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]) && wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
 177                         /*
 178                         if the user hasn't specified VID:PID *and*
 179                         product string contains "CMSIS-DAP", pick it
 180                         */
 181                         break;
 182                 } else {
 183                         /*
 184                         otherwise, exhaustively compare against all VID:PID in list
 185                         */
 186                         for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
 187                                 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
 188                                         break;
 189                         }
 190                 }
 191
 192                 cur_dev = cur_dev->next;
 193         }
 194
 195         if (NULL != cur_dev) {
 196                 target_vid = cur_dev->vendor_id;
 197                 target_pid = cur_dev->product_id;
 198         }
 199
 200         hid_free_enumeration(devs);
 201
 202         if (hid_init() != 0) {
 203                 LOG_ERROR("unable to open HIDAPI");
 204                 return ERROR_FAIL;
 205         }
 206
 207         dev = hid_open(target_vid, target_pid, NULL);
 208
 209         if (dev == NULL) {
 210                 LOG_ERROR("unable to open CMSIS-DAP device");
 211                 return ERROR_FAIL;
 212         }
 213
 214         struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
 215         if (dap == NULL) {
 216                 LOG_ERROR("unable to allocate memory");
 217                 return ERROR_FAIL;
 218         }
 219
 220         dap->dev_handle = dev;
 221         dap->caps = 0;
 222         dap->mode = 0;
 223
 224         cmsis_dap_handle = dap;
 225
 226         /* allocate default packet buffer, may be changed later.
 227          * currently with HIDAPI we have no way of getting the output report length
 228          * without this info we cannot communicate with the adapter.
 229          * For the moment we ahve to hard code the packet size */
 230
 231         int packet_size = PACKET_SIZE;
 232
 233         /* atmel cmsis-dap uses 512 byte reports */
 234         if (target_vid == 0x03eb && target_pid == 0x2111)
 235                 packet_size = 512 + 1;
 236
 237         cmsis_dap_handle->packet_buffer = malloc(packet_size);
 238         cmsis_dap_handle->packet_size = packet_size;
 239
 240         if (cmsis_dap_handle->packet_buffer == NULL) {
 241                 LOG_ERROR("unable to allocate memory");
 242                 return ERROR_FAIL;
 243         }
 244
 245         return ERROR_OK;
 246 }
 247
 248 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
 249 {
 250         hid_close(dap->dev_handle);
 251         hid_exit();
 252
 253         if (cmsis_dap_handle->packet_buffer)
 254                 free(cmsis_dap_handle->packet_buffer);
 255
 256         if (cmsis_dap_handle) {
 257                 free(cmsis_dap_handle);
 258                 cmsis_dap_handle = NULL;
 259         }
 260
 261         return;
 262 }
 263
 264 /* Send a message and receive the reply */
 265 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
 266 {
 267         /* Pad the rest of the TX buffer with 0's */
 268         memset(dap->packet_buffer + txlen, 0, dap->packet_size - 1 - txlen);
 269
 270         /* write data to device */
 271         int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
 272         if (retval == -1) {
 273                 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
 274                 return ERROR_FAIL;
 275         }
 276
 277         /* get reply */
 278         retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
 279         if (retval == -1 || retval == 0) {
 280                 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
 281                 return ERROR_FAIL;
 282         }
 283
 284         return ERROR_OK;
 285 }
 286
 287 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t wait, uint8_t *input)
 288 {
 289         int retval;
 290         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 291
 292         buffer[0] = 0;  /* report number */
 293         buffer[1] = CMD_DAP_SWJ_PINS;
 294         buffer[2] = pins;
 295         buffer[3] = mask;
 296         buffer[4] = wait & 0xff;
 297         buffer[5] = (wait >> 8) & 0xff;
 298         buffer[6] = (wait >> 16) & 0xff;
 299         buffer[7] = (wait >> 24) & 0xff;
 300         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
 301
 302         if (retval != ERROR_OK) {
 303                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
 304                 return ERROR_JTAG_DEVICE_ERROR;
 305         }
 306
 307         if (input)
 308                 *input = buffer[1];
