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 ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
 218                                         serial_found = true;
 219                                         break;
 220                                 }
 221                         } else
 222                                 break;
 223
 224                         found = false;
 225                 }
 226
 227                 cur_dev = cur_dev->next;
 228         }
 229
 230         if (NULL != cur_dev) {
 231                 target_vid = cur_dev->vendor_id;
 232                 target_pid = cur_dev->product_id;
 233                 if (serial_found)
 234                         target_serial = cmsis_dap_serial;
 235         }
 236
 237         hid_free_enumeration(devs);
 238
 239         if (target_vid == 0 && target_pid == 0) {
 240                 LOG_ERROR("unable to find CMSIS-DAP device");
 241                 return ERROR_FAIL;
 242         }
 243
 244         if (hid_init() != 0) {
 245                 LOG_ERROR("unable to open HIDAPI");
 246                 return ERROR_FAIL;
 247         }
 248
 249         dev = hid_open(target_vid, target_pid, target_serial);
 250
 251         if (dev == NULL) {
 252                 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
 253                 return ERROR_FAIL;
 254         }
 255
 256         struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
 257         if (dap == NULL) {
 258                 LOG_ERROR("unable to allocate memory");
 259                 return ERROR_FAIL;
 260         }
 261
 262         dap->dev_handle = dev;
 263         dap->caps = 0;
 264         dap->mode = 0;
 265
 266         cmsis_dap_handle = dap;
 267
 268         /* allocate default packet buffer, may be changed later.
 269          * currently with HIDAPI we have no way of getting the output report length
 270          * without this info we cannot communicate with the adapter.
 271          * For the moment we ahve to hard code the packet size */
 272
 273         int packet_size = PACKET_SIZE;
 274
 275         /* atmel cmsis-dap uses 512 byte reports */
 276         /* TODO: HID report descriptor should be parsed instead of
 277          * hardcoding a match by VID */
 278         if (target_vid == 0x03eb)
 279                 packet_size = 512 + 1;
 280
 281         cmsis_dap_handle->packet_buffer = malloc(packet_size);
 282         cmsis_dap_handle->packet_size = packet_size;
 283
 284         if (cmsis_dap_handle->packet_buffer == NULL) {
 285                 LOG_ERROR("unable to allocate memory");
 286                 return ERROR_FAIL;
 287         }
 288
 289         return ERROR_OK;
 290 }
 291
 292 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
 293 {
 294         hid_close(dap->dev_handle);
 295         hid_exit();
 296
 297         free(cmsis_dap_handle->packet_buffer);
 298         free(cmsis_dap_handle);
 299         cmsis_dap_handle = NULL;
 300         free(cmsis_dap_serial);
 301         cmsis_dap_serial = NULL;
 302         free(pending_transfers);
 303         pending_transfers = NULL;
 304
 305         return;
 306 }
 307
 308 /* Send a message and receive the reply */
 309 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
 310 {
 311         /* Pad the rest of the TX buffer with 0's */
 312         memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
 313
 314         /* write data to device */
 315         int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
 316         if (retval == -1) {
 317                 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
 318                 return ERROR_FAIL;
 319         }
 320
 321         /* get reply */
 322         retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
 323         if (retval == -1 || retval == 0) {
 324                 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
 325                 return ERROR_FAIL;
 326         }
 327
 328         return ERROR_OK;
 329 }
 330
 331 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
 332 {
 333         int retval;
 334         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 335
 336         buffer[0] = 0;  /* report number */
 337         buffer[1] = CMD_DAP_SWJ_PINS;
 338         buffer[2] = pins;
 339         buffer[3] = mask;
 340         buffer[4] = delay & 0xff;
 341         buffer[5] = (delay >> 8) & 0xff;
 342         buffer[6] = (delay >> 16) & 0xff;
 343         buffer[7] = (delay >> 24) & 0xff;
 344         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
 345
 346         if (retval != ERROR_OK) {
 347                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
