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

   1 /***************************************************************************
   2  *   Copyright (C) 2014 by Paul Fertser                                    *
   3  *   fercerpav@gmail.com                                                   *
   4  *                                                                         *
   5  *   Copyright (C) 2013 by mike brown                                      *
   6  *   mike@theshedworks.org.uk                                              *
   7  *                                                                         *
   8  *   Copyright (C) 2013 by Spencer Oliver                                  *
   9  *   spen@spen-soft.co.uk                                                  *
  10  *                                                                         *
  11  *   This program is free software; you can redistribute it and/or modify  *
  12  *   it under the terms of the GNU General Public License as published by  *
  13  *   the Free Software Foundation; either version 2 of the License, or     *
  14  *   (at your option) any later version.                                   *
  15  *                                                                         *
  16  *   This program is distributed in the hope that it will be useful,       *
  17  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  18  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  19  *   GNU General Public License for more details.                          *
  20  *                                                                         *
  21  *   You should have received a copy of the GNU General Public License     *
  22  *   along with this program; if not, write to the                         *
  23  *   Free Software Foundation, Inc.,                                       *
  24  *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  25  ***************************************************************************/
  26
  27 #ifdef HAVE_CONFIG_H
  28 #include "config.h"
  29 #endif
  30
  31 #include <transport/transport.h>
  32 #include <jtag/swd.h>
  33 #include <jtag/interface.h>
  34 #include <jtag/commands.h>
  35 #include <jtag/tcl.h>
  36
  37 #include <hidapi.h>
  38
  39 /*
  40  * See CMSIS-DAP documentation:
  41  * Version 0.01 - Beta.
  42  */
  43
  44 /* USB Config */
  45
  46 /* Known vid/pid pairs:
  47  * VID 0xc251: Keil Software
  48  * PID 0xf001: LPC-Link-II CMSIS_DAP
  49  * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
  50  * PID 0x2722: Keil ULINK2 CMSIS-DAP
  51  *
  52  * VID 0x0d28: mbed Software
  53  * PID 0x0204: MBED CMSIS-DAP
  54  */
  55
  56 #define MAX_USB_IDS 8
  57 /* vid = pid = 0 marks the end of the list */
  58 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
  59 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
  60 static wchar_t *cmsis_dap_serial;
  61 static bool swd_mode;
  62
  63 #define PACKET_SIZE       (64 + 1)      /* 64 bytes plus report id */
  64 #define USB_TIMEOUT       1000
  65
  66 /* CMSIS-DAP General Commands */
  67 #define CMD_DAP_INFO              0x00
  68 #define CMD_DAP_LED               0x01
  69 #define CMD_DAP_CONNECT           0x02
  70 #define CMD_DAP_DISCONNECT        0x03
  71 #define CMD_DAP_WRITE_ABORT       0x08
  72 #define CMD_DAP_DELAY             0x09
  73 #define CMD_DAP_RESET_TARGET      0x0A
  74
  75 /* CMD_INFO */
  76 #define INFO_ID_VID               0x00      /* string */
  77 #define INFO_ID_PID               0x02      /* string */
  78 #define INFO_ID_SERNUM            0x03      /* string */
  79 #define INFO_ID_FW_VER            0x04      /* string */
  80 #define INFO_ID_TD_VEND           0x05      /* string */
  81 #define INFO_ID_TD_NAME           0x06      /* string */
  82 #define INFO_ID_CAPS              0xf0      /* byte */
  83 #define INFO_ID_PKT_CNT           0xfe      /* byte */
  84 #define INFO_ID_PKT_SZ            0xff      /* short */
  85
  86 #define INFO_CAPS_SWD             0x01
  87 #define INFO_CAPS_JTAG            0x02
  88
  89 /* CMD_LED */
  90 #define LED_ID_CONNECT            0x00
  91 #define LED_ID_RUN                0x01
  92
  93 #define LED_OFF                   0x00
  94 #define LED_ON                    0x01
  95
  96 /* CMD_CONNECT */
  97 #define CONNECT_DEFAULT           0x00
  98 #define CONNECT_SWD               0x01
  99 #define CONNECT_JTAG              0x02
 100
 101 /* CMSIS-DAP Common SWD/JTAG Commands */
 102 #define CMD_DAP_DELAY             0x09
 103 #define CMD_DAP_SWJ_PINS          0x10
 104 #define CMD_DAP_SWJ_CLOCK         0x11
 105 #define CMD_DAP_SWJ_SEQ           0x12
 106
 107 /*
 108  * PINS
 109  * Bit 0: SWCLK/TCK
 110  * Bit 1: SWDIO/TMS
 111  * Bit 2: TDI
 112  * Bit 3: TDO
 113  * Bit 5: nTRST
 114  * Bit 7: nRESET
 115  */
 116
 117 /* CMSIS-DAP SWD Commands */
 118 #define CMD_DAP_SWD_CONFIGURE     0x13
 119
 120 /* CMSIS-DAP JTAG Commands */
 121 #define CMD_DAP_JTAG_SEQ          0x14
 122 #define CMD_DAP_JTAG_CONFIGURE    0x15
 123 #define CMD_DAP_JTAG_IDCODE       0x16
 124
 125 /* CMSIS-DAP Transfer Commands */
 126 #define CMD_DAP_TFER_CONFIGURE    0x04
