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

   1 /* SPDX-License-Identifier: GPL-2.0-or-later */
   2
   3 /***************************************************************************
   4  *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
   5  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   6  *                                                                         *
   7  *   Copyright (C) 2008 by Spencer Oliver                                  *
   8  *   spen@spen-soft.co.uk                                                  *
   9  *                                                                         *
  10  *   Copyright (C) 2011 by Jean-Christophe PLAGNIOL-VIILARD                *
  11  *   plagnioj@jcrosoft.com                                                 *
  12  *                                                                         *
  13  *   Copyright (C) 2015 by Marc Schink                                     *
  14  *   openocd-dev@marcschink.de                                             *
  15  *                                                                         *
  16  *   Copyright (C) 2015 by Paul Fertser                                    *
  17  *   fercerpav@gmail.com                                                   *
  18  *                                                                         *
  19  *   Copyright (C) 2015-2017 by Forest Crossman                            *
  20  *   cyrozap@gmail.com                                                     *
  21  ***************************************************************************/
  22
  23 #ifdef HAVE_CONFIG_H
  24 #include "config.h"
  25 #endif
  26
  27 #include <stdint.h>
  28
  29 #include <hidapi.h>
  30
  31 #include <jtag/interface.h>
  32 #include <jtag/swd.h>
  33 #include <jtag/commands.h>
  34
  35 #include "libusb_helper.h"
  36
  37 #define VID 0x04b4
  38 #define PID 0xf139
  39
  40 #define BULK_EP_IN  1
  41 #define BULK_EP_OUT 2
  42
  43 #define CONTROL_TYPE_READ  0x01
  44 #define CONTROL_TYPE_WRITE 0x02
  45
  46 #define CONTROL_COMMAND_PROGRAM 0x07
  47
  48 #define CONTROL_MODE_POLL_PROGRAMMER_STATUS  0x01
  49 #define CONTROL_MODE_RESET_TARGET            0x04
  50 #define CONTROL_MODE_SET_PROGRAMMER_PROTOCOL 0x40
  51 #define CONTROL_MODE_SYNCHRONIZE_TRANSFER    0x41
  52 #define CONTROL_MODE_ACQUIRE_SWD_TARGET      0x42
  53 #define CONTROL_MODE_SEND_SWD_SEQUENCE       0x43
  54
  55 #define PROTOCOL_JTAG 0x00
  56 #define PROTOCOL_SWD  0x01
  57
  58 #define DEVICE_PSOC4   0x00
  59 #define DEVICE_PSOC3   0x01
  60 #define DEVICE_UNKNOWN 0x02
  61 #define DEVICE_PSOC5   0x03
  62
  63 #define ACQUIRE_MODE_RESET       0x00
  64 #define ACQUIRE_MODE_POWER_CYCLE 0x01
  65
  66 #define SEQUENCE_LINE_RESET  0x00
  67 #define SEQUENCE_JTAG_TO_SWD 0x01
  68
  69 #define PROGRAMMER_NOK_NACK 0x00
  70 #define PROGRAMMER_OK_ACK   0x01
  71
  72 #define HID_TYPE_WRITE 0x00
  73 #define HID_TYPE_READ  0x01
  74 #define HID_TYPE_START 0x02
  75
  76 #define HID_COMMAND_POWER      0x80
  77 #define HID_COMMAND_VERSION    0x81
  78 #define HID_COMMAND_RESET      0x82
  79 #define HID_COMMAND_CONFIGURE  0x8f
  80 #define HID_COMMAND_BOOTLOADER 0xa0
  81
  82 /* 512 bytes seems to work reliably */
  83 #define SWD_MAX_BUFFER_LENGTH 512
  84
  85 struct kitprog {
  86         hid_device *hid_handle;
  87         struct libusb_device_handle *usb_handle;
  88         uint16_t packet_size;
  89         uint16_t packet_index;
  90         uint8_t *packet_buffer;
  91         char *serial;
  92         uint8_t hardware_version;
  93         uint8_t minor_version;
  94         uint8_t major_version;
  95         uint16_t millivolts;
  96
  97         bool supports_jtag_to_swd;
  98 };
  99
 100 struct pending_transfer_result {
 101         uint8_t cmd;
 102         uint32_t data;
 103         void *buffer;
 104 };
 105
 106 static bool kitprog_init_acquire_psoc;
 107
 108 static int pending_transfer_count, pending_queue_len;
 109 static struct pending_transfer_result *pending_transfers;
 110
 111 static int queued_retval;
 112
 113 static struct kitprog *kitprog_handle;
 114
 115 static int kitprog_usb_open(void);
 116 static void kitprog_usb_close(void);
 117
 118 static int kitprog_hid_command(uint8_t *command, size_t command_length,
 119                 uint8_t *data, size_t data_length);
