git.sur5r.net Git - openocd/blob - src/jtag/drivers/cmsis_dap_usb.c

   1 /***************************************************************************
   2  *   Copyright (C) 2013 by mike brown                                      *
   3  *   mike@theshedworks.org.uk                                              *
   4  *                                                                         *
   5  *   Copyright (C) 2013 by Spencer Oliver                                  *
   6  *   spen@spen-soft.co.uk                                                  *
   7  *                                                                         *
   8  *   This program is free software; you can redistribute it and/or modify  *
   9  *   it under the terms of the GNU General Public License as published by  *
  10  *   the Free Software Foundation; either version 2 of the License, or     *
  11  *   (at your option) any later version.                                   *
  12  *                                                                         *
  13  *   This program is distributed in the hope that it will be useful,       *
  14  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  15  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  16  *   GNU General Public License for more details.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program; if not, write to the                         *
  20  *   Free Software Foundation, Inc.,                                       *
  21  *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  22  ***************************************************************************/
  23
  24 #ifdef HAVE_CONFIG_H
  25 #include "config.h"
  26 #endif
  27
  28 #include <transport/transport.h>
  29 #include <jtag/swd.h>
  30 #include <jtag/interface.h>
  31 #include <jtag/commands.h>
  32 #include <jtag/tcl.h>
  33
  34 #include <hidapi.h>
  35
  36 #ifdef _DEBUG_JTAG_IO_
  37  #define DEBUG_IO(expr...) LOG_DEBUG(expr)
  38 #else
  39  #define DEBUG_IO(expr...) do {} while (0)
  40 #endif
  41
  42 /*
  43  * See CMSIS-DAP documentation:
  44  * Version 0.01 - Beta.
  45  */
  46
  47 /* USB Config */
  48
  49 /* Known vid/pid pairs:
  50  * VID 0xc251: Keil Software
  51  * PID 0xf001: LPC-Link-II CMSIS_DAP
  52  * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
  53  * PID 0x2722: Keil ULINK2 CMSIS-DAP
  54  *
  55  * VID 0x0d28: mbed Software
  56  * PID 0x0204: MBED CMSIS-DAP
  57  */
  58
  59 #define MAX_USB_IDS 8
  60 /* vid = pid = 0 marks the end of the list */
  61 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
  62 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
  63
  64 #define PACKET_SIZE       (64 + 1)      /* 64 bytes plus report id */
  65 #define USB_TIMEOUT       1000
  66
  67 /* CMSIS-DAP General Commands */
  68 #define CMD_DAP_INFO              0x00
  69 #define CMD_DAP_LED               0x01
  70 #define CMD_DAP_CONNECT           0x02
  71 #define CMD_DAP_DISCONNECT        0x03
  72 #define CMD_DAP_WRITE_ABORT       0x08
  73 #define CMD_DAP_DELAY             0x09
  74 #define CMD_DAP_RESET_TARGET      0x0A
  75
  76 /* CMD_INFO */
  77 #define INFO_ID_VID               0x00      /* string */
  78 #define INFO_ID_PID               0x02      /* string */
  79 #define INFO_ID_SERNUM            0x03      /* string */
  80 #define INFO_ID_FW_VER            0x04      /* string */
  81 #define INFO_ID_TD_VEND           0x05      /* string */
  82 #define INFO_ID_TD_NAME           0x06      /* string */
  83 #define INFO_ID_CAPS              0xf0      /* byte */
  84 #define INFO_ID_PKT_CNT           0xfe      /* byte */
  85 #define INFO_ID_PKT_SZ            0xff      /* short */
  86
  87 #define INFO_CAPS_SWD             0x01
  88 #define INFO_CAPS_JTAG            0x02
  89
  90 /* CMD_LED */
  91 #define LED_ID_CONNECT            0x00
  92 #define LED_ID_RUN                0x01
  93
  94 #define LED_OFF                   0x00
  95 #define LED_ON                    0x01
  96
  97 /* CMD_CONNECT */
  98 #define CONNECT_DEFAULT           0x00
  99 #define CONNECT_SWD               0x01
 100 #define CONNECT_JTAG              0x02
 101
 102 /* CMSIS-DAP Common SWD/JTAG Commands */
 103 #define CMD_DAP_DELAY             0x09
 104 #define CMD_DAP_SWJ_PINS          0x10
 105 #define CMD_DAP_SWJ_CLOCK         0x11
 106 #define CMD_DAP_SWJ_SEQ           0x12
 107
 108 /*
 109  * PINS
