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   1 /***************************************************************************
   2  *   Copyright (C) 2021 by Adrian Negreanu                                 *
   3  *   groleo@gmail.com                                                      *
   4  *                                                                         *
   5  *   Copyright (C) 2018 by Mickaël Thomas                                  *
   6  *   mickael9@gmail.com                                                    *
   7  *                                                                         *
   8  *   Copyright (C) 2016 by Maksym Hilliaka                                 *
   9  *   oter@frozen-team.com                                                  *
  10  *                                                                         *
  11  *   Copyright (C) 2016 by Phillip Pearson                                 *
  12  *   pp@myelin.co.nz                                                       *
  13  *                                                                         *
  14  *   Copyright (C) 2014 by Paul Fertser                                    *
  15  *   fercerpav@gmail.com                                                   *
  16  *                                                                         *
  17  *   Copyright (C) 2013 by mike brown                                      *
  18  *   mike@theshedworks.org.uk                                              *
  19  *                                                                         *
  20  *   Copyright (C) 2013 by Spencer Oliver                                  *
  21  *   spen@spen-soft.co.uk                                                  *
  22  *                                                                         *
  23  *   This program is free software; you can redistribute it and/or modify  *
  24  *   it under the terms of the GNU General Public License as published by  *
  25  *   the Free Software Foundation; either version 2 of the License, or     *
  26  *   (at your option) any later version.                                   *
  27  *                                                                         *
  28  *   This program is distributed in the hope that it will be useful,       *
  29  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  30  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  31  *   GNU General Public License for more details.                          *
  32  *                                                                         *
  33  *   You should have received a copy of the GNU General Public License     *
  34  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  35  ***************************************************************************/
  36
  37 #ifdef HAVE_CONFIG_H
  38 #include "config.h"
  39 #endif
  40
  41 #include <transport/transport.h>
  42 #include "helper/replacements.h"
  43 #include <jtag/adapter.h>
  44 #include <jtag/swd.h>
  45 #include <jtag/interface.h>
  46 #include <jtag/commands.h>
  47 #include <jtag/tcl.h>
  48 #include <target/cortex_m.h>
  49
  50 #include "cmsis_dap.h"
  51
  52 static const struct cmsis_dap_backend *const cmsis_dap_backends[] = {
  53 #if BUILD_CMSIS_DAP_USB == 1
  54         &cmsis_dap_usb_backend,
  55 #endif
  56
  57 #if BUILD_CMSIS_DAP_HID == 1
  58         &cmsis_dap_hid_backend,
  59 #endif
  60 };
  61
  62 /* USB Config */
  63
  64 /* Known vid/pid pairs:
  65  * VID 0xc251: Keil Software
  66  * PID 0xf001: LPC-Link-II CMSIS_DAP
  67  * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
  68  * PID 0x2722: Keil ULINK2 CMSIS-DAP
  69  * PID 0x2750: Keil ULINKplus CMSIS-DAP
  70  *
  71  * VID 0x0d28: mbed Software
  72  * PID 0x0204: MBED CMSIS-DAP
  73  */
  74
  75 #define MAX_USB_IDS 8
  76 /* vid = pid = 0 marks the end of the list */
  77 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
  78 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
  79 static char *cmsis_dap_serial;
  80 static int cmsis_dap_backend = -1;
  81 static bool swd_mode;
  82
  83 #define USB_TIMEOUT       1000
  84
  85 /* CMSIS-DAP General Commands */
  86 #define CMD_DAP_INFO              0x00
  87 #define CMD_DAP_LED               0x01
  88 #define CMD_DAP_CONNECT           0x02
  89 #define CMD_DAP_DISCONNECT        0x03
  90 #define CMD_DAP_WRITE_ABORT       0x08
  91 #define CMD_DAP_DELAY             0x09
  92 #define CMD_DAP_RESET_TARGET      0x0A
  93
  94 /* CMD_INFO */
  95 #define INFO_ID_VENDOR            0x01      /* string */
  96 #define INFO_ID_PRODUCT           0x02      /* string */
  97 #define INFO_ID_SERNUM            0x03      /* string */
  98 #define INFO_ID_FW_VER            0x04      /* string */
  99 #define INFO_ID_TD_VEND           0x05      /* string */
 100 #define INFO_ID_TD_NAME           0x06      /* string */
 101 #define INFO_ID_CAPS              0xf0      /* byte */
 102 #define INFO_ID_PKT_CNT           0xfe      /* byte */
 103 #define INFO_ID_PKT_SZ            0xff      /* short */
 104 #define INFO_ID_SWO_BUF_SZ        0xfd      /* word */
 105
 106 #define INFO_CAPS_SWD                 BIT(0)
 107 #define INFO_CAPS_JTAG                BIT(1)
 108 #define INFO_CAPS_SWO_UART            BIT(2)
 109 #define INFO_CAPS_SWO_MANCHESTER      BIT(3)
 110 #define INFO_CAPS_ATOMIC_CMDS         BIT(4)
 111 #define INFO_CAPS_TEST_DOMAIN_TIMER   BIT(5)
 112 #define INFO_CAPS_SWO_STREAMING_TRACE BIT(6)
 113 #define INFO_CAPS_UART_PORT           BIT(7)
 114 #define INFO_CAPS_USB_COM_PORT        BIT(8)
 115 #define INFO_CAPS__NUM_CAPS               9
 116
 117 /* CMD_LED */
 118 #define LED_ID_CONNECT            0x00
 119 #define LED_ID_RUN                0x01
 120
 121 #define LED_OFF                   0x00
 122 #define LED_ON                    0x01
 123
 124 /* CMD_CONNECT */
 125 #define CONNECT_DEFAULT           0x00
 126 #define CONNECT_SWD               0x01
 127 #define CONNECT_JTAG              0x02
 128
 129 /* CMSIS-DAP Common SWD/JTAG Commands */
 130 #define CMD_DAP_DELAY             0x09
 131 #define CMD_DAP_SWJ_PINS          0x10
 132 #define CMD_DAP_SWJ_CLOCK         0x11
 133 #define CMD_DAP_SWJ_SEQ           0x12
 134
 135 /*
 136  * PINS
 137  * Bit 0: SWCLK/TCK
 138  * Bit 1: SWDIO/TMS
 139  * Bit 2: TDI
 140  * Bit 3: TDO
 141  * Bit 5: nTRST
 142  * Bit 7: nRESET
 143  */
 144
 145 #define SWJ_PIN_TCK               (1<<0)
 146 #define SWJ_PIN_TMS               (1<<1)
 147 #define SWJ_PIN_TDI               (1<<2)
 148 #define SWJ_PIN_TDO               (1<<3)
 149 #define SWJ_PIN_TRST              (1<<5)
 150 #define SWJ_PIN_SRST              (1<<7)
 151
 152 /* CMSIS-DAP SWD Commands */
 153 #define CMD_DAP_SWD_CONFIGURE     0x13
 154 #define CMD_DAP_SWD_SEQUENCE      0x1D
 155
 156 /* CMSIS-DAP JTAG Commands */
 157 #define CMD_DAP_JTAG_SEQ          0x14
 158 #define CMD_DAP_JTAG_CONFIGURE    0x15
 159 #define CMD_DAP_JTAG_IDCODE       0x16
 160
 161 /* CMSIS-DAP JTAG sequence info masks */
 162 /* Number of bits to clock through (0 means 64) */
 163 #define DAP_JTAG_SEQ_TCK          0x3F
 164 /* TMS will be set during the sequence if this bit is set */
 165 #define DAP_JTAG_SEQ_TMS          0x40
 166 /* TDO output will be captured if this bit is set */
 167 #define DAP_JTAG_SEQ_TDO          0x80
 168
 169
 170 /* CMSIS-DAP Transfer Commands */
 171 #define CMD_DAP_TFER_CONFIGURE    0x04
 172 #define CMD_DAP_TFER              0x05
 173 #define CMD_DAP_TFER_BLOCK        0x06
 174 #define CMD_DAP_TFER_ABORT        0x07
 175
 176 /* DAP Status Code */
 177 #define DAP_OK                    0
 178 #define DAP_ERROR                 0xFF
 179
 180 /* CMSIS-DAP SWO Commands */
 181 #define CMD_DAP_SWO_TRANSPORT     0x17
 182 #define CMD_DAP_SWO_MODE          0x18
 183 #define CMD_DAP_SWO_BAUDRATE      0x19
 184 #define CMD_DAP_SWO_CONTROL       0x1A
 185 #define CMD_DAP_SWO_STATUS        0x1B
 186 #define CMD_DAP_SWO_DATA          0x1C
 187 #define CMD_DAP_SWO_EX_STATUS     0x1E
 188
 189 /* SWO transport mode for reading trace data */
 190 #define DAP_SWO_TRANSPORT_NONE    0
 191 #define DAP_SWO_TRANSPORT_DATA    1
 192 #define DAP_SWO_TRANSPORT_WINUSB  2
 193
 194 /* SWO trace capture mode */
 195 #define DAP_SWO_MODE_OFF          0
 196 #define DAP_SWO_MODE_UART         1
 197 #define DAP_SWO_MODE_MANCHESTER   2
 198
 199 /* SWO trace data capture */
 200 #define DAP_SWO_CONTROL_STOP      0
 201 #define DAP_SWO_CONTROL_START     1
 202
 203 /* SWO trace status */
 204 #define DAP_SWO_STATUS_CAPTURE_INACTIVE      0
 205 #define DAP_SWO_STATUS_CAPTURE_ACTIVE        1
 206 #define DAP_SWO_STATUS_CAPTURE_MASK          BIT(0)
 207 #define DAP_SWO_STATUS_STREAM_ERROR_MASK     BIT(6)
 208 #define DAP_SWO_STATUS_BUFFER_OVERRUN_MASK   BIT(7)
 209
 210 /* CMSIS-DAP Vendor Commands
 211  * None as yet... */
 212
 213 static const char * const info_caps_str[INFO_CAPS__NUM_CAPS] = {
 214         "SWD  supported",
 215         "JTAG supported",
 216         "SWO-UART supported",
 217         "SWO-MANCHESTER supported",
 218         "Atomic commands supported",
 219         "Test domain timer supported",
 220         "SWO streaming trace supported",
 221         "UART communication port supported",
 222         "UART via USB COM port supported",
 223 };
 224
 225 struct pending_transfer_result {
 226         uint8_t cmd;
 227         uint32_t data;
 228         void *buffer;
 229 };
 230
 231 struct pending_request_block {
 232         struct pending_transfer_result *transfers;
 233         int transfer_count;
 234 };
 235
 236 struct pending_scan_result {
 237         /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
 238         unsigned first;
 239         /** Number of bits to read. */
 240         unsigned length;
 241         /** Location to store the result */
 242         uint8_t *buffer;
 243         /** Offset in the destination buffer */
 244         unsigned buffer_offset;
 245 };
 246
 247 /* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued
 248  * until the first response arrives */
 249 #define MAX_PENDING_REQUESTS 3
 250
 251 /* Pending requests are organized as a FIFO - circular buffer */
 252 /* Each block in FIFO can contain up to pending_queue_len transfers */
 253 static int pending_queue_len;
 254 static struct pending_request_block pending_fifo[MAX_PENDING_REQUESTS];
 255 static int pending_fifo_put_idx, pending_fifo_get_idx;
 256 static int pending_fifo_block_count;
 257
 258 /* pointers to buffers that will receive jtag scan results on the next flush */
 259 #define MAX_PENDING_SCAN_RESULTS 256
 260 static int pending_scan_result_count;
 261 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
 262
 263 /* queued JTAG sequences that will be executed on the next flush */
 264 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
 265 static int queued_seq_count;
 266 static int queued_seq_buf_end;
 267 static int queued_seq_tdo_ptr;
 268 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
 269
 270 static int queued_retval;
 271
 272 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