 120 static int kitprog_get_version(void);
 121 static int kitprog_get_millivolts(void);
 122 static int kitprog_get_info(void);
 123 static int kitprog_set_protocol(uint8_t protocol);
 124 static int kitprog_get_status(void);
 125 static int kitprog_set_unknown(void);
 126 static int kitprog_acquire_psoc(uint8_t psoc_type, uint8_t acquire_mode,
 127                 uint8_t max_attempts);
 128 static int kitprog_reset_target(void);
 129 static int kitprog_swd_sync(void);
 130 static int kitprog_swd_seq(uint8_t seq_type);
 131
 132 static int kitprog_generic_acquire(void);
 133
 134 static int kitprog_swd_run_queue(void);
 135 static void kitprog_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data);
 136 static int kitprog_swd_switch_seq(enum swd_special_seq seq);
 137
 138
 139 static inline int mm_to_version(uint8_t major, uint8_t minor)
 140 {
 141         return (major << 8) | minor;
 142 }
 143
 144 static int kitprog_init(void)
 145 {
 146         int retval;
 147
 148         kitprog_handle = malloc(sizeof(struct kitprog));
 149         if (!kitprog_handle) {
 150                 LOG_ERROR("Failed to allocate memory");
 151                 return ERROR_FAIL;
 152         }
 153
 154         if (kitprog_usb_open() != ERROR_OK) {
 155                 LOG_ERROR("Can't find a KitProg device! Please check device connections and permissions.");
 156                 return ERROR_JTAG_INIT_FAILED;
 157         }
 158
 159         /* Get the current KitProg version and target voltage */
 160         if (kitprog_get_info() != ERROR_OK)
 161                 return ERROR_FAIL;
 162
 163         /* Compatibility check */
 164         kitprog_handle->supports_jtag_to_swd = true;
 165         int kitprog_version = mm_to_version(kitprog_handle->major_version, kitprog_handle->minor_version);
 166         if (kitprog_version < mm_to_version(2, 14)) {
 167                 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.");
 168                 kitprog_handle->supports_jtag_to_swd = false;
 169         }
 170
 171         /* I have no idea what this does */
 172         if (kitprog_set_unknown() != ERROR_OK)
 173                 return ERROR_FAIL;
 174
 175         /* SWD won't work unless we do this */
 176         if (kitprog_swd_sync() != ERROR_OK)
 177                 return ERROR_FAIL;
 178
 179         /* Set the protocol to SWD */
 180         if (kitprog_set_protocol(PROTOCOL_SWD) != ERROR_OK)
 181                 return ERROR_FAIL;
 182
 183         /* Reset the SWD bus */
 184         if (kitprog_swd_seq(SEQUENCE_LINE_RESET) != ERROR_OK)
 185                 return ERROR_FAIL;
 186
 187         if (kitprog_init_acquire_psoc) {
 188                 /* Try to acquire any device that will respond */
 189                 retval = kitprog_generic_acquire();
 190                 if (retval != ERROR_OK) {
 191                         LOG_ERROR("No PSoC devices found");
 192                         return retval;
 193                 }
 194         }
 195
 196         /* Allocate packet buffers and queues */
 197         kitprog_handle->packet_size = SWD_MAX_BUFFER_LENGTH;
 198         kitprog_handle->packet_buffer = malloc(SWD_MAX_BUFFER_LENGTH);
 199         if (!kitprog_handle->packet_buffer) {
 200                 LOG_ERROR("Failed to allocate memory for the packet buffer");
 201                 return ERROR_FAIL;
 202         }
 203
 204         pending_queue_len = SWD_MAX_BUFFER_LENGTH / 5;
 205         pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
 206         if (!pending_transfers) {
 207                 LOG_ERROR("Failed to allocate memory for the SWD transfer queue");
 208                 return ERROR_FAIL;
 209         }
 210
 211         return ERROR_OK;
 212 }
 213
 214 static int kitprog_quit(void)
 215 {
 216         kitprog_usb_close();
 217
 218         free(kitprog_handle->packet_buffer);
 219         free(kitprog_handle->serial);
 220         free(kitprog_handle);
 221         free(pending_transfers);
 222
 223         return ERROR_OK;
 224 }
 225
 226 /*************** kitprog usb functions *********************/
 227
 228 static int kitprog_get_usb_serial(void)
 229 {
 230         int retval;
 231         const uint8_t str_index = 128; /* This seems to be a constant */
 232         char desc_string[256+1]; /* Max size of string descriptor */
