git.gag.com Git - fw/openocd/blob - src/jtag/drivers/cmsis_dap_usb.c

   1 /***************************************************************************
   2  *   Copyright (C) 2016 by Maksym Hilliaka                                 *
   3  *   oter@frozen-team.com                                                  *
   4  *                                                                         *
   5  *   Copyright (C) 2016 by Phillip Pearson                                 *
   6  *   pp@myelin.co.nz                                                       *
   7  *                                                                         *
   8  *   Copyright (C) 2014 by Paul Fertser                                    *
   9  *   fercerpav@gmail.com                                                   *
  10  *                                                                         *
  11  *   Copyright (C) 2013 by mike brown                                      *
  12  *   mike@theshedworks.org.uk                                              *
  13  *                                                                         *
  14  *   Copyright (C) 2013 by Spencer Oliver                                  *
  15  *   spen@spen-soft.co.uk                                                  *
  16  *                                                                         *
  17  *   This program is free software; you can redistribute it and/or modify  *
  18  *   it under the terms of the GNU General Public License as published by  *
  19  *   the Free Software Foundation; either version 2 of the License, or     *
  20  *   (at your option) any later version.                                   *
  21  *                                                                         *
  22  *   This program is distributed in the hope that it will be useful,       *
  23  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  24  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  25  *   GNU General Public License for more details.                          *
  26  *                                                                         *
  27  *   You should have received a copy of the GNU General Public License     *
  28  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  29  ***************************************************************************/
  30
  31 #ifdef HAVE_CONFIG_H
  32 #include "config.h"
  33 #endif
  34
  35 #include <transport/transport.h>
  36 #include <jtag/swd.h>
  37 #include <jtag/interface.h>
  38 #include <jtag/commands.h>
  39 #include <jtag/tcl.h>
  40
  41 #include <hidapi.h>
  42
  43 /*
  44  * See CMSIS-DAP documentation:
  45  * Version 0.01 - Beta.
  46  */
  47
  48 /* USB Config */
  49
  50 /* Known vid/pid pairs:
  51  * VID 0xc251: Keil Software
  52  * PID 0xf001: LPC-Link-II CMSIS_DAP
  53  * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
  54  * PID 0x2722: Keil ULINK2 CMSIS-DAP
  55  *
  56  * VID 0x0d28: mbed Software
  57  * PID 0x0204: MBED CMSIS-DAP
  58  */
  59
  60 #define MAX_USB_IDS 8
  61 /* vid = pid = 0 marks the end of the list */
  62 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
  63 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
  64 static wchar_t *cmsis_dap_serial;
  65 static bool swd_mode;
  66
  67 #define PACKET_SIZE       (64 + 1)      /* 64 bytes plus report id */
  68 #define USB_TIMEOUT       1000
  69
  70 /* CMSIS-DAP General Commands */
  71 #define CMD_DAP_INFO              0x00
  72 #define CMD_DAP_LED               0x01
  73 #define CMD_DAP_CONNECT           0x02
  74 #define CMD_DAP_DISCONNECT        0x03
  75 #define CMD_DAP_WRITE_ABORT       0x08
  76 #define CMD_DAP_DELAY             0x09
  77 #define CMD_DAP_RESET_TARGET      0x0A
  78
  79 /* CMD_INFO */
  80 #define INFO_ID_VENDOR            0x01      /* string */
  81 #define INFO_ID_PRODUCT           0x02      /* string */
  82 #define INFO_ID_SERNUM            0x03      /* string */
  83 #define INFO_ID_FW_VER            0x04      /* string */
  84 #define INFO_ID_TD_VEND           0x05      /* string */
  85 #define INFO_ID_TD_NAME           0x06      /* string */
  86 #define INFO_ID_CAPS              0xf0      /* byte */
  87 #define INFO_ID_PKT_CNT           0xfe      /* byte */
  88 #define INFO_ID_PKT_SZ            0xff      /* short */
  89
  90 #define INFO_CAPS_SWD             0x01
  91 #define INFO_CAPS_JTAG            0x02
  92
  93 /* CMD_LED */
  94 #define LED_ID_CONNECT            0x00
  95 #define LED_ID_RUN                0x01
  96
  97 #define LED_OFF                   0x00
  98 #define LED_ON                    0x01
  99
 100 /* CMD_CONNECT */
 101 #define CONNECT_DEFAULT           0x00
 102 #define CONNECT_SWD               0x01
 103 #define CONNECT_JTAG              0x02
 104
 105 /* CMSIS-DAP Common SWD/JTAG Commands */
 106 #define CMD_DAP_DELAY             0x09
 107 #define CMD_DAP_SWJ_PINS          0x10
 108 #define CMD_DAP_SWJ_CLOCK         0x11
 109 #define CMD_DAP_SWJ_SEQ           0x12
 110
 111 /*
 112  * PINS
 113  * Bit 0: SWCLK/TCK
 114  * Bit 1: SWDIO/TMS
 115  * Bit 2: TDI
 116  * Bit 3: TDO
 117  * Bit 5: nTRST
 118  * Bit 7: nRESET
 119  */
 120
 121 #define SWJ_PIN_TCK               (1<<0)
 122 #define SWJ_PIN_TMS               (1<<1)
 123 #define SWJ_PIN_TDI               (1<<2)
 124 #define SWJ_PIN_TDO               (1<<3)
 125 #define SWJ_PIN_TRST              (1<<5)
 126 #define SWJ_PIN_SRST              (1<<7)
 127
 128 /* CMSIS-DAP SWD Commands */
 129 #define CMD_DAP_SWD_CONFIGURE     0x13
 130
 131 /* CMSIS-DAP JTAG Commands */
 132 #define CMD_DAP_JTAG_SEQ          0x14
 133 #define CMD_DAP_JTAG_CONFIGURE    0x15
 134 #define CMD_DAP_JTAG_IDCODE       0x16
 135
 136 /* CMSIS-DAP JTAG sequence info masks */
 137 /* Number of bits to clock through (0 means 64) */
 138 #define DAP_JTAG_SEQ_TCK          0x3F
 139 /* TMS will be set during the sequence if this bit is set */
 140 #define DAP_JTAG_SEQ_TMS          0x40
 141 /* TDO output will be captured if this bit is set */
 142 #define DAP_JTAG_SEQ_TDO          0x80
 143
 144
 145 /* CMSIS-DAP Transfer Commands */
 146 #define CMD_DAP_TFER_CONFIGURE    0x04
 147 #define CMD_DAP_TFER              0x05
 148 #define CMD_DAP_TFER_BLOCK        0x06
 149 #define CMD_DAP_TFER_ABORT        0x07
 150
 151 /* DAP Status Code */
 152 #define DAP_OK                    0
 153 #define DAP_ERROR                 0xFF
 154
 155 /* CMSIS-DAP Vendor Commands
 156  * None as yet... */
 157
 158 static const char * const info_caps_str[] = {
 159         "SWD  Supported",
 160         "JTAG Supported"
 161 };
 162
 163 /* max clock speed (kHz) */
 164 #define DAP_MAX_CLOCK             5000
 165
 166 struct cmsis_dap {
 167         hid_device *dev_handle;
 168         uint16_t packet_size;
 169         int packet_count;
 170         uint8_t *packet_buffer;
 171         uint8_t caps;
 172         uint8_t mode;
 173 };
 174
 175 struct pending_transfer_result {
 176         uint8_t cmd;
 177         uint32_t data;
 178         void *buffer;
 179 };
 180
 181 struct pending_request_block {
 182         struct pending_transfer_result *transfers;
 183         int transfer_count;
 184 };
 185
 186 struct pending_scan_result {
 187         /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
 188         unsigned first;
 189         /** Number of bits to read. */
 190         unsigned length;
 191         /** Location to store the result */
 192         uint8_t *buffer;
 193         /** Offset in the destination buffer */
 194         unsigned buffer_offset;
 195 };
 196
 197 /* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued
 198  * until the first response arrives */
 199 #define MAX_PENDING_REQUESTS 3
 200
 201 /* Pending requests are organized as a FIFO - circular buffer */
 202 /* Each block in FIFO can contain up to pending_queue_len transfers */
 203 static int pending_queue_len;
 204 static struct pending_request_block pending_fifo[MAX_PENDING_REQUESTS];
 205 static int pending_fifo_put_idx, pending_fifo_get_idx;
 206 static int pending_fifo_block_count;
 207
 208 /* pointers to buffers that will receive jtag scan results on the next flush */
 209 #define MAX_PENDING_SCAN_RESULTS 256
 210 static int pending_scan_result_count;
 211 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
 212
 213 /* queued JTAG sequences that will be executed on the next flush */
 214 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
 215 static int queued_seq_count;