 348                 return ERROR_JTAG_DEVICE_ERROR;
 349         }
 350
 351         if (input)
 352                 *input = buffer[1];
 353
 354         return ERROR_OK;
 355 }
 356
 357 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
 358 {
 359         int retval;
 360         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 361
 362         /* set clock in Hz */
 363         swj_clock *= 1000;
 364         buffer[0] = 0;  /* report number */
 365         buffer[1] = CMD_DAP_SWJ_CLOCK;
 366         buffer[2] = swj_clock & 0xff;
 367         buffer[3] = (swj_clock >> 8) & 0xff;
 368         buffer[4] = (swj_clock >> 16) & 0xff;
 369         buffer[5] = (swj_clock >> 24) & 0xff;
 370         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 371
 372         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 373                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
 374                 return ERROR_JTAG_DEVICE_ERROR;
 375         }
 376
 377         return ERROR_OK;
 378 }
 379
 380 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
 381 {
 382         int retval;
 383         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 384
 385         buffer[0] = 0;  /* report number */
 386         buffer[1] = CMD_DAP_INFO;
 387         buffer[2] = info;
 388         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 389
 390         if (retval != ERROR_OK) {
 391                 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
 392                 return ERROR_JTAG_DEVICE_ERROR;
 393         }
 394
 395         *data = &(buffer[1]);
 396
 397         return ERROR_OK;
 398 }
 399
 400 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
 401 {
 402         int retval;
 403         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 404
 405         buffer[0] = 0;  /* report number */
 406         buffer[1] = CMD_DAP_LED;
 407         buffer[2] = 0x00;
 408         buffer[3] = leds;
 409         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 410
 411         if (retval != ERROR_OK || buffer[1] != 0x00) {
 412                 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
 413                 return ERROR_JTAG_DEVICE_ERROR;
 414         }
 415
 416         return ERROR_OK;
 417 }
 418
 419 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
 420 {
 421         int retval;
 422         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 423
 424         buffer[0] = 0;  /* report number */
 425         buffer[1] = CMD_DAP_CONNECT;
 426         buffer[2] = mode;
 427         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 428
 429         if (retval != ERROR_OK) {
 430                 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
 431                 return ERROR_JTAG_DEVICE_ERROR;
 432         }
 433
 434         if (buffer[1] != mode) {
 435                 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
 436                 return ERROR_JTAG_DEVICE_ERROR;
 437         }
 438
 439         return ERROR_OK;
 440 }
 441
 442 static int cmsis_dap_cmd_DAP_Disconnect(void)
 443 {
 444         int retval;
 445         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 446
 447         buffer[0] = 0;  /* report number */
 448         buffer[1] = CMD_DAP_DISCONNECT;
 449         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 450
 451         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 452                 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
 453                 return ERROR_JTAG_DEVICE_ERROR;
 454         }
 455
 456         return ERROR_OK;
 457 }
 458
 459 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
 460 {
 461         int retval;
 462         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 463
 464         buffer[0] = 0;  /* report number */
 465         buffer[1] = CMD_DAP_TFER_CONFIGURE;
 466         buffer[2] = idle;
 467         buffer[3] = retry_count & 0xff;
 468         buffer[4] = (retry_count >> 8) & 0xff;
 469         buffer[5] = match_retry & 0xff;
 470         buffer[6] = (match_retry >> 8) & 0xff;
 471         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 472
 473         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 474                 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
 475                 return ERROR_JTAG_DEVICE_ERROR;
 476         }
 477
 478         return ERROR_OK;
 479 }
 480
 481 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
 482 {
 483         int retval;
 484         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 485
 486         buffer[0] = 0;  /* report number */
 487         buffer[1] = CMD_DAP_SWD_CONFIGURE;
