/***************************************************************************
+ * Copyright (C) 2016 by Maksym Hilliaka *
+ * oter@frozen-team.com *
+ * *
+ * Copyright (C) 2016 by Phillip Pearson *
+ * pp@myelin.co.nz *
+ * *
* Copyright (C) 2014 by Paul Fertser *
* fercerpav@gmail.com *
* *
#define CMD_DAP_JTAG_CONFIGURE 0x15
#define CMD_DAP_JTAG_IDCODE 0x16
+/* CMSIS-DAP JTAG sequence info masks */
+/* Number of bits to clock through (0 means 64) */
+#define DAP_JTAG_SEQ_TCK 0x3F
+/* TMS will be set during the sequence if this bit is set */
+#define DAP_JTAG_SEQ_TMS 0x40
+/* TDO output will be captured if this bit is set */
+#define DAP_JTAG_SEQ_TDO 0x80
+
+
/* CMSIS-DAP Transfer Commands */
#define CMD_DAP_TFER_CONFIGURE 0x04
#define CMD_DAP_TFER 0x05
void *buffer;
};
+struct pending_scan_result {
+ /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
+ unsigned first;
+ /** Number of bits to read. */
+ unsigned length;
+ /** Location to store the result */
+ uint8_t *buffer;
+ /** Offset in the destination buffer */
+ unsigned buffer_offset;
+};
+
static int pending_transfer_count, pending_queue_len;
static struct pending_transfer_result *pending_transfers;
+/* pointers to buffers that will receive jtag scan results on the next flush */
+#define MAX_PENDING_SCAN_RESULTS 256
+static int pending_scan_result_count;
+static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
+
+/* queued JTAG sequences that will be executed on the next flush */
+#define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
+static int queued_seq_count;
+static int queued_seq_buf_end;
+static int queued_seq_tdo_ptr;
+static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
+
static int queued_retval;
static struct cmsis_dap *cmsis_dap_handle;
/* Send a message and receive the reply */
static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
{
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
+#endif
/* Pad the rest of the TX buffer with 0's */
memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
return ERROR_OK;
}
+/* clock a sequence of bits out on TMS, to change JTAG states */
+static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
+{
+ int retval;
+ uint8_t *buffer = cmsis_dap_handle->packet_buffer;
+
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
+ for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
+ printf("%02X ", sequence[i]);
+
+ printf("\n");
+#endif
+
+ buffer[0] = 0; /* report number */
+ buffer[1] = CMD_DAP_SWJ_SEQ;
+ buffer[2] = s_len;
+ bit_copy(&buffer[3], 0, sequence, 0, s_len);
+
+ 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;
+
+ return ERROR_OK;
+}
+
static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
{
int retval;
static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
{
- uint8_t *buffer = cmsis_dap_handle->packet_buffer;
const uint8_t *s;
unsigned int s_len;
int retval;
return ERROR_FAIL;
}
- buffer[0] = 0; /* report number */
- buffer[1] = CMD_DAP_SWJ_SEQ;
- buffer[2] = s_len;
- bit_copy(&buffer[3], 0, s, 0, s_len);
-
- 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;
-
- return ERROR_OK;
+ return cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
}
static int cmsis_dap_swd_open(void)
jtag_sleep(cmd->cmd.sleep->us);
}
+/* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
+static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
+{
+ LOG_INFO("cmsis-dap JTAG TLR_RESET");
+ uint8_t seq = 0xff;
+ int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
+ if (ret == ERROR_OK)
+ tap_set_state(TAP_RESET);
+ return ret;
+}
+
+/* Set new end state */
+static void cmsis_dap_end_state(tap_state_t state)
+{
+ if (tap_is_state_stable(state))
+ tap_set_end_state(state);
+ else {
+ LOG_ERROR("BUG: %i is not a valid end state", state);
+ exit(-1);
+ }
+}
+
+#ifdef SPRINT_BINARY
+static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
+{
+ if (!len)
+ return;
+
+ /*
+ buf = { 0x18 } len=5 should result in: 11000
+ buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
+ buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
+ i=3 there means i/8 = 0 so c = 0xFF, and
+ */
+ for (int i = offset; i < offset + len; ++i) {
+ uint8_t c = buf[i / 8], mask = 1 << (i % 8);
+ if ((i != offset) && !(i % 8))
+ putchar(' ');
+ *s++ = (c & mask) ? '1' : '0';
+ }
+ *s = 0;
+}
+#endif
+
+#ifdef CMSIS_DAP_JTAG_DEBUG
+static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
+{
+ /* cmd is a usb packet to go to the cmsis-dap interface */
+ printf("cmsis-dap buffer (%d b): ", cmdlen);
+ for (int i = 0; i < cmdlen; ++i)
+ printf(" %02x", cmd[i]);
+ printf("\n");
+ switch (cmd[1]) {
+ case CMD_DAP_JTAG_SEQ: {
+ printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
+ /*
+ * #2 = number of sequences
+ * #3 = sequence info 1
+ * #4...4+n_bytes-1 = sequence 1
+ * #4+n_bytes = sequence info 2
+ * #5+n_bytes = sequence 2 (single bit)
+ */
+ int pos = 3;
+ for (int seq = 0; seq < cmd[2]; ++seq) {
+ uint8_t info = cmd[pos++];
+ int len = info & DAP_JTAG_SEQ_TCK;
+ if (len == 0)
+ len = 64;
+ printf(" sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
+ seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
+ for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
+ printf(" %02x", cmd[pos+i]);
+ pos += DIV_ROUND_UP(len, 8);
+ printf("\n");
+ }
+ if (pos != cmdlen) {
+ printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
+ exit(-1);
+ }
+
+ break;
+ }
+ default:
+ LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
+ break;
+ }
+}
+#endif
+
+static void cmsis_dap_flush(void)
+{
+ if (!queued_seq_count)
+ return;
+
+ DEBUG_JTAG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
+ queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
+
+ /* prep CMSIS-DAP packet */
+ uint8_t *buffer = cmsis_dap_handle->packet_buffer;
+ buffer[0] = 0; /* report number */
+ buffer[1] = CMD_DAP_JTAG_SEQ;
+ buffer[2] = queued_seq_count;
+ memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
+
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
+#endif
+
+ /* send command to USB device */
+ int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
+ if (retval != ERROR_OK || buffer[1] != DAP_OK) {
+ LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
+ exit(-1);
+ }
+
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ DEBUG_JTAG_IO("USB response buf:");
+ for (int c = 0; c < queued_seq_buf_end + 3; ++c)
+ printf("%02X ", buffer[c]);
+ printf("\n");
+#endif
+
+ /* copy scan results into client buffers */
+ for (int i = 0; i < pending_scan_result_count; ++i) {
+ struct pending_scan_result *scan = &pending_scan_results[i];
+ DEBUG_JTAG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
+ i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
+#ifdef CMSIS_DAP_JTAG_DEBUG
+ for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
+ printf("%02X ", buffer[2+scan->first+b]);
+ printf("\n");
+#endif
+ bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
+ }
+
+ /* reset */
+ queued_seq_count = 0;
+ queued_seq_buf_end = 0;
+ queued_seq_tdo_ptr = 0;
+ pending_scan_result_count = 0;
+}
+
+/* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
+ *
+ * sequence=NULL means clock out zeros on TDI
+ * tdo_buffer=NULL means don't capture TDO
+ */
+static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
+ bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
+{
+ DEBUG_JTAG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
+ queued_seq_buf_end,
+ s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
+
+ if (s_len == 0)
+ return;
+
+ if (s_len > 64) {
+ DEBUG_JTAG_IO("START JTAG SEQ SPLIT");
+ for (int offset = 0; offset < s_len; offset += 64) {
+ int len = s_len - offset;
+ if (len > 64)
+ len = 64;
+ DEBUG_JTAG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
+ cmsis_dap_add_jtag_sequence(
+ len,
+ sequence,
+ s_offset + offset,
+ tms,
+ tdo_buffer,
+ tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
+ );
+ }
+ DEBUG_JTAG_IO("END JTAG SEQ SPLIT");
+ return;