 273
 274 static struct cmsis_dap *cmsis_dap_handle;
 275
 276
 277 static int cmsis_dap_quit(void);
 278
 279 static int cmsis_dap_open(void)
 280 {
 281         const struct cmsis_dap_backend *backend = NULL;
 282
 283         struct cmsis_dap *dap = calloc(1, sizeof(struct cmsis_dap));
 284         if (!dap) {
 285                 LOG_ERROR("unable to allocate memory");
 286                 return ERROR_FAIL;
 287         }
 288
 289         if (cmsis_dap_backend >= 0) {
 290                 /* Use forced backend */
 291                 backend = cmsis_dap_backends[cmsis_dap_backend];
 292                 if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, cmsis_dap_serial) != ERROR_OK)
 293                         backend = NULL;
 294         } else {
 295                 /* Try all backends */
 296                 for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
 297                         backend = cmsis_dap_backends[i];
 298                         if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, cmsis_dap_serial) == ERROR_OK)
 299                                 break;
 300                         else
 301                                 backend = NULL;
 302                 }
 303         }
 304
 305         if (!backend) {
 306                 LOG_ERROR("unable to find a matching CMSIS-DAP device");
 307                 free(dap);
 308                 return ERROR_FAIL;
 309         }
 310
 311         dap->backend = backend;
 312
 313         cmsis_dap_handle = dap;
 314
 315         return ERROR_OK;
 316 }
 317
 318 static void cmsis_dap_close(struct cmsis_dap *dap)
 319 {
 320         if (dap->backend) {
 321                 dap->backend->close(dap);
 322                 dap->backend = NULL;
 323         }
 324
 325         free(cmsis_dap_handle->packet_buffer);
 326         free(cmsis_dap_handle);
 327         cmsis_dap_handle = NULL;
 328         free(cmsis_dap_serial);
 329         cmsis_dap_serial = NULL;
 330
 331         for (int i = 0; i < MAX_PENDING_REQUESTS; i++) {
 332                 free(pending_fifo[i].transfers);
 333                 pending_fifo[i].transfers = NULL;
 334         }
 335 }
 336
 337 static void cmsis_dap_flush_read(struct cmsis_dap *dap)
 338 {
 339         unsigned int i;
 340         /* Some CMSIS-DAP adapters keep buffered packets over
 341          * USB close/open so we need to flush up to 64 old packets
 342          * to be sure all buffers are empty */
 343         for (i = 0; i < 64; i++) {
 344                 int retval = dap->backend->read(dap, 10);
 345                 if (retval == ERROR_TIMEOUT_REACHED)
 346                         break;
 347         }
 348         if (i)
 349                 LOG_DEBUG("Flushed %u packets", i);
 350 }
 351
 352 /* Send a message and receive the reply */
 353 static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
 354 {
 355         if (pending_fifo_block_count) {
 356                 LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count);
 357                 while (pending_fifo_block_count) {
 358                         dap->backend->read(dap, 10);
 359                         pending_fifo_block_count--;
 360                 }
 361                 pending_fifo_put_idx = 0;
 362                 pending_fifo_get_idx = 0;
 363         }
 364
 365         uint8_t current_cmd = cmsis_dap_handle->command[0];
 366         int retval = dap->backend->write(dap, txlen, USB_TIMEOUT);
 367         if (retval < 0)
 368                 return retval;
 369
 370         /* get reply */
 371         retval = dap->backend->read(dap, USB_TIMEOUT);
 372         if (retval < 0)
 373                 return retval;
 374
 375         uint8_t *resp = cmsis_dap_handle->response;
 376         if (resp[0] == DAP_ERROR) {
 377                 LOG_ERROR("CMSIS-DAP command 0x%" PRIx8 " not implemented", current_cmd);
 378                 return ERROR_NOT_IMPLEMENTED;
 379         }
 380
 381         if (resp[0] != current_cmd) {
 382                 LOG_ERROR("CMSIS-DAP command mismatch. Sent 0x%" PRIx8
 383                          " received 0x%" PRIx8, current_cmd, resp[0]);
 384
 385                 cmsis_dap_flush_read(dap);
 386                 return ERROR_FAIL;
 387         }
 388
 389         return ERROR_OK;
 390 }
 391
 392 static int cmsis_dap_cmd_dap_swj_pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
 393 {
 394         uint8_t *command = cmsis_dap_handle->command;
 395
 396         command[0] = CMD_DAP_SWJ_PINS;
 397         command[1] = pins;
 398         command[2] = mask;
 399         h_u32_to_le(&command[3], delay);
 400
 401         int retval = cmsis_dap_xfer(cmsis_dap_handle, 7);
 402         if (retval != ERROR_OK) {
 403                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
 404                 return ERROR_JTAG_DEVICE_ERROR;
 405         }
 406
 407         if (input)
 408                 *input = cmsis_dap_handle->response[1];
 409
 410         return ERROR_OK;
 411 }
 412
 413 static int cmsis_dap_cmd_dap_swj_clock(uint32_t swj_clock)
 414 {
 415         uint8_t *command = cmsis_dap_handle->command;
 416
 417         /* set clock in Hz */
 418         swj_clock *= 1000;
 419
 420         command[0] = CMD_DAP_SWJ_CLOCK;
 421         h_u32_to_le(&command[1], swj_clock);
 422
 423         int retval = cmsis_dap_xfer(cmsis_dap_handle, 5);
 424         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 425                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
 426                 return ERROR_JTAG_DEVICE_ERROR;
 427         }
 428
 429         return ERROR_OK;
 430 }
 431
 432 /* clock a sequence of bits out on TMS, to change JTAG states */
 433 static int cmsis_dap_cmd_dap_swj_sequence(uint8_t s_len, const uint8_t *sequence)
 434 {
 435         uint8_t *command = cmsis_dap_handle->command;
 436
 437 #ifdef CMSIS_DAP_JTAG_DEBUG
 438         LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
 439         for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
 440                 printf("%02X ", sequence[i]);
 441
 442         printf("\n");
 443 #endif
 444
 445         command[0] = CMD_DAP_SWJ_SEQ;
 446         command[1] = s_len;
 447         bit_copy(&command[2], 0, sequence, 0, s_len);
 448
 449         int retval = cmsis_dap_xfer(cmsis_dap_handle, 2 + DIV_ROUND_UP(s_len, 8));
 450         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK)
 451                 return ERROR_FAIL;
 452
 453         return ERROR_OK;
 454 }
 455
 456 static int cmsis_dap_cmd_dap_info(uint8_t info, uint8_t **data)
 457 {
 458         uint8_t *command = cmsis_dap_handle->command;
 459
 460         command[0] = CMD_DAP_INFO;
 461         command[1] = info;
 462
 463         int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
 464         if (retval != ERROR_OK) {
 465                 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
 466                 return ERROR_JTAG_DEVICE_ERROR;
 467         }
 468
 469         *data = &cmsis_dap_handle->response[1];
 470
 471         return ERROR_OK;
 472 }
 473
 474 static int cmsis_dap_cmd_dap_led(uint8_t led, uint8_t state)
 475 {
 476         uint8_t *command = cmsis_dap_handle->command;
 477
 478         command[0] = CMD_DAP_LED;
 479         command[1] = led;
 480         command[2] = state;
 481
 482         int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
 483         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 484                 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
 485                 return ERROR_JTAG_DEVICE_ERROR;
 486         }
 487
 488         return ERROR_OK;
 489 }
 490
 491 static int cmsis_dap_cmd_dap_connect(uint8_t mode)
 492 {
 493         uint8_t *command = cmsis_dap_handle->command;
 494
 495         command[0] = CMD_DAP_CONNECT;
 496         command[1] = mode;
 497
 498         int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
 499         if (retval != ERROR_OK) {
 500                 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
 501                 return ERROR_JTAG_DEVICE_ERROR;
 502         }
 503
 504         if (cmsis_dap_handle->response[1] != mode) {
 505                 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
 506                 return ERROR_JTAG_DEVICE_ERROR;
 507         }
 508
 509         return ERROR_OK;
 510 }
 511
 512 static int cmsis_dap_cmd_dap_disconnect(void)
 513 {
 514         uint8_t *command = cmsis_dap_handle->command;
 515
 516         command[0] = CMD_DAP_DISCONNECT;
 517
 518         int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
 519         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 520                 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
 521                 return ERROR_JTAG_DEVICE_ERROR;
 522         }
 523
 524         return ERROR_OK;
 525 }
 526
 527 static int cmsis_dap_cmd_dap_tfer_configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
 528 {
 529         uint8_t *command = cmsis_dap_handle->command;
 530
 531         command[0] = CMD_DAP_TFER_CONFIGURE;
 532         command[1] = idle;
 533         h_u16_to_le(&command[2], retry_count);
 534         h_u16_to_le(&command[4], match_retry);
 535
 536         int retval = cmsis_dap_xfer(cmsis_dap_handle, 6);
 537         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 538                 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
 539                 return ERROR_JTAG_DEVICE_ERROR;
 540         }
 541
 542         return ERROR_OK;
 543 }
 544
 545 static int cmsis_dap_cmd_dap_swd_configure(uint8_t cfg)
 546 {
 547         uint8_t *command = cmsis_dap_handle->command;
 548
 549         command[0] = CMD_DAP_SWD_CONFIGURE;
 550         command[1] = cfg;
 551
 552         int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
 553         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 554                 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
 555                 return ERROR_JTAG_DEVICE_ERROR;
 556         }
 557
 558         return ERROR_OK;
 559 }
 560
 561 #if 0
 562 static int cmsis_dap_cmd_dap_delay(uint16_t delay_us)
 563 {
 564         uint8_t *command = cmsis_dap_handle->command;
 565
 566         command[0] = CMD_DAP_DELAY;
 567         h_u16_to_le(&command[1], delay_us);
 568
 569         int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
 570         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 571                 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
 572                 return ERROR_JTAG_DEVICE_ERROR;
 573         }
 574
 575         return ERROR_OK;
 576 }
 577 #endif
 578
 579 static int cmsis_dap_metacmd_targetsel(uint32_t instance_id)
 580 {
 581         uint8_t *command = cmsis_dap_handle->command;
 582         const uint32_t SEQ_RD = 0x80, SEQ_WR = 0x00;
 583
 584         /* SWD multi-drop requires a transfer ala CMD_DAP_TFER,
 585         but with no expectation of an SWD ACK response.  In
 586         CMSIS-DAP v1.20 and v2.00, CMD_DAP_SWD_SEQUENCE was
 587         added to allow this special sequence to be generated.