 309
 310         return ERROR_OK;
 311 }
 312
 313 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
 314 {
 315         int retval;
 316         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 317
 318         /* set clock in Hz */
 319         swj_clock *= 1000;
 320         buffer[0] = 0;  /* report number */
 321         buffer[1] = CMD_DAP_SWJ_CLOCK;
 322         buffer[2] = swj_clock & 0xff;
 323         buffer[3] = (swj_clock >> 8) & 0xff;
 324         buffer[4] = (swj_clock >> 16) & 0xff;
 325         buffer[5] = (swj_clock >> 24) & 0xff;
 326         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 327
 328         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 329                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
 330                 return ERROR_JTAG_DEVICE_ERROR;
 331         }
 332
 333         return ERROR_OK;
 334 }
 335
 336 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
 337 {
 338         int retval;
 339         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 340
 341         buffer[0] = 0;  /* report number */
 342         buffer[1] = CMD_DAP_INFO;
 343         buffer[2] = info;
 344         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 345
 346         if (retval != ERROR_OK) {
 347                 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
 348                 return ERROR_JTAG_DEVICE_ERROR;
 349         }
 350
 351         *data = &(buffer[1]);
 352
 353         return ERROR_OK;
 354 }
 355
 356 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
 357 {
 358         int retval;
 359         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 360
 361         buffer[0] = 0;  /* report number */
 362         buffer[1] = CMD_DAP_LED;
 363         buffer[2] = 0x00;
 364         buffer[3] = leds;
 365         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 366
 367         if (retval != ERROR_OK || buffer[1] != 0x00) {
 368                 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
 369                 return ERROR_JTAG_DEVICE_ERROR;
 370         }
 371
 372         return ERROR_OK;
 373 }
 374
 375 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
 376 {
 377         int retval;
 378         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 379
 380         buffer[0] = 0;  /* report number */
 381         buffer[1] = CMD_DAP_CONNECT;
 382         buffer[2] = mode;
 383         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 384
 385         if (retval != ERROR_OK) {
 386                 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
 387                 return ERROR_JTAG_DEVICE_ERROR;
 388         }
 389
 390         if (buffer[1] != mode) {
 391                 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
 392                 return ERROR_JTAG_DEVICE_ERROR;
 393         }
 394
 395         return ERROR_OK;
 396 }
 397
 398 static int cmsis_dap_cmd_DAP_Disconnect(void)
 399 {
 400         int retval;
 401         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 402
 403         buffer[0] = 0;  /* report number */
 404         buffer[1] = CMD_DAP_DISCONNECT;
 405         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 406
 407         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 408                 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
 409                 return ERROR_JTAG_DEVICE_ERROR;
 410         }
 411
 412         return ERROR_OK;
 413 }
 414
 415 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t wait, uint16_t retry)
 416 {
 417         int retval;
 418         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 419
 420         buffer[0] = 0;  /* report number */
 421         buffer[1] = CMD_DAP_TFER_CONFIGURE;
 422         buffer[2] = idle;
 423         buffer[3] = wait & 0xff;
 424         buffer[4] = (wait >> 8) & 0xff;
 425         buffer[5] = retry & 0xff;
 426         buffer[6] = (retry >> 8) & 0xff;
 427         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 428
 429         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 430                 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
 431                 return ERROR_JTAG_DEVICE_ERROR;
 432         }
 433
 434         return ERROR_OK;
 435 }
 436
 437 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
 438 {
 439         int retval;
 440         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 441
 442         buffer[0] = 0;  /* report number */
 443         buffer[1] = CMD_DAP_SWD_CONFIGURE;
 444         buffer[2] = cfg;
 445         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 446
 447         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 448                 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
 449                 return ERROR_JTAG_DEVICE_ERROR;