 110  * Bit 0: SWCLK/TCK
 111  * Bit 1: SWDIO/TMS
 112  * Bit 2: TDI
 113  * Bit 3: TDO
 114  * Bit 5: nTRST
 115  * Bit 7: nRESET
 116  */
 117
 118 /* CMSIS-DAP SWD Commands */
 119 #define CMD_DAP_SWD_CONFIGURE     0x13
 120
 121 /* CMSIS-DAP JTAG Commands */
 122 #define CMD_DAP_JTAG_SEQ          0x14
 123 #define CMD_DAP_JTAG_CONFIGURE    0x15
 124 #define CMD_DAP_JTAG_IDCODE       0x16
 125
 126 /* CMSIS-DAP Transfer Commands */
 127 #define CMD_DAP_TFER_CONFIGURE    0x04
 128 #define CMD_DAP_TFER              0x05
 129 #define CMD_DAP_TFER_BLOCK        0x06
 130 #define CMD_DAP_TFER_ABORT        0x07
 131
 132 /* DAP Status Code */
 133 #define DAP_OK                    0
 134 #define DAP_ERROR                 0xFF
 135
 136 /* CMSIS-DAP Vendor Commands
 137  * None as yet... */
 138
 139 static char *info_caps_str[] = {
 140         "SWD  Supported",
 141         "JTAG Supported"
 142 };
 143
 144 /* max clock speed (kHz) */
 145 #define DAP_MAX_CLOCK             5000
 146
 147 struct cmsis_dap {
 148         hid_device *dev_handle;
 149         uint16_t packet_size;
 150         uint16_t packet_count;
 151         uint8_t *packet_buffer;
 152         uint8_t caps;
 153         uint8_t mode;
 154 };
 155
 156 static struct cmsis_dap *cmsis_dap_handle;
 157
 158 static int cmsis_dap_usb_open(void)
 159 {
 160         hid_device *dev = NULL;
 161         int i;
 162         struct hid_device_info *devs, *cur_dev;
 163         unsigned short target_vid, target_pid;
 164
 165         target_vid = 0;
 166         target_pid = 0;
 167
 168         /*
 169         The CMSIS-DAP specification stipulates:
 170         "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
 171         debuggers to idenify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
 172         */
 173         devs = hid_enumerate(0x0, 0x0);
 174         cur_dev = devs;
 175         while (NULL != cur_dev) {
 176                 if (0 == cmsis_dap_vid[0]) {
 177                         if (NULL == cur_dev->product_string) {
 178                                 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
 179                                           cur_dev->vendor_id, cur_dev->product_id);
 180                         } else {
 181                                 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP"))
 182                                         /*
 183                                         if the user hasn't specified VID:PID *and*
 184                                         product string contains "CMSIS-DAP", pick it
 185                                         */
 186                                         break;
 187                         }
 188                 } else {
 189                         /*
 190                         otherwise, exhaustively compare against all VID:PID in list
 191                         */
 192                         for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
 193                                 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
 194                                         break;
 195                         }
 196                 }
 197
 198                 cur_dev = cur_dev->next;
 199         }
 200
 201         if (NULL != cur_dev) {
 202                 target_vid = cur_dev->vendor_id;
 203                 target_pid = cur_dev->product_id;
 204         }
 205
 206         hid_free_enumeration(devs);
 207
 208         if (hid_init() != 0) {
 209                 LOG_ERROR("unable to open HIDAPI");
 210                 return ERROR_FAIL;
 211         }
 212
 213         dev = hid_open(target_vid, target_pid, NULL);
 214
 215         if (dev == NULL) {
 216                 LOG_ERROR("unable to open CMSIS-DAP device");
 217                 return ERROR_FAIL;
 218         }
 219
 220         struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
 221         if (dap == NULL) {
 222                 LOG_ERROR("unable to allocate memory");
 223                 return ERROR_FAIL;
 224         }
 225
 226         dap->dev_handle = dev;
 227         dap->caps = 0;
 228         dap->mode = 0;
 229
 230         cmsis_dap_handle = dap;
 231
 232         /* allocate default packet buffer, may be changed later.
 233          * currently with HIDAPI we have no way of getting the output report length
 234          * without this info we cannot communicate with the adapter.
