1 /***************************************************************************
2 * Copyright (C) 2013 by mike brown *
3 * mike@theshedworks.org.uk *
5 * Copyright (C) 2013 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
8 * This program is free software; you can redistribute it and/or modify *
9 * it under the terms of the GNU General Public License as published by *
10 * the Free Software Foundation; either version 2 of the License, or *
11 * (at your option) any later version. *
13 * This program is distributed in the hope that it will be useful, *
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
16 * GNU General Public License for more details. *
18 * You should have received a copy of the GNU General Public License *
19 * along with this program; if not, write to the *
20 * Free Software Foundation, Inc., *
21 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
22 ***************************************************************************/
28 #include <transport/transport.h>
30 #include <jtag/interface.h>
31 #include <jtag/commands.h>
36 #ifdef _DEBUG_JTAG_IO_
37 #define DEBUG_IO(expr...) LOG_DEBUG(expr)
39 #define DEBUG_IO(expr...) do {} while (0)
43 * See CMSIS-DAP documentation:
44 * Version 0.01 - Beta.
49 /* Known vid/pid pairs:
50 * VID 0xc251: Keil Software
51 * PID 0xf001: LPC-Link-II CMSIS_DAP
52 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
53 * PID 0x2722: Keil ULINK2 CMSIS-DAP
55 * VID 0x0d28: mbed Software
56 * PID 0x0204: MBED CMSIS-DAP
60 /* vid = pid = 0 marks the end of the list */
61 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
62 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
64 #define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
65 #define USB_TIMEOUT 1000
67 /* CMSIS-DAP General Commands */
68 #define CMD_DAP_INFO 0x00
69 #define CMD_DAP_LED 0x01
70 #define CMD_DAP_CONNECT 0x02
71 #define CMD_DAP_DISCONNECT 0x03
72 #define CMD_DAP_WRITE_ABORT 0x08
73 #define CMD_DAP_DELAY 0x09
74 #define CMD_DAP_RESET_TARGET 0x0A
77 #define INFO_ID_VID 0x00 /* string */
78 #define INFO_ID_PID 0x02 /* string */
79 #define INFO_ID_SERNUM 0x03 /* string */
80 #define INFO_ID_FW_VER 0x04 /* string */
81 #define INFO_ID_TD_VEND 0x05 /* string */
82 #define INFO_ID_TD_NAME 0x06 /* string */
83 #define INFO_ID_CAPS 0xf0 /* byte */
84 #define INFO_ID_PKT_CNT 0xfe /* byte */
85 #define INFO_ID_PKT_SZ 0xff /* short */
87 #define INFO_CAPS_SWD 0x01
88 #define INFO_CAPS_JTAG 0x02
91 #define LED_ID_CONNECT 0x00
92 #define LED_ID_RUN 0x01
98 #define CONNECT_DEFAULT 0x00
99 #define CONNECT_SWD 0x01
100 #define CONNECT_JTAG 0x02
102 /* CMSIS-DAP Common SWD/JTAG Commands */
103 #define CMD_DAP_DELAY 0x09
104 #define CMD_DAP_SWJ_PINS 0x10
105 #define CMD_DAP_SWJ_CLOCK 0x11
106 #define CMD_DAP_SWJ_SEQ 0x12
118 /* CMSIS-DAP SWD Commands */
119 #define CMD_DAP_SWD_CONFIGURE 0x13
121 /* CMSIS-DAP JTAG Commands */
122 #define CMD_DAP_JTAG_SEQ 0x14
123 #define CMD_DAP_JTAG_CONFIGURE 0x15
124 #define CMD_DAP_JTAG_IDCODE 0x16
126 /* CMSIS-DAP Transfer Commands */
127 #define CMD_DAP_TFER_CONFIGURE 0x04
128 #define CMD_DAP_TFER 0x05
129 #define CMD_DAP_TFER_BLOCK 0x06
130 #define CMD_DAP_TFER_ABORT 0x07
132 /* DAP Status Code */
134 #define DAP_ERROR 0xFF
136 /* CMSIS-DAP Vendor Commands
139 static char *info_caps_str[] = {
144 /* max clock speed (kHz) */
145 #define DAP_MAX_CLOCK 5000
148 hid_device *dev_handle;
149 uint16_t packet_size;
150 uint16_t packet_count;
151 uint8_t *packet_buffer;
156 static struct cmsis_dap *cmsis_dap_handle;
158 static int cmsis_dap_usb_open(void)
160 hid_device *dev = NULL;
162 struct hid_device_info *devs, *cur_dev;
163 unsigned short target_vid, target_pid;
169 The CMSIS-DAP specification stipulates:
170 "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
171 debuggers to idenify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
173 devs = hid_enumerate(0x0, 0x0);
175 while (NULL != cur_dev) {
176 if (0 == cmsis_dap_vid[0]) {
177 if (NULL == cur_dev->product_string) {
178 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
179 cur_dev->vendor_id, cur_dev->product_id);
181 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP"))
183 if the user hasn't specified VID:PID *and*
184 product string contains "CMSIS-DAP", pick it
190 otherwise, exhaustively compare against all VID:PID in list
