1 /***************************************************************************
2 * Copyright (C) 2016 by Maksym Hilliaka *
3 * oter@frozen-team.com *
5 * Copyright (C) 2016 by Phillip Pearson *
8 * Copyright (C) 2014 by Paul Fertser *
9 * fercerpav@gmail.com *
11 * Copyright (C) 2013 by mike brown *
12 * mike@theshedworks.org.uk *
14 * Copyright (C) 2013 by Spencer Oliver *
15 * spen@spen-soft.co.uk *
17 * This program is free software; you can redistribute it and/or modify *
18 * it under the terms of the GNU General Public License as published by *
19 * the Free Software Foundation; either version 2 of the License, or *
20 * (at your option) any later version. *
22 * This program is distributed in the hope that it will be useful, *
23 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
24 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
25 * GNU General Public License for more details. *
27 * You should have received a copy of the GNU General Public License *
28 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
29 ***************************************************************************/
35 #include <transport/transport.h>
37 #include <jtag/interface.h>
38 #include <jtag/commands.h>
44 * See CMSIS-DAP documentation:
45 * Version 0.01 - Beta.
50 /* Known vid/pid pairs:
51 * VID 0xc251: Keil Software
52 * PID 0xf001: LPC-Link-II CMSIS_DAP
53 * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
54 * PID 0x2722: Keil ULINK2 CMSIS-DAP
56 * VID 0x0d28: mbed Software
57 * PID 0x0204: MBED CMSIS-DAP
61 /* vid = pid = 0 marks the end of the list */
62 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
63 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
64 static wchar_t *cmsis_dap_serial;
67 #define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
68 #define USB_TIMEOUT 1000
70 /* CMSIS-DAP General Commands */
71 #define CMD_DAP_INFO 0x00
72 #define CMD_DAP_LED 0x01
73 #define CMD_DAP_CONNECT 0x02
74 #define CMD_DAP_DISCONNECT 0x03
75 #define CMD_DAP_WRITE_ABORT 0x08
76 #define CMD_DAP_DELAY 0x09
77 #define CMD_DAP_RESET_TARGET 0x0A
80 #define INFO_ID_VID 0x00 /* string */
81 #define INFO_ID_PID 0x02 /* string */
82 #define INFO_ID_SERNUM 0x03 /* string */
83 #define INFO_ID_FW_VER 0x04 /* string */
84 #define INFO_ID_TD_VEND 0x05 /* string */
85 #define INFO_ID_TD_NAME 0x06 /* string */
86 #define INFO_ID_CAPS 0xf0 /* byte */
87 #define INFO_ID_PKT_CNT 0xfe /* byte */
88 #define INFO_ID_PKT_SZ 0xff /* short */
90 #define INFO_CAPS_SWD 0x01
91 #define INFO_CAPS_JTAG 0x02
94 #define LED_ID_CONNECT 0x00
95 #define LED_ID_RUN 0x01
101 #define CONNECT_DEFAULT 0x00
102 #define CONNECT_SWD 0x01
103 #define CONNECT_JTAG 0x02
105 /* CMSIS-DAP Common SWD/JTAG Commands */
106 #define CMD_DAP_DELAY 0x09
107 #define CMD_DAP_SWJ_PINS 0x10
108 #define CMD_DAP_SWJ_CLOCK 0x11
109 #define CMD_DAP_SWJ_SEQ 0x12
121 #define SWJ_PIN_TCK (1<<0)
122 #define SWJ_PIN_TMS (1<<1)
123 #define SWJ_PIN_TDI (1<<2)
124 #define SWJ_PIN_TDO (1<<3)
125 #define SWJ_PIN_TRST (1<<5)
126 #define SWJ_PIN_SRST (1<<7)
128 /* CMSIS-DAP SWD Commands */
129 #define CMD_DAP_SWD_CONFIGURE 0x13
131 /* CMSIS-DAP JTAG Commands */
132 #define CMD_DAP_JTAG_SEQ 0x14
133 #define CMD_DAP_JTAG_CONFIGURE 0x15
134 #define CMD_DAP_JTAG_IDCODE 0x16
136 /* CMSIS-DAP JTAG sequence info masks */
137 /* Number of bits to clock through (0 means 64) */
138 #define DAP_JTAG_SEQ_TCK 0x3F
139 /* TMS will be set during the sequence if this bit is set */
140 #define DAP_JTAG_SEQ_TMS 0x40
141 /* TDO output will be captured if this bit is set */
142 #define DAP_JTAG_SEQ_TDO 0x80
145 /* CMSIS-DAP Transfer Commands */
146 #define CMD_DAP_TFER_CONFIGURE 0x04
147 #define CMD_DAP_TFER 0x05
148 #define CMD_DAP_TFER_BLOCK 0x06
149 #define CMD_DAP_TFER_ABORT 0x07
151 /* DAP Status Code */
153 #define DAP_ERROR 0xFF
155 /* CMSIS-DAP Vendor Commands
158 static const char * const info_caps_str[] = {
163 /* max clock speed (kHz) */
164 #define DAP_MAX_CLOCK 5000
167 hid_device *dev_handle;
168 uint16_t packet_size;
169 uint16_t packet_count;
170 uint8_t *packet_buffer;
175 struct pending_transfer_result {
181 struct pending_scan_result {
182 /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
184 /** Number of bits to read. */
186 /** Location to store the result */
188 /** Offset in the destination buffer */
189 unsigned buffer_offset;
192 static int pending_transfer_count, pending_queue_len;
193 static struct pending_transfer_result *pending_transfers;
195 /* pointers to buffers that will receive jtag scan results on the next flush */
196 #define MAX_PENDING_SCAN_RESULTS 256