 235          * For the moment we ahve to hard code the packet size */
 236
 237         int packet_size = PACKET_SIZE;
 238
 239         /* atmel cmsis-dap uses 512 byte reports */
 240         if (target_vid == 0x03eb)
 241                 packet_size = 512 + 1;
 242
 243         cmsis_dap_handle->packet_buffer = malloc(packet_size);
 244         cmsis_dap_handle->packet_size = packet_size;
 245
 246         if (cmsis_dap_handle->packet_buffer == NULL) {
 247                 LOG_ERROR("unable to allocate memory");
 248                 return ERROR_FAIL;
 249         }
 250
 251         return ERROR_OK;
 252 }
 253
 254 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
 255 {
 256         hid_close(dap->dev_handle);
 257         hid_exit();
 258
 259         if (cmsis_dap_handle->packet_buffer)
 260                 free(cmsis_dap_handle->packet_buffer);
 261
 262         if (cmsis_dap_handle) {
 263                 free(cmsis_dap_handle);
 264                 cmsis_dap_handle = NULL;
 265         }
 266
 267         return;
 268 }
 269
 270 /* Send a message and receive the reply */
 271 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
 272 {
 273         /* Pad the rest of the TX buffer with 0's */
 274         memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
 275
 276         /* write data to device */
 277         int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
 278         if (retval == -1) {
 279                 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
 280                 return ERROR_FAIL;
 281         }
 282
 283         /* get reply */
 284         retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
 285         if (retval == -1 || retval == 0) {
 286                 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
 287                 return ERROR_FAIL;
 288         }
 289
 290         return ERROR_OK;
 291 }
 292
 293 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
 294 {
 295         int retval;
 296         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 297
 298         buffer[0] = 0;  /* report number */
 299         buffer[1] = CMD_DAP_SWJ_PINS;
 300         buffer[2] = pins;
 301         buffer[3] = mask;
 302         buffer[4] = delay & 0xff;
 303         buffer[5] = (delay >> 8) & 0xff;
 304         buffer[6] = (delay >> 16) & 0xff;
 305         buffer[7] = (delay >> 24) & 0xff;
 306         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
 307
 308         if (retval != ERROR_OK) {
 309                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
 310                 return ERROR_JTAG_DEVICE_ERROR;
 311         }
 312
 313         if (input)
 314                 *input = buffer[1];
 315
 316         return ERROR_OK;
 317 }
 318
 319 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
 320 {
 321         int retval;
 322         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 323
 324         /* set clock in Hz */
 325         swj_clock *= 1000;
 326         buffer[0] = 0;  /* report number */
 327         buffer[1] = CMD_DAP_SWJ_CLOCK;
 328         buffer[2] = swj_clock & 0xff;
 329         buffer[3] = (swj_clock >> 8) & 0xff;
 330         buffer[4] = (swj_clock >> 16) & 0xff;
 331         buffer[5] = (swj_clock >> 24) & 0xff;
 332         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 333
 334         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 335                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
 336                 return ERROR_JTAG_DEVICE_ERROR;
 337         }
 338
 339         return ERROR_OK;
 340 }
 341
 342 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
 343 {
 344         int retval;
 345         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 346
 347         buffer[0] = 0;  /* report number */
 348         buffer[1] = CMD_DAP_INFO;
 349         buffer[2] = info;
 350         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 351
 352         if (retval != ERROR_OK) {
 353                 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
 354                 return ERROR_JTAG_DEVICE_ERROR;
 355         }
 356
 357         *data = &(buffer[1]);
 358
 359         return ERROR_OK;
 360 }
 361
 362 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
 363 {
 364         int retval;
 365         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 366
 367         buffer[0] = 0;  /* report number */
 368         buffer[1] = CMD_DAP_LED;
 369         buffer[2] = 0x00;
 370         buffer[3] = leds;
 371         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 372
 373         if (retval != ERROR_OK || buffer[1] != 0x00) {
 374                 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
 375                 return ERROR_JTAG_DEVICE_ERROR;
 376         }
 377
 378         return ERROR_OK;
 379 }
 380
 381 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
 382 {
 383         int retval;
 384         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 385
 386         buffer[0] = 0;  /* report number */
 387         buffer[1] = CMD_DAP_CONNECT;
 388         buffer[2] = mode;
 389         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 390
 391         if (retval != ERROR_OK) {
 392                 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
 393                 return ERROR_JTAG_DEVICE_ERROR;