 127 #define CMD_DAP_TFER              0x05
 128 #define CMD_DAP_TFER_BLOCK        0x06
 129 #define CMD_DAP_TFER_ABORT        0x07
 130
 131 /* DAP Status Code */
 132 #define DAP_OK                    0
 133 #define DAP_ERROR                 0xFF
 134
 135 /* CMSIS-DAP Vendor Commands
 136  * None as yet... */
 137
 138 static const char * const info_caps_str[] = {
 139         "SWD  Supported",
 140         "JTAG Supported"
 141 };
 142
 143 /* max clock speed (kHz) */
 144 #define DAP_MAX_CLOCK             5000
 145
 146 struct cmsis_dap {
 147         hid_device *dev_handle;
 148         uint16_t packet_size;
 149         uint16_t packet_count;
 150         uint8_t *packet_buffer;
 151         uint8_t caps;
 152         uint8_t mode;
 153 };
 154
 155 struct pending_transfer_result {
 156         uint8_t cmd;
 157         uint32_t data;
 158         void *buffer;
 159 };
 160
 161 static int pending_transfer_count, pending_queue_len;
 162 static struct pending_transfer_result *pending_transfers;
 163
 164 static int queued_retval;
 165
 166 static struct cmsis_dap *cmsis_dap_handle;
 167
 168 static int cmsis_dap_usb_open(void)
 169 {
 170         hid_device *dev = NULL;
 171         int i;
 172         struct hid_device_info *devs, *cur_dev;
 173         unsigned short target_vid, target_pid;
 174         wchar_t *target_serial = NULL;
 175
 176         bool found = false;
 177         bool serial_found = false;
 178
 179         target_vid = 0;
 180         target_pid = 0;
 181
 182         /*
 183          * The CMSIS-DAP specification stipulates:
 184          * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
 185          * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
 186          */
 187         devs = hid_enumerate(0x0, 0x0);
 188         cur_dev = devs;
 189         while (NULL != cur_dev) {
 190                 if (0 == cmsis_dap_vid[0]) {
 191                         if (NULL == cur_dev->product_string) {
 192                                 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
 193                                           cur_dev->vendor_id, cur_dev->product_id);
 194                         } else {
 195                                 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
 196                                         /* if the user hasn't specified VID:PID *and*
 197                                          * product string contains "CMSIS-DAP", pick it
 198                                          */
 199                                         found = true;
 200                                 }
 201                         }
 202                 } else {
 203                         /* otherwise, exhaustively compare against all VID:PID in list */
 204                         for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
 205                                 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
 206                                         found = true;
 207                         }
 208
 209                         if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
 210                                 found = true;
 211                 }
 212
 213                 if (found) {
 214                         /* we have found an adapter, so exit further checks */
 215                         /* check serial number matches if given */
 216                         if (cmsis_dap_serial != NULL) {
 217                                 if (wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
 218                                         serial_found = true;
 219                                         break;
 220                                 }
 221                         } else
 222                                 break;
 223                 }
 224
 225                 cur_dev = cur_dev->next;
 226         }
 227
 228         if (NULL != cur_dev) {
 229                 target_vid = cur_dev->vendor_id;
 230                 target_pid = cur_dev->product_id;
 231                 if (serial_found)
 232                         target_serial = cmsis_dap_serial;
 233         }
 234
 235         hid_free_enumeration(devs);
 236
 237         if (target_vid == 0 && target_pid == 0) {
 238                 LOG_ERROR("unable to find CMSIS-DAP device");
 239                 return ERROR_FAIL;
 240         }
 241
 242         if (hid_init() != 0) {
 243                 LOG_ERROR("unable to open HIDAPI");
 244                 return ERROR_FAIL;
 245         }
 246
 247         dev = hid_open(target_vid, target_pid, target_serial);
 248
 249         if (dev == NULL) {
 250                 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
 251                 return ERROR_FAIL;
 252         }
 253
 254         struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
 255         if (dap == NULL) {
 256                 LOG_ERROR("unable to allocate memory");
 257                 return ERROR_FAIL;
 258         }
 259
 260         dap->dev_handle = dev;
 261         dap->caps = 0;
 262         dap->mode = 0;
 263
 264         cmsis_dap_handle = dap;
 265
 266         /* allocate default packet buffer, may be changed later.
