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

   1 /***************************************************************************
   2  *   Copyright (C) 2013 by mike brown                                      *
   3  *   mike@theshedworks.org.uk                                              *
   4  *                                                                         *
   5  *   Copyright (C) 2013 by Spencer Oliver                                  *
   6  *   spen@spen-soft.co.uk                                                  *
   7  *                                                                         *
   8  *   This program is free software; you can redistribute it and/or modify  *
   9  *   it under the terms of the GNU General Public License as published by  *
  10  *   the Free Software Foundation; either version 2 of the License, or     *
  11  *   (at your option) any later version.                                   *
  12  *                                                                         *
  13  *   This program is distributed in the hope that it will be useful,       *
  14  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  15  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  16  *   GNU General Public License for more details.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program; if not, write to the                         *
  20  *   Free Software Foundation, Inc.,                                       *
  21  *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
  22  ***************************************************************************/
  23
  24 #ifdef HAVE_CONFIG_H
  25 #include "config.h"
  26 #endif
  27
  28 #include <transport/transport.h>
  29 #include <jtag/swd.h>
  30 #include <jtag/interface.h>
  31 #include <jtag/commands.h>
  32 #include <jtag/tcl.h>
  33
  34 #include <hidapi.h>
  35
  36 #ifdef _DEBUG_JTAG_IO_
  37  #define DEBUG_IO(expr...) LOG_DEBUG(expr)
  38 #else
  39  #define DEBUG_IO(expr...) do {} while (0)
  40 #endif
  41
  42 /*
  43  * See CMSIS-DAP documentation:
  44  * Version 0.01 - Beta.
  45  */
  46
  47 /* USB Config */
  48
  49 /* Known vid/pid pairs:
  50  * VID 0xc251: Keil Software
  51  * PID 0xf001: LPC-Link-II CMSIS_DAP
  52  * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
  53  * PID 0x2722: Keil ULINK2 CMSIS-DAP
  54  *
  55  * VID 0x0d28: mbed Software
  56  * PID 0x0204: MBED CMSIS-DAP
  57  */
  58
  59 #define MAX_USB_IDS 8
  60 /* vid = pid = 0 marks the end of the list */
  61 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
  62 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
  63
  64 #define PACKET_SIZE       (64 + 1)      /* 64 bytes plus report id */
  65 #define USB_TIMEOUT       1000
  66
  67 /* CMSIS-DAP General Commands */
  68 #define CMD_DAP_INFO              0x00
  69 #define CMD_DAP_LED               0x01
  70 #define CMD_DAP_CONNECT           0x02
  71 #define CMD_DAP_DISCONNECT        0x03
  72 #define CMD_DAP_WRITE_ABORT       0x08
  73 #define CMD_DAP_DELAY             0x09
  74 #define CMD_DAP_RESET_TARGET      0x0A
  75
  76 /* CMD_INFO */
  77 #define INFO_ID_VID               0x00      /* string */
  78 #define INFO_ID_PID               0x02      /* string */
  79 #define INFO_ID_SERNUM            0x03      /* string */
  80 #define INFO_ID_FW_VER            0x04      /* string */
  81 #define INFO_ID_TD_VEND           0x05      /* string */
  82 #define INFO_ID_TD_NAME           0x06      /* string */
  83 #define INFO_ID_CAPS              0xf0      /* byte */
  84 #define INFO_ID_PKT_CNT           0xfe      /* byte */
  85 #define INFO_ID_PKT_SZ            0xff      /* short */
  86
  87 #define INFO_CAPS_SWD             0x01
  88 #define INFO_CAPS_JTAG            0x02
  89
  90 /* CMD_LED */
  91 #define LED_ID_CONNECT            0x00
  92 #define LED_ID_RUN                0x01
  93
  94 #define LED_OFF                   0x00
  95 #define LED_ON                    0x01
  96
  97 /* CMD_CONNECT */
  98 #define CONNECT_DEFAULT           0x00
  99 #define CONNECT_SWD               0x01
 100 #define CONNECT_JTAG              0x02
 101
 102 /* CMSIS-DAP Common SWD/JTAG Commands */