 394         }
 395
 396         if (buffer[1] != mode) {
 397                 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
 398                 return ERROR_JTAG_DEVICE_ERROR;
 399         }
 400
 401         return ERROR_OK;
 402 }
 403
 404 static int cmsis_dap_cmd_DAP_Disconnect(void)
 405 {
 406         int retval;
 407         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 408
 409         buffer[0] = 0;  /* report number */
 410         buffer[1] = CMD_DAP_DISCONNECT;
 411         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 412
 413         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 414                 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
 415                 return ERROR_JTAG_DEVICE_ERROR;
 416         }
 417
 418         return ERROR_OK;
 419 }
 420
 421 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16_t retry)
 422 {
 423         int retval;
 424         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 425
 426         buffer[0] = 0;  /* report number */
 427         buffer[1] = CMD_DAP_TFER_CONFIGURE;
 428         buffer[2] = idle;
 429         buffer[3] = delay & 0xff;
 430         buffer[4] = (delay >> 8) & 0xff;
 431         buffer[5] = retry & 0xff;
 432         buffer[6] = (retry >> 8) & 0xff;
 433         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 434
 435         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 436                 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
 437                 return ERROR_JTAG_DEVICE_ERROR;
 438         }
 439
 440         return ERROR_OK;
 441 }
 442
 443 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
 444 {
 445         int retval;
 446         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 447
 448         buffer[0] = 0;  /* report number */
 449         buffer[1] = CMD_DAP_SWD_CONFIGURE;
 450         buffer[2] = cfg;
 451         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 452
 453         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 454                 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
 455                 return ERROR_JTAG_DEVICE_ERROR;
 456         }
 457
 458         return ERROR_OK;
 459 }
 460
 461 #if 0
 462 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
 463 {
 464         int retval;
 465         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 466
 467         buffer[0] = 0;  /* report number */
 468         buffer[1] = CMD_DAP_DELAY;
 469         buffer[2] = delay_us & 0xff;
 470         buffer[3] = (delay_us >> 8) & 0xff;
 471         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 472
 473         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 474                 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
 475                 return ERROR_JTAG_DEVICE_ERROR;
 476         }
 477
 478         return ERROR_OK;
 479 }
 480 #endif
 481
 482 static int cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value)
 483 {
 484         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 485         int retval;
 486         uint32_t val;
 487
 488         DEBUG_IO("CMSIS-DAP: Read  Reg 0x%02" PRIx8, cmd);
 489
 490         buffer[0] = 0;  /* report number */
 491         buffer[1] = CMD_DAP_TFER;
 492         buffer[2] = 0x00;
 493         buffer[3] = 0x01;
 494         buffer[4] = cmd;
 495         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 496
 497         /* TODO - need better response checking */
 498         if (retval != ERROR_OK || buffer[1] != 0x01) {
 499                 LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
 500                 return buffer[2];
 501         }
 502
 503         val = le_to_h_u32(&buffer[3]);
 504         DEBUG_IO("0x%08" PRIx32, val);
 505
 506         if (value)
 507                 *value = val;
 508
 509         return retval;
 510 }
 511
 512 static int cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value)
 513 {
 514         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 515
 516         DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
 517
 518         buffer[0] = 0;  /* report number */
 519         buffer[1] = CMD_DAP_TFER;
 520         buffer[2] = 0x00;
 521         buffer[3] = 0x01;
 522         buffer[4] = cmd;
 523         buffer[5] = (value) & 0xff;
 524         buffer[6] = (value >> 8) & 0xff;
 525         buffer[7] = (value >> 16) & 0xff;
 526         buffer[8] = (value >> 24) & 0xff;
 527         int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
 528
 529         if (buffer[1] != 0x01) {
 530                 LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
 531                 retval = buffer[2];
 532         }
 533
 534         return retval;
 535 }
 536
 537 static int cmsis_dap_swd_read_block(uint8_t cmd, uint32_t blocksize, uint8_t *dest_buf)
 538 {
 539         uint8_t *buffer;
 540         int tfer_sz;
 541         int retval = ERROR_OK;
 542         uint16_t read_count;
 543
 544         DEBUG_IO("CMSIS-DAP: Read Block 0x%02" PRIx8 " %" PRIu32, cmd, blocksize);
 545
 546         while (blocksize) {
 547
 548                 buffer = cmsis_dap_handle->packet_buffer;
 549                 tfer_sz = blocksize;
 550                 if (tfer_sz > 15)
 551                         tfer_sz = 8;
 552
 553                 buffer[0] = 0;  /* report number */