197 static int pending_scan_result_count;
198 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
200 /* queued JTAG sequences that will be executed on the next flush */
201 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
202 static int queued_seq_count;
203 static int queued_seq_buf_end;
204 static int queued_seq_tdo_ptr;
205 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
207 static int queued_retval;
209 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
211 static struct cmsis_dap *cmsis_dap_handle;
213 static int cmsis_dap_usb_open(void)
215 hid_device *dev = NULL;
217 struct hid_device_info *devs, *cur_dev;
218 unsigned short target_vid, target_pid;
219 wchar_t *target_serial = NULL;
222 bool serial_found = false;
228 * The CMSIS-DAP specification stipulates:
229 * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
230 * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
232 devs = hid_enumerate(0x0, 0x0);
234 while (NULL != cur_dev) {
235 if (0 == cmsis_dap_vid[0]) {
236 if (NULL == cur_dev->product_string) {
237 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
238 cur_dev->vendor_id, cur_dev->product_id);
240 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
241 /* if the user hasn't specified VID:PID *and*
242 * product string contains "CMSIS-DAP", pick it
248 /* otherwise, exhaustively compare against all VID:PID in list */
249 for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
250 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
254 if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
259 /* we have found an adapter, so exit further checks */
260 /* check serial number matches if given */
261 if (cmsis_dap_serial != NULL) {
262 if ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
272 cur_dev = cur_dev->next;
275 if (NULL != cur_dev) {
276 target_vid = cur_dev->vendor_id;
277 target_pid = cur_dev->product_id;
279 target_serial = cmsis_dap_serial;
282 hid_free_enumeration(devs);
284 if (target_vid == 0 && target_pid == 0) {
285 LOG_ERROR("unable to find CMSIS-DAP device");
289 if (hid_init() != 0) {
290 LOG_ERROR("unable to open HIDAPI");
294 dev = hid_open(target_vid, target_pid, target_serial);
297 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
301 struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
303 LOG_ERROR("unable to allocate memory");
307 dap->dev_handle = dev;
311 cmsis_dap_handle = dap;
313 /* allocate default packet buffer, may be changed later.
314 * currently with HIDAPI we have no way of getting the output report length
315 * without this info we cannot communicate with the adapter.
316 * For the moment we ahve to hard code the packet size */
318 int packet_size = PACKET_SIZE;
320 /* atmel cmsis-dap uses 512 byte reports */
321 /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained
323 /* TODO: HID report descriptor should be parsed instead of
324 * hardcoding a match by VID */
325 if (target_vid == 0x03eb && target_pid != 0x2145)
326 packet_size = 512 + 1;
328 cmsis_dap_handle->packet_buffer = malloc(packet_size);
329 cmsis_dap_handle->packet_size = packet_size;
331 if (cmsis_dap_handle->packet_buffer == NULL) {
332 LOG_ERROR("unable to allocate memory");
339 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
341 hid_close(dap->dev_handle);
344 free(cmsis_dap_handle->packet_buffer);
345 free(cmsis_dap_handle);
346 cmsis_dap_handle = NULL;
347 free(cmsis_dap_serial);
348 cmsis_dap_serial = NULL;
349 free(pending_transfers);
350 pending_transfers = NULL;
355 /* Send a message and receive the reply */
356 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
358 #ifdef CMSIS_DAP_JTAG_DEBUG
359 LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
361 /* Pad the rest of the TX buffer with 0's */
362 memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
364 /* write data to device */
365 int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
367 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
372 retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
373 if (retval == -1 || retval == 0) {
374 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
381 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
384 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
386 buffer[0] = 0; /* report number */
387 buffer[1] = CMD_DAP_SWJ_PINS;
390 buffer[4] = delay & 0xff;
391 buffer[5] = (delay >> 8) & 0xff;
392 buffer[6] = (delay >> 16) & 0xff;
393 buffer[7] = (delay >> 24) & 0xff;
394 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
396 if (retval != ERROR_OK) {
397 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
