/***************************************************************************
+ * Copyright (C) 2014 by Paul Fertser *
+ * fercerpav@gmail.com *
+ * *
* Copyright (C) 2013 by mike brown *
* mike@theshedworks.org.uk *
* *
#include <hidapi.h>
-#ifdef _DEBUG_JTAG_IO_
- #define DEBUG_IO(expr...) LOG_DEBUG(expr)
-#else
- #define DEBUG_IO(expr...) do {} while (0)
-#endif
-
/*
* See CMSIS-DAP documentation:
* Version 0.01 - Beta.
/* vid = pid = 0 marks the end of the list */
static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
+static wchar_t *cmsis_dap_serial;
static bool swd_mode;
#define PACKET_SIZE (64 + 1) /* 64 bytes plus report id */
uint8_t mode;
};
+struct pending_transfer_result {
+ uint8_t cmd;
+ uint32_t data;
+ void *buffer;
+};
+
+static int pending_transfer_count, pending_queue_len;
+static struct pending_transfer_result *pending_transfers;
+
+static int queued_retval;
+
static struct cmsis_dap *cmsis_dap_handle;
static int cmsis_dap_usb_open(void)
int i;
struct hid_device_info *devs, *cur_dev;
unsigned short target_vid, target_pid;
+ wchar_t *target_serial = NULL;
bool found = false;
+ bool serial_found = false;
target_vid = 0;
target_pid = 0;
if (found) {
/* we have found an adapter, so exit further checks */
- break;
+ /* check serial number matches if given */
+ if (cmsis_dap_serial != NULL) {
+ if (wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
+ serial_found = true;
+ break;
+ }
+ } else
+ break;
}
cur_dev = cur_dev->next;
if (NULL != cur_dev) {
target_vid = cur_dev->vendor_id;
target_pid = cur_dev->product_id;
+ if (serial_found)
+ target_serial = cmsis_dap_serial;
}
hid_free_enumeration(devs);
return ERROR_FAIL;
}
- dev = hid_open(target_vid, target_pid, NULL);
+ dev = hid_open(target_vid, target_pid, target_serial);
if (dev == NULL) {
- LOG_ERROR("unable to open CMSIS-DAP device");
+ LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
return ERROR_FAIL;
}
int packet_size = PACKET_SIZE;
/* atmel cmsis-dap uses 512 byte reports */
+ /* TODO: HID report descriptor should be parsed instead of
+ * hardcoding a match by VID */
if (target_vid == 0x03eb)
packet_size = 512 + 1;
hid_close(dap->dev_handle);
hid_exit();
- if (cmsis_dap_handle->packet_buffer)
- free(cmsis_dap_handle->packet_buffer);
-
- if (cmsis_dap_handle) {
- free(cmsis_dap_handle);
- cmsis_dap_handle = NULL;
- }
+ free(cmsis_dap_handle->packet_buffer);
+ free(cmsis_dap_handle);
+ cmsis_dap_handle = NULL;
+ free(cmsis_dap_serial);
+ cmsis_dap_serial = NULL;
+ free(pending_transfers);
+ pending_transfers = NULL;
return;
}
static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
{
/* Pad the rest of the TX buffer with 0's */
- memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
+ memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
/* write data to device */
int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
return ERROR_OK;
}
-static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16_t retry)
+static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
{
int retval;
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_TFER_CONFIGURE;
buffer[2] = idle;
- buffer[3] = delay & 0xff;
- buffer[4] = (delay >> 8) & 0xff;
- buffer[5] = retry & 0xff;
- buffer[6] = (retry >> 8) & 0xff;
+ buffer[3] = retry_count & 0xff;
+ buffer[4] = (retry_count >> 8) & 0xff;
+ buffer[5] = match_retry & 0xff;
+ buffer[6] = (match_retry >> 8) & 0xff;
retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
if (retval != ERROR_OK || buffer[1] != DAP_OK) {
}
#endif
-static int queued_retval;
-
-static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
+static int cmsis_dap_swd_run_queue(struct adiv5_dap *dap)
{
- if (queued_retval != ERROR_OK)
- return;
-
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
- int retval;
- uint32_t val;
- DEBUG_IO("CMSIS-DAP: Read Reg 0x%02" PRIx8, cmd);
+ LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_TFER;
- buffer[2] = 0x00;
- buffer[3] = 0x01;
- buffer[4] = cmd;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
-
