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   1 /***************************************************************************
   2  *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
   3  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   4  *                                                                         *
   5  *   Copyright (C) 2008 by Spencer Oliver                                  *
   6  *   spen@spen-soft.co.uk                                                  *
   7  *                                                                         *
   8  *   Copyright (C) 2011 by Jean-Christophe PLAGNIOL-VIILARD                *
   9  *   plagnioj@jcrosoft.com                                                 *
  10  *                                                                         *
  11  *   Copyright (C) 2015 by Marc Schink                                     *
  12  *   openocd-dev@marcschink.de                                             *
  13  *                                                                         *
  14  *   Copyright (C) 2015 by Paul Fertser                                    *
  15  *   fercerpav@gmail.com                                                   *
  16  *                                                                         *
  17  *   Copyright (C) 2015-2017 by Forest Crossman                            *
  18  *   cyrozap@gmail.com                                                     *
  19  *                                                                         *
  20  *   This program is free software; you can redistribute it and/or modify  *
  21  *   it under the terms of the GNU General Public License as published by  *
  22  *   the Free Software Foundation; either version 2 of the License, or     *
  23  *   (at your option) any later version.                                   *
  24  *                                                                         *
  25  *   This program is distributed in the hope that it will be useful,       *
  26  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  27  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  28  *   GNU General Public License for more details.                          *
  29  *                                                                         *
  30  *   You should have received a copy of the GNU General Public License     *
  31  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  32  ***************************************************************************/
  33
  34 #ifdef HAVE_CONFIG_H
  35 #include "config.h"
  36 #endif
  37
  38 #include <stdint.h>
  39
  40 #include <hidapi.h>
  41
  42 #include <jtag/interface.h>
  43 #include <jtag/swd.h>
  44 #include <jtag/commands.h>
  45
  46 #include "libusb_helper.h"
  47
  48 #define VID 0x04b4
  49 #define PID 0xf139
  50
  51 #define BULK_EP_IN  1
  52 #define BULK_EP_OUT 2
  53
  54 #define CONTROL_TYPE_READ  0x01
  55 #define CONTROL_TYPE_WRITE 0x02
  56
  57 #define CONTROL_COMMAND_PROGRAM 0x07
  58
  59 #define CONTROL_MODE_POLL_PROGRAMMER_STATUS  0x01
  60 #define CONTROL_MODE_RESET_TARGET            0x04
  61 #define CONTROL_MODE_SET_PROGRAMMER_PROTOCOL 0x40
  62 #define CONTROL_MODE_SYNCHRONIZE_TRANSFER    0x41
  63 #define CONTROL_MODE_ACQUIRE_SWD_TARGET      0x42
  64 #define CONTROL_MODE_SEND_SWD_SEQUENCE       0x43
  65
  66 #define PROTOCOL_JTAG 0x00
  67 #define PROTOCOL_SWD  0x01
  68
  69 #define DEVICE_PSOC4   0x00
  70 #define DEVICE_PSOC3   0x01
  71 #define DEVICE_UNKNOWN 0x02
  72 #define DEVICE_PSOC5   0x03
  73
  74 #define ACQUIRE_MODE_RESET       0x00
  75 #define ACQUIRE_MODE_POWER_CYCLE 0x01
  76
  77 #define SEQUENCE_LINE_RESET  0x00
  78 #define SEQUENCE_JTAG_TO_SWD 0x01
  79
  80 #define PROGRAMMER_NOK_NACK 0x00
  81 #define PROGRAMMER_OK_ACK   0x01
  82
  83 #define HID_TYPE_WRITE 0x00
  84 #define HID_TYPE_READ  0x01
  85 #define HID_TYPE_START 0x02
  86
  87 #define HID_COMMAND_POWER      0x80
  88 #define HID_COMMAND_VERSION    0x81
  89 #define HID_COMMAND_RESET      0x82
  90 #define HID_COMMAND_CONFIGURE  0x8f
  91 #define HID_COMMAND_BOOTLOADER 0xa0
  92
  93 /* 512 bytes seems to work reliably */
  94 #define SWD_MAX_BUFFER_LENGTH 512
  95
  96 struct kitprog {
  97         hid_device *hid_handle;
  98         struct libusb_device_handle *usb_handle;
  99         uint16_t packet_size;
 100         uint16_t packet_index;
 101         uint8_t *packet_buffer;
 102         char *serial;
 103         uint8_t hardware_version;
