1 /***************************************************************************
2 * Copyright (C) 2017 by Texas Instruments, Inc. *
4 * This program is free software; you can redistribute it and/or modify *
5 * it under the terms of the GNU General Public License as published by *
6 * the Free Software Foundation; either version 2 of the License, or *
7 * (at your option) any later version. *
9 * This program is distributed in the hope that it will be useful, *
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
12 * GNU General Public License for more details. *
14 * You should have received a copy of the GNU General Public License *
15 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
16 ***************************************************************************/
22 #include <transport/transport.h>
24 #include <jtag/interface.h>
25 #include <jtag/commands.h>
29 /* XDS110 USB serial number length */
30 #define XDS110_SERIAL_LEN 8
32 /* Firmware version that introduced OpenOCD support via block accesses */
33 #define OCD_FIRMWARE_VERSION 0x02030011
34 #define OCD_FIRMWARE_UPGRADE \
35 "XDS110: upgrade to version 2.3.0.11+ for improved support"
37 /***************************************************************************
38 * USB Connection Buffer Definitions *
39 ***************************************************************************/
41 /* Max USB packet size for up to USB 3.0 */
42 #define MAX_PACKET 1024
45 * Maximum data payload that can be handled in a single call
46 * Limitation is the size of the buffers in the XDS110 firmware
48 #define MAX_DATA_BLOCK 4096
50 #ifndef USB_PAYLOAD_SIZE
51 /* Largest data block plus parameters */
52 #define USB_PAYLOAD_SIZE (MAX_DATA_BLOCK + 60)
54 #define MAX_RESULT_QUEUE (MAX_DATA_BLOCK / 4)
56 /***************************************************************************
57 * USB Connection Endpoints *
58 ***************************************************************************/
60 /* Bulk endpoints used by the XDS110 debug interface */
61 #define INTERFACE_DEBUG (2)
62 #define ENDPOINT_DEBUG_IN (3 | LIBUSB_ENDPOINT_IN)
63 #define ENDPOINT_DEBUG_OUT (2 | LIBUSB_ENDPOINT_OUT)
65 /***************************************************************************
66 * XDS110 Firmware API Definitions *
67 ***************************************************************************/
70 * Default values controlling how the host communicates commands
71 * with XDS110 firmware (automatic retry count and wait timeout)
73 #define DEFAULT_ATTEMPTS (1)
74 #define DEFAULT_TIMEOUT (4000)
76 /* XDS110 API error codes */
78 #define SC_ERR_XDS110_FAIL -261
79 #define SC_ERR_SWD_WAIT -613
80 #define SC_ERR_SWD_FAULT -614
81 #define SC_ERR_SWD_PROTOCOL -615
82 #define SC_ERR_SWD_PARITY -616
83 #define SC_ERR_SWD_DEVICE_ID -617
85 /* TCK frequency limits */
86 #define XDS110_MIN_TCK_SPEED 100 /* kHz */
87 #define XDS110_MAX_TCK_SPEED 2500 /* kHz */
88 #define XDS110_TCK_PULSE_INCREMENT 66.0
90 /* Scan mode on connect */
93 /* XDS110 API JTAG state definitions */
94 #define XDS_JTAG_STATE_RESET 1
95 #define XDS_JTAG_STATE_IDLE 2
96 #define XDS_JTAG_STATE_SHIFT_DR 3
97 #define XDS_JTAG_STATE_SHIFT_IR 4
98 #define XDS_JTAG_STATE_PAUSE_DR 5
99 #define XDS_JTAG_STATE_PAUSE_IR 6
100 #define XDS_JTAG_STATE_EXIT1_DR 8
101 #define XDS_JTAG_STATE_EXIT1_IR 9
102 #define XDS_JTAG_STATE_EXIT2_DR 10
103 #define XDS_JTAG_STATE_EXIT2_IR 11
104 #define XDS_JTAG_STATE_SELECT_DR 12
105 #define XDS_JTAG_STATE_SELECT_IR 13
106 #define XDS_JTAG_STATE_UPDATE_DR 14
107 #define XDS_JTAG_STATE_UPDATE_IR 15
108 #define XDS_JTAG_STATE_CAPTURE_DR 16
109 #define XDS_JTAG_STATE_CAPTURE_IR 17
111 /* XDS110 API JTAG transit definitions */
112 #define XDS_JTAG_TRANSIT_QUICKEST 1
113 #define XDS_JTAG_TRANSIT_VIA_CAPTURE 2
114 #define XDS_JTAG_TRANSIT_VIA_IDLE 3
116 /* DAP register definitions as used by XDS110 APIs */
118 #define DAP_AP 0 /* DAP AP register type */
119 #define DAP_DP 1 /* DAP DP register type */
121 #define DAP_DP_IDCODE 0x0 /* DAP DP IDCODE register (read only) */
122 #define DAP_DP_ABORT 0x0 /* DAP DP ABORT register (write only) */
123 #define DAP_DP_STAT 0x4 /* DAP DP STAT register (for read only) */
124 #define DAP_DP_CTRL 0x4 /* DAP DP CTRL register (for write only) */
125 #define DAP_DP_ADDR 0x8 /* DAP DP SELECT register (legacy name) */
126 #define DAP_DP_RESEND 0x8 /* DAP DP RESEND register (read only) */
127 #define DAP_DP_SELECT 0x8 /* DAP DP SELECT register (write only) */
128 #define DAP_DP_RDBUFF 0xc /* DAP DP RDBUFF Read Buffer register */
130 #define DAP_AP_CSW 0x00 /* DAP AP Control Status Word */
131 #define DAP_AP_TAR 0x04 /* DAP AP Transfer Address */
132 #define DAP_AP_DRW 0x0C /* DAP AP Data Read/Write */
133 #define DAP_AP_BD0 0x10 /* DAP AP Banked Data 0 */
134 #define DAP_AP_BD1 0x14 /* DAP AP Banked Data 1 */
135 #define DAP_AP_BD2 0x18 /* DAP AP Banked Data 2 */
136 #define DAP_AP_BD3 0x1C /* DAP AP Banked Data 3 */
137 #define DAP_AP_RTBL 0xF8 /* DAP AP Debug ROM Table */
138 #define DAP_AP_IDR 0xFC /* DAP AP Identification Register */
140 /* Command packet definitions */
142 #define XDS_OUT_LEN 1 /* command (byte) */
143 #define XDS_IN_LEN 4 /* error code (int) */
145 /* XDS API Commands */
146 #define XDS_CONNECT 0x01 /* Connect JTAG connection */
147 #define XDS_DISCONNECT 0x02 /* Disconnect JTAG connection */
148 #define XDS_VERSION 0x03 /* Get firmware version and hardware ID */
149 #define XDS_SET_TCK 0x04 /* Set TCK delay (to set TCK frequency) */
150 #define XDS_SET_TRST 0x05 /* Assert or deassert nTRST signal */
151 #define XDS_CYCLE_TCK 0x07 /* Toggle TCK for a number of cycles */
152 #define XDS_GOTO_STATE 0x09 /* Go to requested JTAG state */
153 #define XDS_JTAG_SCAN 0x0c /* Send and receive JTAG scan */
154 #define XDS_SET_SRST 0x0e /* Assert or deassert nSRST signal */
155 #define CMAPI_CONNECT 0x0f /* CMAPI connect */
156 #define CMAPI_DISCONNECT 0x10 /* CMAPI disconnect */
157 #define CMAPI_ACQUIRE 0x11 /* CMAPI acquire */
158 #define CMAPI_RELEASE 0x12 /* CMAPI release */
159 #define CMAPI_REG_READ 0x15 /* CMAPI DAP register read */
160 #define CMAPI_REG_WRITE 0x16 /* CMAPI DAP register write */
161 #define SWD_CONNECT 0x17 /* Switch from JTAG to SWD connection */