 103 #define CMD_DAP_DELAY             0x09
 104 #define CMD_DAP_SWJ_PINS          0x10
 105 #define CMD_DAP_SWJ_CLOCK         0x11
 106 #define CMD_DAP_SWJ_SEQ           0x12
 107
 108 /*
 109  * PINS
 110  * Bit 0: SWCLK/TCK
 111  * Bit 1: SWDIO/TMS
 112  * Bit 2: TDI
 113  * Bit 3: TDO
 114  * Bit 5: nTRST
 115  * Bit 7: nRESET
 116  */
 117
 118 /* CMSIS-DAP SWD Commands */
 119 #define CMD_DAP_SWD_CONFIGURE     0x13
 120
 121 /* CMSIS-DAP JTAG Commands */
 122 #define CMD_DAP_JTAG_SEQ          0x14
 123 #define CMD_DAP_JTAG_CONFIGURE    0x15
 124 #define CMD_DAP_JTAG_IDCODE       0x16
 125
 126 /* CMSIS-DAP Transfer Commands */
 127 #define CMD_DAP_TFER_CONFIGURE    0x04
 128 #define CMD_DAP_TFER              0x05
 129 #define CMD_DAP_TFER_BLOCK        0x06
 130 #define CMD_DAP_TFER_ABORT        0x07
 131
 132 /* DAP Status Code */
 133 #define DAP_OK                    0
 134 #define DAP_ERROR                 0xFF
 135
 136 /* CMSIS-DAP Vendor Commands
 137  * None as yet... */
 138
 139 static char *info_caps_str[] = {
 140         "SWD  Supported",
 141         "JTAG Supported"
 142 };
 143
 144 /* max clock speed (kHz) */
 145 #define DAP_MAX_CLOCK             5000
 146
 147 struct cmsis_dap {
 148         hid_device *dev_handle;
 149         uint16_t packet_size;
 150         uint16_t packet_count;
 151         uint8_t *packet_buffer;
 152         uint8_t caps;
 153         uint8_t mode;
 154 };
 155
 156 static struct cmsis_dap *cmsis_dap_handle;
 157
 158 static int cmsis_dap_usb_open(void)
 159 {
 160         hid_device *dev = NULL;
 161         int i;
 162         struct hid_device_info *devs, *cur_dev;
 163         unsigned short target_vid, target_pid;
 164
 165         target_vid = 0;
 166         target_pid = 0;
 167
 168         /*
 169         The CMSIS-DAP specification stipulates:
 170         "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
 171         debuggers to idenify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
 172         */
 173         devs = hid_enumerate(0x0, 0x0);
 174         cur_dev = devs;
 175         while (NULL != cur_dev) {
 176                 if ((0 == cmsis_dap_vid[0]) && (NULL != cur_dev->product_string)
 177                     && wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
 178                         /*
 179                         if the user hasn't specified VID:PID *and*
 180                         product string contains "CMSIS-DAP", pick it
 181                         */
 182                         break;
 183                 } else {
 184                         /*
 185                         otherwise, exhaustively compare against all VID:PID in list
 186                         */
 187                         for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
 188                                 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
 189                                         break;
 190                         }
 191                 }
 192
 193                 cur_dev = cur_dev->next;
 194         }
 195
 196         if (NULL != cur_dev) {
 197                 target_vid = cur_dev->vendor_id;
 198                 target_pid = cur_dev->product_id;
 199         }
 200
 201         hid_free_enumeration(devs);
 202
 203         if (hid_init() != 0) {
 204                 LOG_ERROR("unable to open HIDAPI");
 205                 return ERROR_FAIL;
 206         }
 207
 208         dev = hid_open(target_vid, target_pid, NULL);
 209
 210         if (dev == NULL) {
 211                 LOG_ERROR("unable to open CMSIS-DAP device");
 212                 return ERROR_FAIL;
 213         }
 214
 215         struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
 216         if (dap == NULL) {
 217                 LOG_ERROR("unable to allocate memory");
 218                 return ERROR_FAIL;
 219         }
 220
 221         dap->dev_handle = dev;
 222         dap->caps = 0;
 223         dap->mode = 0;
 224
 225         cmsis_dap_handle = dap;
 226
 227         /* allocate default packet buffer, may be changed later.
 228          * currently with HIDAPI we have no way of getting the output report length
 229          * without this info we cannot communicate with the adapter.
