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   1 /***************************************************************************
   2  *   Copyright (C) 2017 by Texas Instruments, Inc.                         *
   3  *                                                                         *
   4  *   This program is free software; you can redistribute it and/or modify  *
   5  *   it under the terms of the GNU General Public License as published by  *
   6  *   the Free Software Foundation; either version 2 of the License, or     *
   7  *   (at your option) any later version.                                   *
   8  *                                                                         *
   9  *   This program is distributed in the hope that it will be useful,       *
  10  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  11  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  12  *   GNU General Public License for more details.                          *
  13  *                                                                         *
  14  *   You should have received a copy of the GNU General Public License     *
  15  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  16  ***************************************************************************/
  17
  18 #ifdef HAVE_CONFIG_H
  19 #include "config.h"
  20 #endif
  21
  22 #include <transport/transport.h>
  23 #include <jtag/swd.h>
  24 #include <jtag/interface.h>
  25 #include <jtag/commands.h>
  26 #include <jtag/tcl.h>
  27 #include <libusb.h>
  28
  29 /* XDS110 USB serial number length */
  30 #define XDS110_SERIAL_LEN 8
  31
  32 /* Firmware version that introduced OpenOCD support via block accesses */
  33 #define OCD_FIRMWARE_VERSION 0x02030011
  34 #define OCD_FIRMWARE_UPGRADE \
  35         "XDS110: upgrade to version 2.3.0.11+ for improved support"
  36
  37 /***************************************************************************
  38  *   USB Connection Buffer Definitions                                     *
  39  ***************************************************************************/
  40
  41 /* Max USB packet size for up to USB 3.0 */
  42 #define MAX_PACKET 1024
  43
  44 /*
  45  * Maximum data payload that can be handled in a single call
  46  * Limitation is the size of the buffers in the XDS110 firmware
  47  */
  48 #define MAX_DATA_BLOCK 4096
  49
  50 #ifndef USB_PAYLOAD_SIZE
  51 /* Largest data block plus parameters */
  52 #define USB_PAYLOAD_SIZE (MAX_DATA_BLOCK + 60)
  53 #endif
  54 #define MAX_RESULT_QUEUE (MAX_DATA_BLOCK / 4)
  55
  56 /***************************************************************************
  57  *   USB Connection Endpoints                                              *
  58  ***************************************************************************/
  59
  60 /* Bulk endpoints used by the XDS110 debug interface */
  61 #define INTERFACE_DEBUG (2)
  62 #define ENDPOINT_DEBUG_IN (3 | LIBUSB_ENDPOINT_IN)
  63 #define ENDPOINT_DEBUG_OUT (2 | LIBUSB_ENDPOINT_OUT)
  64
  65 /***************************************************************************
  66  *   XDS110 Firmware API Definitions                                       *
  67  ***************************************************************************/
  68
  69 /*
  70  * Default values controlling how the host communicates commands
  71  * with XDS110 firmware (automatic retry count and wait timeout)
  72  */
  73 #define DEFAULT_ATTEMPTS (1)
  74 #define DEFAULT_TIMEOUT  (4000)
  75
  76 /* XDS110 API error codes */
  77 #define SC_ERR_NONE             0
  78 #define SC_ERR_XDS110_FAIL   -261
  79 #define SC_ERR_SWD_WAIT      -613
  80 #define SC_ERR_SWD_FAULT     -614
  81 #define SC_ERR_SWD_PROTOCOL  -615
  82 #define SC_ERR_SWD_PARITY    -616
  83 #define SC_ERR_SWD_DEVICE_ID -617
  84
  85 /* TCK frequency limits */
  86 #define XDS110_MIN_TCK_SPEED  100 /* kHz */
  87 #define XDS110_MAX_TCK_SPEED 2500 /* kHz */
  88 #define XDS110_TCK_PULSE_INCREMENT 66.0
  89
  90 /* Scan mode on connect */
  91 #define MODE_JTAG 1
  92
  93 /* XDS110 API JTAG state definitions */
  94 #define XDS_JTAG_STATE_RESET       1
  95 #define XDS_JTAG_STATE_IDLE        2
  96 #define XDS_JTAG_STATE_SHIFT_DR    3
  97 #define XDS_JTAG_STATE_SHIFT_IR    4
  98 #define XDS_JTAG_STATE_PAUSE_DR    5
  99 #define XDS_JTAG_STATE_PAUSE_IR    6
 100 #define XDS_JTAG_STATE_EXIT1_DR    8
 101 #define XDS_JTAG_STATE_EXIT1_IR    9
 102 #define XDS_JTAG_STATE_EXIT2_DR   10
 103 #define XDS_JTAG_STATE_EXIT2_IR   11
 104 #define XDS_JTAG_STATE_SELECT_DR  12
 105 #define XDS_JTAG_STATE_SELECT_IR  13
 106 #define XDS_JTAG_STATE_UPDATE_DR  14
 107 #define XDS_JTAG_STATE_UPDATE_IR  15
 108 #define XDS_JTAG_STATE_CAPTURE_DR 16
 109 #define XDS_JTAG_STATE_CAPTURE_IR 17
 110
 111 /* XDS110 API JTAG transit definitions */
 112 #define XDS_JTAG_TRANSIT_QUICKEST    1
 113 #define XDS_JTAG_TRANSIT_VIA_CAPTURE 2
 114 #define XDS_JTAG_TRANSIT_VIA_IDLE    3
 115
 116 /* DAP register definitions as used by XDS110 APIs */
 117
 118 #define DAP_AP 0 /* DAP AP register type */
 119 #define DAP_DP 1 /* DAP DP register type */
 120
 121 #define DAP_DP_IDCODE 0x0 /* DAP DP IDCODE register (read only) */
 122 #define DAP_DP_ABORT  0x0 /* DAP DP ABORT register (write only) */
 123 #define DAP_DP_STAT   0x4 /* DAP DP STAT register (for read only) */
 124 #define DAP_DP_CTRL   0x4 /* DAP DP CTRL register (for write only) */
 125 #define DAP_DP_ADDR   0x8 /* DAP DP SELECT register (legacy name) */
 126 #define DAP_DP_RESEND 0x8 /* DAP DP RESEND register (read only) */
 127 #define DAP_DP_SELECT 0x8 /* DAP DP SELECT register (write only) */
 128 #define DAP_DP_RDBUFF 0xc /* DAP DP RDBUFF Read Buffer register */
 129
 130 #define DAP_AP_CSW  0x00 /* DAP AP Control Status Word */
 131 #define DAP_AP_TAR  0x04 /* DAP AP Transfer Address */
 132 #define DAP_AP_DRW  0x0C /* DAP AP Data Read/Write */
 133 #define DAP_AP_BD0  0x10 /* DAP AP Banked Data 0 */
 134 #define DAP_AP_BD1  0x14 /* DAP AP Banked Data 1 */
 135 #define DAP_AP_BD2  0x18 /* DAP AP Banked Data 2 */
 136 #define DAP_AP_BD3  0x1C /* DAP AP Banked Data 3 */
 137 #define DAP_AP_RTBL 0xF8 /* DAP AP Debug ROM Table */
 138 #define DAP_AP_IDR  0xFC /* DAP AP Identification Register */
 139
 140 /* Command packet definitions */
 141
 142 #define XDS_OUT_LEN 1 /* command (byte) */
 143 #define XDS_IN_LEN  4 /* error code (int) */
 144
 145 /* XDS API Commands */
 146 #define XDS_CONNECT      0x01 /* Connect JTAG connection */
 147 #define XDS_DISCONNECT   0x02 /* Disconnect JTAG connection */
 148 #define XDS_VERSION      0x03 /* Get firmware version and hardware ID */
 149 #define XDS_SET_TCK      0x04 /* Set TCK delay (to set TCK frequency) */
 150 #define XDS_SET_TRST     0x05 /* Assert or deassert nTRST signal */
 151 #define XDS_CYCLE_TCK    0x07 /* Toggle TCK for a number of cycles */
 152 #define XDS_GOTO_STATE   0x09 /* Go to requested JTAG state */
 153 #define XDS_JTAG_SCAN    0x0c /* Send and receive JTAG scan */
 154 #define XDS_SET_SRST     0x0e /* Assert or deassert nSRST signal */
 155 #define CMAPI_CONNECT    0x0f /* CMAPI connect */
 156 #define CMAPI_DISCONNECT 0x10 /* CMAPI disconnect */
 157 #define CMAPI_ACQUIRE    0x11 /* CMAPI acquire */
 158 #define CMAPI_RELEASE    0x12 /* CMAPI release */
 159 #define CMAPI_REG_READ   0x15 /* CMAPI DAP register read */
 160 #define CMAPI_REG_WRITE  0x16 /* CMAPI DAP register write */
 161 #define SWD_CONNECT      0x17 /* Switch from JTAG to SWD connection */
 162 #define SWD_DISCONNECT   0x18 /* Switch from SWD to JTAG connection */
 163 #define CJTAG_CONNECT    0x2b /* Switch from JTAG to cJTAG connection */
 164 #define CJTAG_DISCONNECT 0x2c /* Switch from cJTAG to JTAG connection */
 165 #define OCD_DAP_REQUEST  0x3a /* Handle block of DAP requests */
 166 #define OCD_SCAN_REQUEST 0x3b /* Handle block of JTAG scan requests */
 167 #define OCD_PATHMOVE     0x3c /* Handle PATHMOVE to navigate JTAG states */
 168
 169 #define CMD_IR_SCAN      1
 170 #define CMD_DR_SCAN      2
 171 #define CMD_RUNTEST      3
 172 #define CMD_STABLECLOCKS 4
 173
 174 /* Array to convert from OpenOCD tap_state_t to XDS JTAG state */
 175 const uint32_t xds_jtag_state[] = {
 176         XDS_JTAG_STATE_EXIT2_DR,   /* TAP_DREXIT2   = 0x0 */
 177         XDS_JTAG_STATE_EXIT1_DR,   /* TAP_DREXIT1   = 0x1 */
 178         XDS_JTAG_STATE_SHIFT_DR,   /* TAP_DRSHIFT   = 0x2 */
 179         XDS_JTAG_STATE_PAUSE_DR,   /* TAP_DRPAUSE   = 0x3 */
 180         XDS_JTAG_STATE_SELECT_IR,  /* TAP_IRSELECT  = 0x4 */
 181         XDS_JTAG_STATE_UPDATE_DR,  /* TAP_DRUPDATE  = 0x5 */
 182         XDS_JTAG_STATE_CAPTURE_DR, /* TAP_DRCAPTURE = 0x6 */
 183         XDS_JTAG_STATE_SELECT_DR,  /* TAP_DRSELECT  = 0x7 */
 184         XDS_JTAG_STATE_EXIT2_IR,   /* TAP_IREXIT2   = 0x8 */
 185         XDS_JTAG_STATE_EXIT1_IR,   /* TAP_IREXIT1   = 0x9 */
 186         XDS_JTAG_STATE_SHIFT_IR,   /* TAP_IRSHIFT   = 0xa */
 187         XDS_JTAG_STATE_PAUSE_IR,   /* TAP_IRPAUSE   = 0xb */
 188         XDS_JTAG_STATE_IDLE,       /* TAP_IDLE      = 0xc */
 189         XDS_JTAG_STATE_UPDATE_IR,  /* TAP_IRUPDATE  = 0xd */
 190         XDS_JTAG_STATE_CAPTURE_IR, /* TAP_IRCAPTURE = 0xe */
 191         XDS_JTAG_STATE_RESET,      /* TAP_RESET     = 0xf */
 192 };
 193
 194 struct scan_result {
 195         bool first;
 196         uint8_t *buffer;
 197         uint32_t num_bits;
 198 };
 199
 200 struct xds110_info {
 201         /* USB connection handles and data buffers */
 202         libusb_context *ctx;
 203         libusb_device_handle *dev;
 204         unsigned char read_payload[USB_PAYLOAD_SIZE];
 205         unsigned char write_packet[3];
 206         unsigned char write_payload[USB_PAYLOAD_SIZE];
 207         /* Status flags */
 208         bool is_connected;
 209         bool is_cmapi_connected;
 210         bool is_cmapi_acquired;
 211         bool is_swd_mode;
 212         bool is_ap_dirty;
 213         /* DAP register caches */
 214         uint32_t select;
 215         uint32_t rdbuff;
 216         bool use_rdbuff;
 217         /* TCK speed and delay count*/
 218         uint32_t speed;
 219         uint32_t delay_count;