192 for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
193 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
198 cur_dev = cur_dev->next;
201 if (NULL != cur_dev) {
202 target_vid = cur_dev->vendor_id;
203 target_pid = cur_dev->product_id;
206 hid_free_enumeration(devs);
208 if (hid_init() != 0) {
209 LOG_ERROR("unable to open HIDAPI");
213 dev = hid_open(target_vid, target_pid, NULL);
216 LOG_ERROR("unable to open CMSIS-DAP device");
220 struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
222 LOG_ERROR("unable to allocate memory");
226 dap->dev_handle = dev;
230 cmsis_dap_handle = dap;
232 /* allocate default packet buffer, may be changed later.
233 * currently with HIDAPI we have no way of getting the output report length
234 * without this info we cannot communicate with the adapter.
235 * For the moment we ahve to hard code the packet size */
237 int packet_size = PACKET_SIZE;
239 /* atmel cmsis-dap uses 512 byte reports */
240 if (target_vid == 0x03eb)
241 packet_size = 512 + 1;
243 cmsis_dap_handle->packet_buffer = malloc(packet_size);
244 cmsis_dap_handle->packet_size = packet_size;
246 if (cmsis_dap_handle->packet_buffer == NULL) {
247 LOG_ERROR("unable to allocate memory");
254 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
256 hid_close(dap->dev_handle);
259 if (cmsis_dap_handle->packet_buffer)
260 free(cmsis_dap_handle->packet_buffer);
262 if (cmsis_dap_handle) {
263 free(cmsis_dap_handle);
264 cmsis_dap_handle = NULL;
270 /* Send a message and receive the reply */
271 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
273 /* Pad the rest of the TX buffer with 0's */
274 memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
276 /* write data to device */
277 int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
279 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
284 retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
285 if (retval == -1 || retval == 0) {
286 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
293 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
296 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
298 buffer[0] = 0; /* report number */
299 buffer[1] = CMD_DAP_SWJ_PINS;
302 buffer[4] = delay & 0xff;
303 buffer[5] = (delay >> 8) & 0xff;
304 buffer[6] = (delay >> 16) & 0xff;
305 buffer[7] = (delay >> 24) & 0xff;
306 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
308 if (retval != ERROR_OK) {
309 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
310 return ERROR_JTAG_DEVICE_ERROR;
319 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
322 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
324 /* set clock in Hz */
326 buffer[0] = 0; /* report number */
327 buffer[1] = CMD_DAP_SWJ_CLOCK;
328 buffer[2] = swj_clock & 0xff;
329 buffer[3] = (swj_clock >> 8) & 0xff;
330 buffer[4] = (swj_clock >> 16) & 0xff;
331 buffer[5] = (swj_clock >> 24) & 0xff;
332 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
334 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
335 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
336 return ERROR_JTAG_DEVICE_ERROR;
342 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
345 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
347 buffer[0] = 0; /* report number */
348 buffer[1] = CMD_DAP_INFO;
350 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
352 if (retval != ERROR_OK) {
353 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
354 return ERROR_JTAG_DEVICE_ERROR;
357 *data = &(buffer[1]);
362 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
365 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
367 buffer[0] = 0; /* report number */
368 buffer[1] = CMD_DAP_LED;
371 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
373 if (retval != ERROR_OK || buffer[1] != 0x00) {
374 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
375 return ERROR_JTAG_DEVICE_ERROR;
381 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
384 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
386 buffer[0] = 0; /* report number */
387 buffer[1] = CMD_DAP_CONNECT;
389 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
391 if (retval != ERROR_OK) {
392 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
393 return ERROR_JTAG_DEVICE_ERROR;
396 if (buffer[1] != mode) {
397 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
398 return ERROR_JTAG_DEVICE_ERROR;