398 return ERROR_JTAG_DEVICE_ERROR;
407 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
410 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
412 /* set clock in Hz */
414 buffer[0] = 0; /* report number */
415 buffer[1] = CMD_DAP_SWJ_CLOCK;
416 buffer[2] = swj_clock & 0xff;
417 buffer[3] = (swj_clock >> 8) & 0xff;
418 buffer[4] = (swj_clock >> 16) & 0xff;
419 buffer[5] = (swj_clock >> 24) & 0xff;
420 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
422 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
423 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
424 return ERROR_JTAG_DEVICE_ERROR;
430 /* clock a sequence of bits out on TMS, to change JTAG states */
431 static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
434 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
436 #ifdef CMSIS_DAP_JTAG_DEBUG
437 LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
438 for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
439 printf("%02X ", sequence[i]);
444 buffer[0] = 0; /* report number */
445 buffer[1] = CMD_DAP_SWJ_SEQ;
447 bit_copy(&buffer[3], 0, sequence, 0, s_len);
449 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
451 if (retval != ERROR_OK || buffer[1] != DAP_OK)
457 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
460 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
462 buffer[0] = 0; /* report number */
463 buffer[1] = CMD_DAP_INFO;
465 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
467 if (retval != ERROR_OK) {
468 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
469 return ERROR_JTAG_DEVICE_ERROR;
472 *data = &(buffer[1]);
477 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
480 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
482 buffer[0] = 0; /* report number */
483 buffer[1] = CMD_DAP_LED;
486 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
488 if (retval != ERROR_OK || buffer[1] != 0x00) {
489 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
490 return ERROR_JTAG_DEVICE_ERROR;
496 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
499 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
501 buffer[0] = 0; /* report number */
502 buffer[1] = CMD_DAP_CONNECT;
504 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
506 if (retval != ERROR_OK) {
507 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
508 return ERROR_JTAG_DEVICE_ERROR;
511 if (buffer[1] != mode) {
512 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
513 return ERROR_JTAG_DEVICE_ERROR;
519 static int cmsis_dap_cmd_DAP_Disconnect(void)
522 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
524 buffer[0] = 0; /* report number */
525 buffer[1] = CMD_DAP_DISCONNECT;
526 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
528 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
529 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
530 return ERROR_JTAG_DEVICE_ERROR;
536 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
539 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
541 buffer[0] = 0; /* report number */
542 buffer[1] = CMD_DAP_TFER_CONFIGURE;
544 buffer[3] = retry_count & 0xff;
545 buffer[4] = (retry_count >> 8) & 0xff;
546 buffer[5] = match_retry & 0xff;
547 buffer[6] = (match_retry >> 8) & 0xff;
548 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
550 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
551 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
552 return ERROR_JTAG_DEVICE_ERROR;
558 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
561 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
563 buffer[0] = 0; /* report number */
564 buffer[1] = CMD_DAP_SWD_CONFIGURE;
566 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
568 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
569 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
570 return ERROR_JTAG_DEVICE_ERROR;
577 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
580 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
582 buffer[0] = 0; /* report number */
583 buffer[1] = CMD_DAP_DELAY;
584 buffer[2] = delay_us & 0xff;
585 buffer[3] = (delay_us >> 8) & 0xff;
586 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
588 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
589 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
590 return ERROR_JTAG_DEVICE_ERROR;
597 static int cmsis_dap_swd_run_queue(void)
599 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
601 LOG_DEBUG_IO("Executing %d queued transactions", pending_transfer_count);
603 if (queued_retval != ERROR_OK) {