 450         }
 451
 452         return ERROR_OK;
 453 }
 454
 455 #if 0
 456 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
 457 {
 458         int retval;
 459         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 460
 461         buffer[0] = 0;  /* report number */
 462         buffer[1] = CMD_DAP_DELAY;
 463         buffer[2] = delay_us & 0xff;
 464         buffer[3] = (delay_us >> 8) & 0xff;
 465         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 466
 467         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 468                 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
 469                 return ERROR_JTAG_DEVICE_ERROR;
 470         }
 471
 472         return ERROR_OK;
 473 }
 474 #endif
 475
 476 static int cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value)
 477 {
 478         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 479         int retval;
 480         uint32_t val;
 481
 482         DEBUG_IO("CMSIS-DAP: Read  Reg 0x%02" PRIx8, cmd);
 483
 484         buffer[0] = 0;  /* report number */
 485         buffer[1] = CMD_DAP_TFER;
 486         buffer[2] = 0x00;
 487         buffer[3] = 0x01;
 488         buffer[4] = cmd;
 489         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 490
 491         /* TODO - need better response checking */
 492         if (retval != ERROR_OK || buffer[1] != 0x01) {
 493                 LOG_ERROR("CMSIS-DAP: Read Error (0x%02" PRIx8 ")", buffer[2]);
 494                 return buffer[2];
 495         }
 496
 497         val = le_to_h_u32(&buffer[3]);
 498         DEBUG_IO("0x%08" PRIx32, val);
 499
 500         if (value)
 501                 *value = val;
 502
 503         return retval;
 504 }
 505
 506 static int cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value)
 507 {
 508         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 509
 510         DEBUG_IO("CMSIS-DAP: Write Reg 0x%02" PRIx8 " 0x%08" PRIx32, cmd, value);
 511
 512         buffer[0] = 0;  /* report number */
 513         buffer[1] = CMD_DAP_TFER;
 514         buffer[2] = 0x00;
 515         buffer[3] = 0x01;
 516         buffer[4] = cmd;
 517         buffer[5] = (value) & 0xff;
 518         buffer[6] = (value >> 8) & 0xff;
 519         buffer[7] = (value >> 16) & 0xff;
 520         buffer[8] = (value >> 24) & 0xff;
 521         int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 9);
 522
 523         if (buffer[1] != 0x01) {
 524                 LOG_ERROR("CMSIS-DAP: Write Error (0x%02" PRIx8 ")", buffer[2]);
 525                 retval = buffer[2];
 526         }
 527
 528         return retval;
 529 }
 530
 531 static int cmsis_dap_swd_read_block(uint8_t cmd, uint32_t blocksize, uint8_t *dest_buf)
 532 {
 533         uint8_t *buffer;
 534         int tfer_sz;
 535         int retval = ERROR_OK;
 536         uint16_t read_count;
 537
 538         DEBUG_IO("CMSIS-DAP: Read Block 0x%02" PRIx8 " %" PRIu32, cmd, blocksize);
 539
 540         while (blocksize) {
 541
 542                 buffer = cmsis_dap_handle->packet_buffer;
 543                 tfer_sz = blocksize;
 544                 if (tfer_sz > 15)
 545                         tfer_sz = 8;
 546
 547                 buffer[0] = 0;  /* report number */
 548                 buffer[1] = CMD_DAP_TFER_BLOCK;
 549                 buffer[2] = 0x00;
 550                 buffer[3] = tfer_sz;
 551                 buffer[4] = 0x00;
 552                 buffer[5] = cmd;
 553                 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 554
 555                 read_count = le_to_h_u16(&buffer[1]);
 556                 if (read_count != tfer_sz) {
 557                         LOG_ERROR("CMSIS-DAP: Block Read Error (0x%02" PRIx8 ")", buffer[3]);
 558                         retval = buffer[3];
 559                 }
 560
 561                 read_count *= 4;
 562                 memcpy(dest_buf, &buffer[4], read_count);
 563
 564                 dest_buf += read_count;
 565                 blocksize -= tfer_sz;
 566         }
 567
 568         return retval;
 569 }
 570
 571 static int cmsis_dap_get_version_info(void)
 572 {
 573         uint8_t *data;
 574
 575         /* INFO_ID_FW_VER - string */
 576         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
 577         if (retval != ERROR_OK)
 578                 return retval;
 579
 580         if (data[0]) /* strlen */
 581                 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
 582
 583         return ERROR_OK;
 584 }
 585
 586 static int cmsis_dap_get_caps_info(void)
 587 {
 588         uint8_t *data;
 589
 590         /* INFO_ID_CAPS - byte */
 591         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
 592         if (retval != ERROR_OK)
 593                 return retval;
 594
 595         if (data[0] == 1) {