 233
 234         retval = libusb_get_string_descriptor_ascii(kitprog_handle->usb_handle,
 235                         str_index, (unsigned char *)desc_string, sizeof(desc_string)-1);
 236         if (retval < 0) {
 237                 LOG_ERROR("libusb_get_string_descriptor_ascii() failed with %d", retval);
 238                 return ERROR_FAIL;
 239         }
 240
 241         /* Null terminate descriptor string */
 242         desc_string[retval] = '\0';
 243
 244         /* Allocate memory for the serial number */
 245         kitprog_handle->serial = calloc(retval + 1, sizeof(char));
 246         if (!kitprog_handle->serial) {
 247                 LOG_ERROR("Failed to allocate memory for the serial number");
 248                 return ERROR_FAIL;
 249         }
 250
 251         /* Store the serial number */
 252         strncpy(kitprog_handle->serial, desc_string, retval + 1);
 253
 254         return ERROR_OK;
 255 }
 256
 257 static int kitprog_usb_open(void)
 258 {
 259         const uint16_t vids[] = { VID, 0 };
 260         const uint16_t pids[] = { PID, 0 };
 261
 262         if (jtag_libusb_open(vids, pids, &kitprog_handle->usb_handle, NULL) != ERROR_OK) {
 263                 LOG_ERROR("Failed to open or find the device");
 264                 return ERROR_FAIL;
 265         }
 266
 267         /* Get the serial number for the device */
 268         if (kitprog_get_usb_serial() != ERROR_OK)
 269                 LOG_WARNING("Failed to get KitProg serial number");
 270
 271         /* Convert the ASCII serial number into a (wchar_t *) */
 272         size_t len = strlen(kitprog_handle->serial);
 273         wchar_t *hid_serial = calloc(len + 1, sizeof(wchar_t));
 274         if (!hid_serial) {
 275                 LOG_ERROR("Failed to allocate memory for the serial number");
 276                 return ERROR_FAIL;
 277         }
 278         if (mbstowcs(hid_serial, kitprog_handle->serial, len + 1) == (size_t)-1) {
 279                 free(hid_serial);
 280                 LOG_ERROR("Failed to convert serial number");
 281                 return ERROR_FAIL;
 282         }
 283
 284         /* Use HID for the KitBridge interface */
 285         kitprog_handle->hid_handle = hid_open(VID, PID, hid_serial);
 286         free(hid_serial);
 287         if (!kitprog_handle->hid_handle) {
 288                 LOG_ERROR("Failed to open KitBridge (HID) interface");
 289                 return ERROR_FAIL;
 290         }
 291
 292         /* Claim the KitProg Programmer (bulk transfer) interface */
 293         if (libusb_claim_interface(kitprog_handle->usb_handle, 1) != ERROR_OK) {
 294                 LOG_ERROR("Failed to claim KitProg Programmer (bulk transfer) interface");
 295                 return ERROR_FAIL;
 296         }
 297
 298         return ERROR_OK;
 299 }
 300
 301 static void kitprog_usb_close(void)
 302 {
 303         if (kitprog_handle->hid_handle) {
 304                 hid_close(kitprog_handle->hid_handle);
 305                 hid_exit();
 306         }
 307
 308         jtag_libusb_close(kitprog_handle->usb_handle);
 309 }
 310
 311 /*************** kitprog lowlevel functions *********************/
 312
 313 static int kitprog_hid_command(uint8_t *command, size_t command_length,
 314                 uint8_t *data, size_t data_length)
 315 {
 316         int ret;
 317
 318         ret = hid_write(kitprog_handle->hid_handle, command, command_length);
 319         if (ret < 0) {
 320                 LOG_DEBUG("HID write returned %i", ret);
 321                 return ERROR_FAIL;
 322         }
 323
 324         ret = hid_read_timeout(kitprog_handle->hid_handle,
 325                                                         data, data_length, LIBUSB_TIMEOUT_MS);
 326         if (ret == 0) {
 327                 LOG_ERROR("HID read timed out");
 328                 return ERROR_TIMEOUT_REACHED;
 329         } else if (ret < 0) {
 330                 LOG_ERROR("HID read error %ls", hid_error(kitprog_handle->hid_handle));
 331                 return ERROR_FAIL;
 332         }
 333
 334         return ERROR_OK;
 335 }
 336
 337 static int kitprog_get_version(void)
 338 {
 339         int ret;
 340
 341         unsigned char command[3] = {HID_TYPE_START | HID_TYPE_WRITE, 0x00, HID_COMMAND_VERSION};
 342         unsigned char data[64];
 343
