cmsis-dap: add initial cmsis-dap support

This is based on work from:
https://github.com/TheShed/OpenOCD-CMSIS-DAP/tree/cmsis-dap

Main changes include moving over to using HIDAPI rather than libusb-1.0
and cleaning up to merge into master. Support for reset using srst has
also been added.

It has been tested on all the mbed boards as well as the Freedom board
from Freescale. These boards only implement SWD mode, however JTAG mode
has been tested with a Keil ULINK2 and a stm32 target - but requires a lot
more work.

Change-Id: I96d5ee1993bc9c0526219ab754c5aad3b55d812d
Signed-off-by: Spencer Oliver <spen@spen-soft.co.uk>
Signed-off-by: Andrey Yurovsky <yurovsky@gmail.com>
Reviewed-on: http://openocd.zylin.com/1542
Tested-by: jenkins

1 files changed, 29 insertions, 5 deletions

diff --git a/src/target/adi_v5_swd.c b/src/target/adi_v5_swd.c
index 027e0669..6ff858a8 100644
--- a/src/target/adi_v5_swd.c
+++ b/src/target/adi_v5_swd.c
@@ -55,10 +55,16 @@
 
 #include <jtag/swd.h>
 
+/* YUK! - but this is currently a global.... */
+extern struct jtag_interface *jtag_interface;
+
 static int swd_queue_dp_read(struct adiv5_dap *dap, unsigned reg,
 		uint32_t *data)
 {
 	/* REVISIT status return vs ack ... */
+	const struct swd_driver *swd = jtag_interface->swd;
+	assert(swd);
+
 	return swd->read_reg(swd_cmd(true,  false, reg), data);
 }
 
@@ -77,6 +83,9 @@ static int (swd_queue_dp_write)(struct adiv5_dap *dap, unsigned reg,
 		uint32_t data)
 {
 	/* REVISIT status return vs ack ... */
+	const struct swd_driver *swd = jtag_interface->swd;
+	assert(swd);
+
 	return swd->write_reg(swd_cmd(false,  false, reg), data);
 }
 
@@ -86,6 +95,9 @@ static int (swd_queue_ap_read)(struct adiv5_dap *dap, unsigned reg,
 {
 	/* REVISIT  APSEL ... */
 	/* REVISIT status return ... */
+	const struct swd_driver *swd = jtag_interface->swd;
+	assert(swd);
+
 	return swd->read_reg(swd_cmd(true,  true, reg), data);
 }
 
@@ -94,6 +106,9 @@ static int (swd_queue_ap_write)(struct adiv5_dap *dap, unsigned reg,
 {
 	/* REVISIT  APSEL ... */
 	/* REVISIT status return ... */
+	const struct swd_driver *swd = jtag_interface->swd;
+	assert(swd);
+
 	return swd->write_reg(swd_cmd(false,  true, reg), data);
 }
 
@@ -185,8 +200,6 @@ int dap_to_swd(struct target *target)
 	return retval;
 }
 
-
-
 COMMAND_HANDLER(handle_swd_wcr)
 {
 	int retval;
@@ -280,7 +293,6 @@ static const struct command_registration swd_handlers[] = {
 
 static int swd_select(struct command_context *ctx)
 {
-	struct target *target = get_current_target(ctx);
 	int retval;
 
 	retval = register_commands(ctx, NULL, swd_handlers);
@@ -288,6 +300,8 @@ static int swd_select(struct command_context *ctx)
 	if (retval != ERROR_OK)
 		return retval;
 
+	const struct swd_driver *swd = jtag_interface->swd;
+
 	 /* be sure driver is in SWD mode; start
 	  * with hardware default TRN (1), it can be changed later
 	  */
@@ -296,14 +310,20 @@ static int swd_select(struct command_context *ctx)
 		return ERROR_FAIL;
 	}
 
-	 retval = swd->init(1);
+	retval = swd->init(1);
 	if (retval != ERROR_OK) {
 		LOG_DEBUG("can't init SWD driver");
 		return retval;
 	}
 
 	/* force DAP into SWD mode (not JTAG) */
-	retval = dap_to_swd(target);
+	/*retval = dap_to_swd(target);*/
+
+	if (ctx->current_target) {
+		/* force DAP into SWD mode (not JTAG) */
+		struct target *target = get_current_target(ctx);
+		retval = dap_to_swd(target);
+	}
 
 	return retval;
 }
@@ -316,6 +336,10 @@ static int swd_init(struct command_context *ctx)
 	uint32_t idcode;
 	int status;
 
+	/* Force the DAP's ops vector for SWD mode.
+	 * messy - is there a better way? */
+	arm->dap->ops = &swd_dap_ops;
+
 	/* FIXME validate transport config ... is the
 	 * configured DAP present (check IDCODE)?
 	 * Is *only* one DAP configured?