 104         uint8_t minor_version;
 105         uint8_t major_version;
 106         uint16_t millivolts;
 107
 108         bool supports_jtag_to_swd;
 109 };
 110
 111 struct pending_transfer_result {
 112         uint8_t cmd;
 113         uint32_t data;
 114         void *buffer;
 115 };
 116
 117 static char *kitprog_serial;
 118 static bool kitprog_init_acquire_psoc;
 119
 120 static int pending_transfer_count, pending_queue_len;
 121 static struct pending_transfer_result *pending_transfers;
 122
 123 static int queued_retval;
 124
 125 static struct kitprog *kitprog_handle;
 126
 127 static int kitprog_usb_open(void);
 128 static void kitprog_usb_close(void);
 129
 130 static int kitprog_hid_command(uint8_t *command, size_t command_length,
 131                 uint8_t *data, size_t data_length);
 132 static int kitprog_get_version(void);
 133 static int kitprog_get_millivolts(void);
 134 static int kitprog_get_info(void);
 135 static int kitprog_set_protocol(uint8_t protocol);
 136 static int kitprog_get_status(void);
 137 static int kitprog_set_unknown(void);
 138 static int kitprog_acquire_psoc(uint8_t psoc_type, uint8_t acquire_mode,
 139                 uint8_t max_attempts);
 140 static int kitprog_reset_target(void);
 141 static int kitprog_swd_sync(void);
 142 static int kitprog_swd_seq(uint8_t seq_type);
 143
 144 static int kitprog_generic_acquire(void);
 145
 146 static int kitprog_swd_run_queue(void);
 147 static void kitprog_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data);
 148 static int kitprog_swd_switch_seq(enum swd_special_seq seq);
 149
 150
 151 static inline int mm_to_version(uint8_t major, uint8_t minor)
 152 {
 153         return (major << 8) | minor;
 154 }
 155
 156 static int kitprog_init(void)
 157 {
 158         int retval;
 159
 160         kitprog_handle = malloc(sizeof(struct kitprog));
 161         if (!kitprog_handle) {
 162                 LOG_ERROR("Failed to allocate memory");
 163                 return ERROR_FAIL;
 164         }
 165
 166         if (kitprog_usb_open() != ERROR_OK) {
 167                 LOG_ERROR("Can't find a KitProg device! Please check device connections and permissions.");
 168                 return ERROR_JTAG_INIT_FAILED;
 169         }
 170
 171         /* Get the current KitProg version and target voltage */
 172         if (kitprog_get_info() != ERROR_OK)
 173                 return ERROR_FAIL;
 174
 175         /* Compatibility check */
 176         kitprog_handle->supports_jtag_to_swd = true;
 177         int kitprog_version = mm_to_version(kitprog_handle->major_version, kitprog_handle->minor_version);
 178         if (kitprog_version < mm_to_version(2, 14)) {
 179                 LOG_WARNING("KitProg firmware versions below v2.14 do not support sending JTAG to SWD sequences. These sequences will be substituted with SWD line resets.");
 180                 kitprog_handle->supports_jtag_to_swd = false;
 181         }
 182
 183         /* I have no idea what this does */
 184         if (kitprog_set_unknown() != ERROR_OK)
 185                 return ERROR_FAIL;
 186
 187         /* SWD won't work unless we do this */
 188         if (kitprog_swd_sync() != ERROR_OK)
 189                 return ERROR_FAIL;
 190
 191         /* Set the protocol to SWD */
 192         if (kitprog_set_protocol(PROTOCOL_SWD) != ERROR_OK)
 193                 return ERROR_FAIL;
 194
 195         /* Reset the SWD bus */
 196         if (kitprog_swd_seq(SEQUENCE_LINE_RESET) != ERROR_OK)
 197                 return ERROR_FAIL;
 198
 199         if (kitprog_init_acquire_psoc) {
 200                 /* Try to acquire any device that will respond */
 201                 retval = kitprog_generic_acquire();
 202                 if (retval != ERROR_OK) {
 203                         LOG_ERROR("No PSoC devices found");
 204                         return retval;
 205                 }
 206         }
 207
 208         /* Allocate packet buffers and queues */
 209         kitprog_handle->packet_size = SWD_MAX_BUFFER_LENGTH;
 210         kitprog_handle->packet_buffer = malloc(SWD_MAX_BUFFER_LENGTH);
 211         if (!kitprog_handle->packet_buffer) {
 212                 LOG_ERROR("Failed to allocate memory for the packet buffer");
 213                 return ERROR_FAIL;
 214         }
 215
 216         pending_queue_len = SWD_MAX_BUFFER_LENGTH / 5;
 217         pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
 218         if (!pending_transfers) {
 219                 LOG_ERROR("Failed to allocate memory for the SWD transfer queue");
