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-rw-r--r--src/Makefile.am4
-rw-r--r--src/jtag/core.c6
-rw-r--r--src/jtag/drivers/Makefile.am7
-rw-r--r--src/jtag/drivers/cmsis_dap_usb.c1091
-rw-r--r--src/jtag/interface.h2
-rw-r--r--src/jtag/interfaces.c6
-rw-r--r--src/jtag/swd.h17
-rw-r--r--src/jtag/tcl.c2
-rw-r--r--src/target/Makefile.am1
-rw-r--r--src/target/adi_v5_cmsis_dap.c344
-rw-r--r--src/target/adi_v5_swd.c34
11 files changed, 1495 insertions, 19 deletions
diff --git a/src/Makefile.am b/src/Makefile.am
index 48af21d4..5e9c8509 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -75,7 +75,7 @@ libopenocd_la_LIBADD = \
$(top_builddir)/src/rtos/librtos.la \
$(top_builddir)/src/helper/libhelper.la \
$(LIBFTDI_LIBS) $(MINGWLDADD) \
- $(LIBUSB1_LIBS) $(LIBUSB0_LIBS)
+ $(HIDAPI_LIBS) $(LIBUSB1_LIBS) $(LIBUSB0_LIBS)
STARTUP_TCL_SRCS = \
$(srcdir)/helper/startup.tcl \
@@ -103,7 +103,7 @@ CLEANFILES = startup.tcl startup_tcl.c
# we do not want generated file in the dist
dist-hook:
rm -f $(distdir)/startup_tcl.c
-
+
MAINTAINERCLEANFILES = $(srcdir)/Makefile.in
# The "quick" target builds executables & reinstalls the executables
diff --git a/src/jtag/core.c b/src/jtag/core.c
index 08217352..24f6a511 100644
--- a/src/jtag/core.c
+++ b/src/jtag/core.c
@@ -134,8 +134,6 @@ static int jtag_speed;
static struct jtag_interface *jtag;
-const struct swd_driver *swd;
-
/* configuration */
struct jtag_interface *jtag_interface;
@@ -1824,6 +1822,8 @@ void adapter_assert_reset(void)
jtag_add_reset(0, 1);
} else if (transport_is_swd())
swd_add_reset(1);
+ else if (transport_is_cmsis_dap())
+ swd_add_reset(1); /* FIXME */
else if (get_current_transport() != NULL)
LOG_ERROR("reset is not supported on %s",
get_current_transport()->name);
@@ -1837,6 +1837,8 @@ void adapter_deassert_reset(void)
jtag_add_reset(0, 0);
else if (transport_is_swd())
swd_add_reset(0);
+ else if (transport_is_cmsis_dap())
+ swd_add_reset(0); /* FIXME */
else if (get_current_transport() != NULL)
LOG_ERROR("reset is not supported on %s",
get_current_transport()->name);
diff --git a/src/jtag/drivers/Makefile.am b/src/jtag/drivers/Makefile.am
index 00f0165e..72fbb347 100644
--- a/src/jtag/drivers/Makefile.am
+++ b/src/jtag/drivers/Makefile.am
@@ -6,7 +6,8 @@ libocdjtagdrivers_la_LIBADD =
libocdjtagdrivers_la_SOURCES = \
$(DRIVERFILES)
-libocdjtagdrivers_la_CPPFLAGS = $(AM_CPPFLAGS) $(LIBUSB1_CFLAGS) $(LIBUSB0_CFLAGS)
+libocdjtagdrivers_la_CPPFLAGS = $(AM_CPPFLAGS) $(LIBUSB1_CFLAGS) \
+ $(LIBUSB0_CFLAGS) $(HIDAPI_CFLAGS)
ULINK_FIRMWARE = $(srcdir)/OpenULINK
@@ -122,6 +123,10 @@ if OPENJTAG
DRIVERFILES += openjtag.c
endif
+if CMSIS_DAP
+DRIVERFILES += cmsis_dap_usb.c
+endif
+
noinst_HEADERS = \
bitbang.h \
bitq.h \
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,
+};
diff --git a/src/jtag/interface.h b/src/jtag/interface.h
index ac4eacc7..8dacd223 100644
--- a/src/jtag/interface.h
+++ b/src/jtag/interface.h