 596                 uint8_t caps = data[1];
 597
 598                 cmsis_dap_handle->caps = caps;
 599
 600                 if (caps & INFO_CAPS_SWD)
 601                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
 602                 if (caps & INFO_CAPS_JTAG)
 603                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
 604         }
 605
 606         return ERROR_OK;
 607 }
 608
 609 static int cmsis_dap_get_status(void)
 610 {
 611         uint8_t d;
 612
 613         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
 614
 615         if (retval == ERROR_OK) {
 616                 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
 617                         (d & (0x01 << 0)) ? 1 : 0,      /* Bit 0: SWCLK/TCK */
 618                         (d & (0x01 << 1)) ? 1 : 0,      /* Bit 1: SWDIO/TMS */
 619                         (d & (0x01 << 2)) ? 1 : 0,      /* Bit 2: TDI */
 620                         (d & (0x01 << 3)) ? 1 : 0,      /* Bit 3: TDO */
 621                         (d & (0x01 << 5)) ? 1 : 0,      /* Bit 5: nTRST */
 622                         (d & (0x01 << 7)) ? 1 : 0);     /* Bit 7: nRESET */
 623         }
 624
 625         return retval;
 626 }
 627
 628 static int cmsis_dap_reset_link(void)
 629 {
 630         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 631
 632         LOG_DEBUG("CMSIS-DAP: cmsis_dap_reset_link");
 633         LOG_INFO("DAP_SWJ Sequence (reset: 50+ '1' followed by 0)");
 634
 635         /* reset line with SWDIO high for >50 cycles */
 636         buffer[0] = 0;  /* report number */
 637         buffer[1] = CMD_DAP_SWJ_SEQ;
 638         buffer[2] = 7 * 8;
 639         buffer[3] = 0xff;
 640         buffer[4] = 0xff;
 641         buffer[5] = 0xff;
 642         buffer[6] = 0xff;
 643         buffer[7] = 0xff;
 644         buffer[8] = 0xff;
 645         buffer[9] = 0xff;
 646         int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
 647
 648         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 649                 return ERROR_FAIL;
 650
 651         /* 16bit JTAG-SWD sequence */
 652         buffer[0] = 0;  /* report number */
 653         buffer[1] = CMD_DAP_SWJ_SEQ;
 654         buffer[2] = 2 * 8;
 655         buffer[3] = 0x9e;
 656         buffer[4] = 0xe7;
 657         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 658
 659         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 660                 return ERROR_FAIL;
 661
 662         /* another reset just incase */
 663         buffer[0] = 0;  /* report number */
 664         buffer[1] = CMD_DAP_SWJ_SEQ;
 665         buffer[2] = 7 * 8;
 666         buffer[3] = 0xff;
 667         buffer[4] = 0xff;
 668         buffer[5] = 0xff;
 669         buffer[6] = 0xff;
 670         buffer[7] = 0xff;
 671         buffer[8] = 0xff;
 672         buffer[9] = 0xff;
 673         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 10);
 674
 675         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 676                 return ERROR_FAIL;
 677
 678         /* 16 cycle idle period */
 679         buffer[0] = 0;  /* report number */
 680         buffer[1] = CMD_DAP_SWJ_SEQ;
 681         buffer[2] = 2 * 8;
 682         buffer[3] = 0x00;
 683         buffer[4] = 0x00;
 684         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 685
 686         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 687                 return ERROR_FAIL;
 688
 689         DEBUG_IO("DAP Read IDCODE");
 690
 691         /* read the id code is always the next sequence */
 692         buffer[0] = 0;  /* report number */
 693         buffer[1] = CMD_DAP_TFER;
 694         buffer[2] = 0x00;
 695         buffer[3] = 0x01;
 696         buffer[4] = 0x02;
 697         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 5);
 698
 699         if (retval != ERROR_OK)
 700                 return retval;
 701
 702         if (buffer[1] == 0) {
 703                 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
 704
 705                 LOG_DEBUG("DAP Reset Target");
 706                 buffer[0] = 0;  /* report number */
 707                 buffer[1] = CMD_DAP_RESET_TARGET;
 708                 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 709                 LOG_DEBUG("Result 0x%02" PRIx8 " 0x%02" PRIx8, buffer[1], buffer[2]);
 710
 711                 LOG_DEBUG("DAP Write Abort");
 712                 buffer[0] = 0;  /* report number */
 713                 buffer[1] = CMD_DAP_WRITE_ABORT;
 714                 buffer[2] = 0x00;
 715                 buffer[3] = 0x1e/*0x1f*/;
 716                 buffer[4] = 0x00;
 717                 buffer[5] = 0x00;
 718                 buffer[6] = 0x00;
 719                 retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 720                 LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
 721