 220         /* XDS110 serial number */
 221         char serial[XDS110_SERIAL_LEN + 1];
 222         /* XDS110 firmware and hardware version */
 223         uint32_t firmware;
 224         uint16_t hardware;
 225         /* Transaction queues */
 226         unsigned char txn_requests[MAX_DATA_BLOCK];
 227         uint32_t *txn_dap_results[MAX_DATA_BLOCK / 4];
 228         struct scan_result txn_scan_results[MAX_DATA_BLOCK / 4];
 229         uint32_t txn_request_size;
 230         uint32_t txn_result_size;
 231         uint32_t txn_result_count;
 232 };
 233
 234 static struct xds110_info xds110 = {
 235         .ctx = NULL,
 236         .dev = NULL,
 237         .is_connected = false,
 238         .is_cmapi_connected = false,
 239         .is_cmapi_acquired = false,
 240         .is_swd_mode = false,
 241         .is_ap_dirty = false,
 242         .speed = XDS110_MAX_TCK_SPEED,
 243         .delay_count = 0,
 244         .serial = {0},
 245         .firmware = 0,
 246         .hardware = 0,
 247         .txn_request_size = 0,
 248         .txn_result_size = 0,
 249         .txn_result_count = 0
 250 };
 251
 252 static inline void xds110_set_u32(uint8_t *buffer, uint32_t value)
 253 {
 254         buffer[3] = (value >> 24) & 0xff;
 255         buffer[2] = (value >> 16) & 0xff;
 256         buffer[1] = (value >> 8) & 0xff;
 257         buffer[0] = (value >> 0) & 0xff;
 258 }
 259
 260 static inline void xds110_set_u16(uint8_t *buffer, uint16_t value)
 261 {
 262         buffer[1] = (value >> 8) & 0xff;
 263         buffer[0] = (value >> 0) & 0xff;
 264 }
 265
 266 static inline uint32_t xds110_get_u32(uint8_t *buffer)
 267 {
 268         uint32_t value = (((uint32_t)buffer[3]) << 24) |
 269                                          (((uint32_t)buffer[2]) << 16) |
 270                                          (((uint32_t)buffer[1]) << 8)  |
 271                                          (((uint32_t)buffer[0]) << 0);
 272         return value;
 273 }
 274
 275 static inline uint16_t xds110_get_u16(uint8_t *buffer)
 276 {
 277         uint16_t value = (((uint32_t)buffer[1]) << 8) |
 278                                          (((uint32_t)buffer[0]) << 0);
 279         return value;
 280 }
 281
 282 /***************************************************************************
 283  *   usb connection routines                                               *
 284  *                                                                         *
 285  *   The following functions handle connecting, reading, and writing to    *
 286  *   the XDS110 over USB using the libusb library.                         *
 287  ***************************************************************************/
 288
 289 static bool usb_connect(void)
 290 {
 291         libusb_context *ctx  = NULL;
 292         libusb_device **list = NULL;
 293         libusb_device_handle *dev  = NULL;
 294
 295         struct libusb_device_descriptor desc;
 296
 297         uint16_t vid = 0x0451;
 298         uint16_t pid = 0xbef3;
 299         ssize_t count = 0;
 300         ssize_t i = 0;
 301         int result = 0;
 302         bool found = false;
 303
 304         /* Initialize libusb context */
 305         result = libusb_init(&ctx);
 306
 307         if (0 == result) {
 308                 /* Get list of USB devices attached to system */
 309                 count = libusb_get_device_list(ctx, &list);
 310                 if (count <= 0) {
 311                         result = -1;
 312                         list = NULL;
 313                 }
 314         }
 315
 316         if (0 == result) {
 317                 /* Scan through list of devices for any XDS110s */
 318                 for (i = 0; i < count; i++) {
 319                         /* Check for device VID/PID match */
 320                         libusb_get_device_descriptor(list[i], &desc);
 321                         if (desc.idVendor == vid && desc.idProduct == pid) {
 322                                 result = libusb_open(list[i], &dev);
 323                                 if (0 == result) {
 324                                         const int MAX_DATA = 256;
 325                                         unsigned char data[MAX_DATA + 1];
 326                                         *data = '\0';
 327
 328                                         /* May be the requested device if serial number matches */
 329                                         if (0 == xds110.serial[0]) {
 330                                                 /* No serial number given; match first XDS110 found */
 331                                                 found = true;
 332                                                 break;
 333                                         } else {
 334                                                 /* Get the device's serial number string */
 335                                                 result = libusb_get_string_descriptor_ascii(dev,
 336                                                                         desc.iSerialNumber, data, MAX_DATA);
 337                                                 if (0 < result &&
 338                                                         0 == strcmp((char *)data, (char *)xds110.serial)) {
 339                                                         found = true;
 340                                                         break;
 341                                                 }
 342                                         }
 343
 344                                         /* If we fall though to here, we don't want this device */
 345                                         libusb_close(dev);
 346                                         dev = NULL;
 347                                 }
 348                         }
 349                 }
 350         }
 351
 352         /*
 353          * We can fall through the for() loop with two possible exit conditions:
 354          * 1) found the right XDS110, and that device is open
 355          * 2) didn't find the XDS110, and no devices are currently open
 356          */
 357
 358         if (NULL != list) {
 359                 /* Free the device list, we're done with it */
 360                 libusb_free_device_list(list, 1);
 361         }
 362
 363         if (found) {
 364                 /* Save the context and device handles */
 365                 xds110.ctx = ctx;
 366                 xds110.dev = dev;
 367
 368                 /* Set libusb to auto detach kernel */
 369                 (void)libusb_set_auto_detach_kernel_driver(dev, 1);
 370
 371                 /* Claim the debug interface on the XDS110 */
 372                 result = libusb_claim_interface(dev, INTERFACE_DEBUG);
 373         } else {
 374                 /* Couldn't find an XDS110, flag the error */
 375                 result = -1;
 376         }
 377
 378         /* On an error, clean up what we can */
 379         if (0 != result) {
 380                 if (NULL != dev) {
 381                         /* Release the debug and data interface on the XDS110 */
 382                         (void)libusb_release_interface(dev, INTERFACE_DEBUG);
 383                         libusb_close(dev);
 384                 }
 385                 if (NULL != ctx)
 386                         libusb_exit(ctx);
 387                 xds110.ctx = NULL;
 388                 xds110.dev = NULL;
 389         }
 390
 391         /* Log the results */
 392         if (0 == result)
 393                 LOG_INFO("XDS110: connected");
 394         else
 395                 LOG_ERROR("XDS110: failed to connect");
 396
 397         return (0 == result) ? true : false;
 398 }
 399
 400 static void usb_disconnect(void)
 401 {
 402         if (NULL != xds110.dev) {
 403                 /* Release the debug and data interface on the XDS110 */
 404                 (void)libusb_release_interface(xds110.dev, INTERFACE_DEBUG);
 405                 libusb_close(xds110.dev);
 406                 xds110.dev = NULL;
 407         }
 408         if (NULL != xds110.ctx) {
 409                 libusb_exit(xds110.ctx);
 410                 xds110.ctx = NULL;
 411         }
 412
 413         LOG_INFO("XDS110: disconnected");
 414 }
 415
 416 static bool usb_read(unsigned char *buffer, int size, int *bytes_read,
 417         int timeout)
 418 {
 419         int result;
 420
 421         if (NULL == xds110.dev || NULL == buffer || NULL == bytes_read)
 422                 return false;
 423
 424         /* Force a non-zero timeout to prevent blocking */
 425         if (0 == timeout)
 426                 timeout = DEFAULT_TIMEOUT;
 427
 428         result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_IN, buffer, size,
 429                                 bytes_read, timeout);
 430
 431         return (0 == result) ? true : false;
 432 }
 433
 434 static bool usb_write(unsigned char *buffer, int size, int *written)
 435 {
 436         int bytes_written = 0;
 437         int result = LIBUSB_SUCCESS;
 438         int retries = 0;
 439
 440         if (NULL == xds110.dev || NULL == buffer)
 441                 return false;
 442
 443         result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_OUT, buffer,
 444                                 size, &bytes_written, 0);
 445
 446         while (LIBUSB_ERROR_PIPE == result && retries < 3) {
 447                 /* Try clearing the pipe stall and retry transfer */
 448                 libusb_clear_halt(xds110.dev, ENDPOINT_DEBUG_OUT);
 449                 result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_OUT, buffer,
 450                                         size, &bytes_written, 0);
 451                 retries++;
 452         }
 453
 454         if (NULL != written)
 455                 *written = bytes_written;
 456
 457         return (0 == result && size == bytes_written) ? true : false;
 458 }
 459
 460 static bool usb_get_response(uint32_t *total_bytes_read, uint32_t timeout)
 461 {
 462         static unsigned char buffer[MAX_PACKET];
 463         int bytes_read;
 464         uint16_t size;
 465         uint16_t count;
 466         bool success;
 467
 468         size = 0;
 469         success = true;