 344         ret = kitprog_hid_command(command, sizeof(command), data, sizeof(data));
 345         if (ret != ERROR_OK)
 346                 return ret;
 347
 348         kitprog_handle->hardware_version = data[1];
 349         kitprog_handle->minor_version = data[2];
 350         kitprog_handle->major_version = data[3];
 351
 352         return ERROR_OK;
 353 }
 354
 355 static int kitprog_get_millivolts(void)
 356 {
 357         int ret;
 358
 359         unsigned char command[3] = {HID_TYPE_START | HID_TYPE_READ, 0x00, HID_COMMAND_POWER};
 360         unsigned char data[64];
 361
 362         ret = kitprog_hid_command(command, sizeof(command), data, sizeof(data));
 363         if (ret != ERROR_OK)
 364                 return ret;
 365
 366         kitprog_handle->millivolts = (data[4] << 8) | data[3];
 367
 368         return ERROR_OK;
 369 }
 370
 371 static int kitprog_get_info(void)
 372 {
 373         /* Get the device version information */
 374         if (kitprog_get_version() == ERROR_OK) {
 375                 LOG_INFO("KitProg v%u.%02u",
 376                         kitprog_handle->major_version, kitprog_handle->minor_version);
 377                 LOG_INFO("Hardware version: %u",
 378                         kitprog_handle->hardware_version);
 379         } else {
 380                 LOG_ERROR("Failed to get KitProg version");
 381                 return ERROR_FAIL;
 382         }
 383
 384         /* Get the current reported target voltage */
 385         if (kitprog_get_millivolts() == ERROR_OK) {
 386                 LOG_INFO("VTARG = %u.%03u V",
 387                         kitprog_handle->millivolts / 1000, kitprog_handle->millivolts % 1000);
 388         } else {
 389                 LOG_ERROR("Failed to get target voltage");
 390                 return ERROR_FAIL;
 391         }
 392
 393         return ERROR_OK;
 394 }
 395
 396 static int kitprog_set_protocol(uint8_t protocol)
 397 {
 398         int transferred;
 399         char status = PROGRAMMER_NOK_NACK;
 400
 401         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 402                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 403                 CONTROL_TYPE_WRITE,
 404                 (CONTROL_MODE_SET_PROGRAMMER_PROTOCOL << 8) | CONTROL_COMMAND_PROGRAM,
 405                 protocol, &status, 1, 0);
 406
 407         if (transferred == 0) {
 408                 LOG_DEBUG("Zero bytes transferred");
 409                 return ERROR_FAIL;
 410         }
 411
 412         if (status != PROGRAMMER_OK_ACK) {
 413                 LOG_DEBUG("Programmer did not respond OK");
 414                 return ERROR_FAIL;
 415         }
 416
 417         return ERROR_OK;
 418 }
 419
 420 static int kitprog_get_status(void)
 421 {
 422         int transferred = 0;
 423         char status = PROGRAMMER_NOK_NACK;
 424
 425         /* Try a maximum of three times */
 426         for (int i = 0; (i < 3) && (transferred == 0); i++) {
 427                 transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 428                         LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 429                         CONTROL_TYPE_READ,
 430                         (CONTROL_MODE_POLL_PROGRAMMER_STATUS << 8) | CONTROL_COMMAND_PROGRAM,
 431                         0, &status, 1, 0);
 432                 jtag_sleep(1000);
 433         }
 434
 435         if (transferred == 0) {
 436                 LOG_DEBUG("Zero bytes transferred");
 437                 return ERROR_FAIL;
 438         }
 439
 440         if (status != PROGRAMMER_OK_ACK) {
 441                 LOG_DEBUG("Programmer did not respond OK");
 442                 return ERROR_FAIL;
 443         }
 444
 445         return ERROR_OK;
 446 }
 447
 448 static int kitprog_set_unknown(void)
 449 {
 450         int transferred;
 451         char status = PROGRAMMER_NOK_NACK;
 452
 453         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 454                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 455                 CONTROL_TYPE_WRITE,
 456                 (0x03 << 8) | 0x04,
 457                 0, &status, 1, 0);
 458
 459         if (transferred == 0) {
 460                 LOG_DEBUG("Zero bytes transferred");
 461                 return ERROR_FAIL;
 462         }
 463
 464         if (status != PROGRAMMER_OK_ACK) {
 465                 LOG_DEBUG("Programmer did not respond OK");
