diff options
Diffstat (limited to 'src/jtag/drivers/cmsis_dap_usb.c')
| -rw-r--r-- | src/jtag/drivers/cmsis_dap_usb.c | 1091 |
1 files changed, 1091 insertions, 0 deletions
diff --git a/src/jtag/drivers/cmsis_dap_usb.c b/src/jtag/drivers/cmsis_dap_usb.c new file mode 100644 index 00000000..5cd117fc --- /dev/null +++ b/src/jtag/drivers/cmsis_dap_usb.c @@ -0,0 +1,1091 @@ +/*************************************************************************** + * 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, write to the * + * Free Software Foundation, Inc., * + * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. * + ***************************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include <transport/transport.h> +#include <jtag/swd.h> +#include <jtag/interface.h> +#include <jtag/commands.h> +#include <jtag/tcl.h> + +#include <hidapi.h> + +#ifdef _DEBUG_JTAG_IO_ + #define DEBUG_IO(expr...) LOG_DEBUG(expr) +#else + #define DEBUG_IO(expr...) do {} while (0) +#endif + +/* + * 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] = { 0xc251, 0xc251, 0xc251, 0x0d28, 0x03eb, 0 }; +static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0xf001, 0xf002, 0x2722, 0x0204, 0x2111, 0 }; + +#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_VID 0x00 /* string */ +#define INFO_ID_PID 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 + */ + +/* 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 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 char *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; + uint16_t packet_count; + uint8_t *packet_buffer; + uint8_t caps; + uint8_t mode; +}; + +static struct cmsis_dap *cmsis_dap_handle; + +static int cmsis_dap_usb_open(void) +{ + hid_device *dev = NULL; + int i; + + if (hid_init() != 0) { + LOG_ERROR("unable to open HIDAPI"); + return ERROR_FAIL; + } + + for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) { + dev = hid_open(cmsis_dap_vid[i], cmsis_dap_pid[i], NULL); + if (dev != NULL) + break; + } + + if (dev == NULL) { + LOG_ERROR("unable to open CMSIS-DAP device"); + 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 */ + if (cmsis_dap_vid[i] == 0x03eb && cmsis_dap_pid[i] == 0x2111) + 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(); + + if (cmsis_dap_handle->packet_buffer) + free(cmsis_dap_handle->packet_buffer); + + if (cmsis_dap_handle) { + free(cmsis_dap_handle); + cmsis_dap_handle = NULL; + } + + return; +} + +/* Send a message and receive the reply */ +static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen) +{ + /* Pad the rest of the TX buffer with 0's */ + memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - 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; + } + + /* 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 wait, 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] = wait & 0xff; + buffer[5] = (wait >> 8) & 0xff; + buffer[6] = (wait >> 16) & 0xff; + buffer[7] = (wait >> 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; +} + +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 leds) +{ + int retval; + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_LED; + buffer[2] = 0x00; + buffer[3] = leds; + 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 wait, uint16_t 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] = wait & 0xff; + buffer[4] = (wait >> 8) & 0xff; + buffer[5] = retry & 0xff; + buffer[6] = (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 int cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value) +{ + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + int retval; + uint32_t val; + + DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8, cmd); + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_TFER; + buffer[2] = 0x00; + buffer[3] = 0x01; + buffer[4] = cmd; + retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5); + + /* TODO - need better response checking */ + if (retval != ERROR_OK || buffer[1] != 0x01) { + LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]); + return buffer[2]; + } + + val = le_to_h_u32(&buffer[3]); + DEBUG_IO("0x%08" PRIx32, val); + + if (value) + *value = val; + + return retval; +} + +static int cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value) +{ + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value); + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_TFER; + buffer[2] = 0x00; + buffer[3] = 0x01; + buffer[4] = cmd; + buffer[5] = (value) & 0xff; + buffer[6] = (value >> 8) & 0xff; + buffer[7] = (value >> 16) & 0xff; + buffer[8] = (value >> 24) & 0xff; + int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9); + + if (buffer[1] != 0x01) { + LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]); + retval = buffer[2]; + } + + return retval; +} + +static int cmsis_dap_swd_read_block(uint8_t cmd, uint32_t blocksize, uint8_t *dest_buf) +{ + uint8_t *buffer; + int tfer_sz; + int retval = ERROR_OK; + uint16_t read_count; + + DEBUG_IO("CMSIS-DAP: Read Block 0x%02" PRIx8 " %" PRIu32, cmd, blocksize); + + while (blocksize) { + + buffer = cmsis_dap_handle->packet_buffer; + tfer_sz = blocksize; + if (tfer_sz > 15) + tfer_sz = 8; + + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_TFER_BLOCK; + buffer[2] = 0x00; + buffer[3] = tfer_sz; + buffer[4] = 0x00; + buffer[5] = cmd; + retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6); + + read_count = le_to_h_u16(&buffer[1]); + if (read_count != tfer_sz) { + LOG_ERROR("CMSIS-DAP: Block Read Error (0x%02" PRIx8 ")", buffer[3]); + retval = buffer[3]; + } + + read_count *= 4; + memcpy(dest_buf, &buffer[4], read_count); + + dest_buf += read_count; + blocksize -= tfer_sz; + } + + return retval; +} + +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 & (0x01 << 0)) ? 1 : 0, /* Bit 0: SWCLK/TCK */ + (d & (0x01 << 1)) ? 1 : 0, /* Bit 1: SWDIO/TMS */ + (d & (0x01 << 2)) ? 1 : 0, /* Bit 2: TDI */ + (d & (0x01 << 3)) ? 1 : 0, /* Bit 3: TDO */ + (d & (0x01 << 5)) ? 1 : 0, /* Bit 5: nTRST */ + (d & (0x01 << 7)) ? 1 : 0); /* Bit 7: nRESET */ + } + + return retval; +} + +static int cmsis_dap_reset_link(void) +{ + uint8_t *buffer = cmsis_dap_handle->packet_buffer; + + LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link"); + LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)"); + + /* reset line with SWDIO high for >50 cycles */ + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_SWJ_SEQ; + buffer[2] = 7 * 8; + buffer[3] = 0xff; + buffer[4] = 0xff; + buffer[5] = 0xff; + buffer[6] = 0xff; + buffer[7] = 0xff; + buffer[8] = 0xff; + buffer[9] = 0xff; + int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) + return ERROR_FAIL; + + /* 16bit JTAG-SWD sequence */ + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_SWJ_SEQ; + buffer[2] = 2 * 8; + buffer[3] = 0x9e; + buffer[4] = 0xe7; + retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) + return ERROR_FAIL; + + /* another reset just incase */ + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_SWJ_SEQ; + buffer[2] = 7 * 8; + buffer[3] = 0xff; + buffer[4] = 0xff; + buffer[5] = 0xff; + buffer[6] = 0xff; + buffer[7] = 0xff; + buffer[8] = 0xff; + buffer[9] = 0xff; + retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) + return ERROR_FAIL; + + /* 16 cycle idle period */ + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_SWJ_SEQ; + buffer[2] = 2 * 8; + buffer[3] = 0x00; + buffer[4] = 0x00; + retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5); + + if (retval != ERROR_OK || buffer[1] != DAP_OK) + return ERROR_FAIL; + + DEBUG_IO("DAP Read IDCODE"); + + /* read the id code is always the next sequence */ + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_TFER; + buffer[2] = 0x00; + buffer[3] = 0x01; + buffer[4] = 0x02; + retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5); + + if (retval != ERROR_OK) + return retval; + + if (buffer[1] == 0) { + LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]); + + LOG_DEBUG("DAP Reset Target"); + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_RESET_TARGET; + retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2); + LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]); + + LOG_DEBUG("DAP Write Abort"); + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_WRITE_ABORT; + buffer[2] = 0x00; + buffer[3] = 0x1e/*0x1f*/; + buffer[4] = 0x00; + buffer[5] = 0x00; + buffer[6] = 0x00; + retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7); + LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]); + + return 0x80 + buffer[1]; + } + + LOG_DEBUG("DAP Write Abort"); + buffer[0] = 0; /* report number */ + buffer[1] = CMD_DAP_WRITE_ABORT; + buffer[2] = 0x00; + buffer[3] = 0x1e; + buffer[4] = 0x00; + buffer[5] = 0x00; + buffer[6] = 0x00; + retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7); + LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]); + + return retval; +} + +static int cmsis_dap_init(void) +{ + int retval; + uint8_t *data; + + if (cmsis_dap_handle == NULL) { + + /* JTAG init */ + retval = cmsis_dap_usb_open(); + if (retval != ERROR_OK) + return retval; + + retval = cmsis_dap_get_caps_info(); + if (retval != ERROR_OK) + return retval; + + /* 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)"); + } + + retval = cmsis_dap_get_version_info(); + if (retval != ERROR_OK) + return retval; + + /* INFO_ID_PKT_SZ - short */ + retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data); + if (retval != ERROR_OK) + return retval; + + if (data[0] == 2) { /* short */ + uint16_t pkt_sz = data[1] + (data[2] << 8); + + 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 */ + uint16_t pkt_cnt = data[1]; + cmsis_dap_handle->packet_count = pkt_cnt; + LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt); + } + + 