queue a read transaction */
961 transfer->buffer = dst;
963 block->transfer_count++;
966 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
968 assert(!(cmd & SWD_CMD_RNW));
969 cmsis_dap_swd_queue_cmd(cmd, NULL, value);
972 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
974 assert(cmd & SWD_CMD_RNW);
975 cmsis_dap_swd_queue_cmd(cmd, value, 0);
978 static int cmsis_dap_get_serial_info(void)
982 int retval = cmsis_dap_cmd_dap_info(INFO_ID_SERNUM, &data);
983 if (retval != ERROR_OK)
986 if (data[0]) /* strlen */
987 LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
992 static int cmsis_dap_get_version_info(void)
996 /* INFO_ID_FW_VER - string */
997 int retval = cmsis_dap_cmd_dap_info(INFO_ID_FW_VER, &data);
998 if (retval != ERROR_OK)
1001 if (data[0]) /* strlen */
1002 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
1007 static int cmsis_dap_get_caps_info(void)
1011 /* INFO_ID_CAPS - byte */
1012 int retval = cmsis_dap_cmd_dap_info(INFO_ID_CAPS, &data);
1013 if (retval != ERROR_OK)
1016 if (data[0] == 1 || data[0] == 2) {
1017 uint16_t caps = data[1];
1019 caps |= (uint16_t)data[2] << 8;
1021 cmsis_dap_handle->caps = caps;
1023 for (int i = 0; i < INFO_CAPS__NUM_CAPS; ++i) {
1025 LOG_INFO("CMSIS-DAP: %s", info_caps_str[i]);
1032 static int cmsis_dap_get_swo_buf_sz(uint32_t *swo_buf_sz)
1036 /* INFO_ID_SWO_BUF_SZ - word */
1037 int retval = cmsis_dap_cmd_dap_info(INFO_ID_SWO_BUF_SZ, &data);
1038 if (retval != ERROR_OK)
1044 *swo_buf_sz = le_to_h_u32(&data[1]);
1046 LOG_INFO("CMSIS-DAP: SWO Trace Buffer Size = %u bytes", *swo_buf_sz);
1051 static int cmsis_dap_get_status(void)
1055 int retval = cmsis_dap_cmd_dap_swj_pins(0, 0, 0, &d);
1057 if (retval == ERROR_OK) {
1058 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
1059 (d & SWJ_PIN_TCK) ? 1 : 0,
1060 (d & SWJ_PIN_TMS) ? 1 : 0,
1061 (d & SWJ_PIN_TDI) ? 1 : 0,
1062 (d & SWJ_PIN_TDO) ? 1 : 0,
1063 (d & SWJ_PIN_TRST) ? 1 : 0,
1064 (d & SWJ_PIN_SRST) ? 1 : 0);
1070 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
1076 if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
1077 /* Following workaround deasserts reset on most adapters.
1078 * Do not reconnect if a reset line is active!
1079 * Reconnecting would break connecting under reset. */
1081 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
1082 cmsis_dap_cmd_dap_disconnect();
1084 /* When we are reconnecting, DAP_Connect needs to be rerun, at
1085 * least on Keil ULINK-ME */
1086 retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1087 if (retval != ERROR_OK)
1093 LOG_DEBUG_IO("SWD line reset");
1094 s = swd_seq_line_reset;
1095 s_len = swd_seq_line_reset_len;
1098 LOG_DEBUG("JTAG-to-SWD");
1099 s = swd_seq_jtag_to_swd;
1100 s_len = swd_seq_jtag_to_swd_len;
1102 case JTAG_TO_DORMANT:
1103 LOG_DEBUG("JTAG-to-DORMANT");
1104 s = swd_seq_jtag_to_dormant;
1105 s_len = swd_seq_jtag_to_dormant_len;
1108 LOG_DEBUG("SWD-to-JTAG");
1109 s = swd_seq_swd_to_jtag;
1110 s_len = swd_seq_swd_to_jtag_len;
1112 case SWD_TO_DORMANT:
1113 LOG_DEBUG("SWD-to-DORMANT");
1114 s = swd_seq_swd_to_dormant;
1115 s_len = swd_seq_swd_to_dormant_len;
1117 case DORMANT_TO_SWD:
1118 LOG_DEBUG("DORMANT-to-SWD");
1119 s = swd_seq_dormant_to_swd;
1120 s_len = swd_seq_dormant_to_swd_len;
1122 case DORMANT_TO_JTAG:
1123 LOG_DEBUG("DORMANT-to-JTAG");
1124 s = swd_seq_dormant_to_jtag;
1125 s_len = swd_seq_dormant_to_jtag_len;
1128 LOG_ERROR("Sequence %d not supported", seq);
1132 retval = cmsis_dap_cmd_dap_swj_sequence(s_len, s);
1133 if (retval != ERROR_OK)
1136 /* Atmel EDBG needs renew clock setting after SWJ_Sequence
1137 * otherwise default frequency is used */
1138 return cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1141 static int cmsis_dap_swd_open(void)
1143 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
1144 LOG_ERROR("CMSIS-DAP: SWD not supported");
1145 return ERROR_JTAG_DEVICE_ERROR;
1148 int retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1149 if (retval != ERROR_OK)
1152 /* Add more setup here.??... */
1154 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
1158 static int cmsis_dap_init(void)
1162 int retval = cmsis_dap_open();
1163 if (retval != ERROR_OK)
1166 cmsis_dap_flush_read(cmsis_dap_handle);
1168 retval = cmsis_dap_get_caps_info();
