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// SPDX-License-Identifier: GPL-2.0-or-later
/***************************************************************************
* Copyright (C) 2021 by Adrian Negreanu *
* groleo@gmail.com *
* *
* Copyright (C) 2018 by Mickaël Thomas *
* mickael9@gmail.com *
* *
* Copyright (C) 2016 by Maksym Hilliaka *
* oter@frozen-team.com *
* *
* Copyright (C) 2016 by Phillip Pearson *
* pp@myelin.co.nz *
* *
* Copyright (C) 2014 by Paul Fertser *
* fercerpav@gmail.com *
* *
* Copyright (C) 2013 by mike brown *
* mike@theshedworks.org.uk *
* *
* Copyright (C) 2013 by Spencer Oliver *
* spen@spen-soft.co.uk *
***************************************************************************/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <transport/transport.h>
#include "helper/replacements.h"
#include <jtag/adapter.h>
#include <jtag/swd.h>
#include <jtag/interface.h>
#include <jtag/commands.h>
#include <jtag/tcl.h>
#include <target/cortex_m.h>
#include "cmsis_dap.h"
#include "libusb_helper.h"
static const struct cmsis_dap_backend *const cmsis_dap_backends[] = {
#if BUILD_CMSIS_DAP_USB == 1
&cmsis_dap_usb_backend,
#endif
#if BUILD_CMSIS_DAP_HID == 1
&cmsis_dap_hid_backend,
#endif
};
/* USB Config */
/* Known vid/pid pairs:
* VID 0xc251: Keil Software
* PID 0xf001: LPC-Link-II CMSIS_DAP
* PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
* PID 0x2722: Keil ULINK2 CMSIS-DAP
* PID 0x2750: Keil ULINKplus CMSIS-DAP
*
* VID 0x0d28: mbed Software
* PID 0x0204: MBED CMSIS-DAP
*/
#define MAX_USB_IDS 8
/* vid = pid = 0 marks the end of the list */
static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
static int cmsis_dap_backend = -1;
static bool swd_mode;
/* CMSIS-DAP General Commands */
#define CMD_DAP_INFO 0x00
#define CMD_DAP_LED 0x01
#define CMD_DAP_CONNECT 0x02
#define CMD_DAP_DISCONNECT 0x03
#define CMD_DAP_WRITE_ABORT 0x08
#define CMD_DAP_DELAY 0x09
#define CMD_DAP_RESET_TARGET 0x0A
/* CMD_INFO */
#define INFO_ID_VENDOR 0x01 /* string */
#define INFO_ID_PRODUCT 0x02 /* string */
#define INFO_ID_SERNUM 0x03 /* string */
#define INFO_ID_FW_VER 0x04 /* string */
#define INFO_ID_TD_VEND 0x05 /* string */
#define INFO_ID_TD_NAME 0x06 /* string */
#define INFO_ID_CAPS 0xf0 /* byte */
#define INFO_ID_PKT_CNT 0xfe /* byte */
#define INFO_ID_PKT_SZ 0xff /* short */
#define INFO_ID_SWO_BUF_SZ 0xfd /* word */
#define INFO_CAPS_SWD BIT(0)
#define INFO_CAPS_JTAG BIT(1)
#define INFO_CAPS_SWO_UART BIT(2)
#define INFO_CAPS_SWO_MANCHESTER BIT(3)
#define INFO_CAPS_ATOMIC_CMDS BIT(4)
#define INFO_CAPS_TEST_DOMAIN_TIMER BIT(5)
#define INFO_CAPS_SWO_STREAMING_TRACE BIT(6)
#define INFO_CAPS_UART_PORT BIT(7)
#define INFO_CAPS_USB_COM_PORT BIT(8)
#define INFO_CAPS__NUM_CAPS 9
/* CMD_LED */
#define LED_ID_CONNECT 0x00
#define LED_ID_RUN 0x01
#define LED_OFF 0x00
#define LED_ON 0x01
/* CMD_CONNECT */
#define CONNECT_DEFAULT 0x00
#define CONNECT_SWD 0x01
#define CONNECT_JTAG 0x02
/* CMSIS-DAP Common SWD/JTAG Commands */
#define CMD_DAP_DELAY 0x09
#define CMD_DAP_SWJ_PINS 0x10
#define CMD_DAP_SWJ_CLOCK 0x11
#define CMD_DAP_SWJ_SEQ 0x12
/*
* PINS
* Bit 0: SWCLK/TCK
* Bit 1: SWDIO/TMS
* Bit 2: TDI
* Bit 3: TDO
* Bit 5: nTRST
* Bit 7: nRESET
*/
#define SWJ_PIN_TCK (1<<0)
#define SWJ_PIN_TMS (1<<1)
#define SWJ_PIN_TDI (1<<2)
#define SWJ_PIN_TDO (1<<3)
#define SWJ_PIN_TRST (1<<5)
#define SWJ_PIN_SRST (1<<7)
/* CMSIS-DAP SWD Commands */
#define CMD_DAP_SWD_CONFIGURE 0x13
#define CMD_DAP_SWD_SEQUENCE 0x1D
/* CMSIS-DAP JTAG Commands */
#define CMD_DAP_JTAG_SEQ 0x14
#define CMD_DAP_JTAG_CONFIGURE 0x15
#define CMD_DAP_JTAG_IDCODE 0x16
/* CMSIS-DAP JTAG sequence info masks */
/* Number of bits to clock through (0 means 64) */
#define DAP_JTAG_SEQ_TCK 0x3F
/* TMS will be set during the sequence if this bit is set */
#define DAP_JTAG_SEQ_TMS 0x40
/* TDO output will be captured if this bit is set */
#define DAP_JTAG_SEQ_TDO 0x80
/* CMSIS-DAP Transfer Commands */
#define CMD_DAP_TFER_CONFIGURE 0x04
#define CMD_DAP_TFER 0x05
#define CMD_DAP_TFER_BLOCK 0x06
#define CMD_DAP_TFER_ABORT 0x07
/* DAP_TransferBlock increases the sum of command/response sizes
* (due to 16-bit Transfer Count) if used in a small packet.