604 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
608 if (!pending_transfer_count)
612 buffer[idx++] = 0; /* report number */
613 buffer[idx++] = CMD_DAP_TFER;
614 buffer[idx++] = 0x00; /* DAP Index */
615 buffer[idx++] = pending_transfer_count;
617 for (int i = 0; i < pending_transfer_count; i++) {
618 uint8_t cmd = pending_transfers[i].cmd;
619 uint32_t data = pending_transfers[i].data;
621 LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
622 cmd & SWD_CMD_APnDP ? "AP" : "DP",
623 cmd & SWD_CMD_RnW ? "read" : "write",
624 (cmd & SWD_CMD_A32) >> 1, data);
626 /* When proper WAIT handling is implemented in the
627 * common SWD framework, this kludge can be
628 * removed. However, this might lead to minor
629 * performance degradation as the adapter wouldn't be
630 * able to automatically retry anything (because ARM
631 * has forgotten to implement sticky error flags
632 * clearing). See also comments regarding
633 * cmsis_dap_cmd_DAP_TFER_Configure() and
634 * cmsis_dap_cmd_DAP_SWD_Configure() in
637 if (!(cmd & SWD_CMD_RnW) &&
638 !(cmd & SWD_CMD_APnDP) &&
639 (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
640 (data & CORUNDETECT)) {
641 LOG_DEBUG("refusing to enable sticky overrun detection");
642 data &= ~CORUNDETECT;
645 buffer[idx++] = (cmd >> 1) & 0x0f;
646 if (!(cmd & SWD_CMD_RnW)) {
647 buffer[idx++] = (data) & 0xff;
648 buffer[idx++] = (data >> 8) & 0xff;
649 buffer[idx++] = (data >> 16) & 0xff;
650 buffer[idx++] = (data >> 24) & 0xff;
654 queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
655 if (queued_retval != ERROR_OK)
659 uint8_t ack = buffer[idx] & 0x07;
660 if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
661 LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
662 ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
663 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
668 if (pending_transfer_count != buffer[1])
669 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
670 pending_transfer_count, buffer[1]);
672 for (int i = 0; i < buffer[1]; i++) {
673 if (pending_transfers[i].cmd & SWD_CMD_RnW) {
674 static uint32_t last_read;
675 uint32_t data = le_to_h_u32(&buffer[idx]);
679 LOG_DEBUG_IO("Read result: %"PRIx32, data);
681 /* Imitate posted AP reads */
682 if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
683 ((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
688 if (pending_transfers[i].buffer)
689 *(uint32_t *)pending_transfers[i].buffer = tmp;
694 pending_transfer_count = 0;
695 int retval = queued_retval;
696 queued_retval = ERROR_OK;
701 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
703 if (pending_transfer_count == pending_queue_len) {
704 /* Not enough room in the queue. Run the queue. */
705 queued_retval = cmsis_dap_swd_run_queue();
708 if (queued_retval != ERROR_OK)
711 pending_transfers[pending_transfer_count].data = data;
712 pending_transfers[pending_transfer_count].cmd = cmd;
713 if (cmd & SWD_CMD_RnW) {
714 /* Queue a read transaction */
715 pending_transfers[pending_transfer_count].buffer = dst;
717 pending_transfer_count++;
720 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
722 assert(!(cmd & SWD_CMD_RnW));
723 cmsis_dap_swd_queue_cmd(cmd, NULL, value);
726 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
728 assert(cmd & SWD_CMD_RnW);
729 cmsis_dap_swd_queue_cmd(cmd, value, 0);
732 static int cmsis_dap_get_version_info(void)
736 /* INFO_ID_FW_VER - string */
737 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
738 if (retval != ERROR_OK)
741 if (data[0]) /* strlen */
742 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
747 static int cmsis_dap_get_caps_info(void)
751 /* INFO_ID_CAPS - byte */
752 int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
753 if (retval != ERROR_OK)
757 uint8_t caps = data[1];
759 cmsis_dap_handle->caps = caps;
761 if (caps & INFO_CAPS_SWD)
762 LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
763 if (caps & INFO_CAPS_JTAG)
764 LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
770 static int cmsis_dap_get_status(void)
774 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
776 if (retval == ERROR_OK) {
777 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
778 (d & SWJ_PIN_TCK) ? 1 : 0,
779 (d & SWJ_PIN_TMS) ? 1 : 0,
780 (d & SWJ_PIN_TDI) ? 1 : 0,
781 (d & SWJ_PIN_TDO) ? 1 : 0,
782 (d & SWJ_PIN_TRST) ? 1 : 0,
783 (d & SWJ_PIN_SRST) ? 1 : 0);
789 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
795 if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
796 /* Following workaround deasserts reset on most adapters.
797 * Do not reconnect if a reset line is active!