 470         while (success) {
 471                 success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout);
 472                 if (success) {
 473                         /*
 474                          * Validate that this appears to be a good response packet
 475                          * First check it contains enough data for header and error
 476                          * code, plus the first character is the start character
 477                          */
 478                         if (bytes_read >= 7 && '*' == buffer[0]) {
 479                                 /* Extract the payload size */
 480                                 size = xds110_get_u16(&buffer[1]);
 481                                 /* Sanity test on payload size */
 482                                 if (USB_PAYLOAD_SIZE >= size && 4 <= size) {
 483                                         /* Check we didn't get more data than expected */
 484                                         if ((bytes_read - 3) <= size) {
 485                                                 /* Packet appears to be valid, move on */
 486                                                 break;
 487                                         }
 488                                 }
 489                         }
 490                 }
 491                 /*
 492                  * Somehow received an invalid packet, retry till we
 493                  * time out or a valid response packet is received
 494                  */
 495         }
 496
 497         /* Abort now if we didn't receive a valid response */
 498         if (!success) {
 499                 if (NULL != total_bytes_read)
 500                         *total_bytes_read = 0;
 501                 return false;
 502         }
 503
 504         /* Build the return payload into xds110.read_payload */
 505
 506         /* Copy over payload data from received buffer (skipping header) */
 507         count = 0;
 508         bytes_read -= 3;
 509         memcpy((void *)&xds110.read_payload[count], (void *)&buffer[3], bytes_read);
 510         count += bytes_read;
 511         /*
 512          * Drop timeout to just 1/2 second. Once the XDS110 starts sending
 513          * a response, the remaining packets should arrive in short order
 514          */
 515         if (timeout > 500)
 516                 timeout = 500; /* ms */
 517
 518         /* If there's more data to retrieve, get it now */
 519         while ((count < size) && success) {
 520                 success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout);
 521                 if (success) {
 522                         if ((count + bytes_read) > size) {
 523                                 /* Read too much data, not a valid packet, abort */
 524                                 success = false;
 525                         } else {
 526                                 /* Copy this data over to xds110.read_payload */
 527                                 memcpy((void *)&xds110.read_payload[count], (void *)buffer,
 528                                         bytes_read);
 529                                 count += bytes_read;
 530                         }
 531                 }
 532         }
 533
 534         if (!success)
 535                 count = 0;
 536         if (NULL != total_bytes_read)
 537                 *total_bytes_read = count;
 538
 539         return success;
 540 }
 541
 542 static bool usb_send_command(uint16_t size)
 543 {
 544         int written;
 545         bool success = true;
 546
 547         /* Check the packet length */
 548         if (size > USB_PAYLOAD_SIZE)
 549                 return false;
 550
 551         /* Place the start character into the packet buffer */
 552         xds110.write_packet[0] = '*';
 553
 554         /* Place the payload size into the packet buffer */
 555         xds110_set_u16(&xds110.write_packet[1], size);
 556
 557         /* Adjust size to include header */
 558         size += 3;
 559
 560         /* Send the data via the USB connection */
 561         success = usb_write(xds110.write_packet, (int)size, &written);
 562
 563         /* Check if the correct number of bytes was written */
 564         if (written != (int)size)
 565                 success = false;
 566
 567         return success;
 568 }
 569
 570 /***************************************************************************
 571  *   XDS110 firmware API routines                                          *
 572  *                                                                         *
 573  *   The following functions handle calling into the XDS110 firmware to    *
 574  *   perform requested debug actions.                                      *
 575  ***************************************************************************/
 576
 577 static bool xds_execute(uint32_t out_length, uint32_t in_length,
 578         uint32_t attempts, uint32_t timeout)
 579 {
 580         bool done = false;
 581         bool success = true;
 582         int error = 0;
 583         uint32_t bytes_read = 0;
 584
 585         if (NULL == xds110.dev)
 586                 return false;
 587
 588         while (!done && attempts > 0) {
 589                 attempts--;
 590
 591                 /* Send command to XDS110 */
 592                 success = usb_send_command(out_length);
 593
 594                 if (success) {
 595                         /* Get response from XDS110 */
 596                         success = usb_get_response(&bytes_read, timeout);
 597                 }
 598
 599                 if (success) {
 600                         /* Check for valid response from XDS code handling */
 601                         if (bytes_read != in_length) {
 602                                 /* Unexpected amount of data returned */
 603                                 success = false;
 604                         } else {
 605                                 /* Extract error code from return packet */
 606                                 error = (int)xds110_get_u32(&xds110.read_payload[0]);
 607                                 done = true;
 608                         }
 609                 }
 610         }
 611
 612         if (!success)
 613                 error = SC_ERR_XDS110_FAIL;
 614
 615         if (0 != error)
 616                 success = false;
 617
 618         return success;
 619 }
 620
 621 static bool xds_connect(void)
 622 {
 623         bool success;
 624
 625         xds110.write_payload[0] = XDS_CONNECT;
 626
 627         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 628                                 DEFAULT_TIMEOUT);
 629
 630         return success;
 631 }
 632
 633 static bool xds_disconnect(void)
 634 {
 635         bool success;
 636
 637         xds110.write_payload[0] = XDS_DISCONNECT;
 638
 639         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 640                                 DEFAULT_TIMEOUT);
 641
 642         return success;
 643 }
 644
 645 static bool xds_version(uint32_t *firmware_id, uint16_t *hardware_id)
 646 {
 647         uint8_t *fw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
 648         uint8_t *hw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 4]; /* 16-bits */
 649
 650         bool success;
 651
 652         xds110.write_payload[0] = XDS_VERSION;
 653
 654         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN + 6, DEFAULT_ATTEMPTS,
 655                                 DEFAULT_TIMEOUT);
 656
 657         if (success) {
 658                 if (NULL != firmware_id)
 659                         *firmware_id = xds110_get_u32(fw_id_pntr);
 660                 if (NULL != hardware_id)
 661                         *hardware_id = xds110_get_u16(hw_id_pntr);
 662         }
 663
 664         return success;
 665 }
 666
 667 static bool xds_set_tck_delay(uint32_t delay)
 668 {
 669         uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
 670
 671         bool success;
 672
 673         xds110.write_payload[0] = XDS_SET_TCK;
 674
 675         xds110_set_u32(delay_pntr, delay);
 676
 677         success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 678                                 DEFAULT_TIMEOUT);
 679
 680         return success;
 681 }
 682
 683 static bool xds_set_trst(uint8_t trst)
 684 {
 685         uint8_t *trst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
 686
 687         bool success;
 688
 689         xds110.write_payload[0] = XDS_SET_TRST;
 690
 691         *trst_pntr = trst;
 692
 693         success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 694                                 DEFAULT_TIMEOUT);
 695
 696         return success;
 697 }
 698
 699 static bool xds_cycle_tck(uint32_t count)
 700 {
 701         uint8_t *count_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
 702
 703         bool success;
 704
 705         xds110.write_payload[0] = XDS_CYCLE_TCK;
 706
 707         xds110_set_u32(count_pntr, count);
 708
 709         success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 710                                 DEFAULT_TIMEOUT);
 711
 712         return success;
 713 }
 714
 715 static bool xds_goto_state(uint32_t state)
 716 {
 717         uint8_t *state_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
 718         uint8_t *transit_pntr = &xds110.write_payload[XDS_OUT_LEN+4]; /* 32-bits */
 719
 720         bool success;
 721
 722         xds110.write_payload[0] = XDS_GOTO_STATE;
 723
 724         xds110_set_u32(state_pntr, state);
 725         xds110_set_u32(transit_pntr, XDS_JTAG_TRANSIT_QUICKEST);
 726
 727         success = xds_execute(XDS_OUT_LEN+8, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 728                                 DEFAULT_TIMEOUT);
 729
 730         return success;
 731 }
 732
 733 static bool xds_jtag_scan(uint32_t shift_state, uint16_t shift_bits,
 734         uint32_t end_state, uint8_t *data_out, uint8_t *data_in)
 735 {
 736         uint8_t *bits_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 16-bits */
 737         uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
 738         uint8_t *trans1_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 8-bits */