404 static int cmsis_dap_cmd_DAP_Disconnect(void)
407 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
409 buffer[0] = 0; /* report number */
410 buffer[1] = CMD_DAP_DISCONNECT;
411 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
413 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
414 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
415 return ERROR_JTAG_DEVICE_ERROR;
421 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16_t retry)
424 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
426 buffer[0] = 0; /* report number */
427 buffer[1] = CMD_DAP_TFER_CONFIGURE;
429 buffer[3] = delay & 0xff;
430 buffer[4] = (delay >> 8) & 0xff;
431 buffer[5] = retry & 0xff;
432 buffer[6] = (retry >> 8) & 0xff;
433 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
435 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
436 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
437 return ERROR_JTAG_DEVICE_ERROR;
443 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
446 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
448 buffer[0] = 0; /* report number */
449 buffer[1] = CMD_DAP_SWD_CONFIGURE;
451 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
453 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
454 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
455 return ERROR_JTAG_DEVICE_ERROR;
462 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
465 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
467 buffer[0] = 0; /* report number */
468 buffer[1] = CMD_DAP_DELAY;
469 buffer[2] = delay_us & 0xff;
470 buffer[3] = (delay_us >> 8) & 0xff;
471 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
473 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
474 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
475 return ERROR_JTAG_DEVICE_ERROR;
482 static int queued_retval;
484 static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
486 if (queued_retval != ERROR_OK)
489 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
493 DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8, cmd);
495 buffer[0] = 0; /* report number */
496 buffer[1] = CMD_DAP_TFER;
500 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
502 /* TODO - need better response checking */
503 if (retval != ERROR_OK || buffer[1] != 0x01) {
504 LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
505 queued_retval = buffer[2];
509 val = le_to_h_u32(&buffer[3]);
510 DEBUG_IO("0x%08" PRIx32, val);
515 queued_retval = retval;
518 static void cmsis_dap_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
520 if (queued_retval != ERROR_OK)
523 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
525 DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
527 buffer[0] = 0; /* report number */
528 buffer[1] = CMD_DAP_TFER;
532 buffer[5] = (value) & 0xff;
533 buffer[6] = (value >> 8) & 0xff;
534 buffer[7] = (value >> 16) & 0xff;
535 buffer[8] = (value >> 24) & 0xff;
536 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
538 if (buffer[1] != 0x01) {
539 LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
543 queued_retval = retval;
546 static int cmsis_dap_swd_run(struct adiv5_dap *dap)
548 int retval = queued_retval;
549 queued_retval = ERROR_OK;
553 static int cmsis_dap_get_version_info(void)
557 /* INFO_ID_FW_VER - string */
558 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
559 if (retval != ERROR_OK)
562 if (data[0]) /* strlen */
563 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
568 static int cmsis_dap_get_caps_info(void)
572 /* INFO_ID_CAPS - byte */
573 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
574 if (retval != ERROR_OK)
578 uint8_t caps = data[1];
580 cmsis_dap_handle->caps = caps;
582 if (caps & INFO_CAPS_SWD)
583 LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
584 if (caps & INFO_CAPS_JTAG)
585 LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
591 static int cmsis_dap_get_status(void)
595 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
597 if (retval == ERROR_OK) {
598 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
599 (d & (0x01 << 0)) ? 1 : 0, /* Bit 0: SWCLK/TCK */
600 (d & (0x01 << 1)) ? 1 : 0, /* Bit 1: SWDIO/TMS */
601 (d & (0x01 << 2)) ? 1 : 0, /* Bit 2: TDI */
602 (d & (0x01 << 3)) ? 1 : 0, /* Bit 3: TDO */
603 (d & (0x01 << 5)) ? 1 : 0, /* Bit 5: nTRST */
604 (d & (0x01 << 7)) ? 1 : 0); /* Bit 7: nRESET */