 220                 return ERROR_FAIL;
 221         }
 222
 223         return ERROR_OK;
 224 }
 225
 226 static int kitprog_quit(void)
 227 {
 228         kitprog_usb_close();
 229
 230         free(kitprog_handle->packet_buffer);
 231         free(kitprog_handle->serial);
 232         free(kitprog_handle);
 233         free(kitprog_serial);
 234         free(pending_transfers);
 235
 236         return ERROR_OK;
 237 }
 238
 239 /*************** kitprog usb functions *********************/
 240
 241 static int kitprog_get_usb_serial(void)
 242 {
 243         int retval;
 244         const uint8_t str_index = 128; /* This seems to be a constant */
 245         char desc_string[256+1]; /* Max size of string descriptor */
 246
 247         retval = libusb_get_string_descriptor_ascii(kitprog_handle->usb_handle,
 248                         str_index, (unsigned char *)desc_string, sizeof(desc_string)-1);
 249         if (retval < 0) {
 250                 LOG_ERROR("libusb_get_string_descriptor_ascii() failed with %d", retval);
 251                 return ERROR_FAIL;
 252         }
 253
 254         /* Null terminate descriptor string */
 255         desc_string[retval] = '\0';
 256
 257         /* Allocate memory for the serial number */
 258         kitprog_handle->serial = calloc(retval + 1, sizeof(char));
 259         if (!kitprog_handle->serial) {
 260                 LOG_ERROR("Failed to allocate memory for the serial number");
 261                 return ERROR_FAIL;
 262         }
 263
 264         /* Store the serial number */
 265         strncpy(kitprog_handle->serial, desc_string, retval + 1);
 266
 267         return ERROR_OK;
 268 }
 269
 270 static int kitprog_usb_open(void)
 271 {
 272         const uint16_t vids[] = { VID, 0 };
 273         const uint16_t pids[] = { PID, 0 };
 274
 275         if (jtag_libusb_open(vids, pids, kitprog_serial,
 276                         &kitprog_handle->usb_handle, NULL) != ERROR_OK) {
 277                 LOG_ERROR("Failed to open or find the device");
 278                 return ERROR_FAIL;
 279         }
 280
 281         /* Get the serial number for the device */
 282         if (kitprog_get_usb_serial() != ERROR_OK)
 283                 LOG_WARNING("Failed to get KitProg serial number");
 284
 285         /* Convert the ASCII serial number into a (wchar_t *) */
 286         size_t len = strlen(kitprog_handle->serial);
 287         wchar_t *hid_serial = calloc(len + 1, sizeof(wchar_t));
 288         if (!hid_serial) {
 289                 LOG_ERROR("Failed to allocate memory for the serial number");
 290                 return ERROR_FAIL;
 291         }
 292         if (mbstowcs(hid_serial, kitprog_handle->serial, len + 1) == (size_t)-1) {
 293                 free(hid_serial);
 294                 LOG_ERROR("Failed to convert serial number");
 295                 return ERROR_FAIL;
 296         }
 297
 298         /* Use HID for the KitBridge interface */
 299         kitprog_handle->hid_handle = hid_open(VID, PID, hid_serial);
 300         free(hid_serial);
 301         if (!kitprog_handle->hid_handle) {
 302                 LOG_ERROR("Failed to open KitBridge (HID) interface");
 303                 return ERROR_FAIL;
 304         }
 305
 306         /* Claim the KitProg Programmer (bulk transfer) interface */
 307         if (libusb_claim_interface(kitprog_handle->usb_handle, 1) != ERROR_OK) {
 308                 LOG_ERROR("Failed to claim KitProg Programmer (bulk transfer) interface");
 309                 return ERROR_FAIL;
 310         }
 311
 312         return ERROR_OK;
 313 }
 314
 315 static void kitprog_usb_close(void)
 316 {
 317         if (kitprog_handle->hid_handle) {
 318                 hid_close(kitprog_handle->hid_handle);
 319                 hid_exit();
 320         }
 321
 322         jtag_libusb_close(kitprog_handle->usb_handle);
 323 }
 324
 325 /*************** kitprog lowlevel functions *********************/
 326
 327 static int kitprog_hid_command(uint8_t *command, size_t command_length,
 328                 uint8_t *data, size_t data_length)
 329 {
 330         int ret;
 331
 332         ret = hid_write(kitprog_handle->hid_handle, command, command_length);
 333         if (ret < 0) {
 334                 LOG_DEBUG("HID write returned %i", ret);
 335                 return ERROR_FAIL;
 336         }
 337
 338         ret = hid_read(kitprog_handle->hid_handle, data, data_length);
 339         if (ret < 0) {
 340                 LOG_DEBUG("HID read returned %i", ret);