 230          * For the moment we ahve to hard code the packet size */
 231
 232         int packet_size = PACKET_SIZE;
 233
 234         /* atmel cmsis-dap uses 512 byte reports */
 235         if (target_vid == 0x03eb)
 236                 packet_size = 512 + 1;
 237
 238         cmsis_dap_handle->packet_buffer = malloc(packet_size);
 239         cmsis_dap_handle->packet_size = packet_size;
 240
 241         if (cmsis_dap_handle->packet_buffer == NULL) {
 242                 LOG_ERROR("unable to allocate memory");
 243                 return ERROR_FAIL;
 244         }
 245
 246         return ERROR_OK;
 247 }
 248
 249 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
 250 {
 251         hid_close(dap->dev_handle);
 252         hid_exit();
 253
 254         if (cmsis_dap_handle->packet_buffer)
 255                 free(cmsis_dap_handle->packet_buffer);
 256
 257         if (cmsis_dap_handle) {
 258                 free(cmsis_dap_handle);
 259                 cmsis_dap_handle = NULL;
 260         }
 261
 262         return;
 263 }
 264
 265 /* Send a message and receive the reply */
 266 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
 267 {
 268         /* Pad the rest of the TX buffer with 0's */
 269         memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
 270
 271         /* write data to device */
 272         int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
 273         if (retval == -1) {
 274                 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
 275                 return ERROR_FAIL;
 276         }
 277
 278         /* get reply */
 279         retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
 280         if (retval == -1 || retval == 0) {
 281                 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
 282                 return ERROR_FAIL;
 283         }
 284
 285         return ERROR_OK;
 286 }
 287
 288 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
 289 {
 290         int retval;
 291         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 292
 293         buffer[0] = 0;  /* report number */
 294         buffer[1] = CMD_DAP_SWJ_PINS;
 295         buffer[2] = pins;
 296         buffer[3] = mask;
 297         buffer[4] = delay & 0xff;
 298         buffer[5] = (delay >> 8) & 0xff;
 299         buffer[6] = (delay >> 16) & 0xff;
 300         buffer[7] = (delay >> 24) & 0xff;
 301         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
 302
 303         if (retval != ERROR_OK) {
 304                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
 305                 return ERROR_JTAG_DEVICE_ERROR;
 306         }
 307
 308         if (input)
 309                 *input = buffer[1];
 310
 311         return ERROR_OK;
 312 }
 313
 314 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
 315 {
 316         int retval;
 317         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 318
 319         /* set clock in Hz */
 320         swj_clock *= 1000;
 321         buffer[0] = 0;  /* report number */
 322         buffer[1] = CMD_DAP_SWJ_CLOCK;
 323         buffer[2] = swj_clock & 0xff;
 324         buffer[3] = (swj_clock >> 8) & 0xff;
 325         buffer[4] = (swj_clock >> 16) & 0xff;
 326         buffer[5] = (swj_clock >> 24) & 0xff;
 327         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 328
 329         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 330                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
 331                 return ERROR_JTAG_DEVICE_ERROR;
 332         }
 333
 334         return ERROR_OK;
 335 }
 336
 337 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
 338 {
 339         int retval;
 340         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 341
 342         buffer[0] = 0;  /* report number */
 343         buffer[1] = CMD_DAP_INFO;
 344         buffer[2] = info;
 345         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 346
 347         if (retval != ERROR_OK) {
 348                 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
 349                 return ERROR_JTAG_DEVICE_ERROR;
 350         }
 351
 352         *data = &(buffer[1]);
 353
 354         return ERROR_OK;
 355 }
 356
 357 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
 358 {
 359         int retval;
 360         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 361
 362         buffer[0] = 0;  /* report number */
 363         buffer[1] = CMD_DAP_LED;
 364         buffer[2] = 0x00;
 365         buffer[3] = leds;
 366         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 367
 368         if (retval != ERROR_OK || buffer[1] != 0x00) {
 369                 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
 370                 return ERROR_JTAG_DEVICE_ERROR;
 371         }
 372
 373         return ERROR_OK;
 374 }
 375
 376 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
 377 {
 378         int retval;
 379         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 380
 381         buffer[0] = 0;  /* report number */
 382         buffer[1] = CMD_DAP_CONNECT;
 383         buffer[2] = mode;
 384         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 385
 386         if (retval != ERROR_OK) {
 387                 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