 216 static int queued_seq_buf_end;
 217 static int queued_seq_tdo_ptr;
 218 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
 219
 220 static int queued_retval;
 221
 222 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
 223
 224 static struct cmsis_dap *cmsis_dap_handle;
 225
 226 static int cmsis_dap_usb_open(void)
 227 {
 228         hid_device *dev = NULL;
 229         int i;
 230         struct hid_device_info *devs, *cur_dev;
 231         unsigned short target_vid, target_pid;
 232         bool found = false;
 233
 234         target_vid = 0;
 235         target_pid = 0;
 236
 237         if (hid_init() != 0) {
 238                 LOG_ERROR("unable to open HIDAPI");
 239                 return ERROR_FAIL;
 240         }
 241
 242         /*
 243          * The CMSIS-DAP specification stipulates:
 244          * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
 245          * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
 246          */
 247         devs = hid_enumerate(0x0, 0x0);
 248         cur_dev = devs;
 249         while (NULL != cur_dev) {
 250                 if (0 == cmsis_dap_vid[0]) {
 251                         if (NULL == cur_dev->product_string) {
 252                                 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
 253                                           cur_dev->vendor_id, cur_dev->product_id);
 254                         } else {
 255                                 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
 256                                         /* if the user hasn't specified VID:PID *and*
 257                                          * product string contains "CMSIS-DAP", pick it
 258                                          */
 259                                         found = true;
 260                                 }
 261                         }
 262                 } else {
 263                         /* otherwise, exhaustively compare against all VID:PID in list */
 264                         for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
 265                                 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
 266                                         found = true;
 267                         }
 268
 269                         if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
 270                                 found = true;
 271                 }
 272
 273                 /* LPC-LINK2 has cmsis-dap on interface 0 and other HID functions on other interfaces */
 274                 if (cur_dev->vendor_id == 0x1fc9 && cur_dev->product_id == 0x0090 && cur_dev->interface_number != 0)
 275                         found = false;
 276
 277                 if (found) {
 278                         /* we have found an adapter, so exit further checks */
 279                         /* check serial number matches if given */
 280                         if (cmsis_dap_serial != NULL) {
 281                                 if ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
 282                                         break;
 283                                 }
 284                         } else
 285                                 break;
 286
 287                         found = false;
 288                 }
 289
 290                 cur_dev = cur_dev->next;
 291         }
 292
 293         if (NULL != cur_dev) {
 294                 target_vid = cur_dev->vendor_id;
 295                 target_pid = cur_dev->product_id;
 296         }
 297
 298         if (target_vid == 0 && target_pid == 0) {
 299                 LOG_ERROR("unable to find CMSIS-DAP device");
 300                 hid_free_enumeration(devs);
 301                 return ERROR_FAIL;
 302         }
 303
 304         dev = hid_open_path(cur_dev->path);
 305         hid_free_enumeration(devs);
 306
 307         if (dev == NULL) {
 308                 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
 309                 return ERROR_FAIL;
 310         }
 311
 312         struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
 313         if (dap == NULL) {
 314                 LOG_ERROR("unable to allocate memory");
 315                 return ERROR_FAIL;
 316         }
 317
 318         dap->dev_handle = dev;
 319         dap->caps = 0;
 320         dap->mode = 0;
 321
 322         cmsis_dap_handle = dap;
 323
 324         /* allocate default packet buffer, may be changed later.
 325          * currently with HIDAPI we have no way of getting the output report length
 326          * without this info we cannot communicate with the adapter.
 327          * For the moment we ahve to hard code the packet size */
 328
 329         int packet_size = PACKET_SIZE;
 330
 331         /* atmel cmsis-dap uses 512 byte reports */
 332         /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained
 333          * board */
 334         /* TODO: HID report descriptor should be parsed instead of
 335          * hardcoding a match by VID */
 336         if (target_vid == 0x03eb && target_pid != 0x2145 && target_pid != 0x2175)
 337                 packet_size = 512 + 1;
 338
 339         cmsis_dap_handle->packet_buffer = malloc(packet_size);
 340         cmsis_dap_handle->packet_size = packet_size;
 341
 342         if (cmsis_dap_handle->packet_buffer == NULL) {
 343                 LOG_ERROR("unable to allocate memory");
 344                 return ERROR_FAIL;
 345         }
 346
 347         return ERROR_OK;
 348 }
 349
 350 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
 351 {
 352         hid_close(dap->dev_handle);
 353         hid_exit();
 354
 355         free(cmsis_dap_handle->packet_buffer);
 356         free(cmsis_dap_handle);
 357         cmsis_dap_handle = NULL;
 358         free(cmsis_dap_serial);
 359         cmsis_dap_serial = NULL;
 360
 361         for (int i = 0; i < MAX_PENDING_REQUESTS; i++) {
 362                 free(pending_fifo[i].transfers);
 363                 pending_fifo[i].transfers = NULL;
 364         }
 365 }
 366
 367 static int cmsis_dap_usb_write(struct cmsis_dap *dap, int txlen)
 368 {
 369 #ifdef CMSIS_DAP_JTAG_DEBUG
 370         LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
 371 #endif
 372         /* Pad the rest of the TX buffer with 0's */
 373         memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
 374
 375         /* write data to device */
 376         int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
 377         if (retval == -1) {
 378                 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
 379                 return ERROR_FAIL;
 380         }
 381
 382         return ERROR_OK;
 383 }
 384
 385 /* Send a message and receive the reply */
 386 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
 387 {
 388         if (pending_fifo_block_count) {
 389                 LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count);
 390                 while (pending_fifo_block_count) {
 391                         hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, 10);
 392                         pending_fifo_block_count--;
 393                 }
 394                 pending_fifo_put_idx = 0;
 395                 pending_fifo_get_idx = 0;
 396         }
 397
 398         int retval = cmsis_dap_usb_write(dap, txlen);
 399         if (retval != ERROR_OK)
 400                 return retval;
 401
 402         /* get reply */
 403         retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
 404         if (retval == -1 || retval == 0) {
 405                 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
 406                 return ERROR_FAIL;
 407         }
 408
 409         return ERROR_OK;
 410 }
 411
 412 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
 413 {
 414         int retval;
 415         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 416
 417         buffer[0] = 0;  /* report number */
 418         buffer[1] = CMD_DAP_SWJ_PINS;
 419         buffer[2] = pins;
 420         buffer[3] = mask;
 421         buffer[4] = delay & 0xff;
 422         buffer[5] = (delay >> 8) & 0xff;
 423         buffer[6] = (delay >> 16) & 0xff;
 424         buffer[7] = (delay >> 24) & 0xff;
 425         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
 426
 427         if (retval != ERROR_OK) {
 428                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
 429                 return ERROR_JTAG_DEVICE_ERROR;
 430         }
 431
 432         if (input)
