From: Mickaël Thomas Date: Tue, 29 Jan 2019 20:14:58 +0000 (+0100) Subject: Add CMSIS-DAP v2 support X-Git-Url: https://git.gag.com/?a=commitdiff_plain;h=8f927d51643ceb6b3696772c5fabd5ba9f48fcd3;p=fw%2Fopenocd Add CMSIS-DAP v2 support This change implements CMSIS-DAP v2 which works with raw USB bulk transfers. The old driver is now split into a generic CMSIS part and a HID backend, with a new raw USB backend for CMSIS-DAP v2. New commands: - cmsis_dap_backend (usb_bulk | hid | auto) - cmsis_dap_usb interface Change-Id: I4218477b12ccbfe19c9b332321cd21394bf44e30 Signed-off-by: Mickaël Thomas Signed-off-by: Tomas Vanek Reviewed-on: http://openocd.zylin.com/4831 Tested-by: jenkins --- diff --git a/configure.ac b/configure.ac index 3e49213cc..9cb20ad89 100644 --- a/configure.ac +++ b/configure.ac @@ -119,6 +119,7 @@ m4_define([USB1_ADAPTERS], [[ft232r], [Bitbang mode of FT232R based devices], [FT232R]], [[vsllink], [Versaloon-Link JTAG Programmer], [VSLLINK]], [[xds110], [TI XDS110 Debug Probe], [XDS110]], + [[cmsis_dap_v2], [CMSIS-DAP v2 Compliant Debugger], [CMSIS_DAP_USB]], [[osbdm], [OSBDM (JTAG only) Programmer], [OSBDM]], [[opendous], [eStick/opendous JTAG Programmer], [OPENDOUS]], [[aice], [Andes JTAG Programmer], [AICE]]]) @@ -129,7 +130,7 @@ m4_define([USB0_ADAPTERS], [[armjtagew], [Olimex ARM-JTAG-EW Programmer], [ARMJTAGEW]]]) m4_define([HIDAPI_ADAPTERS], - [[[cmsis_dap], [CMSIS-DAP Compliant Debugger], [CMSIS_DAP]], + [[[cmsis_dap], [CMSIS-DAP Compliant Debugger], [CMSIS_DAP_HID]], [[nulink], [Nu-Link Programmer], [HLADAPTER_NULINK]]]) m4_define([HIDAPI_USB1_ADAPTERS], diff --git a/src/jtag/drivers/Makefile.am b/src/jtag/drivers/Makefile.am index 1a5ab4a2d..f7a54b003 100644 --- a/src/jtag/drivers/Makefile.am +++ b/src/jtag/drivers/Makefile.am @@ -170,8 +170,15 @@ endif if OPENJTAG DRIVERFILES += %D%/openjtag.c endif -if CMSIS_DAP -DRIVERFILES += %D%/cmsis_dap_usb.c +if CMSIS_DAP_HID +DRIVERFILES += %D%/cmsis_dap_usb_hid.c +DRIVERFILES += %D%/cmsis_dap.c +endif +if CMSIS_DAP_USB +DRIVERFILES += %D%/cmsis_dap_usb_bulk.c +if !CMSIS_DAP_HID +DRIVERFILES += %D%/cmsis_dap.c +endif endif if IMX_GPIO DRIVERFILES += %D%/imx_gpio.c @@ -189,6 +196,7 @@ DRIVERHEADERS = \ %D%/jtag_usb_common.h \ %D%/libftdi_helper.h \ %D%/libusb_helper.h \ + %D%/cmsis_dap.h \ %D%/minidriver_imp.h \ %D%/mpsse.h \ %D%/rlink.h \ diff --git a/src/jtag/drivers/cmsis_dap.c b/src/jtag/drivers/cmsis_dap.c new file mode 100644 index 000000000..8ddb54179 --- /dev/null +++ b/src/jtag/drivers/cmsis_dap.c @@ -0,0 +1,1762 @@ +/*************************************************************************** + * Copyright (C) 2018 by Mickaël Thomas * + * mickael9@gmail.com * + * * + * Copyright (C) 2016 by Maksym Hilliaka * + * oter@frozen-team.com * + * * + * Copyright (C) 2016 by Phillip Pearson * + * pp@myelin.co.nz * + * * + * Copyright (C) 2014 by Paul Fertser * + * fercerpav@gmail.com * + * * + * Copyright (C) 2013 by mike brown * + * mike@theshedworks.org.uk * + * * + * Copyright (C) 2013 by Spencer Oliver * + * spen@spen-soft.co.uk * + * * + * This program is free software; you can redistribute it and/or modify * + * it under the terms of the GNU General Public License as published by * + * the Free Software Foundation; either version 2 of the License, or * + * (at your option) any later version. * + * * + * This program is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * + * GNU General Public License for more details. * + * * + * You should have received a copy of the GNU General Public License * + * along with this program. If not, see . * + ***************************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include +#include +#include +#include +#include + +#include "cmsis_dap.h" + +#if BUILD_CMSIS_DAP_USB == 1 +const struct cmsis_dap_backend cmsis_dap_usb_backend; +extern const struct command_registration cmsis_dap_usb_subcommand_handlers[]; +#endif + +#if BUILD_CMSIS_DAP_HID == 1 +const struct cmsis_dap_backend cmsis_dap_hid_backend; +#endif + +static const struct cmsis_dap_backend *const cmsis_dap_backends[] = { +#if BUILD_CMSIS_DAP_USB == 1 + &cmsis_dap_usb_backend, +#endif + +#if BUILD_CMSIS_DAP_HID == 1 + &cmsis_dap_hid_backend, +#endif +}; + +/* USB Config */ + +/* Known vid/pid pairs: + * VID 0xc251: Keil Software + * PID 0xf001: LPC-Link-II CMSIS_DAP + * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board) + * PID 0x2722: Keil ULINK2 CMSIS-DAP + * PID 0x2750: Keil ULINKplus CMSIS-DAP + * + * VID 0x0d28: mbed Software + * PID 0x0204: MBED CMSIS-DAP + */ + +#define MAX_USB_IDS 8 +/* vid = pid = 0 marks the end of the list */ +static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 }; +static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 }; +static char *cmsis_dap_serial; +static int cmsis_dap_backend = -1; +static bool swd_mode; + +#define USB_TIMEOUT 1000 + +/* CMSIS-DAP General Commands */ +#define CMD_DAP_INFO 0x00 +#define CMD_DAP_LED 0x01 +#define CMD_DAP_CONNECT 0x02 +#define CMD_DAP_DISCONNECT 0x03 +#define CMD_DAP_WRITE_ABORT 0x08 +#define CMD_DAP_DELAY 0x09 +#define CMD_DAP_RESET_TARGET 0x0A + +/* CMD_INFO */ +#define INFO_ID_VENDOR 0x01 /* string */ +#define INFO_ID_PRODUCT 0x02 /* string */ +#define INFO_ID_SERNUM 0x03 /* string */ +#define INFO_ID_FW_VER 0x04 /* string */ +#define INFO_ID_TD_VEND 0x05 /* string */ +#define INFO_ID_TD_NAME 0x06 /* string */ +#define INFO_ID_CAPS 0xf0 /* byte */ +#define INFO_ID_PKT_CNT 0xfe /* byte */ +#define INFO_ID_PKT_SZ 0xff /* short */ + +#define INFO_CAPS_SWD 0x01 +#define INFO_CAPS_JTAG 0x02 + +/* CMD_LED */ +#define LED_ID_CONNECT 0x00 +#define LED_ID_RUN 0x01 + +#define LED_OFF 0x00 +#define LED_ON 0x01 + +/* CMD_CONNECT */ +#define CONNECT_DEFAULT 0x00 +#define CONNECT_SWD 0x01 +#define CONNECT_JTAG 0x02 + +/* CMSIS-DAP Common SWD/JTAG Commands */ +#define CMD_DAP_DELAY 0x09 +#define CMD_DAP_SWJ_PINS 0x10 +#define CMD_DAP_SWJ_CLOCK 0x11 +#define CMD_DAP_SWJ_SEQ 0x12 + +/* + * PINS + * Bit 0: SWCLK/TCK + * Bit 1: SWDIO/TMS + * Bit 2: TDI + * Bit 3: TDO + * Bit 5: nTRST + * Bit 7: nRESET + */ + +#define SWJ_PIN_TCK (1<<0) +#define SWJ_PIN_TMS (1<<1) +#define SWJ_PIN_TDI (1<<2) +#define SWJ_PIN_TDO (1<<3) +#define SWJ_PIN_TRST (1<<5) +#define SWJ_PIN_SRST (1<<7) + +/* CMSIS-DAP SWD Commands */ +#define CMD_DAP_SWD_CONFIGURE 0x13 + +/* CMSIS-DAP JTAG Commands */ +#define CMD_DAP_JTAG_SEQ 0x14 +#define CMD_DAP_JTAG_CONFIGURE 0x15 +#define CMD_DAP_JTAG_IDCODE 0x16 + +/* CMSIS-DAP JTAG sequence info masks */ +/* Number of bits to clock through (0 means 64) */ +#define DAP_JTAG_SEQ_TCK 0x3F +/* TMS will be set during the sequence if this bit is set */ +#define DAP_JTAG_SEQ_TMS 0x40 +/* TDO output will be captured if this bit is set */ +#define DAP_JTAG_SEQ_TDO 0x80 + + +/* CMSIS-DAP Transfer Commands */ +#define CMD_DAP_TFER_CONFIGURE 0x04 +#define CMD_DAP_TFER 0x05 +#define CMD_DAP_TFER_BLOCK 0x06 +#define CMD_DAP_TFER_ABORT 0x07 + +/* DAP Status Code */ +#define DAP_OK 0 +#define DAP_ERROR 0xFF + +/* CMSIS-DAP Vendor Commands + * None as yet... */ + +static const char * const info_caps_str[] = { + "SWD Supported", + "JTAG Supported" +}; + +/* max clock speed (kHz) */ +#define DAP_MAX_CLOCK 5000 + + +struct pending_transfer_result { + uint8_t cmd; + uint32_t data; + void *buffer; +}; + +struct pending_request_block { + struct pending_transfer_result *transfers; + int transfer_count; +}; + +struct pending_scan_result { + /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */ + unsigned first; + /** Number of bits to read. */ + unsigned length; + /** Location to store the result */ + uint8_t *buffer; + /** Offset in the destination buffer */ + unsigned buffer_offset; +}; + +/* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued + * until the first response arrives */ +#define MAX_PENDING_REQUESTS 3 + +/* Pending requests are organized as a FIFO - circular buffer */ +/* Each block in FIFO can contain up to pending_queue_len transfers */ +static int pending_queue_len; +static struct pending_request_block pending_fifo[MAX_PENDING_REQUESTS]; +static int pending_fifo_put_idx, pending_fifo_get_idx; +static int pending_fifo_block_count; + +/* pointers to buffers that will receive jtag scan results on the next flush */ +#define MAX_PENDING_SCAN_RESULTS 256 +static int pending_scan_result_count; +static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS]; + +/* queued JTAG sequences that will be executed on the next flush */ +#define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3) +static int queued_seq_count; +static int queued_seq_buf_end; +static int queued_seq_tdo_ptr; +static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */ + +static int queued_retval; + +static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST; + +static struct cmsis_dap *cmsis_dap_handle; + + +static int cmsis_dap_open(void) +{ + const struct cmsis_dap_backend *backend = NULL; + + struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap)); + if (dap == NULL) { + LOG_ERROR("unable to allocate memory"); + return ERROR_FAIL; + } + + dap->caps = 0; + dap->mode = 0; + dap->packet_size = 0; /* initialized by backend */ + + if (cmsis_dap_backend >= 0) { + /* Use forced backend */ + backend = cmsis_dap_backends[cmsis_dap_backend]; + if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, cmsis_dap_serial) != ERROR_OK) + backend = NULL; + } else { + /* Try all backends */ + for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) { + backend = cmsis_dap_backends[i]; + if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, cmsis_dap_serial) == ERROR_OK) + break; + else + backend = NULL; + } + } + + if (backend == NULL) { + LOG_ERROR("unable to find a matching CMSIS-DAP device"); + free(dap); + return ERROR_FAIL; + } + + assert(dap->packet_size > 0); + + dap->backend = backend; + dap->packet_buffer = malloc(dap->packet_size); + + if (dap->packet_buffer == NULL) { + LOG_ERROR("unable to allocate memory"); + dap->backend->close(dap); + free(dap); + return ERROR_FAIL; + } + + cmsis_dap_handle = dap; + + return ERROR_OK; +} + +static void cmsis_dap_close(struct cmsis_dap *dap) +{ + if (dap->backend) { + dap->backend->close(dap); + dap->backend = NULL; + } + + free(cmsis_dap_handle->packet_buffer); + free(cmsis_dap_handle); + cmsis_dap_handle = NULL; + free(cmsis_dap_serial); + cmsis_dap_serial = NULL; + + for (int i = 0; i < MAX_PENDING_REQUESTS; i++) { + free(pending_fifo[i].transfers); + pending_fifo[i].transfers = NULL; + } +} + +/* Send a message and receive the reply */ +static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen) +{ + if (pending_fifo_block_count) { + LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count); + while (pending_fifo_block_count) { + dap->backend->read(dap, 10); + pending_fifo_block_count--; + } + pending_fifo_put_idx = 0; + pending_fifo_get_idx = 0; + } + + int retval = dap->backend->write(dap, txlen, USB_TIMEOUT); + if (retval < 0) + return retval; + + /* get reply */ + retval = dap->backend->read(dap, USB_TIMEOUT); + if (retval < 0) + return retval; + + return ERROR_OK; +} + +static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_SWJ_PINS; + buffer[2] = pins; + buffer[3] = mask; + buffer[4] = delay & 0xff; + buffer[5] = (delay >> 8) & 0xff; + buffer[6] = (delay >> 16) & 0xff; + buffer[7] = (delay >> 24) & 0xff; + retval = cmsis_dap_xfer(cmsis_dap_handle, 8); + + if (retval != ERROR_OK) { + LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + if (input) + *input = buffer[1]; + + return ERROR_OK; +} + +static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + /* set clock in Hz */ + swj_clock *= 1000; + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_SWJ_CLOCK; + buffer[2] = swj_clock & 0xff; + buffer[3] = (swj_clock >> 8) & 0xff; + buffer[4] = (swj_clock >> 16) & 0xff; + buffer[5] = (swj_clock >> 24) & 0xff; + retval = cmsis_dap_xfer(cmsis_dap_handle, 6); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) { + LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + return ERROR_OK; +} + +/* clock a sequence of bits out on TMS, to change JTAG states */ +static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + +#ifdef CMSIS_DAP_JTAG_DEBUG + LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len); + for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i) + printf("%02X ", sequence[i]); + + printf("\n"); +#endif + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_SWJ_SEQ; + buffer[2] = s_len; + bit_copy(&buffer[3], 0, sequence, 0, s_len); + + retval = cmsis_dap_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) + return ERROR_FAIL; + + return ERROR_OK; +} + +static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_INFO; + buffer[2] = info; + retval = cmsis_dap_xfer(cmsis_dap_handle, 3); + + if (retval != ERROR_OK) { + LOG_ERROR("CMSIS-DAP command CMD_INFO failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + *data = &(buffer[1]); + + return ERROR_OK; +} + +static int cmsis_dap_cmd_DAP_LED(uint8_t led, uint8_t state) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_LED; + buffer[2] = led; + buffer[3] = state; + retval = cmsis_dap_xfer(cmsis_dap_handle, 4); + + if (retval != ERROR_OK || buffer[1] != 0x00) { + LOG_ERROR("CMSIS-DAP command CMD_LED failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + return ERROR_OK; +} + +static int cmsis_dap_cmd_DAP_Connect(uint8_t mode) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_CONNECT; + buffer[2] = mode; + retval = cmsis_dap_xfer(cmsis_dap_handle, 3); + + if (retval != ERROR_OK) { + LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + if (buffer[1] != mode) { + LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode); + return