 554                 buffer[1] = CMD_DAP_TFER_BLOCK;
 555                 buffer[2] = 0x00;
 556                 buffer[3] = tfer_sz;
 557                 buffer[4] = 0x00;
 558                 buffer[5] = cmd;
 559                 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 560
 561                 read_count = le_to_h_u16(&buffer[1]);
 562                 if (read_count != tfer_sz) {
 563                         LOG_ERROR("CMSIS-DAP: Block Read Error (0x%02" PRIx8 ")", buffer[3]);
 564                         retval = buffer[3];
 565                 }
 566
 567                 read_count *= 4;
 568                 memcpy(dest_buf, &buffer[4], read_count);
 569
 570                 dest_buf += read_count;
 571                 blocksize -= tfer_sz;
 572         }
 573
 574         return retval;
 575 }
 576
 577 static int cmsis_dap_get_version_info(void)
 578 {
 579         uint8_t *data;
 580
 581         /* INFO_ID_FW_VER - string */
 582         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
 583         if (retval != ERROR_OK)
 584                 return retval;
 585
 586         if (data[0]) /* strlen */
 587                 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
 588
 589         return ERROR_OK;
 590 }
 591
 592 static int cmsis_dap_get_caps_info(void)
 593 {
 594         uint8_t *data;
 595
 596         /* INFO_ID_CAPS - byte */
 597         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
 598         if (retval != ERROR_OK)
 599                 return retval;
 600
 601         if (data[0] == 1) {
 602                 uint8_t caps = data[1];
 603
 604                 cmsis_dap_handle->caps = caps;
 605
 606                 if (caps & INFO_CAPS_SWD)
 607                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
 608                 if (caps & INFO_CAPS_JTAG)
 609                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
 610         }
 611
 612         return ERROR_OK;
 613 }
 614
 615 static int cmsis_dap_get_status(void)
 616 {
 617         uint8_t d;
 618
 619         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
 620
 621         if (retval == ERROR_OK) {
 622                 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
 623                         (d & (0x01 << 0)) ? 1 : 0,      /* Bit 0: SWCLK/TCK */
 624                         (d & (0x01 << 1)) ? 1 : 0,      /* Bit 1: SWDIO/TMS */
 625                         (d & (0x01 << 2)) ? 1 : 0,      /* Bit 2: TDI */
 626                         (d & (0x01 << 3)) ? 1 : 0,      /* Bit 3: TDO */
 627                         (d & (0x01 << 5)) ? 1 : 0,      /* Bit 5: nTRST */
 628                         (d & (0x01 << 7)) ? 1 : 0);     /* Bit 7: nRESET */
 629         }
 630
 631         return retval;
 632 }
 633
 634 static int cmsis_dap_reset_link(void)
 635 {
 636         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 637
 638         LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
 639         LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
 640
 641         /* reset line with SWDIO high for >50 cycles */
 642         buffer[0] = 0;  /* report number */
 643         buffer[1] = CMD_DAP_SWJ_SEQ;
 644         buffer[2] = 7 * 8;
 645         buffer[3] = 0xff;
 646         buffer[4] = 0xff;
 647         buffer[5] = 0xff;
 648         buffer[6] = 0xff;
 649         buffer[7] = 0xff;
 650         buffer[8] = 0xff;
 651         buffer[9] = 0xff;
 652         int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
 653
 654         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 655                 return ERROR_FAIL;
 656
 657         /* 16bit JTAG-SWD sequence */
 658         buffer[0] = 0;  /* report number */
 659         buffer[1] = CMD_DAP_SWJ_SEQ;
 660         buffer[2] = 2 * 8;
 661         buffer[3] = 0x9e;
 662         buffer[4] = 0xe7;
 663         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 664
 665         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 666                 return ERROR_FAIL;
 667
 668         /* another reset just incase */
 669         buffer[0] = 0;  /* report number */
 670         buffer[1] = CMD_DAP_SWJ_SEQ;
 671         buffer[2] = 7 * 8;
 672         buffer[3] = 0xff;
 673         buffer[4] = 0xff;
 674         buffer[5] = 0xff;
 675         buffer[6] = 0xff;
 676         buffer[7] = 0xff;
 677         buffer[8] = 0xff;
 678         buffer[9] = 0xff;
 679         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
 680
 681         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 682                 return ERROR_FAIL;
 683
 684         /* 16 cycle idle period */
 685         buffer[0] = 0;  /* report number */
 686         buffer[1] = CMD_DAP_SWJ_SEQ;
 687         buffer[2] = 2 * 8;
 688         buffer[3] = 0x00;
 689         buffer[4] = 0x00;
 690         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 691
 692         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 693                 return ERROR_FAIL;
 694
 695         DEBUG_IO("DAP Read IDCODE");
 696
 697         /* read the id code is always the next sequence */
 698         buffer[0] = 0;  /* report number */
 699         buffer[1] = CMD_DAP_TFER;
 700         buffer[2] = 0x00;
 701         buffer[3] = 0x01;
 702         buffer[4] = 0x02;
 703         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 704