 341                 return ERROR_FAIL;
 342         }
 343
 344         return ERROR_OK;
 345 }
 346
 347 static int kitprog_get_version(void)
 348 {
 349         int ret;
 350
 351         unsigned char command[3] = {HID_TYPE_START | HID_TYPE_WRITE, 0x00, HID_COMMAND_VERSION};
 352         unsigned char data[64];
 353
 354         ret = kitprog_hid_command(command, sizeof(command), data, sizeof(data));
 355         if (ret != ERROR_OK)
 356                 return ret;
 357
 358         kitprog_handle->hardware_version = data[1];
 359         kitprog_handle->minor_version = data[2];
 360         kitprog_handle->major_version = data[3];
 361
 362         return ERROR_OK;
 363 }
 364
 365 static int kitprog_get_millivolts(void)
 366 {
 367         int ret;
 368
 369         unsigned char command[3] = {HID_TYPE_START | HID_TYPE_READ, 0x00, HID_COMMAND_POWER};
 370         unsigned char data[64];
 371
 372         ret = kitprog_hid_command(command, sizeof(command), data, sizeof(data));
 373         if (ret != ERROR_OK)
 374                 return ret;
 375
 376         kitprog_handle->millivolts = (data[4] << 8) | data[3];
 377
 378         return ERROR_OK;
 379 }
 380
 381 static int kitprog_get_info(void)
 382 {
 383         /* Get the device version information */
 384         if (kitprog_get_version() == ERROR_OK) {
 385                 LOG_INFO("KitProg v%u.%02u",
 386                         kitprog_handle->major_version, kitprog_handle->minor_version);
 387                 LOG_INFO("Hardware version: %u",
 388                         kitprog_handle->hardware_version);
 389         } else {
 390                 LOG_ERROR("Failed to get KitProg version");
 391                 return ERROR_FAIL;
 392         }
 393
 394         /* Get the current reported target voltage */
 395         if (kitprog_get_millivolts() == ERROR_OK) {
 396                 LOG_INFO("VTARG = %u.%03u V",
 397                         kitprog_handle->millivolts / 1000, kitprog_handle->millivolts % 1000);
 398         } else {
 399                 LOG_ERROR("Failed to get target voltage");
 400                 return ERROR_FAIL;
 401         }
 402
 403         return ERROR_OK;
 404 }
 405
 406 static int kitprog_set_protocol(uint8_t protocol)
 407 {
 408         int transferred;
 409         char status = PROGRAMMER_NOK_NACK;
 410
 411         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 412                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 413                 CONTROL_TYPE_WRITE,
 414                 (CONTROL_MODE_SET_PROGRAMMER_PROTOCOL << 8) | CONTROL_COMMAND_PROGRAM,
 415                 protocol, &status, 1, 0);
 416
 417         if (transferred == 0) {
 418                 LOG_DEBUG("Zero bytes transferred");
 419                 return ERROR_FAIL;
 420         }
 421
 422         if (status != PROGRAMMER_OK_ACK) {
 423                 LOG_DEBUG("Programmer did not respond OK");
 424                 return ERROR_FAIL;
 425         }
 426
 427         return ERROR_OK;
 428 }
 429
 430 static int kitprog_get_status(void)
 431 {
 432         int transferred = 0;
 433         char status = PROGRAMMER_NOK_NACK;
 434
 435         /* Try a maximum of three times */
 436         for (int i = 0; (i < 3) && (transferred == 0); i++) {
 437                 transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 438                         LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 439                         CONTROL_TYPE_READ,
 440                         (CONTROL_MODE_POLL_PROGRAMMER_STATUS << 8) | CONTROL_COMMAND_PROGRAM,
 441                         0, &status, 1, 0);
 442                 jtag_sleep(1000);
 443         }
 444
 445         if (transferred == 0) {
 446                 LOG_DEBUG("Zero bytes transferred");
 447                 return ERROR_FAIL;
 448         }
 449
 450         if (status != PROGRAMMER_OK_ACK) {
 451                 LOG_DEBUG("Programmer did not respond OK");
 452                 return ERROR_FAIL;
 453         }
 454
 455         return ERROR_OK;
 456 }
 457
 458 static int kitprog_set_unknown(void)
 459 {
 460         int transferred;
 461         char status = PROGRAMMER_NOK_NACK;
 462
 463         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 464                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 465                 CONTROL_TYPE_WRITE,
 466                 (0x03 << 8) | 0x04,
 467                 0, &status, 1, 0);
 468
 469         if (transferred == 0) {