* Prevent using it until we have at least r/w operations. */
#define CMD_DAP_TFER_BLOCK_MIN_OPS 4
/* DAP Status Code */
#define DAP_OK 0
#define DAP_ERROR 0xFF
/* CMSIS-DAP SWO Commands */
#define CMD_DAP_SWO_TRANSPORT 0x17
#define CMD_DAP_SWO_MODE 0x18
#define CMD_DAP_SWO_BAUDRATE 0x19
#define CMD_DAP_SWO_CONTROL 0x1A
#define CMD_DAP_SWO_STATUS 0x1B
#define CMD_DAP_SWO_DATA 0x1C
#define CMD_DAP_SWO_EX_STATUS 0x1E
/* SWO transport mode for reading trace data */
#define DAP_SWO_TRANSPORT_NONE 0
#define DAP_SWO_TRANSPORT_DATA 1
#define DAP_SWO_TRANSPORT_WINUSB 2
/* SWO trace capture mode */
#define DAP_SWO_MODE_OFF 0
#define DAP_SWO_MODE_UART 1
#define DAP_SWO_MODE_MANCHESTER 2
/* SWO trace data capture */
#define DAP_SWO_CONTROL_STOP 0
#define DAP_SWO_CONTROL_START 1
/* SWO trace status */
#define DAP_SWO_STATUS_CAPTURE_INACTIVE 0
#define DAP_SWO_STATUS_CAPTURE_ACTIVE 1
#define DAP_SWO_STATUS_CAPTURE_MASK BIT(0)
#define DAP_SWO_STATUS_STREAM_ERROR_MASK BIT(6)
#define DAP_SWO_STATUS_BUFFER_OVERRUN_MASK BIT(7)
/* CMSIS-DAP Vendor Commands
* None as yet... */
static const char * const info_caps_str[INFO_CAPS__NUM_CAPS] = {
"SWD supported",
"JTAG supported",
"SWO-UART supported",
"SWO-MANCHESTER supported",
"Atomic commands supported",
"Test domain timer supported",
"SWO streaming trace supported",
"UART communication port supported",
"UART via USB COM port supported",
};
struct pending_scan_result {
/** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
unsigned int first;
/** Number of bits to read. */
unsigned int length;
/** Location to store the result */
uint8_t *buffer;
/** Offset in the destination buffer */
unsigned int buffer_offset;
};
/* Read mode */
enum cmsis_dap_blocking {
CMSIS_DAP_NON_BLOCKING,
CMSIS_DAP_BLOCKING
};
/* Each block in FIFO can contain up to pending_queue_len transfers */
static unsigned int pending_queue_len;
static unsigned int tfer_max_command_size;
static unsigned int tfer_max_response_size;
/* pointers to buffers that will receive jtag scan results on the next flush */
#define MAX_PENDING_SCAN_RESULTS 256
static int pending_scan_result_count;
static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
/* queued JTAG sequences that will be executed on the next flush */
#define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_usable_size - 3)
static int queued_seq_count;
static int queued_seq_buf_end;
static int queued_seq_tdo_ptr;
static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
static int queued_retval;
static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
static struct cmsis_dap *cmsis_dap_handle;
static int cmsis_dap_quit(void);
static int cmsis_dap_open(void)
{
const struct cmsis_dap_backend *backend = NULL;
struct cmsis_dap *dap = calloc(1, sizeof(struct cmsis_dap));
if (!dap) {
LOG_ERROR("unable to allocate memory");
return ERROR_FAIL;
}
if (cmsis_dap_backend >= 0) {
/* Use forced backend */
backend = cmsis_dap_backends[cmsis_dap_backend];
if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) != ERROR_OK)
backend = NULL;
} else {
/* Try all backends */
for (unsigned int i = 0; i < ARRAY_SIZE(cmsis_dap_backends); i++) {
backend = cmsis_dap_backends[i];
if (backend->open(dap, cmsis_dap_vid, cmsis_dap_pid, adapter_get_required_serial()) == ERROR_OK)
break;
else
backend = NULL;
}
}
if (!backend) {
LOG_ERROR("unable to find a matching CMSIS-DAP device");
free(dap);
return ERROR_FAIL;
}
dap->backend = backend;
cmsis_dap_handle = dap;
return ERROR_OK;
}
static void cmsis_dap_close(struct cmsis_dap *dap)
{
if (dap->backend) {
dap->backend->close(dap);
dap->backend = NULL;
}
free(dap->packet_buffer);
for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++) {
free(dap->pending_fifo[i].transfers);
dap->pending_fifo[i].transfers = NULL;
}
free(cmsis_dap_handle);
cmsis_dap_handle = NULL;
}
static void cmsis_dap_flush_read(struct cmsis_dap *dap)
{
unsigned int i;
/* Some CMSIS-DAP adapters keep buffered packets over
* USB close/open so we need to flush up to 64 old packets
* to be sure all buffers are empty */
for (i = 0; i < 64; i++) {
int retval = dap->backend->read(dap, 10, NULL);
if (retval == ERROR_TIMEOUT_REACHED)
break;
}
if (i)
LOG_DEBUG("Flushed %u packets", i);
}
/* Send a message and receive the reply */
static int cmsis_dap_xfer(struct cmsis_dap *dap, int txlen)
{
if (dap->write_count + dap->read_count) {
LOG_ERROR("internal: queue not empty before xfer");
}
if (dap->pending_fifo_block_count) {
LOG_ERROR("pending %u blocks, flushing", dap->pending_fifo_block_count);
while (dap->pending_fifo_block_count) {
dap->backend->read(dap, 10, NULL);
dap->pending_fifo_block_count--;
}
dap->pending_fifo_put_idx = 0;
dap->pending_fifo_get_idx = 0;
}
uint8_t current_cmd = dap->command[0];
int retval = dap->backend->write(dap, txlen, LIBUSB_TIMEOUT_MS);
if (retval < 0)
return retval;
/* get reply */
retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS, NULL);
if (retval < 0)
return retval;
uint8_t *resp = dap->response;
if (resp[0] == DAP_ERROR) {
LOG_ERROR("CMSIS-DAP command 0x%" PRIx8 " not implemented", current_cmd);
return ERROR_NOT_IMPLEMENTED;
}
if (resp[0] != current_cmd) {
LOG_ERROR("CMSIS-DAP command mismatch. Sent 0x%" PRIx8
" received 0x%" PRIx8, current_cmd, resp[0]);
dap->backend->cancel_all(dap);
cmsis_dap_flush_read(dap);
return ERROR_FAIL;
}
return ERROR_OK;
}
static int cmsis_dap_cmd_dap_swj_pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_SWJ_PINS;
command[1] = pins;
command[2] = mask;
h_u32_to_le(&command[3], delay);
int retval = cmsis_dap_xfer(cmsis_dap_handle, 7);