 267          * currently with HIDAPI we have no way of getting the output report length
 268          * without this info we cannot communicate with the adapter.
 269          * For the moment we ahve to hard code the packet size */
 270
 271         int packet_size = PACKET_SIZE;
 272
 273         /* atmel cmsis-dap uses 512 byte reports */
 274         /* TODO: HID report descriptor should be parsed instead of
 275          * hardcoding a match by VID */
 276         if (target_vid == 0x03eb)
 277                 packet_size = 512 + 1;
 278
 279         cmsis_dap_handle->packet_buffer = malloc(packet_size);
 280         cmsis_dap_handle->packet_size = packet_size;
 281
 282         if (cmsis_dap_handle->packet_buffer == NULL) {
 283                 LOG_ERROR("unable to allocate memory");
 284                 return ERROR_FAIL;
 285         }
 286
 287         return ERROR_OK;
 288 }
 289
 290 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
 291 {
 292         hid_close(dap->dev_handle);
 293         hid_exit();
 294
 295         free(cmsis_dap_handle->packet_buffer);
 296         free(cmsis_dap_handle);
 297         cmsis_dap_handle = NULL;
 298         free(cmsis_dap_serial);
 299         cmsis_dap_serial = NULL;
 300         free(pending_transfers);
 301         pending_transfers = NULL;
 302
 303         return;
 304 }
 305
 306 /* Send a message and receive the reply */
 307 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
 308 {
 309         /* Pad the rest of the TX buffer with 0's */
 310         memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
 311
 312         /* write data to device */
 313         int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
 314         if (retval == -1) {
 315                 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
 316                 return ERROR_FAIL;
 317         }
 318
 319         /* get reply */
 320         retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
 321         if (retval == -1 || retval == 0) {
 322                 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
 323                 return ERROR_FAIL;
 324         }
 325
 326         return ERROR_OK;
 327 }
 328
 329 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
 330 {
 331         int retval;
 332         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 333
 334         buffer[0] = 0;  /* report number */
 335         buffer[1] = CMD_DAP_SWJ_PINS;
 336         buffer[2] = pins;
 337         buffer[3] = mask;
 338         buffer[4] = delay & 0xff;
 339         buffer[5] = (delay >> 8) & 0xff;
 340         buffer[6] = (delay >> 16) & 0xff;
 341         buffer[7] = (delay >> 24) & 0xff;
 342         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
 343
 344         if (retval != ERROR_OK) {
 345                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
 346                 return ERROR_JTAG_DEVICE_ERROR;
 347         }
 348
 349         if (input)
 350                 *input = buffer[1];
 351
 352         return ERROR_OK;
 353 }
 354
 355 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
 356 {
 357         int retval;
 358         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 359
 360         /* set clock in Hz */
 361         swj_clock *= 1000;
 362         buffer[0] = 0;  /* report number */
 363         buffer[1] = CMD_DAP_SWJ_CLOCK;
 364         buffer[2] = swj_clock & 0xff;
 365         buffer[3] = (swj_clock >> 8) & 0xff;
 366         buffer[4] = (swj_clock >> 16) & 0xff;
 367         buffer[5] = (swj_clock >> 24) & 0xff;
 368         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 369
 370         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 371                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
 372                 return ERROR_JTAG_DEVICE_ERROR;
 373         }
 374
 375         return ERROR_OK;
 376 }
 377
 378 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
 379 {
 380         int retval;
 381         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 382
 383         buffer[0] = 0;  /* report number */
 384         buffer[1] = CMD_DAP_INFO;
 385         buffer[2] = info;
 386         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 387
 388         if (retval != ERROR_OK) {
 389                 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
 390                 return ERROR_JTAG_DEVICE_ERROR;
 391         }
 392
 393         *data = &(buffer[1]);
 394
 395         return ERROR_OK;
 396 }
 397
 398 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
 399 {
 400         int retval;
 401         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 402
 403         buffer[0] = 0;  /* report number */
 404         buffer[1] = CMD_DAP_LED;
 405         buffer[2] = 0x00;
 406         buffer[3] = leds;
 407         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 408
 409         if (retval != ERROR_OK || buffer[1] != 0x00) {
 410                 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
 411                 return ERROR_JTAG_DEVICE_ERROR;
 412         }
 413
 414         return ERROR_OK;
 415 }
 416
 417 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