 488         buffer[2] = cfg;
 489         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 490
 491         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 492                 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
 493                 return ERROR_JTAG_DEVICE_ERROR;
 494         }
 495
 496         return ERROR_OK;
 497 }
 498
 499 #if 0
 500 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
 501 {
 502         int retval;
 503         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 504
 505         buffer[0] = 0;  /* report number */
 506         buffer[1] = CMD_DAP_DELAY;
 507         buffer[2] = delay_us & 0xff;
 508         buffer[3] = (delay_us >> 8) & 0xff;
 509         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 510
 511         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 512                 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
 513                 return ERROR_JTAG_DEVICE_ERROR;
 514         }
 515
 516         return ERROR_OK;
 517 }
 518 #endif
 519
 520 static int cmsis_dap_swd_run_queue(void)
 521 {
 522         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 523
 524         LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
 525
 526         if (queued_retval != ERROR_OK) {
 527                 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 528                 goto skip;
 529         }
 530
 531         if (!pending_transfer_count)
 532                 goto skip;
 533
 534         size_t idx = 0;
 535         buffer[idx++] = 0;      /* report number */
 536         buffer[idx++] = CMD_DAP_TFER;
 537         buffer[idx++] = 0x00;   /* DAP Index */
 538         buffer[idx++] = pending_transfer_count;
 539
 540         for (int i = 0; i < pending_transfer_count; i++) {
 541                 uint8_t cmd = pending_transfers[i].cmd;
 542                 uint32_t data = pending_transfers[i].data;
 543
 544                 LOG_DEBUG("%s %s reg %x %"PRIx32,
 545                                 cmd & SWD_CMD_APnDP ? "AP" : "DP",
 546                                 cmd & SWD_CMD_RnW ? "read" : "write",
 547                           (cmd & SWD_CMD_A32) >> 1, data);
 548
 549                 /* When proper WAIT handling is implemented in the
 550                  * common SWD framework, this kludge can be
 551                  * removed. However, this might lead to minor
 552                  * performance degradation as the adapter wouldn't be
 553                  * able to automatically retry anything (because ARM
 554                  * has forgotten to implement sticky error flags
 555                  * clearing). See also comments regarding
 556                  * cmsis_dap_cmd_DAP_TFER_Configure() and
 557                  * cmsis_dap_cmd_DAP_SWD_Configure() in
 558                  * cmsis_dap_init().
 559                  */
 560                 if (!(cmd & SWD_CMD_RnW) &&
 561                     !(cmd & SWD_CMD_APnDP) &&
 562                     (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
 563                     (data & CORUNDETECT)) {
 564                         LOG_DEBUG("refusing to enable sticky overrun detection");
 565                         data &= ~CORUNDETECT;
 566                 }
 567
 568                 buffer[idx++] = (cmd >> 1) & 0x0f;
 569                 if (!(cmd & SWD_CMD_RnW)) {
 570                         buffer[idx++] = (data) & 0xff;
 571                         buffer[idx++] = (data >> 8) & 0xff;
 572                         buffer[idx++] = (data >> 16) & 0xff;
 573                         buffer[idx++] = (data >> 24) & 0xff;
 574                 }
 575         }
 576
 577         queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
 578         if (queued_retval != ERROR_OK)
 579                 goto skip;
 580
 581         idx = 2;
 582         uint8_t ack = buffer[idx] & 0x07;
 583         if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
 584                 LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
 585                           ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
 586                 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 587                 goto skip;
 588         }
 589         idx++;
 590
 591         if (pending_transfer_count != buffer[1])
 592                 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
 593                           pending_transfer_count, buffer[1]);
 594
 595         for (int i = 0; i < buffer[1]; i++) {
 596                 if (pending_transfers[i].cmd & SWD_CMD_RnW) {
 597                         static uint32_t last_read;
 598                         uint32_t data = le_to_h_u32(&buffer[idx]);