798 * Reconnecting would break connecting under reset. */
800 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
801 cmsis_dap_cmd_DAP_Disconnect();
803 /* When we are reconnecting, DAP_Connect needs to be rerun, at
804 * least on Keil ULINK-ME */
805 retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
806 CONNECT_SWD : CONNECT_JTAG);
807 if (retval != ERROR_OK)
813 LOG_DEBUG("SWD line reset");
814 s = swd_seq_line_reset;
815 s_len = swd_seq_line_reset_len;
818 LOG_DEBUG("JTAG-to-SWD");
819 s = swd_seq_jtag_to_swd;
820 s_len = swd_seq_jtag_to_swd_len;
823 LOG_DEBUG("SWD-to-JTAG");
824 s = swd_seq_swd_to_jtag;
825 s_len = swd_seq_swd_to_jtag_len;
828 LOG_ERROR("Sequence %d not supported", seq);
832 retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
833 if (retval != ERROR_OK)
836 /* Atmel EDBG needs renew clock setting after SWJ_Sequence
837 * otherwise default frequency is used */
838 return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
841 static int cmsis_dap_swd_open(void)
845 if (cmsis_dap_handle == NULL) {
847 retval = cmsis_dap_usb_open();
848 if (retval != ERROR_OK)
851 retval = cmsis_dap_get_caps_info();
852 if (retval != ERROR_OK)
856 if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
857 LOG_ERROR("CMSIS-DAP: SWD not supported");
858 return ERROR_JTAG_DEVICE_ERROR;
861 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
862 if (retval != ERROR_OK)
865 /* Add more setup here.??... */
867 LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
871 static int cmsis_dap_init(void)
877 retval = cmsis_dap_swd_open();
878 if (retval != ERROR_OK)
882 if (cmsis_dap_handle == NULL) {
885 retval = cmsis_dap_usb_open();
886 if (retval != ERROR_OK)
889 retval = cmsis_dap_get_caps_info();
890 if (retval != ERROR_OK)
893 /* Connect in JTAG mode */
894 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
895 LOG_ERROR("CMSIS-DAP: JTAG not supported");
896 return ERROR_JTAG_DEVICE_ERROR;
899 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
900 if (retval != ERROR_OK)
903 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
906 retval = cmsis_dap_get_version_info();
907 if (retval != ERROR_OK)
910 /* INFO_ID_PKT_SZ - short */
911 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
912 if (retval != ERROR_OK)
915 if (data[0] == 2) { /* short */
916 uint16_t pkt_sz = data[1] + (data[2] << 8);
918 /* 4 bytes of command header + 5 bytes per register
919 * write. For bulk read sequences just 4 bytes are
920 * needed per transfer, so this is suboptimal. */
921 pending_queue_len = (pkt_sz - 4) / 5;
922 pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
923 if (!pending_transfers) {
924 LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
928 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
929 /* reallocate buffer */
930 cmsis_dap_handle->packet_size = pkt_sz + 1;
931 cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
932 cmsis_dap_handle->packet_size);
933 if (cmsis_dap_handle->packet_buffer == NULL) {
934 LOG_ERROR("unable to reallocate memory");
939 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
942 /* INFO_ID_PKT_CNT - byte */
943 retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
944 if (retval != ERROR_OK)
947 if (data[0] == 1) { /* byte */
948 uint16_t pkt_cnt = data[1];
949 cmsis_dap_handle->packet_count = pkt_cnt;
950 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
953 retval = cmsis_dap_get_status();
954 if (retval != ERROR_OK)
957 /* Now try to connect to the target
958 * TODO: This is all SWD only @ present */
959 retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
960 if (retval != ERROR_OK)
963 /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
964 * up to 64 times. This must be changed to 0 if sticky
965 * overrun detection is enabled. */
966 retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
967 if (retval != ERROR_OK)
971 /* Data Phase (bit 2) must be set to 1 if sticky overrun
972 * detection is enabled */
973 retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
974 if (retval != ERROR_OK)
978 retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
979 if (retval != ERROR_OK)
982 /* support connecting with srst asserted */
983 enum reset_types jtag_reset_config = jtag_get_reset_config();
985 if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
986 if (jtag_reset_config & RESET_SRST_NO_GATING) {
987 retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
988 if (retval != ERROR_OK)
990 LOG_INFO("Connecting under reset");
994 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
996 LOG_INFO("CMSIS-DAP: Interface ready");
1001 static int cmsis_dap_swd_init(void)
1007 static int cmsis_dap_quit(void)
1009 cmsis_dap_cmd_DAP_Disconnect();
1010 cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
1012 cmsis_dap_usb_close(cmsis_dap_handle);
1017 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
1019 /* Set both TRST and SRST even if they're not enabled as
1020 * there's no way to tristate them */
1023 if (!cmd->cmd.reset->srst)
1024 output_pins |= SWJ_PIN_SRST;
1025 if (!cmd->cmd.reset->trst)
1026 output_pins |= SWJ_PIN_TRST;
1028 int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins,