162 #define SWD_DISCONNECT 0x18 /* Switch from SWD to JTAG connection */
163 #define CJTAG_CONNECT 0x2b /* Switch from JTAG to cJTAG connection */
164 #define CJTAG_DISCONNECT 0x2c /* Switch from cJTAG to JTAG connection */
165 #define OCD_DAP_REQUEST 0x3a /* Handle block of DAP requests */
166 #define OCD_SCAN_REQUEST 0x3b /* Handle block of JTAG scan requests */
167 #define OCD_PATHMOVE 0x3c /* Handle PATHMOVE to navigate JTAG states */
169 #define CMD_IR_SCAN 1
170 #define CMD_DR_SCAN 2
171 #define CMD_RUNTEST 3
172 #define CMD_STABLECLOCKS 4
174 /* Array to convert from OpenOCD tap_state_t to XDS JTAG state */
175 const uint32_t xds_jtag_state[] = {
176 XDS_JTAG_STATE_EXIT2_DR, /* TAP_DREXIT2 = 0x0 */
177 XDS_JTAG_STATE_EXIT1_DR, /* TAP_DREXIT1 = 0x1 */
178 XDS_JTAG_STATE_SHIFT_DR, /* TAP_DRSHIFT = 0x2 */
179 XDS_JTAG_STATE_PAUSE_DR, /* TAP_DRPAUSE = 0x3 */
180 XDS_JTAG_STATE_SELECT_IR, /* TAP_IRSELECT = 0x4 */
181 XDS_JTAG_STATE_UPDATE_DR, /* TAP_DRUPDATE = 0x5 */
182 XDS_JTAG_STATE_CAPTURE_DR, /* TAP_DRCAPTURE = 0x6 */
183 XDS_JTAG_STATE_SELECT_DR, /* TAP_DRSELECT = 0x7 */
184 XDS_JTAG_STATE_EXIT2_IR, /* TAP_IREXIT2 = 0x8 */
185 XDS_JTAG_STATE_EXIT1_IR, /* TAP_IREXIT1 = 0x9 */
186 XDS_JTAG_STATE_SHIFT_IR, /* TAP_IRSHIFT = 0xa */
187 XDS_JTAG_STATE_PAUSE_IR, /* TAP_IRPAUSE = 0xb */
188 XDS_JTAG_STATE_IDLE, /* TAP_IDLE = 0xc */
189 XDS_JTAG_STATE_UPDATE_IR, /* TAP_IRUPDATE = 0xd */
190 XDS_JTAG_STATE_CAPTURE_IR, /* TAP_IRCAPTURE = 0xe */
191 XDS_JTAG_STATE_RESET, /* TAP_RESET = 0xf */
201 /* USB connection handles and data buffers */
203 libusb_device_handle *dev;
204 unsigned char read_payload[USB_PAYLOAD_SIZE];
205 unsigned char write_packet[3];
206 unsigned char write_payload[USB_PAYLOAD_SIZE];
209 bool is_cmapi_connected;
210 bool is_cmapi_acquired;
213 /* DAP register caches */
217 /* TCK speed and delay count*/
219 uint32_t delay_count;
220 /* XDS110 serial number */
221 char serial[XDS110_SERIAL_LEN + 1];
222 /* XDS110 firmware and hardware version */
225 /* Transaction queues */
226 unsigned char txn_requests[MAX_DATA_BLOCK];
227 uint32_t *txn_dap_results[MAX_DATA_BLOCK / 4];
228 struct scan_result txn_scan_results[MAX_DATA_BLOCK / 4];
229 uint32_t txn_request_size;
230 uint32_t txn_result_size;
231 uint32_t txn_result_count;
234 static struct xds110_info xds110 = {
237 .is_connected = false,
238 .is_cmapi_connected = false,
239 .is_cmapi_acquired = false,
240 .is_swd_mode = false,
241 .is_ap_dirty = false,
242 .speed = XDS110_MAX_TCK_SPEED,
247 .txn_request_size = 0,
248 .txn_result_size = 0,
249 .txn_result_count = 0
252 static inline void xds110_set_u32(uint8_t *buffer, uint32_t value)
254 buffer[3] = (value >> 24) & 0xff;
255 buffer[2] = (value >> 16) & 0xff;
256 buffer[1] = (value >> 8) & 0xff;
257 buffer[0] = (value >> 0) & 0xff;
260 static inline void xds110_set_u16(uint8_t *buffer, uint16_t value)
262 buffer[1] = (value >> 8) & 0xff;
263 buffer[0] = (value >> 0) & 0xff;
266 static inline uint32_t xds110_get_u32(uint8_t *buffer)
268 uint32_t value = (((uint32_t)buffer[3]) << 24) |
269 (((uint32_t)buffer[2]) << 16) |
270 (((uint32_t)buffer[1]) << 8) |
271 (((uint32_t)buffer[0]) << 0);
275 static inline uint16_t xds110_get_u16(uint8_t *buffer)
277 uint16_t value = (((uint32_t)buffer[1]) << 8) |
278 (((uint32_t)buffer[0]) << 0);
282 /***************************************************************************
283 * usb connection routines *
285 * The following functions handle connecting, reading, and writing to *
286 * the XDS110 over USB using the libusb library. *
287 ***************************************************************************/
289 static bool usb_connect(void)
291 libusb_context *ctx = NULL;
292 libusb_device **list = NULL;
293 libusb_device_handle *dev = NULL;
295 struct libusb_device_descriptor desc;
297 uint16_t vid = 0x0451;
298 uint16_t pid = 0xbef3;
304 /* Initialize libusb context */
305 result = libusb_init(&ctx);
308 /* Get list of USB devices attached to system */
309 count = libusb_get_device_list(ctx, &list);
317 /* Scan through list of devices for any XDS110s */
318 for (i = 0; i < count; i++) {
319 /* Check for device VID/PID match */
320 libusb_get_device_descriptor(list[i], &desc);
321 if (desc.idVendor == vid && desc.idProduct == pid) {
322 result = libusb_open(list[i], &dev);
324 const int MAX_DATA = 256;
325 unsigned char data[MAX_DATA + 1];
328 /* May be the requested device if serial number matches */
329 if (0 == xds110.serial[0]) {
330 /* No serial number given; match first XDS110 found */
334 /* Get the device's serial number string */
335 result = libusb_get_string_descriptor_ascii(dev,
336 desc.iSerialNumber, data, MAX_DATA);
338 0 == strcmp((char *)data, (char *)xds110.serial)) {
344 /* If we fall though to here, we don't want this device */
353 * We can fall through the for() loop with two possible exit conditions:
354 * 1) found the right XDS110, and that device is open
355 * 2) didn't find the XDS110, and no devices are currently open
359 /* Free the device list, we're done with it */
360 libusb_free_device_list(list, 1);
364 /* Save the context and device handles */
368 /* Set libusb to auto detach kernel */
369 (void)libusb_set_auto_detach_kernel_driver(dev, 1);
371 /* Claim the debug interface on the XDS110 */
372 result = libusb_claim_interface(dev, INTERFACE_DEBUG);
374 /* Couldn't find an XDS110, flag the error */
378 /* On an error, clean up what we can */
381 /* Release the debug and data interface on the XDS110 */
382 (void)libusb_release_interface(dev, INTERFACE_DEBUG);
391 /* Log the results */
393 LOG_INFO("XDS110: connected");
395 LOG_ERROR("XDS110: failed to connect");
397 return (0 == result) ? true : false;
400 static void usb_disconnect(void)
402 if (NULL != xds110.dev) {
403 /* Release the debug and data interface on the XDS110 */
404 (void)libusb_release_interface(xds110.dev, INTERFACE_DEBUG);
405 libusb_close(xds110.dev);
408 if (NULL != xds110.ctx) {
409 libusb_exit(xds110.ctx);
413 LOG_INFO("XDS110: disconnected");
416 static bool usb_read(unsigned char *buffer, int size, int *bytes_read,
421 if (NULL == xds110.dev || NULL == buffer || NULL == bytes_read)
424 /* Force a non-zero timeout to prevent blocking */
426 timeout = DEFAULT_TIMEOUT;
