#endif
#include <transport/transport.h>
+#include "helper/replacements.h"
#include <jtag/swd.h>
#include <jtag/interface.h>
#include <jtag/commands.h>
/* CMSIS-DAP SWD Commands */
#define CMD_DAP_SWD_CONFIGURE 0x13
+#define CMD_DAP_SWD_SEQUENCE 0x1D
/* CMSIS-DAP JTAG Commands */
#define CMD_DAP_JTAG_SEQ 0x14
static struct cmsis_dap *cmsis_dap_handle;
+static int cmsis_dap_quit(void);
+
static int cmsis_dap_open(void)
{
const struct cmsis_dap_backend *backend = NULL;
}
}
+static void cmsis_dap_flush_read(struct cmsis_dap *dap)
+{
+ unsigned int i;
+ /* Some CMSIS-DAP adapters keep buffered packets over
+ * USB close/open so we need to flush up to 64 old packets
+ * to be sure all buffers are empty */
+ for (i = 0; i < 64; i++) {
+ int retval = dap->backend->read(dap, 10);
+ if (retval == ERROR_TIMEOUT_REACHED)
+ break;
+ }
+ if (i)
+ LOG_DEBUG("Flushed %u packets", i);
+}
+
/* Send a message and receive the reply */
static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
{
pending_fifo_get_idx = 0;
}
+ uint8_t current_cmd = cmsis_dap_handle->command[0];
int retval = dap->backend->write(dap, txlen, USB_TIMEOUT);
if (retval < 0)
return retval;
if (retval < 0)
return retval;
+ uint8_t *resp = cmsis_dap_handle->response;
+ if (resp[0] == DAP_ERROR) {
+ LOG_ERROR("CMSIS-DAP command 0x%" PRIx8 " not implemented", current_cmd);
+ return ERROR_NOT_IMPLEMENTED;
+ }
+
+ if (resp[0] != current_cmd) {
+ LOG_ERROR("CMSIS-DAP command mismatch. Sent 0x%" PRIx8
+ " received 0x%" PRIx8, current_cmd, resp[0]);
+
+ cmsis_dap_flush_read(dap);
+ return ERROR_FAIL;
+ }
+
return ERROR_OK;
}
}
#endif
+static int cmsis_dap_metacmd_targetsel(uint32_t instance_id)
+{
+ int retval;
+ uint8_t *command = cmsis_dap_handle->command;
+ const uint32_t SEQ_RD = 0x80, SEQ_WR = 0x00;
+
+ /* SWD multi-drop requires a transfer ala CMD_DAP_TFER,
+ but with no expectation of an SWD ACK response. In
+ CMSIS-DAP v1.20 and v2.00, CMD_DAP_SWD_SEQUENCE was
+ added to allow this special sequence to be generated.
+ The purpose of this operation is to select the target
+ corresponding to the instance_id that is written */
+
+ size_t idx = 0;
+ command[idx++] = CMD_DAP_SWD_SEQUENCE;
+ command[idx++] = 3; /* sequence count */
+
+ /* sequence 0: packet request for TARGETSEL */
+ command[idx++] = SEQ_WR | 8;
+ command[idx++] = SWD_CMD_START | swd_cmd(false, false, DP_TARGETSEL) | SWD_CMD_STOP | SWD_CMD_PARK;
+
+ /* sequence 1: read Trn ACK Trn, no expectation for target to ACK */
+ command[idx++] = SEQ_RD | 5;
+
+ /* sequence 2: WDATA plus parity */
+ command[idx++] = SEQ_WR | (32 + 1);
+ h_u32_to_le(command + idx, instance_id);
+ idx += 4;
+ command[idx++] = parity_u32(instance_id);
+
+ retval = cmsis_dap_xfer(cmsis_dap_handle, idx);
+
+ if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
+ LOG_ERROR("CMSIS-DAP command SWD_Sequence failed.");
+ return ERROR_JTAG_DEVICE_ERROR;
+ }
+ return ERROR_OK;
+}
+
static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
{
uint8_t *command = cmsis_dap_handle->command;
}
uint8_t *resp = dap->response;
+ if (resp[0] != CMD_DAP_TFER) {
+ LOG_ERROR("CMSIS-DAP command mismatch. Expected 0x%" PRIx8
+ " received 0x%" PRIx8, CMD_DAP_TFER, resp[0]);
+ queued_retval = ERROR_FAIL;
+ goto skip;
+ }
+
uint8_t transfer_count = resp[1];
uint8_t ack = resp[2] & 0x07;
if (resp[2] & 0x08) {
LOG_DEBUG("SWD ack not OK @ %d %s", transfer_count,
ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
+ /* TODO: use results of transfers completed before the error occurred? */
goto skip;
}
static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
{
- if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len) {
+ bool targetsel_cmd = swd_cmd(false, false, DP_TARGETSEL) == cmd;
+
+ if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len
+ || targetsel_cmd) {
if (pending_fifo_block_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
if (queued_retval != ERROR_OK)
return;