 470                 LOG_DEBUG("Zero bytes transferred");
 471                 return ERROR_FAIL;
 472         }
 473
 474         if (status != PROGRAMMER_OK_ACK) {
 475                 LOG_DEBUG("Programmer did not respond OK");
 476                 return ERROR_FAIL;
 477         }
 478
 479         return ERROR_OK;
 480 }
 481
 482 static int kitprog_acquire_psoc(uint8_t psoc_type, uint8_t acquire_mode,
 483                 uint8_t max_attempts)
 484 {
 485         int transferred;
 486         char status = PROGRAMMER_NOK_NACK;
 487
 488         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 489                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 490                 CONTROL_TYPE_WRITE,
 491                 (CONTROL_MODE_ACQUIRE_SWD_TARGET << 8) | CONTROL_COMMAND_PROGRAM,
 492                 (max_attempts << 8) | (acquire_mode << 4) | psoc_type, &status, 1, 0);
 493
 494         if (transferred == 0) {
 495                 LOG_DEBUG("Zero bytes transferred");
 496                 return ERROR_FAIL;
 497         }
 498
 499         if (status != PROGRAMMER_OK_ACK) {
 500                 LOG_DEBUG("Programmer did not respond OK");
 501                 return ERROR_FAIL;
 502         }
 503
 504         return ERROR_OK;
 505 }
 506
 507 static int kitprog_reset_target(void)
 508 {
 509         int transferred;
 510         char status = PROGRAMMER_NOK_NACK;
 511
 512         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 513                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 514                 CONTROL_TYPE_WRITE,
 515                 (CONTROL_MODE_RESET_TARGET << 8) | CONTROL_COMMAND_PROGRAM,
 516                 0, &status, 1, 0);
 517
 518         if (transferred == 0) {
 519                 LOG_DEBUG("Zero bytes transferred");
 520                 return ERROR_FAIL;
 521         }
 522
 523         if (status != PROGRAMMER_OK_ACK) {
 524                 LOG_DEBUG("Programmer did not respond OK");
 525                 return ERROR_FAIL;
 526         }
 527
 528         return ERROR_OK;
 529 }
 530
 531 static int kitprog_swd_sync(void)
 532 {
 533         int transferred;
 534         char status = PROGRAMMER_NOK_NACK;
 535
 536         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 537                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 538                 CONTROL_TYPE_WRITE,
 539                 (CONTROL_MODE_SYNCHRONIZE_TRANSFER << 8) | CONTROL_COMMAND_PROGRAM,
 540                 0, &status, 1, 0);
 541
 542         if (transferred == 0) {
 543                 LOG_DEBUG("Zero bytes transferred");
 544                 return ERROR_FAIL;
 545         }
 546
 547         if (status != PROGRAMMER_OK_ACK) {
 548                 LOG_DEBUG("Programmer did not respond OK");
 549                 return ERROR_FAIL;
 550         }
 551
 552         return ERROR_OK;
 553 }
 554
 555 static int kitprog_swd_seq(uint8_t seq_type)
 556 {
 557         int transferred;
 558         char status = PROGRAMMER_NOK_NACK;
 559
 560         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 561                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 562                 CONTROL_TYPE_WRITE,
 563                 (CONTROL_MODE_SEND_SWD_SEQUENCE << 8) | CONTROL_COMMAND_PROGRAM,
 564                 seq_type, &status, 1, 0);
 565
 566         if (transferred == 0) {
 567                 LOG_DEBUG("Zero bytes transferred");
 568                 return ERROR_FAIL;
 569         }
 570
 571         if (status != PROGRAMMER_OK_ACK) {
 572                 LOG_DEBUG("Programmer did not respond OK");
 573                 return ERROR_FAIL;
 574         }
 575
 576         return ERROR_OK;
 577 }
 578
 579 static int kitprog_generic_acquire(void)
 580 {
 581         const uint8_t devices[] = {DEVICE_PSOC4, DEVICE_PSOC3, DEVICE_PSOC5};
 582
 583         int retval;
 584         int acquire_count = 0;
 585
 586         /* Due to the way the SWD port is shared between the Test Controller (TC)
 587          * and the Cortex-M3 DAP on the PSoC 5LP, the TC is the default SWD target
 588          * after power is applied. To access the DAP, the PSoC 5LP requires at least
 589          * one acquisition sequence to be run (which switches the SWD mux from the
 590          * TC to the DAP). However, after the mux is switched, the Cortex-M3 will be
 591          * held in reset until a series of registers are written to (see section 5.2
 592          * of the PSoC 5LP Device Programming Specifications for details).