 588         The purpose of this operation is to select the target
 589         corresponding to the instance_id that is written */
 590
 591         size_t idx = 0;
 592         command[idx++] = CMD_DAP_SWD_SEQUENCE;
 593         command[idx++] = 3;     /* sequence count */
 594
 595         /* sequence 0: packet request for TARGETSEL */
 596         command[idx++] = SEQ_WR | 8;
 597         command[idx++] = SWD_CMD_START | swd_cmd(false, false, DP_TARGETSEL) | SWD_CMD_STOP | SWD_CMD_PARK;
 598
 599         /* sequence 1: read Trn ACK Trn, no expectation for target to ACK  */
 600         command[idx++] = SEQ_RD | 5;
 601
 602         /* sequence 2: WDATA plus parity */
 603         command[idx++] = SEQ_WR | (32 + 1);
 604         h_u32_to_le(command + idx, instance_id);
 605         idx += 4;
 606         command[idx++] = parity_u32(instance_id);
 607
 608         int retval = cmsis_dap_xfer(cmsis_dap_handle, idx);
 609         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 610                 LOG_ERROR("CMSIS-DAP command SWD_Sequence failed.");
 611                 return ERROR_JTAG_DEVICE_ERROR;
 612         }
 613
 614         return ERROR_OK;
 615 }
 616
 617 /**
 618  * Sets the SWO transport mode.
 619  * @param[in] transport     The transport mode. Can be None, SWO_Data or
 620  *                          WinUSB (requires CMSIS-DAP v2).
 621  */
 622 static int cmsis_dap_cmd_dap_swo_transport(uint8_t transport)
 623 {
 624         uint8_t *command = cmsis_dap_handle->command;
 625
 626         command[0] = CMD_DAP_SWO_TRANSPORT;
 627         command[1] = transport;
 628
 629         int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
 630         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 631                 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Transport(%d) failed.", transport);
 632                 return ERROR_JTAG_DEVICE_ERROR;
 633         }
 634
 635         return ERROR_OK;
 636 }
 637
 638 /**
 639  * Sets the SWO trace capture mode.
 640  * @param[in] mode          Trace capture mode. Can be UART or MANCHESTER.
 641  */
 642 static int cmsis_dap_cmd_dap_swo_mode(uint8_t mode)
 643 {
 644         uint8_t *command = cmsis_dap_handle->command;
 645
 646         command[0] = CMD_DAP_SWO_MODE;
 647         command[1] = mode;
 648
 649         int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
 650         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 651                 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Mode(%d) failed.", mode);
 652                 return ERROR_JTAG_DEVICE_ERROR;
 653         }
 654
 655         return ERROR_OK;
 656 }
 657
 658 /**
 659  * Sets the baudrate for capturing SWO trace data.
 660  * Can be called iteratively to determine supported baudrates.
 661  * @param[in]  in_baudrate  Requested baudrate.
 662  * @param[out] dev_baudrate Actual baudrate or 0 (baudrate not configured).
 663  *                          When requested baudrate is not achievable the
 664  *                          closest configured baudrate can be returned or
 665  *                          0 which indicates that baudrate was not configured.
 666  */
 667 static int cmsis_dap_cmd_dap_swo_baudrate(
 668                                         uint32_t in_baudrate,
 669                                         uint32_t *dev_baudrate)
 670 {
 671         uint8_t *command = cmsis_dap_handle->command;
 672
 673         command[0] = CMD_DAP_SWO_BAUDRATE;
 674         h_u32_to_le(&command[1], in_baudrate);
 675
 676         int retval = cmsis_dap_xfer(cmsis_dap_handle, 4);
 677         uint32_t rvbr = le_to_h_u32(&cmsis_dap_handle->response[1]);
 678         if (retval != ERROR_OK || rvbr == 0) {
 679                 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Baudrate(%u) -> %u failed.", in_baudrate, rvbr);
 680                 if (dev_baudrate)
 681                         *dev_baudrate = 0;
 682                 return ERROR_JTAG_DEVICE_ERROR;
 683         }
 684
 685         if (dev_baudrate)
 686                 *dev_baudrate = rvbr;
 687
 688         return ERROR_OK;
 689 }
 690
 691 /**
 692  * Controls the SWO trace data capture.
 693  * @param[in] control       Start or stop a trace. Starting capture automatically
 694  *                          flushes any existing trace data in buffers which has
 695  *                          not yet been read.
 696  */
 697 static int cmsis_dap_cmd_dap_swo_control(uint8_t control)
 698 {
 699         uint8_t *command = cmsis_dap_handle->command;
 700
 701         command[0] = CMD_DAP_SWO_CONTROL;
 702         command[1] = control;
 703
 704         int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
 705         if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
 706                 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Control(%d) failed.", control);
 707                 return ERROR_JTAG_DEVICE_ERROR;
 708         }
 709
 710         return ERROR_OK;
 711 }
 712
 713 /**
 714  * Reads the SWO trace status.
 715  * @param[out] trace_status The trace's status.
 716  *                          Bit0: Trace Capture (1 - active, 0 - inactive).
 717  *                          Bit6: Trace Stream Error.
 718  *                          Bit7: Trace Buffer Overrun.
 719  * @param[out] trace_count  Number of bytes in Trace Buffer (not yet read).
 720  */
 721 static int cmsis_dap_cmd_dap_swo_status(
 722                                         uint8_t *trace_status,
 723                                         size_t *trace_count)
 724 {
 725         uint8_t *command = cmsis_dap_handle->command;
 726
 727         command[0] = CMD_DAP_SWO_STATUS;
 728
 729         int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
 730         if (retval != ERROR_OK) {
 731                 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Status failed.");
 732                 return ERROR_JTAG_DEVICE_ERROR;
 733         }
 734
 735         if (trace_status)
 736                 *trace_status = cmsis_dap_handle->response[1];
 737         if (trace_count)
 738                 *trace_count = le_to_h_u32(&cmsis_dap_handle->response[2]);
 739
 740         return ERROR_OK;
 741 }
 742
 743 /**
 744  * Reads the captured SWO trace data from Trace Buffer.
 745  * @param[in]  max_trace_count Maximum number of Trace Data bytes to read.
 746  * @param[out] trace_status The trace's status.
 747  * @param[out] trace_count  Number of Trace Data bytes read.
 748  * @param[out] data         Trace Data bytes read.