 739         uint8_t *end_pntr = &xds110.write_payload[XDS_OUT_LEN + 4]; /* 8-bits */
 740         uint8_t *trans2_pntr = &xds110.write_payload[XDS_OUT_LEN + 5]; /* 8-bits */
 741         uint8_t *pre_pntr = &xds110.write_payload[XDS_OUT_LEN + 6]; /* 16-bits */
 742         uint8_t *pos_pntr = &xds110.write_payload[XDS_OUT_LEN + 8]; /* 16-bits */
 743         uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 10]; /* 16-bits */
 744         uint8_t *rep_pntr = &xds110.write_payload[XDS_OUT_LEN + 12]; /* 16-bits */
 745         uint8_t *out_pntr = &xds110.write_payload[XDS_OUT_LEN + 14]; /* 16-bits */
 746         uint8_t *in_pntr = &xds110.write_payload[XDS_OUT_LEN + 16]; /* 16-bits */
 747         uint8_t *data_out_pntr = &xds110.write_payload[XDS_OUT_LEN + 18];
 748         uint8_t *data_in_pntr = &xds110.read_payload[XDS_IN_LEN+0];
 749
 750         uint16_t total_bytes = DIV_ROUND_UP(shift_bits, 8);
 751
 752         bool success;
 753
 754         xds110.write_payload[0] = XDS_JTAG_SCAN;
 755
 756         xds110_set_u16(bits_pntr, shift_bits); /* bits to scan */
 757         *path_pntr = (uint8_t)(shift_state & 0xff); /* IR vs DR path */
 758         *trans1_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* start state route */
 759         *end_pntr = (uint8_t)(end_state & 0xff); /* JTAG state after scan */
 760         *trans2_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* end state route */
 761         xds110_set_u16(pre_pntr, 0); /* number of preamble bits */
 762         xds110_set_u16(pos_pntr, 0); /* number of postamble bits */
 763         xds110_set_u16(delay_pntr, 0); /* number of extra TCKs after scan */
 764         xds110_set_u16(rep_pntr, 1); /* number of repetitions */
 765         xds110_set_u16(out_pntr, total_bytes); /* out buffer offset (if repeats) */
 766         xds110_set_u16(in_pntr, total_bytes); /* in buffer offset (if repeats) */
 767
 768         memcpy((void *)data_out_pntr, (void *)data_out, total_bytes);
 769
 770         success = xds_execute(XDS_OUT_LEN + 18 + total_bytes,
 771                 XDS_IN_LEN + total_bytes, DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT);
 772
 773         if (success)
 774                 memcpy((void *)data_in, (void *)data_in_pntr, total_bytes);
 775
 776         return success;
 777 }
 778
 779 static bool xds_set_srst(uint8_t srst)
 780 {
 781         uint8_t *srst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
 782
 783         bool success;
 784
 785         xds110.write_payload[0] = XDS_SET_SRST;
 786
 787         *srst_pntr = srst;
 788
 789         success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 790                                 DEFAULT_TIMEOUT);
 791
 792         return success;
 793 }
 794
 795 static bool cmapi_connect(uint32_t *idcode)
 796 {
 797         uint8_t *idcode_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
 798
 799         bool success;
 800
 801         xds110.write_payload[0] = CMAPI_CONNECT;
 802
 803         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN+4, DEFAULT_ATTEMPTS,
 804                                 DEFAULT_TIMEOUT);
 805
 806         if (success) {
 807                 if (NULL != idcode)
 808                         *idcode = xds110_get_u32(idcode_pntr);
 809         }
 810
 811         return success;
 812 }
 813
 814 static bool cmapi_disconnect(void)
 815 {
 816         bool success;
 817
 818         xds110.write_payload[0] = CMAPI_DISCONNECT;
 819
 820         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 821                                 DEFAULT_TIMEOUT);
 822
 823         return success;
 824 }
 825
 826 static bool cmapi_acquire(void)
 827 {
 828         bool success;
 829
 830         xds110.write_payload[0] = CMAPI_ACQUIRE;
 831
 832         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 833                                 DEFAULT_TIMEOUT);
 834
 835         return success;
 836 }
 837
 838 static bool cmapi_release(void)
 839 {
 840         bool success;
 841
 842         xds110.write_payload[0] = CMAPI_RELEASE;
 843
 844         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 845                                 DEFAULT_TIMEOUT);
 846
 847         return success;
 848 }
 849
 850 static bool cmapi_read_dap_reg(uint32_t type, uint32_t ap_num,
 851         uint32_t address, uint32_t *value)
 852 {
 853         uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
 854         uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */
 855         uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
 856         uint8_t *value_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */
 857
 858         bool success;
 859
 860         xds110.write_payload[0] = CMAPI_REG_READ;
 861
 862         *type_pntr = (uint8_t)(type & 0xff);
 863         *ap_num_pntr = (uint8_t)(ap_num & 0xff);
 864         *address_pntr = (uint8_t)(address & 0xff);
 865
 866         success = xds_execute(XDS_OUT_LEN + 3, XDS_IN_LEN + 4, DEFAULT_ATTEMPTS,
 867                                 DEFAULT_TIMEOUT);
 868
 869         if (success) {
 870                 if (NULL != value)
 871                         *value = xds110_get_u32(value_pntr);
 872         }
 873
 874         return success;
 875 }
 876
 877 static bool cmapi_write_dap_reg(uint32_t type, uint32_t ap_num,
 878         uint32_t address, uint32_t *value)
 879 {
 880         uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */
 881         uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */
 882         uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */
 883         uint8_t *value_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 32-bits */
 884
 885         bool success;
 886
 887         if (NULL == value)
 888                 return false;
 889
 890         xds110.write_payload[0] = CMAPI_REG_WRITE;
 891
 892         *type_pntr = (uint8_t)(type & 0xff);
 893         *ap_num_pntr = (uint8_t)(ap_num & 0xff);
 894         *address_pntr = (uint8_t)(address & 0xff);
 895         xds110_set_u32(value_pntr, *value);
 896
 897         success = xds_execute(XDS_OUT_LEN + 7, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 898                                 DEFAULT_TIMEOUT);
 899
 900         return success;
 901 }
 902
 903 static bool swd_connect(void)
 904 {
 905         bool success;
 906
 907         xds110.write_payload[0] = SWD_CONNECT;
 908
 909         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 910                                 DEFAULT_TIMEOUT);
 911
 912         return success;
 913 }
 914
 915 static bool swd_disconnect(void)
 916 {
 917         bool success;
 918
 919         xds110.write_payload[0] = SWD_DISCONNECT;
 920
 921         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 922                                 DEFAULT_TIMEOUT);
 923
 924         return success;
 925 }
 926
 927 static bool cjtag_connect(uint32_t format)
 928 {
 929         uint8_t *format_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
 930
 931         bool success;
 932
 933         xds110.write_payload[0] = CJTAG_CONNECT;
 934
 935         xds110_set_u32(format_pntr, format);
 936
 937         success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 938                                 DEFAULT_TIMEOUT);
 939
 940         return success;
 941 }
 942
 943 static bool cjtag_disconnect(void)
 944 {
 945         bool success;
 946
 947         xds110.write_payload[0] = CJTAG_DISCONNECT;
 948
 949         success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS,
 950                                 DEFAULT_TIMEOUT);
 951
 952         return success;
 953 }
 954
 955 static bool ocd_dap_request(uint8_t *dap_requests, uint32_t request_size,
 956         uint32_t *dap_results, uint32_t result_count)
 957 {
 958         uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0];
 959         uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0];
 960
 961         bool success;
 962
 963         if (NULL == dap_requests || NULL == dap_results)
 964                 return false;
 965
 966         xds110.write_payload[0] = OCD_DAP_REQUEST;
 967
 968         memcpy((void *)request_pntr, (void *)dap_requests, request_size);
 969
 970         success = xds_execute(XDS_OUT_LEN + request_size,
 971                                 XDS_IN_LEN + (result_count * 4), DEFAULT_ATTEMPTS,
 972                                 DEFAULT_TIMEOUT);
 973
 974         if (success && (result_count > 0))
 975                 memcpy((void *)dap_results, (void *)result_pntr, result_count * 4);
 976
 977         return success;
 978 }
 979
 980 static bool ocd_scan_request(uint8_t *scan_requests, uint32_t request_size,
 981         uint8_t *scan_results, uint32_t result_size)
 982 {
 983         uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0];
 984         uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0];
 985
 986         bool success;
 987
 988         if (NULL == scan_requests || NULL == scan_results)
 989                 return false;
 990
 991         xds110.write_payload[0] = OCD_SCAN_REQUEST;
 992
 993         memcpy((void *)request_pntr, (void *)scan_requests, request_size);
 994
 995         success = xds_execute(XDS_OUT_LEN + request_size,
 996                                 XDS_IN_LEN + result_size, DEFAULT_ATTEMPTS,
 997                                 DEFAULT_TIMEOUT);
 998
 999         if (success && (result_size > 0))
1000                 memcpy((void *)scan_results, (void *)result_pntr, result_size);
1001
1002         return success;
1003 }
1004
1005 static bool ocd_pathmove(uint32_t num_states, uint8_t *path)
1006 {
1007         uint8_t *num_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
1008         uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 4];
1009
1010         bool success;
1011
1012         if (NULL == path)
1013                 return false;
1014
1015         xds110.write_payload[0] = OCD_PATHMOVE;
1016
1017         xds110_set_u32(num_pntr, num_states);
1018
1019         memcpy((void *)path_pntr, (void *)path, num_states);
1020
1021         success = xds_execute(XDS_OUT_LEN + 4 + num_states, XDS_IN_LEN,