ERROR_JTAG_DEVICE_ERROR; + } + + return ERROR_OK; +} + +static int cmsis_dap_cmd_DAP_Disconnect(void) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_DISCONNECT; + retval = cmsis_dap_xfer(cmsis_dap_handle, 2); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) { + LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + return ERROR_OK; +} + +static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_TFER_CONFIGURE; + buffer[2] = idle; + buffer[3] = retry_count & 0xff; + buffer[4] = (retry_count >> 8) & 0xff; + buffer[5] = match_retry & 0xff; + buffer[6] = (match_retry >> 8) & 0xff; + retval = cmsis_dap_xfer(cmsis_dap_handle, 7); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) { + LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + return ERROR_OK; +} + +static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_SWD_CONFIGURE; + buffer[2] = cfg; + retval = cmsis_dap_xfer(cmsis_dap_handle, 3); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) { + LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + return ERROR_OK; +} + +#if 0 +static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_DELAY; + buffer[2] = delay_us & 0xff; + buffer[3] = (delay_us >> 8) & 0xff; + retval = cmsis_dap_xfer(cmsis_dap_handle, 4); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) { + LOG_ERROR("CMSIS-DAP command CMD_Delay failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + return ERROR_OK; +} +#endif + +static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap) +{ + uint8_t *buffer = dap->packet_buffer; + struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx]; + + LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx); + + if (queued_retval != ERROR_OK) { + LOG_DEBUG("Skipping due to previous errors: %d", queued_retval); + goto skip; + } + + if (block->transfer_count == 0) + goto skip; + + size_t idx = 0; + buffer[idx++] = 0; /* report number */ + buffer[idx++] = CMD_DAP_TFER; + buffer[idx++] = 0x00; /* DAP Index */ + buffer[idx++] = block->transfer_count; + + for (int i = 0; i < block->transfer_count; i++) { + struct pending_transfer_result *transfer = &(block->transfers[i]); + uint8_t cmd = transfer->cmd; + uint32_t data = transfer->data; + + LOG_DEBUG_IO("%s %s reg %x %"PRIx32, + cmd & SWD_CMD_APnDP ? "AP" : "DP", + cmd & SWD_CMD_RnW ? "read" : "write", + (cmd & SWD_CMD_A32) >> 1, data); + + /* When proper WAIT handling is implemented in the + * common SWD framework, this kludge can be + * removed. However, this might lead to minor + * performance degradation as the adapter wouldn't be + * able to automatically retry anything (because ARM + * has forgotten to implement sticky error flags + * clearing). See also comments regarding + * cmsis_dap_cmd_DAP_TFER_Configure() and + * cmsis_dap_cmd_DAP_SWD_Configure() in + * cmsis_dap_init(). + */ + if (!(cmd & SWD_CMD_RnW) && + !(cmd & SWD_CMD_APnDP) && + (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT && + (data & CORUNDETECT)) { + LOG_DEBUG("refusing to enable sticky overrun detection"); + data &= ~CORUNDETECT; + } + + buffer[idx++] = (cmd >> 1) & 0x0f; + if (!(cmd & SWD_CMD_RnW)) { + buffer[idx++] = (data) & 0xff; + buffer[idx++] = (data >> 8) & 0xff; + buffer[idx++] = (data >> 16) & 0xff; + buffer[idx++] = (data >> 24) & 0xff; + } + } + + int retval = dap->backend->write(dap, idx, USB_TIMEOUT); + + if (retval < 0) { + queued_retval = retval; + goto skip; + } else { + queued_retval = ERROR_OK; + } + + pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count; + pending_fifo_block_count++; + if (pending_fifo_block_count > dap->packet_count) + LOG_ERROR("too much pending writes %d", pending_fifo_block_count); + + return; + +skip: + block->transfer_count = 0; +} + +static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms) +{ + uint8_t *buffer = dap->packet_buffer; + struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx]; + + if (pending_fifo_block_count == 0) + LOG_ERROR("no pending write"); + + /* get reply */ + int retval = dap->backend->read(dap, timeout_ms); + if (retval == ERROR_TIMEOUT_REACHED && timeout_ms < USB_TIMEOUT) + return; + + if (retval <= 0) { + LOG_DEBUG("error reading data"); + queued_retval = ERROR_FAIL; + goto skip; + } + + if (buffer[2] & 0x08) { + LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", buffer[1]); + queued_retval = ERROR_FAIL; + goto skip; + } + uint8_t ack = buffer[2] & 0x07; + if (ack != SWD_ACK_OK) { + LOG_DEBUG("SWD ack not OK @ %d %s", buffer[1], + ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK"); + queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL; + goto skip; + } + + if (block->transfer_count != buffer[1]) + LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d", + block->transfer_count, buffer[1]); + + LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d", buffer[1], pending_fifo_get_idx); + size_t idx = 3; + for (int i = 0; i < buffer[1]; i++) { + struct pending_transfer_result *transfer = &(block->transfers[i]); + if (transfer->cmd & SWD_CMD_RnW) { + static uint32_t last_read; + uint32_t data = le_to_h_u32(&buffer[idx]); + uint32_t tmp = data; + idx += 4; + + LOG_DEBUG_IO("Read result: %"PRIx32, data); + + /* Imitate posted AP reads */ + if ((transfer->cmd & SWD_CMD_APnDP) || + ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) { + tmp = last_read; + last_read = data; + } + + if (transfer->buffer) + *(uint32_t *)(transfer->buffer) = tmp; + } + } + +skip: + block->transfer_count = 0; + pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count; + pending_fifo_block_count--; +} + +static int cmsis_dap_swd_run_queue(void) +{ + if (pending_fifo_block_count) + cmsis_dap_swd_read_process(cmsis_dap_handle, 0); + + cmsis_dap_swd_write_from_queue(cmsis_dap_handle); + + while (pending_fifo_block_count) + cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT); + + pending_fifo_put_idx = 0; + pending_fifo_get_idx = 0; + + int retval = queued_retval; + queued_retval = ERROR_OK; + + return retval; +} + +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) { + if (pending_fifo_block_count) + cmsis_dap_swd_read_process(cmsis_dap_handle, 0); + + /* Not enough room in the queue. Run the queue. */ + cmsis_dap_swd_write_from_queue(cmsis_dap_handle); + + if (pending_fifo_block_count >= cmsis_dap_handle->packet_count) + cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT); + } + + if (queued_retval != ERROR_OK) + 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; + transfer->cmd = cmd; + if (cmd & SWD_CMD_RnW) { + /* Queue a read transaction */ + transfer->buffer = dst; + } + block->transfer_count++; +} + +static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk) +{ + assert(!(cmd & SWD_CMD_RnW)); + cmsis_dap_swd_queue_cmd(cmd, NULL, value); +} + +static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk) +{ + assert(cmd & SWD_CMD_RnW); + cmsis_dap_swd_queue_cmd(cmd, value, 0); +} + +static int cmsis_dap_get_serial_info(void) +{ + uint8_t *data; + + int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM, &data); + if (retval != ERROR_OK) + return retval; + + if (data[0]) /* strlen */ + LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]); + + return ERROR_OK; +} + +static int cmsis_dap_get_version_info(void) +{ + uint8_t *data; + + /* INFO_ID_FW_VER - string */ + int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data); + if (retval != ERROR_OK) + return retval; + + if (data[0]) /* strlen */ + LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]); + + return ERROR_OK; +} + +static int cmsis_dap_get_caps_info(void) +{ + uint8_t *data; + + /* INFO_ID_CAPS - byte */ + int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data); + if (retval != ERROR_OK) + return retval; + + if (data[0] == 1) { + uint8_t caps = data[1]; + + cmsis_dap_handle->caps = caps; + + if (caps & INFO_CAPS_SWD) + LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]); + if (caps & INFO_CAPS_JTAG) + LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]); + } + + return ERROR_OK; +} + +static int cmsis_dap_get_status(void) +{ + uint8_t d; + + int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d); + + if (retval == ERROR_OK) { + LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d", + (d & SWJ_PIN_TCK) ? 1 : 0, + (d & SWJ_PIN_TMS) ? 1 : 0, + (d & SWJ_PIN_TDI) ? 1 : 0, + (d & SWJ_PIN_TDO) ? 1 : 0, + (d & SWJ_PIN_TRST) ? 1 : 0, + (d & SWJ_PIN_SRST) ? 1 : 0); + } + + return retval; +} + +static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq) +{ + const uint8_t *s; + unsigned int s_len; + int retval; + + if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) { + /* Following workaround deasserts reset on most adapters. + * Do not reconnect if a reset line is active! + * Reconnecting would break connecting under reset. */ + + /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */ + cmsis_dap_cmd_DAP_Disconnect(); + + /* When we are reconnecting, DAP_Connect needs to be rerun, at + * least on Keil ULINK-ME */ + retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD); + if (retval != ERROR_OK) + return retval; + } + + switch (seq) { + case LINE_RESET: + LOG_DEBUG("SWD line reset"); + s = swd_seq_line_reset; + s_len = swd_seq_line_reset_len; + break; + case JTAG_TO_SWD: + LOG_DEBUG("JTAG-to-SWD"); + s = swd_seq_jtag_to_swd; + s_len = swd_seq_jtag_to_swd_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; + default: + LOG_ERROR("Sequence %d not supported", seq); + return ERROR_FAIL; + } + + retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s); + if (retval != ERROR_OK) + return retval; + + /* Atmel EDBG needs renew clock setting after SWJ_Sequence + * otherwise default frequency is used */ + return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz()); +} + +static int cmsis_dap_swd_open(void) +{ + int retval; + + if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) { + LOG_ERROR("CMSIS-DAP: SWD not supported"); + return ERROR_JTAG_DEVICE_ERROR; + } + + retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD); + if (retval != ERROR_OK) + return retval; + + /* Add more setup here.??... */ + + LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)"); + return ERROR_OK; +} + +static int cmsis_dap_init(void) +{ + int retval; + uint8_t *data; + + retval = cmsis_dap_open(); + if (retval != ERROR_OK) + return retval; + + retval = cmsis_dap_get_caps_info(); + if (retval != ERROR_OK) + return retval; + + retval = cmsis_dap_get_version_info(); + if (retval != ERROR_OK) + return retval; + + retval = cmsis_dap_get_serial_info(); + if (retval != ERROR_OK) + return retval; + + if (swd_mode) { + retval = cmsis_dap_swd_open(); + if (retval != ERROR_OK) + return retval; + } else { + /* Connect in JTAG mode */ + if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) { + LOG_ERROR("CMSIS-DAP: JTAG not supported"); + return ERROR_JTAG_DEVICE_ERROR; + } + + retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG); + if (retval != ERROR_OK) + return retval; + + LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)"); + } + + /* Be conservative and suppress submitting multiple HID requests + * until we get packet count info from the adaptor */ + cmsis_dap_handle->packet_count = 1; + pending_queue_len = 12; + + /* INFO_ID_PKT_SZ - short */ + retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data); + if (retval != ERROR_OK) + return retval; + + if (data[0] == 2) { /* short */ + uint16_t pkt_sz = data[1] + (data[2] << 8); + + /* 4 bytes of command header + 5 bytes per register + * write. For bulk read sequences just 4 bytes are + * needed per transfer, so this is suboptimal. */ + pending_queue_len = (pkt_sz - 4) / 5; + + if (cmsis_dap_handle->packet_size != pkt_sz + 1) { + /* reallocate buffer */ + cmsis_dap_handle->packet_size = pkt_sz + 1; + cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer, + cmsis_dap_handle->packet_size); + if (cmsis_dap_handle->packet_buffer == NULL) { + LOG_ERROR("unable to reallocate memory"); + return ERROR_FAIL; + } + } + + LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz); + } + + /* INFO_ID_PKT_CNT - byte */ + retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data); + if (retval != ERROR_OK) + return retval; + + if (data[0] == 1) { /* byte */ + int pkt_cnt = data[1]; + if (pkt_cnt > 1) + cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt); + + LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt); + } + + LOG_DEBUG("Allocating FIFO for %d pending packets", cmsis_dap_handle->packet_count); + for (int i = 0; i < cmsis_dap_handle->packet_count; i++) { + 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 = cmsis_dap_get_status(); + if (retval != ERROR_OK) + return ERROR_FAIL; + + /* 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; + + /* 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; + + 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; + } + /* 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; + + /* support connecting with srst asserted */ + enum reset_types jtag_reset_config = jtag_get_reset_config(); + + if (jtag_reset_config & RESET_CNCT_UNDER_SRST) { + 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; + LOG_INFO("Connecting under reset"); + } + } + LOG_INFO("CMSIS-DAP: Interface ready"); + + return ERROR_OK; +} + +static int cmsis_dap_swd_init(void) +{ + swd_mode = true; + return ERROR_OK; +} + +static int cmsis_dap_quit(void) +{ + cmsis_dap_cmd_DAP_Disconnect(); + /* Both LEDs off */ + cmsis_dap_cmd_DAP_LED(LED_ID_RUN, LED_OFF); + cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT, LED_OFF); + + cmsis_dap_close(cmsis_dap_handle); + + return ERROR_OK; +} + +static int cmsis_dap_reset(int trst, int srst) +{ + /* Set both TRST and SRST even if they're not enabled as + * there's no way to tristate them */ + + output_pins = 0; + if (!srst) + output_pins |= SWJ_PIN_SRST; + if (!trst) + output_pins |= SWJ_PIN_TRST; + + int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins, + SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL); + if (retval != ERROR_OK) + LOG_ERROR("CMSIS-DAP: Interface reset failed"); + return retval; +} + +static void cmsis_dap_execute_sleep(struct jtag_command *cmd) +{ +#if 0 + int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us); + if (retval != ERROR_OK) +#endif + jtag_sleep(cmd->cmd.sleep->us); +} + +/* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */ +static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd) +{ + LOG_INFO("cmsis-dap JTAG TLR_RESET"); + uint8_t seq = 0xff; + int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq); + if (ret == ERROR_OK) + tap_set_state(TAP_RESET); + return ret; +} + +/* Set new end state */ +static void cmsis_dap_end_state(tap_state_t state) +{ + if (tap_is_state_stable(state)) + tap_set_end_state(state); + else { + LOG_ERROR("BUG: %i is not a valid end state", state); + exit(-1); + } +} + +#ifdef SPRINT_BINARY +static void sprint_binary(char *s, const uint8_t *buf, int offset, int len) +{ + if (!len) + return; + + /* + buf = { 0x18 } len=5 should result in: 11000 + buf = { 0xff 0x18 } len=13 should result in: 11111111 11000 + buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000 + i=3 there means i/8 = 0 so c = 0xFF, and + */ + for (int i = offset; i < offset + len; ++i) { + uint8_t c = buf[i / 8], mask = 1 << (i % 8); + if ((i != offset) && !