 433                 *input = buffer[1];
 434
 435         return ERROR_OK;
 436 }
 437
 438 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
 439 {
 440         int retval;
 441         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 442
 443         /* set clock in Hz */
 444         swj_clock *= 1000;
 445         buffer[0] = 0;  /* report number */
 446         buffer[1] = CMD_DAP_SWJ_CLOCK;
 447         buffer[2] = swj_clock & 0xff;
 448         buffer[3] = (swj_clock >> 8) & 0xff;
 449         buffer[4] = (swj_clock >> 16) & 0xff;
 450         buffer[5] = (swj_clock >> 24) & 0xff;
 451         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 452
 453         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 454                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
 455                 return ERROR_JTAG_DEVICE_ERROR;
 456         }
 457
 458         return ERROR_OK;
 459 }
 460
 461 /* clock a sequence of bits out on TMS, to change JTAG states */
 462 static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
 463 {
 464         int retval;
 465         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 466
 467 #ifdef CMSIS_DAP_JTAG_DEBUG
 468         LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
 469         for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
 470                 printf("%02X ", sequence[i]);
 471
 472         printf("\n");
 473 #endif
 474
 475         buffer[0] = 0;  /* report number */
 476         buffer[1] = CMD_DAP_SWJ_SEQ;
 477         buffer[2] = s_len;
 478         bit_copy(&buffer[3], 0, sequence, 0, s_len);
 479
 480         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
 481
 482         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 483                 return ERROR_FAIL;
 484
 485         return ERROR_OK;
 486 }
 487
 488 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
 489 {
 490         int retval;
 491         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 492
 493         buffer[0] = 0;  /* report number */
 494         buffer[1] = CMD_DAP_INFO;
 495         buffer[2] = info;
 496         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 497
 498         if (retval != ERROR_OK) {
 499                 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
 500                 return ERROR_JTAG_DEVICE_ERROR;
 501         }
 502
 503         *data = &(buffer[1]);
 504
 505         return ERROR_OK;
 506 }
 507
 508 static int cmsis_dap_cmd_DAP_LED(uint8_t led, uint8_t state)
 509 {
 510         int retval;
 511         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 512
 513         buffer[0] = 0;  /* report number */
 514         buffer[1] = CMD_DAP_LED;
 515         buffer[2] = led;
 516         buffer[3] = state;
 517         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 518
 519         if (retval != ERROR_OK || buffer[1] != 0x00) {
 520                 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
 521                 return ERROR_JTAG_DEVICE_ERROR;
 522         }
 523
 524         return ERROR_OK;
 525 }
 526
 527 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
 528 {
 529         int retval;
 530         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 531
 532         buffer[0] = 0;  /* report number */
 533         buffer[1] = CMD_DAP_CONNECT;
 534         buffer[2] = mode;
 535         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 536
 537         if (retval != ERROR_OK) {
 538                 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
 539                 return ERROR_JTAG_DEVICE_ERROR;
 540         }
 541
 542         if (buffer[1] != mode) {
 543                 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
 544                 return ERROR_JTAG_DEVICE_ERROR;
 545         }
 546
 547         return ERROR_OK;
 548 }
 549
 550 static int cmsis_dap_cmd_DAP_Disconnect(void)
 551 {
 552         int retval;
 553         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 554
 555         buffer[0] = 0;  /* report number */
 556         buffer[1] = CMD_DAP_DISCONNECT;
 557         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 558
 559         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 560                 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
 561                 return ERROR_JTAG_DEVICE_ERROR;
 562         }
 563
 564         return ERROR_OK;
 565 }
 566
 567 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
 568 {
 569         int retval;
 570         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 571
 572         buffer[0] = 0;  /* report number */
 573         buffer[1] = CMD_DAP_TFER_CONFIGURE;
 574         buffer[2] = idle;
 575         buffer[3] = retry_count & 0xff;
 576         buffer[4] = (retry_count >> 8) & 0xff;
 577         buffer[5] = match_retry & 0xff;
 578         buffer[6] = (match_retry >> 8) & 0xff;
 579         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 580
 581         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 582                 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
 583                 return ERROR_JTAG_DEVICE_ERROR;
 584         }
 585
 586         return ERROR_OK;
 587 }
 588
 589 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
 590 {
 591         int retval;
 592         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 593
 594         buffer[0] = 0;  /* report number */
 595         buffer[1] = CMD_DAP_SWD_CONFIGURE;
 596         buffer[2] = cfg;
 597         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 598
 599         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 600                 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
 601                 return ERROR_JTAG_DEVICE_ERROR;
 602         }
 603
 604         return ERROR_OK;
 605 }
 606
 607 #if 0
 608 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
 609 {
 610         int retval;
 611         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 612
 613         buffer[0] = 0;  /* report number */
 614         buffer[1] = CMD_DAP_DELAY;
 615         buffer[2] = delay_us & 0xff;
 616         buffer[3] = (delay_us >> 8) & 0xff;
 617         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 618
 619         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 620                 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
 621                 return ERROR_JTAG_DEVICE_ERROR;
 622         }
 623
 624         return ERROR_OK;
 625 }
 626 #endif
 627
 628 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
 629 {
 630         uint8_t *buffer = dap->packet_buffer;
 631         struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
 632
 633         LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx);
 634
 635         if (queued_retval != ERROR_OK) {
 636                 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 637                 goto skip;
 638         }
 639
 640         if (block->transfer_count == 0)
 641                 goto skip;
 642
 643         size_t idx = 0;
 644         buffer[idx++] = 0;      /* report number */
 645         buffer[idx++] = CMD_DAP_TFER;
 646         buffer[idx++] = 0x00;   /* DAP Index */
 647         buffer[idx++] = block->transfer_count;
 648
 649         for (int i = 0; i < block->transfer_count; i++) {
 650                 struct pending_transfer_result *transfer = &(block->transfers[i]);
 651                 uint8_t cmd = transfer->cmd;
 652                 uint32_t data = transfer->data;
 653
 654                 LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
 655                                 cmd & SWD_CMD_APnDP ? "AP" : "DP",
 656                                 cmd & SWD_CMD_RnW ? "read" : "write",
 657                           (cmd & SWD_CMD_A32) >> 1, data);
 658
 659                 /* When proper WAIT handling is implemented in the
 660                  * common SWD framework, this kludge can be
 661                  * removed. However, this might lead to minor
 662                  * performance degradation as the adapter wouldn't be
 663                  * able to automatically retry anything (because ARM
 664                  * has forgotten to implement sticky error flags
 665                  * clearing). See also comments regarding
 666                  * cmsis_dap_cmd_DAP_TFER_Configure() and
 667                  * cmsis_dap_cmd_DAP_SWD_Configure() in
 668                  * cmsis_dap_init().