 749  */
 750 static int cmsis_dap_cmd_dap_swo_data(
 751                                         size_t max_trace_count,
 752                                         uint8_t *trace_status,
 753                                         size_t *trace_count,
 754                                         uint8_t *data)
 755 {
 756         uint8_t *command = cmsis_dap_handle->command;
 757
 758         command[0] = CMD_DAP_SWO_DATA;
 759         h_u16_to_le(&command[1], max_trace_count);
 760
 761         int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
 762         if (retval != ERROR_OK) {
 763                 LOG_ERROR("CMSIS-DAP: command CMD_SWO_Data failed.");
 764                 return ERROR_JTAG_DEVICE_ERROR;
 765         }
 766
 767         *trace_status = cmsis_dap_handle->response[1];
 768         *trace_count = le_to_h_u16(&cmsis_dap_handle->response[2]);
 769
 770         if (*trace_count > 0)
 771                 memcpy(data, &cmsis_dap_handle->response[4], *trace_count);
 772
 773         return ERROR_OK;
 774 }
 775
 776 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
 777 {
 778         uint8_t *command = cmsis_dap_handle->command;
 779         struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
 780
 781         LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx);
 782
 783         if (queued_retval != ERROR_OK) {
 784                 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 785                 goto skip;
 786         }
 787
 788         if (block->transfer_count == 0)
 789                 goto skip;
 790
 791         command[0] = CMD_DAP_TFER;
 792         command[1] = 0x00;      /* DAP Index */
 793         command[2] = block->transfer_count;
 794         size_t idx = 3;
 795
 796         for (int i = 0; i < block->transfer_count; i++) {
 797                 struct pending_transfer_result *transfer = &(block->transfers[i]);
 798                 uint8_t cmd = transfer->cmd;
 799                 uint32_t data = transfer->data;
 800
 801                 LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
 802                                 cmd & SWD_CMD_APNDP ? "AP" : "DP",
 803                                 cmd & SWD_CMD_RNW ? "read" : "write",
 804                           (cmd & SWD_CMD_A32) >> 1, data);
 805
 806                 /* When proper WAIT handling is implemented in the
 807                  * common SWD framework, this kludge can be
 808                  * removed. However, this might lead to minor
 809                  * performance degradation as the adapter wouldn't be
 810                  * able to automatically retry anything (because ARM
 811                  * has forgotten to implement sticky error flags
 812                  * clearing). See also comments regarding
 813                  * cmsis_dap_cmd_dap_tfer_configure() and
 814                  * cmsis_dap_cmd_dap_swd_configure() in
 815                  * cmsis_dap_init().
 816                  */
 817                 if (!(cmd & SWD_CMD_RNW) &&
 818                     !(cmd & SWD_CMD_APNDP) &&
 819                     (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
 820                     (data & CORUNDETECT)) {
 821                         LOG_DEBUG("refusing to enable sticky overrun detection");
 822                         data &= ~CORUNDETECT;
 823                 }
 824
 825                 command[idx++] = (cmd >> 1) & 0x0f;
 826                 if (!(cmd & SWD_CMD_RNW)) {
 827                         h_u32_to_le(&command[idx], data);
 828                         idx += 4;
 829                 }
 830         }
 831
 832         int retval = dap->backend->write(dap, idx, USB_TIMEOUT);
 833         if (retval < 0) {
 834                 queued_retval = retval;
 835                 goto skip;
 836         } else {
 837                 queued_retval = ERROR_OK;
 838         }
 839
 840         pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count;
 841         pending_fifo_block_count++;
 842         if (pending_fifo_block_count > dap->packet_count)
 843                 LOG_ERROR("too much pending writes %d", pending_fifo_block_count);
 844
 845         return;
 846
 847 skip:
 848         block->transfer_count = 0;
 849 }
 850
 851 static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
 852 {
 853         struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx];
 854
 855         if (pending_fifo_block_count == 0)
 856                 LOG_ERROR("no pending write");
 857
 858         /* get reply */
 859         int retval = dap->backend->read(dap, timeout_ms);
 860         if (retval == ERROR_TIMEOUT_REACHED && timeout_ms < USB_TIMEOUT)
 861                 return;
 862
 863         if (retval <= 0) {
 864                 LOG_DEBUG("error reading data");
 865                 queued_retval = ERROR_FAIL;
 866                 goto skip;
 867         }
 868
 869         uint8_t *resp = dap->response;
 870         if (resp[0] != CMD_DAP_TFER) {
 871                 LOG_ERROR("CMSIS-DAP command mismatch. Expected 0x%x received 0x%" PRIx8,
 872                         CMD_DAP_TFER, resp[0]);
 873                 queued_retval = ERROR_FAIL;
 874                 goto skip;
 875         }
 876
 877         uint8_t transfer_count = resp[1];
 878         uint8_t ack = resp[2] & 0x07;
 879         if (resp[2] & 0x08) {
 880                 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", transfer_count);
 881                 queued_retval = ERROR_FAIL;
 882                 goto skip;
 883         }
 884         if (ack != SWD_ACK_OK) {
 885                 LOG_DEBUG("SWD ack not OK @ %d %s", transfer_count,
 886                           ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
 887                 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 888                 /* TODO: use results of transfers completed before the error occurred? */
 889                 goto skip;
 890         }
 891
 892         if (block->transfer_count != transfer_count)
 893                 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
 894                           block->transfer_count, transfer_count);
 895
 896         LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d",
 897                  transfer_count, pending_fifo_get_idx);
 898         size_t idx = 3;
 899         for (int i = 0; i < transfer_count; i++) {
 900                 struct pending_transfer_result *transfer = &(block->transfers[i]);
 901                 if (transfer->cmd & SWD_CMD_RNW) {
 902                         static uint32_t last_read;
 903                         uint32_t data = le_to_h_u32(&resp[idx]);
 904                         uint32_t tmp = data;
 905                         idx += 4;
 906
 907                         LOG_DEBUG_IO("Read result: %"PRIx32, data);
 908
 909                         /* Imitate posted AP reads */
 910                         if ((transfer->cmd & SWD_CMD_APNDP) ||
 911                             ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
 912                                 tmp = last_read;
 913                                 last_read = data;
 914                         }
 915
 916                         if (transfer->buffer)
 917                                 *(uint32_t *)(transfer->buffer) = tmp;
 918                 }
 919         }
 920
 921 skip:
 922         block->transfer_count = 0;
 923         pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count;
 924         pending_fifo_block_count--;
 925 }
 926
 927 static int cmsis_dap_swd_run_queue(void)
 928 {
 929         if (pending_fifo_block_count)
 930                 cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
 931
 932         cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
 933
 934         while (pending_fifo_block_count)
 935                 cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
 936
 937         pending_fifo_put_idx = 0;
 938         pending_fifo_get_idx = 0;
 939
 940         int retval = queued_retval;
 941         queued_retval = ERROR_OK;
 942
 943         return retval;
 944 }
 945
 946 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 947 {
 948         bool targetsel_cmd = swd_cmd(false, false, DP_TARGETSEL) == cmd;
 949
 950         if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len
 951                          || targetsel_cmd) {
 952                 if (pending_fifo_block_count)
 953                         cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
 954
 955                 /* Not enough room in the queue. Run the queue. */
 956                 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
 957
 958                 if (pending_fifo_block_count >= cmsis_dap_handle->packet_count)
 959                         cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
 960         }
 961
 962         if (queued_retval != ERROR_OK)
 963                 return;
 964
 965         if (targetsel_cmd) {
 966                 cmsis_dap_metacmd_targetsel(data);
 967                 return;
 968         }
 969
 970         struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
 971         struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
 972         transfer->data = data;
 973         transfer->cmd = cmd;
 974         if (cmd & SWD_CMD_RNW) {
 975                 /* Queue a read transaction */
 976                 transfer->buffer = dst;
 977         }
 978         block->transfer_count++;
 979 }
 980
 981 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
 982 {
 983         assert(!(cmd & SWD_CMD_RNW));
 984         cmsis_dap_swd_queue_cmd(cmd, NULL, value);
 985 }
 986
 987 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
 988 {
 989         assert(cmd & SWD_CMD_RNW);
 990         cmsis_dap_swd_queue_cmd(cmd, value, 0);
 991 }
 992
 993 static int cmsis_dap_get_serial_info(void)
 994 {
 995         uint8_t *data;
 996
 997         int retval = cmsis_dap_cmd_dap_info(INFO_ID_SERNUM, &data);
 998         if (retval != ERROR_OK)
 999                 return retval;
1000
1001         if (data[0]) /* strlen */
1002                 LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
1003
1004         return ERROR_OK;
1005 }
1006
1007 static int cmsis_dap_get_version_info(void)
1008 {
1009         uint8_t *data;
1010
1011         /* INFO_ID_FW_VER - string */
1012         int retval = cmsis_dap_cmd_dap_info(INFO_ID_FW_VER, &data);
1013         if (retval != ERROR_OK)
1014                 return retval;
1015
1016         if (data[0]) /* strlen */
1017                 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
1018
1019         return ERROR_OK;
1020 }
1021
1022 static int cmsis_dap_get_caps_info(void)
1023 {
1024         uint8_t *data;
1025
1026         /* INFO_ID_CAPS - byte */
1027         int retval = cmsis_dap_cmd_dap_info(INFO_ID_CAPS, &data);
1028         if (retval != ERROR_OK)
1029                 return retval;
1030
1031         if (data[0] == 1 || data[0] == 2) {
1032                 uint16_t caps = data[1];
1033                 if (data[0] == 2)
1034                         caps |= (uint16_t)data[2] << 8;
1035
1036                 cmsis_dap_handle->caps = caps;
1037
1038                 for (int i = 0; i < INFO_CAPS__NUM_CAPS; ++i) {
1039                         if (caps & BIT(i))
1040                                 LOG_INFO("CMSIS-DAP: %s", info_caps_str[i]);
1041                 }
1042         }
1043
1044         return ERROR_OK;
1045 }
1046
1047 static int cmsis_dap_get_swo_buf_sz(uint32_t *swo_buf_sz)
1048 {
1049         uint8_t *data;
1050
1051         /* INFO_ID_SWO_BUF_SZ - word */
1052         int retval = cmsis_dap_cmd_dap_info(INFO_ID_SWO_BUF_SZ, &data);
1053         if (retval != ERROR_OK)
1054                 return retval;
1055
1056         if (data[0] != 4)
1057                 return ERROR_FAIL;
1058
1059         *swo_buf_sz = le_to_h_u32(&data[1]);
1060
1061         LOG_INFO("CMSIS-DAP: SWO Trace Buffer Size = %u bytes", *swo_buf_sz);
1062
1063         return ERROR_OK;
1064 }
1065
1066 static int cmsis_dap_get_status(void)
1067 {
1068         uint8_t d;
1069
1070         int retval = cmsis_dap_cmd_dap_swj_pins(0, 0, 0, &d);
1071
1072         if (retval == ERROR_OK) {
1073                 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
1074                         (d & SWJ_PIN_TCK) ? 1 : 0,
1075                         (d & SWJ_PIN_TMS) ? 1 : 0,
1076                         (d & SWJ_PIN_TDI) ? 1 : 0,
1077                         (d & SWJ_PIN_TDO) ? 1 : 0,
1078                         (d & SWJ_PIN_TRST) ? 1 : 0,
1079                         (d & SWJ_PIN_SRST) ? 1 : 0);
1080         }
1081
1082         return retval;
1083 }
1084
1085 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
1086 {
1087         const uint8_t *s;
1088         unsigned int s_len;
1089         int retval;
1090
1091         if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
1092                 /* Following workaround deasserts reset on most adapters.