428 result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_IN, buffer, size,
429 bytes_read, timeout);
431 return (0 == result) ? true : false;
434 static bool usb_write(unsigned char *buffer, int size, int *written)
436 int bytes_written = 0;
437 int result = LIBUSB_SUCCESS;
440 if (NULL == xds110.dev || NULL == buffer)
443 result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_OUT, buffer,
444 size, &bytes_written, 0);
446 while (LIBUSB_ERROR_PIPE == result && retries < 3) {
447 /* Try clearing the pipe stall and retry transfer */
448 libusb_clear_halt(xds110.dev, ENDPOINT_DEBUG_OUT);
449 result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_OUT, buffer,
450 size, &bytes_written, 0);
455 *written = bytes_written;
457 return (0 == result && size == bytes_written) ? true : false;
460 static bool usb_get_response(uint32_t *total_bytes_read, uint32_t timeout)
462 static unsigned char buffer[MAX_PACKET];
471 success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout);
474 * Validate that this appears to be a good response packet
475 * First check it contains enough data for header and error
476 * code, plus the first character is the start character
478 if (bytes_read >= 7 && '*' == buffer[0]) {
479 /* Extract the payload size */
480 size = xds110_get_u16(&buffer[1]);
481 /* Sanity test on payload size */
482 if (USB_PAYLOAD_SIZE >= size && 4 <= size) {
483 /* Check we didn't get more data than expected */
484 if ((bytes_read - 3) <= size) {
485 /* Packet appears to be valid, move on */
492 * Somehow received an invalid packet, retry till we
493 * time out or a valid response packet is received
497 /* Abort now if we didn't receive a valid response */
499 if (NULL != total_bytes_read)
500 *total_bytes_read = 0;
504 /* Build the return payload into xds110.read_payload */
506 /* Copy over payload data from received buffer (skipping header) */
509 memcpy((void *)&xds110.read_payload[count], (void *)&buffer[3], bytes_read);
512 * Drop timeout to just 1/2 second. Once the XDS110 starts sending
513 * a response, the remaining packets should arrive in short order
516 timeout = 500; /* ms */
518 /* If there's more data to retrieve, get it now */
519 while ((count < size) && success) {
520 success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout);
522 if ((count + bytes_read) > size) {
523 /* Read too much data, not a valid packet, abort */
526 /* Copy this data over to xds110.read_payload */
527 memcpy((void *)&xds110.read_payload[count], (void *)buffer,
536 if (NULL != total_bytes_read)
537 *total_bytes_read = count;
542 static bool usb_send_command(uint16_t size)
547 /* Check the packet length */
548 if (size > USB_PAYLOAD_SIZE)
551 /* Place the start character into the packet buffer */
552 xds110.write_packet[0] = '*';
554 /* Place the payload size into the packet buffer */
555 xds110_set_u16(&xds110.write_packet[1], size);
557 /* Adjust size to include header */
560 /* Send the data via the USB connection */
561 success = usb_write(xds110.write_packet, (int)size, &written);
563 /* Check if the correct number of bytes was written */
564 if (written != (int)size)
570 /***************************************************************************
571 * XDS110 firmware API routines *
573 * The following functions handle calling into the XDS110 firmware to *
574 * perform requested debug actions. *
575 ***************************************************************************/
577 static bool xds_execute(uint32_t out_length, uint32_t in_length,
578 uint32_t attempts, uint32_t timeout)
583 uint32_t bytes_read = 0;
585 if (NULL == xds110.dev)
588 while (!done && attempts > 0) {
591 /* Send command to XDS110 */
592 success = usb_send_command(out_length);
595 /* Get response from XDS110 */
596 success = usb_get_response(&bytes_read, timeout);
600 /* Check for valid response from XDS code handling */
601 if (bytes_read != in_length) {
602 /* Unexpected amount of data returned */
605 /* Extract error code from return packet */
606 error = (int)xds110_get_u32(&xds110.read_payload[0]);
613 error = SC_ERR_XDS110_FAIL;
621 static bool xds_connect(void)
625 xds110.write_payload[0] = XDS_CONNECT;
627 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
633 static bool xds_disconnect(void)
637 xds110.write_payload[0] = XDS_DISCONNECT;
639 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
645 static bool xds_version(uint32_t *firmware_id, uint16_t *hardware_id)
647 uint8_t *fw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
648 uint8_t *hw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 4]; /* 16-bits */
652 xds110.write_payload[0] = XDS_VERSION;
654 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN + 6, DEFAULT_ATTEMPTS,
658 if (NULL != firmware_id)
659 *firmware_id = xds110_get_u32(fw_id_pntr);
660 if (NULL != hardware_id)
661 *hardware_id = xds110_get_u16(hw_id_pntr);
667 static bool xds_set_tck_delay(uint32_t delay)
669 uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
673 xds110.write_payload[0] = XDS_SET_TCK;
675 xds110_set_u32(delay_pntr, delay);
677 success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
683 static bool xds_set_trst(uint8_t trst)
685 uint8_t *trst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
689 xds110.write_payload[0] = XDS_SET_TRST;
693 success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS,
699 static bool xds_cycle_tck(uint32_t count)
701 uint8_t *count_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
705 xds110.write_payload[0] = XDS_CYCLE_TCK;
707 xds110_set_u32(count_pntr, count);
709 success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
715 static bool xds_goto_state(uint32_t state)
717 uint8_t *state_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
718 uint8_t *transit_pntr = &xds110.write_payload[XDS_OUT_LEN+4]; /* 32-bits */
722 xds110.write_payload[0] = XDS_GOTO_STATE;
724 xds110_set_u32(state_pntr, state);
725 xds110_set_u32(transit_pntr, XDS_JTAG_TRANSIT_QUICKEST);
727 success = xds_execute(XDS_OUT_LEN+8, XDS_IN_LEN, DEFAULT_ATTEMPTS,
733 static bool xds_jtag_scan(uint32_t shift_state, uint16_t shift_bits,
734 uint32_t end_state, uint8_t *data_out, uint8_t *data_in)
736 uint8_t *bits_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 16-bits */