 599                         uint32_t tmp = data;
 600                         idx += 4;
 601
 602                         LOG_DEBUG("Read result: %"PRIx32, data);
 603
 604                         /* Imitate posted AP reads */
 605                         if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
 606                             ((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
 607                                 tmp = last_read;
 608                                 last_read = data;
 609                         }
 610
 611                         if (pending_transfers[i].buffer)
 612                                 *(uint32_t *)pending_transfers[i].buffer = tmp;
 613                 }
 614         }
 615
 616 skip:
 617         pending_transfer_count = 0;
 618         int retval = queued_retval;
 619         queued_retval = ERROR_OK;
 620
 621         return retval;
 622 }
 623
 624 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 625 {
 626         if (pending_transfer_count == pending_queue_len) {
 627                 /* Not enough room in the queue. Run the queue. */
 628                 queued_retval = cmsis_dap_swd_run_queue();
 629         }
 630
 631         if (queued_retval != ERROR_OK)
 632                 return;
 633
 634         pending_transfers[pending_transfer_count].data = data;
 635         pending_transfers[pending_transfer_count].cmd = cmd;
 636         if (cmd & SWD_CMD_RnW) {
 637                 /* Queue a read transaction */
 638                 pending_transfers[pending_transfer_count].buffer = dst;
 639         }
 640         pending_transfer_count++;
 641 }
 642
 643 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
 644 {
 645         assert(!(cmd & SWD_CMD_RnW));
 646         cmsis_dap_swd_queue_cmd(cmd, NULL, value);
 647 }
 648
 649 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
 650 {
 651         assert(cmd & SWD_CMD_RnW);
 652         cmsis_dap_swd_queue_cmd(cmd, value, 0);
 653 }
 654
 655 static int cmsis_dap_get_version_info(void)
 656 {
 657         uint8_t *data;
 658
 659         /* INFO_ID_FW_VER - string */
 660         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
 661         if (retval != ERROR_OK)
 662                 return retval;
 663
 664         if (data[0]) /* strlen */
 665                 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
 666
 667         return ERROR_OK;
 668 }
 669
 670 static int cmsis_dap_get_caps_info(void)
 671 {
 672         uint8_t *data;
 673
 674         /* INFO_ID_CAPS - byte */
 675         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
 676         if (retval != ERROR_OK)
 677                 return retval;
 678
 679         if (data[0] == 1) {
 680                 uint8_t caps = data[1];
 681
 682                 cmsis_dap_handle->caps = caps;
 683
 684                 if (caps & INFO_CAPS_SWD)
 685                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
 686                 if (caps & INFO_CAPS_JTAG)
 687                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
 688         }
 689
 690         return ERROR_OK;
 691 }
 692
 693 static int cmsis_dap_get_status(void)
 694 {
 695         uint8_t d;
 696
 697         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
 698
 699         if (retval == ERROR_OK) {
 700                 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
 701                         (d & (0x01 << 0)) ? 1 : 0,      /* Bit 0: SWCLK/TCK */
 702                         (d & (0x01 << 1)) ? 1 : 0,      /* Bit 1: SWDIO/TMS */
 703                         (d & (0x01 << 2)) ? 1 : 0,      /* Bit 2: TDI */
 704                         (d & (0x01 << 3)) ? 1 : 0,      /* Bit 3: TDO */
 705                         (d & (0x01 << 5)) ? 1 : 0,      /* Bit 5: nTRST */
 706                         (d & (0x01 << 7)) ? 1 : 0);     /* Bit 7: nRESET */
 707         }
 708
 709         return retval;
 710 }
 711
 712 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
 713 {
 714         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 715         const uint8_t *s;
 716         unsigned int s_len;
 717         int retval;
 718
 719         /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
 720         cmsis_dap_cmd_DAP_Disconnect();
 721
 722         /* When we are reconnecting, DAP_Connect needs to be rerun, at
 723          * least on Keil ULINK-ME */
 724         retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
 725                                            CONNECT_SWD : CONNECT_JTAG);
 726         if (retval != ERROR_OK)
 727                 return retval;
 728
 729         switch (seq) {