1093                  * Do not reconnect if a reset line is active!
1094                  * Reconnecting would break connecting under reset. */
1095
1096                 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
1097                 cmsis_dap_cmd_dap_disconnect();
1098
1099                 /* When we are reconnecting, DAP_Connect needs to be rerun, at
1100                  * least on Keil ULINK-ME */
1101                 retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1102                 if (retval != ERROR_OK)
1103                         return retval;
1104         }
1105
1106         switch (seq) {
1107         case LINE_RESET:
1108                 LOG_DEBUG_IO("SWD line reset");
1109                 s = swd_seq_line_reset;
1110                 s_len = swd_seq_line_reset_len;
1111                 break;
1112         case JTAG_TO_SWD:
1113                 LOG_DEBUG("JTAG-to-SWD");
1114                 s = swd_seq_jtag_to_swd;
1115                 s_len = swd_seq_jtag_to_swd_len;
1116                 break;
1117         case JTAG_TO_DORMANT:
1118                 LOG_DEBUG("JTAG-to-DORMANT");
1119                 s = swd_seq_jtag_to_dormant;
1120                 s_len = swd_seq_jtag_to_dormant_len;
1121                 break;
1122         case SWD_TO_JTAG:
1123                 LOG_DEBUG("SWD-to-JTAG");
1124                 s = swd_seq_swd_to_jtag;
1125                 s_len = swd_seq_swd_to_jtag_len;
1126                 break;
1127         case SWD_TO_DORMANT:
1128                 LOG_DEBUG("SWD-to-DORMANT");
1129                 s = swd_seq_swd_to_dormant;
1130                 s_len = swd_seq_swd_to_dormant_len;
1131                 break;
1132         case DORMANT_TO_SWD:
1133                 LOG_DEBUG("DORMANT-to-SWD");
1134                 s = swd_seq_dormant_to_swd;
1135                 s_len = swd_seq_dormant_to_swd_len;
1136                 break;
1137         default:
1138                 LOG_ERROR("Sequence %d not supported", seq);
1139                 return ERROR_FAIL;
1140         }
1141
1142         retval = cmsis_dap_cmd_dap_swj_sequence(s_len, s);
1143         if (retval != ERROR_OK)
1144                 return retval;
1145
1146         /* Atmel EDBG needs renew clock setting after SWJ_Sequence
1147          * otherwise default frequency is used */
1148         return cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1149 }
1150
1151 static int cmsis_dap_swd_open(void)
1152 {
1153         if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
1154                 LOG_ERROR("CMSIS-DAP: SWD not supported");
1155                 return ERROR_JTAG_DEVICE_ERROR;
1156         }
1157
1158         int retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
1159         if (retval != ERROR_OK)
1160                 return retval;
1161
1162         /* Add more setup here.??... */
1163
1164         LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
1165         return ERROR_OK;
1166 }
1167
1168 static int cmsis_dap_init(void)
1169 {
1170         uint8_t *data;
1171
1172         int retval = cmsis_dap_open();
1173         if (retval != ERROR_OK)
1174                 return retval;
1175
1176         cmsis_dap_flush_read(cmsis_dap_handle);
1177
1178         retval = cmsis_dap_get_caps_info();
1179         if (retval != ERROR_OK)
1180                 return retval;
1181
1182         retval = cmsis_dap_get_version_info();
1183         if (retval != ERROR_OK)
1184                 return retval;
1185
1186         retval = cmsis_dap_get_serial_info();
1187         if (retval != ERROR_OK)
1188                 return retval;
1189
1190         if (swd_mode) {
1191                 retval = cmsis_dap_swd_open();
1192                 if (retval != ERROR_OK)
1193                         return retval;
1194         } else {
1195                 /* Connect in JTAG mode */
1196                 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
1197                         LOG_ERROR("CMSIS-DAP: JTAG not supported");
1198                         return ERROR_JTAG_DEVICE_ERROR;
1199                 }
1200
1201                 retval = cmsis_dap_cmd_dap_connect(CONNECT_JTAG);
1202                 if (retval != ERROR_OK)
1203                         return retval;
1204
1205                 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
1206         }
1207
1208         /* Be conservative and suppress submitting multiple HID requests
1209          * until we get packet count info from the adaptor */
1210         cmsis_dap_handle->packet_count = 1;
1211         pending_queue_len = 12;
1212
1213         /* INFO_ID_PKT_SZ - short */
1214         retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_SZ, &data);
1215         if (retval != ERROR_OK)
1216                 goto init_err;
1217
1218         if (data[0] == 2) {  /* short */
1219                 uint16_t pkt_sz = data[1] + (data[2] << 8);
1220                 if (pkt_sz != cmsis_dap_handle->packet_size) {
1221
1222                         /* 4 bytes of command header + 5 bytes per register
1223                          * write. For bulk read sequences just 4 bytes are
1224                          * needed per transfer, so this is suboptimal. */
1225                         pending_queue_len = (pkt_sz - 4) / 5;
1226
1227                         free(cmsis_dap_handle->packet_buffer);
1228                         retval = cmsis_dap_handle->backend->packet_buffer_alloc(cmsis_dap_handle, pkt_sz);
1229                         if (retval != ERROR_OK)
1230                                 goto init_err;
1231
1232                         LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRIu16, pkt_sz);
1233                 }
1234         }
1235
1236         /* INFO_ID_PKT_CNT - byte */
1237         retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_CNT, &data);
1238         if (retval != ERROR_OK)
1239                 goto init_err;
1240
1241         if (data[0] == 1) { /* byte */
1242                 int pkt_cnt = data[1];
1243                 if (pkt_cnt > 1)
1244                         cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
1245
1246                 LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt);
1247         }
1248
1249         LOG_DEBUG("Allocating FIFO for %d pending packets", cmsis_dap_handle->packet_count);
1250         for (int i = 0; i < cmsis_dap_handle->packet_count; i++) {
1251                 pending_fifo[i].transfers = malloc(pending_queue_len * sizeof(struct pending_transfer_result));
1252                 if (!pending_fifo[i].transfers) {
1253                         LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
1254                         retval = ERROR_FAIL;
1255                         goto init_err;
1256                 }
1257         }
1258
1259         /* Intentionally not checked for error, just logs an info message
1260          * not vital for further debugging */
1261         (void)cmsis_dap_get_status();
1262
1263         /* Now try to connect to the target
1264          * TODO: This is all SWD only @ present */
1265         retval = cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
1266         if (retval != ERROR_OK)
1267                 goto init_err;
1268
1269         /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
1270          * up to 64 times. This must be changed to 0 if sticky
1271          * overrun detection is enabled. */
1272         retval = cmsis_dap_cmd_dap_tfer_configure(0, 64, 0);
1273         if (retval != ERROR_OK)
1274                 goto init_err;
1275
1276         if (swd_mode) {
1277                 /* Data Phase (bit 2) must be set to 1 if sticky overrun
1278                  * detection is enabled */
1279                 retval = cmsis_dap_cmd_dap_swd_configure(0);    /* 1 TRN, no Data Phase */
1280                 if (retval != ERROR_OK)
1281                         goto init_err;
1282         }
1283         /* Both LEDs on */
1284         /* Intentionally not checked for error, debugging will work
1285          * without LEDs */
1286         (void)cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_ON);
1287         (void)cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_ON);
1288
1289         /* support connecting with srst asserted */
1290         enum reset_types jtag_reset_config = jtag_get_reset_config();
1291
1292         if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
1293                 if (jtag_reset_config & RESET_SRST_NO_GATING) {
1294                         retval = cmsis_dap_cmd_dap_swj_pins(0, SWJ_PIN_SRST, 0, NULL);
1295                         if (retval != ERROR_OK)
1296                                 goto init_err;
1297                         LOG_INFO("Connecting under reset");
1298                 }
1299         }
1300         LOG_INFO("CMSIS-DAP: Interface ready");
1301         return ERROR_OK;
1302
1303 init_err:
1304         cmsis_dap_quit();
1305         return retval;
1306 }
1307
1308 static int cmsis_dap_swd_init(void)
1309 {
1310         swd_mode = true;
1311         return ERROR_OK;
1312 }
1313
1314 static int cmsis_dap_quit(void)
1315 {
1316         cmsis_dap_cmd_dap_disconnect();
1317
1318         /* Both LEDs off */
1319         cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_OFF);
1320         cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_OFF);
1321
1322         cmsis_dap_close(cmsis_dap_handle);
1323
1324         return ERROR_OK;
1325 }
1326
1327 static int cmsis_dap_reset(int trst, int srst)
1328 {
1329         /* Set both TRST and SRST even if they're not enabled as
1330          * there's no way to tristate them */
1331
1332         output_pins = 0;
1333         if (!srst)
1334                 output_pins |= SWJ_PIN_SRST;
1335         if (!trst)
1336                 output_pins |= SWJ_PIN_TRST;
1337
1338         int retval = cmsis_dap_cmd_dap_swj_pins(output_pins,
1339                         SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1340         if (retval != ERROR_OK)
1341                 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1342         return retval;
1343 }
1344
1345 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1346 {
1347 #if 0
1348         int retval = cmsis_dap_cmd_dap_delay(cmd->cmd.sleep->us);
1349         if (retval != ERROR_OK)
1350 #endif
1351                 jtag_sleep(cmd->cmd.sleep->us);
1352 }
1353
1354 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1355 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1356 {
1357         LOG_INFO("cmsis-dap JTAG TLR_RESET");
1358         uint8_t seq = 0xff;
1359
1360         int retval = cmsis_dap_cmd_dap_swj_sequence(8, &seq);
1361         if (retval == ERROR_OK)
1362                 tap_set_state(TAP_RESET);
1363         return retval;
1364 }
1365
1366 /* Set new end state */
1367 static void cmsis_dap_end_state(tap_state_t state)
1368 {
1369         if (tap_is_state_stable(state))