737 uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
738 uint8_t *trans1_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 8-bits */
739 uint8_t *end_pntr = &xds110.write_payload[XDS_OUT_LEN + 4]; /* 8-bits */
740 uint8_t *trans2_pntr = &xds110.write_payload[XDS_OUT_LEN + 5]; /* 8-bits */
741 uint8_t *pre_pntr = &xds110.write_payload[XDS_OUT_LEN + 6]; /* 16-bits */
742 uint8_t *pos_pntr = &xds110.write_payload[XDS_OUT_LEN + 8]; /* 16-bits */
743 uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 10]; /* 16-bits */
744 uint8_t *rep_pntr = &xds110.write_payload[XDS_OUT_LEN + 12]; /* 16-bits */
745 uint8_t *out_pntr = &xds110.write_payload[XDS_OUT_LEN + 14]; /* 16-bits */
746 uint8_t *in_pntr = &xds110.write_payload[XDS_OUT_LEN + 16]; /* 16-bits */
747 uint8_t *data_out_pntr = &xds110.write_payload[XDS_OUT_LEN + 18];
748 uint8_t *data_in_pntr = &xds110.read_payload[XDS_IN_LEN+0];
750 uint16_t total_bytes = DIV_ROUND_UP(shift_bits, 8);
754 xds110.write_payload[0] = XDS_JTAG_SCAN;
756 xds110_set_u16(bits_pntr, shift_bits); /* bits to scan */
757 *path_pntr = (uint8_t)(shift_state & 0xff); /* IR vs DR path */
758 *trans1_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* start state route */
759 *end_pntr = (uint8_t)(end_state & 0xff); /* JTAG state after scan */
760 *trans2_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* end state route */
761 xds110_set_u16(pre_pntr, 0); /* number of preamble bits */
762 xds110_set_u16(pos_pntr, 0); /* number of postamble bits */
763 xds110_set_u16(delay_pntr, 0); /* number of extra TCKs after scan */
764 xds110_set_u16(rep_pntr, 1); /* number of repetitions */
765 xds110_set_u16(out_pntr, total_bytes); /* out buffer offset (if repeats) */
766 xds110_set_u16(in_pntr, total_bytes); /* in buffer offset (if repeats) */
768 memcpy((void *)data_out_pntr, (void *)data_out, total_bytes);
770 success = xds_execute(XDS_OUT_LEN + 18 + total_bytes,
771 XDS_IN_LEN + total_bytes, DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT);
774 memcpy((void *)data_in, (void *)data_in_pntr, total_bytes);
779 static bool xds_set_srst(uint8_t srst)
781 uint8_t *srst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
785 xds110.write_payload[0] = XDS_SET_SRST;
789 success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS,
795 static bool cmapi_connect(uint32_t *idcode)
797 uint8_t *idcode_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
801 xds110.write_payload[0] = CMAPI_CONNECT;
803 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN+4, DEFAULT_ATTEMPTS,
808 *idcode = xds110_get_u32(idcode_pntr);
814 static bool cmapi_disconnect(void)
818 xds110.write_payload[0] = CMAPI_DISCONNECT;
820 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
826 static bool cmapi_acquire(void)
830 xds110.write_payload[0] = CMAPI_ACQUIRE;
832 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
838 static bool cmapi_release(void)
842 xds110.write_payload[0] = CMAPI_RELEASE;
844 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
850 static bool cmapi_read_dap_reg(uint32_t type, uint32_t ap_num,
851 uint32_t address, uint32_t *value)
853 uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
854 uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */
855 uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
856 uint8_t *value_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
860 xds110.write_payload[0] = CMAPI_REG_READ;
862 *type_pntr = (uint8_t)(type & 0xff);
863 *ap_num_pntr = (uint8_t)(ap_num & 0xff);
864 *address_pntr = (uint8_t)(address & 0xff);
866 success = xds_execute(XDS_OUT_LEN + 3, XDS_IN_LEN + 4, DEFAULT_ATTEMPTS,
871 *value = xds110_get_u32(value_pntr);
877 static bool cmapi_write_dap_reg(uint32_t type, uint32_t ap_num,
878 uint32_t address, uint32_t *value)
880 uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
881 uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */
882 uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
883 uint8_t *value_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 32-bits */
890 xds110.write_payload[0] = CMAPI_REG_WRITE;
892 *type_pntr = (uint8_t)(type & 0xff);
893 *ap_num_pntr = (uint8_t)(ap_num & 0xff);
894 *address_pntr = (uint8_t)(address & 0xff);
895 xds110_set_u32(value_pntr, *value);
897 success = xds_execute(XDS_OUT_LEN + 7, XDS_IN_LEN, DEFAULT_ATTEMPTS,
903 static bool swd_connect(void)
907 xds110.write_payload[0] = SWD_CONNECT;
909 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
915 static bool swd_disconnect(void)
919 xds110.write_payload[0] = SWD_DISCONNECT;
921 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
927 static bool cjtag_connect(uint32_t format)
929 uint8_t *format_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
933 xds110.write_payload[0] = CJTAG_CONNECT;
935 xds110_set_u32(format_pntr, format);
937 success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
943 static bool cjtag_disconnect(void)
947 xds110.write_payload[0] = CJTAG_DISCONNECT;
949 success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
955 static bool ocd_dap_request(uint8_t *dap_requests, uint32_t request_size,
956 uint32_t *dap_results, uint32_t result_count)
958 uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0];
959 uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0];
963 if (NULL == dap_requests || NULL == dap_results)
966 xds110.write_payload[0] = OCD_DAP_REQUEST;
968 memcpy((void *)request_pntr, (void *)dap_requests, request_size);
970 success = xds_execute(XDS_OUT_LEN + request_size,
971 XDS_IN_LEN + (result_count * 4), DEFAULT_ATTEMPTS,
974 if (success && (result_count > 0))
975 memcpy((void *)dap_results, (void *)result_pntr, result_count * 4);
980 static bool ocd_scan_request(uint8_t *scan_requests, uint32_t request_size,
981 uint8_t *scan_results, uint32_t result_size)
983 uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0];
984 uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0];
988 if (NULL == scan_requests || NULL == scan_results)
991 xds110.write_payload[0] = OCD_SCAN_REQUEST;
993 memcpy((void *)request_pntr, (void *)scan_requests, request_size);
995 success = xds_execute(XDS_OUT_LEN + request_size,
996 XDS_IN_LEN + result_size, DEFAULT_ATTEMPTS,