 593          *
 594          * Instead of writing the registers in this function, we just do what the
 595          * Cypress tools do and run the acquisition sequence a second time. This
 596          * will take the Cortex-M3 out of reset and enable debugging.
 597          */
 598         for (int i = 0; i < 2; i++) {
 599                 for (uint8_t j = 0; j < sizeof(devices) && acquire_count == i; j++) {
 600                         retval = kitprog_acquire_psoc(devices[j], ACQUIRE_MODE_RESET, 3);
 601                         if (retval != ERROR_OK) {
 602                                 LOG_DEBUG("Acquisition function failed for device 0x%02x.", devices[j]);
 603                                 return retval;
 604                         }
 605
 606                         if (kitprog_get_status() == ERROR_OK)
 607                                 acquire_count++;
 608                 }
 609
 610                 jtag_sleep(10);
 611         }
 612
 613         if (acquire_count < 2)
 614                 return ERROR_FAIL;
 615
 616         return ERROR_OK;
 617 }
 618
 619 /*************** swd wrapper functions *********************/
 620
 621 static int kitprog_swd_init(void)
 622 {
 623         return ERROR_OK;
 624 }
 625
 626 static void kitprog_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
 627 {
 628         assert(!(cmd & SWD_CMD_RNW));
 629         kitprog_swd_queue_cmd(cmd, NULL, value);
 630 }
 631
 632 static void kitprog_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
 633 {
 634         assert(cmd & SWD_CMD_RNW);
 635         kitprog_swd_queue_cmd(cmd, value, 0);
 636 }
 637
 638 /*************** swd lowlevel functions ********************/
 639
 640 static int kitprog_swd_switch_seq(enum swd_special_seq seq)
 641 {
 642         switch (seq) {
 643                 case JTAG_TO_SWD:
 644                         if (kitprog_handle->supports_jtag_to_swd) {
 645                                 LOG_DEBUG("JTAG to SWD");
 646                                 if (kitprog_swd_seq(SEQUENCE_JTAG_TO_SWD) != ERROR_OK)
 647                                         return ERROR_FAIL;
 648                                 break;
 649                         } else {
 650                                 LOG_DEBUG("JTAG to SWD not supported");
 651                                 /* Fall through to fix target reset issue */
 652                         }
 653                         /* fallthrough */
 654                 case LINE_RESET:
 655                         LOG_DEBUG("SWD line reset");
 656                         if (kitprog_swd_seq(SEQUENCE_LINE_RESET) != ERROR_OK)
 657                                 return ERROR_FAIL;
 658                         break;
 659                 default:
 660                         LOG_ERROR("Sequence %d not supported.", seq);
 661                         return ERROR_FAIL;
 662         }
 663
 664         return ERROR_OK;
 665 }
 666
 667 static int kitprog_swd_run_queue(void)
 668 {
 669         int ret;
 670
 671         size_t read_count = 0;
 672         size_t read_index = 0;
 673         size_t write_count = 0;
 674         uint8_t *buffer = kitprog_handle->packet_buffer;
 675
 676         do {
 677                 LOG_DEBUG_IO("Executing %d queued transactions", pending_transfer_count);
 678
 679                 if (queued_retval != ERROR_OK) {
 680                         LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 681                         break;
 682                 }
 683
 684                 if (!pending_transfer_count)
 685                         break;
 686
 687                 for (int i = 0; i < pending_transfer_count; i++) {
 688                         uint8_t cmd = pending_transfers[i].cmd;
 689                         uint32_t data = pending_transfers[i].data;
 690
 691                         /* When proper WAIT handling is implemented in the
 692                          * common SWD framework, this kludge can be
 693                          * removed. However, this might lead to minor
 694                          * performance degradation as the adapter wouldn't be
 695                          * able to automatically retry anything (because ARM
 696                          * has forgotten to implement sticky error flags
 697                          * clearing). See also comments regarding
 698                          * cmsis_dap_cmd_DAP_TFER_Configure() and
 699                          * cmsis_dap_cmd_DAP_SWD_Configure() in
 700                          * cmsis_dap_init().