 388                 return ERROR_JTAG_DEVICE_ERROR;
 389         }
 390
 391         if (buffer[1] != mode) {
 392                 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
 393                 return ERROR_JTAG_DEVICE_ERROR;
 394         }
 395
 396         return ERROR_OK;
 397 }
 398
 399 static int cmsis_dap_cmd_DAP_Disconnect(void)
 400 {
 401         int retval;
 402         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 403
 404         buffer[0] = 0;  /* report number */
 405         buffer[1] = CMD_DAP_DISCONNECT;
 406         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 407
 408         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 409                 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
 410                 return ERROR_JTAG_DEVICE_ERROR;
 411         }
 412
 413         return ERROR_OK;
 414 }
 415
 416 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t delay, uint16_t retry)
 417 {
 418         int retval;
 419         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 420
 421         buffer[0] = 0;  /* report number */
 422         buffer[1] = CMD_DAP_TFER_CONFIGURE;
 423         buffer[2] = idle;
 424         buffer[3] = delay & 0xff;
 425         buffer[4] = (delay >> 8) & 0xff;
 426         buffer[5] = retry & 0xff;
 427         buffer[6] = (retry >> 8) & 0xff;
 428         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 429
 430         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 431                 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
 432                 return ERROR_JTAG_DEVICE_ERROR;
 433         }
 434
 435         return ERROR_OK;
 436 }
 437
 438 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
 439 {
 440         int retval;
 441         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 442
 443         buffer[0] = 0;  /* report number */
 444         buffer[1] = CMD_DAP_SWD_CONFIGURE;
 445         buffer[2] = cfg;
 446         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 447
 448         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 449                 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
 450                 return ERROR_JTAG_DEVICE_ERROR;
 451         }
 452
 453         return ERROR_OK;
 454 }
 455
 456 #if 0
 457 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
 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_DELAY;
 464         buffer[2] = delay_us & 0xff;
 465         buffer[3] = (delay_us >> 8) & 0xff;
 466         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 467
 468         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 469                 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
 470                 return ERROR_JTAG_DEVICE_ERROR;
 471         }
 472
 473         return ERROR_OK;
 474 }
 475 #endif
 476
 477 static int cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value)
 478 {
 479         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 480         int retval;
 481         uint32_t val;
 482
 483         DEBUG_IO("CMSIS-DAP: Read  Reg 0x%02" PRIx8, cmd);
 484
 485         buffer[0] = 0;  /* report number */
 486         buffer[1] = CMD_DAP_TFER;
 487         buffer[2] = 0x00;
 488         buffer[3] = 0x01;
 489         buffer[4] = cmd;
 490         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 491
 492         /* TODO - need better response checking */
 493         if (retval != ERROR_OK || buffer[1] != 0x01) {
 494                 LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
 495                 return buffer[2];
 496         }
 497
 498         val = le_to_h_u32(&buffer[3]);
 499         DEBUG_IO("0x%08" PRIx32, val);
 500
 501         if (value)
 502                 *value = val;
 503
 504         return retval;
 505 }
 506
 507 static int cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value)
 508 {
 509         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 510
 511         DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
 512
 513         buffer[0] = 0;  /* report number */
 514         buffer[1] = CMD_DAP_TFER;
 515         buffer[2] = 0x00;
 516         buffer[3] = 0x01;
 517         buffer[4] = cmd;
 518         buffer[5] = (value) & 0xff;
 519         buffer[6] = (value >> 8) & 0xff;
 520         buffer[7] = (value >> 16) & 0xff;
 521         buffer[8] = (value >> 24) & 0xff;
 522         int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
 523
 524         if (buffer[1] != 0x01) {
 525                 LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
 526                 retval = buffer[2];
 527         }
 528
 529         return retval;
 530 }
 531
 532 static int cmsis_dap_swd_read_block(uint8_t cmd, uint32_t blocksize, uint8_t *dest_buf)
 533 {
 534         uint8_t *buffer;
 535         int tfer_sz;
 536         int retval = ERROR_OK;
 537         uint16_t read_count;
 538
 539         DEBUG_IO("CMSIS-DAP: Read Block 0x%02" PRIx8 " %" PRIu32, cmd, blocksize);
 540
 541         while (blocksize) {
 542
 543                 buffer = cmsis_dap_handle->packet_buffer;
 544                 tfer_sz = blocksize;
 545                 if (tfer_sz > 15)
 546                         tfer_sz = 8;
 547
 548                 buffer[0] = 0;  /* report number */
 549                 buffer[1] = CMD_DAP_TFER_BLOCK;