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(100); /* 100kHz */ + if (retval != ERROR_OK) + return ERROR_FAIL; + + retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0); + if (retval != ERROR_OK) + return ERROR_FAIL; + retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00); + if (retval != ERROR_OK) + return ERROR_FAIL; + + retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs 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, (1 << 7), 0, NULL); + if (retval != ERROR_OK) + return ERROR_FAIL; + LOG_INFO("Connecting under reset"); + } + } + + retval = cmsis_dap_reset_link(); + if (retval != ERROR_OK) + return ERROR_FAIL; + + cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */ + + LOG_INFO("CMSIS-DAP: Interface ready"); + + return ERROR_OK; +} + +static int cmsis_dap_swd_init(uint8_t trn) +{ + int retval; + + DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_init"); + + if (cmsis_dap_handle == NULL) { + + /* SWD init */ + retval = cmsis_dap_usb_open(); + if (retval != ERROR_OK) + return retval; + + retval = cmsis_dap_get_caps_info(); + if (retval != ERROR_OK) + return 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_quit(void) +{ + cmsis_dap_cmd_DAP_Disconnect(); + cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */ + + cmsis_dap_usb_close(cmsis_dap_handle); + + return ERROR_OK; +} + +static void cmsis_dap_execute_reset(struct jtag_command *cmd) +{ + int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \ + (1 << 7), 0, NULL); + if (retval != ERROR_OK) + LOG_ERROR("CMSIS-DAP: Interface reset failed"); +} + +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); +} + +static void cmsis_dap_execute_command(struct jtag_command *cmd) +{ + switch (cmd->type) { + case JTAG_RESET: + cmsis_dap_execute_reset(cmd); + break; + case JTAG_SLEEP: + cmsis_dap_execute_sleep(cmd); + break; + default: + LOG_ERROR("BUG: unknown JTAG command type encountered"); + 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; + } + + return ERROR_OK; +} + +static int cmsis_dap_speed(int speed) +{ + if (speed > DAP_MAX_CLOCK) { + LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK); + speed = DAP_MAX_CLOCK; + } + + if (speed == 0) { + LOG_INFO("RTCK not supported"); + 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_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; +} + +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", + }, + COMMAND_REGISTRATION_DONE +}; + +COMMAND_HANDLER(cmsis_dap_reset_command) +{ + LOG_DEBUG("cmsis_dap_reset_command"); + return ERROR_OK; +} + +COMMAND_HANDLER(cmsis_dap_jtag_command) +{ + LOG_DEBUG("cmsis_dap_jtag_command"); + return ERROR_OK; +} + +static const struct command_registration cmsis_dap_jtag_subcommand_handlers[] = { + { + .name = "init", + .mode = COMMAND_ANY, + .handler = cmsis_dap_jtag_command, + .usage = "" + }, + { + .name = "arp_init", + .mode = COMMAND_ANY, + .handler = cmsis_dap_jtag_command, + .usage = "" + }, + { + .name = "arp_init-reset", + .mode = COMMAND_ANY, + .handler = cmsis_dap_reset_command, + .usage = "" + }, + { + .name = "tapisenabled", + .mode = COMMAND_EXEC, + .jim_handler = jim_jtag_tap_enabler, + }, + { + .name = "tapenable", + .mode = COMMAND_EXEC, + .jim_handler = jim_jtag_tap_enabler, + }, + { + .name = "tapdisable", + .mode = COMMAND_EXEC, + .handler = cmsis_dap_jtag_command, + .usage = "", + }, + { + .name = "configure", + .mode = COMMAND_EXEC, + .handler = cmsis_dap_jtag_command, + .usage = "", + }, + { + .name = "cget", + .mode = COMMAND_EXEC, + .jim_handler = jim_jtag_configure, + }, + { + .name = "names", + .mode = COMMAND_ANY, + .handler = cmsis_dap_jtag_command, + .usage = "", + }, + COMMAND_REGISTRATION_DONE +}; + +static const struct command_registration cmsis_dap_command_handlers[] = { + { + .name = "cmsis-dap", + .mode = COMMAND_ANY, + .help = "perform CMSIS-DAP management", + .usage = "<cmd>", + .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)* ", + }, + { + /* this is currently a nasty hack so we get + * reset working with non jtag interfaces */ + .name = "jtag", + .mode = COMMAND_ANY, + .usage = "", + .chain = cmsis_dap_jtag_subcommand_handlers, + }, + COMMAND_REGISTRATION_DONE +}; + +static const struct swd_driver cmsis_dap_swd_driver = { + .init = cmsis_dap_swd_init, + .read_reg = cmsis_dap_swd_read_reg, + .write_reg = cmsis_dap_swd_write_reg, + .read_block = cmsis_dap_swd_read_block +}; + +const char *cmsis_dap_transport[] = {"cmsis-dap", NULL}; + +struct jtag_interface cmsis_dap_interface = { + .name = "cmsis-dap", + .commands = cmsis_dap_command_handlers, + .swd = &cmsis_dap_swd_driver, + .transports = cmsis_dap_transport, + + .execute_queue = cmsis_dap_execute_queue, + .speed = cmsis_dap_speed, + .speed_div = cmsis_dap_speed_div, + .khz = cmsis_dap_khz, + .init = cmsis_dap_init, + .quit = cmsis_dap_quit, +}; 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