1029 SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1030 if (retval != ERROR_OK)
1031 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1034 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1037 int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
1038 if (retval != ERROR_OK)
1040 jtag_sleep(cmd->cmd.sleep->us);
1043 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1044 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1046 LOG_INFO("cmsis-dap JTAG TLR_RESET");
1048 int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
1049 if (ret == ERROR_OK)
1050 tap_set_state(TAP_RESET);
1054 /* Set new end state */
1055 static void cmsis_dap_end_state(tap_state_t state)
1057 if (tap_is_state_stable(state))
1058 tap_set_end_state(state);
1060 LOG_ERROR("BUG: %i is not a valid end state", state);
1065 #ifdef SPRINT_BINARY
1066 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1072 buf = { 0x18 } len=5 should result in: 11000
1073 buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1074 buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1075 i=3 there means i/8 = 0 so c = 0xFF, and
1077 for (int i = offset; i < offset + len; ++i) {
1078 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1079 if ((i != offset) && !(i % 8))
1081 *s++ = (c & mask) ? '1' : '0';
1087 #ifdef CMSIS_DAP_JTAG_DEBUG
1088 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1090 /* cmd is a usb packet to go to the cmsis-dap interface */
1091 printf("cmsis-dap buffer (%d b): ", cmdlen);
1092 for (int i = 0; i < cmdlen; ++i)
1093 printf(" %02x", cmd[i]);
1096 case CMD_DAP_JTAG_SEQ: {
1097 printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
1099 * #2 = number of sequences
1100 * #3 = sequence info 1
1101 * #4...4+n_bytes-1 = sequence 1
1102 * #4+n_bytes = sequence info 2
1103 * #5+n_bytes = sequence 2 (single bit)
1106 for (int seq = 0; seq < cmd[2]; ++seq) {
1107 uint8_t info = cmd[pos++];
1108 int len = info & DAP_JTAG_SEQ_TCK;
1111 printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1112 seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1113 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1114 printf(" %02x", cmd[pos+i]);
1115 pos += DIV_ROUND_UP(len, 8);
1118 if (pos != cmdlen) {
1119 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1126 LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1132 static void cmsis_dap_flush(void)
1134 if (!queued_seq_count)
1137 DEBUG_JTAG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1138 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1140 /* prep CMSIS-DAP packet */
1141 uint8_t *buffer = cmsis_dap_handle->packet_buffer;
1142 buffer[0] = 0; /* report number */
1143 buffer[1] = CMD_DAP_JTAG_SEQ;
1144 buffer[2] = queued_seq_count;
1145 memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
1147 #ifdef CMSIS_DAP_JTAG_DEBUG
1148 debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
1151 /* send command to USB device */
1152 int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
1153 if (retval != ERROR_OK || buffer[1] != DAP_OK) {
1154 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1158 #ifdef CMSIS_DAP_JTAG_DEBUG
1159 DEBUG_JTAG_IO("USB response buf:");
1160 for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1161 printf("%02X ", buffer[c]);
1165 /* copy scan results into client buffers */
1166 for (int i = 0; i < pending_scan_result_count; ++i) {
1167 struct pending_scan_result *scan = &pending_scan_results[i];
1168 DEBUG_JTAG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1169 i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1170 #ifdef CMSIS_DAP_JTAG_DEBUG
1171 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1172 printf("%02X ", buffer[2+scan->first+b]);
1175 bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
1179 queued_seq_count = 0;
1180 queued_seq_buf_end = 0;
1181 queued_seq_tdo_ptr = 0;
1182 pending_scan_result_count = 0;
1185 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1187 * sequence=NULL means clock out zeros on TDI
1188 * tdo_buffer=NULL means don't capture TDO
1190 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1191 bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1193 DEBUG_JTAG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1195 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1201 DEBUG_JTAG_IO("START JTAG SEQ SPLIT");
1202 for (int offset = 0; offset < s_len; offset += 64) {
1203 int len = s_len - offset;
1206 DEBUG_JTAG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1207 cmsis_dap_add_jtag_sequence(
1213 tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
1216 DEBUG_JTAG_IO("END JTAG SEQ SPLIT");
1220 int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1221 if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1222 /* empty out the buffer */
1228 queued_seq_buf[queued_seq_buf_end] =
1229 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1230 (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
1231 (s_len == 64 ? 0 : s_len);
1233 if (sequence != NULL)
1234 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1236 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1238 queued_seq_buf_end += cmd_len;