1169 if (retval != ERROR_OK)
1172 retval = cmsis_dap_get_version_info();
1173 if (retval != ERROR_OK)
1176 retval = cmsis_dap_get_serial_info();
1177 if (retval != ERROR_OK)
1181 retval = cmsis_dap_swd_open();
1182 if (retval != ERROR_OK)
1185 /* Connect in JTAG mode */
1186 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
1187 LOG_ERROR("CMSIS-DAP: JTAG not supported");
1188 return ERROR_JTAG_DEVICE_ERROR;
1191 retval = cmsis_dap_cmd_dap_connect(CONNECT_JTAG);
1192 if (retval != ERROR_OK)
1195 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
1198 /* Be conservative and suppress submitting multiple HID requests
1199 * until we get packet count info from the adaptor */
1200 cmsis_dap_handle->packet_count = 1;
1201 pending_queue_len = 12;
1203 /* INFO_ID_PKT_SZ - short */
1204 retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_SZ, &data);
1205 if (retval != ERROR_OK)
1208 if (data[0] == 2) { /* short */
1209 uint16_t pkt_sz = data[1] + (data[2] << 8);
1210 if (pkt_sz != cmsis_dap_handle->packet_size) {
1212 /* 4 bytes of command header + 5 bytes per register
1213 * write. For bulk read sequences just 4 bytes are
1214 * needed per transfer, so this is suboptimal. */
1215 pending_queue_len = (pkt_sz - 4) / 5;
1217 free(cmsis_dap_handle->packet_buffer);
1218 retval = cmsis_dap_handle->backend->packet_buffer_alloc(cmsis_dap_handle, pkt_sz);
1219 if (retval != ERROR_OK)
1222 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRIu16, pkt_sz);
1226 /* INFO_ID_PKT_CNT - byte */
1227 retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_CNT, &data);
1228 if (retval != ERROR_OK)
1231 if (data[0] == 1) { /* byte */
1232 int pkt_cnt = data[1];
1234 cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
1236 LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt);
1239 LOG_DEBUG("Allocating FIFO for %d pending packets", cmsis_dap_handle->packet_count);
1240 for (int i = 0; i < cmsis_dap_handle->packet_count; i++) {
1241 pending_fifo[i].transfers = malloc(pending_queue_len * sizeof(struct pending_transfer_result));
1242 if (!pending_fifo[i].transfers) {
1243 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
1244 retval = ERROR_FAIL;
1249 /* Intentionally not checked for error, just logs an info message
1250 * not vital for further debugging */
1251 (void)cmsis_dap_get_status();
1253 /* Now try to connect to the target
1254 * TODO: This is all SWD only @ present */
1255 retval = cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1256 if (retval != ERROR_OK)
1259 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
1260 * up to 64 times. This must be changed to 0 if sticky
1261 * overrun detection is enabled. */
1262 retval = cmsis_dap_cmd_dap_tfer_configure(0, 64, 0);
1263 if (retval != ERROR_OK)
1267 /* Data Phase (bit 2) must be set to 1 if sticky overrun
1268 * detection is enabled */
1269 retval = cmsis_dap_cmd_dap_swd_configure(0); /* 1 TRN, no Data Phase */
1270 if (retval != ERROR_OK)
1274 /* Intentionally not checked for error, debugging will work
1276 (void)cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_ON);
1277 (void)cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_ON);
1279 /* support connecting with srst asserted */
1280 enum reset_types jtag_reset_config = jtag_get_reset_config();
1282 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
1283 if (jtag_reset_config & RESET_SRST_NO_GATING) {
1284 retval = cmsis_dap_cmd_dap_swj_pins(0, SWJ_PIN_SRST, 0, NULL);
1285 if (retval != ERROR_OK)
1287 LOG_INFO("Connecting under reset");
1290 LOG_INFO("CMSIS-DAP: Interface ready");
1298 static int cmsis_dap_swd_init(void)
1304 static int cmsis_dap_quit(void)
1306 cmsis_dap_cmd_dap_disconnect();
1309 cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_OFF);
1310 cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_OFF);
1312 cmsis_dap_close(cmsis_dap_handle);
1317 static int cmsis_dap_reset(int trst, int srst)
1319 /* Set both TRST and SRST even if they're not enabled as
1320 * there's no way to tristate them */
1324 output_pins |= SWJ_PIN_SRST;
1326 output_pins |= SWJ_PIN_TRST;
1328 int retval = cmsis_dap_cmd_dap_swj_pins(output_pins,
1329 SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1330 if (retval != ERROR_OK)