 669                  */
 670                 if (!(cmd & SWD_CMD_RnW) &&
 671                     !(cmd & SWD_CMD_APnDP) &&
 672                     (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
 673                     (data & CORUNDETECT)) {
 674                         LOG_DEBUG("refusing to enable sticky overrun detection");
 675                         data &= ~CORUNDETECT;
 676                 }
 677
 678                 buffer[idx++] = (cmd >> 1) & 0x0f;
 679                 if (!(cmd & SWD_CMD_RnW)) {
 680                         buffer[idx++] = (data) & 0xff;
 681                         buffer[idx++] = (data >> 8) & 0xff;
 682                         buffer[idx++] = (data >> 16) & 0xff;
 683                         buffer[idx++] = (data >> 24) & 0xff;
 684                 }
 685         }
 686
 687         queued_retval = cmsis_dap_usb_write(dap, idx);
 688         if (queued_retval != ERROR_OK)
 689                 goto skip;
 690
 691         pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count;
 692         pending_fifo_block_count++;
 693         if (pending_fifo_block_count > dap->packet_count)
 694                 LOG_ERROR("too much pending writes %d", pending_fifo_block_count);
 695
 696         return;
 697
 698 skip:
 699         block->transfer_count = 0;
 700 }
 701
 702 static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
 703 {
 704         uint8_t *buffer = dap->packet_buffer;
 705         struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx];
 706
 707         if (pending_fifo_block_count == 0)
 708                 LOG_ERROR("no pending write");
 709
 710         /* get reply */
 711         int retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, timeout_ms);
 712         if (retval == 0 && timeout_ms < USB_TIMEOUT)
 713                 return;
 714
 715         if (retval == -1 || retval == 0) {
 716                 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
 717                 queued_retval = ERROR_FAIL;
 718                 goto skip;
 719         }
 720
 721         if (buffer[2] & 0x08) {
 722                 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", buffer[1]);
 723                 queued_retval = ERROR_FAIL;
 724                 goto skip;
 725         }
 726         uint8_t ack = buffer[2] & 0x07;
 727         if (ack != SWD_ACK_OK) {
 728                 LOG_DEBUG("SWD ack not OK @ %d %s", buffer[1],
 729                           ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
 730                 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 731                 goto skip;
 732         }
 733
 734         if (block->transfer_count != buffer[1])
 735                 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
 736                           block->transfer_count, buffer[1]);
 737
 738         LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d", buffer[1], pending_fifo_get_idx);
 739         size_t idx = 3;
 740         for (int i = 0; i < buffer[1]; i++) {
 741                 struct pending_transfer_result *transfer = &(block->transfers[i]);
 742                 if (transfer->cmd & SWD_CMD_RnW) {
 743                         static uint32_t last_read;
 744                         uint32_t data = le_to_h_u32(&buffer[idx]);
 745                         uint32_t tmp = data;
 746                         idx += 4;
 747
 748                         LOG_DEBUG_IO("Read result: %"PRIx32, data);
 749
 750                         /* Imitate posted AP reads */
 751                         if ((transfer->cmd & SWD_CMD_APnDP) ||
 752                             ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
 753                                 tmp = last_read;
 754                                 last_read = data;
 755                         }
 756
 757                         if (transfer->buffer)
 758                                 *(uint32_t *)(transfer->buffer) = tmp;
 759                 }
 760         }
 761
 762 skip:
 763         block->transfer_count = 0;
 764         pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count;
 765         pending_fifo_block_count--;
 766 }
 767
 768 static int cmsis_dap_swd_run_queue(void)
 769 {
 770         if (pending_fifo_block_count)
 771                 cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
 772
 773         cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
 774
 775         while (pending_fifo_block_count)
 776                 cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
 777
 778         pending_fifo_put_idx = 0;
 779         pending_fifo_get_idx = 0;
 780
 781         int retval = queued_retval;
 782         queued_retval = ERROR_OK;
 783
 784         return retval;
 785 }
 786
 787 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 788 {
 789         if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len) {
 790                 if (pending_fifo_block_count)
 791                         cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
 792
 793                 /* Not enough room in the queue. Run the queue. */
 794                 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
 795
 796                 if (pending_fifo_block_count >= cmsis_dap_handle->packet_count)
 797                         cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
 798         }
 799
 800         if (queued_retval != ERROR_OK)
 801                 return;
 802
 803         struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
 804         struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
 805         transfer->data = data;
 806         transfer->cmd = cmd;
 807         if (cmd & SWD_CMD_RnW) {
 808                 /* Queue a read transaction */
 809                 transfer->buffer = dst;
 810         }
 811         block->transfer_count++;
 812 }
 813
 814 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
 815 {
 816         assert(!(cmd & SWD_CMD_RnW));
 817         cmsis_dap_swd_queue_cmd(cmd, NULL, value);
 818 }
 819
 820 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
 821 {
 822         assert(cmd & SWD_CMD_RnW);
 823         cmsis_dap_swd_queue_cmd(cmd, value, 0);
 824 }
 825
 826 static int cmsis_dap_get_serial_info(void)
 827 {
 828         uint8_t *data;
 829
 830         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM, &data);
 831         if (retval != ERROR_OK)
 832                 return retval;
 833
 834         if (data[0]) /* strlen */
 835                 LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
 836
 837         return ERROR_OK;
 838 }
 839
 840 static int cmsis_dap_get_version_info(void)
 841 {
 842         uint8_t *data;
 843
 844         /* INFO_ID_FW_VER - string */
 845         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
 846         if (retval != ERROR_OK)
 847                 return retval;
 848
 849         if (data[0]) /* strlen */
 850                 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
 851
 852         return ERROR_OK;
 853 }
 854
 855 static int cmsis_dap_get_caps_info(void)
 856 {
 857         uint8_t *data;
 858
 859         /* INFO_ID_CAPS - byte */
 860         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
 861         if (retval != ERROR_OK)
 862                 return retval;
 863
 864         if (data[0] == 1) {
 865                 uint8_t caps = data[1];
 866
 867                 cmsis_dap_handle->caps = caps;
 868
 869                 if (caps & INFO_CAPS_SWD)
 870                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
 871                 if (caps & INFO_CAPS_JTAG)
 872                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
 873         }
 874
 875         return ERROR_OK;
 876 }
 877
 878 static int cmsis_dap_get_status(void)
 879 {
 880         uint8_t d;
 881
 882         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
 883
 884         if (retval == ERROR_OK) {
 885                 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
 886                         (d & SWJ_PIN_TCK) ? 1 : 0,
 887                         (d & SWJ_PIN_TMS) ? 1 : 0,
 888                         (d & SWJ_PIN_TDI) ? 1 : 0,
 889                         (d & SWJ_PIN_TDO) ? 1 : 0,
 890                         (d & SWJ_PIN_TRST) ? 1 : 0,
 891                         (d & SWJ_PIN_SRST) ? 1 : 0);
 892         }
 893
 894         return retval;
 895 }
 896
 897 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
 898 {
 899         const uint8_t *s;
 900         unsigned int s_len;
 901         int retval;
 902
 903         if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
 904                 /* Following workaround deasserts reset on most adapters.