 550                 buffer[2] = 0x00;
 551                 buffer[3] = tfer_sz;
 552                 buffer[4] = 0x00;
 553                 buffer[5] = cmd;
 554                 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 555
 556                 read_count = le_to_h_u16(&buffer[1]);
 557                 if (read_count != tfer_sz) {
 558                         LOG_ERROR("CMSIS-DAP: Block Read Error (0x%02" PRIx8 ")", buffer[3]);
 559                         retval = buffer[3];
 560                 }
 561
 562                 read_count *= 4;
 563                 memcpy(dest_buf, &buffer[4], read_count);
 564
 565                 dest_buf += read_count;
 566                 blocksize -= tfer_sz;
 567         }
 568
 569         return retval;
 570 }
 571
 572 static int cmsis_dap_get_version_info(void)
 573 {
 574         uint8_t *data;
 575
 576         /* INFO_ID_FW_VER - string */
 577         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
 578         if (retval != ERROR_OK)
 579                 return retval;
 580
 581         if (data[0]) /* strlen */
 582                 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
 583
 584         return ERROR_OK;
 585 }
 586
 587 static int cmsis_dap_get_caps_info(void)
 588 {
 589         uint8_t *data;
 590
 591         /* INFO_ID_CAPS - byte */
 592         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
 593         if (retval != ERROR_OK)
 594                 return retval;
 595
 596         if (data[0] == 1) {
 597                 uint8_t caps = data[1];
 598
 599                 cmsis_dap_handle->caps = caps;
 600
 601                 if (caps & INFO_CAPS_SWD)
 602                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
 603                 if (caps & INFO_CAPS_JTAG)
 604                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
 605         }
 606
 607         return ERROR_OK;
 608 }
 609
 610 static int cmsis_dap_get_status(void)
 611 {
 612         uint8_t d;
 613
 614         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
 615
 616         if (retval == ERROR_OK) {
 617                 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
 618                         (d & (0x01 << 0)) ? 1 : 0,      /* Bit 0: SWCLK/TCK */
 619                         (d & (0x01 << 1)) ? 1 : 0,      /* Bit 1: SWDIO/TMS */
 620                         (d & (0x01 << 2)) ? 1 : 0,      /* Bit 2: TDI */
 621                         (d & (0x01 << 3)) ? 1 : 0,      /* Bit 3: TDO */
 622                         (d & (0x01 << 5)) ? 1 : 0,      /* Bit 5: nTRST */
 623                         (d & (0x01 << 7)) ? 1 : 0);     /* Bit 7: nRESET */
 624         }
 625
 626         return retval;
 627 }
 628
 629 static int cmsis_dap_reset_link(void)
 630 {
 631         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 632
 633         LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
 634         LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
 635
 636         /* reset line with SWDIO high for >50 cycles */
 637         buffer[0] = 0;  /* report number */
 638         buffer[1] = CMD_DAP_SWJ_SEQ;
 639         buffer[2] = 7 * 8;
 640         buffer[3] = 0xff;
 641         buffer[4] = 0xff;
 642         buffer[5] = 0xff;
 643         buffer[6] = 0xff;
 644         buffer[7] = 0xff;
 645         buffer[8] = 0xff;
 646         buffer[9] = 0xff;
 647         int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
 648
 649         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 650                 return ERROR_FAIL;
 651
 652         /* 16bit JTAG-SWD sequence */
 653         buffer[0] = 0;  /* report number */
 654         buffer[1] = CMD_DAP_SWJ_SEQ;
 655         buffer[2] = 2 * 8;
 656         buffer[3] = 0x9e;
 657         buffer[4] = 0xe7;
 658         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 659
 660         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 661                 return ERROR_FAIL;
 662
 663         /* another reset just incase */
 664         buffer[0] = 0;  /* report number */
 665         buffer[1] = CMD_DAP_SWJ_SEQ;
 666         buffer[2] = 7 * 8;
 667         buffer[3] = 0xff;
 668         buffer[4] = 0xff;
 669         buffer[5] = 0xff;
 670         buffer[6] = 0xff;
 671         buffer[7] = 0xff;
 672         buffer[8] = 0xff;
 673         buffer[9] = 0xff;
 674         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
 675
 676         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 677                 return ERROR_FAIL;
 678
 679         /* 16 cycle idle period */
 680         buffer[0] = 0;  /* report number */
 681         buffer[1] = CMD_DAP_SWJ_SEQ;
 682         buffer[2] = 2 * 8;
 683         buffer[3] = 0x00;
 684         buffer[4] = 0x00;
 685         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 686
 687         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 688                 return ERROR_FAIL;
 689
 690         DEBUG_IO("DAP Read IDCODE");
 691
 692         /* read the id code is always the next sequence */
 693         buffer[0] = 0;  /* report number */
 694         buffer[1] = CMD_DAP_TFER;
 695         buffer[2] = 0x00;
 696         buffer[3] = 0x01;
 697         buffer[4] = 0x02;
 698         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 699
 700         if (retval != ERROR_OK)