if (retval != ERROR_OK) {
LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
if (input)
*input = cmsis_dap_handle->response[1];
return ERROR_OK;
}
static int cmsis_dap_cmd_dap_swj_clock(uint32_t swj_clock)
{
uint8_t *command = cmsis_dap_handle->command;
/* set clock in Hz */
swj_clock *= 1000;
command[0] = CMD_DAP_SWJ_CLOCK;
h_u32_to_le(&command[1], swj_clock);
int retval = cmsis_dap_xfer(cmsis_dap_handle, 5);
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
return ERROR_OK;
}
/* clock a sequence of bits out on TMS, to change JTAG states */
static int cmsis_dap_cmd_dap_swj_sequence(uint8_t s_len, const uint8_t *sequence)
{
uint8_t *command = cmsis_dap_handle->command;
#ifdef CMSIS_DAP_JTAG_DEBUG
LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
for (unsigned int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
printf("%02X ", sequence[i]);
printf("\n");
#endif
command[0] = CMD_DAP_SWJ_SEQ;
command[1] = s_len;
bit_copy(&command[2], 0, sequence, 0, s_len);
int retval = cmsis_dap_xfer(cmsis_dap_handle, 2 + DIV_ROUND_UP(s_len, 8));
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK)
return ERROR_FAIL;
return ERROR_OK;
}
static int cmsis_dap_cmd_dap_info(uint8_t info, uint8_t **data)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_INFO;
command[1] = info;
int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
if (retval != ERROR_OK) {
LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
*data = &cmsis_dap_handle->response[1];
return ERROR_OK;
}
static int cmsis_dap_cmd_dap_led(uint8_t led, uint8_t state)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_LED;
command[1] = led;
command[2] = state;
int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
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)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_CONNECT;
command[1] = mode;
int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
if (retval != ERROR_OK) {
LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
if (cmsis_dap_handle->response[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)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_DISCONNECT;
int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
return ERROR_OK;
}
static int cmsis_dap_cmd_dap_tfer_configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_TFER_CONFIGURE;
command[1] = idle;
h_u16_to_le(&command[2], retry_count);
h_u16_to_le(&command[4], match_retry);
int retval = cmsis_dap_xfer(cmsis_dap_handle, 6);
if (retval != ERROR_OK || cmsis_dap_handle->response[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)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_SWD_CONFIGURE;
command[1] = cfg;
int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
if (retval != ERROR_OK || cmsis_dap_handle->response[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)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_DELAY;
h_u16_to_le(&command[1], delay_us);
int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
return ERROR_OK;
}
#endif
static int cmsis_dap_metacmd_targetsel(uint32_t instance_id)
{
uint8_t *command = cmsis_dap_handle->command;
const uint32_t SEQ_RD = 0x80, SEQ_WR = 0x00;
/* SWD multi-drop requires a transfer ala CMD_DAP_TFER,
but with no expectation of an SWD ACK response. In
CMSIS-DAP v1.20 and v2.00, CMD_DAP_SWD_SEQUENCE was
added to allow this special sequence to be generated.
The purpose of this operation is to select the target
corresponding to the instance_id that is written */
LOG_DEBUG_IO("DP write reg TARGETSEL %" PRIx32, instance_id);
size_t idx = 0;
command[idx++] = CMD_DAP_SWD_SEQUENCE;
command[idx++] = 3; /* sequence count */
/* sequence 0: packet request for TARGETSEL */
command[idx++] = SEQ_WR | 8;
command[idx++] = SWD_CMD_START | swd_cmd(false, false, DP_TARGETSEL) | SWD_CMD_STOP | SWD_CMD_PARK;
/* sequence 1: read Trn ACK Trn, no expectation for target to ACK */
command[idx++] = SEQ_RD | 5;
/* sequence 2: WDATA plus parity */
command[idx++] = SEQ_WR | (32 + 1);
h_u32_to_le(command + idx, instance_id);
idx += 4;
command[idx++] = parity_u32(instance_id);
int retval = cmsis_dap_xfer(cmsis_dap_handle, idx);
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP command SWD_Sequence failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
return ERROR_OK;
}
/**
* Sets the SWO transport mode.
* @param[in] transport The transport mode. Can be None, SWO_Data or
* WinUSB (requires CMSIS-DAP v2).
*/
static int cmsis_dap_cmd_dap_swo_transport(uint8_t transport)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_SWO_TRANSPORT;
command[1] = transport;
int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP: command CMD_SWO_Transport(%d) failed.", transport);
return ERROR_JTAG_DEVICE_ERROR;
}
return ERROR_OK;
}
/**
* Sets the SWO trace capture mode.
* @param[in] mode Trace capture mode. Can be UART or MANCHESTER.
*/
static int cmsis_dap_cmd_dap_swo_mode(uint8_t mode)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_SWO_MODE;
command[1] = mode;
int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP: command CMD_SWO_Mode(%d) failed.", mode);
return ERROR_JTAG_DEVICE_ERROR;
}
return ERROR_OK;
}
/**
* Sets the baudrate for capturing SWO trace data.
* Can be called iteratively to determine supported baudrates.
* @param[in] in_baudrate Requested baudrate.
* @param[out] dev_baudrate Actual baudrate or 0 (baudrate not configured).
* When requested baudrate is not achievable the
* closest configured baudrate can be returned or
* 0 which indicates that baudrate was not configured.