 905                  * Do not reconnect if a reset line is active!
 906                  * Reconnecting would break connecting under reset. */
 907
 908                 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
 909                 cmsis_dap_cmd_DAP_Disconnect();
 910
 911                 /* When we are reconnecting, DAP_Connect needs to be rerun, at
 912                  * least on Keil ULINK-ME */
 913                 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
 914                 if (retval != ERROR_OK)
 915                         return retval;
 916         }
 917
 918         switch (seq) {
 919         case LINE_RESET:
 920                 LOG_DEBUG("SWD line reset");
 921                 s = swd_seq_line_reset;
 922                 s_len = swd_seq_line_reset_len;
 923                 break;
 924         case JTAG_TO_SWD:
 925                 LOG_DEBUG("JTAG-to-SWD");
 926                 s = swd_seq_jtag_to_swd;
 927                 s_len = swd_seq_jtag_to_swd_len;
 928                 break;
 929         case SWD_TO_JTAG:
 930                 LOG_DEBUG("SWD-to-JTAG");
 931                 s = swd_seq_swd_to_jtag;
 932                 s_len = swd_seq_swd_to_jtag_len;
 933                 break;
 934         default:
 935                 LOG_ERROR("Sequence %d not supported", seq);
 936                 return ERROR_FAIL;
 937         }
 938
 939         retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
 940         if (retval != ERROR_OK)
 941                 return retval;
 942
 943         /* Atmel EDBG needs renew clock setting after SWJ_Sequence
 944          * otherwise default frequency is used */
 945         return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
 946 }
 947
 948 static int cmsis_dap_swd_open(void)
 949 {
 950         int retval;
 951
 952         if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
 953                 LOG_ERROR("CMSIS-DAP: SWD not supported");
 954                 return ERROR_JTAG_DEVICE_ERROR;
 955         }
 956
 957         retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
 958         if (retval != ERROR_OK)
 959                 return retval;
 960
 961         /* Add more setup here.??... */
 962
 963         LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
 964         return ERROR_OK;
 965 }
 966
 967 static int cmsis_dap_init(void)
 968 {
 969         int retval;
 970         uint8_t *data;
 971
 972         retval = cmsis_dap_usb_open();
 973         if (retval != ERROR_OK)
 974                 return retval;
 975
 976         retval = cmsis_dap_get_caps_info();
 977         if (retval != ERROR_OK)
 978                 return retval;
 979
 980         retval = cmsis_dap_get_version_info();
 981         if (retval != ERROR_OK)
 982                 return retval;
 983
 984         retval = cmsis_dap_get_serial_info();
 985         if (retval != ERROR_OK)
 986                 return retval;
 987
 988         if (swd_mode) {
 989                 retval = cmsis_dap_swd_open();
 990                 if (retval != ERROR_OK)
 991                         return retval;
 992         } else {
 993                 /* Connect in JTAG mode */
 994                 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
 995                         LOG_ERROR("CMSIS-DAP: JTAG not supported");
 996                         return ERROR_JTAG_DEVICE_ERROR;
 997                 }
 998
 999                 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
1000                 if (retval != ERROR_OK)
1001                         return retval;
1002
1003                 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
1004         }
1005
1006         /* Be conservative and suppress submitting multiple HID requests
1007          * until we get packet count info from the adaptor */
1008         cmsis_dap_handle->packet_count = 1;
1009         pending_queue_len = 12;
1010
1011         /* INFO_ID_PKT_SZ - short */
1012         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
1013         if (retval != ERROR_OK)
1014                 return retval;
1015
1016         if (data[0] == 2) {  /* short */
1017                 uint16_t pkt_sz = data[1] + (data[2] << 8);
1018
1019                 /* 4 bytes of command header + 5 bytes per register
1020                  * write. For bulk read sequences just 4 bytes are
1021                  * needed per transfer, so this is suboptimal. */
1022                 pending_queue_len = (pkt_sz - 4) / 5;
1023
1024                 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
1025                         /* reallocate buffer */
1026                         cmsis_dap_handle->packet_size = pkt_sz + 1;
1027                         cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
1028                                         cmsis_dap_handle->packet_size);
1029                         if (cmsis_dap_handle->packet_buffer == NULL) {
1030                                 LOG_ERROR("unable to reallocate memory");
1031                                 return ERROR_FAIL;
1032                         }
1033                 }
1034
1035                 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
1036         }
1037
1038         /* INFO_ID_PKT_CNT - byte */
1039         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
1040         if (retval != ERROR_OK)
1041                 return retval;
1042
1043         if (data[0] == 1) { /* byte */
1044                 int pkt_cnt = data[1];
1045                 if (pkt_cnt > 1)
1046                         cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
1047
1048                 LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt);
1049         }
1050
1051         LOG_DEBUG("Allocating FIFO for %d pending HID requests", cmsis_dap_handle->packet_count);
1052         for (int i = 0; i < cmsis_dap_handle->packet_count; i++) {
1053                 pending_fifo[i].transfers = malloc(pending_queue_len * sizeof(struct pending_transfer_result));
1054                 if (!pending_fifo[i].transfers) {
1055                         LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
1056                         return ERROR_FAIL;
1057                 }
1058         }
1059
1060
1061         retval = cmsis_dap_get_status();
1062         if (retval != ERROR_OK)
1063                 return ERROR_FAIL;
1064
1065         /* Now try to connect to the target
1066          * TODO: This is all SWD only @ present */
1067         retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
1068         if (retval != ERROR_OK)
1069                 return ERROR_FAIL;
1070
1071         /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
1072          * up to 64 times. This must be changed to 0 if sticky
1073          * overrun detection is enabled. */
1074         retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
1075         if (retval != ERROR_OK)
1076                 return ERROR_FAIL;
1077
1078         if (swd_mode) {
1079                 /* Data Phase (bit 2) must be set to 1 if sticky overrun
1080                  * detection is enabled */
1081                 retval = cmsis_dap_cmd_DAP_SWD_Configure(0);    /* 1 TRN, no Data Phase */
1082                 if (retval != ERROR_OK)
1083                         return ERROR_FAIL;
1084         }
1085         /* Both LEDs on */
1086         retval = cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT, LED_ON);
1087         if (retval != ERROR_OK)
1088                 return ERROR_FAIL;
1089
1090         retval = cmsis_dap_cmd_DAP_LED(LED_ID_RUN, LED_ON);
1091         if (retval != ERROR_OK)
1092                 return ERROR_FAIL;
1093
1094         /* support connecting with srst asserted */
1095         enum reset_types jtag_reset_config = jtag_get_reset_config();
1096
1097         if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
1098                 if (jtag_reset_config & RESET_SRST_NO_GATING) {
1099                         retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, SWJ_PIN_SRST, 0, NULL);
1100                         if (retval != ERROR_OK)
1101                                 return ERROR_FAIL;
1102                         LOG_INFO("Connecting under reset");
1103                 }
1104         }
1105         LOG_INFO("CMSIS-DAP: Interface ready");
1106
1107         return ERROR_OK;
1108 }
1109
1110 static int cmsis_dap_swd_init(void)
1111 {
1112         swd_mode = true;
1113         return ERROR_OK;
1114 }
1115
1116 static int cmsis_dap_quit(void)
1117 {
1118         cmsis_dap_cmd_DAP_Disconnect();
1119         /* Both LEDs off */
1120         cmsis_dap_cmd_DAP_LED(LED_ID_RUN, LED_OFF);
1121         cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT, LED_OFF);
1122
1123         cmsis_dap_usb_close(cmsis_dap_handle);
1124
1125         return ERROR_OK;
1126 }
1127
1128 static int cmsis_dap_reset(int trst, int srst)
1129 {
1130         /* Set both TRST and SRST even if they're not enabled as