@@ -302,8 +302,6 @@ struct jtag_interface {
extern const char *jtag_only[];
-extern const struct swd_driver *swd;
-
void adapter_assert_reset(void);
void adapter_deassert_reset(void);
diff --git a/src/jtag/interfaces.c b/src/jtag/interfaces.c
index eb447cdd..d0bc3827 100644
--- a/src/jtag/interfaces.c
+++ b/src/jtag/interfaces.c
@@ -128,6 +128,9 @@ extern struct jtag_interface aice_interface;
#if BUILD_BCM2835GPIO == 1
extern struct jtag_interface bcm2835gpio_interface;
#endif
+#if BUILD_CMSIS_DAP == 1
+extern struct jtag_interface cmsis_dap_interface;
+#endif
#endif /* standard drivers */
/**
@@ -224,6 +227,9 @@ struct jtag_interface *jtag_interfaces[] = {
#if BUILD_BCM2835GPIO == 1
&bcm2835gpio_interface,
#endif
+#if BUILD_CMSIS_DAP == 1
+ &cmsis_dap_interface,
+#endif
#endif /* standard drivers */
NULL,
};
diff --git a/src/jtag/swd.h b/src/jtag/swd.h
index 80d50ff8..f131ddbc 100644
--- a/src/jtag/swd.h
+++ b/src/jtag/swd.h
@@ -110,11 +110,17 @@ struct swd_driver {
*/
int (*write_reg)(uint8_t cmd, uint32_t value);
- /* XXX START WITH enough to:
- * init (synch mode, WCR)
- * for async, TRN > 1
- * read IDCODE from DP
- */
+ /**
+ * Synchronous block read of an AP or DP register.
+ *
+ * @param cmd with APnDP/RnW/addr/parity bits
+ * @param number of reads from register to be executed
+ * @param buffer to store data read from register
+ *
+ * @return SWD_ACK_* code for the transaction
+ * or (negative) fault code
+ */
+ int (*read_block)(uint8_t cmd, uint32_t blocksize, uint8_t *buffer);
/**
* Configures data collection from the Single-wire
@@ -135,5 +141,6 @@ int swd_init_reset(struct command_context *cmd_ctx);
void swd_add_reset(int req_srst);
bool transport_is_swd(void);
+bool transport_is_cmsis_dap(void);
#endif /* SWD_H */
diff --git a/src/jtag/tcl.c b/src/jtag/tcl.c
index 3f63ffc1..ceea1930 100644
--- a/src/jtag/tcl.c
+++ b/src/jtag/tcl.c
@@ -59,8 +59,6 @@ static const Jim_Nvp nvp_jtag_tap_event[] = {
{ .name = NULL, .value = -1 }
};
-extern struct jtag_interface *jtag_interface;
-
struct jtag_tap *jtag_tap_by_jim_obj(Jim_Interp *interp, Jim_Obj *o)
{
const char *cp = Jim_GetString(o, NULL);
diff --git a/src/target/Makefile.am b/src/target/Makefile.am
index 15607536..4d9ea418 100644
--- a/src/target/Makefile.am
+++ b/src/target/Makefile.am
@@ -91,6 +91,7 @@ ARM_DEBUG_SRC = \
arm_adi_v5.c \
adi_v5_jtag.c \
adi_v5_swd.c \
+ adi_v5_cmsis_dap.c \
embeddedice.c \
trace.c \
etb.c \
diff --git a/src/target/adi_v5_cmsis_dap.c b/src/target/adi_v5_cmsis_dap.c
new file mode 100644
index 00000000..3ff5bfe0
--- /dev/null
+++ b/src/target/adi_v5_cmsis_dap.c
@@ -0,0 +1,344 @@
+/***************************************************************************
+ * 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. *
+ ***************************************************************************/
+
+/**
+ * @file
+ * Utilities to support ARM "CMSIS-DAP", The CoreSight Debug Access Port.