610 static int cmsis_dap_reset_link(void)
612 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
614 LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
615 LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
617 /* reset line with SWDIO high for >50 cycles */
618 buffer[0] = 0; /* report number */
619 buffer[1] = CMD_DAP_SWJ_SEQ;
628 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
630 if (retval != ERROR_OK || buffer[1] != DAP_OK)
633 /* 16bit JTAG-SWD sequence */
634 buffer[0] = 0; /* report number */
635 buffer[1] = CMD_DAP_SWJ_SEQ;
639 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
641 if (retval != ERROR_OK || buffer[1] != DAP_OK)
644 /* another reset just incase */
645 buffer[0] = 0; /* report number */
646 buffer[1] = CMD_DAP_SWJ_SEQ;
655 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
657 if (retval != ERROR_OK || buffer[1] != DAP_OK)
660 /* 16 cycle idle period */
661 buffer[0] = 0; /* report number */
662 buffer[1] = CMD_DAP_SWJ_SEQ;
666 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
668 if (retval != ERROR_OK || buffer[1] != DAP_OK)
671 DEBUG_IO("DAP Read IDCODE");
673 /* read the id code is always the next sequence */
674 buffer[0] = 0; /* report number */
675 buffer[1] = CMD_DAP_TFER;
679 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
681 if (retval != ERROR_OK)
684 if (buffer[1] == 0) {
685 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
687 LOG_DEBUG("DAP Reset Target");
688 buffer[0] = 0; /* report number */
689 buffer[1] = CMD_DAP_RESET_TARGET;
690 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
691 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
693 LOG_DEBUG("DAP Write Abort");
694 buffer[0] = 0; /* report number */
695 buffer[1] = CMD_DAP_WRITE_ABORT;
697 buffer[3] = 0x1e/*0x1f*/;
701 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
702 LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
704 return 0x80 + buffer[1];
707 LOG_DEBUG("DAP Write Abort");
708 buffer[0] = 0; /* report number */
709 buffer[1] = CMD_DAP_WRITE_ABORT;
715 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
716 LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
721 static int cmsis_dap_init(void)
726 if (cmsis_dap_handle == NULL) {
729 retval = cmsis_dap_usb_open();
730 if (retval != ERROR_OK)
733 retval = cmsis_dap_get_caps_info();
734 if (retval != ERROR_OK)
737 /* Connect in JTAG mode */
738 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
739 LOG_ERROR("CMSIS-DAP: JTAG not supported");
740 return ERROR_JTAG_DEVICE_ERROR;
743 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
744 if (retval != ERROR_OK)
747 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
750 retval = cmsis_dap_get_version_info();
751 if (retval != ERROR_OK)
754 /* INFO_ID_PKT_SZ - short */
755 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
756 if (retval != ERROR_OK)
759 if (data[0] == 2) { /* short */
760 uint16_t pkt_sz = data[1] + (data[2] << 8);
762 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
763 /* reallocate buffer */
764 cmsis_dap_handle->packet_size = pkt_sz + 1;
765 cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
766 cmsis_dap_handle->packet_size);
767 if (cmsis_dap_handle->packet_buffer == NULL) {
768 LOG_ERROR("unable to reallocate memory");
773 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
776 /* INFO_ID_PKT_CNT - byte */
777 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
778 if (retval != ERROR_OK)
781 if (data[0] == 1) { /* byte */
782 uint16_t pkt_cnt = data[1];
783 cmsis_dap_handle->packet_count = pkt_cnt;
784 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
787 retval = cmsis_dap_get_status();
788 if (retval != ERROR_OK)
791 /* Now try to connect to the target
792 * TODO: This is all SWD only @ present */
793 retval = cmsis_dap_cmd_DAP_SWJ_Clock(100); /* 100kHz */
794 if (retval != ERROR_OK)
797 retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
798 if (retval != ERROR_OK)
800 retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
801 if (retval != ERROR_OK)
804 retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
805 if (retval != ERROR_OK)
808 /* support connecting with srst asserted */
809 enum reset_types jtag_reset_config = jtag_get_reset_config();
811 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