(i % 8)) + putchar(' '); + *s++ = (c & mask) ? '1' : '0'; + } + *s = 0; +} +#endif + +#ifdef CMSIS_DAP_JTAG_DEBUG +static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen) +{ + /* cmd is a usb packet to go to the cmsis-dap interface */ + printf("cmsis-dap buffer (%d b): ", cmdlen); + for (int i = 0; i < cmdlen; ++i) + printf(" %02x", cmd[i]); + printf("\n"); + switch (cmd[1]) { + case CMD_DAP_JTAG_SEQ: { + printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]); + /* + * #2 = number of sequences + * #3 = sequence info 1 + * #4...4+n_bytes-1 = sequence 1 + * #4+n_bytes = sequence info 2 + * #5+n_bytes = sequence 2 (single bit) + */ + int pos = 3; + for (int seq = 0; seq < cmd[2]; ++seq) { + uint8_t info = cmd[pos++]; + int len = info & DAP_JTAG_SEQ_TCK; + if (len == 0) + len = 64; + printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ", + seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO); + for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i) + printf(" %02x", cmd[pos+i]); + pos += DIV_ROUND_UP(len, 8); + printf("\n"); + } + if (pos != cmdlen) { + printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen); + exit(-1); + } + + break; + } + default: + LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]); + break; + } +} +#endif + +static void cmsis_dap_flush(void) +{ + if (!queued_seq_count) + return; + + LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture", + queued_seq_count, queued_seq_buf_end, pending_scan_result_count); + + /* prep CMSIS-DAP packet */ + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_JTAG_SEQ; + buffer[2] = queued_seq_count; + memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end); + +#ifdef CMSIS_DAP_JTAG_DEBUG + debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3); +#endif + + /* send command to USB device */ + int retval = cmsis_dap_xfer(cmsis_dap_handle, queued_seq_buf_end + 3); + if (retval != ERROR_OK || buffer[1] != DAP_OK) { + LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed."); + exit(-1); + } + +#ifdef CMSIS_DAP_JTAG_DEBUG + LOG_DEBUG_IO("USB response buf:"); + for (int c = 0; c < queued_seq_buf_end + 3; ++c) + printf("%02X ", buffer[c]); + printf("\n"); +#endif + + /* copy scan results into client buffers */ + for (int i = 0; i < pending_scan_result_count; ++i) { + struct pending_scan_result *scan = &pending_scan_results[i]; + LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits", + i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset); +#ifdef CMSIS_DAP_JTAG_DEBUG + for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b) + printf("%02X ", buffer[2+scan->first+b]); + printf("\n"); +#endif + bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length); + } + + /* reset */ + queued_seq_count = 0; + queued_seq_buf_end = 0; + queued_seq_tdo_ptr = 0; + pending_scan_result_count = 0; +} + +/* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full. + * + * sequence=NULL means clock out zeros on TDI + * tdo_buffer=NULL means don't capture TDO + */ +static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset, + bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset) +{ + LOG_DEBUG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d", + queued_seq_buf_end, + s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset); + + if (s_len == 0) + return; + + if (s_len > 64) { + LOG_DEBUG_IO("START JTAG SEQ SPLIT"); + for (int offset = 0; offset < s_len; offset += 64) { + int len = s_len - offset; + if (len > 64) + len = 64; + LOG_DEBUG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset); + cmsis_dap_add_jtag_sequence( + len, + sequence, + s_offset + offset, + tms, + tdo_buffer, + tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset) + ); + } + LOG_DEBUG_IO("END JTAG SEQ SPLIT"); + return; + } + + int cmd_len = 1 + DIV_ROUND_UP(s_len, 8); + if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN) + /* empty out the buffer */ + cmsis_dap_flush(); + + ++queued_seq_count; + + /* control byte */ + queued_seq_buf[queued_seq_buf_end] = + (tms ? DAP_JTAG_SEQ_TMS : 0) | + (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) | + (s_len == 64 ? 0 : s_len); + + if (sequence != NULL) + bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len); + else + memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8)); + + queued_seq_buf_end += cmd_len; + + if (tdo_buffer != NULL) { + struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++]; + scan->first = queued_seq_tdo_ptr; + queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8); + scan->length = s_len; + scan->buffer = tdo_buffer; + scan->buffer_offset = tdo_buffer_offset; + } +} + +/* queue a sequence of bits to clock out TMS, executing if the buffer is full */ +static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len) +{ + LOG_DEBUG_IO("%d bits: %02X", s_len, *sequence); + /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS, + because even though it seems ridiculously inefficient, it + allows us to combine TMS and scan sequences into the same + USB packet. */ + /* TODO: combine runs of the same tms value */ + for (int i = 0; i < s_len; ++i) { + bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0; + cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0); + } +} + +/* Move to the end state by queuing a sequence to clock into TMS */ +static void cmsis_dap_state_move(void) +{ + uint8_t tms_scan; + uint8_t tms_scan_bits; + + tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state()); + tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state()); + + LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms", + tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()), + tms_scan_bits, tms_scan); + cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits); + + tap_set_state(tap_get_end_state()); +} + + +/* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */ +static void cmsis_dap_execute_scan(struct jtag_command *cmd) +{ + LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN", + jtag_scan_type(cmd->cmd.scan)); + + /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */ + while (cmd->cmd.scan->num_fields > 0 + && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) { + cmd->cmd.scan->num_fields--; + LOG_DEBUG("discarding trailing empty field"); + } + + if (cmd->cmd.scan->num_fields == 0) { + LOG_DEBUG("empty scan, doing nothing"); + return; + } + + if (cmd->cmd.scan->ir_scan) { + if (tap_get_state() != TAP_IRSHIFT) { + cmsis_dap_end_state(TAP_IRSHIFT); + cmsis_dap_state_move(); + } + } else { + if (tap_get_state() != TAP_DRSHIFT) { + cmsis_dap_end_state(TAP_DRSHIFT); + cmsis_dap_state_move(); + } + } + + cmsis_dap_end_state(cmd->cmd.scan->end_state); + + struct scan_field *field = cmd->cmd.scan->fields; + unsigned scan_size = 0; + + for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) { + scan_size += field->num_bits; + LOG_DEBUG_IO("%s%s field %d/%d %d bits", + field->in_value ? "in" : "", + field->out_value ? "out" : "", + i, + cmd->cmd.scan->num_fields, + field->num_bits); + + if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) { + LOG_DEBUG_IO("Last field and have to move out of SHIFT state"); + /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap + * movement. This last field can't have length zero, it was checked above. */ + cmsis_dap_add_jtag_sequence( + field->num_bits - 1, /* number of bits to clock */ + field->out_value, /* output sequence */ + 0, /* output offset */ + false, /* TMS low */ + field->in_value, + 0); + + /* Clock the last bit out, with TMS high */ + uint8_t last_bit = 0; + if (field->out_value) + bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1); + cmsis_dap_add_jtag_sequence( + 1, + &last_bit, + 0, + true, + field->in_value, + field->num_bits - 1); + tap_set_state(tap_state_transition(tap_get_state(), 1)); + + /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */ + cmsis_dap_add_jtag_sequence( + 1, + &last_bit, + 0, + false, + NULL, + 0); + tap_set_state(tap_state_transition(tap_get_state(), 0)); + } else { + LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards"); + /* Clocking part of a sequence into DR or IR with TMS=0, + leaving TMS=0 at the end so we can continue later */ + cmsis_dap_add_jtag_sequence( + field->num_bits, + field->out_value, + 0, + false, + field->in_value, + 0); + } + } + + if (tap_get_state() != tap_get_end_state()) { + cmsis_dap_end_state(tap_get_end_state()); + cmsis_dap_state_move(); + } + + LOG_DEBUG_IO("%s scan, %i bits, end in %s", + (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size, + tap_state_name(tap_get_end_state())); +} + +static void cmsis_dap_pathmove(int num_states, tap_state_t *path) +{ + int i; + uint8_t tms0 = 0x00; + uint8_t tms1 = 0xff; + + for (i = 0; i < num_states; i++) { + if (path[i] == tap_state_transition(tap_get_state(), false)) + cmsis_dap_add_tms_sequence(&tms0, 1); + else if (path[i] == tap_state_transition(tap_get_state(), true)) + cmsis_dap_add_tms_sequence(&tms1, 1); + else { + LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.", + tap_state_name(tap_get_state()), tap_state_name(path[i])); + exit(-1); + } + + tap_set_state(path[i]); + } + + cmsis_dap_end_state(tap_get_state()); +} + +static void cmsis_dap_execute_pathmove(struct jtag_command *cmd) +{ + LOG_DEBUG_IO("pathmove: %i states, end in %i", + cmd->cmd.pathmove->num_states, + cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]); + + cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path); +} + +static void cmsis_dap_stableclocks(int num_cycles) +{ + int i; + + uint8_t tms = tap_get_state() == TAP_RESET; + /* TODO: Perform optimizations? */ + /* Execute num_cycles. */ + for (i = 0; i < num_cycles; i++) + cmsis_dap_add_tms_sequence(&tms, 1); +} + +static void cmsis_dap_runtest(int num_cycles) +{ + tap_state_t saved_end_state = tap_get_end_state(); + + /* Only do a state_move when we're not already in IDLE. */ + if (tap_get_state() != TAP_IDLE) { + cmsis_dap_end_state(TAP_IDLE); + cmsis_dap_state_move(); + } + cmsis_dap_stableclocks(num_cycles); + + /* Finish in end_state. */ + cmsis_dap_end_state(saved_end_state); + + if (tap_get_state() != tap_get_end_state()) + cmsis_dap_state_move(); +} + +static void cmsis_dap_execute_runtest(struct jtag_command *cmd) +{ + LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, + cmd->cmd.runtest->end_state); + + cmsis_dap_end_state(cmd->cmd.runtest->end_state); + cmsis_dap_runtest(cmd->cmd.runtest->num_cycles); +} + +static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd) +{ + LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles); + cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles); +} + +static void cmsis_dap_execute_tms(struct jtag_command *cmd) +{ + LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits); + cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits); +} + +/* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE, + * JTAG_RUNTEST, JTAG_STABLECLOCKS? */ +static void cmsis_dap_execute_command(struct jtag_command *cmd) +{ + switch (cmd->type) { + case JTAG_SLEEP: + cmsis_dap_flush(); + cmsis_dap_execute_sleep(cmd); + break; + case JTAG_TLR_RESET: + cmsis_dap_flush(); + cmsis_dap_execute_tlr_reset(cmd); + break; + case JTAG_SCAN: + cmsis_dap_execute_scan(cmd); + break; + case JTAG_PATHMOVE: + cmsis_dap_execute_pathmove(cmd); + break; + case JTAG_RUNTEST: + cmsis_dap_execute_runtest(cmd); + break; + case JTAG_STABLECLOCKS: + cmsis_dap_execute_stableclocks(cmd); + break; + case JTAG_TMS: + cmsis_dap_execute_tms(cmd); + break; + default: + LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type); + exit(-1); + } +} + +static int cmsis_dap_execute_queue(void) +{ + struct jtag_command *cmd = jtag_command_queue; + + while (cmd != NULL) { + cmsis_dap_execute_command(cmd); + cmd = cmd->next; + } + + cmsis_dap_flush(); + + return ERROR_OK; +} + +static int cmsis_dap_speed(int speed) +{ + if (speed > DAP_MAX_CLOCK) + LOG_INFO("High speed (adapter speed %d) may be limited by adapter firmware.", speed); + + if (speed == 0) { + LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\"."); + return ERROR_JTAG_NOT_IMPLEMENTED; + } + + return