 701                 return retval;
 702
 703         if (buffer[1] == 0) {
 704                 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
 705
 706                 LOG_DEBUG("DAP Reset Target");
 707                 buffer[0] = 0;  /* report number */
 708                 buffer[1] = CMD_DAP_RESET_TARGET;
 709                 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 710                 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
 711
 712                 LOG_DEBUG("DAP Write Abort");
 713                 buffer[0] = 0;  /* report number */
 714                 buffer[1] = CMD_DAP_WRITE_ABORT;
 715                 buffer[2] = 0x00;
 716                 buffer[3] = 0x1e/*0x1f*/;
 717                 buffer[4] = 0x00;
 718                 buffer[5] = 0x00;
 719                 buffer[6] = 0x00;
 720                 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 721                 LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
 722
 723                 return 0x80 + buffer[1];
 724         }
 725
 726         LOG_DEBUG("DAP Write Abort");
 727         buffer[0] = 0;  /* report number */
 728         buffer[1] = CMD_DAP_WRITE_ABORT;
 729         buffer[2] = 0x00;
 730         buffer[3] = 0x1e;
 731         buffer[4] = 0x00;
 732         buffer[5] = 0x00;
 733         buffer[6] = 0x00;
 734         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 735         LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
 736
 737         return retval;
 738 }
 739
 740 static int cmsis_dap_init(void)
 741 {
 742         int retval;
 743         uint8_t *data;
 744
 745         if (cmsis_dap_handle == NULL) {
 746
 747                 /* JTAG init */
 748                 retval = cmsis_dap_usb_open();
 749                 if (retval != ERROR_OK)
 750                         return retval;
 751
 752                 retval = cmsis_dap_get_caps_info();
 753                 if (retval != ERROR_OK)
 754                         return retval;
 755
 756                 /* Connect in JTAG mode */
 757                 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
 758                         LOG_ERROR("CMSIS-DAP: JTAG not supported");
 759                         return ERROR_JTAG_DEVICE_ERROR;
 760                 }
 761
 762                 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
 763                 if (retval != ERROR_OK)
 764                         return retval;
 765
 766                 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
 767         }
 768
 769         retval = cmsis_dap_get_version_info();
 770         if (retval != ERROR_OK)
 771                 return retval;
 772
 773         /* INFO_ID_PKT_SZ - short */
 774         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
 775         if (retval != ERROR_OK)
 776                 return retval;
 777
 778         if (data[0] == 2) {  /* short */
 779                 uint16_t pkt_sz = data[1] + (data[2] << 8);
 780
 781                 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
 782                         /* reallocate buffer */
 783                         cmsis_dap_handle->packet_size = pkt_sz + 1;
 784                         cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
 785                                         cmsis_dap_handle->packet_size);
 786                         if (cmsis_dap_handle->packet_buffer == NULL) {
 787                                 LOG_ERROR("unable to reallocate memory");
 788                                 return ERROR_FAIL;
 789                         }
 790                 }
 791
 792                 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
 793         }
 794
 795         /* INFO_ID_PKT_CNT - byte */
 796         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
 797         if (retval != ERROR_OK)
 798                 return retval;
 799
 800         if (data[0] == 1) { /* byte */
 801                 uint16_t pkt_cnt = data[1];
 802                 cmsis_dap_handle->packet_count = pkt_cnt;
 803                 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
 804         }
 805
 806         retval = cmsis_dap_get_status();
 807         if (retval != ERROR_OK)
 808                 return ERROR_FAIL;
 809
 810         /* Now try to connect to the target
 811          * TODO: This is all SWD only @ present */
 812         retval = cmsis_dap_cmd_DAP_SWJ_Clock(100);              /* 100kHz */
 813         if (retval != ERROR_OK)
 814                 return ERROR_FAIL;
 815
 816         retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
 817         if (retval != ERROR_OK)
 818                 return ERROR_FAIL;
 819         retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
 820         if (retval != ERROR_OK)
 821                 return ERROR_FAIL;
 822
 823         retval = cmsis_dap_cmd_DAP_LED(0x03);           /* Both LEDs on */
 824         if (retval != ERROR_OK)
 825                 return ERROR_FAIL;
 826
 827         /* support connecting with srst asserted */
 828         enum reset_types jtag_reset_config = jtag_get_reset_config();
 829
 830         if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
 831                 if (jtag_reset_config & RESET_SRST_NO_GATING) {
 832                         retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