 418 {
 419         int retval;
 420         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 421
 422         buffer[0] = 0;  /* report number */
 423         buffer[1] = CMD_DAP_CONNECT;
 424         buffer[2] = mode;
 425         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 426
 427         if (retval != ERROR_OK) {
 428                 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
 429                 return ERROR_JTAG_DEVICE_ERROR;
 430         }
 431
 432         if (buffer[1] != mode) {
 433                 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
 434                 return ERROR_JTAG_DEVICE_ERROR;
 435         }
 436
 437         return ERROR_OK;
 438 }
 439
 440 static int cmsis_dap_cmd_DAP_Disconnect(void)
 441 {
 442         int retval;
 443         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 444
 445         buffer[0] = 0;  /* report number */
 446         buffer[1] = CMD_DAP_DISCONNECT;
 447         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 448
 449         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 450                 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
 451                 return ERROR_JTAG_DEVICE_ERROR;
 452         }
 453
 454         return ERROR_OK;
 455 }
 456
 457 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
 458 {
 459         int retval;
 460         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 461
 462         buffer[0] = 0;  /* report number */
 463         buffer[1] = CMD_DAP_TFER_CONFIGURE;
 464         buffer[2] = idle;
 465         buffer[3] = retry_count & 0xff;
 466         buffer[4] = (retry_count >> 8) & 0xff;
 467         buffer[5] = match_retry & 0xff;
 468         buffer[6] = (match_retry >> 8) & 0xff;
 469         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 470
 471         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 472                 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
 473                 return ERROR_JTAG_DEVICE_ERROR;
 474         }
 475
 476         return ERROR_OK;
 477 }
 478
 479 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
 480 {
 481         int retval;
 482         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 483
 484         buffer[0] = 0;  /* report number */
 485         buffer[1] = CMD_DAP_SWD_CONFIGURE;
 486         buffer[2] = cfg;
 487         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 488
 489         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 490                 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
 491                 return ERROR_JTAG_DEVICE_ERROR;
 492         }
 493
 494         return ERROR_OK;
 495 }
 496
 497 #if 0
 498 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
 499 {
 500         int retval;
 501         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 502
 503         buffer[0] = 0;  /* report number */
 504         buffer[1] = CMD_DAP_DELAY;
 505         buffer[2] = delay_us & 0xff;
 506         buffer[3] = (delay_us >> 8) & 0xff;
 507         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 508
 509         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 510                 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
 511                 return ERROR_JTAG_DEVICE_ERROR;
 512         }
 513
 514         return ERROR_OK;
 515 }
 516 #endif
 517
 518 static int cmsis_dap_swd_run_queue(struct adiv5_dap *dap)
 519 {
 520         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 521
 522         LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
 523
 524         if (queued_retval != ERROR_OK) {
 525                 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 526                 goto skip;
 527         }
 528
 529         if (!pending_transfer_count)
 530                 goto skip;
 531
 532         size_t idx = 0;
 533         buffer[idx++] = 0;      /* report number */
 534         buffer[idx++] = CMD_DAP_TFER;
 535         buffer[idx++] = 0x00;   /* DAP Index */
 536         buffer[idx++] = pending_transfer_count;
 537
 538         for (int i = 0; i < pending_transfer_count; i++) {
 539                 uint8_t cmd = pending_transfers[i].cmd;
 540                 uint32_t data = pending_transfers[i].data;
 541
 542                 LOG_DEBUG("%s %s reg %x %"PRIx32,
 543                                 cmd & SWD_CMD_APnDP ? "AP" : "DP",
 544                                 cmd & SWD_CMD_RnW ? "read" : "write",
 545                           (cmd & SWD_CMD_A32) >> 1, data);
 546
 547                 /* When proper WAIT handling is implemented in the
 548                  * common SWD framework, this kludge can be
 549                  * removed. However, this might lead to minor
 550                  * performance degradation as the adapter wouldn't be
 551                  * able to automatically retry anything (because ARM
 552                  * has forgotten to implement sticky error flags
 553                  * clearing). See also comments regarding
 554                  * cmsis_dap_cmd_DAP_TFER_Configure() and
 555                  * cmsis_dap_cmd_DAP_SWD_Configure() in
 556                  * cmsis_dap_init().