 730         case LINE_RESET:
 731                 LOG_DEBUG("SWD line reset");
 732                 s = swd_seq_line_reset;
 733                 s_len = swd_seq_line_reset_len;
 734                 break;
 735         case JTAG_TO_SWD:
 736                 LOG_DEBUG("JTAG-to-SWD");
 737                 s = swd_seq_jtag_to_swd;
 738                 s_len = swd_seq_jtag_to_swd_len;
 739                 break;
 740         case SWD_TO_JTAG:
 741                 LOG_DEBUG("SWD-to-JTAG");
 742                 s = swd_seq_swd_to_jtag;
 743                 s_len = swd_seq_swd_to_jtag_len;
 744                 break;
 745         default:
 746                 LOG_ERROR("Sequence %d not supported", seq);
 747                 return ERROR_FAIL;
 748         }
 749
 750         buffer[0] = 0;  /* report number */
 751         buffer[1] = CMD_DAP_SWJ_SEQ;
 752         buffer[2] = s_len;
 753         bit_copy(&buffer[3], 0, s, 0, s_len);
 754
 755         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
 756
 757         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 758                 return ERROR_FAIL;
 759
 760         return ERROR_OK;
 761 }
 762
 763 static int cmsis_dap_swd_open(void)
 764 {
 765         int retval;
 766
 767         if (cmsis_dap_handle == NULL) {
 768                 /* SWD init */
 769                 retval = cmsis_dap_usb_open();
 770                 if (retval != ERROR_OK)
 771                         return retval;
 772
 773                 retval = cmsis_dap_get_caps_info();
 774                 if (retval != ERROR_OK)
 775                         return retval;
 776         }
 777
 778         if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
 779                 LOG_ERROR("CMSIS-DAP: SWD not supported");
 780                 return ERROR_JTAG_DEVICE_ERROR;
 781         }
 782
 783         retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
 784         if (retval != ERROR_OK)
 785                 return retval;
 786
 787         /* Add more setup here.??... */
 788
 789         LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
 790         return ERROR_OK;
 791 }
 792
 793 static int cmsis_dap_init(void)
 794 {
 795         int retval;
 796         uint8_t *data;
 797
 798         if (swd_mode) {
 799                 retval = cmsis_dap_swd_open();
 800                 if (retval != ERROR_OK)
 801                         return retval;
 802         }
 803
 804         if (cmsis_dap_handle == NULL) {
 805
 806                 /* JTAG init */
 807                 retval = cmsis_dap_usb_open();
 808                 if (retval != ERROR_OK)
 809                         return retval;
 810
 811                 retval = cmsis_dap_get_caps_info();
 812                 if (retval != ERROR_OK)
 813                         return retval;
 814
 815                 /* Connect in JTAG mode */
 816                 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
 817                         LOG_ERROR("CMSIS-DAP: JTAG not supported");
 818                         return ERROR_JTAG_DEVICE_ERROR;
 819                 }
 820
 821                 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
 822                 if (retval != ERROR_OK)
 823                         return retval;
 824
 825                 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
 826         }
 827
 828         retval = cmsis_dap_get_version_info();
 829         if (retval != ERROR_OK)
 830                 return retval;
 831
 832         /* INFO_ID_PKT_SZ - short */
 833         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
 834         if (retval != ERROR_OK)
 835                 return retval;
 836
 837         if (data[0] == 2) {  /* short */
 838                 uint16_t pkt_sz = data[1] + (data[2] << 8);
 839
 840                 /* 4 bytes of command header + 5 bytes per register
 841                  * write. For bulk read sequences just 4 bytes are
 842                  * needed per transfer, so this is suboptimal. */
 843                 pending_queue_len = (pkt_sz - 4) / 5;
 844                 pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
 845                 if (!pending_transfers) {
 846                         LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
 847                         return ERROR_FAIL;
 848                 }
 849
 850                 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
 851                         /* reallocate buffer */
 852                         cmsis_dap_handle->packet_size = pkt_sz + 1;
 853                         cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
 854                                         cmsis_dap_handle->packet_size);