 722                 return 0x80 + buffer[1];
 723         }
 724
 725         LOG_DEBUG("DAP Write Abort");
 726         buffer[0] = 0;  /* report number */
 727         buffer[1] = CMD_DAP_WRITE_ABORT;
 728         buffer[2] = 0x00;
 729         buffer[3] = 0x1e;
 730         buffer[4] = 0x00;
 731         buffer[5] = 0x00;
 732         buffer[6] = 0x00;
 733         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 734         LOG_DEBUG("Result 0x%02" PRIx8, buffer[1]);
 735
 736         return retval;
 737 }
 738
 739 static int cmsis_dap_init(void)
 740 {
 741         int retval;
 742         uint8_t *data;
 743
 744         if (cmsis_dap_handle == NULL) {
 745
 746                 /* JTAG init */
 747                 retval = cmsis_dap_usb_open();
 748                 if (retval != ERROR_OK)
 749                         return retval;
 750
 751                 retval = cmsis_dap_get_caps_info();
 752                 if (retval != ERROR_OK)
 753                         return retval;
 754
 755                 /* Connect in JTAG mode */
 756                 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
 757                         LOG_ERROR("CMSIS-DAP: JTAG not supported");
 758                         return ERROR_JTAG_DEVICE_ERROR;
 759                 }
 760
 761                 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
 762                 if (retval != ERROR_OK)
 763                         return retval;
 764
 765                 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
 766         }
 767
 768         retval = cmsis_dap_get_version_info();
 769         if (retval != ERROR_OK)
 770                 return retval;
 771
 772         /* INFO_ID_PKT_SZ - short */
 773         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
 774         if (retval != ERROR_OK)
 775                 return retval;
 776
 777         if (data[0] == 2) {  /* short */
 778                 uint16_t pkt_sz = data[1] + (data[2] << 8);
 779
 780                 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
 781                         /* reallocate buffer */
 782                         cmsis_dap_handle->packet_size = pkt_sz + 1;
 783                         cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
 784                                         cmsis_dap_handle->packet_size);
 785                         if (cmsis_dap_handle->packet_buffer == NULL) {
 786                                 LOG_ERROR("unable to reallocate memory");
 787                                 return ERROR_FAIL;
 788                         }
 789                 }
 790
 791                 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
 792         }
 793
 794         /* INFO_ID_PKT_CNT - byte */
 795         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
 796         if (retval != ERROR_OK)
 797                 return retval;
 798
 799         if (data[0] == 1) { /* byte */
 800                 uint16_t pkt_cnt = data[1];
 801                 cmsis_dap_handle->packet_count = pkt_cnt;
 802                 LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
 803         }
 804
 805         retval = cmsis_dap_get_status();
 806         if (retval != ERROR_OK)
 807                 return ERROR_FAIL;
 808
 809         /* Now try to connect to the target
 810          * TODO: This is all SWD only @ present */
 811         retval = cmsis_dap_cmd_DAP_SWJ_Clock(100);              /* 100kHz */
 812         if (retval != ERROR_OK)
 813                 return ERROR_FAIL;
 814
 815         retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
 816         if (retval != ERROR_OK)
 817                 return ERROR_FAIL;
 818         retval = cmsis_dap_cmd_DAP_SWD_Configure(0x00);
 819         if (retval != ERROR_OK)
 820                 return ERROR_FAIL;
 821
 822         retval = cmsis_dap_cmd_DAP_LED(0x03);           /* Both LEDs on */
 823         if (retval != ERROR_OK)
 824                 return ERROR_FAIL;
 825
 826         /* support connecting with srst asserted */
 827         enum reset_types jtag_reset_config = jtag_get_reset_config();
 828
 829         if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
 830                 if (jtag_reset_config & RESET_SRST_NO_GATING) {
 831                         retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
 832                         if (retval != ERROR_OK)
 833                                 return ERROR_FAIL;
 834                         LOG_INFO("Connecting under reset");
 835                 }
 836         }
 837
 838         retval = cmsis_dap_reset_link();
 839         if (retval != ERROR_OK)
 840                 return ERROR_FAIL;
 841
 842         cmsis_dap_cmd_DAP_LED(0x00);                            /* Both LEDs off */
 843
 844         LOG_INFO("CMSIS-DAP: Interface ready");