 701                          */
 702                         if (!(cmd & SWD_CMD_RNW) &&
 703                                 !(cmd & SWD_CMD_APNDP) &&
 704                                 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
 705                                 (data & CORUNDETECT)) {
 706                                 LOG_DEBUG("refusing to enable sticky overrun detection");
 707                                 data &= ~CORUNDETECT;
 708                         }
 709
 710                         LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
 711                                         cmd & SWD_CMD_APNDP ? "AP" : "DP",
 712                                         cmd & SWD_CMD_RNW ? "read" : "write",
 713                                   (cmd & SWD_CMD_A32) >> 1, data);
 714
 715                         buffer[write_count++] = (cmd | SWD_CMD_START | SWD_CMD_PARK) & ~SWD_CMD_STOP;
 716                         read_count++;
 717                         if (!(cmd & SWD_CMD_RNW)) {
 718                                 buffer[write_count++] = (data) & 0xff;
 719                                 buffer[write_count++] = (data >> 8) & 0xff;
 720                                 buffer[write_count++] = (data >> 16) & 0xff;
 721                                 buffer[write_count++] = (data >> 24) & 0xff;
 722                         } else {
 723                                 read_count += 4;
 724                         }
 725                 }
 726
 727                 if (jtag_libusb_bulk_write(kitprog_handle->usb_handle,
 728                                            BULK_EP_OUT, (char *)buffer,
 729                                            write_count, 0, &ret)) {
 730                         LOG_ERROR("Bulk write failed");
 731                         queued_retval = ERROR_FAIL;
 732                         break;
 733                 } else {
 734                         queued_retval = ERROR_OK;
 735                 }
 736
 737                 /* KitProg firmware does not send a zero length packet
 738                  * after the bulk-in transmission of a length divisible by bulk packet
 739                  * size (64 bytes) as required by the USB specification.
 740                  * Therefore libusb would wait for continuation of transmission.
 741                  * Workaround: Limit bulk read size to expected number of bytes
 742                  * for problematic transfer sizes. Otherwise use the maximum buffer
 743                  * size here because the KitProg sometimes doesn't like bulk reads
 744                  * of fewer than 62 bytes. (?!?!)
 745                  */
 746                 size_t read_count_workaround = SWD_MAX_BUFFER_LENGTH;
 747                 if (read_count % 64 == 0)
 748                         read_count_workaround = read_count;
 749
 750                 if (jtag_libusb_bulk_read(kitprog_handle->usb_handle,
 751                                 BULK_EP_IN | LIBUSB_ENDPOINT_IN, (char *)buffer,
 752                                 read_count_workaround, 1000, &ret)) {
 753                         LOG_ERROR("Bulk read failed");
 754                         queued_retval = ERROR_FAIL;
 755                         break;
 756                 } else {
 757                         /* Handle garbage data by offsetting the initial read index */
 758                         if ((unsigned int)ret > read_count)
 759                                 read_index = ret - read_count;
 760                         queued_retval = ERROR_OK;
 761                 }
 762
 763                 for (int i = 0; i < pending_transfer_count; i++) {
 764                         if (pending_transfers[i].cmd & SWD_CMD_RNW) {
 765                                 uint32_t data = le_to_h_u32(&buffer[read_index]);
 766
 767                                 LOG_DEBUG_IO("Read result: %"PRIx32, data);
 768
 769                                 if (pending_transfers[i].buffer)
 770                                         *(uint32_t *)pending_transfers[i].buffer = data;
 771
 772                                 read_index += 4;
 773                         }
 774
 775                         uint8_t ack = buffer[read_index] & 0x07;
 776                         if (ack != SWD_ACK_OK || (buffer[read_index] & 0x08)) {
 777                                 LOG_DEBUG("SWD ack not OK: %d %s", i,
 778                                           ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
 779                                 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 780                                 break;
 781                         }
 782                         read_index++;
 783                 }
 784         } while (0);
 785
 786         pending_transfer_count = 0;
 787         int retval = queued_retval;
 788         queued_retval = ERROR_OK;
 789
 790         return retval;
 791 }
 792
 793 static void kitprog_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 794 {
 795         if (pending_transfer_count == pending_queue_len) {
 796                 /* Not enough room in the queue. Run the queue. */
 797                 queued_retval = kitprog_swd_run_queue();
 798         }
 799
 800         if (queued_retval != ERROR_OK)
 801                 return;
 802
 803         pending_transfers[pending_transfer_count].data = data;
 804         pending_transfers[pending_transfer_count].cmd = cmd;
 805         if (cmd & SWD_CMD_RNW) {
 806                 /* Queue a read transaction */
 807                 pending_transfers[pending_transfer_count].buffer = dst;
 808         }
 809         pending_transfer_count++;
 810 }
 811
 812 /*************** jtag lowlevel functions ********************/
 813
 814 static int kitprog_reset(int trst, int srst)
 815 {
 816         int retval = ERROR_OK;
 817
 818         if (trst == 1) {
 819                 LOG_ERROR("KitProg: Interface has no TRST");
 820                 return ERROR_FAIL;
 821         }
 822
 823         if (srst == 1) {
 824                 retval = kitprog_reset_target();
 825                 /* Since the previous command also disables SWCLK output, we need to send an
 826                  * SWD bus reset command to re-enable it. For some reason, running
 827                  * kitprog_swd_seq() immediately after kitprog_reset_target() won't
 828                  * actually fix this. Instead, kitprog_swd_seq() will be run once OpenOCD
 829                  * tries to send a JTAG-to-SWD sequence, which should happen during
 830                  * swd_check_reconnect (see the JTAG_TO_SWD case in kitprog_swd_switch_seq).