cmsis_dap_cmd_DAP_SWJ_Clock(speed); +} + +static int cmsis_dap_speed_div(int speed, int *khz) +{ + *khz = speed; + return ERROR_OK; +} + +static int cmsis_dap_khz(int khz, int *jtag_speed) +{ + *jtag_speed = khz; + return ERROR_OK; +} + +COMMAND_HANDLER(cmsis_dap_handle_info_command) +{ + if (cmsis_dap_get_version_info() == ERROR_OK) + cmsis_dap_get_status(); + + return ERROR_OK; +} + +COMMAND_HANDLER(cmsis_dap_handle_cmd_command) +{ + int retval; + unsigned i; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + + for (i = 0; i < CMD_ARGC; i++) + buffer[i + 1] = strtoul(CMD_ARGV[i], NULL, 16); + + retval = cmsis_dap_xfer(cmsis_dap_handle, CMD_ARGC + 1); + + if (retval != ERROR_OK) { + LOG_ERROR("CMSIS-DAP command failed."); + return ERROR_JTAG_DEVICE_ERROR; + } + + LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8, + buffer[1], buffer[2], buffer[3], buffer[4]); + + return ERROR_OK; +} + +COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command) +{ + if (CMD_ARGC > MAX_USB_IDS * 2) { + LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid " + "(maximum is %d pairs)", MAX_USB_IDS); + CMD_ARGC = MAX_USB_IDS * 2; + } + if (CMD_ARGC < 2 || (CMD_ARGC & 1)) { + LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive"); + if (CMD_ARGC < 2) + return ERROR_COMMAND_SYNTAX_ERROR; + /* remove the incomplete trailing id */ + CMD_ARGC -= 1; + } + + unsigned i; + for (i = 0; i < CMD_ARGC; i += 2) { + COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]); + COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]); + } + + /* + * Explicitly terminate, in case there are multiples instances of + * cmsis_dap_vid_pid. + */ + cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0; + + return ERROR_OK; +} + +COMMAND_HANDLER(cmsis_dap_handle_serial_command) +{ + if (CMD_ARGC == 1) + cmsis_dap_serial = strdup(CMD_ARGV[0]); + else + LOG_ERROR("expected exactly one argument to cmsis_dap_serial "); + + return ERROR_OK; +} + +COMMAND_HANDLER(cmsis_dap_handle_backend_command) +{ + if (CMD_ARGC == 1) { + if (strcmp(CMD_ARGV[0], "auto") == 0) { + cmsis_dap_backend = -1; /* autoselect */ + } else { + for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) { + if (strcasecmp(cmsis_dap_backends[i]->name, CMD_ARGV[0]) == 0) { + cmsis_dap_backend = i; + return ERROR_OK; + } + } + + LOG_ERROR("invalid backend argument to cmsis_dap_backend "); + } + } else { + LOG_ERROR("expected exactly one argument to cmsis_dap_backend "); + } + + return ERROR_OK; +} + +static const struct command_registration cmsis_dap_subcommand_handlers[] = { + { + .name = "info", + .handler = &cmsis_dap_handle_info_command, + .mode = COMMAND_EXEC, + .usage = "", + .help = "show cmsis-dap info", + }, + { + .name = "cmd", + .handler = &cmsis_dap_handle_cmd_command, + .mode = COMMAND_EXEC, + .usage = "", + .help = "issue cmsis-dap command", + }, + COMMAND_REGISTRATION_DONE +}; + + +static const struct command_registration cmsis_dap_command_handlers[] = { + { + .name = "cmsis-dap", + .mode = COMMAND_ANY, + .help = "perform CMSIS-DAP management", + .usage = "", + .chain = cmsis_dap_subcommand_handlers, + }, + { + .name = "cmsis_dap_vid_pid", + .handler = &cmsis_dap_handle_vid_pid_command, + .mode = COMMAND_CONFIG, + .help = "the vendor ID and product ID of the CMSIS-DAP device", + .usage = "(vid pid)* ", + }, + { + .name = "cmsis_dap_serial", + .handler = &cmsis_dap_handle_serial_command, + .mode = COMMAND_CONFIG, + .help = "set the serial number of the adapter", + .usage = "serial_string", + }, + { + .name = "cmsis_dap_backend", + .handler = &cmsis_dap_handle_backend_command, + .mode = COMMAND_CONFIG, + .help = "set the communication backend to use (USB bulk or HID).", + .usage = "(auto | usb_bulk | hid)", + }, +#if BUILD_CMSIS_DAP_USB + { + .name = "cmsis_dap_usb", + .chain = cmsis_dap_usb_subcommand_handlers, + .mode = COMMAND_ANY, + .help = "USB bulk backend-specific commands", + .usage = "", + }, +#endif + COMMAND_REGISTRATION_DONE +}; + +static const struct swd_driver cmsis_dap_swd_driver = { + .init = cmsis_dap_swd_init, + .switch_seq = cmsis_dap_swd_switch_seq, + .read_reg = cmsis_dap_swd_read_reg, + .write_reg = cmsis_dap_swd_write_reg, + .run = cmsis_dap_swd_run_queue, +}; + +static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL }; + +static struct jtag_interface cmsis_dap_interface = { + .supported = DEBUG_CAP_TMS_SEQ, + .execute_queue = cmsis_dap_execute_queue, +}; + +struct adapter_driver cmsis_dap_adapter_driver = { + .name = "cmsis-dap", + .transports = cmsis_dap_transport, + .commands = cmsis_dap_command_handlers, + + .init = cmsis_dap_init, + .quit = cmsis_dap_quit, + .reset = cmsis_dap_reset, + .speed = cmsis_dap_speed, + .khz = cmsis_dap_khz, + .speed_div = cmsis_dap_speed_div, + + .jtag_ops = &cmsis_dap_interface, + .swd_ops = &cmsis_dap_swd_driver, +}; diff --git a/src/jtag/drivers/cmsis_dap.h b/src/jtag/drivers/cmsis_dap.h new file mode 100644 index 000000000..8cbb8dd07 --- /dev/null +++ b/src/jtag/drivers/cmsis_dap.h @@ -0,0 +1,28 @@ +#ifndef OPENOCD_JTAG_DRIVERS_CMSIS_DAP_H +#define OPENOCD_JTAG_DRIVERS_CMSIS_DAP_H + +#include + +struct cmsis_dap_backend; +struct cmsis_dap_backend_data; +struct command_registration; + +struct cmsis_dap { + struct cmsis_dap_backend_data *bdata; + const struct cmsis_dap_backend *backend; + uint16_t packet_size; + int packet_count; + uint8_t *packet_buffer; + uint8_t caps; + uint8_t mode; +}; + +struct cmsis_dap_backend { + const char *name; + int (*open)(struct cmsis_dap *dap, uint16_t vids[], uint16_t pids[], char *serial); + void (*close)(struct cmsis_dap *dap); + int (*read)(struct cmsis_dap *dap, int timeout_ms); + int (*write)(struct cmsis_dap *dap, int len, int timeout_ms); +}; + +#endif diff --git a/src/jtag/drivers/cmsis_dap_usb.c b/src/jtag/drivers/cmsis_dap_usb.c deleted file mode 100644 index 6d55392d5..000000000 --- a/src/jtag/drivers/cmsis_dap_usb.c +++ /dev/null @@ -1,1807 +0,0 @@ -/*************************************************************************** - * Copyright (C) 2016 by Maksym Hilliaka * - * oter@frozen-team.com * - * * - * Copyright (C) 2016 by Phillip Pearson * - * pp@myelin.co.nz * - * * - * Copyright (C) 2014 by Paul Fertser * - * fercerpav@gmail.com * - * * - * Copyright (C) 2013 by mike brown * - * mike@theshedworks.org.uk * - * * - * Copyright (C) 2013 by Spencer Oliver * - * spen@spen-soft.co.uk * - * * - * This program is free software; you can redistribute it and/or modify * - * it under the terms of the GNU General Public License as published by * - * the Free Software Foundation; either version 2 of the License, or * - * (at your option) any later version. * - * * - * This program is distributed in the hope that it will be useful, * - * but WITHOUT ANY WARRANTY; without even the implied warranty of * - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * - * GNU General Public License for more details. * - * * - * You should have received a copy of the GNU General Public License * - * along with this program. If not, see . * - ***************************************************************************/ - -#ifdef HAVE_CONFIG_H -#include "config.h" -#endif - -#include -#include -#include -#include -#include - -#include - -/* - * See CMSIS-DAP documentation: - * Version 0.01 - Beta. - */ - -/* USB Config */ - -/* Known vid/pid pairs: - * VID 0xc251: Keil Software - * PID 0xf001: LPC-Link-II CMSIS_DAP - * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board) - * PID 0x2722: Keil ULINK2 CMSIS-DAP - * - * VID 0x0d28: mbed Software - * PID 0x0204: MBED CMSIS-DAP - */ - -#define MAX_USB_IDS 8 -/* vid = pid = 0 marks the end of the list */ -static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 }; -static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 }; -static wchar_t *cmsis_dap_serial; -static bool swd_mode; - -#define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */ -#define USB_TIMEOUT 1000 - -/* CMSIS-DAP General Commands */ -#define CMD_DAP_INFO 0x00 -#define CMD_DAP_LED 0x01 -#define CMD_DAP_CONNECT 0x02 -#define CMD_DAP_DISCONNECT 0x03 -#define CMD_DAP_WRITE_ABORT 0x08 -#define CMD_DAP_DELAY 0x09 -#define CMD_DAP_RESET_TARGET 0x0A - -/* CMD_INFO */ -#define INFO_ID_VENDOR 0x01 /* string */ -#define INFO_ID_PRODUCT 0x02 /* string */ -#define INFO_ID_SERNUM 0x03 /* string */ -#define INFO_ID_FW_VER 0x04 /* string */ -#define INFO_ID_TD_VEND 0x05 /* string */ -#define INFO_ID_TD_NAME 0x06 /* string */ -#define INFO_ID_CAPS 0xf0 /* byte */ -#define INFO_ID_PKT_CNT 0xfe /* byte */ -#define INFO_ID_PKT_SZ 0xff /* short */ - -#define INFO_CAPS_SWD 0x01 -#define INFO_CAPS_JTAG 0x02 - -/* CMD_LED */ -#define LED_ID_CONNECT 0x00 -#define LED_ID_RUN 0x01 - -#define LED_OFF 0x00 -#define LED_ON 0x01 - -/* CMD_CONNECT */ -#define CONNECT_DEFAULT 0x00 -#define CONNECT_SWD 0x01 -#define CONNECT_JTAG 0x02 - -/* CMSIS-DAP Common SWD/JTAG Commands */ -#define CMD_DAP_DELAY 0x09 -#define CMD_DAP_SWJ_PINS 0x10 -#define CMD_DAP_SWJ_CLOCK 0x11 -#define CMD_DAP_SWJ_SEQ 0x12 - -/* - * PINS - * Bit 0: SWCLK/TCK - * Bit 1: SWDIO/TMS - * Bit 2: TDI - * Bit 3: TDO - * Bit 5: nTRST - * Bit 7: nRESET - */ - -#define SWJ_PIN_TCK (1<<0) -#define SWJ_PIN_TMS (1<<1) -#define SWJ_PIN_TDI (1<<2) -#define SWJ_PIN_TDO (1<<3) -#define SWJ_PIN_TRST (1<<5) -#define SWJ_PIN_SRST (1<<7) - -/* CMSIS-DAP SWD Commands */ -#define CMD_DAP_SWD_CONFIGURE 0x13 - -/* CMSIS-DAP JTAG Commands */ -#define CMD_DAP_JTAG_SEQ 0x14 -#define CMD_DAP_JTAG_CONFIGURE 0x15 -#define CMD_DAP_JTAG_IDCODE 0x16 - -/* CMSIS-DAP JTAG sequence info masks */ -/* Number of bits to clock through (0 means 64) */ -#define DAP_JTAG_SEQ_TCK 0x3F -/* TMS will be set during the sequence if this bit is set */ -#define DAP_JTAG_SEQ_TMS 0x40 -/* TDO output will be captured if this bit is set */ -#define DAP_JTAG_SEQ_TDO 0x80 - - -/* CMSIS-DAP Transfer Commands */ -#define CMD_DAP_TFER_CONFIGURE 0x04 -#define CMD_DAP_TFER 0x05 -#define CMD_DAP_TFER_BLOCK 0x06 -#define CMD_DAP_TFER_ABORT 0x07 - -/* DAP Status Code */ -#define DAP_OK 0 -#define DAP_ERROR 0xFF - -/* CMSIS-DAP Vendor Commands - * None as yet... */ - -static const char * const info_caps_str[] = { - "SWD Supported", - "JTAG Supported" -}; - -/* max clock speed (kHz) */ -#define DAP_MAX_CLOCK 5000 - -struct cmsis_dap { - hid_device *dev_handle; - uint16_t packet_size; - int packet_count; - uint8_t *packet_buffer; - uint8_t caps; - uint8_t mode; -}; - -struct pending_transfer_result { - uint8_t cmd; - uint32_t data; - void *buffer; -}; - -struct pending_request_block { - struct pending_transfer_result *transfers; - int transfer_count; -}; - -struct pending_scan_result { - /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */ - unsigned first; - /** Number of bits to read. */ - unsigned length; - /** Location to store the result */ - uint8_t *buffer; - /** Offset in the destination buffer */ - unsigned buffer_offset; -}; - -/* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued - * until the first response arrives */ -#define MAX_PENDING_REQUESTS 3 - -/* Pending requests are organized as a FIFO - circular buffer */ -/* Each block in FIFO can contain up to pending_queue_len transfers */ -static int pending_queue_len; -static struct pending_request_block pending_fifo[MAX_PENDING_REQUESTS]; -static int pending_fifo_put_idx, pending_fifo_get_idx; -static int pending_fifo_block_count; - -/* pointers to buffers that will receive jtag scan results on the next flush */ -#define MAX_PENDING_SCAN_RESULTS 256 -static int pending_scan_result_count; -static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS]; - -/* queued JTAG sequences that will be executed on the next flush */ -#define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3) -static int queued_seq_count; -static int queued_seq_buf_end; -static int queued_seq_tdo_ptr; -static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */ - -static int queued_retval; - -static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST; - -static struct cmsis_dap *cmsis_dap_handle; - -static int cmsis_dap_usb_open(void) -{ - hid_device *dev = NULL; - int i; - struct hid_device_info *devs, *cur_dev; - unsigned short target_vid, target_pid; - bool found = false; - - target_vid = 0; - target_pid = 0; - - if (hid_init() != 0) { - LOG_ERROR("unable to open HIDAPI"); - return ERROR_FAIL; - } - - /* - * The CMSIS-DAP specification stipulates: - * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the - * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer." - */ - devs = hid_enumerate(0x0, 0x0); - cur_dev = devs; - while (NULL != cur_dev) { - if (0 == cmsis_dap_vid[0]) { - if (NULL == cur_dev->product_string) { - LOG_DEBUG("Cannot read product string of device 0x%x:0x%x", - cur_dev->vendor_id, cur_dev->product_id); - } else { - if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) { - /* if the user hasn't specified VID:PID *and* - * product string contains "CMSIS-DAP", pick it - */ - found = true; - } - } - } else { - /* otherwise, exhaustively compare against all VID:PID in list */ - for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) { - if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id)) - found = true; - } - - if (cmsis_dap_vid[i] || cmsis_dap_pid[i]) - found = true; - } - - /* LPC-LINK2 has cmsis-dap on interface 0 and other HID functions on other interfaces */ - if (cur_dev->vendor_id == 0x1fc9 && cur_dev->product_id == 0x0090 && cur_dev->interface_number != 0) - found = false; - - if (found) { - /* we have found an adapter, so exit further checks */ - /* check serial number matches if given */ - if (cmsis_dap_serial != NULL) { - if ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) { - break; - } - } else - break; - - found = false; - } - - cur_dev = cur_dev->next; - } - - if (NULL != cur_dev) { - target_vid = cur_dev->vendor_id; - target_pid = cur_dev->product_id; - } - - if (target_vid == 0 && target_pid == 0) { - LOG_ERROR("unable to find CMSIS-DAP device"); - hid_free_enumeration(devs); - return ERROR_FAIL; - } - - dev = hid_open_path(cur_dev->path); - hid_free_enumeration(devs); - - if (dev == NULL) { - LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid); - return ERROR_FAIL; - } - - struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap)); - if (dap == NULL) { - LOG_ERROR("unable to allocate memory"); - return ERROR_FAIL; - } - - dap->dev_handle = dev; - dap->caps = 0; - dap->mode = 0; - - cmsis_dap_handle = dap; - - /* allocate default packet buffer, may be changed later. - * currently with HIDAPI we have no way of getting the output report length - * without this info we cannot communicate with the adapter. - * For the moment we ahve to hard code the packet size */ - - int packet_size = PACKET_SIZE; - - /* atmel cmsis-dap uses 512 byte reports */ - /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained - * board */ - /* TODO: HID report descriptor should be parsed instead of - * hardcoding a match by VID */ - if (target_vid == 0x03eb && target_pid != 0x2145 && target_pid != 0x2175) - packet_size = 512 + 1; - - cmsis_dap_handle->packet_buffer = malloc(packet_size); - cmsis_dap_handle->packet_size = packet_size; - - if (cmsis_dap_handle->packet_buffer == NULL) { - LOG_ERROR("unable to allocate memory"); - return ERROR_FAIL; - } - - return ERROR_OK; -} - -static void cmsis_dap_usb_close(struct cmsis_dap *dap) -{ - hid_close(dap->dev_handle); - hid_exit(); - - free(cmsis_dap_handle->packet_buffer); - free(cmsis_dap_handle); - cmsis_dap_handle = NULL; - free(cmsis_dap_serial); - cmsis_dap_serial = NULL; - - for (int i = 0; i < MAX_PENDING_REQUESTS; i++) { - free(pending_fifo[i].transfers); - pending_fifo[i].transfers = NULL; - } -} - -static int cmsis_dap_usb_write(struct cmsis_dap *dap, int txlen) -{ -#ifdef CMSIS_DAP_JTAG_DEBUG - LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]); -#endif - /* Pad the rest of the TX buffer with 0's */ - memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen); - - /* write data to device */ - int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size); - if (retval == -1) { - LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle)); - return ERROR_FAIL; - } - - return ERROR_OK; -} - -/* Send a message and receive the reply */ -static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen) -{ - if (pending_fifo_block_count) { - LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count); - while (pending_fifo_block_count) { - hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, 10); - pending_fifo_block_count--; - } - pending_fifo_put_idx = 0; - pending_fifo_get_idx = 0; - } - - int retval = cmsis_dap_usb_write(dap, txlen); - if (retval != ERROR_OK) - return retval; - - /* get reply */ - retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT); - if (retval == -1 || retval == 0) { - LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle)); - return ERROR_FAIL; - } - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_SWJ_PINS; - buffer[2] = pins; - buffer[3] = mask; - buffer[4] = delay & 0xff; - buffer[5] = (delay >> 8) & 0xff; - buffer[6] = (delay >> 16) & 0xff; - buffer[7] = (delay >> 24) & 0xff; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8); - - if (retval != ERROR_OK) { - LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - if (input) - *input = buffer[1]; - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - /* set clock in Hz */ - swj_clock *= 1000; - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_SWJ_CLOCK; - buffer[2] = swj_clock & 0xff; - buffer[3] = (swj_clock >> 8) & 0xff; - buffer[4] = (swj_clock >> 16) & 0xff; - buffer[5] = (swj_clock >> 24) & 0xff; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -/* clock a sequence of bits out on TMS, to change JTAG states */ -static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - -#ifdef CMSIS_DAP_JTAG_DEBUG - LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len); - for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i) - printf("%02X ", sequence[i]); - - printf("\n"); -#endif - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_SWJ_SEQ; - buffer[2] = s_len; - bit_copy(&buffer[3], 0, sequence, 0, s_len); - - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) - return ERROR_FAIL; - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_INFO; - buffer[2] = info; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3); - - if (retval != ERROR_OK) { - LOG_ERROR("CMSIS-DAP command CMD_INFO failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - *data = &(buffer[1]); - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_LED(uint8_t led, uint8_t state) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_LED; - buffer[2] = led; - buffer[3] = state; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4); - - if (retval != ERROR_OK || buffer[1] != 0x00) { - LOG_ERROR("CMSIS-DAP command CMD_LED failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_Connect(uint8_t mode) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_CONNECT; - buffer[2] = mode; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3); - - if (retval != ERROR_OK) { - LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - if (buffer[1] != mode) { - LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_Disconnect(void) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_DISCONNECT; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_TFER_CONFIGURE; - buffer[2] = idle; - buffer[3] = retry_count & 0xff; - buffer[4] = (retry_count >> 8) & 0xff; - buffer[5] = match_retry & 0xff; - buffer[6] = (match_retry >> 8) & 0xff; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_SWD_CONFIGURE; - buffer[2] = cfg; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} - -#if 0 -static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us) -{ - int retval; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_DELAY; - buffer[2] = delay_us & 0xff; - buffer[3] = (delay_us >> 8) & 0xff; - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4); - - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_Delay failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - return ERROR_OK; -} -#endif - -static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap) -{ - uint8_t *buffer = dap->packet_buffer; - struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx]; - - LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx); - - if (queued_retval != ERROR_OK) { - LOG_DEBUG("Skipping due to previous errors: %d", queued_retval); - goto skip; - } - - if (block->transfer_count == 0) - goto skip; - - size_t idx = 0; - buffer[idx++] = 0; /* report number */ - buffer[idx++] = CMD_DAP_TFER; - buffer[idx++] = 0x00; /* DAP Index */ - buffer[idx++] = block->transfer_count; - - for (int i = 0; i < block->transfer_count; i++) { - struct pending_transfer_result *transfer = &(block->transfers[i]); - uint8_t cmd = transfer->cmd; - uint32_t data = transfer->data; - - LOG_DEBUG_IO("%s %s reg %x %"PRIx32, - cmd & SWD_CMD_APnDP ? "AP" : "DP", - cmd & SWD_CMD_RnW ? "read" : "write", - (cmd & SWD_CMD_A32) >> 1, data); - - /* When proper WAIT handling is implemented in the - * common SWD framework, this kludge can be - * removed. However, this might lead to minor - * performance degradation as the adapter wouldn't be - * able to automatically retry anything (because ARM - * has forgotten to implement sticky error flags - * clearing). See also comments regarding - * cmsis_dap_cmd_DAP_TFER_Configure() and - * cmsis_dap_cmd_DAP_SWD_Configure() in - * cmsis_dap_init(). - */ - if (!(cmd & SWD_CMD_RnW) && - !(cmd & SWD_CMD_APnDP) && - (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT && - (data & CORUNDETECT)) { - LOG_DEBUG("refusing to enable sticky overrun detection"); - data &= ~CORUNDETECT; - } - - buffer[idx++] = (cmd >> 1) & 0x0f; - if (!(cmd & SWD_CMD_RnW)) { - buffer[idx++] = (data) & 0xff; - buffer[idx++] = (data >> 8) & 0xff; - buffer[idx++] = (data >> 16) & 0xff; - buffer[idx++] = (data >> 24) & 0xff; - } - } - - queued_retval = cmsis_dap_usb_write(dap, idx); - if (queued_retval != ERROR_OK) - goto skip; - - pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count; - pending_fifo_block_count++; - if (pending_fifo_block_count > dap->packet_count) - LOG_ERROR("too much pending writes %d", pending_fifo_block_count); - - return; - -skip: - block->transfer_count = 0; -} - -static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms) -{ - uint8_t *buffer = dap->packet_buffer; - struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx]; - - if (pending_fifo_block_count == 0) - LOG_ERROR("no pending write"); - - /* get reply */ - int retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, timeout_ms); - if (retval == 0 && timeout_ms < USB_TIMEOUT) - return; - - if (retval == -1 || retval == 0) { - LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle)); - queued_retval = ERROR_FAIL; - goto skip; - } - - if (buffer[2] & 0x08) { - LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", buffer[1]); - queued_retval = ERROR_FAIL; - goto skip; - } - uint8_t ack = buffer[2] & 0x07; - if (ack != SWD_ACK_OK) { - LOG_DEBUG("SWD ack not OK @ %d %s", buffer[1], - ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK"); - queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL; - goto skip; - } - - if (block->transfer_count != buffer[1]) - LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d", - block->transfer_count, buffer[1]); - - LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d", buffer[1], pending_fifo_get_idx); - size_t idx = 3; - for (int i = 0; i < buffer[1]; i++) { - struct pending_transfer_result *transfer = &(block->transfers[i]); - if (transfer->cmd & SWD_CMD_RnW) { - static uint32_t last_read; - uint32_t data = le_to_h_u32(&buffer[idx]); - uint32_t tmp = data; - idx += 4; - - LOG_DEBUG_IO("Read result: %"PRIx32, data); - - /* Imitate posted AP reads */ - if ((transfer->cmd & SWD_CMD_APnDP) || - ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) { - tmp = last_read; - last_read = data; - } - - if (transfer->buffer) - *(uint32_t *)(transfer->buffer) = tmp; - } - } - -skip: - block->transfer_count = 0; - pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count; - pending_fifo_block_count--; -} - -static int cmsis_dap_swd_run_queue(void) -{ - if (pending_fifo_block_count) - cmsis_dap_swd_read_process(cmsis_dap_handle, 0); - - cmsis_dap_swd_write_from_queue(cmsis_dap_handle); - - while (pending_fifo_block_count) - cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT); - - pending_fifo_put_idx = 0; - pending_fifo_get_idx = 0; - - int retval = queued_retval; - queued_retval = ERROR_OK; - - return retval; -} - -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) { - if (pending_fifo_block_count) - cmsis_dap_swd_read_process(cmsis_dap_handle, 0); - - /* Not enough room in the queue. Run the queue. */ - cmsis_dap_swd_write_from_queue(cmsis_dap_handle); - - if (pending_fifo_block_count >= cmsis_dap_handle->packet_count) - cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT); - } - - if (queued_retval != ERROR_OK) - 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; - transfer->cmd = cmd; - if (cmd & SWD_CMD_RnW) { - /* Queue a read transaction */ - transfer->buffer = dst; - } - block->transfer_count++; -} - -static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk) -{ - assert(!(cmd & SWD_CMD_RnW)); - cmsis_dap_swd_queue_cmd(cmd, NULL, value); -} - -static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk) -{ - assert(cmd & SWD_CMD_RnW); - cmsis_dap_swd_queue_cmd(cmd, value, 0); -} - -static int cmsis_dap_get_serial_info(void) -{ - uint8_t *data; - - int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM, &data); - if (retval != ERROR_OK) - return retval; - - if (data[0]) /* strlen */ - LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]); - - return ERROR_OK; -} - -static int cmsis_dap_get_version_info(void) -{ - uint8_t *data; - - /* INFO_ID_FW_VER - string */ - int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data); - if (retval != ERROR_OK) - return retval; - - if (data[0]) /* strlen */ - LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]); - - return ERROR_OK; -} - -static int cmsis_dap_get_caps_info(void) -{ - uint8_t *data; - - /* INFO_ID_CAPS - byte */ - int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data); - if (retval != ERROR_OK) - return retval; - - if (data[0] == 1) { - uint8_t caps = data[1]; - - cmsis_dap_handle->caps = caps; - - if (caps & INFO_CAPS_SWD) - LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]); - if (caps & INFO_CAPS_JTAG) - LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]); - } - - return ERROR_OK; -} - -static int cmsis_dap_get_status(void) -{ - uint8_t d; - - int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d); - - if (retval == ERROR_OK) { - LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d", - (d & SWJ_PIN_TCK) ? 1 : 0, - (d & SWJ_PIN_TMS) ? 1 : 0, - (d & SWJ_PIN_TDI) ? 1 : 0, - (d & SWJ_PIN_TDO) ? 1 : 0, - (d & SWJ_PIN_TRST) ? 1 : 0, - (d & SWJ_PIN_SRST) ? 