 705         if (retval != ERROR_OK)
 706                 return retval;
 707
 708         if (buffer[1] == 0) {
 709                 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
 710
 711                 LOG_DEBUG("DAP Reset Target");
 712                 buffer[0] = 0;  /* report number */
 713                 buffer[1] = CMD_DAP_RESET_TARGET;
 714                 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 715                 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
 716
 717                 LOG_DEBUG("DAP Write Abort");
 718                 buffer[0] = 0;  /* report number */
 719                 buffer[1] = CMD_DAP_WRITE_ABORT;
 720                 buffer[2] = 0x00;
 721                 buffer[3] = 0x1e/*0x1f*/;
 722                 buffer[4] = 0x00;
 723                 buffer[5] = 0x00;
 724                 buffer[6] = 0x00;
 725                 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 726                 LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
 727
 728                 return 0x80 + buffer[1];
 729         }
 730
 731         LOG_DEBUG("DAP Write Abort");
 732         buffer[0] = 0;  /* report number */
 733         buffer[1] = CMD_DAP_WRITE_ABORT;
 734         buffer[2] = 0x00;
 735         buffer[3] = 0x1e;
 736         buffer[4] = 0x00;
 737         buffer[5] = 0x00;
 738         buffer[6] = 0x00;
 739         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 740         LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
 741
 742         return retval;
 743 }
 744
 745 static int cmsis_dap_init(void)
 746 {
 747         int retval;
 748         uint8_t *data;
 749
 750         if (cmsis_dap_handle == NULL) {
 751
 752                 /* JTAG init */
 753                 retval = cmsis_dap_usb_open();
 754                 if (retval != ERROR_OK)
 755                         return retval;
 756
 757                 retval = cmsis_dap_get_caps_info();
 758                 if (retval != ERROR_OK)
 759                         return retval;
 760
 761                 /* Connect in JTAG mode */
 762                 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
 763                         LOG_ERROR("CMSIS-DAP: JTAG not supported");
 764                         return ERROR_JTAG_DEVICE_ERROR;
 765                 }
 766
 767                 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
 768                 if (retval != ERROR_OK)
 769                         return retval;
 770
 771                 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
 772         }
 773
 774         retval = cmsis_dap_get_version_info();
 775         if (retval != ERROR_OK)
 776                 return retval;
 777
 778         /* INFO_ID_PKT_SZ - short */
 779         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
 780         if (retval != ERROR_OK)
 781                 return retval;
 782
 783         if (data[0] == 2) {  /* short */
 784                 uint16_t pkt_sz = data[1] + (data[2] << 8);
 785
 786                 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
 787                         /* reallocate buffer */
 788                         cmsis_dap_handle->packet_size = pkt_sz + 1;
 789                         cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
 790                                         cmsis_dap_handle->packet_size);
 791                         if (cmsis_dap_handle->packet_buffer == NULL) {
 792                                 LOG_ERROR("unable to reallocate memory");
 793                                 return ERROR_FAIL;
 794                         }
 795                 }
 796
 797                 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
 798         }
 799
 800         /* INFO_ID_PKT_CNT - byte */
 801         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
 802         if (retval != ERROR_OK)
 803                 return retval;
 804
 805         if (data[0] == 1) { /* byte */
 806                 uint16_t pkt_cnt = data[1];
 807                 cmsis_dap_handle->packet_count = pkt_cnt;
 808                 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
 809         }
 810
 811         retval = cmsis_dap_get_status();
 812         if (retval != ERROR_OK)
 813                 return ERROR_FAIL;
 814
 815         /* Now try to connect to the target
 816          * TODO: This is all SWD only @ present */
 817         retval = cmsis_dap_cmd_DAP_SWJ_Clock(100);              /* 100kHz */
 818         if (retval != ERROR_OK)
 819                 return ERROR_FAIL;
 820
 821         retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
 822         if (retval != ERROR_OK)
 823                 return ERROR_FAIL;
 824         retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
 825         if (retval != ERROR_OK)
 826                 return ERROR_FAIL;
 827
 828         retval = cmsis_dap_cmd_DAP_LED(0x03);           /* Both LEDs on */
 829         if (retval != ERROR_OK)
 830                 return ERROR_FAIL;
 831
 832         /* support connecting with srst asserted */
 833         enum reset_types jtag_reset_config = jtag_get_reset_config();
 834
 835         if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
 836                 if (jtag_reset_config & RESET_SRST_NO_GATING) {