1331 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1335 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1338 int retval = cmsis_dap_cmd_dap_delay(cmd->cmd.sleep->us);
1339 if (retval != ERROR_OK)
1341 jtag_sleep(cmd->cmd.sleep->us);
1344 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1345 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1347 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1350 int retval = cmsis_dap_cmd_dap_swj_sequence(8, &seq);
1351 if (retval == ERROR_OK)
1352 tap_set_state(TAP_RESET);
1356 /* Set new end state */
1357 static void cmsis_dap_end_state(tap_state_t state)
1359 if (tap_is_state_stable(state))
1360 tap_set_end_state(state);
1362 LOG_ERROR("BUG: %i is not a valid end state", state);
1367 #ifdef SPRINT_BINARY
1368 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1374 buf = { 0x18 } len=5 should result in: 11000
1375 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1376 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1377 i=3 there means i/8 = 0 so c = 0xFF, and
1379 for (int i = offset; i < offset + len; ++i) {
1380 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1381 if ((i != offset) && !(i % 8))
1383 *s++ = (c & mask) ? '1' : '0';
1389 #ifdef CMSIS_DAP_JTAG_DEBUG
1390 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1392 /* cmd is a usb packet to go to the cmsis-dap interface */
1393 printf("cmsis-dap buffer (%d b): ", cmdlen);
1394 for (int i = 0; i < cmdlen; ++i)
1395 printf(" %02x", cmd[i]);
1398 case CMD_DAP_JTAG_SEQ: {
1399 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[0], cmd[1]);
1401 * #1 = number of sequences
1402 * #2 = sequence info 1
1403 * #3...4+n_bytes-1 = sequence 1
1404 * #4+n_bytes = sequence info 2
1405 * #5+n_bytes = sequence 2 (single bit)
1408 for (int seq = 0; seq < cmd[1]; ++seq) {
1409 uint8_t info = cmd[pos++];
1410 int len = info & DAP_JTAG_SEQ_TCK;
1413 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1414 seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1415 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1416 printf(" %02x", cmd[pos+i]);
1417 pos += DIV_ROUND_UP(len, 8);
1420 if (pos != cmdlen) {
1421 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1428 LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1434 static void cmsis_dap_flush(void)
1436 if (!queued_seq_count)
1439 LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1440 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1442 /* prepare CMSIS-DAP packet */
1443 uint8_t *command = cmsis_dap_handle->command;
1444 command[0] = CMD_DAP_JTAG_SEQ;
1445 command[1] = queued_seq_count;
1446 memcpy(&command[2], queued_seq_buf, queued_seq_buf_end);
1448 #ifdef CMSIS_DAP_JTAG_DEBUG
1449 debug_parse_cmsis_buf(command, queued_seq_buf_end + 2);
1452 /* send command to USB device */
1453 int retval = cmsis_dap_xfer(cmsis_dap_handle, queued_seq_buf_end + 2);
1455 uint8_t *resp = cmsis_dap_handle->response;
1456 if (retval != ERROR_OK || resp[1] != DAP_OK) {
1457 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1461 #ifdef CMSIS_DAP_JTAG_DEBUG
1462 LOG_DEBUG_IO("USB response buf:");
1463 for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1464 printf("%02X ", resp[c]);
1468 /* copy scan results into client buffers */
1469 for (int i = 0; i < pending_scan_result_count; ++i) {
1470 struct pending_scan_result *scan = &pending_scan_results[i];
1471 LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1472 i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1473 #ifdef CMSIS_DAP_JTAG_DEBUG
1474 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1475 printf("%02X ", resp[2+scan->first+b]);
1478 bit_copy(scan->buffer, scan->buffer_offset, &resp[2 + scan->first], 0, scan->length);
1482 queued_seq_count = 0;
1483 queued_seq_buf_end = 0;
1484 queued_seq_tdo_ptr = 0;
1485 pending_scan_result_count = 0;
1488 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1490 * sequence=NULL means clock out zeros on TDI
1491 * tdo_buffer=NULL means don't capture TDO
1493 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1494 bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1496 LOG_DEBUG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1498 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1504 LOG_DEBUG_IO("START JTAG SEQ SPLIT");