 466                 return ERROR_FAIL;
 467         }
 468
 469         return ERROR_OK;
 470 }
 471
 472 static int kitprog_acquire_psoc(uint8_t psoc_type, uint8_t acquire_mode,
 473                 uint8_t max_attempts)
 474 {
 475         int transferred;
 476         char status = PROGRAMMER_NOK_NACK;
 477
 478         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 479                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 480                 CONTROL_TYPE_WRITE,
 481                 (CONTROL_MODE_ACQUIRE_SWD_TARGET << 8) | CONTROL_COMMAND_PROGRAM,
 482                 (max_attempts << 8) | (acquire_mode << 4) | psoc_type, &status, 1, 0);
 483
 484         if (transferred == 0) {
 485                 LOG_DEBUG("Zero bytes transferred");
 486                 return ERROR_FAIL;
 487         }
 488
 489         if (status != PROGRAMMER_OK_ACK) {
 490                 LOG_DEBUG("Programmer did not respond OK");
 491                 return ERROR_FAIL;
 492         }
 493
 494         return ERROR_OK;
 495 }
 496
 497 static int kitprog_reset_target(void)
 498 {
 499         int transferred;
 500         char status = PROGRAMMER_NOK_NACK;
 501
 502         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 503                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 504                 CONTROL_TYPE_WRITE,
 505                 (CONTROL_MODE_RESET_TARGET << 8) | CONTROL_COMMAND_PROGRAM,
 506                 0, &status, 1, 0);
 507
 508         if (transferred == 0) {
 509                 LOG_DEBUG("Zero bytes transferred");
 510                 return ERROR_FAIL;
 511         }
 512
 513         if (status != PROGRAMMER_OK_ACK) {
 514                 LOG_DEBUG("Programmer did not respond OK");
 515                 return ERROR_FAIL;
 516         }
 517
 518         return ERROR_OK;
 519 }
 520
 521 static int kitprog_swd_sync(void)
 522 {
 523         int transferred;
 524         char status = PROGRAMMER_NOK_NACK;
 525
 526         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 527                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 528                 CONTROL_TYPE_WRITE,
 529                 (CONTROL_MODE_SYNCHRONIZE_TRANSFER << 8) | CONTROL_COMMAND_PROGRAM,
 530                 0, &status, 1, 0);
 531
 532         if (transferred == 0) {
 533                 LOG_DEBUG("Zero bytes transferred");
 534                 return ERROR_FAIL;
 535         }
 536
 537         if (status != PROGRAMMER_OK_ACK) {
 538                 LOG_DEBUG("Programmer did not respond OK");
 539                 return ERROR_FAIL;
 540         }
 541
 542         return ERROR_OK;
 543 }
 544
 545 static int kitprog_swd_seq(uint8_t seq_type)
 546 {
 547         int transferred;
 548         char status = PROGRAMMER_NOK_NACK;
 549
 550         transferred = jtag_libusb_control_transfer(kitprog_handle->usb_handle,
 551                 LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE,
 552                 CONTROL_TYPE_WRITE,
 553                 (CONTROL_MODE_SEND_SWD_SEQUENCE << 8) | CONTROL_COMMAND_PROGRAM,
 554                 seq_type, &status, 1, 0);
 555
 556         if (transferred == 0) {
 557                 LOG_DEBUG("Zero bytes transferred");
 558                 return ERROR_FAIL;
 559         }
 560
 561         if (status != PROGRAMMER_OK_ACK) {
 562                 LOG_DEBUG("Programmer did not respond OK");
 563                 return ERROR_FAIL;
 564         }
 565
 566         return ERROR_OK;
 567 }
 568
 569 static int kitprog_generic_acquire(void)
 570 {
 571         const uint8_t devices[] = {DEVICE_PSOC4, DEVICE_PSOC3, DEVICE_PSOC5};
 572
 573         int retval;
 574         int acquire_count = 0;
 575
 576         /* Due to the way the SWD port is shared between the Test Controller (TC)
 577          * and the Cortex-M3 DAP on the PSoC 5LP, the TC is the default SWD target
 578          * after power is applied. To access the DAP, the PSoC 5LP requires at least
 579          * one acquisition sequence to be run (which switches the SWD mux from the
 580          * TC to the DAP). However, after the mux is switched, the Cortex-M3 will be
 581          * held in reset until a series of registers are written to (see section 5.2
 582          * of the PSoC 5LP Device Programming Specifications for details).