+ if (targetsel_cmd) {
+ cmsis_dap_metacmd_targetsel(data);
+ return;
+ }
+
struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
transfer->data = data;
switch (seq) {
case LINE_RESET:
- LOG_DEBUG("SWD line reset");
+ LOG_DEBUG_IO("SWD line reset");
s = swd_seq_line_reset;
s_len = swd_seq_line_reset_len;
break;
s = swd_seq_jtag_to_swd;
s_len = swd_seq_jtag_to_swd_len;
break;
+ case JTAG_TO_DORMANT:
+ LOG_DEBUG("JTAG-to-DORMANT");
+ s = swd_seq_jtag_to_dormant;
+ s_len = swd_seq_jtag_to_dormant_len;
+ break;
case SWD_TO_JTAG:
LOG_DEBUG("SWD-to-JTAG");
s = swd_seq_swd_to_jtag;
s_len = swd_seq_swd_to_jtag_len;
break;
+ case SWD_TO_DORMANT:
+ LOG_DEBUG("SWD-to-DORMANT");
+ s = swd_seq_swd_to_dormant;
+ s_len = swd_seq_swd_to_dormant_len;
+ break;
+ case DORMANT_TO_SWD:
+ LOG_DEBUG("DORMANT-to-SWD");
+ s = swd_seq_dormant_to_swd;
+ s_len = swd_seq_dormant_to_swd_len;
+ break;
default:
LOG_ERROR("Sequence %d not supported", seq);
return ERROR_FAIL;
if (retval != ERROR_OK)
return retval;
+ cmsis_dap_flush_read(cmsis_dap_handle);
+
retval = cmsis_dap_get_caps_info();
if (retval != ERROR_OK)
return retval;
/* INFO_ID_PKT_SZ - short */
retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
if (retval != ERROR_OK)
- return retval;
+ goto init_err;
if (data[0] == 2) { /* short */
uint16_t pkt_sz = data[1] + (data[2] << 8);
free(cmsis_dap_handle->packet_buffer);
retval = cmsis_dap_handle->backend->packet_buffer_alloc(cmsis_dap_handle, pkt_sz);
if (retval != ERROR_OK)
- return retval;
+ goto init_err;
LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRIu16, pkt_sz);
}
/* INFO_ID_PKT_CNT - byte */
retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
if (retval != ERROR_OK)
- return retval;
+ goto init_err;
if (data[0] == 1) { /* byte */
int pkt_cnt = data[1];
pending_fifo[i].transfers = malloc(pending_queue_len * sizeof(struct pending_transfer_result));
if (!pending_fifo[i].transfers) {
LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
- return ERROR_FAIL;
+ retval = ERROR_FAIL;
+ goto init_err;
}
}
-
- retval = cmsis_dap_get_status();
- if (retval != ERROR_OK)
- return ERROR_FAIL;
+ /* Intentionally not checked for error, just logs an info message
+ * not vital for further debugging */
+ (void)cmsis_dap_get_status();
/* Now try to connect to the target
* TODO: This is all SWD only @ present */
retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
if (retval != ERROR_OK)
- return ERROR_FAIL;
+ goto init_err;
/* Ask CMSIS-DAP to automatically retry on receiving WAIT for
* up to 64 times. This must be changed to 0 if sticky
* overrun detection is enabled. */
retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
if (retval != ERROR_OK)
- return ERROR_FAIL;
+ goto init_err;
if (swd_mode) {
/* Data Phase (bit 2) must be set to 1 if sticky overrun
* detection is enabled */
retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
if (retval != ERROR_OK)
- return ERROR_FAIL;
+ goto init_err;
}
/* Both LEDs on */
- retval = cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT, LED_ON);
- if (retval != ERROR_OK)
- return ERROR_FAIL;
-
- retval = cmsis_dap_cmd_DAP_LED(LED_ID_RUN, LED_ON);
- if (retval != ERROR_OK)
- return ERROR_FAIL;
+ /* Intentionally not checked for error, debugging will work
+ * without LEDs */
+ (void)cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT, LED_ON);
+ (void)cmsis_dap_cmd_DAP_LED(LED_ID_RUN, LED_ON);
/* support connecting with srst asserted */
enum reset_types jtag_reset_config = jtag_get_reset_config();
if (jtag_reset_config & RESET_SRST_NO_GATING) {
retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, SWJ_PIN_SRST, 0, NULL);
if (retval != ERROR_OK)
- return ERROR_FAIL;
+ goto init_err;
LOG_INFO("Connecting under reset");
}
}
LOG_INFO("CMSIS-DAP: Interface ready");
-
return ERROR_OK;
+
+init_err:
+ cmsis_dap_quit();
+ return retval;
}
static int cmsis_dap_swd_init(void)
projects / fw / openocd / blobdiff