 831                  */
 832         }
 833
 834         if (retval != ERROR_OK)
 835                 LOG_ERROR("KitProg: Interface reset failed");
 836         return retval;
 837 }
 838
 839 COMMAND_HANDLER(kitprog_handle_info_command)
 840 {
 841         int retval = kitprog_get_info();
 842
 843         return retval;
 844 }
 845
 846
 847 COMMAND_HANDLER(kitprog_handle_acquire_psoc_command)
 848 {
 849         int retval = kitprog_generic_acquire();
 850
 851         return retval;
 852 }
 853
 854 COMMAND_HANDLER(kitprog_handle_serial_command)
 855 {
 856         if (CMD_ARGC == 1) {
 857                 kitprog_serial = strdup(CMD_ARGV[0]);
 858                 if (!kitprog_serial) {
 859                         LOG_ERROR("Failed to allocate memory for the serial number");
 860                         return ERROR_FAIL;
 861                 }
 862         } else {
 863                 LOG_ERROR("expected exactly one argument to kitprog_serial <serial-number>");
 864                 return ERROR_FAIL;
 865         }
 866
 867         return ERROR_OK;
 868 }
 869
 870 COMMAND_HANDLER(kitprog_handle_init_acquire_psoc_command)
 871 {
 872         kitprog_init_acquire_psoc = true;
 873
 874         return ERROR_OK;
 875 }
 876
 877 static const struct command_registration kitprog_subcommand_handlers[] = {
 878         {
 879                 .name = "info",
 880                 .handler = &kitprog_handle_info_command,
 881                 .mode = COMMAND_EXEC,
 882                 .usage = "",
 883                 .help = "show KitProg info",
 884         },
 885         {
 886                 .name = "acquire_psoc",
 887                 .handler = &kitprog_handle_acquire_psoc_command,
 888                 .mode = COMMAND_EXEC,
 889                 .usage = "",
 890                 .help = "try to acquire a PSoC",
 891         },
 892         COMMAND_REGISTRATION_DONE
 893 };
 894
 895 static const struct command_registration kitprog_command_handlers[] = {
 896         {
 897                 .name = "kitprog",
 898                 .mode = COMMAND_ANY,
 899                 .help = "perform KitProg management",
 900                 .usage = "<cmd>",
 901                 .chain = kitprog_subcommand_handlers,
 902         },
 903         {
 904                 .name = "kitprog_serial",
 905                 .handler = &kitprog_handle_serial_command,
 906                 .mode = COMMAND_CONFIG,
 907                 .help = "set the serial number of the adapter",
 908                 .usage = "serial_string",
 909         },
 910         {
 911                 .name = "kitprog_init_acquire_psoc",
 912                 .handler = &kitprog_handle_init_acquire_psoc_command,
 913                 .mode = COMMAND_CONFIG,
 914                 .help = "try to acquire a PSoC during init",
 915                 .usage = "",
 916         },
 917         COMMAND_REGISTRATION_DONE
 918 };
 919
 920 static const struct swd_driver kitprog_swd = {
 921         .init = kitprog_swd_init,
 922         .switch_seq = kitprog_swd_switch_seq,
 923         .read_reg = kitprog_swd_read_reg,
 924         .write_reg = kitprog_swd_write_reg,
 925         .run = kitprog_swd_run_queue,
 926 };
 927
 928 static const char * const kitprog_transports[] = { "swd", NULL };
 929
 930 struct adapter_driver kitprog_adapter_driver = {
 931         .name = "kitprog",
 932         .transports = kitprog_transports,
 933         .commands = kitprog_command_handlers,
 934
 935         .init = kitprog_init,
 936         .quit = kitprog_quit,
 937         .reset = kitprog_reset,
 938
 939         .swd_ops = &kitprog_swd,
 940 };