 583          *
 584          * Instead of writing the registers in this function, we just do what the
 585          * Cypress tools do and run the acquisition sequence a second time. This
 586          * will take the Cortex-M3 out of reset and enable debugging.
 587          */
 588         for (int i = 0; i < 2; i++) {
 589                 for (uint8_t j = 0; j < sizeof(devices) && acquire_count == i; j++) {
 590                         retval = kitprog_acquire_psoc(devices[j], ACQUIRE_MODE_RESET, 3);
 591                         if (retval != ERROR_OK) {
 592                                 LOG_DEBUG("Acquisition function failed for device 0x%02x.", devices[j]);
 593                                 return retval;
 594                         }
 595
 596                         if (kitprog_get_status() == ERROR_OK)
 597                                 acquire_count++;
 598                 }
 599
 600                 jtag_sleep(10);
 601         }
 602
 603         if (acquire_count < 2)
 604                 return ERROR_FAIL;
 605
 606         return ERROR_OK;
 607 }
 608
 609 /*************** swd wrapper functions *********************/
 610
 611 static int kitprog_swd_init(void)
 612 {
 613         return ERROR_OK;
 614 }
 615
 616 static void kitprog_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
 617 {
 618         assert(!(cmd & SWD_CMD_RNW));
 619         kitprog_swd_queue_cmd(cmd, NULL, value);
 620 }
 621
 622 static void kitprog_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
 623 {
 624         assert(cmd & SWD_CMD_RNW);
 625         kitprog_swd_queue_cmd(cmd, value, 0);
 626 }
 627
 628 /*************** swd lowlevel functions ********************/
 629
 630 static int kitprog_swd_switch_seq(enum swd_special_seq seq)
 631 {
 632         switch (seq) {
 633                 case JTAG_TO_SWD:
 634                         if (kitprog_handle->supports_jtag_to_swd) {
 635                                 LOG_DEBUG("JTAG to SWD");
 636                                 if (kitprog_swd_seq(SEQUENCE_JTAG_TO_SWD) != ERROR_OK)
 637                                         return ERROR_FAIL;
 638                                 break;
 639                         } else {
 640                                 LOG_DEBUG("JTAG to SWD not supported");
 641                                 /* Fall through to fix target reset issue */
 642                         }
 643                         /* fallthrough */
 644                 case LINE_RESET:
 645                         LOG_DEBUG("SWD line reset");
 646                         if (kitprog_swd_seq(SEQUENCE_LINE_RESET) != ERROR_OK)
 647                                 return ERROR_FAIL;
 648                         break;
 649                 default:
 650                         LOG_ERROR("Sequence %d not supported.", seq);
 651                         return ERROR_FAIL;
 652         }
 653
 654         return ERROR_OK;
 655 }
 656
 657 static int kitprog_swd_run_queue(void)
 658 {
 659         int ret;
 660
 661         size_t read_count = 0;
 662         size_t read_index = 0;
 663         size_t write_count = 0;
 664         uint8_t *buffer = kitprog_handle->packet_buffer;
 665
 666         do {
 667                 LOG_DEBUG_IO("Executing %d queued transactions", pending_transfer_count);
 668
 669                 if (queued_retval != ERROR_OK) {
 670                         LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 671                         break;
 672                 }
 673
 674                 if (!pending_transfer_count)
 675                         break;
 676
 677                 for (int i = 0; i < pending_transfer_count; i++) {
 678                         uint8_t cmd = pending_transfers[i].cmd;
 679                         uint32_t data = pending_transfers[i].data;
 680
 681                         /* When proper WAIT handling is implemented in the
 682                          * common SWD framework, this kludge can be
 683                          * removed. However, this might lead to minor
 684                          * performance degradation as the adapter wouldn't be
 685                          * able to automatically retry anything (because ARM
 686                          * has forgotten to implement sticky error flags
 687                          * clearing). See also comments regarding
 688                          * cmsis_dap_cmd_DAP_TFER_Configure() and
 689                          * cmsis_dap_cmd_DAP_SWD_Configure() in
 690                          * cmsis_dap_init().