999 if (success && (result_size > 0))
1000 memcpy((void *)scan_results, (void *)result_pntr, result_size);
1005 static bool ocd_pathmove(uint32_t num_states, uint8_t *path)
1007 uint8_t *num_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
1008 uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 4];
1015 xds110.write_payload[0] = OCD_PATHMOVE;
1017 xds110_set_u32(num_pntr, num_states);
1019 memcpy((void *)path_pntr, (void *)path, num_states);
1021 success = xds_execute(XDS_OUT_LEN + 4 + num_states, XDS_IN_LEN,
1022 DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT);
1027 /***************************************************************************
1028 * swd driver interface *
1030 * The following functions provide SWD support to OpenOCD. *
1031 ***************************************************************************/
1033 static int xds110_swd_init(void)
1035 xds110.is_swd_mode = true;
1039 static int xds110_swd_switch_seq(enum swd_special_seq seq)
1046 LOG_ERROR("Sequence SWD line reset (%d) not supported", seq);
1049 LOG_DEBUG("JTAG-to-SWD");
1050 xds110.is_swd_mode = false;
1051 xds110.is_cmapi_connected = false;
1052 xds110.is_cmapi_acquired = false;
1053 /* Run sequence to put target in SWD mode */
1054 success = swd_connect();
1055 /* Re-iniitialize CMAPI API for DAP access */
1057 xds110.is_swd_mode = true;
1058 success = cmapi_connect(&idcode);
1060 xds110.is_cmapi_connected = true;
1061 success = cmapi_acquire();
1066 LOG_DEBUG("SWD-to-JTAG");
1067 xds110.is_swd_mode = false;
1068 xds110.is_cmapi_connected = false;
1069 xds110.is_cmapi_acquired = false;
1070 /* Run sequence to put target in JTAG mode */
1071 success = swd_disconnect();
1073 /* Re-initialize JTAG interface */
1074 success = cjtag_connect(MODE_JTAG);
1078 LOG_ERROR("Sequence %d not supported", seq);
1088 static bool xds110_legacy_read_reg(uint8_t cmd, uint32_t *value)
1090 /* Make sure this is a read request */
1091 bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
1092 /* Determine whether this is a DP or AP register access */
1093 uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
1094 /* Determine the AP number from cached SELECT value */
1095 uint32_t ap_num = (xds110.select & 0xff000000) >> 24;
1096 /* Extract register address from command */
1097 uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
1098 /* Extract bank address from cached SELECT value */
1099 uint32_t bank = (xds110.select & 0x000000f0);
1101 uint32_t reg_value = 0;
1102 uint32_t temp_value = 0;
1106 if (!is_read_request)
1109 if (DAP_AP == type) {
1110 /* Add bank address to register address for CMAPI call */
1114 if (DAP_DP == type && DAP_DP_RDBUFF == address && xds110.use_rdbuff) {
1115 /* If RDBUFF is cached and this is a DP RDBUFF read, use the cache */
1116 reg_value = xds110.rdbuff;
1118 } else if (DAP_AP == type && DAP_AP_DRW == address && xds110.use_rdbuff) {
1119 /* If RDBUFF is cached and this is an AP DRW read, use the cache, */
1120 /* but still call into the firmware to get the next read. */
1121 reg_value = xds110.rdbuff;
1122 success = cmapi_read_dap_reg(type, ap_num, address, &temp_value);
1124 success = cmapi_read_dap_reg(type, ap_num, address, &temp_value);
1126 reg_value = temp_value;
1129 /* Mark that we have consumed or invalidated the RDBUFF cache */
1130 xds110.use_rdbuff = false;
1132 /* Handle result of read attempt */
1134 LOG_ERROR("XDS110: failed to read DAP register");
1135 else if (NULL != value)
1138 if (success && DAP_AP == type) {
1140 * On a successful DAP AP read, we actually have the value from RDBUFF,
1141 * the firmware will have run the AP request and made the RDBUFF read
1143 xds110.use_rdbuff = true;
1144 xds110.rdbuff = temp_value;
1150 static bool xds110_legacy_write_reg(uint8_t cmd, uint32_t value)
1152 /* Make sure this isn't a read request */
1153 bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
1154 /* Determine whether this is a DP or AP register access */
1155 uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
1156 /* Determine the AP number from cached SELECT value */
1157 uint32_t ap_num = (xds110.select & 0xff000000) >> 24;
1158 /* Extract register address from command */
1159 uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
1160 /* Extract bank address from cached SELECT value */
1161 uint32_t bank = (xds110.select & 0x000000f0);
1165 if (is_read_request)
1168 /* Invalidate the RDBUFF cache */
1169 xds110.use_rdbuff = false;
1171 if (DAP_AP == type) {
1172 /* Add bank address to register address for CMAPI call */
1174 /* Any write to an AP register invalidates the firmware's cache */
1175 xds110.is_ap_dirty = true;
1176 } else if (DAP_DP_SELECT == address) {
1177 /* Any write to the SELECT register invalidates the firmware's cache */
1178 xds110.is_ap_dirty = true;
1181 success = cmapi_write_dap_reg(type, ap_num, address, &value);
1184 LOG_ERROR("XDS110: failed to write DAP register");
1187 * If the debugger wrote to SELECT, cache the value
1188 * to use to build the apNum and address values above
1190 if ((DAP_DP == type) && (DAP_DP_SELECT == address))
1191 xds110.select = value;
1197 static int xds110_swd_run_queue(void)
1199 static uint32_t dap_results[MAX_RESULT_QUEUE];
1204 bool success = true;
1206 if (0 == xds110.txn_request_size)
1209 /* Terminate request queue */
1210 xds110.txn_requests[xds110.txn_request_size++] = 0;
1212 if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
1213 /* XDS110 firmware has the API to directly handle the queue */
1214 success = ocd_dap_request(xds110.txn_requests,
1215 xds110.txn_request_size, dap_results, xds110.txn_result_count);
1217 /* Legacy firmware needs to handle queue via discrete DAP calls */
1220 while (xds110.txn_requests[request] != 0) {
1221 cmd = xds110.txn_requests[request++];
1222 if (0 == (SWD_CMD_RnW & cmd)) {
1223 /* DAP register write command */
1224 value = (uint32_t)(xds110.txn_requests[request++]) << 0;
1225 value |= (uint32_t)(xds110.txn_requests[request++]) << 8;
1226 value |= (uint32_t)(xds110.txn_requests[request++]) << 16;
1227 value |= (uint32_t)(xds110.txn_requests[request++]) << 24;
1229 success = xds110_legacy_write_reg(cmd, value);
1231 /* DAP register read command */