 837                         retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
 838                         if (retval != ERROR_OK)
 839                                 return ERROR_FAIL;
 840                         LOG_INFO("Connecting under reset");
 841                 }
 842         }
 843
 844         retval = cmsis_dap_reset_link();
 845         if (retval != ERROR_OK)
 846                 return ERROR_FAIL;
 847
 848         cmsis_dap_cmd_DAP_LED(0x00);                            /* Both LEDs off */
 849
 850         LOG_INFO("CMSIS-DAP: Interface ready");
 851
 852         return ERROR_OK;
 853 }
 854
 855 static int cmsis_dap_swd_init(uint8_t trn)
 856 {
 857         int retval;
 858
 859         DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_init");
 860
 861         if (cmsis_dap_handle == NULL) {
 862
 863                 /* SWD init */
 864                 retval = cmsis_dap_usb_open();
 865                 if (retval != ERROR_OK)
 866                         return retval;
 867
 868                 retval = cmsis_dap_get_caps_info();
 869                 if (retval != ERROR_OK)
 870                         return retval;
 871         }
 872
 873         if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
 874                 LOG_ERROR("CMSIS-DAP: SWD not supported");
 875                 return ERROR_JTAG_DEVICE_ERROR;
 876         }
 877
 878         retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
 879         if (retval != ERROR_OK)
 880                 return retval;
 881
 882         /* Add more setup here.??... */
 883
 884         LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
 885         return ERROR_OK;
 886 }
 887
 888 static int cmsis_dap_quit(void)
 889 {
 890         cmsis_dap_cmd_DAP_Disconnect();
 891         cmsis_dap_cmd_DAP_LED(0x00);            /* Both LEDs off */
 892
 893         cmsis_dap_usb_close(cmsis_dap_handle);
 894
 895         return ERROR_OK;
 896 }
 897
 898 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
 899 {
 900         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
 901                         (1 << 7), 0, NULL);
 902         if (retval != ERROR_OK)
 903                 LOG_ERROR("CMSIS-DAP: Interface reset failed");
 904 }
 905
 906 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
 907 {
 908 #if 0
 909         int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
 910         if (retval != ERROR_OK)
 911 #endif
 912                 jtag_sleep(cmd->cmd.sleep->us);
 913 }
 914
 915 static void cmsis_dap_execute_command(struct jtag_command *cmd)
 916 {
 917         switch (cmd->type) {
 918                 case JTAG_RESET:
 919                         cmsis_dap_execute_reset(cmd);
 920                         break;
 921                 case JTAG_SLEEP:
 922                         cmsis_dap_execute_sleep(cmd);
 923                         break;
 924                 default:
 925                         LOG_ERROR("BUG: unknown JTAG command type encountered");
 926                         exit(-1);
 927         }
 928 }
 929
 930 static int cmsis_dap_execute_queue(void)
 931 {
 932         struct jtag_command *cmd = jtag_command_queue;
 933
 934         while (cmd != NULL) {
 935                 cmsis_dap_execute_command(cmd);
 936                 cmd = cmd->next;
 937         }
 938
 939         return ERROR_OK;
 940 }
 941
 942 static int cmsis_dap_speed(int speed)
 943 {
 944         if (speed > DAP_MAX_CLOCK) {
 945                 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
 946                 speed = DAP_MAX_CLOCK;
 947         }
 948
 949         if (speed == 0) {
 950                 LOG_INFO("RTCK not supported");
 951                 return ERROR_JTAG_NOT_IMPLEMENTED;
 952         }
 953
 954         return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
 955 }
 956
 957 static int cmsis_dap_speed_div(int speed, int *khz)
 958 {
 959         *khz = speed;
 960         return ERROR_OK;
 961 }
 962
 963 static int cmsis_dap_khz(int khz, int *jtag_speed)
 964 {
 965         *jtag_speed = khz;
 966         return ERROR_OK;
 967 }
 968
 969 COMMAND_HANDLER(cmsis_dap_handle_info_command)
 970 {
 971         if (cmsis_dap_get_version_info() == ERROR_OK)
 972                 cmsis_dap_get_status();
 973
 974         return ERROR_OK;
 975 }
 976
 977 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
 978 {
 979         if (CMD_ARGC > MAX_USB_IDS * 2) {
 980                 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
 981                         "(maximum is %d pairs)", MAX_USB_IDS);
 982                 CMD_ARGC = MAX_USB_IDS * 2;
 983         }
 984         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 985                 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
 986                 if (CMD_ARGC < 2)
 987                         return ERROR_COMMAND_SYNTAX_ERROR;
 988                 /* remove the incomplete trailing id */
 989                 CMD_ARGC -= 1;
 990         }
 991
 992         unsigned i;
 993         for (i = 0; i < CMD_ARGC; i += 2) {
 994                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
 995                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
 996         }
 997
 998         /*
 999          * Explicitly terminate, in case there are multiples instances of
1000          * cmsis_dap_vid_pid.