+ }
+
+ int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
+ if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
+ /* empty out the buffer */
+ cmsis_dap_flush();
+
+ ++queued_seq_count;
+
+ /* control byte */
+ queued_seq_buf[queued_seq_buf_end] =
+ (tms ? DAP_JTAG_SEQ_TMS : 0) |
+ (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
+ (s_len == 64 ? 0 : s_len);
+
+ if (sequence != NULL)
+ bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
+ else
+ memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
+
+ queued_seq_buf_end += cmd_len;
+
+ if (tdo_buffer != NULL) {
+ struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
+ scan->first = queued_seq_tdo_ptr;
+ queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
+ scan->length = s_len;
+ scan->buffer = tdo_buffer;
+ scan->buffer_offset = tdo_buffer_offset;
+ }
+}
+
+/* queue a sequence of bits to clock out TMS, executing if the buffer is full */
+static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
+{
+ DEBUG_JTAG_IO("%d bits: %02X", s_len, *sequence);
+ /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
+ because even though it seems ridiculously inefficient, it
+ allows us to combine TMS and scan sequences into the same
+ USB packet. */
+ /* TODO: combine runs of the same tms value */
+ for (int i = 0; i < s_len; ++i) {
+ bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
+ cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
+ }
+}
+
+/* Move to the end state by queuing a sequence to clock into TMS */
+static void cmsis_dap_state_move(void)
+{
+ uint8_t tms_scan;
+ uint8_t tms_scan_bits;
+
+ tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+ tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+
+ DEBUG_JTAG_IO("state move from %s to %s: %d clocks, %02X on tms",
+ tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
+ tms_scan_bits, tms_scan);
+ cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
+
+ tap_set_state(tap_get_end_state());
+}
+
+
+/* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
+static void cmsis_dap_execute_scan(struct jtag_command *cmd)
+{
+ DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
+ jtag_scan_type(cmd->cmd.scan));
+
+ /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
+ while (cmd->cmd.scan->num_fields > 0
+ && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
+ cmd->cmd.scan->num_fields--;
+ LOG_DEBUG("discarding trailing empty field");
+ }
+
+ if (cmd->cmd.scan->num_fields == 0) {
+ LOG_DEBUG("empty scan, doing nothing");
+ return;
+ }
+
+ if (cmd->cmd.scan->ir_scan) {
+ if (tap_get_state() != TAP_IRSHIFT) {
+ cmsis_dap_end_state(TAP_IRSHIFT);
+ cmsis_dap_state_move();
+ }
+ } else {
+ if (tap_get_state() != TAP_DRSHIFT) {
+ cmsis_dap_end_state(TAP_DRSHIFT);
+ cmsis_dap_state_move();
+ }
+ }
+
+ cmsis_dap_end_state(cmd->cmd.scan->end_state);
+
+ struct scan_field *field = cmd->cmd.scan->fields;
+ unsigned scan_size = 0;
+
+ for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
+ scan_size += field->num_bits;
+ DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
+ field->in_value ? "in" : "",
+ field->out_value ? "out" : "",
+ i,
+ cmd->cmd.scan->num_fields,
+ field->num_bits);
+
+ if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
+ DEBUG_JTAG_IO("Last field and have to move out of SHIFT state");
+ /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
+ * movement. This last field can't have length zero, it was checked above. */
+ cmsis_dap_add_jtag_sequence(
+ field->num_bits - 1, /* number of bits to clock */
+ field->out_value, /* output sequence */
+ 0, /* output offset */
+ false, /* TMS low */
+ field->in_value,
+ 0);
+
+ /* Clock the last bit out, with TMS high */
+ uint8_t last_bit = 0;
+ if (field->out_value)
+ bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
+ cmsis_dap_add_jtag_sequence(
+ 1,
+ &last_bit,
+ 0,
+ true,
+ field->in_value,
+ field->num_bits - 1);
+ tap_set_state(tap_state_transition(tap_get_state(), 1));
+