 557                  */
 558                 if (!(cmd & SWD_CMD_RnW) &&
 559                     !(cmd & SWD_CMD_APnDP) &&
 560                     (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
 561                     (data & CORUNDETECT)) {
 562                         LOG_DEBUG("refusing to enable sticky overrun detection");
 563                         data &= ~CORUNDETECT;
 564                 }
 565
 566                 buffer[idx++] = (cmd >> 1) & 0x0f;
 567                 if (!(cmd & SWD_CMD_RnW)) {
 568                         buffer[idx++] = (data) & 0xff;
 569                         buffer[idx++] = (data >> 8) & 0xff;
 570                         buffer[idx++] = (data >> 16) & 0xff;
 571                         buffer[idx++] = (data >> 24) & 0xff;
 572                 }
 573         }
 574
 575         queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
 576         if (queued_retval != ERROR_OK)
 577                 goto skip;
 578
 579         idx = 2;
 580         uint8_t ack = buffer[idx] & 0x07;
 581         if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
 582                 LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
 583                           ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
 584                 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 585                 goto skip;
 586         }
 587         idx++;
 588
 589         if (pending_transfer_count != buffer[1])
 590                 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
 591                           pending_transfer_count, buffer[1]);
 592
 593         for (int i = 0; i < buffer[1]; i++) {
 594                 if (pending_transfers[i].cmd & SWD_CMD_RnW) {
 595                         static uint32_t last_read;
 596                         uint32_t data = le_to_h_u32(&buffer[idx]);
 597                         uint32_t tmp = data;
 598                         idx += 4;
 599
 600                         LOG_DEBUG("Read result: %"PRIx32, data);
 601
 602                         /* Imitate posted AP reads */
 603                         if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
 604                             ((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
 605                                 tmp = last_read;
 606                                 last_read = data;
 607                         }
 608
 609                         if (pending_transfers[i].buffer)
 610                                 *(uint32_t *)pending_transfers[i].buffer = tmp;
 611                 }
 612         }
 613
 614 skip:
 615         pending_transfer_count = 0;
 616         int retval = queued_retval;
 617         queued_retval = ERROR_OK;
 618
 619         return retval;
 620 }
 621
 622 static void cmsis_dap_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data)
 623 {
 624         if (pending_transfer_count == pending_queue_len) {
 625                 /* Not enough room in the queue. Run the queue. */
 626                 queued_retval = cmsis_dap_swd_run_queue(dap);
 627         }
 628
 629         if (queued_retval != ERROR_OK)
 630                 return;
 631
 632         pending_transfers[pending_transfer_count].data = data;
 633         pending_transfers[pending_transfer_count].cmd = cmd;
 634         if (cmd & SWD_CMD_RnW) {
 635                 /* Queue a read transaction */
 636                 pending_transfers[pending_transfer_count].buffer = dst;
 637         }
 638         pending_transfer_count++;
 639 }
 640
 641 static void cmsis_dap_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
 642 {
 643         assert(!(cmd & SWD_CMD_RnW));
 644         cmsis_dap_swd_queue_cmd(dap, cmd, NULL, value);
 645 }
 646
 647 static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
 648 {
 649         assert(cmd & SWD_CMD_RnW);
 650         cmsis_dap_swd_queue_cmd(dap, cmd, value, 0);
 651 }
 652
 653 static int cmsis_dap_get_version_info(void)
 654 {
 655         uint8_t *data;
 656
 657         /* INFO_ID_FW_VER - string */
 658         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
 659         if (retval != ERROR_OK)
 660                 return retval;
 661
 662         if (data[0]) /* strlen */
 663                 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
 664
 665         return ERROR_OK;
 666 }
 667
 668 static int cmsis_dap_get_caps_info(void)
 669 {
 670         uint8_t *data;
 671
 672         /* INFO_ID_CAPS - byte */
 673         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
 674         if (retval != ERROR_OK)
 675                 return retval;
 676
 677         if (data[0] == 1) {
 678                 uint8_t caps = data[1];
 679
 680                 cmsis_dap_handle->caps = caps;
 681
 682                 if (caps & INFO_CAPS_SWD)
 683                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
 684                 if (caps & INFO_CAPS_JTAG)
 685                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
 686         }
 687
 688         return ERROR_OK;
 689 }
 690
 691 static int cmsis_dap_get_status(void)
 692 {
 693         uint8_t d;
 694
 695         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
 696
 697         if (retval == ERROR_OK) {
 698                 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