1240 if (tdo_buffer != NULL) {
1241 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1242 scan->first = queued_seq_tdo_ptr;
1243 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1244 scan->length = s_len;
1245 scan->buffer = tdo_buffer;
1246 scan->buffer_offset = tdo_buffer_offset;
1250 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1251 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1253 DEBUG_JTAG_IO("%d bits: %02X", s_len, *sequence);
1254 /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1255 because even though it seems ridiculously inefficient, it
1256 allows us to combine TMS and scan sequences into the same
1258 /* TODO: combine runs of the same tms value */
1259 for (int i = 0; i < s_len; ++i) {
1260 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1261 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1265 /* Move to the end state by queuing a sequence to clock into TMS */
1266 static void cmsis_dap_state_move(void)
1269 uint8_t tms_scan_bits;
1271 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1272 tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1274 DEBUG_JTAG_IO("state move from %s to %s: %d clocks, %02X on tms",
1275 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1276 tms_scan_bits, tms_scan);
1277 cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1279 tap_set_state(tap_get_end_state());
1283 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1284 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1286 DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1287 jtag_scan_type(cmd->cmd.scan));
1289 /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1290 while (cmd->cmd.scan->num_fields > 0
1291 && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1292 cmd->cmd.scan->num_fields--;
1293 LOG_DEBUG("discarding trailing empty field");
1296 if (cmd->cmd.scan->num_fields == 0) {
1297 LOG_DEBUG("empty scan, doing nothing");
1301 if (cmd->cmd.scan->ir_scan) {
1302 if (tap_get_state() != TAP_IRSHIFT) {
1303 cmsis_dap_end_state(TAP_IRSHIFT);
1304 cmsis_dap_state_move();
1307 if (tap_get_state() != TAP_DRSHIFT) {
1308 cmsis_dap_end_state(TAP_DRSHIFT);
1309 cmsis_dap_state_move();
1313 cmsis_dap_end_state(cmd->cmd.scan->end_state);
1315 struct scan_field *field = cmd->cmd.scan->fields;
1316 unsigned scan_size = 0;
1318 for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1319 scan_size += field->num_bits;
1320 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
1321 field->in_value ? "in" : "",
1322 field->out_value ? "out" : "",
1324 cmd->cmd.scan->num_fields,
1327 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1328 DEBUG_JTAG_IO("Last field and have to move out of SHIFT state");
1329 /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1330 * movement. This last field can't have length zero, it was checked above. */
1331 cmsis_dap_add_jtag_sequence(
1332 field->num_bits - 1, /* number of bits to clock */
1333 field->out_value, /* output sequence */
1334 0, /* output offset */
1335 false, /* TMS low */
1339 /* Clock the last bit out, with TMS high */
1340 uint8_t last_bit = 0;
1341 if (field->out_value)
1342 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1343 cmsis_dap_add_jtag_sequence(
1349 field->num_bits - 1);
1350 tap_set_state(tap_state_transition(tap_get_state(), 1));
1352 /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1353 cmsis_dap_add_jtag_sequence(
1360 tap_set_state(tap_state_transition(tap_get_state(), 0));
1362 DEBUG_JTAG_IO("Internal field, staying in SHIFT state afterwards");
1363 /* Clocking part of a sequence into DR or IR with TMS=0,
1364 leaving TMS=0 at the end so we can continue later */
1365 cmsis_dap_add_jtag_sequence(
1375 if (tap_get_state() != tap_get_end_state()) {
1376 cmsis_dap_end_state(tap_get_end_state());
1377 cmsis_dap_state_move();
1380 DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
1381 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1382 tap_state_name(tap_get_end_state()));
1385 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1388 uint8_t tms0 = 0x00;
1389 uint8_t tms1 = 0xff;
1391 for (i = 0; i < num_states; i++) {
1392 if (path[i] == tap_state_transition(tap_get_state(), false))
1393 cmsis_dap_add_tms_sequence(&tms0, 1);
1394 else if (path[i] == tap_state_transition(tap_get_state(), true))
1395 cmsis_dap_add_tms_sequence(&tms1, 1);
1397 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1398 tap_state_name(tap_get_state()), tap_state_name(path[i]));
1402 tap_set_state(path[i]);
1405 cmsis_dap_end_state(tap_get_state());
1408 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1410 DEBUG_JTAG_IO("pathmove: %i states, end in %i",
1411 cmd->cmd.pathmove->num_states,
1412 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1414 cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1417 static void cmsis_dap_stableclocks(int num_cycles)
1421 uint8_t tms = tap_get_state() == TAP_RESET;
1422 /* TODO: Perform optimizations? */
1423 /* Execute num_cycles. */
1424 for (i = 0; i < num_cycles; i++)
1425 cmsis_dap_add_tms_sequence(&tms, 1);
1428 static void cmsis_dap_runtest(int num_cycles)