1 : 0); - } - - return retval; -} - -static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq) -{ - const uint8_t *s; - unsigned int s_len; - int retval; - - if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) { - /* Following workaround deasserts reset on most adapters. - * Do not reconnect if a reset line is active! - * Reconnecting would break connecting under reset. */ - - /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */ - cmsis_dap_cmd_DAP_Disconnect(); - - /* When we are reconnecting, DAP_Connect needs to be rerun, at - * least on Keil ULINK-ME */ - retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD); - if (retval != ERROR_OK) - return retval; - } - - switch (seq) { - case LINE_RESET: - LOG_DEBUG("SWD line reset"); - s = swd_seq_line_reset; - s_len = swd_seq_line_reset_len; - break; - case JTAG_TO_SWD: - LOG_DEBUG("JTAG-to-SWD"); - s = swd_seq_jtag_to_swd; - s_len = swd_seq_jtag_to_swd_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; - default: - LOG_ERROR("Sequence %d not supported", seq); - return ERROR_FAIL; - } - - retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s); - if (retval != ERROR_OK) - return retval; - - /* Atmel EDBG needs renew clock setting after SWJ_Sequence - * otherwise default frequency is used */ - return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz()); -} - -static int cmsis_dap_swd_open(void) -{ - int retval; - - if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) { - LOG_ERROR("CMSIS-DAP: SWD not supported"); - return ERROR_JTAG_DEVICE_ERROR; - } - - retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD); - if (retval != ERROR_OK) - return retval; - - /* Add more setup here.??... */ - - LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)"); - return ERROR_OK; -} - -static int cmsis_dap_init(void) -{ - int retval; - uint8_t *data; - - retval = cmsis_dap_usb_open(); - if (retval != ERROR_OK) - return retval; - - retval = cmsis_dap_get_caps_info(); - if (retval != ERROR_OK) - return retval; - - retval = cmsis_dap_get_version_info(); - if (retval != ERROR_OK) - return retval; - - retval = cmsis_dap_get_serial_info(); - if (retval != ERROR_OK) - return retval; - - if (swd_mode) { - retval = cmsis_dap_swd_open(); - if (retval != ERROR_OK) - return retval; - } else { - /* Connect in JTAG mode */ - if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) { - LOG_ERROR("CMSIS-DAP: JTAG not supported"); - return ERROR_JTAG_DEVICE_ERROR; - } - - retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG); - if (retval != ERROR_OK) - return retval; - - LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)"); - } - - /* Be conservative and suppress submitting multiple HID requests - * until we get packet count info from the adaptor */ - cmsis_dap_handle->packet_count = 1; - pending_queue_len = 12; - - /* INFO_ID_PKT_SZ - short */ - retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data); - if (retval != ERROR_OK) - return retval; - - if (data[0] == 2) { /* short */ - uint16_t pkt_sz = data[1] + (data[2] << 8); - - /* 4 bytes of command header + 5 bytes per register - * write. For bulk read sequences just 4 bytes are - * needed per transfer, so this is suboptimal. */ - pending_queue_len = (pkt_sz - 4) / 5; - - if (cmsis_dap_handle->packet_size != pkt_sz + 1) { - /* reallocate buffer */ - cmsis_dap_handle->packet_size = pkt_sz + 1; - cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer, - cmsis_dap_handle->packet_size); - if (cmsis_dap_handle->packet_buffer == NULL) { - LOG_ERROR("unable to reallocate memory"); - return ERROR_FAIL; - } - } - - LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz); - } - - /* INFO_ID_PKT_CNT - byte */ - retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data); - if (retval != ERROR_OK) - return retval; - - if (data[0] == 1) { /* byte */ - int pkt_cnt = data[1]; - if (pkt_cnt > 1) - cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt); - - LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt); - } - - LOG_DEBUG("Allocating FIFO for %d pending HID requests", cmsis_dap_handle->packet_count); - for (int i = 0; i < cmsis_dap_handle->packet_count; i++) { - 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 = cmsis_dap_get_status(); - if (retval != ERROR_OK) - return ERROR_FAIL; - - /* 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; - - /* 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; - - 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; - } - /* 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; - - /* support connecting with srst asserted */ - enum reset_types jtag_reset_config = jtag_get_reset_config(); - - if (jtag_reset_config & RESET_CNCT_UNDER_SRST) { - 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; - LOG_INFO("Connecting under reset"); - } - } - LOG_INFO("CMSIS-DAP: Interface ready"); - - return ERROR_OK; -} - -static int cmsis_dap_swd_init(void) -{ - swd_mode = true; - return ERROR_OK; -} - -static int cmsis_dap_quit(void) -{ - cmsis_dap_cmd_DAP_Disconnect(); - /* Both LEDs off */ - cmsis_dap_cmd_DAP_LED(LED_ID_RUN, LED_OFF); - cmsis_dap_cmd_DAP_LED(LED_ID_CONNECT, LED_OFF); - - cmsis_dap_usb_close(cmsis_dap_handle); - - return ERROR_OK; -} - -static int cmsis_dap_reset(int trst, int srst) -{ - /* Set both TRST and SRST even if they're not enabled as - * there's no way to tristate them */ - - output_pins = 0; - if (!srst) - output_pins |= SWJ_PIN_SRST; - if (!trst) - output_pins |= SWJ_PIN_TRST; - - int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins, - SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL); - if (retval != ERROR_OK) - LOG_ERROR("CMSIS-DAP: Interface reset failed"); - return retval; -} - -static void cmsis_dap_execute_sleep(struct jtag_command *cmd) -{ -#if 0 - int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us); - if (retval != ERROR_OK) -#endif - jtag_sleep(cmd->cmd.sleep->us); -} - -/* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */ -static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd) -{ - LOG_INFO("cmsis-dap JTAG TLR_RESET"); - uint8_t seq = 0xff; - int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq); - if (ret == ERROR_OK) - tap_set_state(TAP_RESET); - return ret; -} - -/* Set new end state */ -static void cmsis_dap_end_state(tap_state_t state) -{ - if (tap_is_state_stable(state)) - tap_set_end_state(state); - else { - LOG_ERROR("BUG: %i is not a valid end state", state); - exit(-1); - } -} - -#ifdef SPRINT_BINARY -static void sprint_binary(char *s, const uint8_t *buf, int offset, int len) -{ - if (!len) - return; - - /* - buf = { 0x18 } len=5 should result in: 11000 - buf = { 0xff 0x18 } len=13 should result in: 11111111 11000 - buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000 - i=3 there means i/8 = 0 so c = 0xFF, and - */ - for (int i = offset; i < offset + len; ++i) { - uint8_t c = buf[i / 8], mask = 1 << (i % 8); - if ((i != offset) && !(i % 8)) - putchar(' '); - *s++ = (c & mask) ? '1' : '0'; - } - *s = 0; -} -#endif - -#ifdef CMSIS_DAP_JTAG_DEBUG -static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen) -{ - /* cmd is a usb packet to go to the cmsis-dap interface */ - printf("cmsis-dap buffer (%d b): ", cmdlen); - for (int i = 0; i < cmdlen; ++i) - printf(" %02x", cmd[i]); - printf("\n"); - switch (cmd[1]) { - case CMD_DAP_JTAG_SEQ: { - printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]); - /* - * #2 = number of sequences - * #3 = sequence info 1 - * #4...4+n_bytes-1 = sequence 1 - * #4+n_bytes = sequence info 2 - * #5+n_bytes = sequence 2 (single bit) - */ - int pos = 3; - for (int seq = 0; seq < cmd[2]; ++seq) { - uint8_t info = cmd[pos++]; - int len = info & DAP_JTAG_SEQ_TCK; - if (len == 0) - len = 64; - printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ", - seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO); - for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i) - printf(" %02x", cmd[pos+i]); - pos += DIV_ROUND_UP(len, 8); - printf("\n"); - } - if (pos != cmdlen) { - printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen); - exit(-1); - } - - break; - } - default: - LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]); - break; - } -} -#endif - -static void cmsis_dap_flush(void) -{ - if (!queued_seq_count) - return; - - LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture", - queued_seq_count, queued_seq_buf_end, pending_scan_result_count); - - /* prep CMSIS-DAP packet */ - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - buffer[0] = 0; /* report number */ - buffer[1] = CMD_DAP_JTAG_SEQ; - buffer[2] = queued_seq_count; - memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end); - -#ifdef CMSIS_DAP_JTAG_DEBUG - debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3); -#endif - - /* send command to USB device */ - int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3); - if (retval != ERROR_OK || buffer[1] != DAP_OK) { - LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed."); - exit(-1); - } - -#ifdef CMSIS_DAP_JTAG_DEBUG - LOG_DEBUG_IO("USB response buf:"); - for (int c = 0; c < queued_seq_buf_end + 3; ++c) - printf("%02X ", buffer[c]); - printf("\n"); -#endif - - /* copy scan results into client buffers */ - for (int i = 0; i < pending_scan_result_count; ++i) { - struct pending_scan_result *scan = &pending_scan_results[i]; - LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits", - i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset); -#ifdef CMSIS_DAP_JTAG_DEBUG - for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b) - printf("%02X ", buffer[2+scan->first+b]); - printf("\n"); -#endif - bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length); - } - - /* reset */ - queued_seq_count = 0; - queued_seq_buf_end = 0; - queued_seq_tdo_ptr = 0; - pending_scan_result_count = 0; -} - -/* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full. - * - * sequence=NULL means clock out zeros on TDI - * tdo_buffer=NULL means don't capture TDO - */ -static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset, - bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset) -{ - LOG_DEBUG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d", - queued_seq_buf_end, - s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset); - - if (s_len == 0) - return; - - if (s_len > 64) { - LOG_DEBUG_IO("START JTAG SEQ SPLIT"); - for (int offset = 0; offset < s_len; offset += 64) { - int len = s_len - offset; - if (len > 64) - len = 64; - LOG_DEBUG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset); - cmsis_dap_add_jtag_sequence( - len, - sequence, - s_offset + offset, - tms, - tdo_buffer, - tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset) - ); - } - LOG_DEBUG_IO("END JTAG SEQ SPLIT"); - return; - } - - int cmd_len = 1 + DIV_ROUND_UP(s_len, 8); - if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN) - /* empty out the buffer */ - cmsis_dap_flush(); - - ++queued_seq_count; - - /* control byte */ - queued_seq_buf[queued_seq_buf_end] = - (tms ? DAP_JTAG_SEQ_TMS : 0) | - (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) | - (s_len == 64 ? 0 : s_len); - - if (sequence != NULL) - bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len); - else - memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8)); - - queued_seq_buf_end += cmd_len; - - if (tdo_buffer != NULL) { - struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++]; - scan->first = queued_seq_tdo_ptr; - queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8); - scan->length = s_len; - scan->buffer = tdo_buffer; - scan->buffer_offset = tdo_buffer_offset; - } -} - -/* queue a sequence of bits to clock out TMS, executing if the buffer is full */ -static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len) -{ - LOG_DEBUG_IO("%d bits: %02X", s_len, *sequence); - /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS, - because even though it seems ridiculously inefficient, it - allows us to combine TMS and scan sequences into the same - USB packet. */ - /* TODO: combine runs of the same tms value */ - for (int i = 0; i < s_len; ++i) { - bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0; - cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0); - } -} - -/* Move to the end state by queuing a sequence to clock into TMS */ -static void cmsis_dap_state_move(void) -{ - uint8_t tms_scan; - uint8_t tms_scan_bits; - - tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state()); - tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state()); - - LOG_DEBUG_IO("state move from %s to %s: %d clocks, %02X on tms", - tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()), - tms_scan_bits, tms_scan); - cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits); - - tap_set_state(tap_get_end_state()); -} - - -/* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */ -static void cmsis_dap_execute_scan(struct jtag_command *cmd) -{ - LOG_DEBUG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN", - jtag_scan_type(cmd->cmd.scan)); - - /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */ - while (cmd->cmd.scan->num_fields > 0 - && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) { - cmd->cmd.scan->num_fields--; - LOG_DEBUG("discarding trailing empty field"); - } - - if (cmd->cmd.scan->num_fields == 0) { - LOG_DEBUG("empty scan, doing nothing"); - return; - } - - if (cmd->cmd.scan->ir_scan) { - if (tap_get_state() != TAP_IRSHIFT) { - cmsis_dap_end_state(TAP_IRSHIFT); - cmsis_dap_state_move(); - } - } else { - if (tap_get_state() != TAP_DRSHIFT) { - cmsis_dap_end_state(TAP_DRSHIFT); - cmsis_dap_state_move(); - } - } - - cmsis_dap_end_state(cmd->cmd.scan->end_state); - - struct scan_field *field = cmd->cmd.scan->fields; - unsigned scan_size = 0; - - for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) { - scan_size += field->num_bits; - LOG_DEBUG_IO("%s%s field %d/%d %d bits", - field->in_value ? "in" : "", - field->out_value ? "out" : "", - i, - cmd->cmd.scan->num_fields, - field->num_bits); - - if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) { - LOG_DEBUG_IO("Last