- /* TODO - need better response checking */
- if (retval != ERROR_OK || buffer[1] != 0x01) {
- LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
- queued_retval = buffer[2];
- return;
+ if (queued_retval != ERROR_OK) {
+ LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
+ goto skip;
+ }
+
+ if (!pending_transfer_count)
+ goto skip;
+
+ size_t idx = 0;
+ buffer[idx++] = 0; /* report number */
+ buffer[idx++] = CMD_DAP_TFER;
+ buffer[idx++] = 0x00; /* DAP Index */
+ buffer[idx++] = pending_transfer_count;
+
+ for (int i = 0; i < pending_transfer_count; i++) {
+ uint8_t cmd = pending_transfers[i].cmd;
+ uint32_t data = pending_transfers[i].data;
+
+ LOG_DEBUG("%s %s reg %x %"PRIx32,
+ cmd & SWD_CMD_APnDP ? "AP" : "DP",
+ cmd & SWD_CMD_RnW ? "read" : "write",
+ (cmd & SWD_CMD_A32) >> 1, data);
+
+ /* When proper WAIT handling is implemented in the
+ * common SWD framework, this kludge can be
+ * removed. However, this might lead to minor
+ * performance degradation as the adapter wouldn't be
+ * able to automatically retry anything (because ARM
+ * has forgotten to implement sticky error flags
+ * clearing). See also comments regarding
+ * cmsis_dap_cmd_DAP_TFER_Configure() and
+ * cmsis_dap_cmd_DAP_SWD_Configure() in
+ * cmsis_dap_init().
+ */
+ if (!(cmd & SWD_CMD_RnW) &&
+ !(cmd & SWD_CMD_APnDP) &&
+ (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
+ (data & CORUNDETECT)) {
+ LOG_DEBUG("refusing to enable sticky overrun detection");
+ data &= ~CORUNDETECT;
+ }
+
+ buffer[idx++] = (cmd >> 1) & 0x0f;
+ if (!(cmd & SWD_CMD_RnW)) {
+ buffer[idx++] = (data) & 0xff;
+ buffer[idx++] = (data >> 8) & 0xff;
+ buffer[idx++] = (data >> 16) & 0xff;
+ buffer[idx++] = (data >> 24) & 0xff;
+ }
}
- val = le_to_h_u32(&buffer[3]);
- DEBUG_IO("0x%08" PRIx32, val);
+ queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
+ if (queued_retval != ERROR_OK)
+ goto skip;
+
+ idx = 2;
+ uint8_t ack = buffer[idx] & 0x07;
+ if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
+ LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
+ ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
+ queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
+ goto skip;
+ }
+ idx++;
+
+ if (pending_transfer_count != buffer[1])
+ LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
+ pending_transfer_count, buffer[1]);
+
+ for (int i = 0; i < buffer[1]; i++) {
+ if (pending_transfers[i].cmd & SWD_CMD_RnW) {
+ static uint32_t last_read;
+ uint32_t data = le_to_h_u32(&buffer[idx]);
+ uint32_t tmp = data;
+ idx += 4;
+
+ LOG_DEBUG("Read result: %"PRIx32, data);
+
+ /* Imitate posted AP reads */
+ if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
+ ((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
+ tmp = last_read;
+ last_read = data;
+ }
- if (value)
- *value = val;
+ if (pending_transfers[i].buffer)
+ *(uint32_t *)pending_transfers[i].buffer = tmp;
+ }
+ }
+
+skip:
+ pending_transfer_count = 0;
+ int retval = queued_retval;
+ queued_retval = ERROR_OK;
- queued_retval = retval;
+ return retval;
}
-static void cmsis_dap_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
+static void cmsis_dap_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data)
{
+ if (pending_transfer_count == pending_queue_len) {
+ /* Not enough room in the queue. Run the queue. */
+ queued_retval = cmsis_dap_swd_run_queue(dap);
+ }
+
if (queued_retval != ERROR_OK)
return;
- uint8_t *buffer = cmsis_dap_handle->packet_buffer;
-
- DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
-
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_TFER;
- buffer[2] = 0x00;
- buffer[3] = 0x01;
- buffer[4] = cmd;
- buffer[5] = (value) & 0xff;
- buffer[6] = (value >> 8) & 0xff;
- buffer[7] = (value >> 16) & 0xff;
- buffer[8] = (value >> 24) & 0xff;
- int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
-
- if (buffer[1] != 0x01) {
- LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
- retval = buffer[2];
+ pending_transfers[pending_transfer_count].data = data;