1234 success = xds110_legacy_read_reg(cmd, &value);
1235 dap_results[result++] = value;
1240 /* Transfer results into caller's buffers */
1241 for (result = 0; result < xds110.txn_result_count; result++)
1242 if (0 != xds110.txn_dap_results[result])
1243 *xds110.txn_dap_results[result] = dap_results[result];
1245 xds110.txn_request_size = 0;
1246 xds110.txn_result_size = 0;
1247 xds110.txn_result_count = 0;
1249 return (success) ? ERROR_OK : ERROR_FAIL;
1252 static void xds110_swd_queue_cmd(uint8_t cmd, uint32_t *value)
1254 /* Check if this is a read or write request */
1255 bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
1256 /* Determine whether this is a DP or AP register access */
1257 uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
1258 /* Extract register address from command */
1259 uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
1260 uint32_t request_size = (is_read_request) ? 1 : 5;
1262 /* Check if new request would be too large to fit */
1263 if (((xds110.txn_request_size + request_size + 1) > MAX_DATA_BLOCK) ||
1264 ((xds110.txn_result_count + 1) > MAX_RESULT_QUEUE))
1265 xds110_swd_run_queue();
1267 /* Set the START bit in cmd to ensure cmd is not zero */
1268 /* (a value of zero is used to terminate the buffer) */
1269 cmd |= SWD_CMD_START;
1271 /* Add request to queue; queue is built marshalled for XDS110 call */
1272 if (is_read_request) {
1273 /* Queue read request, save pointer to pass back result */
1274 xds110.txn_requests[xds110.txn_request_size++] = cmd;
1275 xds110.txn_dap_results[xds110.txn_result_count++] = value;
1276 xds110.txn_result_size += 4;
1278 /* Check for and prevent sticky overrun detection */
1279 if (DAP_DP == type && DAP_DP_CTRL == address &&
1280 (*value & CORUNDETECT)) {
1281 LOG_DEBUG("XDS110: refusing to enable sticky overrun detection");
1282 *value &= ~CORUNDETECT;
1284 /* Queue write request, add value directly to queue buffer */
1285 xds110.txn_requests[xds110.txn_request_size++] = cmd;
1286 xds110.txn_requests[xds110.txn_request_size++] = (*value >> 0) & 0xff;
1287 xds110.txn_requests[xds110.txn_request_size++] = (*value >> 8) & 0xff;
1288 xds110.txn_requests[xds110.txn_request_size++] = (*value >> 16) & 0xff;
1289 xds110.txn_requests[xds110.txn_request_size++] = (*value >> 24) & 0xff;
1293 static void xds110_swd_read_reg(uint8_t cmd, uint32_t *value,
1294 uint32_t ap_delay_clk)
1296 xds110_swd_queue_cmd(cmd, value);
1298 static void xds110_swd_write_reg(uint8_t cmd, uint32_t value,
1299 uint32_t ap_delay_clk)
1301 xds110_swd_queue_cmd(cmd, &value);
1304 /***************************************************************************
1307 * The following functions provide XDS110 interface to OpenOCD. *
1308 ***************************************************************************/
1310 static void xds110_show_info(void)
1312 uint32_t firmware = xds110.firmware;
1314 LOG_INFO("XDS110: firmware version = %d.%d.%d.%d",
1315 (((firmware >> 28) & 0xf) * 10) + ((firmware >> 24) & 0xf),
1316 (((firmware >> 20) & 0xf) * 10) + ((firmware >> 16) & 0xf),
1317 (((firmware >> 12) & 0xf) * 10) + ((firmware >> 8) & 0xf),
1318 (((firmware >> 4) & 0xf) * 10) + ((firmware >> 0) & 0xf));
1319 LOG_INFO("XDS110: hardware version = 0x%04x", xds110.hardware);
1320 if (0 != xds110.serial[0])
1321 LOG_INFO("XDS110: serial number = %s)", xds110.serial);
1322 if (xds110.is_swd_mode) {
1323 LOG_INFO("XDS110: connected to target via SWD");
1324 LOG_INFO("XDS110: SWCLK set to %d kHz", xds110.speed);
1326 LOG_INFO("XDS110: connected to target via JTAG");
1327 LOG_INFO("XDS110: TCK set to %d kHz", xds110.speed);
1330 /* Alert user that there's a better firmware to use */
1331 if (firmware < OCD_FIRMWARE_VERSION) {
1332 LOG_WARNING("XDS110: the firmware is not optimized for OpenOCD");
1333 LOG_WARNING(OCD_FIRMWARE_UPGRADE);
1337 static int xds110_quit(void)
1339 if (xds110.is_cmapi_acquired) {
1340 (void)cmapi_release();
1341 xds110.is_cmapi_acquired = false;
1343 if (xds110.is_cmapi_connected) {
1344 (void)cmapi_disconnect();
1345 xds110.is_cmapi_connected = false;
1347 if (xds110.is_connected) {
1348 if (xds110.is_swd_mode) {
1349 /* Switch out of SWD mode */
1350 (void)swd_disconnect();
1352 /* Switch out of cJTAG mode */
1353 (void)cjtag_disconnect();
1355 /* Tell firmware we're disconnecting */
1356 (void)xds_disconnect();
1357 xds110.is_connected = false;
1359 /* Close down the USB connection to the XDS110 debug probe */
1365 static int xds110_init(void)
1369 /* Establish USB connection to the XDS110 debug probe */
1370 success = usb_connect();
1373 /* Send connect message to XDS110 firmware */
1374 success = xds_connect();
1376 xds110.is_connected = true;
1383 /* Retrieve version IDs from firmware */
1384 /* Version numbers are stored in BCD format */
1385 success = xds_version(&firmware, &hardware);
1387 /* Save the firmware and hardware version */
1388 xds110.firmware = firmware;
1389 xds110.hardware = hardware;
1394 success = xds_set_trst(0);
1396 success = xds_cycle_tck(50);
1398 success = xds_set_trst(1);
1400 success = xds_cycle_tck(50);
1404 if (xds110.is_swd_mode) {
1405 /* Switch to SWD if needed */
1406 success = swd_connect();
1408 success = cjtag_connect(MODE_JTAG);
1412 if (success && xds110.is_swd_mode) {
1415 /* Connect to CMAPI interface in XDS110 */
1416 success = cmapi_connect(&idcode);
1418 /* Acquire exclusive access to CMAPI interface */
1420 xds110.is_cmapi_connected = true;
1421 success = cmapi_acquire();
1423 xds110.is_cmapi_acquired = true;
1433 return (success) ? ERROR_OK : ERROR_FAIL;
1436 static void xds110_legacy_scan(uint32_t shift_state, uint32_t total_bits,
1437 uint32_t end_state, uint8_t *data_out, uint8_t *data_in)
1439 (void)xds_jtag_scan(shift_state, total_bits, end_state, data_out, data_in);
1442 static void xds110_legacy_runtest(uint32_t clocks, uint32_t end_state)
1444 xds_goto_state(XDS_JTAG_STATE_IDLE);
1445 xds_cycle_tck(clocks);
1446 xds_goto_state(end_state);
1449 static void xds110_legacy_stableclocks(uint32_t clocks)
1451 xds_cycle_tck(clocks);
1454 static void xds110_flush(void)
1458 uint32_t shift_state;
1465 uint8_t data_in[MAX_DATA_BLOCK];
1468 if (0 == xds110.txn_request_size)
1471 /* Terminate request queue */
1472 xds110.txn_requests[xds110.txn_request_size++] = 0;