1370                 tap_set_end_state(state);
1371         else {
1372                 LOG_ERROR("BUG: %i is not a valid end state", state);
1373                 exit(-1);
1374         }
1375 }
1376
1377 #ifdef SPRINT_BINARY
1378 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1379 {
1380         if (!len)
1381                 return;
1382
1383         /*
1384         buf = { 0x18 } len=5 should result in: 11000
1385         buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1386         buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1387                 i=3 there means i/8 = 0 so c = 0xFF, and
1388         */
1389         for (int i = offset; i < offset + len; ++i) {
1390                 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1391                 if ((i != offset) && !(i % 8))
1392                         putchar(' ');
1393                 *s++ = (c & mask) ? '1' : '0';
1394         }
1395         *s = 0;
1396 }
1397 #endif
1398
1399 #ifdef CMSIS_DAP_JTAG_DEBUG
1400 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1401 {
1402         /* cmd is a usb packet to go to the cmsis-dap interface */
1403         printf("cmsis-dap buffer (%d b): ", cmdlen);
1404         for (int i = 0; i < cmdlen; ++i)
1405                 printf(" %02x", cmd[i]);
1406         printf("\n");
1407         switch (cmd[1]) {
1408                 case CMD_DAP_JTAG_SEQ: {
1409                         printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
1410                         /*
1411                          * #2 = number of sequences
1412                          * #3 = sequence info 1
1413                          * #4...4+n_bytes-1 = sequence 1
1414                          * #4+n_bytes = sequence info 2
1415                          * #5+n_bytes = sequence 2 (single bit)
1416                          */
1417                         int pos = 3;
1418                         for (int seq = 0; seq < cmd[2]; ++seq) {
1419                                 uint8_t info = cmd[pos++];
1420                                 int len = info & DAP_JTAG_SEQ_TCK;
1421                                 if (len == 0)
1422                                         len = 64;
1423                                 printf("  sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1424                                         seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1425                                 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1426                                         printf(" %02x", cmd[pos+i]);
1427                                 pos += DIV_ROUND_UP(len, 8);
1428                                 printf("\n");
1429                         }
1430                         if (pos != cmdlen) {
1431                                 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1432                                 exit(-1);
1433                         }
1434
1435                         break;
1436                 }
1437                 default:
1438                         LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1439                         break;
1440         }
1441 }
1442 #endif
1443
1444 static void cmsis_dap_flush(void)
1445 {
1446         if (!queued_seq_count)
1447                 return;
1448
1449         LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1450                 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1451
1452         /* prepare CMSIS-DAP packet */
1453         uint8_t *command = cmsis_dap_handle->command;
1454         command[0] = CMD_DAP_JTAG_SEQ;
1455         command[1] = queued_seq_count;
1456         memcpy(&command[2], queued_seq_buf, queued_seq_buf_end);
1457
1458 #ifdef CMSIS_DAP_JTAG_DEBUG
1459         debug_parse_cmsis_buf(command, queued_seq_buf_end + 2);
1460 #endif
1461
1462         /* send command to USB device */
1463         int retval = cmsis_dap_xfer(cmsis_dap_handle, queued_seq_buf_end + 2);
1464
1465         uint8_t *resp = cmsis_dap_handle->response;
1466         if (retval != ERROR_OK || resp[1] != DAP_OK) {
1467                 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1468                 exit(-1);
1469         }
1470
1471 #ifdef CMSIS_DAP_JTAG_DEBUG
1472         LOG_DEBUG_IO("USB response buf:");
1473         for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1474                 printf("%02X ", resp[c]);
1475         printf("\n");
1476 #endif
1477
1478         /* copy scan results into client buffers */
1479         for (int i = 0; i < pending_scan_result_count; ++i) {
1480                 struct pending_scan_result *scan = &pending_scan_results[i];
1481                 LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1482                         i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1483 #ifdef CMSIS_DAP_JTAG_DEBUG
1484                 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1485                         printf("%02X ", resp[2+scan->first+b]);
1486                 printf("\n");
1487 #endif
1488                 bit_copy(scan->buffer, scan->buffer_offset, &resp[2 + scan->first], 0, scan->length);
1489         }
1490
1491         /* reset */
1492         queued_seq_count = 0;
1493         queued_seq_buf_end = 0;
1494         queued_seq_tdo_ptr = 0;
1495         pending_scan_result_count = 0;
1496 }
1497
1498 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1499  *
1500  * sequence=NULL means clock out zeros on TDI
1501  * tdo_buffer=NULL means don't capture TDO
1502  */
1503 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1504                                         bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1505 {
1506         LOG_DEBUG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1507                 queued_seq_buf_end,
1508                 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1509
1510         if (s_len == 0)
1511                 return;
1512
1513         if (s_len > 64) {
1514                 LOG_DEBUG_IO("START JTAG SEQ SPLIT");
1515                 for (int offset = 0; offset < s_len; offset += 64) {
1516                         int len = s_len - offset;
1517                         if (len > 64)
1518                                 len = 64;
1519                         LOG_DEBUG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1520                         cmsis_dap_add_jtag_sequence(
1521                                 len,
1522                                 sequence,
1523                                 s_offset + offset,
1524                                 tms,
1525                                 tdo_buffer,
1526                                 !tdo_buffer ? 0 : (tdo_buffer_offset + offset)
1527                                 );
1528                 }
1529                 LOG_DEBUG_IO("END JTAG SEQ SPLIT");
1530                 return;
1531         }
1532
1533         int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1534         if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1535                 /* empty out the buffer */
1536                 cmsis_dap_flush();
1537
1538         ++queued_seq_count;
1539
1540         /* control byte */
1541         queued_seq_buf[queued_seq_buf_end] =
1542                 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1543                 (tdo_buffer ? DAP_JTAG_SEQ_TDO : 0) |
1544                 (s_len == 64 ? 0 : s_len);
1545
1546         if (sequence)
1547                 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1548         else
1549                 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1550
1551         queued_seq_buf_end += cmd_len;
1552
1553         if (tdo_buffer) {
1554                 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1555                 scan->first = queued_seq_tdo_ptr;
1556                 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1557                 scan->length = s_len;
1558                 scan->buffer = tdo_buffer;
1559                 scan->buffer_offset = tdo_buffer_offset;
1560         }
1561 }
1562
1563 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1564 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1565 {
1566         LOG_DEBUG_IO("%d bits: %02X", s_len, *sequence);
1567         /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1568            because even though it seems ridiculously inefficient, it
1569            allows us to combine TMS and scan sequences into the same
1570            USB packet. */
1571         /* TODO: combine runs of the same tms value */
1572         for (int i = 0; i < s_len; ++i) {
1573                 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1574                 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1575         }
1576 }
1577
1578 /* Move to the end state by queuing a sequence to clock into TMS */
1579 static void cmsis_dap_state_move(void)
1580 {
1581         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1582         uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1583
1584         LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms",
1585                 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1586                 tms_scan_bits, tms_scan);
1587         cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1588
1589         tap_set_state(tap_get_end_state());
1590 }
1591
1592
1593 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1594 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1595 {
1596         LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1597                 jtag_scan_type(cmd->cmd.scan));
1598
1599         /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1600         while (cmd->cmd.scan->num_fields > 0
1601                         && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1602                 cmd->cmd.scan->num_fields--;
1603                 LOG_DEBUG("discarding trailing empty field");
1604         }
1605
1606         if (cmd->cmd.scan->num_fields == 0) {
1607                 LOG_DEBUG("empty scan, doing nothing");
1608                 return;
1609         }
1610
1611         if (cmd->cmd.scan->ir_scan) {
1612                 if (tap_get_state() != TAP_IRSHIFT) {
1613                         cmsis_dap_end_state(TAP_IRSHIFT);
1614                         cmsis_dap_state_move();
1615                 }
1616         } else {
1617                 if (tap_get_state() != TAP_DRSHIFT) {
1618                         cmsis_dap_end_state(TAP_DRSHIFT);
1619                         cmsis_dap_state_move();
1620                 }
1621         }
1622
1623         cmsis_dap_end_state(cmd->cmd.scan->end_state);
1624
1625         struct scan_field *field = cmd->cmd.scan->fields;
1626         unsigned scan_size = 0;
1627
1628         for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1629                 scan_size += field->num_bits;