 855                         if (cmsis_dap_handle->packet_buffer == NULL) {
 856                                 LOG_ERROR("unable to reallocate memory");
 857                                 return ERROR_FAIL;
 858                         }
 859                 }
 860
 861                 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
 862         }
 863
 864         /* INFO_ID_PKT_CNT - byte */
 865         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
 866         if (retval != ERROR_OK)
 867                 return retval;
 868
 869         if (data[0] == 1) { /* byte */
 870                 uint16_t pkt_cnt = data[1];
 871                 cmsis_dap_handle->packet_count = pkt_cnt;
 872                 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
 873         }
 874
 875         retval = cmsis_dap_get_status();
 876         if (retval != ERROR_OK)
 877                 return ERROR_FAIL;
 878
 879         /* Now try to connect to the target
 880          * TODO: This is all SWD only @ present */
 881         retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
 882         if (retval != ERROR_OK)
 883                 return ERROR_FAIL;
 884
 885         /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
 886          * up to 64 times. This must be changed to 0 if sticky
 887          * overrun detection is enabled. */
 888         retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
 889         if (retval != ERROR_OK)
 890                 return ERROR_FAIL;
 891         /* Data Phase (bit 2) must be set to 1 if sticky overrun
 892          * detection is enabled */
 893         retval = cmsis_dap_cmd_DAP_SWD_Configure(0);    /* 1 TRN, no Data Phase */
 894         if (retval != ERROR_OK)
 895                 return ERROR_FAIL;
 896
 897         retval = cmsis_dap_cmd_DAP_LED(0x03);           /* Both LEDs on */
 898         if (retval != ERROR_OK)
 899                 return ERROR_FAIL;
 900
 901         /* support connecting with srst asserted */
 902         enum reset_types jtag_reset_config = jtag_get_reset_config();
 903
 904         if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
 905                 if (jtag_reset_config & RESET_SRST_NO_GATING) {
 906                         retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
 907                         if (retval != ERROR_OK)
 908                                 return ERROR_FAIL;
 909                         LOG_INFO("Connecting under reset");
 910                 }
 911         }
 912
 913         cmsis_dap_cmd_DAP_LED(0x00);                    /* Both LEDs off */
 914
 915         LOG_INFO("CMSIS-DAP: Interface ready");
 916
 917         return ERROR_OK;
 918 }
 919
 920 static int cmsis_dap_swd_init(void)
 921 {
 922         swd_mode = true;
 923         return ERROR_OK;
 924 }
 925
 926 static int cmsis_dap_quit(void)
 927 {
 928         cmsis_dap_cmd_DAP_Disconnect();
 929         cmsis_dap_cmd_DAP_LED(0x00);            /* Both LEDs off */
 930
 931         cmsis_dap_usb_close(cmsis_dap_handle);
 932
 933         return ERROR_OK;
 934 }
 935
 936 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
 937 {
 938         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
 939                         (1 << 7), 0, NULL);
 940         if (retval != ERROR_OK)
 941                 LOG_ERROR("CMSIS-DAP: Interface reset failed");
 942 }
 943
 944 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
 945 {
 946 #if 0
 947         int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
 948         if (retval != ERROR_OK)
 949 #endif
 950                 jtag_sleep(cmd->cmd.sleep->us);
 951 }
 952
 953 static void cmsis_dap_execute_command(struct jtag_command *cmd)
 954 {
 955         switch (cmd->type) {
 956                 case JTAG_RESET:
 957                         cmsis_dap_execute_reset(cmd);
 958                         break;
 959                 case JTAG_SLEEP:
 960                         cmsis_dap_execute_sleep(cmd);
 961                         break;
 962                 default:
 963                         LOG_ERROR("BUG: unknown JTAG command type encountered");
 964                         exit(-1);
 965         }
 966 }
 967
 968 static int cmsis_dap_execute_queue(void)
 969 {
 970         struct jtag_command *cmd = jtag_command_queue;
 971
 972         while (cmd != NULL) {
 973                 cmsis_dap_execute_command(cmd);
 974                 cmd = cmd->next;
 975         }
 976
 977         return ERROR_OK;
 978 }
 979
 980 static int cmsis_dap_speed(int speed)
 981 {
 982         if (speed > DAP_MAX_CLOCK) {
 983                 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