 699                         (d & (0x01 << 0)) ? 1 : 0,      /* Bit 0: SWCLK/TCK */
 700                         (d & (0x01 << 1)) ? 1 : 0,      /* Bit 1: SWDIO/TMS */
 701                         (d & (0x01 << 2)) ? 1 : 0,      /* Bit 2: TDI */
 702                         (d & (0x01 << 3)) ? 1 : 0,      /* Bit 3: TDO */
 703                         (d & (0x01 << 5)) ? 1 : 0,      /* Bit 5: nTRST */
 704                         (d & (0x01 << 7)) ? 1 : 0);     /* Bit 7: nRESET */
 705         }
 706
 707         return retval;
 708 }
 709
 710 static int cmsis_dap_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
 711 {
 712         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 713         const uint8_t *s;
 714         unsigned int s_len;
 715         int retval;
 716
 717         /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
 718         cmsis_dap_cmd_DAP_Disconnect();
 719
 720         /* When we are reconnecting, DAP_Connect needs to be rerun, at
 721          * least on Keil ULINK-ME */
 722         retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
 723                                            CONNECT_SWD : CONNECT_JTAG);
 724         if (retval != ERROR_OK)
 725                 return retval;
 726
 727         switch (seq) {
 728         case LINE_RESET:
 729                 LOG_DEBUG("SWD line reset");
 730                 s = swd_seq_line_reset;
 731                 s_len = swd_seq_line_reset_len;
 732                 break;
 733         case JTAG_TO_SWD:
 734                 LOG_DEBUG("JTAG-to-SWD");
 735                 s = swd_seq_jtag_to_swd;
 736                 s_len = swd_seq_jtag_to_swd_len;
 737                 break;
 738         case SWD_TO_JTAG:
 739                 LOG_DEBUG("SWD-to-JTAG");
 740                 s = swd_seq_swd_to_jtag;
 741                 s_len = swd_seq_swd_to_jtag_len;
 742                 break;
 743         default:
 744                 LOG_ERROR("Sequence %d not supported", seq);
 745                 return ERROR_FAIL;
 746         }
 747
 748         buffer[0] = 0;  /* report number */
 749         buffer[1] = CMD_DAP_SWJ_SEQ;
 750         buffer[2] = s_len;
 751         bit_copy(&buffer[3], 0, s, 0, s_len);
 752
 753         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
 754
 755         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 756                 return ERROR_FAIL;
 757
 758         return ERROR_OK;
 759 }
 760
 761 static int cmsis_dap_swd_open(void)
 762 {
 763         int retval;
 764
 765         if (cmsis_dap_handle == NULL) {
 766                 /* SWD init */
 767                 retval = cmsis_dap_usb_open();
 768                 if (retval != ERROR_OK)
 769                         return retval;
 770
 771                 retval = cmsis_dap_get_caps_info();
 772                 if (retval != ERROR_OK)
 773                         return retval;
 774         }
 775
 776         if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
 777                 LOG_ERROR("CMSIS-DAP: SWD not supported");
 778                 return ERROR_JTAG_DEVICE_ERROR;
 779         }
 780
 781         retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
 782         if (retval != ERROR_OK)
 783                 return retval;
 784
 785         /* Add more setup here.??... */
 786
 787         LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
 788         return ERROR_OK;
 789 }
 790
 791 static int cmsis_dap_init(void)
 792 {
 793         int retval;
 794         uint8_t *data;
 795
 796         if (swd_mode) {
 797                 retval = cmsis_dap_swd_open();
 798                 if (retval != ERROR_OK)
 799                         return retval;
 800         }
 801
 802         if (cmsis_dap_handle == NULL) {
 803
 804                 /* JTAG init */
 805                 retval = cmsis_dap_usb_open();
 806                 if (retval != ERROR_OK)
 807                         return retval;
 808
 809                 retval = cmsis_dap_get_caps_info();
 810                 if (retval != ERROR_OK)
 811                         return retval;
 812
 813                 /* Connect in JTAG mode */
 814                 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
 815                         LOG_ERROR("CMSIS-DAP: JTAG not supported");
 816                         return ERROR_JTAG_DEVICE_ERROR;
 817                 }
 818
 819                 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
 820                 if (retval != ERROR_OK)
 821                         return retval;
 822
 823                 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
 824         }
 825
 826         retval = cmsis_dap_get_version_info();
 827         if (retval != ERROR_OK)
 828                 return retval;
 829
 830         /* INFO_ID_PKT_SZ - short */
 831         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
 832         if (retval != ERROR_OK)
 833                 return retval;
 834
 835         if (data[0] == 2) {  /* short */
 836                 uint16_t pkt_sz = data[1] + (data[2] << 8);
 837
 838                 /* 4 bytes of command header + 5 bytes per register
 839                  * write. For bulk read sequences just 4 bytes are
 840                  * needed per transfer, so this is suboptimal. */
 841                 pending_queue_len = (pkt_sz - 4) / 5;