1131          * there's no way to tristate them */
1132
1133         output_pins = 0;
1134         if (!srst)
1135                 output_pins |= SWJ_PIN_SRST;
1136         if (!trst)
1137                 output_pins |= SWJ_PIN_TRST;
1138
1139         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins,
1140                         SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1141         if (retval != ERROR_OK)
1142                 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1143         return retval;
1144 }
1145
1146 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1147 {
1148 #if 0
1149         int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
1150         if (retval != ERROR_OK)
1151 #endif
1152                 jtag_sleep(cmd->cmd.sleep->us);
1153 }
1154
1155 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1156 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1157 {
1158         LOG_INFO("cmsis-dap JTAG TLR_RESET");
1159         uint8_t seq = 0xff;
1160         int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
1161         if (ret == ERROR_OK)
1162                 tap_set_state(TAP_RESET);
1163         return ret;
1164 }
1165
1166 /* Set new end state */
1167 static void cmsis_dap_end_state(tap_state_t state)
1168 {
1169         if (tap_is_state_stable(state))
1170                 tap_set_end_state(state);
1171         else {
1172                 LOG_ERROR("BUG: %i is not a valid end state", state);
1173                 exit(-1);
1174         }
1175 }
1176
1177 #ifdef SPRINT_BINARY
1178 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1179 {
1180         if (!len)
1181                 return;
1182
1183         /*
1184         buf = { 0x18 } len=5 should result in: 11000
1185         buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1186         buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1187                 i=3 there means i/8 = 0 so c = 0xFF, and
1188         */
1189         for (int i = offset; i < offset + len; ++i) {
1190                 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1191                 if ((i != offset) && !(i % 8))
1192                         putchar(' ');
1193                 *s++ = (c & mask) ? '1' : '0';
1194         }
1195         *s = 0;
1196 }
1197 #endif
1198
1199 #ifdef CMSIS_DAP_JTAG_DEBUG
1200 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1201 {
1202         /* cmd is a usb packet to go to the cmsis-dap interface */
1203         printf("cmsis-dap buffer (%d b): ", cmdlen);
1204         for (int i = 0; i < cmdlen; ++i)
1205                 printf(" %02x", cmd[i]);
1206         printf("\n");
1207         switch (cmd[1]) {
1208                 case CMD_DAP_JTAG_SEQ: {
1209                         printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
1210                         /*
1211                          * #2 = number of sequences
1212                          * #3 = sequence info 1
1213                          * #4...4+n_bytes-1 = sequence 1
1214                          * #4+n_bytes = sequence info 2
1215                          * #5+n_bytes = sequence 2 (single bit)
1216                          */
1217                         int pos = 3;
1218                         for (int seq = 0; seq < cmd[2]; ++seq) {
1219                                 uint8_t info = cmd[pos++];
1220                                 int len = info & DAP_JTAG_SEQ_TCK;
1221                                 if (len == 0)
1222                                         len = 64;
1223                                 printf("  sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1224                                         seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1225                                 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1226                                         printf(" %02x", cmd[pos+i]);
1227                                 pos += DIV_ROUND_UP(len, 8);
1228                                 printf("\n");
1229                         }
1230                         if (pos != cmdlen) {
1231                                 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1232                                 exit(-1);
1233                         }
1234
1235                         break;
1236                 }
1237                 default:
1238                         LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1239                         break;
1240         }
1241 }
1242 #endif
1243
1244 static void cmsis_dap_flush(void)
1245 {
1246         if (!queued_seq_count)
1247                 return;
1248
1249         LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1250                 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1251
1252         /* prep CMSIS-DAP packet */
1253         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
1254         buffer[0] = 0;  /* report number */
1255         buffer[1] = CMD_DAP_JTAG_SEQ;
1256         buffer[2] = queued_seq_count;
1257         memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
1258
1259 #ifdef CMSIS_DAP_JTAG_DEBUG
1260         debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
1261 #endif
1262
1263         /* send command to USB device */
1264         int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
1265         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
1266                 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1267                 exit(-1);
1268         }
1269
1270 #ifdef CMSIS_DAP_JTAG_DEBUG
1271         LOG_DEBUG_IO("USB response buf:");
1272         for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1273                 printf("%02X ", buffer[c]);
1274         printf("\n");
1275 #endif
1276
1277         /* copy scan results into client buffers */
1278         for (int i = 0; i < pending_scan_result_count; ++i) {
1279                 struct pending_scan_result *scan = &pending_scan_results[i];
1280                 LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1281                         i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1282 #ifdef CMSIS_DAP_JTAG_DEBUG
1283                 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1284                         printf("%02X ", buffer[2+scan->first+b]);
1285                 printf("\n");
1286 #endif
1287                 bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
1288         }
1289
1290         /* reset */
1291         queued_seq_count = 0;
1292         queued_seq_buf_end = 0;
1293         queued_seq_tdo_ptr = 0;
1294         pending_scan_result_count = 0;
1295 }
1296
1297 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1298  *
1299  * sequence=NULL means clock out zeros on TDI
1300  * tdo_buffer=NULL means don't capture TDO
1301  */
1302 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1303                                         bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1304 {
1305         LOG_DEBUG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1306                 queued_seq_buf_end,
1307                 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1308
1309         if (s_len == 0)
1310                 return;
1311
1312         if (s_len > 64) {
1313                 LOG_DEBUG_IO("START JTAG SEQ SPLIT");
1314                 for (int offset = 0; offset < s_len; offset += 64) {
1315                         int len = s_len - offset;
1316                         if (len > 64)
1317                                 len = 64;
1318                         LOG_DEBUG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1319                         cmsis_dap_add_jtag_sequence(
1320                                 len,
1321                                 sequence,
1322                                 s_offset + offset,
1323                                 tms,
1324                                 tdo_buffer,
1325                                 tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
1326                                 );
1327                 }
1328                 LOG_DEBUG_IO("END JTAG SEQ SPLIT");
1329                 return;
1330         }
1331
1332         int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1333         if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1334                 /* empty out the buffer */
1335                 cmsis_dap_flush();
1336
1337         ++queued_seq_count;
1338
1339         /* control byte */
1340         queued_seq_buf[queued_seq_buf_end] =
1341                 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1342                 (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
1343                 (s_len == 64 ? 0 : s_len);
1344
1345         if (sequence != NULL)
1346                 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1347         else
1348                 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1349
1350         queued_seq_buf_end += cmd_len;
1351