*/
static int cmsis_dap_cmd_dap_swo_baudrate(
uint32_t in_baudrate,
uint32_t *dev_baudrate)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_SWO_BAUDRATE;
h_u32_to_le(&command[1], in_baudrate);
int retval = cmsis_dap_xfer(cmsis_dap_handle, 5);
uint32_t rvbr = le_to_h_u32(&cmsis_dap_handle->response[1]);
if (retval != ERROR_OK || rvbr == 0) {
LOG_ERROR("CMSIS-DAP: command CMD_SWO_Baudrate(%u) -> %u failed.", in_baudrate, rvbr);
if (dev_baudrate)
*dev_baudrate = 0;
return ERROR_JTAG_DEVICE_ERROR;
}
if (dev_baudrate)
*dev_baudrate = rvbr;
return ERROR_OK;
}
/**
* Controls the SWO trace data capture.
* @param[in] control Start or stop a trace. Starting capture automatically
* flushes any existing trace data in buffers which has
* not yet been read.
*/
static int cmsis_dap_cmd_dap_swo_control(uint8_t control)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_SWO_CONTROL;
command[1] = control;
int retval = cmsis_dap_xfer(cmsis_dap_handle, 2);
if (retval != ERROR_OK || cmsis_dap_handle->response[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP: command CMD_SWO_Control(%d) failed.", control);
return ERROR_JTAG_DEVICE_ERROR;
}
return ERROR_OK;
}
/**
* Reads the SWO trace status.
* @param[out] trace_status The trace's status.
* Bit0: Trace Capture (1 - active, 0 - inactive).
* Bit6: Trace Stream Error.
* Bit7: Trace Buffer Overrun.
* @param[out] trace_count Number of bytes in Trace Buffer (not yet read).
*/
static int cmsis_dap_cmd_dap_swo_status(
uint8_t *trace_status,
size_t *trace_count)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_SWO_STATUS;
int retval = cmsis_dap_xfer(cmsis_dap_handle, 1);
if (retval != ERROR_OK) {
LOG_ERROR("CMSIS-DAP: command CMD_SWO_Status failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
if (trace_status)
*trace_status = cmsis_dap_handle->response[1];
if (trace_count)
*trace_count = le_to_h_u32(&cmsis_dap_handle->response[2]);
return ERROR_OK;
}
/**
* Reads the captured SWO trace data from Trace Buffer.
* @param[in] max_trace_count Maximum number of Trace Data bytes to read.
* @param[out] trace_status The trace's status.
* @param[out] trace_count Number of Trace Data bytes read.
* @param[out] data Trace Data bytes read.
*/
static int cmsis_dap_cmd_dap_swo_data(
size_t max_trace_count,
uint8_t *trace_status,
size_t *trace_count,
uint8_t *data)
{
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_SWO_DATA;
h_u16_to_le(&command[1], max_trace_count);
int retval = cmsis_dap_xfer(cmsis_dap_handle, 3);
if (retval != ERROR_OK) {
LOG_ERROR("CMSIS-DAP: command CMD_SWO_Data failed.");
return ERROR_JTAG_DEVICE_ERROR;
}
*trace_status = cmsis_dap_handle->response[1];
*trace_count = le_to_h_u16(&cmsis_dap_handle->response[2]);
if (*trace_count > 0)
memcpy(data, &cmsis_dap_handle->response[4], *trace_count);
return ERROR_OK;
}
static void cmsis_dap_swd_discard_all_pending(struct cmsis_dap *dap)
{
for (unsigned int i = 0; i < MAX_PENDING_REQUESTS; i++)
dap->pending_fifo[i].transfer_count = 0;
dap->pending_fifo_put_idx = 0;
dap->pending_fifo_get_idx = 0;
dap->pending_fifo_block_count = 0;
}
static void cmsis_dap_swd_cancel_transfers(struct cmsis_dap *dap)
{
dap->backend->cancel_all(dap);
cmsis_dap_flush_read(dap);
cmsis_dap_swd_discard_all_pending(dap);
}
static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
{
uint8_t *command = dap->command;
struct pending_request_block *block = &dap->pending_fifo[dap->pending_fifo_put_idx];
assert(dap->write_count + dap->read_count == block->transfer_count);
/* Reset packet size check counters for the next packet */
dap->write_count = 0;
dap->read_count = 0;
LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %u%s",
block->transfer_count, dap->pending_fifo_put_idx,
cmsis_dap_handle->swd_cmds_differ ? "" : ", same swd ops");
if (queued_retval != ERROR_OK) {
LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
goto skip;
}
if (block->transfer_count == 0) {
LOG_ERROR("internal: write an empty queue?!");
goto skip;
}
bool block_cmd = !cmsis_dap_handle->swd_cmds_differ
&& block->transfer_count >= CMD_DAP_TFER_BLOCK_MIN_OPS;
block->command = block_cmd ? CMD_DAP_TFER_BLOCK : CMD_DAP_TFER;
command[0] = block->command;
command[1] = 0x00; /* DAP Index */
unsigned int idx;
if (block_cmd) {
h_u16_to_le(&command[2], block->transfer_count);
idx = 4; /* The first transfer will store the common DAP register */
} else {
command[2] = block->transfer_count;
idx = 3;
}
for (unsigned int i = 0; i < block->transfer_count; i++) {
struct pending_transfer_result *transfer = &(block->transfers[i]);
uint8_t cmd = transfer->cmd;
uint32_t data = transfer->data;
LOG_DEBUG_IO("%s %s reg %x %" PRIx32,
cmd & SWD_CMD_APNDP ? "AP" : "DP",
cmd & SWD_CMD_RNW ? "read" : "write",
(cmd & SWD_CMD_A32) >> 1, data);
/* When proper WAIT handling is implemented in the
* common SWD framework, this kludge can be
* removed. However, this might lead to minor
* performance degradation as the adapter wouldn't be
* able to automatically retry anything (because ARM
* has forgotten to implement sticky error flags
* clearing). See also comments regarding
* cmsis_dap_cmd_dap_tfer_configure() and
* cmsis_dap_cmd_dap_swd_configure() in
* cmsis_dap_init().