1505 for (int offset = 0; offset < s_len; offset += 64) {
1506 int len = s_len - offset;
1509 LOG_DEBUG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1510 cmsis_dap_add_jtag_sequence(
1516 !tdo_buffer ? 0 : (tdo_buffer_offset + offset)
1519 LOG_DEBUG_IO("END JTAG SEQ SPLIT");
1523 int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1524 if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1525 /* empty out the buffer */
1531 queued_seq_buf[queued_seq_buf_end] =
1532 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1533 (tdo_buffer ? DAP_JTAG_SEQ_TDO : 0) |
1534 (s_len == 64 ? 0 : s_len);
1537 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1539 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1541 queued_seq_buf_end += cmd_len;
1544 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1545 scan->first = queued_seq_tdo_ptr;
1546 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1547 scan->length = s_len;
1548 scan->buffer = tdo_buffer;
1549 scan->buffer_offset = tdo_buffer_offset;
1553 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1554 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1556 LOG_DEBUG_IO("%d bits: %02X", s_len, *sequence);
1557 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1558 because even though it seems ridiculously inefficient, it
1559 allows us to combine TMS and scan sequences into the same
1561 /* TODO: combine runs of the same tms value */
1562 for (int i = 0; i < s_len; ++i) {
1563 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1564 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1568 /* Move to the end state by queuing a sequence to clock into TMS */
1569 static void cmsis_dap_state_move(void)
1571 uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1572 uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1574 LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms",
1575 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1576 tms_scan_bits, tms_scan);
1577 cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1579 tap_set_state(tap_get_end_state());
1583 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1584 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1586 LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1587 jtag_scan_type(cmd->cmd.scan));
1589 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1590 while (cmd->cmd.scan->num_fields > 0
1591 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1592 cmd->cmd.scan->num_fields--;
1593 LOG_DEBUG("discarding trailing empty field");
1596 if (cmd->cmd.scan->num_fields == 0) {
1597 LOG_DEBUG("empty scan, doing nothing");
1601 if (cmd->cmd.scan->ir_scan) {
1602 if (tap_get_state() != TAP_IRSHIFT) {
1603 cmsis_dap_end_state(TAP_IRSHIFT);
1604 cmsis_dap_state_move();
1607 if (tap_get_state() != TAP_DRSHIFT) {
1608 cmsis_dap_end_state(TAP_DRSHIFT);
1609 cmsis_dap_state_move();
1613 cmsis_dap_end_state(cmd->cmd.scan->end_state);
1615 struct scan_field *field = cmd->cmd.scan->fields;
1616 unsigned scan_size = 0;
1618 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1619 scan_size += field->num_bits;
1620 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
1621 field->in_value ? "in" : "",
1622 field->out_value ? "out" : "",
1624 cmd->cmd.scan->num_fields,
1627 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1628 LOG_DEBUG_IO("Last field and have to move out of SHIFT state");
1629 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1630 * movement. This last field can't have length zero, it was checked above. */
1631 cmsis_dap_add_jtag_sequence(
1632 field->num_bits - 1, /* number of bits to clock */
1633 field->out_value, /* output sequence */
1634 0, /* output offset */
1635 false, /* TMS low */
1639 /* Clock the last bit out, with TMS high */
1640 uint8_t last_bit = 0;
1641 if (field->out_value)
1642 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1643 cmsis_dap_add_jtag_sequence(
1649 field->num_bits - 1);
1650 tap_set_state(tap_state_transition(tap_get_state(), 1));
1652 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1653 cmsis_dap_add_jtag_sequence(
1660 tap_set_state(tap_state_transition(tap_get_state(), 0));
1662 LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards");