+ pending_transfers[pending_transfer_count].cmd = cmd;
+ if (cmd & SWD_CMD_RnW) {
+ /* Queue a read transaction */
+ pending_transfers[pending_transfer_count].buffer = dst;
}
+ pending_transfer_count++;
+}
- queued_retval = retval;
+static void cmsis_dap_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
+{
+ assert(!(cmd & SWD_CMD_RnW));
+ cmsis_dap_swd_queue_cmd(dap, cmd, NULL, value);
}
-static int cmsis_dap_swd_run(struct adiv5_dap *dap)
+static void cmsis_dap_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
{
- int retval = queued_retval;
- queued_retval = ERROR_OK;
- return retval;
+ assert(cmd & SWD_CMD_RnW);
+ cmsis_dap_swd_queue_cmd(dap, cmd, value, 0);
}
static int cmsis_dap_get_version_info(void)
return retval;
}
-static int cmsis_dap_reset_link(void)
+static int cmsis_dap_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
{
uint8_t *buffer = cmsis_dap_handle->packet_buffer;
+ const uint8_t *s;
+ unsigned int s_len;
+ int retval;
- LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
- LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
-
- /* reset line with SWDIO high for >50 cycles */
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_SWJ_SEQ;
- buffer[2] = 7 * 8;
- buffer[3] = 0xff;
- buffer[4] = 0xff;
- buffer[5] = 0xff;
- buffer[6] = 0xff;
- buffer[7] = 0xff;
- buffer[8] = 0xff;
- buffer[9] = 0xff;
- int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
-
- if (retval != ERROR_OK || buffer[1] != DAP_OK)
- return ERROR_FAIL;
-
- /* 16bit JTAG-SWD sequence */
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_SWJ_SEQ;
- buffer[2] = 2 * 8;
- buffer[3] = 0x9e;
- buffer[4] = 0xe7;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
+ /* When we are reconnecting, DAP_Connect needs to be rerun, at
+ * least on Keil ULINK-ME */
+ retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
+ CONNECT_SWD : CONNECT_JTAG);
+ if (retval != ERROR_OK)
+ return retval;
- if (retval != ERROR_OK || buffer[1] != DAP_OK)
+ switch (seq) {
+ case LINE_RESET:
+ LOG_DEBUG("SWD line reset");
+ s = swd_seq_line_reset;
+ s_len = swd_seq_line_reset_len;
+ break;
+ case JTAG_TO_SWD:
+ LOG_DEBUG("JTAG-to-SWD");
+ s = swd_seq_jtag_to_swd;
+ s_len = swd_seq_jtag_to_swd_len;
+ break;
+ case SWD_TO_JTAG:
+ LOG_DEBUG("SWD-to-JTAG");
+ s = swd_seq_swd_to_jtag;
+ s_len = swd_seq_swd_to_jtag_len;
+ break;
+ default:
+ LOG_ERROR("Sequence %d not supported", seq);
return ERROR_FAIL;
+ }
- /* another reset just incase */
buffer[0] = 0; /* report number */
buffer[1] = CMD_DAP_SWJ_SEQ;
- buffer[2] = 7 * 8;
- buffer[3] = 0xff;
- buffer[4] = 0xff;
- buffer[5] = 0xff;
- buffer[6] = 0xff;
- buffer[7] = 0xff;
- buffer[8] = 0xff;
- buffer[9] = 0xff;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
+ buffer[2] = s_len;
+ bit_copy(&buffer[3], 0, s, 0, s_len);
- if (retval != ERROR_OK || buffer[1] != DAP_OK)
- return ERROR_FAIL;
-
- /* 16 cycle idle period */
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_SWJ_SEQ;
- buffer[2] = 2 * 8;
- buffer[3] = 0x00;
- buffer[4] = 0x00;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
+ retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
if (retval != ERROR_OK || buffer[1] != DAP_OK)
return ERROR_FAIL;
- DEBUG_IO("DAP Read IDCODE");
-
- /* read the id code is always the next sequence */
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_TFER;
- buffer[2] = 0x00;
- buffer[3] = 0x01;
- buffer[4] = 0x02;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
-
- if (retval != ERROR_OK)
- return retval;
-
- if (buffer[1] == 0) {
- LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
-
- LOG_DEBUG("DAP Reset Target");
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_RESET_TARGET;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
- LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
-
- LOG_DEBUG("DAP Write Abort");
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_WRITE_ABORT;
- buffer[2] = 0x00;
- buffer[3] = 0x1e/*0x1f*/;
- buffer[4] = 0x00;
- buffer[5] = 0x00;
- buffer[6] = 0x00;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
- LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
-
- return 0x80 + buffer[1];
- }
-
- LOG_DEBUG("DAP Write Abort");
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_WRITE_ABORT;
- buffer[2] = 0x00;
- buffer[3] = 0x1e;
- buffer[4] = 0x00;
- buffer[5] = 0x00;
- buffer[6] = 0x00;
- retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
- LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
-
- return retval;
+ return ERROR_OK;
}
static int cmsis_dap_swd_open(void)
{
int retval;
- DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_open");
-
if (cmsis_dap_handle == NULL) {
-
/* SWD init */
retval = cmsis_dap_usb_open();
if (retval != ERROR_OK)
if (data[0] == 2) { /* short */
uint16_t pkt_sz = data[1] + (data[2] << 8);
+ /* 4 bytes of command header + 5 bytes per register
+ * write. For bulk read sequences just 4 bytes are
+ * needed per transfer, so this is suboptimal. */
+ pending_queue_len = (pkt_sz - 4) / 5;
+ pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
+ if (!pending_transfers) {
+ LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
+ return ERROR_FAIL;
+ }
+
if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
/* reallocate buffer */
cmsis_dap_handle->packet_size = pkt_sz + 1;
/* Now try to connect to the target
* TODO: This is all SWD only @ present */
- retval = cmsis_dap_cmd_DAP_SWJ_Clock(100); /* 100kHz */
+ retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
if (retval != ERROR_OK)
return ERROR_FAIL;
+ /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
+ * up to 64 times. This must be changed to 0 if sticky
+ * overrun detection is enabled. */
retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
if (retval != ERROR_OK)
return ERROR_FAIL;
- retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
+ /* Data Phase (bit 2) must be set to 1 if sticky overrun
+ * detection is enabled */
+ retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
if (retval != ERROR_OK)
return ERROR_FAIL;
}
}
- retval = cmsis_dap_reset_link();
- if (retval != ERROR_OK)
- return ERROR_FAIL;
-
- cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
+ cmsis_dap_cmd_DAP_LED(0x00); /* Both LEDs off */
LOG_INFO("CMSIS-DAP: Interface ready");
return ERROR_OK;
}
+static int_least32_t cmsis_dap_swd_frequency(struct adiv5_dap *dap, int_least32_t hz)
+{
+ if (hz > 0)
+ cmsis_dap_speed(hz / 1000);
+
+ return hz;
+}
+
COMMAND_HANDLER(cmsis_dap_handle_info_command)
{
if (cmsis_dap_get_version_info() == ERROR_OK)
return ERROR_OK;
}
+COMMAND_HANDLER(cmsis_dap_handle_serial_command)
+{
+ if (CMD_ARGC == 1) {
+ size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
+ cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
+ if (cmsis_dap_serial == NULL) {
+ LOG_ERROR("unable to allocate memory");
+ return ERROR_OK;
+ }
+ if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
+ free(cmsis_dap_serial);
+ cmsis_dap_serial = NULL;
+ LOG_ERROR("unable to convert serial");
+ }
+ } else {
+ LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
+ }
+
+ return ERROR_OK;
+}
+
static const struct command_registration cmsis_dap_subcommand_handlers[] = {
{
.name = "info",
.help = "the vendor ID and product ID of the CMSIS-DAP device",
.usage = "(vid pid)* ",
},
+ {
+ .name = "cmsis_dap_serial",
+ .handler = &cmsis_dap_handle_serial_command,
+ .mode = COMMAND_CONFIG,
+ .help = "set the serial number of the adapter",
+ .usage = "serial_string",
+ },
COMMAND_REGISTRATION_DONE
};
static const struct swd_driver cmsis_dap_swd_driver = {
.init = cmsis_dap_swd_init,
+ .frequency = cmsis_dap_swd_frequency,
+ .switch_seq = cmsis_dap_swd_switch_seq,
.read_reg = cmsis_dap_swd_read_reg,
.write_reg = cmsis_dap_swd_write_reg,
- .run = cmsis_dap_swd_run,
+ .run = cmsis_dap_swd_run_queue,
};
-const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};
+static const char * const cmsis_dap_transport[] = { "swd", NULL };
struct jtag_interface cmsis_dap_interface = {
.name = "cmsis-dap",
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