1022                                 DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT);
1023
1024         return success;
1025 }
1026
1027 /***************************************************************************
1028  *   swd driver interface                                                  *
1029  *                                                                         *
1030  *   The following functions provide SWD support to OpenOCD.               *
1031  ***************************************************************************/
1032
1033 static int xds110_swd_init(void)
1034 {
1035         xds110.is_swd_mode = true;
1036         return ERROR_OK;
1037 }
1038
1039 static int xds110_swd_switch_seq(enum swd_special_seq seq)
1040 {
1041         uint32_t idcode;
1042         bool success;
1043
1044         switch (seq) {
1045         case LINE_RESET:
1046                 LOG_ERROR("Sequence SWD line reset (%d) not supported", seq);
1047                 return ERROR_FAIL;
1048         case JTAG_TO_SWD:
1049                 LOG_DEBUG("JTAG-to-SWD");
1050                 xds110.is_swd_mode = false;
1051                 xds110.is_cmapi_connected = false;
1052                 xds110.is_cmapi_acquired = false;
1053                 /* Run sequence to put target in SWD mode */
1054                 success = swd_connect();
1055                 /* Re-iniitialize CMAPI API for DAP access */
1056                 if (success) {
1057                         xds110.is_swd_mode = true;
1058                         success = cmapi_connect(&idcode);
1059                         if (success) {
1060                                 xds110.is_cmapi_connected = true;
1061                                 success = cmapi_acquire();
1062                         }
1063                 }
1064                 break;
1065         case SWD_TO_JTAG:
1066                 LOG_DEBUG("SWD-to-JTAG");
1067                 xds110.is_swd_mode = false;
1068                 xds110.is_cmapi_connected = false;
1069                 xds110.is_cmapi_acquired = false;
1070                 /* Run sequence to put target in JTAG mode */
1071                 success = swd_disconnect();
1072                 if (success) {
1073                         /* Re-initialize JTAG interface */
1074                         success = cjtag_connect(MODE_JTAG);
1075                 }
1076                 break;
1077         default:
1078                 LOG_ERROR("Sequence %d not supported", seq);
1079                 return ERROR_FAIL;
1080         }
1081
1082         if (success)
1083                 return ERROR_OK;
1084         else
1085                 return ERROR_FAIL;
1086 }
1087
1088 static bool xds110_legacy_read_reg(uint8_t cmd, uint32_t *value)
1089 {
1090         /* Make sure this is a read request */
1091         bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
1092         /* Determine whether this is a DP or AP register access */
1093         uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
1094         /* Determine the AP number from cached SELECT value */
1095         uint32_t ap_num = (xds110.select & 0xff000000) >> 24;
1096         /* Extract register address from command */
1097         uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
1098         /* Extract bank address from cached SELECT value */
1099         uint32_t bank = (xds110.select & 0x000000f0);
1100
1101         uint32_t reg_value = 0;
1102         uint32_t temp_value = 0;
1103
1104         bool success;
1105
1106         if (!is_read_request)
1107                 return false;
1108
1109         if (DAP_AP == type) {
1110                 /* Add bank address to register address for CMAPI call */
1111                 address |= bank;
1112         }
1113
1114         if (DAP_DP == type && DAP_DP_RDBUFF == address && xds110.use_rdbuff) {
1115                 /* If RDBUFF is cached and this is a DP RDBUFF read, use the cache */
1116                 reg_value = xds110.rdbuff;
1117                 success = true;
1118         } else if (DAP_AP == type && DAP_AP_DRW == address && xds110.use_rdbuff) {
1119                 /* If RDBUFF is cached and this is an AP DRW read, use the cache, */
1120                 /* but still call into the firmware to get the next read. */
1121                 reg_value = xds110.rdbuff;
1122                 success = cmapi_read_dap_reg(type, ap_num, address, &temp_value);
1123         } else {
1124                 success = cmapi_read_dap_reg(type, ap_num, address, &temp_value);
1125                 if (success)
1126                         reg_value = temp_value;
1127         }
1128
1129         /* Mark that we have consumed or invalidated the RDBUFF cache */
1130         xds110.use_rdbuff = false;
1131
1132         /* Handle result of read attempt */
1133         if (!success)
1134                 LOG_ERROR("XDS110: failed to read DAP register");
1135         else if (NULL != value)
1136                 *value = reg_value;
1137
1138         if (success && DAP_AP == type) {
1139                 /*
1140                  * On a successful DAP AP read, we actually have the value from RDBUFF,
1141                  * the firmware will have run the AP request and made the RDBUFF read
1142                  */
1143                 xds110.use_rdbuff = true;
1144                 xds110.rdbuff = temp_value;
1145         }
1146
1147         return success;
1148 }
1149
1150 static bool xds110_legacy_write_reg(uint8_t cmd, uint32_t value)
1151 {
1152         /* Make sure this isn't a read request */
1153         bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
1154         /* Determine whether this is a DP or AP register access */
1155         uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
1156         /* Determine the AP number from cached SELECT value */
1157         uint32_t ap_num = (xds110.select & 0xff000000) >> 24;
1158         /* Extract register address from command */
1159         uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
1160         /* Extract bank address from cached SELECT value */
1161         uint32_t bank = (xds110.select & 0x000000f0);
1162
1163         bool success;
1164
1165         if (is_read_request)
1166                 return false;
1167
1168         /* Invalidate the RDBUFF cache */
1169         xds110.use_rdbuff = false;
1170
1171         if (DAP_AP == type) {
1172                 /* Add bank address to register address for CMAPI call */
1173                 address |= bank;
1174                 /* Any write to an AP register invalidates the firmware's cache */
1175                 xds110.is_ap_dirty = true;
1176         } else if (DAP_DP_SELECT == address) {
1177                 /* Any write to the SELECT register invalidates the firmware's cache */
1178                 xds110.is_ap_dirty = true;
1179         }
1180
1181         success = cmapi_write_dap_reg(type, ap_num, address, &value);
1182
1183         if (!success) {
1184                 LOG_ERROR("XDS110: failed to write DAP register");
1185         } else {
1186                 /*
1187                  * If the debugger wrote to SELECT, cache the value
1188                  * to use to build the apNum and address values above
1189                  */
1190                 if ((DAP_DP == type) && (DAP_DP_SELECT == address))
1191                         xds110.select = value;
1192         }
1193
1194         return success;
1195 }
1196
1197 static int xds110_swd_run_queue(void)
1198 {
1199         static uint32_t dap_results[MAX_RESULT_QUEUE];
1200         uint8_t cmd;
1201         uint32_t request;
1202         uint32_t result;
1203         uint32_t value;
1204         bool success = true;
1205
1206         if (0 == xds110.txn_request_size)
1207                 return ERROR_OK;
1208
1209         /* Terminate request queue */
1210         xds110.txn_requests[xds110.txn_request_size++] = 0;
1211
1212         if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
1213                 /* XDS110 firmware has the API to directly handle the queue */
1214                 success = ocd_dap_request(xds110.txn_requests,
1215                         xds110.txn_request_size, dap_results, xds110.txn_result_count);
1216         } else {
1217                 /* Legacy firmware needs to handle queue via discrete DAP calls */
1218                 request = 0;
1219                 result = 0;
1220                 while (xds110.txn_requests[request] != 0) {
1221                         cmd = xds110.txn_requests[request++];
1222                         if (0 == (SWD_CMD_RnW & cmd)) {
1223                                 /* DAP register write command */
1224                                 value  = (uint32_t)(xds110.txn_requests[request++]) <<  0;
1225                                 value |= (uint32_t)(xds110.txn_requests[request++]) <<  8;
1226                                 value |= (uint32_t)(xds110.txn_requests[request++]) << 16;
1227                                 value |= (uint32_t)(xds110.txn_requests[request++]) << 24;
1228                                 if (success)
1229                                         success = xds110_legacy_write_reg(cmd, value);
1230                         } else {
1231                                 /* DAP register read command */
1232                                 value = 0;
1233                                 if (success)
1234                                         success = xds110_legacy_read_reg(cmd, &value);
1235                                 dap_results[result++] = value;
1236                         }
1237                 }
1238         }
1239
1240         /* Transfer results into caller's buffers */
1241         for (result = 0; result < xds110.txn_result_count; result++)
1242                 if (0 != xds110.txn_dap_results[result])
1243                         *xds110.txn_dap_results[result] = dap_results[result];
1244
1245         xds110.txn_request_size = 0;
1246         xds110.txn_result_size = 0;
1247         xds110.txn_result_count = 0;
1248
1249         return (success) ? ERROR_OK : ERROR_FAIL;
1250 }
1251
1252 static void xds110_swd_queue_cmd(uint8_t cmd, uint32_t *value)
1253 {
1254         /* Check if this is a read or write request */