 845
 846         return ERROR_OK;
 847 }
 848
 849 static int cmsis_dap_swd_init(uint8_t trn)
 850 {
 851         int retval;
 852
 853         DEBUG_IO("CMSIS-DAP: cmsis_dap_swd_init");
 854
 855         if (cmsis_dap_handle == NULL) {
 856
 857                 /* SWD init */
 858                 retval = cmsis_dap_usb_open();
 859                 if (retval != ERROR_OK)
 860                         return retval;
 861
 862                 retval = cmsis_dap_get_caps_info();
 863                 if (retval != ERROR_OK)
 864                         return retval;
 865         }
 866
 867         if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
 868                 LOG_ERROR("CMSIS-DAP: SWD not supported");
 869                 return ERROR_JTAG_DEVICE_ERROR;
 870         }
 871
 872         retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
 873         if (retval != ERROR_OK)
 874                 return retval;
 875
 876         /* Add more setup here.??... */
 877
 878         LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
 879         return ERROR_OK;
 880 }
 881
 882 static int cmsis_dap_quit(void)
 883 {
 884         cmsis_dap_cmd_DAP_Disconnect();
 885         cmsis_dap_cmd_DAP_LED(0x00);            /* Both LEDs off */
 886
 887         cmsis_dap_usb_close(cmsis_dap_handle);
 888
 889         return ERROR_OK;
 890 }
 891
 892 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
 893 {
 894         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(cmd->cmd.reset->srst ? 0 : (1 << 7), \
 895                         (1 << 7), 0, NULL);
 896         if (retval != ERROR_OK)
 897                 LOG_ERROR("CMSIS-DAP: Interface reset failed");
 898 }
 899
 900 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
 901 {
 902 #if 0
 903         int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
 904         if (retval != ERROR_OK)
 905 #endif
 906                 jtag_sleep(cmd->cmd.sleep->us);
 907 }
 908
 909 static void cmsis_dap_execute_command(struct jtag_command *cmd)
 910 {
 911         switch (cmd->type) {
 912                 case JTAG_RESET:
 913                         cmsis_dap_execute_reset(cmd);
 914                         break;
 915                 case JTAG_SLEEP:
 916                         cmsis_dap_execute_sleep(cmd);
 917                         break;
 918                 default:
 919                         LOG_ERROR("BUG: unknown JTAG command type encountered");
 920                         exit(-1);
 921         }
 922 }
 923
 924 static int cmsis_dap_execute_queue(void)
 925 {
 926         struct jtag_command *cmd = jtag_command_queue;
 927
 928         while (cmd != NULL) {
 929                 cmsis_dap_execute_command(cmd);
 930                 cmd = cmd->next;
 931         }
 932
 933         return ERROR_OK;
 934 }
 935
 936 static int cmsis_dap_speed(int speed)
 937 {
 938         if (speed > DAP_MAX_CLOCK) {
 939                 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
 940                 speed = DAP_MAX_CLOCK;
 941         }
 942
 943         if (speed == 0) {
 944                 LOG_INFO("RTCK not supported");
 945                 return ERROR_JTAG_NOT_IMPLEMENTED;
 946         }
 947
 948         return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
 949 }
 950
 951 static int cmsis_dap_speed_div(int speed, int *khz)
 952 {
 953         *khz = speed;
 954         return ERROR_OK;
 955 }
 956
 957 static int cmsis_dap_khz(int khz, int *jtag_speed)
 958 {
 959         *jtag_speed = khz;
 960         return ERROR_OK;
 961 }
 962
 963 COMMAND_HANDLER(cmsis_dap_handle_info_command)
 964 {
 965         if (cmsis_dap_get_version_info() == ERROR_OK)
 966                 cmsis_dap_get_status();
 967
 968         return ERROR_OK;
 969 }
 970
 971 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
 972 {
 973         if (CMD_ARGC > MAX_USB_IDS * 2) {
 974                 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
 975                         "(maximum is %d pairs)", MAX_USB_IDS);
 976                 CMD_ARGC = MAX_USB_IDS * 2;
 977         }
 978         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
 979                 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
 980                 if (CMD_ARGC < 2)
 981                         return ERROR_COMMAND_SYNTAX_ERROR;
 982                 /* remove the incomplete trailing id */
 983                 CMD_ARGC -= 1;
 984         }
 985
 986         unsigned i;
 987         for (i = 0; i < CMD_ARGC; i += 2) {
 988                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
 989                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
 990         }
 991
 992         /*
 993          * Explicitly terminate, in case there are multiples instances of
 994          * cmsis_dap_vid_pid.