+ /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
+ cmsis_dap_add_jtag_sequence(
+ 1,
+ &last_bit,
+ 0,
+ false,
+ NULL,
+ 0);
+ tap_set_state(tap_state_transition(tap_get_state(), 0));
+ } else {
+ DEBUG_JTAG_IO("Internal field, staying in SHIFT state afterwards");
+ /* Clocking part of a sequence into DR or IR with TMS=0,
+ leaving TMS=0 at the end so we can continue later */
+ cmsis_dap_add_jtag_sequence(
+ field->num_bits,
+ field->out_value,
+ 0,
+ false,
+ field->in_value,
+ 0);
+ }
+ }
+
+ if (tap_get_state() != tap_get_end_state()) {
+ cmsis_dap_end_state(tap_get_end_state());
+ cmsis_dap_state_move();
+ }
+
+ DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
+ (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
+ tap_state_name(tap_get_end_state()));
+}
+
+static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
+{
+ int i;
+ uint8_t tms0 = 0x00;
+ uint8_t tms1 = 0xff;
+
+ for (i = 0; i < num_states; i++) {
+ if (path[i] == tap_state_transition(tap_get_state(), false))
+ cmsis_dap_add_tms_sequence(&tms0, 1);
+ else if (path[i] == tap_state_transition(tap_get_state(), true))
+ cmsis_dap_add_tms_sequence(&tms1, 1);
+ else {
+ LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
+ tap_state_name(tap_get_state()), tap_state_name(path[i]));
+ exit(-1);
+ }
+
+ tap_set_state(path[i]);
+ }
+
+ cmsis_dap_end_state(tap_get_state());
+}
+
+static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
+{
+ DEBUG_JTAG_IO("pathmove: %i states, end in %i",
+ cmd->cmd.pathmove->num_states,
+ cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
+
+ cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
+}
+
+static void cmsis_dap_stableclocks(int num_cycles)
+{
+ int i;
+
+ uint8_t tms = tap_get_state() == TAP_RESET;
+ /* TODO: Perform optimizations? */
+ /* Execute num_cycles. */
+ for (i = 0; i < num_cycles; i++)
+ cmsis_dap_add_tms_sequence(&tms, 1);
+}
+
+static void cmsis_dap_runtest(int num_cycles)
+{
+ tap_state_t saved_end_state = tap_get_end_state();
+
+ /* Only do a state_move when we're not already in IDLE. */
+ if (tap_get_state() != TAP_IDLE) {
+ cmsis_dap_end_state(TAP_IDLE);
+ cmsis_dap_state_move();
+ }
+ cmsis_dap_stableclocks(num_cycles);
+
+ /* Finish in end_state. */
+ cmsis_dap_end_state(saved_end_state);
+
+ if (tap_get_state() != tap_get_end_state())
+ cmsis_dap_state_move();
+}
+
+static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
+{
+ DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
+ cmd->cmd.runtest->end_state);
+
+ cmsis_dap_end_state(cmd->cmd.runtest->end_state);
+ cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
+}
+
+static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
+{
+ DEBUG_JTAG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
+ cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
+}
+
+/* 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)
{
switch (cmd->type) {
case JTAG_RESET:
+ cmsis_dap_flush();
cmsis_dap_execute_reset(cmd);
break;
case JTAG_SLEEP:
+ cmsis_dap_flush();
cmsis_dap_execute_sleep(cmd);
break;
+ case JTAG_TLR_RESET:
+ cmsis_dap_flush();
+ cmsis_dap_execute_tlr_reset(cmd);
+ break;
+ case JTAG_SCAN:
+ cmsis_dap_execute_scan(cmd);
+ break;
+ case JTAG_PATHMOVE:
+ cmsis_dap_execute_pathmove(cmd);
+ break;
+ case JTAG_RUNTEST:
+ cmsis_dap_execute_runtest(cmd);
+ break;
+ case JTAG_STABLECLOCKS:
+ cmsis_dap_execute_stableclocks(cmd);
+ break;
+ case JTAG_TMS:
default:
- LOG_ERROR("BUG: unknown JTAG command type encountered");
+ LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
exit(-1);
}
}
cmd = cmd->next;
}
+ cmsis_dap_flush();
+
return ERROR_OK;
}
return hz;
}
+
COMMAND_HANDLER(cmsis_dap_handle_info_command)
{
if (cmsis_dap_get_version_info() == ERROR_OK)
.run = cmsis_dap_swd_run_queue,
};
-static const char * const cmsis_dap_transport[] = { "swd", NULL };
+static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
struct jtag_interface cmsis_dap_interface = {
.name = "cmsis-dap",
projects / openocd / commitdiff