1255         bool is_read_request = (0 != (SWD_CMD_RnW & cmd));
1256         /* Determine whether this is a DP or AP register access */
1257         uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP;
1258         /* Extract register address from command */
1259         uint32_t address = ((cmd & SWD_CMD_A32) >> 1);
1260         uint32_t request_size = (is_read_request) ? 1 : 5;
1261
1262         /* Check if new request would be too large to fit */
1263         if (((xds110.txn_request_size + request_size + 1) > MAX_DATA_BLOCK) ||
1264                 ((xds110.txn_result_count + 1) > MAX_RESULT_QUEUE))
1265                 xds110_swd_run_queue();
1266
1267         /* Set the START bit in cmd to ensure cmd is not zero */
1268         /* (a value of zero is used to terminate the buffer) */
1269         cmd |= SWD_CMD_START;
1270
1271         /* Add request to queue; queue is built marshalled for XDS110 call */
1272         if (is_read_request) {
1273                 /* Queue read request, save pointer to pass back result */
1274                 xds110.txn_requests[xds110.txn_request_size++] = cmd;
1275                 xds110.txn_dap_results[xds110.txn_result_count++] = value;
1276                 xds110.txn_result_size += 4;
1277         } else {
1278                 /* Check for and prevent sticky overrun detection */
1279                 if (DAP_DP == type && DAP_DP_CTRL == address &&
1280                         (*value & CORUNDETECT)) {
1281                         LOG_DEBUG("XDS110: refusing to enable sticky overrun detection");
1282                         *value &= ~CORUNDETECT;
1283                 }
1284                 /* Queue write request, add value directly to queue buffer */
1285                 xds110.txn_requests[xds110.txn_request_size++] = cmd;
1286                 xds110.txn_requests[xds110.txn_request_size++] = (*value >>  0) & 0xff;
1287                 xds110.txn_requests[xds110.txn_request_size++] = (*value >>  8) & 0xff;
1288                 xds110.txn_requests[xds110.txn_request_size++] = (*value >> 16) & 0xff;
1289                 xds110.txn_requests[xds110.txn_request_size++] = (*value >> 24) & 0xff;
1290         }
1291 }
1292
1293 static void xds110_swd_read_reg(uint8_t cmd, uint32_t *value,
1294         uint32_t ap_delay_clk)
1295 {
1296         xds110_swd_queue_cmd(cmd, value);
1297 }
1298 static void xds110_swd_write_reg(uint8_t cmd, uint32_t value,
1299         uint32_t ap_delay_clk)
1300 {
1301         xds110_swd_queue_cmd(cmd, &value);
1302 }
1303
1304 /***************************************************************************
1305  *   jtag interface                                                        *
1306  *                                                                         *
1307  *   The following functions provide XDS110 interface to OpenOCD.          *
1308  ***************************************************************************/
1309
1310 static void xds110_show_info(void)
1311 {
1312         uint32_t firmware = xds110.firmware;
1313
1314         LOG_INFO("XDS110: firmware version = %d.%d.%d.%d",
1315                 (((firmware >> 28) & 0xf) * 10) + ((firmware >> 24) & 0xf),
1316                 (((firmware >> 20) & 0xf) * 10) + ((firmware >> 16) & 0xf),
1317                 (((firmware >> 12) & 0xf) * 10) + ((firmware >>  8) & 0xf),
1318                 (((firmware >>  4) & 0xf) * 10) + ((firmware >>  0) & 0xf));
1319         LOG_INFO("XDS110: hardware version = 0x%04x", xds110.hardware);
1320         if (0 != xds110.serial[0])
1321                 LOG_INFO("XDS110: serial number = %s)", xds110.serial);
1322         if (xds110.is_swd_mode) {
1323                 LOG_INFO("XDS110: connected to target via SWD");
1324                 LOG_INFO("XDS110: SWCLK set to %d kHz", xds110.speed);
1325         } else {
1326                 LOG_INFO("XDS110: connected to target via JTAG");
1327                 LOG_INFO("XDS110: TCK set to %d kHz", xds110.speed);
1328         }
1329
1330         /* Alert user that there's a better firmware to use */
1331         if (firmware < OCD_FIRMWARE_VERSION) {
1332                 LOG_WARNING("XDS110: the firmware is not optimized for OpenOCD");
1333                 LOG_WARNING(OCD_FIRMWARE_UPGRADE);
1334         }
1335 }
1336
1337 static int xds110_quit(void)
1338 {
1339         if (xds110.is_cmapi_acquired) {
1340                 (void)cmapi_release();
1341                 xds110.is_cmapi_acquired = false;
1342         }
1343         if (xds110.is_cmapi_connected) {
1344                 (void)cmapi_disconnect();
1345                 xds110.is_cmapi_connected = false;
1346         }
1347         if (xds110.is_connected) {
1348                 if (xds110.is_swd_mode) {
1349                         /* Switch out of SWD mode */
1350                         (void)swd_disconnect();
1351                 } else {
1352                         /* Switch out of cJTAG mode */
1353                         (void)cjtag_disconnect();
1354                 }
1355                 /* Tell firmware we're disconnecting */
1356                 (void)xds_disconnect();
1357                 xds110.is_connected = false;
1358         }
1359         /* Close down the USB connection to the XDS110 debug probe */
1360         usb_disconnect();
1361
1362         return ERROR_OK;
1363 }
1364
1365 static int xds110_init(void)
1366 {
1367         bool success;
1368
1369         /* Establish USB connection to the XDS110 debug probe */
1370         success = usb_connect();
1371
1372         if (success) {
1373                 /* Send connect message to XDS110 firmware */
1374                 success = xds_connect();
1375                 if (success)
1376                         xds110.is_connected = true;
1377         }
1378
1379         if (success) {
1380                 uint32_t firmware;
1381                 uint16_t hardware;
1382
1383                 /* Retrieve version IDs from firmware */
1384                 /* Version numbers are stored in BCD format */
1385                 success = xds_version(&firmware, &hardware);
1386                 if (success) {
1387                         /* Save the firmware and hardware version */
1388                         xds110.firmware = firmware;
1389                         xds110.hardware = hardware;
1390                 }
1391         }
1392
1393         if (success) {
1394                 success = xds_set_trst(0);
1395                 if (success)
1396                         success = xds_cycle_tck(50);
1397                 if (success)
1398                         success = xds_set_trst(1);
1399                 if (success)
1400                         success = xds_cycle_tck(50);
1401         }
1402
1403         if (success) {
1404                 if (xds110.is_swd_mode) {
1405                         /* Switch to SWD if needed */
1406                         success = swd_connect();
1407                 } else {
1408                         success = cjtag_connect(MODE_JTAG);
1409                 }
1410         }
1411
1412         if (success && xds110.is_swd_mode) {
1413                 uint32_t idcode;
1414
1415                 /* Connect to CMAPI interface in XDS110 */
1416                 success = cmapi_connect(&idcode);
1417
1418                 /* Acquire exclusive access to CMAPI interface */
1419                 if (success) {
1420                         xds110.is_cmapi_connected = true;
1421                         success = cmapi_acquire();
1422                         if (success)
1423                                 xds110.is_cmapi_acquired = true;
1424                 }
1425         }
1426
1427         if (!success)
1428                 xds110_quit();
1429
1430         if (success)
1431                 xds110_show_info();
1432
1433         return (success) ? ERROR_OK : ERROR_FAIL;
1434 }
1435
1436 static void xds110_legacy_scan(uint32_t shift_state, uint32_t total_bits,
1437         uint32_t end_state, uint8_t *data_out, uint8_t *data_in)
1438 {
1439         (void)xds_jtag_scan(shift_state, total_bits, end_state, data_out, data_in);
1440 }
1441
1442 static void xds110_legacy_runtest(uint32_t clocks, uint32_t end_state)
1443 {
1444         xds_goto_state(XDS_JTAG_STATE_IDLE);
1445         xds_cycle_tck(clocks);
1446         xds_goto_state(end_state);
1447 }
1448
1449 static void xds110_legacy_stableclocks(uint32_t clocks)
1450 {
1451         xds_cycle_tck(clocks);
1452 }
1453
1454 static void xds110_flush(void)
1455 {
1456         uint8_t command;
1457         uint32_t clocks;
1458         uint32_t shift_state;
1459         uint32_t end_state;
1460         uint32_t bits;
1461         uint32_t bytes;
1462         uint32_t request;
1463         uint32_t result;
1464         uint8_t *data_out;
1465         uint8_t data_in[MAX_DATA_BLOCK];
1466         uint8_t *data_pntr;
1467
1468         if (0 == xds110.txn_request_size)
1469                 return;
1470
1471         /* Terminate request queue */
1472         xds110.txn_requests[xds110.txn_request_size++] = 0;
1473
1474         if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
1475                 /* Updated firmware has the API to directly handle the queue */
1476                 (void)ocd_scan_request(xds110.txn_requests, xds110.txn_request_size,
1477                         data_in, xds110.txn_result_size);
1478         } else {
1479                 /* Legacy firmware needs to handle queue via discrete JTAG calls */
1480                 request = 0;
1481                 result = 0;
1482                 while (xds110.txn_requests[request] != 0) {
1483                         command = xds110.txn_requests[request++];
1484                         switch (command) {
1485                                 case CMD_IR_SCAN:
1486                                 case CMD_DR_SCAN:
1487                                         if (command == CMD_IR_SCAN)
1488                                                 shift_state = XDS_JTAG_STATE_SHIFT_IR;
1489                                         else
1490                                                 shift_state = XDS_JTAG_STATE_SHIFT_DR;
1491                                         end_state = (uint32_t)(xds110.txn_requests[request++]);