 842                 pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
 843                 if (!pending_transfers) {
 844                         LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
 845                         return ERROR_FAIL;
 846                 }
 847
 848                 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
 849                         /* reallocate buffer */
 850                         cmsis_dap_handle->packet_size = pkt_sz + 1;
 851                         cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
 852                                         cmsis_dap_handle->packet_size);
 853                         if (cmsis_dap_handle->packet_buffer == NULL) {
 854                                 LOG_ERROR("unable to reallocate memory");
 855                                 return ERROR_FAIL;
 856                         }
 857                 }
 858
 859                 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
 860         }
 861
 862         /* INFO_ID_PKT_CNT - byte */
 863         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
 864         if (retval != ERROR_OK)
 865                 return retval;
 866
 867         if (data[0] == 1) { /* byte */
 868                 uint16_t pkt_cnt = data[1];
 869                 cmsis_dap_handle->packet_count = pkt_cnt;
 870                 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
 871         }
 872
 873         retval = cmsis_dap_get_status();
 874         if (retval != ERROR_OK)
 875                 return ERROR_FAIL;
 876
 877         /* Now try to connect to the target
 878          * TODO: This is all SWD only @ present */
 879         retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
 880         if (retval != ERROR_OK)
 881                 return ERROR_FAIL;
 882
 883         /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
 884          * up to 64 times. This must be changed to 0 if sticky
 885          * overrun detection is enabled. */
 886         retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
 887         if (retval != ERROR_OK)
 888                 return ERROR_FAIL;
 889         /* Data Phase (bit 2) must be set to 1 if sticky overrun
 890          * detection is enabled */
 891         retval = cmsis_dap_cmd_DAP_SWD_Configure(0);    /* 1 TRN, no Data Phase */
 892         if (retval != ERROR_OK)
 893                 return ERROR_FAIL;
 894
 895         retval = cmsis_dap_cmd_DAP_LED(0x03);           /* Both LEDs on */
 896         if (retval != ERROR_OK)
 897                 return ERROR_FAIL;
 898
 899         /* support connecting with srst asserted */
 900         enum reset_types jtag_reset_config = jtag_get_reset_config();
 901
 902         if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
 903                 if (jtag_reset_config & RESET_SRST_NO_GATING) {
 904                         retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
 905                         if (retval != ERROR_OK)
 906                                 return ERROR_FAIL;
 907                         LOG_INFO("Connecting under reset");
 908                 }
 909         }
 910
 911         cmsis_dap_cmd_DAP_LED(0x00);                    /* Both LEDs off */
 912
 913         LOG_INFO("CMSIS-DAP: Interface ready");
 914
 915         return ERROR_OK;
 916 }
 917
 918 static int cmsis_dap_swd_init(void)
 919 {
 920         swd_mode = true;
 921         return ERROR_OK;
 922 }
 923
 924 static int cmsis_dap_quit(void)
 925 {
 926         cmsis_dap_cmd_DAP_Disconnect();
 927         cmsis_dap_cmd_DAP_LED(0x00);            /* Both LEDs off */
 928
 929         cmsis_dap_usb_close(cmsis_dap_handle);
 930
 931         return ERROR_OK;
 932 }
 933
 934 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
 935 {
 936         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
 937                         (1 << 7), 0, NULL);
 938         if (retval != ERROR_OK)
 939                 LOG_ERROR("CMSIS-DAP: Interface reset failed");
 940 }
 941
 942 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
 943 {
 944 #if 0
 945         int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
 946         if (retval != ERROR_OK)
 947 #endif
 948                 jtag_sleep(cmd->cmd.sleep->us);
 949 }
 950
 951 static void cmsis_dap_execute_command(struct jtag_command *cmd)
 952 {
 953         switch (cmd->type) {
 954                 case JTAG_RESET:
 955                         cmsis_dap_execute_reset(cmd);
 956                         break;
 957                 case JTAG_SLEEP:
 958                         cmsis_dap_execute_sleep(cmd);
 959                         break;
 960                 default:
 961                         LOG_ERROR("BUG: unknown JTAG command type encountered");
 962                         exit(-1);
 963         }
 964 }
 965
 966 static int cmsis_dap_execute_queue(void)
 967 {
 968         struct jtag_command *cmd = jtag_command_queue;
 969
 970         while (cmd != NULL) {
 971                 cmsis_dap_execute_command(cmd);
 972                 cmd = cmd->next;
 973         }
 974
 975         return ERROR_OK;
 976 }
 977
 978 static int cmsis_dap_speed(int speed)
 979 {
 980         if (speed > DAP_MAX_CLOCK) {
 981                 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
 982                 speed = DAP_MAX_CLOCK;