 984                 speed = DAP_MAX_CLOCK;
 985         }
 986
 987         if (speed == 0) {
 988                 LOG_INFO("RTCK not supported");
 989                 return ERROR_JTAG_NOT_IMPLEMENTED;
 990         }
 991
 992         return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
 993 }
 994
 995 static int cmsis_dap_speed_div(int speed, int *khz)
 996 {
 997         *khz = speed;
 998         return ERROR_OK;
 999 }
1000
1001 static int cmsis_dap_khz(int khz, int *jtag_speed)
1002 {
1003         *jtag_speed = khz;
1004         return ERROR_OK;
1005 }
1006
1007 static int_least32_t cmsis_dap_swd_frequency(int_least32_t hz)
1008 {
1009         if (hz > 0)
1010                 cmsis_dap_speed(hz / 1000);
1011
1012         return hz;
1013 }
1014
1015 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1016 {
1017         if (cmsis_dap_get_version_info() == ERROR_OK)
1018                 cmsis_dap_get_status();
1019
1020         return ERROR_OK;
1021 }
1022
1023 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
1024 {
1025         if (CMD_ARGC > MAX_USB_IDS * 2) {
1026                 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1027                         "(maximum is %d pairs)", MAX_USB_IDS);
1028                 CMD_ARGC = MAX_USB_IDS * 2;
1029         }
1030         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
1031                 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1032                 if (CMD_ARGC < 2)
1033                         return ERROR_COMMAND_SYNTAX_ERROR;
1034                 /* remove the incomplete trailing id */
1035                 CMD_ARGC -= 1;
1036         }
1037
1038         unsigned i;
1039         for (i = 0; i < CMD_ARGC; i += 2) {
1040                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
1041                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
1042         }
1043
1044         /*
1045          * Explicitly terminate, in case there are multiples instances of
1046          * cmsis_dap_vid_pid.
1047          */
1048         cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1049
1050         return ERROR_OK;
1051 }
1052
1053 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
1054 {
1055         if (CMD_ARGC == 1) {
1056                 size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
1057                 cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
1058                 if (cmsis_dap_serial == NULL) {
1059                         LOG_ERROR("unable to allocate memory");
1060                         return ERROR_OK;
1061                 }
1062                 if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
1063                         free(cmsis_dap_serial);
1064                         cmsis_dap_serial = NULL;
1065                         LOG_ERROR("unable to convert serial");
1066                 }
1067         } else {
1068                 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1069         }
1070
1071         return ERROR_OK;
1072 }
1073
1074 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1075         {
1076                 .name = "info",
1077                 .handler = &cmsis_dap_handle_info_command,
1078                 .mode = COMMAND_EXEC,
1079                 .usage = "",
1080                 .help = "show cmsis-dap info",
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                 .name = "cmsis_dap_serial",
1102                 .handler = &cmsis_dap_handle_serial_command,
1103                 .mode = COMMAND_CONFIG,
1104                 .help = "set the serial number of the adapter",
1105                 .usage = "serial_string",
1106         },
1107         COMMAND_REGISTRATION_DONE
1108 };
1109
1110 static const struct swd_driver cmsis_dap_swd_driver = {
1111         .init = cmsis_dap_swd_init,
1112         .frequency = cmsis_dap_swd_frequency,
1113         .switch_seq = cmsis_dap_swd_switch_seq,
1114         .read_reg = cmsis_dap_swd_read_reg,
1115         .write_reg = cmsis_dap_swd_write_reg,
1116         .run = cmsis_dap_swd_run_queue,
1117 };
1118
1119 static const char * const cmsis_dap_transport[] = { "swd", NULL };
1120
1121 struct jtag_interface cmsis_dap_interface = {
1122         .name = "cmsis-dap",
1123         .commands = cmsis_dap_command_handlers,
1124         .swd = &cmsis_dap_swd_driver,
1125         .transports = cmsis_dap_transport,
1126
1127         .execute_queue = cmsis_dap_execute_queue,
1128         .speed = cmsis_dap_speed,
1129         .speed_div = cmsis_dap_speed_div,
1130         .khz = cmsis_dap_khz,
1131         .init = cmsis_dap_init,
1132         .quit = cmsis_dap_quit,
1133 };