*/
if (!(cmd & SWD_CMD_RNW) &&
!(cmd & SWD_CMD_APNDP) &&
(cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
(data & CORUNDETECT)) {
LOG_DEBUG("refusing to enable sticky overrun detection");
data &= ~CORUNDETECT;
}
if (!block_cmd || i == 0)
command[idx++] = (cmd >> 1) & 0x0f;
if (!(cmd & SWD_CMD_RNW)) {
h_u32_to_le(&command[idx], data);
idx += 4;
}
}
int retval = dap->backend->write(dap, idx, LIBUSB_TIMEOUT_MS);
if (retval < 0) {
queued_retval = retval;
goto skip;
}
unsigned int packet_count = dap->quirk_mode ? 1 : dap->packet_count;
dap->pending_fifo_put_idx = (dap->pending_fifo_put_idx + 1) % packet_count;
dap->pending_fifo_block_count++;
if (dap->pending_fifo_block_count > packet_count)
LOG_ERROR("internal: too much pending writes %u", dap->pending_fifo_block_count);
return;
skip:
block->transfer_count = 0;
}
static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, enum cmsis_dap_blocking blocking)
{
int retval;
struct pending_request_block *block = &dap->pending_fifo[dap->pending_fifo_get_idx];
if (dap->pending_fifo_block_count == 0) {
LOG_ERROR("internal: no pending write when reading?!");
return;
}
if (queued_retval != ERROR_OK) {
/* keep reading blocks until the pipeline is empty */
retval = dap->backend->read(dap, 10, NULL);
if (retval == ERROR_TIMEOUT_REACHED || retval == 0) {
/* timeout means that we flushed the pipeline,
* we can safely discard remaining pending requests */
cmsis_dap_swd_discard_all_pending(dap);
return;
}
goto skip;
}
/* get reply */
struct timeval tv = {
.tv_sec = 0,
.tv_usec = 0
};
retval = dap->backend->read(dap, LIBUSB_TIMEOUT_MS, blocking ? NULL : &tv);
bool timeout = (retval == ERROR_TIMEOUT_REACHED || retval == 0);
if (timeout && blocking == CMSIS_DAP_NON_BLOCKING)
return;
if (retval <= 0) {
LOG_DEBUG("error reading adapter response");
queued_retval = ERROR_FAIL;
if (timeout) {
/* timeout means that we flushed the pipeline,
* we can safely discard remaining pending requests */
cmsis_dap_swd_discard_all_pending(dap);
return;
}
goto skip;
}
uint8_t *resp = dap->response;
if (resp[0] != block->command) {
LOG_ERROR("CMSIS-DAP command mismatch. Expected 0x%x received 0x%" PRIx8,
block->command, resp[0]);
cmsis_dap_swd_cancel_transfers(dap);
queued_retval = ERROR_FAIL;
return;
}
unsigned int transfer_count;
unsigned int idx;
if (block->command == CMD_DAP_TFER_BLOCK) {
transfer_count = le_to_h_u16(&resp[1]);
idx = 3;
} else {
transfer_count = resp[1];
idx = 2;
}
if (resp[idx] & 0x08) {
LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", transfer_count);
queued_retval = ERROR_FAIL;
goto skip;
}
uint8_t ack = resp[idx++] & 0x07;
if (ack != SWD_ACK_OK) {
LOG_DEBUG("SWD ack not OK @ %d %s", transfer_count,
ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
queued_retval = swd_ack_to_error_code(ack);
/* TODO: use results of transfers completed before the error occurred? */
goto skip;
}
if (block->transfer_count != transfer_count) {
LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
block->transfer_count, transfer_count);
cmsis_dap_swd_cancel_transfers(dap);
queued_retval = ERROR_FAIL;
return;
}
LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %u, %s mode",
transfer_count, dap->pending_fifo_get_idx,
blocking ? "blocking" : "nonblocking");
for (unsigned int i = 0; i < transfer_count; i++) {
struct pending_transfer_result *transfer = &(block->transfers[i]);
if (transfer->cmd & SWD_CMD_RNW) {
static uint32_t last_read;
uint32_t data = le_to_h_u32(&resp[idx]);
uint32_t tmp = data;
idx += 4;
LOG_DEBUG_IO("Read result: %" PRIx32, data);
/* Imitate posted AP reads */
if ((transfer->cmd & SWD_CMD_APNDP) ||
((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
tmp = last_read;
last_read = data;
}
if (transfer->buffer)
*(uint32_t *)(transfer->buffer) = tmp;
}
}
skip:
block->transfer_count = 0;
if (!dap->quirk_mode && dap->packet_count > 1)
dap->pending_fifo_get_idx = (dap->pending_fifo_get_idx + 1) % dap->packet_count;
dap->pending_fifo_block_count--;
}
static int cmsis_dap_swd_run_queue(void)
{
if (cmsis_dap_handle->write_count + cmsis_dap_handle->read_count) {
if (cmsis_dap_handle->pending_fifo_block_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_NON_BLOCKING);
cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
}
while (cmsis_dap_handle->pending_fifo_block_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_BLOCKING);
cmsis_dap_handle->pending_fifo_put_idx = 0;
cmsis_dap_handle->pending_fifo_get_idx = 0;
int retval = queued_retval;
queued_retval = ERROR_OK;
return retval;
}
static unsigned int cmsis_dap_tfer_cmd_size(unsigned int write_count,
unsigned int read_count, bool block_tfer)
{
unsigned int size;
if (block_tfer) {
size = 5; /* DAP_TransferBlock header */
size += write_count * 4; /* data */
} else {
size = 3; /* DAP_Transfer header */
size += write_count * (1 + 4); /* DAP register + data */
size += read_count; /* DAP register */
}
return size;
}
static unsigned int cmsis_dap_tfer_resp_size(unsigned int write_count,
unsigned int read_count, bool block_tfer)
{
unsigned int size;