1352         if (tdo_buffer != NULL) {
1353                 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1354                 scan->first = queued_seq_tdo_ptr;
1355                 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1356                 scan->length = s_len;
1357                 scan->buffer = tdo_buffer;
1358                 scan->buffer_offset = tdo_buffer_offset;
1359         }
1360 }
1361
1362 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1363 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1364 {
1365         LOG_DEBUG_IO("%d bits: %02X", s_len, *sequence);
1366         /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1367            because even though it seems ridiculously inefficient, it
1368            allows us to combine TMS and scan sequences into the same
1369            USB packet. */
1370         /* TODO: combine runs of the same tms value */
1371         for (int i = 0; i < s_len; ++i) {
1372                 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1373                 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1374         }
1375 }
1376
1377 /* Move to the end state by queuing a sequence to clock into TMS */
1378 static void cmsis_dap_state_move(void)
1379 {
1380         uint8_t tms_scan;
1381         uint8_t tms_scan_bits;
1382
1383         tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1384         tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1385
1386         LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms",
1387                 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1388                 tms_scan_bits, tms_scan);
1389         cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1390
1391         tap_set_state(tap_get_end_state());
1392 }
1393
1394
1395 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1396 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1397 {
1398         LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1399                 jtag_scan_type(cmd->cmd.scan));
1400
1401         /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1402         while (cmd->cmd.scan->num_fields > 0
1403                         && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1404                 cmd->cmd.scan->num_fields--;
1405                 LOG_DEBUG("discarding trailing empty field");
1406         }
1407
1408         if (cmd->cmd.scan->num_fields == 0) {
1409                 LOG_DEBUG("empty scan, doing nothing");
1410                 return;
1411         }
1412
1413         if (cmd->cmd.scan->ir_scan) {
1414                 if (tap_get_state() != TAP_IRSHIFT) {
1415                         cmsis_dap_end_state(TAP_IRSHIFT);
1416                         cmsis_dap_state_move();
1417                 }
1418         } else {
1419                 if (tap_get_state() != TAP_DRSHIFT) {
1420                         cmsis_dap_end_state(TAP_DRSHIFT);
1421                         cmsis_dap_state_move();
1422                 }
1423         }
1424
1425         cmsis_dap_end_state(cmd->cmd.scan->end_state);
1426
1427         struct scan_field *field = cmd->cmd.scan->fields;
1428         unsigned scan_size = 0;
1429
1430         for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1431                 scan_size += field->num_bits;
1432                 LOG_DEBUG_IO("%s%s field %d/%d %d bits",
1433                         field->in_value ? "in" : "",
1434                         field->out_value ? "out" : "",
1435                         i,
1436                         cmd->cmd.scan->num_fields,
1437                         field->num_bits);
1438
1439                 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1440                         LOG_DEBUG_IO("Last field and have to move out of SHIFT state");
1441                         /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1442                          * movement. This last field can't have length zero, it was checked above. */
1443                         cmsis_dap_add_jtag_sequence(
1444                                 field->num_bits - 1, /* number of bits to clock */
1445                                 field->out_value, /* output sequence */
1446                                 0, /* output offset */
1447                                 false, /* TMS low */
1448                                 field->in_value,
1449                                 0);
1450
1451                         /* Clock the last bit out, with TMS high */
1452                         uint8_t last_bit = 0;
1453                         if (field->out_value)
1454                                 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1455                         cmsis_dap_add_jtag_sequence(
1456                                 1,
1457                                 &last_bit,
1458                                 0,
1459                                 true,
1460                                 field->in_value,
1461                                 field->num_bits - 1);
1462                         tap_set_state(tap_state_transition(tap_get_state(), 1));
1463
1464                         /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1465                         cmsis_dap_add_jtag_sequence(
1466                                 1,
1467                                 &last_bit,
1468                                 0,
1469                                 false,
1470                                 NULL,
1471                                 0);
1472                         tap_set_state(tap_state_transition(tap_get_state(), 0));
1473                 } else {
1474                         LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards");
1475                         /* Clocking part of a sequence into DR or IR with TMS=0,
1476                            leaving TMS=0 at the end so we can continue later */
1477                         cmsis_dap_add_jtag_sequence(
1478                                 field->num_bits,
1479                                 field->out_value,
1480                                 0,
1481                                 false,
1482                                 field->in_value,
1483                                 0);
1484                 }
1485         }
1486
1487         if (tap_get_state() != tap_get_end_state()) {
1488                 cmsis_dap_end_state(tap_get_end_state());
1489                 cmsis_dap_state_move();
1490         }
1491
1492         LOG_DEBUG_IO("%s scan, %i bits, end in %s",
1493                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1494                 tap_state_name(tap_get_end_state()));
1495 }
1496
1497 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1498 {
1499         int i;
1500         uint8_t tms0 = 0x00;
1501         uint8_t tms1 = 0xff;
1502
1503         for (i = 0; i < num_states; i++) {
1504                 if (path[i] == tap_state_transition(tap_get_state(), false))
1505                         cmsis_dap_add_tms_sequence(&tms0, 1);
1506                 else if (path[i] == tap_state_transition(tap_get_state(), true))
1507                         cmsis_dap_add_tms_sequence(&tms1, 1);
1508                 else {
1509                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1510                                   tap_state_name(tap_get_state()), tap_state_name(path[i]));
1511                         exit(-1);
1512                 }
1513
1514                 tap_set_state(path[i]);
1515         }
1516
1517         cmsis_dap_end_state(tap_get_state());
1518 }
1519
1520 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1521 {
1522         LOG_DEBUG_IO("pathmove: %i states, end in %i",
1523                       cmd->cmd.pathmove->num_states,
1524                cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1525
1526         cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1527 }
1528
1529 static void cmsis_dap_stableclocks(int num_cycles)
1530 {
1531         int i;
1532
1533         uint8_t tms = tap_get_state() == TAP_RESET;
1534         /* TODO: Perform optimizations? */
1535         /* Execute num_cycles. */
1536         for (i = 0; i < num_cycles; i++)
1537                 cmsis_dap_add_tms_sequence(&tms, 1);
1538 }
1539
1540 static void cmsis_dap_runtest(int num_cycles)
1541 {
1542         tap_state_t saved_end_state = tap_get_end_state();
1543
1544         /* Only do a state_move when we're not already in IDLE. */
1545         if (tap_get_state() != TAP_IDLE) {
1546                 cmsis_dap_end_state(TAP_IDLE);
1547                 cmsis_dap_state_move();
1548         }
1549         cmsis_dap_stableclocks(num_cycles);
1550
1551         /* Finish in end_state. */
1552         cmsis_dap_end_state(saved_end_state);
1553
1554         if (tap_get_state() != tap_get_end_state())
1555                 cmsis_dap_state_move();
1556 }
1557
1558 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1559 {