 691                          */
 692                         if (!(cmd & SWD_CMD_RNW) &&
 693                                 !(cmd & SWD_CMD_APNDP) &&
 694                                 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
 695                                 (data & CORUNDETECT)) {
 696                                 LOG_DEBUG("refusing to enable sticky overrun detection");
 697                                 data &= ~CORUNDETECT;
 698                         }
 699
 700                         LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
 701                                         cmd & SWD_CMD_APNDP ? "AP" : "DP",
 702                                         cmd & SWD_CMD_RNW ? "read" : "write",
 703                                   (cmd & SWD_CMD_A32) >> 1, data);
 704
 705                         buffer[write_count++] = (cmd | SWD_CMD_START | SWD_CMD_PARK) & ~SWD_CMD_STOP;
 706                         read_count++;
 707                         if (!(cmd & SWD_CMD_RNW)) {
 708                                 buffer[write_count++] = (data) & 0xff;
 709                                 buffer[write_count++] = (data >> 8) & 0xff;
 710                                 buffer[write_count++] = (data >> 16) & 0xff;
 711                                 buffer[write_count++] = (data >> 24) & 0xff;
 712                         } else {
 713                                 read_count += 4;
 714                         }
 715                 }
 716
 717                 if (jtag_libusb_bulk_write(kitprog_handle->usb_handle,
 718                                            BULK_EP_OUT, (char *)buffer,
 719                                            write_count, 0, &ret)) {
 720                         LOG_ERROR("Bulk write failed");
 721                         queued_retval = ERROR_FAIL;
 722                         break;
 723                 } else {
 724                         queued_retval = ERROR_OK;
 725                 }
 726
 727                 /* KitProg firmware does not send a zero length packet
 728                  * after the bulk-in transmission of a length divisible by bulk packet
 729                  * size (64 bytes) as required by the USB specification.
 730                  * Therefore libusb would wait for continuation of transmission.
 731                  * Workaround: Limit bulk read size to expected number of bytes
 732                  * for problematic transfer sizes. Otherwise use the maximum buffer
 733                  * size here because the KitProg sometimes doesn't like bulk reads
 734                  * of fewer than 62 bytes. (?!?!)
 735                  */
 736                 size_t read_count_workaround = SWD_MAX_BUFFER_LENGTH;
 737                 if (read_count % 64 == 0)
 738                         read_count_workaround = read_count;
 739
 740                 if (jtag_libusb_bulk_read(kitprog_handle->usb_handle,
 741                                 BULK_EP_IN | LIBUSB_ENDPOINT_IN, (char *)buffer,
 742                                 read_count_workaround, 1000, &ret)) {
 743                         LOG_ERROR("Bulk read failed");
 744                         queued_retval = ERROR_FAIL;
 745                         break;
 746                 } else {
 747                         /* Handle garbage data by offsetting the initial read index */
 748                         if ((unsigned int)ret > read_count)
 749                                 read_index = ret - read_count;
 750                         queued_retval = ERROR_OK;
 751                 }
 752
 753                 for (int i = 0; i < pending_transfer_count; i++) {
 754                         if (pending_transfers[i].cmd & SWD_CMD_RNW) {
 755                                 uint32_t data = le_to_h_u32(&buffer[read_index]);
 756
 757                                 LOG_DEBUG_IO("Read result: %"PRIx32, data);
 758
 759                                 if (pending_transfers[i].buffer)
 760                                         *(uint32_t *)pending_transfers[i].buffer = data;
 761
 762                                 read_index += 4;
 763                         }
 764
 765                         uint8_t ack = buffer[read_index] & 0x07;
 766                         if (ack != SWD_ACK_OK || (buffer[read_index] & 0x08)) {
 767                                 LOG_DEBUG("SWD ack not OK: %d %s", i,
 768                                           ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
 769                                 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 770                                 break;
 771                         }
 772                         read_index++;