if (block_tfer)
size = 4; /* DAP_TransferBlock response header */
else
size = 3; /* DAP_Transfer response header */
size += read_count * 4; /* data */
return size;
}
static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
{
/* TARGETSEL register write cannot be queued */
if (swd_cmd(false, false, DP_TARGETSEL) == cmd) {
queued_retval = cmsis_dap_swd_run_queue();
cmsis_dap_metacmd_targetsel(data);
return;
}
/* Compute sizes of the DAP Transfer command and the expected response
* for all queued and this operation */
unsigned int write_count = cmsis_dap_handle->write_count;
unsigned int read_count = cmsis_dap_handle->read_count;
bool block_cmd;
if (write_count + read_count < CMD_DAP_TFER_BLOCK_MIN_OPS)
block_cmd = false;
else
block_cmd = !cmsis_dap_handle->swd_cmds_differ
&& cmd == cmsis_dap_handle->common_swd_cmd;
if (cmd & SWD_CMD_RNW)
read_count++;
else
write_count++;
unsigned int cmd_size = cmsis_dap_tfer_cmd_size(write_count, read_count,
block_cmd);
unsigned int resp_size = cmsis_dap_tfer_resp_size(write_count, read_count,
block_cmd);
unsigned int max_transfer_count = block_cmd ? 65535 : 255;
/* Does the DAP Transfer command and also its expected response fit into one packet? */
if (cmd_size > tfer_max_command_size
|| resp_size > tfer_max_response_size
|| write_count + read_count > max_transfer_count) {
if (cmsis_dap_handle->pending_fifo_block_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_NON_BLOCKING);
/* Not enough room in the queue. Run the queue. */
cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
unsigned int packet_count = cmsis_dap_handle->quirk_mode ? 1 : cmsis_dap_handle->packet_count;
if (cmsis_dap_handle->pending_fifo_block_count >= packet_count)
cmsis_dap_swd_read_process(cmsis_dap_handle, CMSIS_DAP_BLOCKING);
}
assert(cmsis_dap_handle->pending_fifo[cmsis_dap_handle->pending_fifo_put_idx].transfer_count < pending_queue_len);
if (queued_retval != ERROR_OK)
return;
struct pending_request_block *block = &cmsis_dap_handle->pending_fifo[cmsis_dap_handle->pending_fifo_put_idx];
struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
transfer->data = data;
transfer->cmd = cmd;
if (block->transfer_count == 0) {
cmsis_dap_handle->swd_cmds_differ = false;
cmsis_dap_handle->common_swd_cmd = cmd;
} else if (cmd != cmsis_dap_handle->common_swd_cmd) {
cmsis_dap_handle->swd_cmds_differ = true;
}
if (cmd & SWD_CMD_RNW) {
/* Queue a read transaction */
transfer->buffer = dst;
cmsis_dap_handle->read_count++;
} else {
cmsis_dap_handle->write_count++;
}
block->transfer_count++;
}
static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
{
assert(!(cmd & SWD_CMD_RNW));
cmsis_dap_swd_queue_cmd(cmd, NULL, value);
}
static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
{
assert(cmd & SWD_CMD_RNW);
cmsis_dap_swd_queue_cmd(cmd, value, 0);
}
static int cmsis_dap_get_serial_info(void)
{
uint8_t *data;
int retval = cmsis_dap_cmd_dap_info(INFO_ID_SERNUM, &data);
if (retval != ERROR_OK)
return retval;
if (data[0]) /* strlen */
LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
return ERROR_OK;
}
static int cmsis_dap_get_version_info(void)
{
uint8_t *data;
/* INFO_ID_FW_VER - string */
int retval = cmsis_dap_cmd_dap_info(INFO_ID_FW_VER, &data);
if (retval != ERROR_OK)
return retval;
if (data[0]) /* strlen */
LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
return ERROR_OK;
}
static int cmsis_dap_get_caps_info(void)
{
uint8_t *data;
/* INFO_ID_CAPS - byte */
int retval = cmsis_dap_cmd_dap_info(INFO_ID_CAPS, &data);
if (retval != ERROR_OK)
return retval;
if (data[0] == 1 || data[0] == 2) {
uint16_t caps = data[1];
if (data[0] == 2)
caps |= (uint16_t)data[2] << 8;
cmsis_dap_handle->caps = caps;
for (unsigned int i = 0; i < INFO_CAPS__NUM_CAPS; ++i) {
if (caps & BIT(i))
LOG_INFO("CMSIS-DAP: %s", info_caps_str[i]);
}
}
return ERROR_OK;
}
static int cmsis_dap_get_swo_buf_sz(uint32_t *swo_buf_sz)
{
uint8_t *data;
/* INFO_ID_SWO_BUF_SZ - word */
int retval = cmsis_dap_cmd_dap_info(INFO_ID_SWO_BUF_SZ, &data);
if (retval != ERROR_OK)
return retval;
if (data[0] != 4)
return ERROR_FAIL;
*swo_buf_sz = le_to_h_u32(&data[1]);
LOG_INFO("CMSIS-DAP: SWO Trace Buffer Size = %u bytes", *swo_buf_sz);
return ERROR_OK;
}
static int cmsis_dap_get_status(void)
{
uint8_t d;
int retval = cmsis_dap_cmd_dap_swj_pins(0, 0, 0, &d);
if (retval == ERROR_OK) {
LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
(d & SWJ_PIN_TCK) ? 1 : 0,
(d & SWJ_PIN_TMS) ? 1 : 0,
(d & SWJ_PIN_TDI) ? 1 : 0,
(d & SWJ_PIN_TDO) ? 1 : 0,
(d & SWJ_PIN_TRST) ? 1 : 0,
(d & SWJ_PIN_SRST) ? 1 : 0);
}
return retval;
}
static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
{
const uint8_t *s;
unsigned int s_len;
int retval;
if (swd_mode)
queued_retval = cmsis_dap_swd_run_queue();
if (cmsis_dap_handle->quirk_mode && seq != LINE_RESET &&
(output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST))
== (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
/* Following workaround deasserts reset on most adapters.
* Do not reconnect if a reset line is active!