 995          */
 996         cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
 997
 998         return ERROR_OK;
 999 }
1000
1001 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1002         {
1003                 .name = "info",
1004                 .handler = &cmsis_dap_handle_info_command,
1005                 .mode = COMMAND_EXEC,
1006                 .usage = "",
1007                 .help = "show cmsis-dap info",
1008         },
1009         COMMAND_REGISTRATION_DONE
1010 };
1011
1012 COMMAND_HANDLER(cmsis_dap_reset_command)
1013 {
1014         LOG_DEBUG("cmsis_dap_reset_command");
1015         return ERROR_OK;
1016 }
1017
1018 COMMAND_HANDLER(cmsis_dap_jtag_command)
1019 {
1020         LOG_DEBUG("cmsis_dap_jtag_command");
1021         return ERROR_OK;
1022 }
1023
1024 static const struct command_registration cmsis_dap_jtag_subcommand_handlers[] = {
1025         {
1026                 .name = "init",
1027                 .mode = COMMAND_ANY,
1028                 .handler = cmsis_dap_jtag_command,
1029                 .usage = ""
1030          },
1031         {
1032                 .name = "arp_init",
1033                 .mode = COMMAND_ANY,
1034                 .handler = cmsis_dap_jtag_command,
1035                 .usage = ""
1036          },
1037         {
1038                 .name = "arp_init-reset",
1039                 .mode = COMMAND_ANY,
1040                 .handler = cmsis_dap_reset_command,
1041                 .usage = ""
1042          },
1043         {
1044                 .name = "tapisenabled",
1045                 .mode = COMMAND_EXEC,
1046                 .jim_handler = jim_jtag_tap_enabler,
1047          },
1048         {
1049                 .name = "tapenable",
1050                 .mode = COMMAND_EXEC,
1051                 .jim_handler = jim_jtag_tap_enabler,
1052          },
1053         {
1054                 .name = "tapdisable",
1055                 .mode = COMMAND_EXEC,
1056                 .handler = cmsis_dap_jtag_command,
1057                 .usage = "",
1058          },
1059         {
1060                 .name = "configure",
1061                 .mode = COMMAND_EXEC,
1062                 .handler = cmsis_dap_jtag_command,
1063                 .usage = "",
1064          },
1065         {
1066                 .name = "cget",
1067                 .mode = COMMAND_EXEC,
1068                 .jim_handler = jim_jtag_configure,
1069          },
1070         {
1071                 .name = "names",
1072                 .mode = COMMAND_ANY,
1073                 .handler = cmsis_dap_jtag_command,
1074                 .usage = "",
1075          },
1076          COMMAND_REGISTRATION_DONE
1077 };
1078
1079 static const struct command_registration cmsis_dap_command_handlers[] = {
1080         {
1081                 .name = "cmsis-dap",
1082                 .mode = COMMAND_ANY,
1083                 .help = "perform CMSIS-DAP management",
1084                 .usage = "<cmd>",
1085                 .chain = cmsis_dap_subcommand_handlers,
1086         },
1087         {
1088                 .name = "cmsis_dap_vid_pid",
1089                 .handler = &cmsis_dap_handle_vid_pid_command,
1090                 .mode = COMMAND_CONFIG,
1091                 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1092                 .usage = "(vid pid)* ",
1093         },
1094         {
1095                 /* this is currently a nasty hack so we get
1096                  * reset working with non jtag interfaces */
1097                 .name = "jtag",
1098                 .mode = COMMAND_ANY,
1099                 .usage = "",
1100                 .chain = cmsis_dap_jtag_subcommand_handlers,
1101         },
1102         COMMAND_REGISTRATION_DONE
1103 };
1104
1105 static const struct swd_driver cmsis_dap_swd_driver = {
1106         .init       = cmsis_dap_swd_init,
1107         .read_reg   = cmsis_dap_swd_read_reg,
1108         .write_reg  = cmsis_dap_swd_write_reg,
1109         .read_block = cmsis_dap_swd_read_block
1110 };
1111
1112 const char *cmsis_dap_transport[] = {"cmsis-dap", NULL};
1113
1114 struct jtag_interface cmsis_dap_interface = {
1115         .name = "cmsis-dap",
1116         .commands = cmsis_dap_command_handlers,
1117         .swd = &cmsis_dap_swd_driver,
1118         .transports = cmsis_dap_transport,
1119
1120         .execute_queue = cmsis_dap_execute_queue,
1121         .speed = cmsis_dap_speed,
1122         .speed_div = cmsis_dap_speed_div,
1123         .khz = cmsis_dap_khz,
1124         .init = cmsis_dap_init,
1125         .quit = cmsis_dap_quit,
1126 };