1663 /* Clocking part of a sequence into DR or IR with TMS=0,
1664 leaving TMS=0 at the end so we can continue later */
1665 cmsis_dap_add_jtag_sequence(
1675 if (tap_get_state() != tap_get_end_state()) {
1676 cmsis_dap_end_state(tap_get_end_state());
1677 cmsis_dap_state_move();
1680 LOG_DEBUG_IO("%s scan, %i bits, end in %s",
1681 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1682 tap_state_name(tap_get_end_state()));
1685 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1687 uint8_t tms0 = 0x00;
1688 uint8_t tms1 = 0xff;
1690 for (int i = 0; i < num_states; i++) {
1691 if (path[i] == tap_state_transition(tap_get_state(), false))
1692 cmsis_dap_add_tms_sequence(&tms0, 1);
1693 else if (path[i] == tap_state_transition(tap_get_state(), true))
1694 cmsis_dap_add_tms_sequence(&tms1, 1);
1696 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1697 tap_state_name(tap_get_state()), tap_state_name(path[i]));
1701 tap_set_state(path[i]);
1704 cmsis_dap_end_state(tap_get_state());
1707 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1709 LOG_DEBUG_IO("pathmove: %i states, end in %i",
1710 cmd->cmd.pathmove->num_states,
1711 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1713 cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1716 static void cmsis_dap_stableclocks(int num_cycles)
1718 uint8_t tms = tap_get_state() == TAP_RESET;
1719 /* TODO: Perform optimizations? */
1720 /* Execute num_cycles. */
1721 for (int i = 0; i < num_cycles; i++)
1722 cmsis_dap_add_tms_sequence(&tms, 1);
1725 static void cmsis_dap_runtest(int num_cycles)
1727 tap_state_t saved_end_state = tap_get_end_state();
1729 /* Only do a state_move when we're not already in IDLE. */
1730 if (tap_get_state() != TAP_IDLE) {
1731 cmsis_dap_end_state(TAP_IDLE);
1732 cmsis_dap_state_move();
1734 cmsis_dap_stableclocks(num_cycles);
1736 /* Finish in end_state. */
1737 cmsis_dap_end_state(saved_end_state);
1739 if (tap_get_state() != tap_get_end_state())
1740 cmsis_dap_state_move();
1743 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1745 LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1746 cmd->cmd.runtest->end_state);
1748 cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1749 cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1752 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1754 LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1755 cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1758 static void cmsis_dap_execute_tms(struct jtag_command *cmd)
1760 LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
1761 cmsis_dap_cmd_dap_swj_sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
1764 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1765 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1766 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1768 switch (cmd->type) {
1771 cmsis_dap_execute_sleep(cmd);
1773 case JTAG_TLR_RESET:
1775 cmsis_dap_execute_tlr_reset(cmd);
1778 cmsis_dap_execute_scan(cmd);
1781 cmsis_dap_execute_pathmove(cmd);
1784 cmsis_dap_execute_runtest(cmd);
1786 case JTAG_STABLECLOCKS:
1787 cmsis_dap_execute_stableclocks(cmd);
1790 cmsis_dap_execute_tms(cmd);
1793 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1798 static int cmsis_dap_execute_queue(void)
1800 struct jtag_command *cmd = jtag_command_queue;
1803 cmsis_dap_execute_command(cmd);
1812 static int cmsis_dap_speed(int speed)
1815 LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\".");
1816 return ERROR_JTAG_NOT_IMPLEMENTED;
1819 return cmsis_dap_cmd_dap_swj_clock(speed);
1822 static int cmsis_dap_speed_div(int speed, int *khz)
1828 static int cmsis_dap_khz(int khz, int *jtag_speed)
1834 static bool calculate_swo_prescaler(unsigned int traceclkin_freq,
1835 uint32_t trace_freq, uint16_t *prescaler)
1837 unsigned int presc = (traceclkin_freq + trace_freq / 2) / trace_freq;
1838 if (presc == 0 || presc > TPIU_ACPR_MAX_SWOSCALER + 1)
1841 /* Probe's UART speed must be within 3% of the TPIU's SWO baud rate. */
1842 unsigned int max_deviation = (traceclkin_freq * 3) / 100;
1843 if (presc * trace_freq < traceclkin_freq - max_deviation ||
1844 presc * trace_freq > traceclkin_freq + max_deviation)
1853 * @see adapter_driver::config_trace