+ * This is coupled to recent versions of ARM's "CoreSight" debug framework.
+ * This specific code is a transport level interface, with
+ * "target/arm_adi_v5.[hc]" code understanding operation semantics,
+ * shared with the SWD & JTAG transports.
+ */
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include "arm.h"
+#include "arm_adi_v5.h"
+#include <helper/time_support.h>
+
+#include <transport/transport.h>
+#include <jtag/interface.h>
+
+#include <jtag/swd.h>
+
+#define CMSIS_CMD_DP (0 << 0) /* set only for AP access */
+#define CMSIS_CMD_AP (1 << 0) /* set only for AP access */
+#define CMSIS_CMD_READ (1 << 1) /* set only for read access */
+#define CMSIS_CMD_WRITE (0 << 1) /* set only for read access */
+#define CMSIS_CMD_A32(n) ((n)&0x0C) /* bits A[3:2] of register addr */
+#define CMSIS_CMD_VAL_MATCH (1 << 4) /* Value Match */
+#define CMSIS_CMD_MATCH_MSK (1 << 5) /* Match Mask */
+
+/* YUK! - but this is currently a global.... */
+extern struct jtag_interface *jtag_interface;
+
+static int (cmsis_dap_queue_ap_abort)(struct adiv5_dap *dap, uint8_t *ack)
+{
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_ap_abort");
+
+ /* FIXME: implement this properly cmsis-dap has DAP_WriteABORT()
+ * for now just hack @ everything */
+ return jtag_interface->swd->write_reg(
+ (CMSIS_CMD_DP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(DP_ABORT)), 0x1e);
+}
+
+static int cmsis_dap_queue_dp_read(struct adiv5_dap *dap, unsigned reg, uint32_t *data)
+{
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_dp_read %d", reg);
+
+ int retval = jtag_interface->swd->read_reg(
+ (CMSIS_CMD_DP | CMSIS_CMD_READ | CMSIS_CMD_A32(reg)), data);
+
+ if (retval != ERROR_OK) {
+ /* fault response */
+ uint8_t ack = retval & 0xff;
+ cmsis_dap_queue_ap_abort(dap, &ack);
+ }
+
+ return retval;
+}
+
+static int cmsis_dap_queue_idcode_read(struct adiv5_dap *dap, uint8_t *ack, uint32_t *data)
+{
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_idcode_read");
+
+ int retval = cmsis_dap_queue_dp_read(dap, DP_IDCODE, data);
+ if (retval != ERROR_OK)
+ return retval;
+
+ *ack = retval;
+
+ return ERROR_OK;
+}
+
+static int (cmsis_dap_queue_dp_write)(struct adiv5_dap *dap, unsigned reg, uint32_t data)
+{
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_dp_write %d 0x%08" PRIx32, reg, data);
+
+ /* setting the ORUNDETECT bit causes issues for some targets,
+ * disable until we find out why */
+ if (reg == DP_CTRL_STAT) {
+ LOG_DEBUG("disabling overrun detection");
+ data &= ~CORUNDETECT;
+ }
+
+ int retval = jtag_interface->swd->write_reg(
+ (CMSIS_CMD_DP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(reg)), data);
+
+ if (retval != ERROR_OK) {
+ /* fault response */
+ uint8_t ack = retval & 0xff;
+ cmsis_dap_queue_ap_abort(dap, &ack);
+ }
+
+ return retval;
+}
+
+/** Select the AP register bank matching bits 7:4 of reg. */
+static int cmsis_dap_ap_q_bankselect(struct adiv5_dap *dap, unsigned reg)