1630                 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
1631                         field->in_value ? "in" : "",
1632                         field->out_value ? "out" : "",
1633                         i,
1634                         cmd->cmd.scan->num_fields,
1635                         field->num_bits);
1636
1637                 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1638                         LOG_DEBUG_IO("Last field and have to move out of SHIFT state");
1639                         /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1640                          * movement. This last field can't have length zero, it was checked above. */
1641                         cmsis_dap_add_jtag_sequence(
1642                                 field->num_bits - 1, /* number of bits to clock */
1643                                 field->out_value, /* output sequence */
1644                                 0, /* output offset */
1645                                 false, /* TMS low */
1646                                 field->in_value,
1647                                 0);
1648
1649                         /* Clock the last bit out, with TMS high */
1650                         uint8_t last_bit = 0;
1651                         if (field->out_value)
1652                                 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1653                         cmsis_dap_add_jtag_sequence(
1654                                 1,
1655                                 &last_bit,
1656                                 0,
1657                                 true,
1658                                 field->in_value,
1659                                 field->num_bits - 1);
1660                         tap_set_state(tap_state_transition(tap_get_state(), 1));
1661
1662                         /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1663                         cmsis_dap_add_jtag_sequence(
1664                                 1,
1665                                 &last_bit,
1666                                 0,
1667                                 false,
1668                                 NULL,
1669                                 0);
1670                         tap_set_state(tap_state_transition(tap_get_state(), 0));
1671                 } else {
1672                         LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards");
1673                         /* Clocking part of a sequence into DR or IR with TMS=0,
1674                            leaving TMS=0 at the end so we can continue later */
1675                         cmsis_dap_add_jtag_sequence(
1676                                 field->num_bits,
1677                                 field->out_value,
1678                                 0,
1679                                 false,
1680                                 field->in_value,
1681                                 0);
1682                 }
1683         }
1684
1685         if (tap_get_state() != tap_get_end_state()) {
1686                 cmsis_dap_end_state(tap_get_end_state());
1687                 cmsis_dap_state_move();
1688         }
1689
1690         LOG_DEBUG_IO("%s scan, %i bits, end in %s",
1691                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1692                 tap_state_name(tap_get_end_state()));
1693 }
1694
1695 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1696 {
1697         uint8_t tms0 = 0x00;
1698         uint8_t tms1 = 0xff;
1699
1700         for (int i = 0; i < num_states; i++) {
1701                 if (path[i] == tap_state_transition(tap_get_state(), false))
1702                         cmsis_dap_add_tms_sequence(&tms0, 1);
1703                 else if (path[i] == tap_state_transition(tap_get_state(), true))
1704                         cmsis_dap_add_tms_sequence(&tms1, 1);
1705                 else {
1706                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1707                                   tap_state_name(tap_get_state()), tap_state_name(path[i]));
1708                         exit(-1);
1709                 }
1710
1711                 tap_set_state(path[i]);
1712         }
1713
1714         cmsis_dap_end_state(tap_get_state());
1715 }
1716
1717 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1718 {
1719         LOG_DEBUG_IO("pathmove: %i states, end in %i",
1720                       cmd->cmd.pathmove->num_states,
1721                cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1722
1723         cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1724 }
1725
1726 static void cmsis_dap_stableclocks(int num_cycles)
1727 {
1728         uint8_t tms = tap_get_state() == TAP_RESET;
1729         /* TODO: Perform optimizations? */
1730         /* Execute num_cycles. */
1731         for (int i = 0; i < num_cycles; i++)
1732                 cmsis_dap_add_tms_sequence(&tms, 1);
1733 }
1734
1735 static void cmsis_dap_runtest(int num_cycles)
1736 {
1737         tap_state_t saved_end_state = tap_get_end_state();
1738
1739         /* Only do a state_move when we're not already in IDLE. */
1740         if (tap_get_state() != TAP_IDLE) {
1741                 cmsis_dap_end_state(TAP_IDLE);
1742                 cmsis_dap_state_move();
1743         }
1744         cmsis_dap_stableclocks(num_cycles);
1745
1746         /* Finish in end_state. */
1747         cmsis_dap_end_state(saved_end_state);
1748
1749         if (tap_get_state() != tap_get_end_state())
1750                 cmsis_dap_state_move();
1751 }
1752
1753 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1754 {
1755         LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1756                       cmd->cmd.runtest->end_state);
1757
1758         cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1759         cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1760 }
1761
1762 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1763 {
1764         LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1765         cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1766 }
1767
1768 static void cmsis_dap_execute_tms(struct jtag_command *cmd)
1769 {
1770         LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
1771         cmsis_dap_cmd_dap_swj_sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
1772 }
1773
1774 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1775  * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1776 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1777 {
1778         switch (cmd->type) {
1779                 case JTAG_SLEEP:
1780                         cmsis_dap_flush();
1781                         cmsis_dap_execute_sleep(cmd);
1782                         break;
1783                 case JTAG_TLR_RESET:
1784                         cmsis_dap_flush();
1785                         cmsis_dap_execute_tlr_reset(cmd);
1786                         break;
1787                 case JTAG_SCAN:
1788                         cmsis_dap_execute_scan(cmd);
1789                         break;
1790                 case JTAG_PATHMOVE:
1791                         cmsis_dap_execute_pathmove(cmd);
1792                         break;
1793                 case JTAG_RUNTEST:
1794                         cmsis_dap_execute_runtest(cmd);
1795                         break;
1796                 case JTAG_STABLECLOCKS:
1797                         cmsis_dap_execute_stableclocks(cmd);
1798                         break;
1799                 case JTAG_TMS:
1800                         cmsis_dap_execute_tms(cmd);
1801                         break;
1802                 default:
1803                         LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1804                         exit(-1);
1805         }
1806 }
1807
1808 static int cmsis_dap_execute_queue(void)
1809 {
1810         struct jtag_command *cmd = jtag_command_queue;
1811
1812         while (cmd) {
1813                 cmsis_dap_execute_command(cmd);
1814                 cmd = cmd->next;
1815         }
1816
1817         cmsis_dap_flush();
1818
1819         return ERROR_OK;
1820 }
1821
1822 static int cmsis_dap_speed(int speed)
1823 {
1824         if (speed == 0) {
1825                 LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\".");
1826                 return ERROR_JTAG_NOT_IMPLEMENTED;
1827         }
1828
1829         return cmsis_dap_cmd_dap_swj_clock(speed);
1830 }
1831
1832 static int cmsis_dap_speed_div(int speed, int *khz)
1833 {
1834         *khz = speed;
1835         return ERROR_OK;
1836 }
1837
1838 static int cmsis_dap_khz(int khz, int *jtag_speed)
1839 {
1840         *jtag_speed = khz;
1841         return ERROR_OK;
1842 }
1843
1844 static bool calculate_swo_prescaler(unsigned int traceclkin_freq,
1845                 uint32_t trace_freq, uint16_t *prescaler)
1846 {
1847         unsigned int presc = (traceclkin_freq + trace_freq / 2) / trace_freq;
1848         if (presc == 0 || presc > TPIU_ACPR_MAX_SWOSCALER + 1)
1849                 return false;
1850
1851         /* Probe's UART speed must be within 3% of the TPIU's SWO baud rate. */
1852         unsigned int max_deviation = (traceclkin_freq * 3) / 100;
1853         if (presc * trace_freq < traceclkin_freq - max_deviation ||
1854             presc * trace_freq > traceclkin_freq + max_deviation)
1855                 return false;
1856
1857         *prescaler = presc;
1858
1859         return true;
1860 }
1861
1862 /**
1863  * @see adapter_driver::config_trace
1864  */
1865 static int cmsis_dap_config_trace(
1866                                 bool trace_enabled,
1867                                 enum tpiu_pin_protocol pin_protocol,
1868                                 uint32_t port_size,
1869                                 unsigned int *swo_freq,
1870                                 unsigned int traceclkin_hz,
1871                                 uint16_t *swo_prescaler)
1872 {
1873         int retval;
1874
1875         if (!trace_enabled) {
1876                 if (cmsis_dap_handle->trace_enabled) {
1877                         retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
1878                         if (retval != ERROR_OK) {
1879                                 LOG_ERROR("Failed to disable the SWO-trace.");
1880                                 return retval;
1881                         }
1882                 }
1883                 cmsis_dap_handle->trace_enabled = false;
1884                 LOG_INFO("SWO-trace disabled.");
1885                 return ERROR_OK;
1886         }
1887
1888         if (!(cmsis_dap_handle->caps & INFO_CAPS_SWO_UART) &&
1889             !(cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
1890                 LOG_ERROR("SWO-trace is not supported by the device.");
1891                 return ERROR_FAIL;
1892         }
1893
1894         uint8_t swo_mode;