 773                 }
 774         } while (0);
 775
 776         pending_transfer_count = 0;
 777         int retval = queued_retval;
 778         queued_retval = ERROR_OK;
 779
 780         return retval;
 781 }
 782
 783 static void kitprog_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 784 {
 785         if (pending_transfer_count == pending_queue_len) {
 786                 /* Not enough room in the queue. Run the queue. */
 787                 queued_retval = kitprog_swd_run_queue();
 788         }
 789
 790         if (queued_retval != ERROR_OK)
 791                 return;
 792
 793         pending_transfers[pending_transfer_count].data = data;
 794         pending_transfers[pending_transfer_count].cmd = cmd;
 795         if (cmd & SWD_CMD_RNW) {
 796                 /* Queue a read transaction */
 797                 pending_transfers[pending_transfer_count].buffer = dst;
 798         }
 799         pending_transfer_count++;
 800 }
 801
 802 /*************** jtag lowlevel functions ********************/
 803
 804 static int kitprog_reset(int trst, int srst)
 805 {
 806         int retval = ERROR_OK;
 807
 808         if (trst == 1) {
 809                 LOG_ERROR("KitProg: Interface has no TRST");
 810                 return ERROR_FAIL;
 811         }
 812
 813         if (srst == 1) {
 814                 retval = kitprog_reset_target();
 815                 /* Since the previous command also disables SWCLK output, we need to send an
 816                  * SWD bus reset command to re-enable it. For some reason, running
 817                  * kitprog_swd_seq() immediately after kitprog_reset_target() won't
 818                  * actually fix this. Instead, kitprog_swd_seq() will be run once OpenOCD
 819                  * tries to send a JTAG-to-SWD sequence, which should happen during
 820                  * swd_check_reconnect (see the JTAG_TO_SWD case in kitprog_swd_switch_seq).
 821                  */
 822         }
 823
 824         if (retval != ERROR_OK)
 825                 LOG_ERROR("KitProg: Interface reset failed");
 826         return retval;
 827 }
 828
 829 COMMAND_HANDLER(kitprog_handle_info_command)
 830 {
 831         int retval = kitprog_get_info();
 832
 833         return retval;
 834 }
 835
 836
 837 COMMAND_HANDLER(kitprog_handle_acquire_psoc_command)
 838 {
 839         int retval = kitprog_generic_acquire();
 840
 841         return retval;
 842 }
 843
 844 COMMAND_HANDLER(kitprog_handle_init_acquire_psoc_command)
 845 {
 846         kitprog_init_acquire_psoc = true;
 847
 848         return ERROR_OK;
 849 }
 850
 851 static const struct command_registration kitprog_subcommand_handlers[] = {
 852         {
 853                 .name = "info",
 854                 .handler = &kitprog_handle_info_command,
 855                 .mode = COMMAND_EXEC,
 856                 .usage = "",
 857                 .help = "show KitProg info",
 858         },
 859         {
 860                 .name = "acquire_psoc",
 861                 .handler = &kitprog_handle_acquire_psoc_command,
 862                 .mode = COMMAND_EXEC,
 863                 .usage = "",
 864                 .help = "try to acquire a PSoC",
 865         },
 866         COMMAND_REGISTRATION_DONE
 867 };
 868
 869 static const struct command_registration kitprog_command_handlers[] = {
 870         {
 871                 .name = "kitprog",
 872                 .mode = COMMAND_ANY,
 873                 .help = "perform KitProg management",
 874                 .usage = "<cmd>",
 875                 .chain = kitprog_subcommand_handlers,
 876         },
 877         {
 878                 .name = "kitprog_init_acquire_psoc",
 879                 .handler = &kitprog_handle_init_acquire_psoc_command,
 880                 .mode = COMMAND_CONFIG,
 881                 .help = "try to acquire a PSoC during init",
 882                 .usage = "",
 883         },
 884         COMMAND_REGISTRATION_DONE
 885 };
 886
 887 static const struct swd_driver kitprog_swd = {
 888         .init = kitprog_swd_init,
 889         .switch_seq = kitprog_swd_switch_seq,
 890         .read_reg = kitprog_swd_read_reg,
 891         .write_reg = kitprog_swd_write_reg,
 892         .run = kitprog_swd_run_queue,
 893 };
 894
 895 static const char * const kitprog_transports[] = { "swd", NULL };
 896
 897 struct adapter_driver kitprog_adapter_driver = {
 898         .name = "kitprog",
 899         .transports = kitprog_transports,
 900         .commands = kitprog_command_handlers,
 901
 902         .init = kitprog_init,
 903         .quit = kitprog_quit,
 904         .reset = kitprog_reset,
 905
 906         .swd_ops = &kitprog_swd,
 907 };