+{
+ uint32_t select_ap_bank = reg & 0x000000F0;
+
+ if (select_ap_bank == dap->ap_bank_value)
+ return ERROR_OK;
+
+ dap->ap_bank_value = select_ap_bank;
+ select_ap_bank |= dap->ap_current;
+
+ return cmsis_dap_queue_dp_write(dap, DP_SELECT, select_ap_bank);
+}
+
+static int (cmsis_dap_queue_ap_read)(struct adiv5_dap *dap, unsigned reg, uint32_t *data)
+{
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_ap_read %d", reg);
+
+ int retval = cmsis_dap_ap_q_bankselect(dap, reg);
+ if (retval != ERROR_OK)
+ return retval;
+
+ retval = jtag_interface->swd->read_reg(
+ (CMSIS_CMD_AP | CMSIS_CMD_READ | CMSIS_CMD_A32(reg)), data);
+
+ if (retval != ERROR_OK) {
+ /* fault response */
+ uint8_t ack = retval & 0xff;
+ cmsis_dap_queue_ap_abort(dap, &ack);
+ }
+
+ return retval;
+}
+
+static int (cmsis_dap_queue_ap_write)(struct adiv5_dap *dap, unsigned reg, uint32_t data)
+{
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_ap_write %d 0x%08" PRIx32, reg, data);
+
+ /* TODO: CSW_DBGSWENABLE (bit31) causes issues for some targets
+ * disable until we find out why */
+ if (reg == AP_REG_CSW)
+ data &= ~CSW_DBGSWENABLE;
+
+ int retval = cmsis_dap_ap_q_bankselect(dap, reg);
+ if (retval != ERROR_OK)
+ return retval;
+
+ retval = jtag_interface->swd->write_reg(
+ (CMSIS_CMD_AP | CMSIS_CMD_WRITE | CMSIS_CMD_A32(reg)), data);
+
+ if (retval != ERROR_OK) {
+ /* fault response */
+ uint8_t ack = retval & 0xff;
+ cmsis_dap_queue_ap_abort(dap, &ack);
+ }
+
+ return retval;
+}
+
+static int (cmsis_dap_queue_ap_read_block)(struct adiv5_dap *dap, unsigned reg,
+ uint32_t blocksize, uint8_t *buffer)
+{
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_queue_ap_read_block 0x%08" PRIx32, blocksize);
+
+ int retval = jtag_interface->swd->read_block(
+ (CMSIS_CMD_AP | CMSIS_CMD_READ | CMSIS_CMD_A32(AP_REG_DRW)),
+ blocksize, buffer);
+
+ if (retval != ERROR_OK) {
+ /* fault response */
+ uint8_t ack = retval & 0xff;
+ cmsis_dap_queue_ap_abort(dap, &ack);
+ }
+
+ return retval;
+}
+
+/** Executes all queued DAP operations. */
+static int cmsis_dap_run(struct adiv5_dap *dap)
+{
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_run");
+ /* FIXME: for now the CMSIS-DAP interface hard-wires a zero-size queue. */
+
+ return ERROR_OK;
+}
+
+const struct dap_ops cmsis_dap_ops = {
+ .is_swd = true,
+ .queue_idcode_read = cmsis_dap_queue_idcode_read,
+ .queue_dp_read = cmsis_dap_queue_dp_read,
+ .queue_dp_write = cmsis_dap_queue_dp_write,
+ .queue_ap_read = cmsis_dap_queue_ap_read,
+ .queue_ap_write = cmsis_dap_queue_ap_write,
+ .queue_ap_read_block = cmsis_dap_queue_ap_read_block,
+ .queue_ap_abort = cmsis_dap_queue_ap_abort,
+ .run = cmsis_dap_run,
+};
+
+static const struct command_registration cmsis_dap_commands[] = {
+ {
+ /*
+ * Set up SWD and JTAG targets identically, unless/until
+ * infrastructure improves ... meanwhile, ignore all
+ * JTAG-specific stuff like IR length for SWD.