1474 if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
1475 /* Updated firmware has the API to directly handle the queue */
1476 (void)ocd_scan_request(xds110.txn_requests, xds110.txn_request_size,
1477 data_in, xds110.txn_result_size);
1479 /* Legacy firmware needs to handle queue via discrete JTAG calls */
1482 while (xds110.txn_requests[request] != 0) {
1483 command = xds110.txn_requests[request++];
1487 if (command == CMD_IR_SCAN)
1488 shift_state = XDS_JTAG_STATE_SHIFT_IR;
1490 shift_state = XDS_JTAG_STATE_SHIFT_DR;
1491 end_state = (uint32_t)(xds110.txn_requests[request++]);
1492 bits = (uint32_t)(xds110.txn_requests[request++]) << 0;
1493 bits |= (uint32_t)(xds110.txn_requests[request++]) << 8;
1494 data_out = &xds110.txn_requests[request];
1495 bytes = DIV_ROUND_UP(bits, 8);
1496 xds110_legacy_scan(shift_state, bits, end_state, data_out,
1502 clocks = (uint32_t)(xds110.txn_requests[request++]) << 0;
1503 clocks |= (uint32_t)(xds110.txn_requests[request++]) << 8;
1504 clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16;
1505 clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24;
1506 end_state = (uint32_t)xds110.txn_requests[request++];
1507 xds110_legacy_runtest(clocks, end_state);
1509 case CMD_STABLECLOCKS:
1510 clocks = (uint32_t)(xds110.txn_requests[request++]) << 0;
1511 clocks |= (uint32_t)(xds110.txn_requests[request++]) << 8;
1512 clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16;
1513 clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24;
1514 xds110_legacy_stableclocks(clocks);
1517 LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered",
1525 /* Transfer results into caller's buffers from data_in buffer */
1526 bits = 0; /* Bit offset into current scan result */
1527 data_pntr = data_in;
1528 for (result = 0; result < xds110.txn_result_count; result++) {
1529 if (xds110.txn_scan_results[result].first) {
1531 bytes = DIV_ROUND_UP(bits, 8);
1536 if (xds110.txn_scan_results[result].buffer != 0)
1537 bit_copy(xds110.txn_scan_results[result].buffer, 0, data_pntr,
1538 bits, xds110.txn_scan_results[result].num_bits);
1539 bits += xds110.txn_scan_results[result].num_bits;
1542 xds110.txn_request_size = 0;
1543 xds110.txn_result_size = 0;
1544 xds110.txn_result_count = 0;
1547 static void xds110_execute_reset(struct jtag_command *cmd)
1552 if (cmd->cmd.reset->trst != -1) {
1553 if (cmd->cmd.reset->trst == 0) {
1554 /* Deassert nTRST (active low) */
1557 /* Assert nTRST (active low) */
1560 (void)xds_set_trst(trst);
1563 if (cmd->cmd.reset->srst != -1) {
1564 if (cmd->cmd.reset->srst == 0) {
1565 /* Deassert nSRST (active low) */
1568 /* Assert nSRST (active low) */
1571 (void)xds_set_srst(srst);
1575 static void xds110_execute_sleep(struct jtag_command *cmd)
1577 jtag_sleep(cmd->cmd.sleep->us);
1581 static void xds110_execute_tlr_reset(struct jtag_command *cmd)
1583 (void)xds_goto_state(XDS_JTAG_STATE_RESET);
1588 static void xds110_execute_pathmove(struct jtag_command *cmd)
1591 uint32_t num_states;
1594 num_states = (uint32_t)cmd->cmd.pathmove->num_states;
1596 if (num_states == 0)
1599 path = (uint8_t *)malloc(num_states * sizeof(uint8_t));
1601 LOG_ERROR("XDS110: unable to allocate memory");
1605 /* Convert requested path states into XDS API states */
1606 for (i = 0; i < num_states; i++)
1607 path[i] = (uint8_t)xds_jtag_state[cmd->cmd.pathmove->path[i]];
1609 if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
1610 /* Updated firmware fully supports pathmove */
1611 (void)ocd_pathmove(num_states, path);
1613 /* Notify user that legacy firmware simply cannot handle pathmove */
1614 LOG_ERROR("XDS110: the firmware does not support pathmove command");
1615 LOG_ERROR(OCD_FIRMWARE_UPGRADE);
1616 /* If pathmove is required, then debug is not possible */
1625 static void xds110_queue_scan(struct jtag_command *cmd)
1629 uint32_t total_fields;
1630 uint32_t total_bits;
1631 uint32_t total_bytes;
1635 /* Calculate the total number of bits to scan */
1638 for (i = 0; i < cmd->cmd.scan->num_fields; i++) {
1640 total_bits += (uint32_t)cmd->cmd.scan->fields[i].num_bits;
1643 if (total_bits == 0)
1646 total_bytes = DIV_ROUND_UP(total_bits, 8);
1648 /* Check if new request would be too large to fit */
1649 if (((xds110.txn_request_size + 1 + total_bytes + sizeof(end_state) + 1)
1650 > MAX_DATA_BLOCK) || ((xds110.txn_result_count + total_fields) >
1654 /* Check if this single request is too large to fit */
1655 if ((1 + total_bytes + sizeof(end_state) + 1) > MAX_DATA_BLOCK) {
1656 LOG_ERROR("BUG: JTAG scan request is too large to handle (%d bits)",
1658 /* Failing to run this scan mucks up debug on this target */
1662 if (cmd->cmd.scan->ir_scan)
1663 xds110.txn_requests[xds110.txn_request_size++] = CMD_IR_SCAN;
1665 xds110.txn_requests[xds110.txn_request_size++] = CMD_DR_SCAN;
1667 end_state = (uint8_t)xds_jtag_state[cmd->cmd.scan->end_state];
1668 xds110.txn_requests[xds110.txn_request_size++] = end_state;
1670 xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 0) & 0xff;
1671 xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 8) & 0xff;
1673 /* Build request data by flattening fields into single buffer */
1674 /* also populate the results array to return the results when run */
1676 buffer = &xds110.txn_requests[xds110.txn_request_size];
1677 /* Clear data out buffer to default value of all zeros */
1678 memset((void *)buffer, 0x00, total_bytes);
1679 for (i = 0; i < cmd->cmd.scan->num_fields; i++) {
1680 if (cmd->cmd.scan->fields[i].out_value != 0) {
1681 /* Copy over data to scan out into request buffer */
1682 bit_copy(buffer, offset, cmd->cmd.scan->fields[i].out_value, 0,
1683 cmd->cmd.scan->fields[i].num_bits);
1685 offset += cmd->cmd.scan->fields[i].num_bits;
1686 xds110.txn_scan_results[xds110.txn_result_count].first = (i == 0);
1687 xds110.txn_scan_results[xds110.txn_result_count].num_bits =
1688 cmd->cmd.scan->fields[i].num_bits;
1689 xds110.txn_scan_results[xds110.txn_result_count++].buffer =
1690 cmd->cmd.scan->fields[i].in_value;
1692 xds110.txn_request_size += total_bytes;
1693 xds110.txn_result_size += total_bytes;
1698 static void xds110_queue_runtest(struct jtag_command *cmd)
1700 uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles;