* Reconnecting would break connecting under reset. */
/* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
cmsis_dap_cmd_dap_disconnect();
/* When we are reconnecting, DAP_Connect needs to be rerun, at
* least on Keil ULINK-ME */
retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
if (retval != ERROR_OK)
return retval;
}
switch (seq) {
case LINE_RESET:
LOG_DEBUG_IO("SWD line reset");
s = swd_seq_line_reset;
s_len = swd_seq_line_reset_len;
break;
case JTAG_TO_SWD:
LOG_DEBUG("JTAG-to-SWD");
s = swd_seq_jtag_to_swd;
s_len = swd_seq_jtag_to_swd_len;
break;
case JTAG_TO_DORMANT:
LOG_DEBUG("JTAG-to-DORMANT");
s = swd_seq_jtag_to_dormant;
s_len = swd_seq_jtag_to_dormant_len;
break;
case SWD_TO_JTAG:
LOG_DEBUG("SWD-to-JTAG");
s = swd_seq_swd_to_jtag;
s_len = swd_seq_swd_to_jtag_len;
break;
case SWD_TO_DORMANT:
LOG_DEBUG("SWD-to-DORMANT");
s = swd_seq_swd_to_dormant;
s_len = swd_seq_swd_to_dormant_len;
break;
case DORMANT_TO_SWD:
LOG_DEBUG("DORMANT-to-SWD");
s = swd_seq_dormant_to_swd;
s_len = swd_seq_dormant_to_swd_len;
break;
case DORMANT_TO_JTAG:
LOG_DEBUG("DORMANT-to-JTAG");
s = swd_seq_dormant_to_jtag;
s_len = swd_seq_dormant_to_jtag_len;
break;
default:
LOG_ERROR("Sequence %d not supported", seq);
return ERROR_FAIL;
}
retval = cmsis_dap_cmd_dap_swj_sequence(s_len, s);
if (retval != ERROR_OK)
return retval;
/* Atmel EDBG needs renew clock setting after SWJ_Sequence
* otherwise default frequency is used */
return cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
}
static int cmsis_dap_swd_open(void)
{
if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
LOG_ERROR("CMSIS-DAP: SWD not supported");
return ERROR_JTAG_DEVICE_ERROR;
}
int retval = cmsis_dap_cmd_dap_connect(CONNECT_SWD);
if (retval != ERROR_OK)
return retval;
/* Add more setup here.??... */
LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
return ERROR_OK;
}
static int cmsis_dap_init(void)
{
uint8_t *data;
int retval = cmsis_dap_open();
if (retval != ERROR_OK)
return retval;
cmsis_dap_flush_read(cmsis_dap_handle);
retval = cmsis_dap_get_caps_info();
if (retval != ERROR_OK)
return retval;
retval = cmsis_dap_get_version_info();
if (retval != ERROR_OK)
return retval;
retval = cmsis_dap_get_serial_info();
if (retval != ERROR_OK)
return retval;
if (swd_mode) {
retval = cmsis_dap_swd_open();
if (retval != ERROR_OK)
return retval;
} else {
/* Connect in JTAG mode */
if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
LOG_ERROR("CMSIS-DAP: JTAG not supported");
return ERROR_JTAG_DEVICE_ERROR;
}
retval = cmsis_dap_cmd_dap_connect(CONNECT_JTAG);
if (retval != ERROR_OK)
return retval;
LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
}
/* Be conservative and suppress submitting multiple HID requests
* until we get packet count info from the adaptor */
cmsis_dap_handle->packet_count = 1;
/* INFO_ID_PKT_SZ - short */
retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_SZ, &data);
if (retval != ERROR_OK)
goto init_err;
if (data[0] == 2) { /* short */
uint16_t pkt_sz = data[1] + (data[2] << 8);
if (pkt_sz != cmsis_dap_handle->packet_size) {
cmsis_dap_handle->backend->packet_buffer_free(cmsis_dap_handle);
retval = cmsis_dap_handle->backend->packet_buffer_alloc(cmsis_dap_handle, pkt_sz);
if (retval != ERROR_OK)
goto init_err;
LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRIu16, pkt_sz);
}
}
/* Maximal number of transfers which fit to one packet:
* Limited by response size: 3 bytes of response header + 4 per read
* Plus writes to full command size: 3 bytes cmd header + 1 per read + 5 per write */
tfer_max_command_size = cmsis_dap_handle->packet_usable_size;
tfer_max_response_size = cmsis_dap_handle->packet_usable_size;
unsigned int max_reads = tfer_max_response_size / 4;
pending_queue_len = max_reads + (tfer_max_command_size - max_reads) / 5;
cmsis_dap_handle->write_count = 0;
cmsis_dap_handle->read_count = 0;
/* INFO_ID_PKT_CNT - byte */
retval = cmsis_dap_cmd_dap_info(INFO_ID_PKT_CNT, &data);
if (retval != ERROR_OK)
goto init_err;
if (data[0] == 1) { /* byte */
unsigned int pkt_cnt = data[1];
if (pkt_cnt > 1)
cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
LOG_DEBUG("CMSIS-DAP: Packet Count = %u", pkt_cnt);
}
LOG_DEBUG("Allocating FIFO for %u pending packets", cmsis_dap_handle->packet_count);
for (unsigned int i = 0; i < cmsis_dap_handle->packet_count; i++) {
cmsis_dap_handle->pending_fifo[i].transfers = malloc(pending_queue_len
* sizeof(struct pending_transfer_result));
if (!cmsis_dap_handle->pending_fifo[i].transfers) {
LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
retval = ERROR_FAIL;
goto init_err;
}
}
/* Intentionally not checked for error, just logs an info message
* not vital for further debugging */
(void)cmsis_dap_get_status();
/* Now try to connect to the target
* TODO: This is all SWD only @ present */
retval = cmsis_dap_cmd_dap_swj_clock(adapter_get_speed_khz());
if (retval != ERROR_OK)
goto init_err;
/* Ask CMSIS-DAP to automatically retry on receiving WAIT for
* up to 64 times. This must be changed to 0 if sticky
* overrun detection is enabled. */
retval = cmsis_dap_cmd_dap_tfer_configure(0, 64, 0);
if (retval != ERROR_OK)
goto init_err;
if (swd_mode) {
/* Data Phase (bit 2) must be set to 1 if sticky overrun
* detection is enabled */
retval = cmsis_dap_cmd_dap_swd_configure(0); /* 1 TRN, no Data Phase */
if (retval != ERROR_OK)
goto init_err;
}
/* Both LEDs on */
/* Intentionally not checked for error, debugging will work