1560         LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1561                       cmd->cmd.runtest->end_state);
1562
1563         cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1564         cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1565 }
1566
1567 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1568 {
1569         LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1570         cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1571 }
1572
1573 static void cmsis_dap_execute_tms(struct jtag_command *cmd)
1574 {
1575         LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
1576         cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
1577 }
1578
1579 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1580  * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1581 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1582 {
1583         switch (cmd->type) {
1584                 case JTAG_SLEEP:
1585                         cmsis_dap_flush();
1586                         cmsis_dap_execute_sleep(cmd);
1587                         break;
1588                 case JTAG_TLR_RESET:
1589                         cmsis_dap_flush();
1590                         cmsis_dap_execute_tlr_reset(cmd);
1591                         break;
1592                 case JTAG_SCAN:
1593                         cmsis_dap_execute_scan(cmd);
1594                         break;
1595                 case JTAG_PATHMOVE:
1596                         cmsis_dap_execute_pathmove(cmd);
1597                         break;
1598                 case JTAG_RUNTEST:
1599                         cmsis_dap_execute_runtest(cmd);
1600                         break;
1601                 case JTAG_STABLECLOCKS:
1602                         cmsis_dap_execute_stableclocks(cmd);
1603                         break;
1604                 case JTAG_TMS:
1605                         cmsis_dap_execute_tms(cmd);
1606                         break;
1607                 default:
1608                         LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1609                         exit(-1);
1610         }
1611 }
1612
1613 static int cmsis_dap_execute_queue(void)
1614 {
1615         struct jtag_command *cmd = jtag_command_queue;
1616
1617         while (cmd != NULL) {
1618                 cmsis_dap_execute_command(cmd);
1619                 cmd = cmd->next;
1620         }
1621
1622         cmsis_dap_flush();
1623
1624         return ERROR_OK;
1625 }
1626
1627 static int cmsis_dap_speed(int speed)
1628 {
1629         if (speed > DAP_MAX_CLOCK)
1630                 LOG_INFO("High speed (adapter speed %d) may be limited by adapter firmware.", speed);
1631
1632         if (speed == 0) {
1633                 LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\".");
1634                 return ERROR_JTAG_NOT_IMPLEMENTED;
1635         }
1636
1637         return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
1638 }
1639
1640 static int cmsis_dap_speed_div(int speed, int *khz)
1641 {
1642         *khz = speed;
1643         return ERROR_OK;
1644 }
1645
1646 static int cmsis_dap_khz(int khz, int *jtag_speed)
1647 {
1648         *jtag_speed = khz;
1649         return ERROR_OK;
1650 }
1651
1652 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1653 {
1654         if (cmsis_dap_get_version_info() == ERROR_OK)
1655                 cmsis_dap_get_status();
1656
1657         return ERROR_OK;
1658 }
1659
1660 COMMAND_HANDLER(cmsis_dap_handle_cmd_command)
1661 {
1662         int retval;
1663         unsigned i;
1664         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
1665
1666         buffer[0] = 0;  /* report number */
1667
1668         for (i = 0; i < CMD_ARGC; i++)
1669                 buffer[i + 1] = strtoul(CMD_ARGV[i], NULL, 16);
1670
1671         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, CMD_ARGC + 1);
1672
1673         if (retval != ERROR_OK) {
1674                 LOG_ERROR("CMSIS-DAP command failed.");
1675                 return ERROR_JTAG_DEVICE_ERROR;
1676         }
1677
1678         LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8,
1679                 buffer[1], buffer[2], buffer[3], buffer[4]);
1680
1681         return ERROR_OK;
1682 }
1683
1684 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
1685 {
1686         if (CMD_ARGC > MAX_USB_IDS * 2) {
1687                 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1688                         "(maximum is %d pairs)", MAX_USB_IDS);
1689                 CMD_ARGC = MAX_USB_IDS * 2;
1690         }
1691         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
1692                 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1693                 if (CMD_ARGC < 2)
1694                         return ERROR_COMMAND_SYNTAX_ERROR;
1695                 /* remove the incomplete trailing id */
1696                 CMD_ARGC -= 1;
1697         }
1698
1699         unsigned i;
1700         for (i = 0; i < CMD_ARGC; i += 2) {
1701                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
1702                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
1703         }
1704
1705         /*
1706          * Explicitly terminate, in case there are multiples instances of
1707          * cmsis_dap_vid_pid.
1708          */
1709         cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1710
1711         return ERROR_OK;
1712 }
1713
1714 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
1715 {
1716         if (CMD_ARGC == 1) {
1717                 size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
1718                 cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
1719                 if (cmsis_dap_serial == NULL) {
1720                         LOG_ERROR("unable to allocate memory");
1721                         return ERROR_OK;
1722                 }
1723                 if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
1724                         free(cmsis_dap_serial);
1725                         cmsis_dap_serial = NULL;
1726                         LOG_ERROR("unable to convert serial");
1727                 }
1728         } else {
1729                 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1730         }
1731
1732         return ERROR_OK;
1733 }
1734
1735 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1736         {
1737                 .name = "info",
1738                 .handler = &cmsis_dap_handle_info_command,
1739                 .mode = COMMAND_EXEC,
1740                 .usage = "",
1741                 .help = "show cmsis-dap info",
1742         },
1743         {
1744                 .name = "cmd",
1745                 .handler = &cmsis_dap_handle_cmd_command,
1746                 .mode = COMMAND_EXEC,
1747                 .usage = "",
1748                 .help = "issue cmsis-dap command",
1749         },
1750         COMMAND_REGISTRATION_DONE
1751 };
1752
1753 static const struct command_registration cmsis_dap_command_handlers[] = {
1754         {
1755                 .name = "cmsis-dap",
1756                 .mode = COMMAND_ANY,
1757                 .help = "perform CMSIS-DAP management",
1758                 .usage = "<cmd>",
1759                 .chain = cmsis_dap_subcommand_handlers,
1760         },
1761         {
1762                 .name = "cmsis_dap_vid_pid",
1763                 .handler = &cmsis_dap_handle_vid_pid_command,
1764                 .mode = COMMAND_CONFIG,
1765                 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1766                 .usage = "(vid pid)* ",
1767         },
1768         {
1769                 .name = "cmsis_dap_serial",
1770                 .handler = &cmsis_dap_handle_serial_command,
1771                 .mode = COMMAND_CONFIG,
1772                 .help = "set the serial number of the adapter",
1773                 .usage = "serial_string",
1774         },
1775         COMMAND_REGISTRATION_DONE
1776 };
1777
1778 static const struct swd_driver cmsis_dap_swd_driver = {
1779         .init = cmsis_dap_swd_init,
1780         .switch_seq = cmsis_dap_swd_switch_seq,
1781         .read_reg = cmsis_dap_swd_read_reg,
1782         .write_reg = cmsis_dap_swd_write_reg,
1783         .run = cmsis_dap_swd_run_queue,
1784 };
1785
1786 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
1787
1788 static struct jtag_interface cmsis_dap_interface = {
1789         .supported = DEBUG_CAP_TMS_SEQ,
1790         .execute_queue = cmsis_dap_execute_queue,
1791 };
1792
1793 struct adapter_driver cmsis_dap_adapter_driver = {
1794         .name = "cmsis-dap",
1795         .transports = cmsis_dap_transport,
1796         .commands = cmsis_dap_command_handlers,
1797
1798         .init = cmsis_dap_init,
1799         .quit = cmsis_dap_quit,
1800         .reset = cmsis_dap_reset,
1801         .speed = cmsis_dap_speed,
1802         .khz = cmsis_dap_khz,
1803         .speed_div = cmsis_dap_speed_div,
1804
1805         .jtag_ops = &cmsis_dap_interface,
1806         .swd_ops = &cmsis_dap_swd_driver,
1807 };