 833                         if (retval != ERROR_OK)
 834                                 return ERROR_FAIL;
 835                         LOG_INFO("Connecting under reset");
 836                 }
 837         }
 838
 839         retval = cmsis_dap_reset_link();
 840         if (retval != ERROR_OK)
 841                 return ERROR_FAIL;
 842
 843         cmsis_dap_cmd_DAP_LED(0x00);                            /* Both LEDs off */
 844
 845         LOG_INFO("CMSIS-DAP: Interface ready");
 846
 847         return ERROR_OK;
 848 }
 849
 850 static int cmsis_dap_swd_init(uint8_t trn)
 851 {
 852         int retval;
 853
 854         DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_init");
 855
 856         if (cmsis_dap_handle == NULL) {
 857
 858                 /* SWD init */
 859                 retval = cmsis_dap_usb_open();
 860                 if (retval != ERROR_OK)
 861                         return retval;
 862
 863                 retval = cmsis_dap_get_caps_info();
 864                 if (retval != ERROR_OK)
 865                         return retval;
 866         }
 867
 868         if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
 869                 LOG_ERROR("CMSIS-DAP: SWD not supported");
 870                 return ERROR_JTAG_DEVICE_ERROR;
 871         }
 872
 873         retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
 874         if (retval != ERROR_OK)
 875                 return retval;
 876
 877         /* Add more setup here.??... */
 878
 879         LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
 880         return ERROR_OK;
 881 }
 882
 883 static int cmsis_dap_quit(void)
 884 {
 885         cmsis_dap_cmd_DAP_Disconnect();
 886         cmsis_dap_cmd_DAP_LED(0x00);            /* Both LEDs off */
 887
 888         cmsis_dap_usb_close(cmsis_dap_handle);
 889
 890         return ERROR_OK;
 891 }
 892
 893 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
 894 {
 895         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
 896                         (1 << 7), 0, NULL);
 897         if (retval != ERROR_OK)
 898                 LOG_ERROR("CMSIS-DAP: Interface reset failed");
 899 }
 900
 901 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
 902 {
 903 #if 0
 904         int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
 905         if (retval != ERROR_OK)
 906 #endif
 907                 jtag_sleep(cmd->cmd.sleep->us);
 908 }
 909
 910 static void cmsis_dap_execute_command(struct jtag_command *cmd)
 911 {
 912         switch (cmd->type) {
 913                 case JTAG_RESET:
 914                         cmsis_dap_execute_reset(cmd);
 915                         break;
 916                 case JTAG_SLEEP:
 917                         cmsis_dap_execute_sleep(cmd);
 918                         break;
 919                 default:
 920                         LOG_ERROR("BUG: unknown JTAG command type encountered");
 921                         exit(-1);
 922         }
 923 }
 924
 925 static int cmsis_dap_execute_queue(void)
 926 {
 927         struct jtag_command *cmd = jtag_command_queue;
 928
 929         while (cmd != NULL) {
 930                 cmsis_dap_execute_command(cmd);
 931                 cmd = cmd->next;
 932         }
 933
 934         return ERROR_OK;
 935 }
 936
 937 static int cmsis_dap_speed(int speed)
 938 {
 939         if (speed > DAP_MAX_CLOCK) {
 940                 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
 941                 speed = DAP_MAX_CLOCK;
 942         }
 943
 944         if (speed == 0) {
 945                 LOG_INFO("RTCK not supported");
 946                 return ERROR_JTAG_NOT_IMPLEMENTED;
 947         }
 948
 949         return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
 950 }
 951
 952 static int cmsis_dap_speed_div(int speed, int *khz)
 953 {
 954         *khz = speed;
 955         return ERROR_OK;
 956 }
 957
 958 static int cmsis_dap_khz(int khz, int *jtag_speed)
 959 {
 960         *jtag_speed = khz;
 961         return ERROR_OK;
 962 }
 963
 964 COMMAND_HANDLER(cmsis_dap_handle_info_command)
 965 {
 966         if (cmsis_dap_get_version_info() == ERROR_OK)
 967                 cmsis_dap_get_status();
 968
 969         return ERROR_OK;
 970 }
 971
 972 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
 973 {
 974         if (CMD_ARGC > MAX_USB_IDS * 2) {
 975                 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
 976                         "(maximum is %d pairs)", MAX_USB_IDS);
 977                 CMD_ARGC = MAX_USB_IDS * 2;
 978         }
 979         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 980                 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
 981                 if (CMD_ARGC < 2)
 982                         return ERROR_COMMAND_SYNTAX_ERROR;
 983                 /* remove the incomplete trailing id */
 984                 CMD_ARGC -= 1;
 985         }
 986
 987         unsigned i;
 988         for (i = 0; i < CMD_ARGC; i += 2) {
 989                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
 990                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
 991         }
 992
 993         /*
 994          * Explicitly terminate, in case there are multiples instances of
 995          * cmsis_dap_vid_pid.