812 if (jtag_reset_config & RESET_SRST_NO_GATING) {
813 retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
814 if (retval != ERROR_OK)
816 LOG_INFO("Connecting under reset");
820 retval = cmsis_dap_reset_link();
821 if (retval != ERROR_OK)
824 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
826 LOG_INFO("CMSIS-DAP: Interface ready");
831 static int cmsis_dap_swd_init(void)
835 DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_init");
837 if (cmsis_dap_handle == NULL) {
840 retval = cmsis_dap_usb_open();
841 if (retval != ERROR_OK)
844 retval = cmsis_dap_get_caps_info();
845 if (retval != ERROR_OK)
849 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
850 LOG_ERROR("CMSIS-DAP: SWD not supported");
851 return ERROR_JTAG_DEVICE_ERROR;
854 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
855 if (retval != ERROR_OK)
858 /* Add more setup here.??... */
860 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
864 static int cmsis_dap_quit(void)
866 cmsis_dap_cmd_DAP_Disconnect();
867 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
869 cmsis_dap_usb_close(cmsis_dap_handle);
874 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
876 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
878 if (retval != ERROR_OK)
879 LOG_ERROR("CMSIS-DAP: Interface reset failed");
882 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
885 int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
886 if (retval != ERROR_OK)
888 jtag_sleep(cmd->cmd.sleep->us);
891 static void cmsis_dap_execute_command(struct jtag_command *cmd)
895 cmsis_dap_execute_reset(cmd);
898 cmsis_dap_execute_sleep(cmd);
901 LOG_ERROR("BUG: unknown JTAG command type encountered");
906 static int cmsis_dap_execute_queue(void)
908 struct jtag_command *cmd = jtag_command_queue;
910 while (cmd != NULL) {
911 cmsis_dap_execute_command(cmd);
918 static int cmsis_dap_speed(int speed)
920 if (speed > DAP_MAX_CLOCK) {
921 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
922 speed = DAP_MAX_CLOCK;
926 LOG_INFO("RTCK not supported");
927 return ERROR_JTAG_NOT_IMPLEMENTED;
930 return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
933 static int cmsis_dap_speed_div(int speed, int *khz)
939 static int cmsis_dap_khz(int khz, int *jtag_speed)
945 COMMAND_HANDLER(cmsis_dap_handle_info_command)
947 if (cmsis_dap_get_version_info() == ERROR_OK)
948 cmsis_dap_get_status();
953 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
955 if (CMD_ARGC > MAX_USB_IDS * 2) {
956 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
957 "(maximum is %d pairs)", MAX_USB_IDS);
958 CMD_ARGC = MAX_USB_IDS * 2;
960 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
961 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
963 return ERROR_COMMAND_SYNTAX_ERROR;
964 /* remove the incomplete trailing id */
969 for (i = 0; i < CMD_ARGC; i += 2) {
970 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
971 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
975 * Explicitly terminate, in case there are multiples instances of
978 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
983 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
986 .handler = &cmsis_dap_handle_info_command,
987 .mode = COMMAND_EXEC,
989 .help = "show cmsis-dap info",
991 COMMAND_REGISTRATION_DONE
994 static const struct command_registration cmsis_dap_command_handlers[] = {
998 .help = "perform CMSIS-DAP management",
1000 .chain = cmsis_dap_subcommand_handlers,
1003 .name = "cmsis_dap_vid_pid",
1004 .handler = &cmsis_dap_handle_vid_pid_command,
1005 .mode = COMMAND_CONFIG,
1006 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1007 .usage = "(vid pid)* ",
1009 COMMAND_REGISTRATION_DONE
1012 static const struct swd_driver cmsis_dap_swd_driver = {
1013 .init = cmsis_dap_swd_init,
1014 .read_reg = cmsis_dap_swd_read_reg,
1015 .write_reg = cmsis_dap_swd_write_reg,
1016 .run = cmsis_dap_swd_run,
1019 const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};
1021 struct jtag_interface cmsis_dap_interface = {
1022 .name = "cmsis-dap",
1023 .commands = cmsis_dap_command_handlers,
1024 .swd = &cmsis_dap_swd_driver,
1025 .transports = cmsis_dap_transport,
1027 .execute_queue = cmsis_dap_execute_queue,
1028 .speed = cmsis_dap_speed,
1029 .speed_div = cmsis_dap_speed_div,
1030 .khz = cmsis_dap_khz,
1031 .init = cmsis_dap_init,
1032 .quit = cmsis_dap_quit,