1430 tap_state_t saved_end_state = tap_get_end_state();
1432 /* Only do a state_move when we're not already in IDLE. */
1433 if (tap_get_state() != TAP_IDLE) {
1434 cmsis_dap_end_state(TAP_IDLE);
1435 cmsis_dap_state_move();
1437 cmsis_dap_stableclocks(num_cycles);
1439 /* Finish in end_state. */
1440 cmsis_dap_end_state(saved_end_state);
1442 if (tap_get_state() != tap_get_end_state())
1443 cmsis_dap_state_move();
1446 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1448 DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1449 cmd->cmd.runtest->end_state);
1451 cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1452 cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1455 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1457 DEBUG_JTAG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1458 cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1461 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1462 * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1463 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1465 switch (cmd->type) {
1468 cmsis_dap_execute_reset(cmd);
1472 cmsis_dap_execute_sleep(cmd);
1474 case JTAG_TLR_RESET:
1476 cmsis_dap_execute_tlr_reset(cmd);
1479 cmsis_dap_execute_scan(cmd);
1482 cmsis_dap_execute_pathmove(cmd);
1485 cmsis_dap_execute_runtest(cmd);
1487 case JTAG_STABLECLOCKS:
1488 cmsis_dap_execute_stableclocks(cmd);
1492 LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1497 static int cmsis_dap_execute_queue(void)
1499 struct jtag_command *cmd = jtag_command_queue;
1501 while (cmd != NULL) {
1502 cmsis_dap_execute_command(cmd);
1511 static int cmsis_dap_speed(int speed)
1513 if (speed > DAP_MAX_CLOCK)
1514 LOG_INFO("High speed (adapter_khz %d) may be limited by adapter firmware.", speed);
1517 LOG_ERROR("RTCK not supported. Set nonzero adapter_khz.");
1518 return ERROR_JTAG_NOT_IMPLEMENTED;
1521 return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
1524 static int cmsis_dap_speed_div(int speed, int *khz)
1530 static int cmsis_dap_khz(int khz, int *jtag_speed)
1536 static int_least32_t cmsis_dap_swd_frequency(int_least32_t hz)
1539 cmsis_dap_speed(hz / 1000);
1545 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1547 if (cmsis_dap_get_version_info() == ERROR_OK)
1548 cmsis_dap_get_status();
1553 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
1555 if (CMD_ARGC > MAX_USB_IDS * 2) {
1556 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1557 "(maximum is %d pairs)", MAX_USB_IDS);
1558 CMD_ARGC = MAX_USB_IDS * 2;
1560 if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
1561 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1563 return ERROR_COMMAND_SYNTAX_ERROR;
1564 /* remove the incomplete trailing id */
1569 for (i = 0; i < CMD_ARGC; i += 2) {
1570 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
1571 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
1575 * Explicitly terminate, in case there are multiples instances of
1576 * cmsis_dap_vid_pid.
1578 cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1583 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
1585 if (CMD_ARGC == 1) {
1586 size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
1587 cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
1588 if (cmsis_dap_serial == NULL) {
1589 LOG_ERROR("unable to allocate memory");
1592 if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
1593 free(cmsis_dap_serial);
1594 cmsis_dap_serial = NULL;
1595 LOG_ERROR("unable to convert serial");
1598 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1604 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1607 .handler = &cmsis_dap_handle_info_command,
1608 .mode = COMMAND_EXEC,
1610 .help = "show cmsis-dap info",
1612 COMMAND_REGISTRATION_DONE
1615 static const struct command_registration cmsis_dap_command_handlers[] = {
1617 .name = "cmsis-dap",
1618 .mode = COMMAND_ANY,
1619 .help = "perform CMSIS-DAP management",
1621 .chain = cmsis_dap_subcommand_handlers,
1624 .name = "cmsis_dap_vid_pid",
1625 .handler = &cmsis_dap_handle_vid_pid_command,
1626 .mode = COMMAND_CONFIG,
1627 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1628 .usage = "(vid pid)* ",
1631 .name = "cmsis_dap_serial",
1632 .handler = &cmsis_dap_handle_serial_command,
1633 .mode = COMMAND_CONFIG,
1634 .help = "set the serial number of the adapter",
1635 .usage = "serial_string",
1637 COMMAND_REGISTRATION_DONE
1640 static const struct swd_driver cmsis_dap_swd_driver = {
1641 .init = cmsis_dap_swd_init,
1642 .frequency = cmsis_dap_swd_frequency,
1643 .switch_seq = cmsis_dap_swd_switch_seq,
1644 .read_reg = cmsis_dap_swd_read_reg,
1645 .write_reg = cmsis_dap_swd_write_reg,
1646 .run = cmsis_dap_swd_run_queue,
1649 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
1651 struct jtag_interface cmsis_dap_interface = {
1652 .name = "cmsis-dap",
1653 .commands = cmsis_dap_command_handlers,
1654 .swd = &cmsis_dap_swd_driver,
1655 .transports = cmsis_dap_transport,
1657 .execute_queue = cmsis_dap_execute_queue,
1658 .speed = cmsis_dap_speed,
1659 .speed_div = cmsis_dap_speed_div,
1660 .khz = cmsis_dap_khz,
1661 .init = cmsis_dap_init,
1662 .quit = cmsis_dap_quit,