field and have to move out of SHIFT state"); - /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap - * movement. This last field can't have length zero, it was checked above. */ - cmsis_dap_add_jtag_sequence( - field->num_bits - 1, /* number of bits to clock */ - field->out_value, /* output sequence */ - 0, /* output offset */ - false, /* TMS low */ - field->in_value, - 0); - - /* Clock the last bit out, with TMS high */ - uint8_t last_bit = 0; - if (field->out_value) - bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1); - cmsis_dap_add_jtag_sequence( - 1, - &last_bit, - 0, - true, - field->in_value, - field->num_bits - 1); - tap_set_state(tap_state_transition(tap_get_state(), 1)); - - /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */ - cmsis_dap_add_jtag_sequence( - 1, - &last_bit, - 0, - false, - NULL, - 0); - tap_set_state(tap_state_transition(tap_get_state(), 0)); - } else { - LOG_DEBUG_IO("Internal field, staying in SHIFT state afterwards"); - /* Clocking part of a sequence into DR or IR with TMS=0, - leaving TMS=0 at the end so we can continue later */ - cmsis_dap_add_jtag_sequence( - field->num_bits, - field->out_value, - 0, - false, - field->in_value, - 0); - } - } - - if (tap_get_state() != tap_get_end_state()) { - cmsis_dap_end_state(tap_get_end_state()); - cmsis_dap_state_move(); - } - - LOG_DEBUG_IO("%s scan, %i bits, end in %s", - (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size, - tap_state_name(tap_get_end_state())); -} - -static void cmsis_dap_pathmove(int num_states, tap_state_t *path) -{ - int i; - uint8_t tms0 = 0x00; - uint8_t tms1 = 0xff; - - for (i = 0; i < num_states; i++) { - if (path[i] == tap_state_transition(tap_get_state(), false)) - cmsis_dap_add_tms_sequence(&tms0, 1); - else if (path[i] == tap_state_transition(tap_get_state(), true)) - cmsis_dap_add_tms_sequence(&tms1, 1); - else { - LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.", - tap_state_name(tap_get_state()), tap_state_name(path[i])); - exit(-1); - } - - tap_set_state(path[i]); - } - - cmsis_dap_end_state(tap_get_state()); -} - -static void cmsis_dap_execute_pathmove(struct jtag_command *cmd) -{ - LOG_DEBUG_IO("pathmove: %i states, end in %i", - cmd->cmd.pathmove->num_states, - cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]); - - cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path); -} - -static void cmsis_dap_stableclocks(int num_cycles) -{ - int i; - - uint8_t tms = tap_get_state() == TAP_RESET; - /* TODO: Perform optimizations? */ - /* Execute num_cycles. */ - for (i = 0; i < num_cycles; i++) - cmsis_dap_add_tms_sequence(&tms, 1); -} - -static void cmsis_dap_runtest(int num_cycles) -{ - tap_state_t saved_end_state = tap_get_end_state(); - - /* Only do a state_move when we're not already in IDLE. */ - if (tap_get_state() != TAP_IDLE) { - cmsis_dap_end_state(TAP_IDLE); - cmsis_dap_state_move(); - } - cmsis_dap_stableclocks(num_cycles); - - /* Finish in end_state. */ - cmsis_dap_end_state(saved_end_state); - - if (tap_get_state() != tap_get_end_state()) - cmsis_dap_state_move(); -} - -static void cmsis_dap_execute_runtest(struct jtag_command *cmd) -{ - LOG_DEBUG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, - cmd->cmd.runtest->end_state); - - cmsis_dap_end_state(cmd->cmd.runtest->end_state); - cmsis_dap_runtest(cmd->cmd.runtest->num_cycles); -} - -static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd) -{ - LOG_DEBUG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles); - cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles); -} - -static void cmsis_dap_execute_tms(struct jtag_command *cmd) -{ - LOG_DEBUG_IO("TMS: %d bits", cmd->cmd.tms->num_bits); - cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits); -} - -/* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE, - * JTAG_RUNTEST, JTAG_STABLECLOCKS? */ -static void cmsis_dap_execute_command(struct jtag_command *cmd) -{ - switch (cmd->type) { - case JTAG_SLEEP: - cmsis_dap_flush(); - cmsis_dap_execute_sleep(cmd); - break; - case JTAG_TLR_RESET: - cmsis_dap_flush(); - cmsis_dap_execute_tlr_reset(cmd); - break; - case JTAG_SCAN: - cmsis_dap_execute_scan(cmd); - break; - case JTAG_PATHMOVE: - cmsis_dap_execute_pathmove(cmd); - break; - case JTAG_RUNTEST: - cmsis_dap_execute_runtest(cmd); - break; - case JTAG_STABLECLOCKS: - cmsis_dap_execute_stableclocks(cmd); - break; - case JTAG_TMS: - cmsis_dap_execute_tms(cmd); - break; - default: - LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type); - exit(-1); - } -} - -static int cmsis_dap_execute_queue(void) -{ - struct jtag_command *cmd = jtag_command_queue; - - while (cmd != NULL) { - cmsis_dap_execute_command(cmd); - cmd = cmd->next; - } - - cmsis_dap_flush(); - - return ERROR_OK; -} - -static int cmsis_dap_speed(int speed) -{ - if (speed > DAP_MAX_CLOCK) - LOG_INFO("High speed (adapter speed %d) may be limited by adapter firmware.", speed); - - if (speed == 0) { - LOG_ERROR("RTCK not supported. Set nonzero \"adapter speed\"."); - return ERROR_JTAG_NOT_IMPLEMENTED; - } - - return cmsis_dap_cmd_DAP_SWJ_Clock(speed); -} - -static int cmsis_dap_speed_div(int speed, int *khz) -{ - *khz = speed; - return ERROR_OK; -} - -static int cmsis_dap_khz(int khz, int *jtag_speed) -{ - *jtag_speed = khz; - return ERROR_OK; -} - -COMMAND_HANDLER(cmsis_dap_handle_info_command) -{ - if (cmsis_dap_get_version_info() == ERROR_OK) - cmsis_dap_get_status(); - - return ERROR_OK; -} - -COMMAND_HANDLER(cmsis_dap_handle_cmd_command) -{ - int retval; - unsigned i; - uint8_t *buffer = cmsis_dap_handle->packet_buffer; - - buffer[0] = 0; /* report number */ - - for (i = 0; i < CMD_ARGC; i++) - buffer[i + 1] = strtoul(CMD_ARGV[i], NULL, 16); - - retval = cmsis_dap_usb_xfer(cmsis_dap_handle, CMD_ARGC + 1); - - if (retval != ERROR_OK) { - LOG_ERROR("CMSIS-DAP command failed."); - return ERROR_JTAG_DEVICE_ERROR; - } - - LOG_INFO("Returned data %02" PRIx8 " %02" PRIx8 " %02" PRIx8 " %02" PRIx8, - buffer[1], buffer[2], buffer[3], buffer[4]); - - return ERROR_OK; -} - -COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command) -{ - if (CMD_ARGC > MAX_USB_IDS * 2) { - LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid " - "(maximum is %d pairs)", MAX_USB_IDS); - CMD_ARGC = MAX_USB_IDS * 2; - } - if (CMD_ARGC < 2 || (CMD_ARGC & 1)) { - LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive"); - if (CMD_ARGC < 2) - return ERROR_COMMAND_SYNTAX_ERROR; - /* remove the incomplete trailing id */ - CMD_ARGC -= 1; - } - - unsigned i; - for (i = 0; i < CMD_ARGC; i += 2) { - COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]); - COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]); - } - - /* - * Explicitly terminate, in case there are multiples instances of - * cmsis_dap_vid_pid. - */ - cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0; - - return ERROR_OK; -} - -COMMAND_HANDLER(cmsis_dap_handle_serial_command) -{ - if (CMD_ARGC == 1) { - size_t len = mbstowcs(NULL, CMD_ARGV[0], 0); - cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t)); - if (cmsis_dap_serial == NULL) { - LOG_ERROR("unable to allocate memory"); - return ERROR_OK; - } - if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) { - free(cmsis_dap_serial); - cmsis_dap_serial = NULL; - LOG_ERROR("unable to convert serial"); - } - } else { - LOG_ERROR("expected exactly one argument to cmsis_dap_serial "); - } - - return ERROR_OK; -} - -static const struct command_registration cmsis_dap_subcommand_handlers[] = { - { - .name = "info", - .handler = &cmsis_dap_handle_info_command, - .mode = COMMAND_EXEC, - .usage = "", - .help = "show cmsis-dap info", - }, - { - .name = "cmd", - .handler = &cmsis_dap_handle_cmd_command, - .mode = COMMAND_EXEC, - .usage = "", - .help = "issue cmsis-dap command", - }, - COMMAND_REGISTRATION_DONE -}; - -static const struct command_registration cmsis_dap_command_handlers[] = { - { - .name = "cmsis-dap", - .mode = COMMAND_ANY, - .help = "perform CMSIS-DAP management", - .usage = "", - .chain = cmsis_dap_subcommand_handlers, - }, - { - .name = "cmsis_dap_vid_pid", - .handler = &cmsis_dap_handle_vid_pid_command, - .mode = COMMAND_CONFIG, - .help = "the vendor ID and product ID of the CMSIS-DAP device", - .usage = "(vid pid)* ", - }, - { - .name = "cmsis_dap_serial", - .handler = &cmsis_dap_handle_serial_command, - .mode = COMMAND_CONFIG, - .help = "set the serial number of the adapter", - .usage = "serial_string", - }, - COMMAND_REGISTRATION_DONE -}; - -static const struct swd_driver cmsis_dap_swd_driver = { - .init = cmsis_dap_swd_init, - .switch_seq = cmsis_dap_swd_switch_seq, - .read_reg = cmsis_dap_swd_read_reg, - .write_reg = cmsis_dap_swd_write_reg, - .run = cmsis_dap_swd_run_queue, -}; - -static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL }; - -static struct jtag_interface cmsis_dap_interface = { - .supported = DEBUG_CAP_TMS_SEQ, - .execute_queue = cmsis_dap_execute_queue, -}; - -struct adapter_driver cmsis_dap_adapter_driver = { - .name = "cmsis-dap", - .transports = cmsis_dap_transport, - .commands = cmsis_dap_command_handlers, - - .init = cmsis_dap_init, - .quit = cmsis_dap_quit, - .reset = cmsis_dap_reset, - .speed = cmsis_dap_speed, - .khz = cmsis_dap_khz, - .speed_div = cmsis_dap_speed_div, - - .jtag_ops = &cmsis_dap_interface, - .swd_ops = &cmsis_dap_swd_driver, -}; diff --git a/src/jtag/drivers/cmsis_dap_usb_bulk.c b/src/jtag/drivers/cmsis_dap_usb_bulk.c new file mode 100644 index 000000000..b82e3dae5 --- /dev/null +++ b/src/jtag/drivers/cmsis_dap_usb_bulk.c @@ -0,0 +1,373 @@ +/*************************************************************************** + * Copyright (C) 2018 by Mickaël Thomas * + * mickael9@gmail.com * + * * + * Copyright (C) 2016 by Maksym Hilliaka * + * oter@frozen-team.com * + * * + * Copyright (C) 2016 by Phillip Pearson * + * pp@myelin.co.nz * + * * + * Copyright (C) 2014 by Paul Fertser * + * fercerpav@gmail.com * + * * + * Copyright (C) 2013 by mike brown * + * mike@theshedworks.org.uk * + * * + * Copyright (C) 2013 by Spencer Oliver * + * spen@spen-soft.co.uk * + * * + * This program is free software; you can redistribute it and/or modify * + * it under the terms of the GNU General Public License as published by * + * the Free Software Foundation; either version 2 of the License, or * + * (at your option) any later version. * + * * + * This program is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * + * GNU General Public License for more details. * + * * + * You should have received a copy of the GNU General Public License * + * along with this program. If not, see . * + ***************************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include +#include + +#include "cmsis_dap.h" + +struct cmsis_dap_backend_data { + libusb_context *usb_ctx; + libusb_device_handle *dev_handle; + unsigned int ep_out; + unsigned int ep_in; + int interface; +}; + +static int cmsis_dap_usb_interface = -1; + +static int cmsis_dap_usb_open(struct cmsis_dap *dap, uint16_t vids[], uint16_t pids[], char *serial) +{ + int err; + libusb_context *ctx; + libusb_device **device_list; + + err = libusb_init(&ctx); + if (err) { + LOG_ERROR("libusb initialization failed: %s", libusb_strerror(err)); + return ERROR_FAIL; + } + + int num_devices = libusb_get_device_list(ctx, &device_list); + if (num_devices < 0) { + LOG_ERROR("could not enumerate USB devices: %s", libusb_strerror(num_devices)); + libusb_exit(ctx); + return ERROR_FAIL; + } + + for (int i = 0; i < num_devices; i++) { + libusb_device *dev = device_list[i]; + struct libusb_device_descriptor dev_desc; + + err = libusb_get_device_descriptor(dev, &dev_desc); + if (err) { + LOG_ERROR("could not get device descriptor for device %d: %s", i, libusb_strerror(err)); + continue; + } + + /* Match VID/PID */ + + bool id_match = true; /* match if we don't enter the loop (no filter) */ + for (int id = 0; vids[id] || pids[id]; id++) { + id_match = !vids[id] || dev_desc.idVendor == vids[id]; + id_match &= !pids[id] || dev_desc.idProduct == pids[id]; + + if (id_match) + break; + } + + if (!id_match) + continue; + + /* Don't continue if we asked for a serial number and the device doesn't have one */ + if (dev_desc.iSerialNumber == 0 && serial && serial[0]) + continue; + + libusb_device_handle *dev_handle = NULL; + err = libusb_open(dev, &dev_handle); + if (err) { + /* It's to be expected that most USB devices can't be opened + * so only report an error if it was explicitly selected + */ + if (vids[0] || pids[0]) { + LOG_ERROR("could not open device 0x%04x:0x%04x: %s", + dev_desc.idVendor, dev_desc.idProduct, libusb_strerror(err)); + } else { + LOG_DEBUG("could not open device 0x%04x:0x%04x: %s", + dev_desc.idVendor, dev_desc.idProduct, libusb_strerror(err)); + } + continue; + } + + /* Match serial number */ + + bool serial_match = (serial == NULL); + char dev_serial[256] = {0}; + if (dev_desc.iSerialNumber > 0) { + err = libusb_get_string_descriptor_ascii( + dev_handle, dev_desc.iSerialNumber, + (uint8_t *)dev_serial, sizeof(dev_serial)); + + if (err < 0) { + LOG_ERROR("could not read serial number for device 0x%04x:0x%04x: %s", + dev_desc.idVendor, dev_desc.idProduct, libusb_strerror(err)); + } else if (serial && strncmp(dev_serial, serial, sizeof(dev_serial)) == 0) { + serial_match = true; + } + } + + if (!serial_match) { + libusb_close(dev_handle); + continue; + } + + /* Find the CMSIS-DAP string in product string */ + + bool cmsis_dap_found = false; + char product_string[256] = {0}; + if (dev_desc.iProduct > 0) { + err = libusb_get_string_descriptor_ascii( + dev_handle, dev_desc.iProduct, + (uint8_t *)product_string, sizeof(product_string)); + if (err < 0) { + LOG_ERROR("could not read product string for device 0x%04x:0x%04x: %s", + dev_desc.idVendor, dev_desc.idProduct, libusb_strerror(err)); + } else if (strstr(product_string, "CMSIS-DAP")) { + LOG_DEBUG("CMSIS-DAP found in product string"); + cmsis_dap_found = true; + } + } + + /* Find the CMSIS-DAP interface */ + + for (int config = 0; config < dev_desc.bNumConfigurations; config++) { + struct libusb_config_descriptor *config_desc; + err = libusb_get_config_descriptor(dev, config, &config_desc); + if (err) { + LOG_ERROR("could not get configuration descriptor %d for device 0x%04x:0x%04x: %s", + config, dev_desc.idVendor, dev_desc.idProduct, libusb_strerror(err)); + continue; + } + + int config_num = config_desc->bConfigurationValue; + + for (int interface = 0; interface < config_desc->bNumInterfaces; interface++) { + const struct libusb_interface_descriptor *intf_desc = &config_desc->interface[interface].altsetting[0]; + int interface_num = intf_desc->bInterfaceNumber; + + /* Skip this interface if another one was requested explicitly */ + if (cmsis_dap_usb_interface != -1 && cmsis_dap_usb_interface != interface_num) + continue; + + /* CMSIS-DAP v2 spec says: + * + * CMSIS-DAP with default V2 configuration uses WinUSB and is therefore faster. + * Optionally support for streaming SWO trace is provided via an additional USB endpoint. + * + * The WinUSB configuration requires custom class support with the interface setting + * Class Code: 0xFF (Vendor specific) + * Subclass: 0x00 + * Protocol code: 0x00 + * + * Depending on the configuration it uses the following USB endpoints which should be configured + * in the interface descriptor in this order: + * - Endpoint 1: Bulk Out – used for commands received from host PC. + * - Endpoint 2: Bulk In – used for responses send to host PC. + * - Endpoint 3: Bulk In (optional) – used for streaming SWO trace (if enabled with SWO_STREAM). + */ + + if (intf_desc->bNumEndpoints < 2) + continue; + + if ((intf_desc->endpoint[0].bmAttributes & 3) != LIBUSB_TRANSFER_TYPE_BULK || + (intf_desc->endpoint[0].bEndpointAddress & 0x80) != LIBUSB_ENDPOINT_OUT) + continue; + + if ((intf_desc->endpoint[1].bmAttributes & 3) != LIBUSB_TRANSFER_TYPE_BULK || + (intf_desc->endpoint[1].bEndpointAddress & 0x80) != LIBUSB_ENDPOINT_IN) + continue; + + /* Bypass the following checks if this interface was explicitly requested. */ + if (cmsis_dap_usb_interface == -1) { + if (intf_desc->bInterfaceClass != LIBUSB_CLASS_VENDOR_SPEC || + intf_desc->bInterfaceSubClass != 0 || intf_desc->bInterfaceProtocol != 0) + continue; + + /* Search for "CMSIS-DAP" in the interface string */ + if (cmsis_dap_usb_interface != -1 && !cmsis_dap_found) { + if (intf_desc->iInterface == 0) + continue; + + char interface_str[256] = {0}; + + err = libusb_get_string_descriptor_ascii( + dev_handle, intf_desc->iInterface, + (uint8_t *)interface_str, sizeof(interface_str)); + if (err < 0) { + LOG_ERROR("could not read interface string for device 0x%04x:0x%04x: %s", + dev_desc.idVendor, dev_desc.idProduct, libusb_strerror(err)); + continue; + } else if (!strstr(interface_str, "CMSIS-DAP")) { + continue; + } else { + LOG_DEBUG("CMSIS-DAP found in interface string"); + } + } + } + + int packet_size = intf_desc->endpoint[0].wMaxPacketSize; + int ep_out = intf_desc->endpoint[0].bEndpointAddress; + int ep_in = intf_desc->endpoint[1].bEndpointAddress; + + /* That's the one! */ + libusb_free_config_descriptor(config_desc); + libusb_free_device_list(device_list, true); + + LOG_INFO("Using CMSIS-DAPv2 interface with VID:PID=0x%04x:0x%04x, serial=%s", + dev_desc.idVendor, dev_desc.idProduct, dev_serial); + + int current_config; + err = libusb_get_configuration(dev_handle, ¤t_config); + if (err) { + LOG_ERROR("could not find current configuration: %s", libusb_strerror(err)); + libusb_close(dev_handle); + libusb_exit(ctx); + return ERROR_FAIL; + } + + if (config_num != current_config) { + err = libusb_set_configuration(dev_handle, config_num); + if (err) { + LOG_ERROR("could not set configuration: %s", libusb_strerror(err)); + libusb_close(dev_handle); + libusb_exit(ctx); + return ERROR_FAIL; + } + } + + err = libusb_claim_interface(dev_handle, interface_num); + if (err) + LOG_WARNING("could not claim interface: %s", libusb_strerror(err)); + + dap->bdata = malloc(sizeof(struct cmsis_dap_backend_data)); + if (dap->bdata == NULL) { + LOG_ERROR("unable to allocate memory"); + libusb_release_interface(dev_handle, interface_num); + libusb_close(dev_handle); + libusb_exit(ctx); + return ERROR_FAIL; + } + + dap->packet_size = packet_size + 1; /* "+ 1" for compatibility with the HID backend */ + dap->bdata->usb_ctx = ctx; + dap->bdata->dev_handle = dev_handle; + dap->bdata->ep_out = ep_out; + dap->bdata->ep_in = ep_in; + dap->bdata->interface = interface_num; + return ERROR_OK; + } + + libusb_free_config_descriptor(config_desc); + } + + libusb_close(dev_handle); + } + + libusb_free_device_list(device_list, true); + + libusb_exit(ctx); + return ERROR_FAIL; +} + +static void cmsis_dap_usb_close(struct cmsis_dap *dap) +{ + libusb_release_interface(dap->bdata->dev_handle, dap->bdata->interface); + libusb_close(dap->bdata->dev_handle); + libusb_exit(dap->bdata->usb_ctx); + free(dap->bdata); + dap->bdata = NULL; +} + +static int cmsis_dap_usb_read(struct cmsis_dap *dap, int timeout_ms) +{ + int transferred = 0; + int err; + + err = libusb_bulk_transfer(dap->bdata->dev_handle, dap->bdata->ep_in, + dap->packet_buffer, dap->packet_size, &transferred, timeout_ms); + if (err) { + if (err == LIBUSB_ERROR_TIMEOUT) { + return ERROR_TIMEOUT_REACHED; + } else { + LOG_ERROR("error reading data: %s", libusb_strerror(err)); + return ERROR_FAIL; + } + } + + memset(&dap->packet_buffer[transferred], 0, dap->packet_size - transferred); + + return transferred; +} + +static int cmsis_dap_usb_write(struct cmsis_dap *dap, int txlen, int timeout_ms) +{ + int transferred = 0; + int err; + + /* skip the first byte that is only used by the HID backend */ + err = libusb_bulk_transfer(dap->bdata->dev_handle, dap->bdata->ep_out, + dap->packet_buffer + 1, txlen - 1, &transferred, timeout_ms); + if (err) { + if (err == LIBUSB_ERROR_TIMEOUT) { + return ERROR_TIMEOUT_REACHED; + } else { + LOG_ERROR("error writing data: %s", libusb_strerror(err)); + return ERROR_FAIL; + } + } + + return transferred; +} + +COMMAND_HANDLER(cmsis_dap_handle_usb_interface_command) +{ + if (CMD_ARGC == 1) + cmsis_dap_usb_interface = strtoul(CMD_ARGV[0], NULL, 10); + else + LOG_ERROR("expected exactly one argument to cmsis_dap_usb_interface "); + + return ERROR_OK; +} + +const struct command_registration cmsis_dap_usb_subcommand_handlers[] = { + { + .name = "interface", + .handler = &cmsis_dap_handle_usb_interface_command, + .mode = COMMAND_CONFIG, + .help = "set the USB interface number to use (for USB bulk backend only)", + .usage = "", + }, + COMMAND_REGISTRATION_DONE +}; + +const struct cmsis_dap_backend cmsis_dap_usb_backend = { + .name = "usb_bulk", + .open = cmsis_dap_usb_open, + .close = cmsis_dap_usb_close, + .read = cmsis_dap_usb_read, + .write = cmsis_dap_usb_write, +}; diff --git a/src/jtag/drivers/cmsis_dap_usb_hid.c b/src/jtag/drivers/cmsis_dap_usb_hid.c new file mode 100644 index 000000000..681aef171 --- /dev/null +++ b/src/jtag/drivers/cmsis_dap_usb_hid.c @@ -0,0 +1,208 @@ +/*************************************************************************** + * Copyright (C) 2018 by Mickaël Thomas * + * mickael9@gmail.com * + * * + * Copyright (C) 2016 by Maksym Hilliaka * + * oter@frozen-team.com * + * * + * Copyright (C) 2016 by Phillip Pearson * + * pp@myelin.co.nz * + * * + * Copyright (C) 2014 by Paul Fertser * + * fercerpav@gmail.com * + * * + * Copyright (C) 2013 by mike brown * + * mike@theshedworks.org.uk * + * * + * Copyright (C) 2013 by Spencer Oliver * + * spen@spen-soft.co.uk * + * * + * This program is free software; you can redistribute it and/or modify * + * it under the terms of the GNU General Public License as published by * + * the Free Software Foundation; either version 2 of the License, or * + * (at your option) any later version. * + * * + * This program is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * + * GNU General Public License for more details. * + * * + * You should have received a copy of the GNU General Public License * + * along with this program. If not, see . * + ***************************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include +#include + +#include "cmsis_dap.h" + +#define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */ + +struct cmsis_dap_backend_data { + hid_device *dev_handle; +}; + +static int cmsis_dap_hid_open(struct cmsis_dap *dap, uint16_t vids[], uint16_t pids[], char *serial) +{ + hid_device *dev = NULL; + int i; + struct hid_device_info *devs, *cur_dev; + unsigned short target_vid, target_pid; + + target_vid = 0; + target_pid = 0; + + if (hid_init() != 0) { + LOG_ERROR("unable to open HIDAPI"); + return ERROR_FAIL; + } + + /* + * The CMSIS-DAP specification stipulates: + * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the + * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer." + */ + devs = hid_enumerate(0x0, 0x0); + cur_dev = devs; + while (NULL != cur_dev) { + bool found = false; + + if (0 == vids[0]) { + if (NULL == cur_dev->product_string) { + LOG_DEBUG("Cannot read product string of device 0x%x:0x%x", + cur_dev->vendor_id, cur_dev->product_id); + } else if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) { + /* if the user hasn't specified VID:PID *and* + * product string contains "CMSIS-DAP", pick it + */ + found = true; + } + } else { + /* otherwise, exhaustively compare against all VID:PID in list */ + for (i = 0; vids[i] || pids[i]; i++) { + if ((vids[i] == cur_dev->vendor_id) && (pids[i] == cur_dev->product_id)) + found = true; + } + } + + /* LPC-LINK2 has cmsis-dap on interface 0 and other HID functions on other interfaces */ + if (cur_dev->vendor_id == 0x1fc9 && cur_dev->product_id == 0x0090 && cur_dev->interface_number != 0) + found = false; + + if (found) { + /* check serial number matches if given */ + if (serial == NULL) + break; + + if (cur_dev->serial_number != NULL) { + size_t len = (strlen(serial) + 1) * sizeof(wchar_t); + wchar_t *wserial = malloc(len); + mbstowcs(wserial, serial, len); + + if (wcscmp(wserial, cur_dev->serial_number) == 0) { + free(wserial); + break; + } else { + free(wserial); + wserial = NULL; + } + } + } + + cur_dev = cur_dev->next; + } + + if (NULL != cur_dev) { + target_vid = cur_dev->vendor_id; + target_pid = cur_dev->product_id; + } + + if (target_vid == 0 && target_pid == 0) { + hid_free_enumeration(devs); + return ERROR_FAIL; + } + + dap->bdata = malloc(sizeof(struct cmsis_dap_backend_data)); + if (dap->bdata == NULL) { + LOG_ERROR("unable to allocate memory"); + return ERROR_FAIL; + } + + dev = hid_open_path(cur_dev->path); + hid_free_enumeration(devs); + + if (dev == NULL) { + LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid); + return ERROR_FAIL; + } + + /* allocate default packet buffer, may be changed later. + * currently with HIDAPI we have no way of getting the output report length + * without this info we cannot communicate with the adapter. + * For the moment we have to hard code the packet size */ + + dap->packet_size = PACKET_SIZE; + + /* atmel cmsis-dap uses 512 byte reports */ + /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained + * board */ + /* TODO: HID report descriptor should be parsed instead of + * hardcoding a match by VID */ + if (target_vid == 0x03eb && target_pid != 0x2145 && target_pid != 0x2175) + dap->packet_size = 512 + 1; + + dap->bdata->dev_handle = dev; + + return ERROR_OK; +} + +static void cmsis_dap_hid_close(struct cmsis_dap *dap) +{ + hid_close(dap->bdata->dev_handle); + hid_exit(); + free(dap->bdata); + dap->bdata = NULL; +} + +static int cmsis_dap_hid_read(struct cmsis_dap *dap, int timeout_ms) +{ + int retval = hid_read_timeout(dap->bdata->dev_handle, dap->packet_buffer, dap->packet_size, timeout_ms); + + if (retval == 0) { + return ERROR_TIMEOUT_REACHED; + } else if (retval == -1) { + LOG_ERROR("error reading data: %ls", hid_error(dap->bdata->dev_handle)); + return ERROR_FAIL; + } + + return retval; +} + +static int cmsis_dap_hid_write(struct cmsis_dap *dap, int txlen, int timeout_ms) +{ + (void) timeout_ms; + + /* Pad the rest of the TX buffer with 0's */ + memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen); + + /* write data to device */ + int retval = hid_write(dap->bdata->dev_handle, dap->packet_buffer, dap->packet_size); + if (retval == -1) { + LOG_ERROR("error writing data: %ls", hid_error(dap->bdata->dev_handle)); + return ERROR_FAIL; + } + + return retval; +} + +const struct cmsis_dap_backend cmsis_dap_hid_backend = { + .name = "hid", + .open = cmsis_dap_hid_open, + .close = cmsis_dap_hid_close, + .read = cmsis_dap_hid_read, + .write = cmsis_dap_hid_write, +}; diff --git a/src/jtag/interfaces.c b/src/jtag/interfaces.c index 2fa53be2b..061a78f9c 100644 --- a/src/jtag/interfaces.c +++ b/src/jtag/interfaces.c @@ -134,7 +134,7 @@ extern struct adapter_driver aice_adapter_driver; #if BUILD_BCM2835GPIO == 1 extern struct adapter_driver bcm2835gpio_adapter_driver; #endif -#if BUILD_CMSIS_DAP == 1 +#if BUILD_CMSIS_DAP_USB == 1 || BUILD_CMSIS_DAP_HID == 1 extern struct adapter_driver cmsis_dap_adapter_driver; #endif #if BUILD_KITPROG == 1 @@ -254,7 +254,7 @@ struct adapter_driver *adapter_drivers[] = { #if BUILD_BCM2835GPIO == 1 &bcm2835gpio_adapter_driver, #endif -#if BUILD_CMSIS_DAP == 1 +#if BUILD_CMSIS_DAP_USB == 1 || BUILD_CMSIS_DAP_HID == 1 &cmsis_dap_adapter_driver, #endif #if BUILD_KITPROG == 1