1001          */
1002         cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1003
1004         return ERROR_OK;
1005 }
1006
1007 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1008         {
1009                 .name = "info",
1010                 .handler = &cmsis_dap_handle_info_command,
1011                 .mode = COMMAND_EXEC,
1012                 .usage = "",
1013                 .help = "show cmsis-dap info",
1014         },
1015         COMMAND_REGISTRATION_DONE
1016 };
1017
1018 COMMAND_HANDLER(cmsis_dap_reset_command)
1019 {
1020         LOG_DEBUG("cmsis_dap_reset_command");
1021         return ERROR_OK;
1022 }
1023
1024 COMMAND_HANDLER(cmsis_dap_jtag_command)
1025 {
1026         LOG_DEBUG("cmsis_dap_jtag_command");
1027         return ERROR_OK;
1028 }
1029
1030 static const struct command_registration cmsis_dap_jtag_subcommand_handlers[] = {
1031         {
1032                 .name = "init",
1033                 .mode = COMMAND_ANY,
1034                 .handler = cmsis_dap_jtag_command,
1035                 .usage = ""
1036          },
1037         {
1038                 .name = "arp_init",
1039                 .mode = COMMAND_ANY,
1040                 .handler = cmsis_dap_jtag_command,
1041                 .usage = ""
1042          },
1043         {
1044                 .name = "arp_init-reset",
1045                 .mode = COMMAND_ANY,
1046                 .handler = cmsis_dap_reset_command,
1047                 .usage = ""
1048          },
1049         {
1050                 .name = "tapisenabled",
1051                 .mode = COMMAND_EXEC,
1052                 .jim_handler = jim_jtag_tap_enabler,
1053          },
1054         {
1055                 .name = "tapenable",
1056                 .mode = COMMAND_EXEC,
1057                 .jim_handler = jim_jtag_tap_enabler,
1058          },
1059         {
1060                 .name = "tapdisable",
1061                 .mode = COMMAND_EXEC,
1062                 .handler = cmsis_dap_jtag_command,
1063                 .usage = "",
1064          },
1065         {
1066                 .name = "configure",
1067                 .mode = COMMAND_EXEC,
1068                 .handler = cmsis_dap_jtag_command,
1069                 .usage = "",
1070          },
1071         {
1072                 .name = "cget",
1073                 .mode = COMMAND_EXEC,
1074                 .jim_handler = jim_jtag_configure,
1075          },
1076         {
1077                 .name = "names",
1078                 .mode = COMMAND_ANY,
1079                 .handler = cmsis_dap_jtag_command,
1080                 .usage = "",
1081          },
1082          COMMAND_REGISTRATION_DONE
1083 };
1084
1085 static const struct command_registration cmsis_dap_command_handlers[] = {
1086         {
1087                 .name = "cmsis-dap",
1088                 .mode = COMMAND_ANY,
1089                 .help = "perform CMSIS-DAP management",
1090                 .usage = "<cmd>",
1091                 .chain = cmsis_dap_subcommand_handlers,
1092         },
1093         {
1094                 .name = "cmsis_dap_vid_pid",
1095                 .handler = &cmsis_dap_handle_vid_pid_command,
1096                 .mode = COMMAND_CONFIG,
1097                 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1098                 .usage = "(vid pid)* ",
1099         },
1100         {
1101                 /* this is currently a nasty hack so we get
1102                  * reset working with non jtag interfaces */
1103                 .name = "jtag",
1104                 .mode = COMMAND_ANY,
1105                 .usage = "",
1106                 .chain = cmsis_dap_jtag_subcommand_handlers,
1107         },
1108         COMMAND_REGISTRATION_DONE
1109 };
1110
1111 static const struct swd_driver cmsis_dap_swd_driver = {
1112         .init       = cmsis_dap_swd_init,
1113         .read_reg   = cmsis_dap_swd_read_reg,
1114         .write_reg  = cmsis_dap_swd_write_reg,
1115         .read_block = cmsis_dap_swd_read_block
1116 };
1117
1118 const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};
1119
1120 struct jtag_interface cmsis_dap_interface = {
1121         .name = "cmsis-dap",
1122         .commands = cmsis_dap_command_handlers,
1123         .swd = &cmsis_dap_swd_driver,
1124         .transports = cmsis_dap_transport,
1125
1126         .execute_queue = cmsis_dap_execute_queue,
1127         .speed = cmsis_dap_speed,
1128         .speed_div = cmsis_dap_speed_div,
1129         .khz = cmsis_dap_khz,
1130         .init = cmsis_dap_init,
1131         .quit = cmsis_dap_quit,
1132 };