1492                                         bits  = (uint32_t)(xds110.txn_requests[request++]) << 0;
1493                                         bits |= (uint32_t)(xds110.txn_requests[request++]) << 8;
1494                                         data_out = &xds110.txn_requests[request];
1495                                         bytes = DIV_ROUND_UP(bits, 8);
1496                                         xds110_legacy_scan(shift_state, bits, end_state, data_out,
1497                                                 &data_in[result]);
1498                                         result += bytes;
1499                                         request += bytes;
1500                                         break;
1501                                 case CMD_RUNTEST:
1502                                         clocks  = (uint32_t)(xds110.txn_requests[request++]) <<  0;
1503                                         clocks |= (uint32_t)(xds110.txn_requests[request++]) <<  8;
1504                                         clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16;
1505                                         clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24;
1506                                         end_state = (uint32_t)xds110.txn_requests[request++];
1507                                         xds110_legacy_runtest(clocks, end_state);
1508                                         break;
1509                                 case CMD_STABLECLOCKS:
1510                                         clocks  = (uint32_t)(xds110.txn_requests[request++]) <<  0;
1511                                         clocks |= (uint32_t)(xds110.txn_requests[request++]) <<  8;
1512                                         clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16;
1513                                         clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24;
1514                                         xds110_legacy_stableclocks(clocks);
1515                                         break;
1516                                 default:
1517                                         LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered",
1518                                                 command);
1519                                         exit(-1);
1520                                         break;
1521                         }
1522                 }
1523         }
1524
1525         /* Transfer results into caller's buffers from data_in buffer */
1526         bits = 0; /* Bit offset into current scan result */
1527         data_pntr = data_in;
1528         for (result = 0; result < xds110.txn_result_count; result++) {
1529                 if (xds110.txn_scan_results[result].first) {
1530                         if (bits != 0) {
1531                                 bytes = DIV_ROUND_UP(bits, 8);
1532                                 data_pntr += bytes;
1533                         }
1534                         bits = 0;
1535                 }
1536                 if (xds110.txn_scan_results[result].buffer != 0)
1537                         bit_copy(xds110.txn_scan_results[result].buffer, 0, data_pntr,
1538                                 bits, xds110.txn_scan_results[result].num_bits);
1539                 bits += xds110.txn_scan_results[result].num_bits;
1540         }
1541
1542         xds110.txn_request_size = 0;
1543         xds110.txn_result_size = 0;
1544         xds110.txn_result_count = 0;
1545 }
1546
1547 static void xds110_execute_reset(struct jtag_command *cmd)
1548 {
1549         char trst;
1550         char srst;
1551
1552         if (cmd->cmd.reset->trst != -1) {
1553                 if (cmd->cmd.reset->trst == 0) {
1554                         /* Deassert nTRST (active low) */
1555                         trst = 1;
1556                 } else {
1557                         /* Assert nTRST (active low) */
1558                         trst = 0;
1559                 }
1560                 (void)xds_set_trst(trst);
1561         }
1562
1563         if (cmd->cmd.reset->srst != -1) {
1564                 if (cmd->cmd.reset->srst == 0) {
1565                         /* Deassert nSRST (active low) */
1566                         srst = 1;
1567                 } else {
1568                         /* Assert nSRST (active low) */
1569                         srst = 0;
1570                 }
1571                 (void)xds_set_srst(srst);
1572         }
1573 }
1574
1575 static void xds110_execute_sleep(struct jtag_command *cmd)
1576 {
1577         jtag_sleep(cmd->cmd.sleep->us);
1578         return;
1579 }
1580
1581 static void xds110_execute_tlr_reset(struct jtag_command *cmd)
1582 {
1583         (void)xds_goto_state(XDS_JTAG_STATE_RESET);
1584
1585         return;
1586 }
1587
1588 static void xds110_execute_pathmove(struct jtag_command *cmd)
1589 {
1590         uint32_t i;
1591         uint32_t num_states;
1592         uint8_t *path;
1593
1594         num_states = (uint32_t)cmd->cmd.pathmove->num_states;
1595
1596         if (num_states == 0)
1597                 return;
1598
1599         path = (uint8_t *)malloc(num_states * sizeof(uint8_t));
1600         if (path == 0) {
1601                 LOG_ERROR("XDS110: unable to allocate memory");
1602                 return;
1603         }
1604
1605         /* Convert requested path states into XDS API states */
1606         for (i = 0; i < num_states; i++)
1607                 path[i] = (uint8_t)xds_jtag_state[cmd->cmd.pathmove->path[i]];
1608
1609         if (xds110.firmware >= OCD_FIRMWARE_VERSION) {
1610                 /* Updated firmware fully supports pathmove */
1611                 (void)ocd_pathmove(num_states, path);
1612         } else {
1613                 /* Notify user that legacy firmware simply cannot handle pathmove */
1614                 LOG_ERROR("XDS110: the firmware does not support pathmove command");
1615                 LOG_ERROR(OCD_FIRMWARE_UPGRADE);
1616                 /* If pathmove is required, then debug is not possible */
1617                 exit(-1);
1618         }
1619
1620         free((void *)path);
1621
1622         return;
1623 }
1624
1625 static void xds110_queue_scan(struct jtag_command *cmd)
1626 {
1627         int i;
1628         uint32_t offset;
1629         uint32_t total_fields;
1630         uint32_t total_bits;
1631         uint32_t total_bytes;
1632         uint8_t end_state;
1633         uint8_t *buffer;
1634
1635         /* Calculate the total number of bits to scan */
1636         total_bits = 0;
1637         total_fields = 0;
1638         for (i = 0; i < cmd->cmd.scan->num_fields; i++) {
1639                 total_fields++;
1640                 total_bits += (uint32_t)cmd->cmd.scan->fields[i].num_bits;
1641         }
1642
1643         if (total_bits == 0)
1644                 return;
1645
1646         total_bytes = DIV_ROUND_UP(total_bits, 8);
1647
1648         /* Check if new request would be too large to fit */
1649         if (((xds110.txn_request_size + 1 + total_bytes + sizeof(end_state) + 1)
1650                 > MAX_DATA_BLOCK) || ((xds110.txn_result_count + total_fields) >
1651                 MAX_RESULT_QUEUE))
1652                 xds110_flush();
1653
1654         /* Check if this single request is too large to fit */
1655         if ((1 + total_bytes + sizeof(end_state) + 1) > MAX_DATA_BLOCK) {
1656                 LOG_ERROR("BUG: JTAG scan request is too large to handle (%d bits)",
1657                         total_bits);
1658                 /* Failing to run this scan mucks up debug on this target */
1659                 exit(-1);
1660         }
1661
1662         if (cmd->cmd.scan->ir_scan)
1663                 xds110.txn_requests[xds110.txn_request_size++] = CMD_IR_SCAN;
1664         else
1665                 xds110.txn_requests[xds110.txn_request_size++] = CMD_DR_SCAN;
1666
1667         end_state = (uint8_t)xds_jtag_state[cmd->cmd.scan->end_state];
1668         xds110.txn_requests[xds110.txn_request_size++] = end_state;
1669
1670         xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 0) & 0xff;
1671         xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 8) & 0xff;
1672
1673         /* Build request data by flattening fields into single buffer */
1674         /* also populate the results array to return the results when run */
1675         offset = 0;
1676         buffer = &xds110.txn_requests[xds110.txn_request_size];
1677         /* Clear data out buffer to default value of all zeros */
1678         memset((void *)buffer, 0x00, total_bytes);
1679         for (i = 0; i < cmd->cmd.scan->num_fields; i++) {
1680                 if (cmd->cmd.scan->fields[i].out_value != 0) {
1681                         /* Copy over data to scan out into request buffer */
1682                         bit_copy(buffer, offset, cmd->cmd.scan->fields[i].out_value, 0,
1683                                 cmd->cmd.scan->fields[i].num_bits);
1684                 }
1685                 offset += cmd->cmd.scan->fields[i].num_bits;
1686                 xds110.txn_scan_results[xds110.txn_result_count].first = (i == 0);
1687                 xds110.txn_scan_results[xds110.txn_result_count].num_bits =
1688                         cmd->cmd.scan->fields[i].num_bits;
1689                 xds110.txn_scan_results[xds110.txn_result_count++].buffer =
1690                         cmd->cmd.scan->fields[i].in_value;
1691         }
1692         xds110.txn_request_size += total_bytes;
1693         xds110.txn_result_size += total_bytes;
1694
1695         return;
1696 }
1697
1698 static void xds110_queue_runtest(struct jtag_command *cmd)
1699 {
1700         uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles;
1701         uint8_t end_state = (uint8_t)xds_jtag_state[cmd->cmd.runtest->end_state];
1702
1703         /* Check if new request would be too large to fit */
1704         if ((xds110.txn_request_size + 1 + sizeof(clocks) + sizeof(end_state) + 1)
1705                 > MAX_DATA_BLOCK)
1706                 xds110_flush();
1707
1708         /* Queue request and cycle count directly to queue buffer */
1709         xds110.txn_requests[xds110.txn_request_size++] = CMD_RUNTEST;