1701 uint8_t end_state = (uint8_t)xds_jtag_state[cmd->cmd.runtest->end_state];
1703 /* Check if new request would be too large to fit */
1704 if ((xds110.txn_request_size + 1 + sizeof(clocks) + sizeof(end_state) + 1)
1708 /* Queue request and cycle count directly to queue buffer */
1709 xds110.txn_requests[xds110.txn_request_size++] = CMD_RUNTEST;
1710 xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 0) & 0xff;
1711 xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 8) & 0xff;
1712 xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff;
1713 xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff;
1714 xds110.txn_requests[xds110.txn_request_size++] = end_state;
1719 static void xds110_queue_stableclocks(struct jtag_command *cmd)
1721 uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles;
1723 /* Check if new request would be too large to fit */
1724 if ((xds110.txn_request_size + 1 + sizeof(clocks) + 1) > MAX_DATA_BLOCK)
1727 /* Queue request and cycle count directly to queue buffer */
1728 xds110.txn_requests[xds110.txn_request_size++] = CMD_STABLECLOCKS;
1729 xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 0) & 0xff;
1730 xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 8) & 0xff;
1731 xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff;
1732 xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff;
1737 static void xds110_execute_command(struct jtag_command *cmd)
1739 switch (cmd->type) {
1742 xds110_execute_reset(cmd);
1746 xds110_execute_sleep(cmd);
1748 case JTAG_TLR_RESET:
1750 xds110_execute_tlr_reset(cmd);
1754 xds110_execute_pathmove(cmd);
1757 xds110_queue_scan(cmd);
1760 xds110_queue_runtest(cmd);
1762 case JTAG_STABLECLOCKS:
1763 xds110_queue_stableclocks(cmd);
1767 LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered",
1773 static int xds110_execute_queue(void)
1775 struct jtag_command *cmd = jtag_command_queue;
1777 while (cmd != NULL) {
1778 xds110_execute_command(cmd);
1787 static int xds110_speed(int speed)
1792 LOG_INFO("XDS110: RTCK not supported");
1793 return ERROR_JTAG_NOT_IMPLEMENTED;
1796 if (speed > XDS110_MAX_TCK_SPEED) {
1797 LOG_INFO("XDS110: reduce speed request: %dkHz to %dkHz maximum",
1798 speed, XDS110_MAX_TCK_SPEED);
1799 speed = XDS110_MAX_TCK_SPEED;
1802 if (speed < XDS110_MIN_TCK_SPEED) {
1803 LOG_INFO("XDS110: increase speed request: %dkHz to %dkHz minimum",
1804 speed, XDS110_MIN_TCK_SPEED);
1805 speed = XDS110_MIN_TCK_SPEED;
1808 /* The default is the maximum frequency the XDS110 can support */
1809 uint32_t freq_to_use = XDS110_MAX_TCK_SPEED * 1000; /* Hz */
1810 uint32_t delay_count = 0;
1812 if (XDS110_MAX_TCK_SPEED != speed) {
1813 freq_to_use = speed * 1000; /* Hz */
1815 /* Calculate the delay count value */
1816 double one_giga = 1000000000;
1817 /* Get the pulse duration for the maximum frequency supported in ns */
1818 double max_freq_pulse_duration = one_giga /
1819 (XDS110_MAX_TCK_SPEED * 1000);
1821 /* Convert frequency to pulse duration */
1822 double freq_to_pulse_width_in_ns = one_giga / freq_to_use;
1825 * Start with the pulse duration for the maximum frequency. Keep
1826 * decrementing the time added by each count value till the requested
1827 * frequency pulse is less than the calculated value.
1829 double current_value = max_freq_pulse_duration;
1831 while (current_value < freq_to_pulse_width_in_ns) {
1832 current_value += XDS110_TCK_PULSE_INCREMENT;
1837 * Determine which delay count yields the best match.
1838 * The one obtained above or one less.
1841 double diff_freq_1 = freq_to_use -
1842 (one_giga / (max_freq_pulse_duration +
1843 (XDS110_TCK_PULSE_INCREMENT * delay_count)));
1844 double diff_freq_2 = (one_giga / (max_freq_pulse_duration +
1845 (XDS110_TCK_PULSE_INCREMENT * (delay_count - 1)))) -
1848 /* One less count value yields a better match */
1849 if (diff_freq_1 > diff_freq_2)
1854 /* Send the delay count to the XDS110 firmware */
1855 success = xds_set_tck_delay(delay_count);
1858 xds110.delay_count = delay_count;
1859 xds110.speed = speed;
1862 return (success) ? ERROR_OK : ERROR_FAIL;
1865 static int xds110_speed_div(int speed, int *khz)
1871 static int xds110_khz(int khz, int *jtag_speed)
1877 static int_least32_t xds110_swd_frequency(int_least32_t hz)
1880 xds110_speed(hz / 1000);
1884 COMMAND_HANDLER(xds110_handle_info_command)
1890 COMMAND_HANDLER(xds110_handle_serial_command)
1892 wchar_t serial[XDS110_SERIAL_LEN + 1];
1894 xds110.serial[0] = 0;
1896 if (CMD_ARGC == 1) {
1897 size_t len = mbstowcs(0, CMD_ARGV[0], 0);
1898 if (len > XDS110_SERIAL_LEN) {
1899 LOG_ERROR("XDS110: serial number is limited to %d characters",
1903 if ((size_t)-1 == mbstowcs(serial, CMD_ARGV[0], len + 1)) {
1904 LOG_ERROR("XDS110: unable to convert serial number");
1908 for (uint32_t i = 0; i < len; i++)
1909 xds110.serial[i] = (char)serial[i];
1911 xds110.serial[len] = 0;
1913 LOG_ERROR("XDS110: expected exactly one argument to xds110_serial "
1921 static const struct command_registration xds110_subcommand_handlers[] = {
1924 .handler = &xds110_handle_info_command,
1925 .mode = COMMAND_EXEC,
1927 .help = "show XDS110 info",
1929 COMMAND_REGISTRATION_DONE
1932 static const struct command_registration xds110_command_handlers[] = {
1935 .mode = COMMAND_ANY,
1936 .help = "perform XDS110 management",
1938 .chain = xds110_subcommand_handlers,
1941 .name = "xds110_serial",
1942 .handler = &xds110_handle_serial_command,
1943 .mode = COMMAND_CONFIG,
1944 .help = "set the XDS110 probe serial number",
1945 .usage = "serial_string",
1947 COMMAND_REGISTRATION_DONE
1950 static const struct swd_driver xds110_swd_driver = {
1951 .init = xds110_swd_init,
1952 .frequency = xds110_swd_frequency,
1953 .switch_seq = xds110_swd_switch_seq,
1954 .read_reg = xds110_swd_read_reg,
1955 .write_reg = xds110_swd_write_reg,
1956 .run = xds110_swd_run_queue,
1959 static const char * const xds110_transport[] = { "swd", "jtag", NULL };
1961 struct jtag_interface xds110_interface = {
1963 .commands = xds110_command_handlers,
1964 .swd = &xds110_swd_driver,
1965 .transports = xds110_transport,
1967 .execute_queue = xds110_execute_queue,
1968 .speed = xds110_speed,
1969 .speed_div = xds110_speed_div,
1971 .init = xds110_init,
1972 .quit = xds110_quit,