 996          */
 997         cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
 998
 999         return ERROR_OK;
1000 }
1001
1002 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1003         {
1004                 .name = "info",
1005                 .handler = &cmsis_dap_handle_info_command,
1006                 .mode = COMMAND_EXEC,
1007                 .usage = "",
1008                 .help = "show cmsis-dap info",
1009         },
1010         COMMAND_REGISTRATION_DONE
1011 };
1012
1013 COMMAND_HANDLER(cmsis_dap_reset_command)
1014 {
1015         LOG_DEBUG("cmsis_dap_reset_command");
1016         return ERROR_OK;
1017 }
1018
1019 COMMAND_HANDLER(cmsis_dap_jtag_command)
1020 {
1021         LOG_DEBUG("cmsis_dap_jtag_command");
1022         return ERROR_OK;
1023 }
1024
1025 static const struct command_registration cmsis_dap_jtag_subcommand_handlers[] = {
1026         {
1027                 .name = "init",
1028                 .mode = COMMAND_ANY,
1029                 .handler = cmsis_dap_jtag_command,
1030                 .usage = ""
1031          },
1032         {
1033                 .name = "arp_init",
1034                 .mode = COMMAND_ANY,
1035                 .handler = cmsis_dap_jtag_command,
1036                 .usage = ""
1037          },
1038         {
1039                 .name = "arp_init-reset",
1040                 .mode = COMMAND_ANY,
1041                 .handler = cmsis_dap_reset_command,
1042                 .usage = ""
1043          },
1044         {
1045                 .name = "tapisenabled",
1046                 .mode = COMMAND_EXEC,
1047                 .jim_handler = jim_jtag_tap_enabler,
1048          },
1049         {
1050                 .name = "tapenable",
1051                 .mode = COMMAND_EXEC,
1052                 .jim_handler = jim_jtag_tap_enabler,
1053          },
1054         {
1055                 .name = "tapdisable",
1056                 .mode = COMMAND_EXEC,
1057                 .handler = cmsis_dap_jtag_command,
1058                 .usage = "",
1059          },
1060         {
1061                 .name = "configure",
1062                 .mode = COMMAND_EXEC,
1063                 .handler = cmsis_dap_jtag_command,
1064                 .usage = "",
1065          },
1066         {
1067                 .name = "cget",
1068                 .mode = COMMAND_EXEC,
1069                 .jim_handler = jim_jtag_configure,
1070          },
1071         {
1072                 .name = "names",
1073                 .mode = COMMAND_ANY,
1074                 .handler = cmsis_dap_jtag_command,
1075                 .usage = "",
1076          },
1077          COMMAND_REGISTRATION_DONE
1078 };
1079
1080 static const struct command_registration cmsis_dap_command_handlers[] = {
1081         {
1082                 .name = "cmsis-dap",
1083                 .mode = COMMAND_ANY,
1084                 .help = "perform CMSIS-DAP management",
1085                 .usage = "<cmd>",
1086                 .chain = cmsis_dap_subcommand_handlers,
1087         },
1088         {
1089                 .name = "cmsis_dap_vid_pid",
1090                 .handler = &cmsis_dap_handle_vid_pid_command,
1091                 .mode = COMMAND_CONFIG,
1092                 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1093                 .usage = "(vid pid)* ",
1094         },
1095         {
1096                 /* this is currently a nasty hack so we get
1097                  * reset working with non jtag interfaces */
1098                 .name = "jtag",
1099                 .mode = COMMAND_ANY,
1100                 .usage = "",
1101                 .chain = cmsis_dap_jtag_subcommand_handlers,
1102         },
1103         COMMAND_REGISTRATION_DONE
1104 };
1105
1106 static const struct swd_driver cmsis_dap_swd_driver = {
1107         .init       = cmsis_dap_swd_init,
1108         .read_reg   = cmsis_dap_swd_read_reg,
1109         .write_reg  = cmsis_dap_swd_write_reg,
1110         .read_block = cmsis_dap_swd_read_block
1111 };
1112
1113 const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};
1114
1115 struct jtag_interface cmsis_dap_interface = {
1116         .name = "cmsis-dap",
1117         .commands = cmsis_dap_command_handlers,
1118         .swd = &cmsis_dap_swd_driver,
1119         .transports = cmsis_dap_transport,
1120
1121         .execute_queue = cmsis_dap_execute_queue,
1122         .speed = cmsis_dap_speed,
1123         .speed_div = cmsis_dap_speed_div,
1124         .khz = cmsis_dap_khz,
1125         .init = cmsis_dap_init,
1126         .quit = cmsis_dap_quit,
1127 };