1710         xds110.txn_requests[xds110.txn_request_size++] = (clocks >>  0) & 0xff;
1711         xds110.txn_requests[xds110.txn_request_size++] = (clocks >>  8) & 0xff;
1712         xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff;
1713         xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff;
1714         xds110.txn_requests[xds110.txn_request_size++] = end_state;
1715
1716         return;
1717 }
1718
1719 static void xds110_queue_stableclocks(struct jtag_command *cmd)
1720 {
1721         uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles;
1722
1723         /* Check if new request would be too large to fit */
1724         if ((xds110.txn_request_size + 1 + sizeof(clocks) + 1) > MAX_DATA_BLOCK)
1725                 xds110_flush();
1726
1727         /* Queue request and cycle count directly to queue buffer */
1728         xds110.txn_requests[xds110.txn_request_size++] = CMD_STABLECLOCKS;
1729         xds110.txn_requests[xds110.txn_request_size++] = (clocks >>  0) & 0xff;
1730         xds110.txn_requests[xds110.txn_request_size++] = (clocks >>  8) & 0xff;
1731         xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff;
1732         xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff;
1733
1734         return;
1735 }
1736
1737 static void xds110_execute_command(struct jtag_command *cmd)
1738 {
1739         switch (cmd->type) {
1740                 case JTAG_RESET:
1741                         xds110_flush();
1742                         xds110_execute_reset(cmd);
1743                         break;
1744                 case JTAG_SLEEP:
1745                         xds110_flush();
1746                         xds110_execute_sleep(cmd);
1747                         break;
1748                 case JTAG_TLR_RESET:
1749                         xds110_flush();
1750                         xds110_execute_tlr_reset(cmd);
1751                         break;
1752                 case JTAG_PATHMOVE:
1753                         xds110_flush();
1754                         xds110_execute_pathmove(cmd);
1755                         break;
1756                 case JTAG_SCAN:
1757                         xds110_queue_scan(cmd);
1758                         break;
1759                 case JTAG_RUNTEST:
1760                         xds110_queue_runtest(cmd);
1761                         break;
1762                 case JTAG_STABLECLOCKS:
1763                         xds110_queue_stableclocks(cmd);
1764                         break;
1765                 case JTAG_TMS:
1766                 default:
1767                         LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered",
1768                                 cmd->type);
1769                         exit(-1);
1770         }
1771 }
1772
1773 static int xds110_execute_queue(void)
1774 {
1775         struct jtag_command *cmd = jtag_command_queue;
1776
1777         while (cmd != NULL) {
1778                 xds110_execute_command(cmd);
1779                 cmd = cmd->next;
1780         }
1781
1782         xds110_flush();
1783
1784         return ERROR_OK;
1785 }
1786
1787 static int xds110_speed(int speed)
1788 {
1789         bool success;
1790
1791         if (speed == 0) {
1792                 LOG_INFO("XDS110: RTCK not supported");
1793                 return ERROR_JTAG_NOT_IMPLEMENTED;
1794         }
1795
1796         if (speed > XDS110_MAX_TCK_SPEED) {
1797                 LOG_INFO("XDS110: reduce speed request: %dkHz to %dkHz maximum",
1798                         speed, XDS110_MAX_TCK_SPEED);
1799                 speed = XDS110_MAX_TCK_SPEED;
1800         }
1801
1802         if (speed < XDS110_MIN_TCK_SPEED) {
1803                 LOG_INFO("XDS110: increase speed request: %dkHz to %dkHz minimum",
1804                         speed, XDS110_MIN_TCK_SPEED);
1805                 speed = XDS110_MIN_TCK_SPEED;
1806         }
1807
1808         /* The default is the maximum frequency the XDS110 can support */
1809         uint32_t freq_to_use = XDS110_MAX_TCK_SPEED * 1000; /* Hz */
1810         uint32_t delay_count = 0;
1811
1812         if (XDS110_MAX_TCK_SPEED != speed) {
1813                 freq_to_use = speed * 1000; /* Hz */
1814
1815                 /* Calculate the delay count value */
1816                 double one_giga = 1000000000;
1817                 /* Get the pulse duration for the maximum frequency supported in ns */
1818                 double max_freq_pulse_duration = one_giga /
1819                         (XDS110_MAX_TCK_SPEED * 1000);
1820
1821                 /* Convert frequency to pulse duration */
1822                 double freq_to_pulse_width_in_ns = one_giga / freq_to_use;
1823
1824                 /*
1825                  * Start with the pulse duration for the maximum frequency. Keep
1826                  * decrementing the time added by each count value till the requested
1827                  * frequency pulse is less than the calculated value.
1828                  */
1829                 double current_value = max_freq_pulse_duration;
1830
1831                 while (current_value < freq_to_pulse_width_in_ns) {
1832                         current_value += XDS110_TCK_PULSE_INCREMENT;
1833                         ++delay_count;
1834                 }
1835
1836                 /*
1837                  * Determine which delay count yields the best match.
1838                  * The one obtained above or one less.
1839                  */
1840                 if (delay_count) {
1841                         double diff_freq_1 = freq_to_use -
1842                                 (one_giga / (max_freq_pulse_duration +
1843                                 (XDS110_TCK_PULSE_INCREMENT * delay_count)));
1844                         double diff_freq_2 = (one_giga / (max_freq_pulse_duration +
1845                                 (XDS110_TCK_PULSE_INCREMENT * (delay_count - 1)))) -
1846                                 freq_to_use;
1847
1848                         /* One less count value yields a better match */
1849                         if (diff_freq_1 > diff_freq_2)
1850                                 --delay_count;
1851                 }
1852         }
1853
1854         /* Send the delay count to the XDS110 firmware */
1855         success = xds_set_tck_delay(delay_count);
1856
1857         if (success) {
1858                 xds110.delay_count = delay_count;
1859                 xds110.speed = speed;
1860         }
1861
1862         return (success) ? ERROR_OK : ERROR_FAIL;
1863 }
1864
1865 static int xds110_speed_div(int speed, int *khz)
1866 {
1867         *khz = speed;
1868         return ERROR_OK;
1869 }
1870
1871 static int xds110_khz(int khz, int *jtag_speed)
1872 {
1873         *jtag_speed = khz;
1874         return ERROR_OK;
1875 }
1876
1877 static int_least32_t xds110_swd_frequency(int_least32_t hz)
1878 {
1879         if (hz > 0)
1880                 xds110_speed(hz / 1000);
1881         return hz;
1882 }
1883
1884 COMMAND_HANDLER(xds110_handle_info_command)
1885 {
1886         xds110_show_info();
1887         return ERROR_OK;
1888 }
1889
1890 COMMAND_HANDLER(xds110_handle_serial_command)
1891 {
1892         wchar_t serial[XDS110_SERIAL_LEN + 1];
1893
1894         xds110.serial[0] = 0;
1895
1896         if (CMD_ARGC == 1) {
1897                 size_t len = mbstowcs(0, CMD_ARGV[0], 0);
1898                 if (len > XDS110_SERIAL_LEN) {
1899                         LOG_ERROR("XDS110: serial number is limited to %d characters",
1900                                 XDS110_SERIAL_LEN);
1901                         return ERROR_FAIL;
1902                 }
1903                 if ((size_t)-1 == mbstowcs(serial, CMD_ARGV[0], len + 1)) {
1904                         LOG_ERROR("XDS110: unable to convert serial number");
1905                         return ERROR_FAIL;
1906                 }
1907
1908                 for (uint32_t i = 0; i < len; i++)
1909                         xds110.serial[i] = (char)serial[i];
1910
1911                 xds110.serial[len] = 0;
1912         } else {
1913                 LOG_ERROR("XDS110: expected exactly one argument to xds110_serial "
1914                         "<serial-number>");
1915                 return ERROR_FAIL;
1916         }
1917
1918         return ERROR_OK;
1919 }
1920
1921 static const struct command_registration xds110_subcommand_handlers[] = {
1922         {
1923                 .name = "info",
1924                 .handler = &xds110_handle_info_command,
1925                 .mode = COMMAND_EXEC,
1926                 .usage = "",
1927                 .help = "show XDS110 info",
1928         },
1929         COMMAND_REGISTRATION_DONE
1930 };
1931
1932 static const struct command_registration xds110_command_handlers[] = {
1933         {
1934                 .name = "xds110",
1935                 .mode = COMMAND_ANY,
1936                 .help = "perform XDS110 management",
1937                 .usage = "<cmd>",
1938                 .chain = xds110_subcommand_handlers,
1939         },
1940         {
1941                 .name = "xds110_serial",
1942                 .handler = &xds110_handle_serial_command,
1943                 .mode = COMMAND_CONFIG,
1944                 .help = "set the XDS110 probe serial number",
1945                 .usage = "serial_string",
1946         },
1947         COMMAND_REGISTRATION_DONE
1948 };
1949
1950 static const struct swd_driver xds110_swd_driver = {
1951         .init = xds110_swd_init,
1952         .frequency = xds110_swd_frequency,
1953         .switch_seq = xds110_swd_switch_seq,
1954         .read_reg = xds110_swd_read_reg,
1955         .write_reg = xds110_swd_write_reg,
1956         .run = xds110_swd_run_queue,
1957 };
1958
1959 static const char * const xds110_transport[] = { "swd", "jtag", NULL };
1960
1961 struct jtag_interface xds110_interface = {
1962         .name = "xds110",
1963         .commands = xds110_command_handlers,
1964         .swd = &xds110_swd_driver,
1965         .transports = xds110_transport,
1966
1967         .execute_queue = xds110_execute_queue,
1968         .speed = xds110_speed,
1969         .speed_div = xds110_speed_div,
1970         .khz = xds110_khz,
1971         .init = xds110_init,
1972         .quit = xds110_quit,
1973 };