* without LEDs */
(void)cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_ON);
(void)cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_ON);
/* support connecting with srst asserted */
enum reset_types jtag_reset_config = jtag_get_reset_config();
if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
if (jtag_reset_config & RESET_SRST_NO_GATING) {
retval = cmsis_dap_cmd_dap_swj_pins(0, SWJ_PIN_SRST, 0, NULL);
if (retval != ERROR_OK)
goto init_err;
LOG_INFO("Connecting under reset");
}
}
LOG_INFO("CMSIS-DAP: Interface ready");
return ERROR_OK;
init_err:
cmsis_dap_quit();
return retval;
}
static int cmsis_dap_swd_init(void)
{
swd_mode = true;
return ERROR_OK;
}
static int cmsis_dap_quit(void)
{
cmsis_dap_cmd_dap_disconnect();
/* Both LEDs off */
cmsis_dap_cmd_dap_led(LED_ID_RUN, LED_OFF);
cmsis_dap_cmd_dap_led(LED_ID_CONNECT, LED_OFF);
cmsis_dap_close(cmsis_dap_handle);
return ERROR_OK;
}
static int cmsis_dap_reset(int trst, int srst)
{
/* Set both TRST and SRST even if they're not enabled as
* there's no way to tristate them */
output_pins = 0;
if (!srst)
output_pins |= SWJ_PIN_SRST;
if (!trst)
output_pins |= SWJ_PIN_TRST;
int retval = cmsis_dap_cmd_dap_swj_pins(output_pins,
SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
if (retval != ERROR_OK)
LOG_ERROR("CMSIS-DAP: Interface reset failed");
return retval;
}
static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
{
#if 0
int retval = cmsis_dap_cmd_dap_delay(cmd->cmd.sleep->us);
if (retval != ERROR_OK)
#endif
jtag_sleep(cmd->cmd.sleep->us);
}
/* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
{
LOG_INFO("cmsis-dap JTAG TLR_RESET");
uint8_t seq = 0xff;
int retval = cmsis_dap_cmd_dap_swj_sequence(8, &seq);
if (retval == ERROR_OK)
tap_set_state(TAP_RESET);
return retval;
}
/* Set new end state */
static void cmsis_dap_end_state(tap_state_t state)
{
if (tap_is_state_stable(state))
tap_set_end_state(state);
else {
LOG_ERROR("BUG: %i is not a valid end state", state);
exit(-1);
}
}
#ifdef SPRINT_BINARY
static void sprint_binary(char *s, const uint8_t *buf, unsigned int offset, unsigned int len)
{
if (!len)
return;
/*
buf = { 0x18 } len=5 should result in: 11000
buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
i=3 there means i/8 = 0 so c = 0xFF, and
*/
for (unsigned int i = offset; i < offset + len; ++i) {
uint8_t c = buf[i / 8], mask = 1 << (i % 8);
if ((i != offset) && !(i % 8))
putchar(' ');
*s++ = (c & mask) ? '1' : '0';
}
*s = 0;
}
#endif
#ifdef CMSIS_DAP_JTAG_DEBUG
static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
{
/* cmd is a usb packet to go to the cmsis-dap interface */
printf("cmsis-dap buffer (%d b): ", cmdlen);
for (int i = 0; i < cmdlen; ++i)
printf(" %02x", cmd[i]);
printf("\n");
switch (cmd[0]) {
case CMD_DAP_JTAG_SEQ: {
printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[0], cmd[1]);
/*
* #1 = number of sequences
* #2 = sequence info 1
* #3...4+n_bytes-1 = sequence 1
* #4+n_bytes = sequence info 2
* #5+n_bytes = sequence 2 (single bit)
*/
int pos = 2;
for (int seq = 0; seq < cmd[1]; ++seq) {
uint8_t info = cmd[pos++];
int len = info & DAP_JTAG_SEQ_TCK;
if (len == 0)
len = 64;
printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
printf(" %02x", cmd[pos+i]);
pos += DIV_ROUND_UP(len, 8);
printf("\n");
}
if (pos != cmdlen) {
printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
exit(-1);
}
break;
}
default:
LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
break;
}
}
#endif
static void cmsis_dap_flush(void)
{
if (!queued_seq_count)
return;
LOG_DEBUG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
/* prepare CMSIS-DAP packet */
uint8_t *command = cmsis_dap_handle->command;
command[0] = CMD_DAP_JTAG_SEQ;
command[1] = queued_seq_count;
memcpy(&command[2], queued_seq_buf, queued_seq_buf_end);
#ifdef CMSIS_DAP_JTAG_DEBUG
debug_parse_cmsis_buf(command, queued_seq_buf_end + 2);
#endif
/* send command to USB device */
int retval = cmsis_dap_xfer(cmsis_dap_handle, queued_seq_buf_end + 2);
uint8_t *resp = cmsis_dap_handle->response;
if (retval != ERROR_OK || resp[1] != DAP_OK) {
LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
exit(-1);
}
#ifdef CMSIS_DAP_JTAG_DEBUG
LOG_DEBUG_IO("USB response buf:");
for (int c = 0; c < queued_seq_buf_end + 3; ++c)
printf("%02X ", resp[c]);
printf("\n");
#endif
/* copy scan results into client buffers */
for (int i = 0; i < pending_scan_result_count; ++i) {
struct pending_scan_result *scan = &pending_scan_results[i];
LOG_DEBUG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
#ifdef CMSIS_DAP_JTAG_DEBUG
for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
printf("%02X ", resp[2+scan->first+b]);
printf("\n");
#endif
bit_copy(scan->buffer, scan->buffer_offset, &resp[2 + scan->first], 0, scan->length);
}
/* reset */
queued_seq_count = 0;
queued_seq_buf_end = 0;
queued_seq_tdo_ptr = 0;
pending_scan_result_count = 0;
}
/* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
*
* sequence=NULL means clock out zeros on TDI
* tdo_buffer=NULL means don't capture TDO
*/
static void cmsis_dap_add_jtag_sequence(unsigned int s_len, const uint8_t *sequence,
unsigned int s_offset, bool tms,
uint8_t *tdo_buffer, unsigned int tdo_buffer_offset)
{
LOG_DEBUG_IO("[at %d] %u bits, tms %s, seq offset %u, tdo buf %p, tdo offset %u",
queued_seq_buf_end,
s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
if (s_len == 0)
return;
if (s_len > 64) {
LOG_DEBUG_IO("START JTAG SEQ SPLIT");
for (unsigned <