drivers: cmsis_dap_usb: implement cmd JTAG_TMS

[openocd] / src / jtag / drivers / cmsis_dap_usb.c

diff --git a/src/jtag/drivers/cmsis_dap_usb.c b/src/jtag/drivers/cmsis_dap_usb.c
index 86f796877ba2e6dbae919d964863bd73c10fa39b..928389faf6b706c0c9a79d45c38152c118799608 100644 (file)
--- a/src/jtag/drivers/cmsis_dap_usb.c
+++ b/src/jtag/drivers/cmsis_dap_usb.c
@@ -206,6 +206,8 @@ static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis obj
 
 static int queued_retval;
 
+static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
+
 static struct cmsis_dap *cmsis_dap_handle;
 
 static int cmsis_dap_usb_open(void)
@@ -596,7 +598,7 @@ static int cmsis_dap_swd_run_queue(void)
 {
        uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 
-       LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
+       LOG_DEBUG_IO("Executing %d queued transactions", pending_transfer_count);
 
        if (queued_retval != ERROR_OK) {
                LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
@@ -616,7 +618,7 @@ static int cmsis_dap_swd_run_queue(void)
                uint8_t cmd = pending_transfers[i].cmd;
                uint32_t data = pending_transfers[i].data;
 
-               LOG_DEBUG("%s %s reg %x %"PRIx32,
+               LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
                                cmd & SWD_CMD_APnDP ? "AP" : "DP",
                                cmd & SWD_CMD_RnW ? "read" : "write",
                          (cmd & SWD_CMD_A32) >> 1, data);
@@ -674,7 +676,7 @@ static int cmsis_dap_swd_run_queue(void)
                        uint32_t tmp = data;
                        idx += 4;
 
-                       LOG_DEBUG("Read result: %"PRIx32, data);
+                       LOG_DEBUG_IO("Read result: %"PRIx32, data);
 
                        /* Imitate posted AP reads */
                        if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
@@ -790,15 +792,20 @@ static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
        unsigned int s_len;
        int retval;
 
-       /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
-       cmsis_dap_cmd_DAP_Disconnect();
+       if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
+               /* Following workaround deasserts reset on most adapters.
+                * Do not reconnect if a reset line is active!
+                * Reconnecting would break connecting under reset. */
 
-       /* 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;
+               /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
+               cmsis_dap_cmd_DAP_Disconnect();
+
+               /* When we are reconnecting, DAP_Connect needs to be rerun, at
+                * least on Keil ULINK-ME */
+               retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
+               if (retval != ERROR_OK)
+                       return retval;
+       }
 
        switch (seq) {
        case LINE_RESET:
@@ -834,17 +841,6 @@ static int cmsis_dap_swd_open(void)
 {
        int retval;
 
-       if (cmsis_dap_handle == NULL) {
-               /* SWD init */
-               retval = cmsis_dap_usb_open();
-               if (retval != ERROR_OK)
-                       return retval;
-
-               retval = cmsis_dap_get_caps_info();
-               if (retval != ERROR_OK)
-                       return retval;
-       }
-
        if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
                LOG_ERROR("CMSIS-DAP: SWD not supported");
                return ERROR_JTAG_DEVICE_ERROR;
@@ -865,6 +861,18 @@ static int cmsis_dap_init(void)
        int retval;
        uint8_t *data;
 
+       retval = cmsis_dap_usb_open();
+       if (retval != ERROR_OK)
+               return retval;
+
+       retval = cmsis_dap_get_caps_info();
+       if (retval != ERROR_OK)
+               return retval;
+
+       retval = cmsis_dap_get_version_info();
+       if (retval != ERROR_OK)
+               return retval;
+
        if (swd_mode) {
                retval = cmsis_dap_swd_open();
                if (retval != ERROR_OK)
@@ -872,16 +880,6 @@ static int cmsis_dap_init(void)
        }
 
        if (cmsis_dap_handle == NULL) {
-
-               /* JTAG init */
-               retval = cmsis_dap_usb_open();
-               if (retval != ERROR_OK)
-                       return retval;
-
-               retval = cmsis_dap_get_caps_info();
-               if (retval != ERROR_OK)
-                       return retval;
-
                /* Connect in JTAG mode */
                if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
                        LOG_ERROR("CMSIS-DAP: JTAG not supported");
@@ -895,10 +893,6 @@ static int cmsis_dap_init(void)
                LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
        }
 
-       retval = cmsis_dap_get_version_info();
-       if (retval != ERROR_OK)
-               return retval;
-
        /* INFO_ID_PKT_SZ - short */
        retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
        if (retval != ERROR_OK)
@@ -958,11 +952,14 @@ static int cmsis_dap_init(void)
        retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
        if (retval != ERROR_OK)
                return ERROR_FAIL;
-       /* 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;
+
+       if (swd_mode) {
+               /* 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_cmd_DAP_LED(0x03);           /* Both LEDs on */
        if (retval != ERROR_OK)
@@ -1007,14 +1004,14 @@ static void cmsis_dap_execute_reset(struct jtag_command *cmd)
 {
        /* Set both TRST and SRST even if they're not enabled as
         * there's no way to tristate them */
-       uint8_t pins = 0;
 
+       output_pins = 0;
        if (!cmd->cmd.reset->srst)
-               pins |= SWJ_PIN_SRST;
+               output_pins |= SWJ_PIN_SRST;
        if (!cmd->cmd.reset->trst)
-               pins |= SWJ_PIN_TRST;
+               output_pins |= SWJ_PIN_TRST;
 
-       int retval = cmsis_dap_cmd_DAP_SWJ_Pins(pins,
+       int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins,
                        SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
        if (retval != ERROR_OK)
                LOG_ERROR("CMSIS-DAP: Interface reset failed");
@@ -1447,6 +1444,12 @@ static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
        cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
 }
 
+static void cmsis_dap_execute_tms(struct jtag_command *cmd)
+{
+       DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
+       cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
+}
+
 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
  * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
 static void cmsis_dap_execute_command(struct jtag_command *cmd)
@@ -1477,6 +1480,8 @@ static void cmsis_dap_execute_command(struct jtag_command *cmd)
                        cmsis_dap_execute_stableclocks(cmd);
                        break;
                case JTAG_TMS:
+                       cmsis_dap_execute_tms(cmd);
+                       break;
                default:
                        LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
                        exit(-1);
@@ -1639,6 +1644,7 @@ static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
 
 struct jtag_interface cmsis_dap_interface = {
        .name = "cmsis-dap",
+       .supported = DEBUG_CAP_TMS_SEQ,
        .commands = cmsis_dap_command_handlers,
        .swd = &cmsis_dap_swd_driver,
        .transports = cmsis_dap_transport,