 983         }
 984
 985         if (speed == 0) {
 986                 LOG_INFO("RTCK not supported");
 987                 return ERROR_JTAG_NOT_IMPLEMENTED;
 988         }
 989
 990         return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
 991 }
 992
 993 static int cmsis_dap_speed_div(int speed, int *khz)
 994 {
 995         *khz = speed;
 996         return ERROR_OK;
 997 }
 998
 999 static int cmsis_dap_khz(int khz, int *jtag_speed)
1000 {
1001         *jtag_speed = khz;
1002         return ERROR_OK;
1003 }
1004
1005 static int_least32_t cmsis_dap_swd_frequency(struct adiv5_dap *dap, int_least32_t hz)
1006 {
1007         if (hz > 0)
1008                 cmsis_dap_speed(hz / 1000);
1009
1010         return hz;
1011 }
1012
1013 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1014 {
1015         if (cmsis_dap_get_version_info() == ERROR_OK)
1016                 cmsis_dap_get_status();
1017
1018         return ERROR_OK;
1019 }
1020
1021 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
1022 {
1023         if (CMD_ARGC > MAX_USB_IDS * 2) {
1024                 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1025                         "(maximum is %d pairs)", MAX_USB_IDS);
1026                 CMD_ARGC = MAX_USB_IDS * 2;
1027         }
1028         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
1029                 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1030                 if (CMD_ARGC < 2)
1031                         return ERROR_COMMAND_SYNTAX_ERROR;
1032                 /* remove the incomplete trailing id */
1033                 CMD_ARGC -= 1;
1034         }
1035
1036         unsigned i;
1037         for (i = 0; i < CMD_ARGC; i += 2) {
1038                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
1039                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
1040         }
1041
1042         /*
1043          * Explicitly terminate, in case there are multiples instances of
1044          * cmsis_dap_vid_pid.
1045          */
1046         cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1047
1048         return ERROR_OK;
1049 }
1050
1051 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
1052 {
1053         if (CMD_ARGC == 1) {
1054                 size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
1055                 cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
1056                 if (cmsis_dap_serial == NULL) {
1057                         LOG_ERROR("unable to allocate memory");
1058                         return ERROR_OK;
1059                 }
1060                 if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
1061                         free(cmsis_dap_serial);
1062                         cmsis_dap_serial = NULL;
1063                         LOG_ERROR("unable to convert serial");
1064                 }
1065         } else {
1066                 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1067         }
1068
1069         return ERROR_OK;
1070 }
1071
1072 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1073         {
1074                 .name = "info",
1075                 .handler = &cmsis_dap_handle_info_command,
1076                 .mode = COMMAND_EXEC,
1077                 .usage = "",
1078                 .help = "show cmsis-dap info",
1079         },
1080         COMMAND_REGISTRATION_DONE
1081 };
1082
1083 static const struct command_registration cmsis_dap_command_handlers[] = {
1084         {
1085                 .name = "cmsis-dap",
1086                 .mode = COMMAND_ANY,
1087                 .help = "perform CMSIS-DAP management",
1088                 .usage = "<cmd>",
1089                 .chain = cmsis_dap_subcommand_handlers,
1090         },
1091         {
1092                 .name = "cmsis_dap_vid_pid",
1093                 .handler = &cmsis_dap_handle_vid_pid_command,
1094                 .mode = COMMAND_CONFIG,
1095                 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1096                 .usage = "(vid pid)* ",
1097         },
1098         {
1099                 .name = "cmsis_dap_serial",
1100                 .handler = &cmsis_dap_handle_serial_command,
1101                 .mode = COMMAND_CONFIG,
1102                 .help = "set the serial number of the adapter",
1103                 .usage = "serial_string",
1104         },
1105         COMMAND_REGISTRATION_DONE
1106 };
1107
1108 static const struct swd_driver cmsis_dap_swd_driver = {
1109         .init = cmsis_dap_swd_init,
1110         .frequency = cmsis_dap_swd_frequency,
1111         .switch_seq = cmsis_dap_swd_switch_seq,
1112         .read_reg = cmsis_dap_swd_read_reg,
1113         .write_reg = cmsis_dap_swd_write_reg,
1114         .run = cmsis_dap_swd_run_queue,
1115 };
1116
1117 static const char * const cmsis_dap_transport[] = { "swd", NULL };
1118
1119 struct jtag_interface cmsis_dap_interface = {
1120         .name = "cmsis-dap",
1121         .commands = cmsis_dap_command_handlers,
1122         .swd = &cmsis_dap_swd_driver,
1123         .transports = cmsis_dap_transport,
1124
1125         .execute_queue = cmsis_dap_execute_queue,
1126         .speed = cmsis_dap_speed,
1127         .speed_div = cmsis_dap_speed_div,
1128         .khz = cmsis_dap_khz,
1129         .init = cmsis_dap_init,
1130         .quit = cmsis_dap_quit,
1131 };