1895         if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_UART &&
1896            (cmsis_dap_handle->caps & INFO_CAPS_SWO_UART)) {
1897                 swo_mode = DAP_SWO_MODE_UART;
1898         } else if (pin_protocol == TPIU_PIN_PROTOCOL_ASYNC_MANCHESTER &&
1899                   (cmsis_dap_handle->caps & INFO_CAPS_SWO_MANCHESTER)) {
1900                 swo_mode = DAP_SWO_MODE_MANCHESTER;
1901         } else {
1902                 LOG_ERROR("Selected pin protocol is not supported.");
1903                 return ERROR_FAIL;
1904         }
1905
1906         if (*swo_freq == 0) {
1907                 LOG_INFO("SWO-trace frequency autodetection not implemented.");
1908                 return ERROR_FAIL;
1909         }
1910
1911         retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_STOP);
1912         if (retval != ERROR_OK)
1913                 return retval;
1914
1915         cmsis_dap_handle->trace_enabled = false;
1916
1917         retval = cmsis_dap_get_swo_buf_sz(&cmsis_dap_handle->swo_buf_sz);
1918         if (retval != ERROR_OK)
1919                 return retval;
1920
1921         retval = cmsis_dap_cmd_dap_swo_transport(DAP_SWO_TRANSPORT_DATA);
1922         if (retval != ERROR_OK)
1923                 return retval;
1924
1925         retval = cmsis_dap_cmd_dap_swo_mode(swo_mode);
1926         if (retval != ERROR_OK)
1927                 return retval;
1928
1929         retval = cmsis_dap_cmd_dap_swo_baudrate(*swo_freq, swo_freq);
1930         if (retval != ERROR_OK)
1931                 return retval;
1932
1933         if (!calculate_swo_prescaler(traceclkin_hz, *swo_freq,
1934                         swo_prescaler)) {
1935                 LOG_ERROR("SWO frequency is not suitable. Please choose a "
1936                         "different frequency or use auto-detection.");
1937                 return ERROR_FAIL;
1938         }
1939
1940         LOG_INFO("SWO frequency: %u Hz.", *swo_freq);
1941         LOG_INFO("SWO prescaler: %u.", *swo_prescaler);
1942
1943         retval = cmsis_dap_cmd_dap_swo_control(DAP_SWO_CONTROL_START);
1944         if (retval != ERROR_OK)
1945                 return retval;
1946
1947         cmsis_dap_handle->trace_enabled = true;
1948
1949         return ERROR_OK;
1950 }
1951
1952 /**
1953  * @see adapter_driver::poll_trace
1954  */
1955 static int cmsis_dap_poll_trace(uint8_t *buf, size_t *size)
1956 {
1957         uint8_t trace_status;
1958         size_t trace_count;
1959
1960         if (!cmsis_dap_handle->trace_enabled) {
1961                 *size = 0;
1962                 return ERROR_OK;
1963         }
1964
1965         int retval = cmsis_dap_cmd_dap_swo_status(&trace_status, &trace_count);
1966         if (retval != ERROR_OK)
1967                 return retval;
1968         if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
1969                 return ERROR_FAIL;
1970
1971         *size = trace_count < *size ? trace_count : *size;
1972         size_t read_so_far = 0;
1973         do {
1974                 size_t rb = 0;
1975                 uint32_t packet_size = cmsis_dap_handle->packet_size - 4 /*data-reply*/;
1976                 uint32_t remaining = *size - read_so_far;
1977                 if (remaining < packet_size)
1978                         packet_size = remaining;
1979                 retval = cmsis_dap_cmd_dap_swo_data(
1980                                                 packet_size,
1981                                                 &trace_status,
1982                                                 &rb,
1983                                                 &buf[read_so_far]);
1984                 if (retval != ERROR_OK)
1985                         return retval;
1986                 if ((trace_status & DAP_SWO_STATUS_CAPTURE_MASK) != DAP_SWO_STATUS_CAPTURE_ACTIVE)
1987                         return ERROR_FAIL;
1988
1989                 read_so_far += rb;
1990         } while (read_so_far < *size);
1991
1992         return ERROR_OK;
1993 }
1994
1995 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1996 {
1997         if (cmsis_dap_get_version_info() == ERROR_OK)
1998                 cmsis_dap_get_status();
1999
2000         return ERROR_OK;
2001 }
2002
2003 COMMAND_HANDLER(cmsis_dap_handle_cmd_command)
2004 {
2005         uint8_t *command = cmsis_dap_handle->command;
2006
2007         for (unsigned i = 0; i < CMD_ARGC; i++)
2008                 COMMAND_PARSE_NUMBER(u8, CMD_ARGV[i], command[i]);
2009
2010         int retval = cmsis_dap_xfer(cmsis_dap_handle, CMD_ARGC);
2011
2012         if (retval != ERROR_OK) {
2013                 LOG_ERROR("CMSIS-DAP command failed.");
2014                 return ERROR_JTAG_DEVICE_ERROR;
2015         }
2016
2017         uint8_t *resp = cmsis_dap_handle->response;
2018         LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8,
2019                 resp[1], resp[2], resp[3], resp[4]);
2020
2021         return ERROR_OK;
2022 }
2023
2024 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
2025 {
2026         if (CMD_ARGC > MAX_USB_IDS * 2) {
2027                 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
2028                         "(maximum is %d pairs)", MAX_USB_IDS);
2029                 CMD_ARGC = MAX_USB_IDS * 2;
2030         }
2031         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
2032                 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
2033                 if (CMD_ARGC < 2)
2034                         return ERROR_COMMAND_SYNTAX_ERROR;
2035                 /* remove the incomplete trailing id */
2036                 CMD_ARGC -= 1;
2037         }
2038
2039         unsigned i;
2040         for (i = 0; i < CMD_ARGC; i += 2) {
2041                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
2042                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
2043         }
2044
2045         /*
2046          * Explicitly terminate, in case there are multiples instances of
2047          * cmsis_dap_vid_pid.
2048          */
2049         cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
2050
2051         return ERROR_OK;
2052 }
2053
2054 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
2055 {
2056         if (CMD_ARGC == 1)
2057                 cmsis_dap_serial = strdup(CMD_ARGV[0]);
2058         else
2059                 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
2060
2061         return ERROR_OK;
2062 }
2063
2064 COMMAND_HANDLER(cmsis_dap_handle_backend_command)
2065 {
2066         if (CMD_ARGC == 1) {
2067                 if (strcmp(CMD_ARGV[0], "auto") == 0) {
2068                         cmsis_dap_backend = -1; /* autoselect */
2069                 } else {
2070                         for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
2071                                 if (strcasecmp(cmsis_dap_backends[i]->name, CMD_ARGV[0]) == 0) {
2072                                         cmsis_dap_backend = i;
2073                                         return ERROR_OK;
2074                                 }
2075                         }
2076
2077                         LOG_ERROR("invalid backend argument to cmsis_dap_backend <backend>");
2078                 }
2079         } else {
2080                 LOG_ERROR("expected exactly one argument to cmsis_dap_backend <backend>");
2081         }
2082
2083         return ERROR_OK;
2084 }
2085
2086 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
2087         {
2088                 .name = "info",
2089                 .handler = &cmsis_dap_handle_info_command,
2090                 .mode = COMMAND_EXEC,
2091                 .usage = "",
2092                 .help = "show cmsis-dap info",
2093         },
2094         {
2095                 .name = "cmd",
2096                 .handler = &cmsis_dap_handle_cmd_command,
2097                 .mode = COMMAND_EXEC,
2098                 .usage = "",
2099                 .help = "issue cmsis-dap command",
2100         },
2101         COMMAND_REGISTRATION_DONE
2102 };
2103
2104
2105 static const struct command_registration cmsis_dap_command_handlers[] = {
2106         {
2107                 .name = "cmsis-dap",
2108                 .mode = COMMAND_ANY,
2109                 .help = "perform CMSIS-DAP management",
2110                 .usage = "<cmd>",
2111                 .chain = cmsis_dap_subcommand_handlers,
2112         },
2113         {
2114                 .name = "cmsis_dap_vid_pid",
2115                 .handler = &cmsis_dap_handle_vid_pid_command,
2116                 .mode = COMMAND_CONFIG,
2117                 .help = "the vendor ID and product ID of the CMSIS-DAP device",
2118                 .usage = "(vid pid)*",
2119         },
2120         {
2121                 .name = "cmsis_dap_serial",
2122                 .handler = &cmsis_dap_handle_serial_command,
2123                 .mode = COMMAND_CONFIG,
2124                 .help = "set the serial number of the adapter",
2125                 .usage = "serial_string",
2126         },
2127         {
2128                 .name = "cmsis_dap_backend",
2129                 .handler = &cmsis_dap_handle_backend_command,
2130                 .mode = COMMAND_CONFIG,
2131                 .help = "set the communication backend to use (USB bulk or HID).",
2132                 .usage = "(auto | usb_bulk | hid)",
2133         },
2134 #if BUILD_CMSIS_DAP_USB
2135         {
2136                 .name = "cmsis_dap_usb",
2137                 .chain = cmsis_dap_usb_subcommand_handlers,
2138                 .mode = COMMAND_ANY,
2139                 .help = "USB bulk backend-specific commands",
2140                 .usage = "<cmd>",
2141         },
2142 #endif
2143         COMMAND_REGISTRATION_DONE
2144 };
2145
2146 static const struct swd_driver cmsis_dap_swd_driver = {
2147         .init = cmsis_dap_swd_init,
2148         .switch_seq = cmsis_dap_swd_switch_seq,
2149         .read_reg = cmsis_dap_swd_read_reg,
2150         .write_reg = cmsis_dap_swd_write_reg,
2151         .run = cmsis_dap_swd_run_queue,
2152 };
2153
2154 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
2155
2156 static struct jtag_interface cmsis_dap_interface = {
2157         .supported = DEBUG_CAP_TMS_SEQ,
2158         .execute_queue = cmsis_dap_execute_queue,
2159 };
2160
2161 struct adapter_driver cmsis_dap_adapter_driver = {
2162         .name = "cmsis-dap",
2163         .transports = cmsis_dap_transport,
2164         .commands = cmsis_dap_command_handlers,
2165
2166         .init = cmsis_dap_init,
2167         .quit = cmsis_dap_quit,
2168         .reset = cmsis_dap_reset,
2169         .speed = cmsis_dap_speed,
2170         .khz = cmsis_dap_khz,
2171         .speed_div = cmsis_dap_speed_div,
2172         .config_trace = cmsis_dap_config_trace,
2173         .poll_trace = cmsis_dap_poll_trace,
2174
2175         .jtag_ops = &cmsis_dap_interface,
2176         .swd_ops = &cmsis_dap_swd_driver,
2177 };