1855 static int cmsis_dap_config_trace(
1857 enum tpiu_pin_protocol pin_protocol,
1859 unsigned int *swo_freq,
1860 unsigned int traceclkin_hz,
1861 uint16_t *swo_prescaler)
1865 if (!trace_enabled) {
1866 if (cmsis_dap_handle->trace_enabled) {
1867 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
1868 if (retval != ERROR_OK) {
1869 LOG_ERROR("Failed to disable the SWO-trace.");
1873 cmsis_dap_handle->trace_enabled = false;
1874 LOG_INFO("SWO-trace disabled.");
1878 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWO_UART) &&
1879 !(cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
1880 LOG_ERROR("SWO-trace is not supported by the device.");
1885 if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_UART &&
1886 (cmsis_dap_handle->caps & INFO_CAPS_SWO_UART)) {
1887 swo_mode = DAP_SWO_MODE_UART;
1888 } else if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_MANCHESTER &&
1889 (cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
1890 swo_mode = DAP_SWO_MODE_MANCHESTER;
1892 LOG_ERROR("Selected pin protocol is not supported.");
1896 if (*swo_freq == 0) {
1897 LOG_INFO("SWO-trace frequency autodetection not implemented.");
1901 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
1902 if (retval != ERROR_OK)
1905 cmsis_dap_handle->trace_enabled = false;
1907 retval = cmsis_dap_get_swo_buf_sz(&cmsis_dap_handle->swo_buf_sz);
1908 if (retval != ERROR_OK)
1911 retval = cmsis_dap_cmd_dap_swo_transport(DAP_SWO_TRANSPORT_DATA);
1912 if (retval != ERROR_OK)
1915 retval = cmsis_dap_cmd_dap_swo_mode(swo_mode);
1916 if (retval != ERROR_OK)
1919 retval = cmsis_dap_cmd_dap_swo_baudrate(*swo_freq, swo_freq);
1920 if (retval != ERROR_OK)
1923 if (!calculate_swo_prescaler(traceclkin_hz, *swo_freq,
1925 LOG_ERROR("SWO frequency is not suitable. Please choose a "
1926 "different frequency or use auto-detection.");
1930 LOG_INFO("SWO frequency: %u Hz.", *swo_freq);
1931 LOG_INFO("SWO prescaler: %u.", *swo_prescaler);
1933 retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_START);
1934 if (retval != ERROR_OK)
1937 cmsis_dap_handle->trace_enabled = true;
1943 * @see adapter_driver::poll_trace
1945 static int cmsis_dap_poll_trace(uint8_t *buf, size_t *size)
1947 uint8_t trace_status;
1950 if (!cmsis_dap_handle->trace_enabled) {
1955 int retval = cmsis_dap_cmd_dap_swo_status(&trace_status, &trace_count);
1956 if (retval != ERROR_OK)
1958 if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
1961 *size = trace_count < *size ? trace_count : *size;
1962 size_t read_so_far = 0;
1965 uint32_t packet_size = cmsis_dap_handle->packet_size - 4 /*data-reply*/;
1966 uint32_t remaining = *size - read_so_far;
1967 if (remaining < packet_size)
1968 packet_size = remaining;
1969 retval = cmsis_dap_cmd_dap_swo_data(
1974 if (retval != ERROR_OK)
1976 if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
1980 } while (read_so_far < *size);
1985 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1987 if (cmsis_dap_get_version_info() == ERROR_OK)
1988 cmsis_dap_get_status();
1993 COMMAND_HANDLER(cmsis_dap_handle_cmd_command)
1995 uint8_t *command = cmsis_dap_handle->command;
1997 for (unsigned i = 0; i < CMD_ARGC; i++)
1998 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[i], command[i]);
2000 int retval = cmsis_dap_xfer(cmsis_dap_handle, CMD_ARGC);
2002 if (retval != ERROR_OK) {
2003 LOG_ERROR("CMSIS-DAP command failed.");
2004 return ERROR_JTAG_DEVICE_ERROR;
2007 uint8_t *resp = cmsis_dap_handle->response;
2008 LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8,
2009 resp[1], resp[2], resp[3], resp[4]);
2014 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
2016 if (CMD_ARGC > MAX_USB_IDS * 2) {
2017 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
2018 "(maximum is %d pairs)", MAX_USB_IDS);
2019 CMD_ARGC = MAX_USB_IDS * 2;
2021 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
2022 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
2024 return ERROR_COMMAND_SYNTAX_ERROR;
2025 /* remove the incomplete trailing id */
2030 for (i = 0; i < CMD_ARGC; i += 2) {
2031 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
2032 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
2036 * Explicitly terminate, in case there are multiples instances of
2037 * cmsis_dap_vid_pid.