+ *
+ * REVISIT can we verify "just one SWD DAP" here/early?
+ */
+ .name = "newdap",
+ .jim_handler = jim_jtag_newtap,
+ .mode = COMMAND_CONFIG,
+ .help = "declare a new CMSIS-DAP"
+ },
+ COMMAND_REGISTRATION_DONE
+};
+
+static const struct command_registration cmsis_dap_handlers[] = {
+ {
+ .name = "cmsis-dap",
+ .mode = COMMAND_ANY,
+ .help = "cmsis_dap command group",
+ .chain = cmsis_dap_commands,
+ },
+ COMMAND_REGISTRATION_DONE
+};
+
+static int cmsis_dap_select(struct command_context *ctx)
+{
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_select");
+
+ int retval = register_commands(ctx, NULL, cmsis_dap_handlers);
+
+ if (retval != ERROR_OK)
+ return retval;
+
+ /* FIXME: This needs a real overhaul!! FIXME
+ * be sure driver is in SWD mode; start
+ * with hardware default TRN (1), it can be changed later
+ * we use a bogus 'swd' driver to implement cmsis-dap as it is quite similar */
+
+ const struct swd_driver *swd = jtag_interface->swd;
+ if (!swd || !swd->read_reg || !swd->write_reg || !swd->init) {
+ LOG_ERROR("no SWD driver?");
+ return ERROR_FAIL;
+ }
+
+ retval = swd->init(1);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("unable to init CMSIS-DAP driver");
+ return retval;
+ }
+
+ return retval;
+}
+
+static int cmsis_dap_init(struct command_context *ctx)
+{
+ struct target *target = get_current_target(ctx);
+ struct arm *arm = target_to_arm(target);
+ struct adiv5_dap *dap = arm->dap;
+ uint32_t idcode;
+ int status;
+
+ LOG_DEBUG("CMSIS-ADI: cmsis_dap_init");
+
+ /* Force the DAP's ops vector for CMSIS-DAP mode.
+ * messy - is there a better way? */
+ arm->dap->ops = &cmsis_dap_ops;
+
+ /* FIXME validate transport config ... is the
+ * configured DAP present (check IDCODE)?
+ * Is *only* one DAP configured?
+ *
+ * MUST READ IDCODE
+ */
+
+ /* Note, debugport_init() does setup too */
+
+#if 0
+ const struct swd_driver *swd = jtag_interface->swd;
+ if (!swd || !swd->read_reg || !swd->write_reg || !swd->init) {
+ LOG_ERROR("no SWD driver?");
+ return ERROR_FAIL;
+ }
+
+ int retval = swd->init(1);
+ if (retval != ERROR_OK) {
+ LOG_ERROR("unable to init CMSIS-DAP driver");
+ return retval;
+ }
+#endif
+
+ uint8_t ack;
+
+ status = cmsis_dap_queue_idcode_read(dap, &ack, &idcode);
+
+ if (status == ERROR_OK)
+ LOG_INFO("IDCODE 0x%08" PRIx32, idcode);
+
+ /* force clear all sticky faults */
+ cmsis_dap_queue_ap_abort(dap, &ack);
+
+ /* this is a workaround to get polling working */
+ jtag_add_reset(0, 0);
+
+ return status;
+}
+
+static struct transport cmsis_dap_transport = {
+ .name = "cmsis-dap",
+ .select = cmsis_dap_select,
+ .init = cmsis_dap_init,
+};
+
+static void cmsis_dap_constructor(void) __attribute__((constructor));
+static void cmsis_dap_constructor(void)
+{
+ transport_register(&cmsis_dap_transport);
+}
+
+/** Returns true if the current debug session
+ * is using CMSIS-DAP as its transport.
+ */
+bool transport_is_cmsis_dap(void)
+{
+ return get_current_transport() == &cmsis_dap_transport;
+}
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?
generated by cgit v1.2.3-18-g5258 (git 2.32.0) at 2024-10-20 23:31:35 +0000