2039 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
2044 COMMAND_HANDLER(cmsis_dap_handle_backend_command)
2046 if (CMD_ARGC == 1) {
2047 if (strcmp(CMD_ARGV[0], "auto") == 0) {
2048 cmsis_dap_backend = -1; /* autoselect */
2050 for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
2051 if (strcasecmp(cmsis_dap_backends[i]->name, CMD_ARGV[0]) == 0) {
2052 cmsis_dap_backend = i;
2057 LOG_ERROR("invalid backend argument to cmsis_dap_backend <backend>");
2060 LOG_ERROR("expected exactly one argument to cmsis_dap_backend <backend>");
2066 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
2069 .handler = &cmsis_dap_handle_info_command,
2070 .mode = COMMAND_EXEC,
2072 .help = "show cmsis-dap info",
2076 .handler = &cmsis_dap_handle_cmd_command,
2077 .mode = COMMAND_EXEC,
2079 .help = "issue cmsis-dap command",
2081 COMMAND_REGISTRATION_DONE
2085 static const struct command_registration cmsis_dap_command_handlers[] = {
2087 .name = "cmsis-dap",
2088 .mode = COMMAND_ANY,
2089 .help = "perform CMSIS-DAP management",
2091 .chain = cmsis_dap_subcommand_handlers,
2094 .name = "cmsis_dap_vid_pid",
2095 .handler = &cmsis_dap_handle_vid_pid_command,
2096 .mode = COMMAND_CONFIG,
2097 .help = "the vendor ID and product ID of the CMSIS-DAP device",
2098 .usage = "(vid pid)*",
2101 .name = "cmsis_dap_backend",
2102 .handler = &cmsis_dap_handle_backend_command,
2103 .mode = COMMAND_CONFIG,
2104 .help = "set the communication backend to use (USB bulk or HID).",
2105 .usage = "(auto | usb_bulk | hid)",
2107 #if BUILD_CMSIS_DAP_USB
2109 .name = "cmsis_dap_usb",
2110 .chain = cmsis_dap_usb_subcommand_handlers,
2111 .mode = COMMAND_ANY,
2112 .help = "USB bulk backend-specific commands",
2116 COMMAND_REGISTRATION_DONE
2119 static const struct swd_driver cmsis_dap_swd_driver = {
2120 .init = cmsis_dap_swd_init,
2121 .switch_seq = cmsis_dap_swd_switch_seq,
2122 .read_reg = cmsis_dap_swd_read_reg,
2123 .write_reg = cmsis_dap_swd_write_reg,
2124 .run = cmsis_dap_swd_run_queue,
2127 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
2129 static struct jtag_interface cmsis_dap_interface = {
2130 .supported = DEBUG_CAP_TMS_SEQ,
2131 .execute_queue = cmsis_dap_execute_queue,
2134 struct adapter_driver cmsis_dap_adapter_driver = {
2135 .name = "cmsis-dap",
2136 .transports = cmsis_dap_transport,
2137 .commands = cmsis_dap_command_handlers,
2139 .init = cmsis_dap_init,
2140 .quit = cmsis_dap_quit,
2141 .reset = cmsis_dap_reset,
2142 .speed = cmsis_dap_speed,
2143 .khz = cmsis_dap_khz,
2144 .speed_div = cmsis_dap_speed_div,
2145 .config_trace = cmsis_dap_config_trace,
2146 .poll_trace = cmsis_dap_poll_trace,
2148 .jtag_ops = &cmsis_dap_interface,
2149 .swd_ops = &cmsis_dap_swd_driver,