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

   1 /***************************************************************************
   2  *   Copyright (C) 2016 by Maksym Hilliaka                                 *
   3  *   oter@frozen-team.com                                                  *
   4  *                                                                         *
   5  *   Copyright (C) 2016 by Phillip Pearson                                 *
   6  *   pp@myelin.co.nz                                                       *
   7  *                                                                         *
   8  *   Copyright (C) 2014 by Paul Fertser                                    *
   9  *   fercerpav@gmail.com                                                   *
  10  *                                                                         *
  11  *   Copyright (C) 2013 by mike brown                                      *
  12  *   mike@theshedworks.org.uk                                              *
  13  *                                                                         *
  14  *   Copyright (C) 2013 by Spencer Oliver                                  *
  15  *   spen@spen-soft.co.uk                                                  *
  16  *                                                                         *
  17  *   This program is free software; you can redistribute it and/or modify  *
  18  *   it under the terms of the GNU General Public License as published by  *
  19  *   the Free Software Foundation; either version 2 of the License, or     *
  20  *   (at your option) any later version.                                   *
  21  *                                                                         *
  22  *   This program is distributed in the hope that it will be useful,       *
  23  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  24  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  25  *   GNU General Public License for more details.                          *
  26  *                                                                         *
  27  *   You should have received a copy of the GNU General Public License     *
  28  *   along with this program.  If not, see <http://www.gnu.org/licenses/>. *
  29  ***************************************************************************/
  30
  31 #ifdef HAVE_CONFIG_H
  32 #include "config.h"
  33 #endif
  34
  35 #include <transport/transport.h>
  36 #include <jtag/swd.h>
  37 #include <jtag/interface.h>
  38 #include <jtag/commands.h>
  39 #include <jtag/tcl.h>
  40
  41 #include <hidapi.h>
  42
  43 /*
  44  * See CMSIS-DAP documentation:
  45  * Version 0.01 - Beta.
  46  */
  47
  48 /* USB Config */
  49
  50 /* Known vid/pid pairs:
  51  * VID 0xc251: Keil Software
  52  * PID 0xf001: LPC-Link-II CMSIS_DAP
  53  * PID 0xf002: OPEN-SDA CMSIS_DAP (Freedom Board)
  54  * PID 0x2722: Keil ULINK2 CMSIS-DAP
  55  *
  56  * VID 0x0d28: mbed Software
  57  * PID 0x0204: MBED CMSIS-DAP
  58  */
  59
  60 #define MAX_USB_IDS 8
  61 /* vid = pid = 0 marks the end of the list */
  62 static uint16_t cmsis_dap_vid[MAX_USB_IDS + 1] = { 0 };
  63 static uint16_t cmsis_dap_pid[MAX_USB_IDS + 1] = { 0 };
  64 static wchar_t *cmsis_dap_serial;
  65 static bool swd_mode;
  66
  67 #define PACKET_SIZE       (64 + 1)      /* 64 bytes plus report id */
  68 #define USB_TIMEOUT       1000
  69
  70 /* CMSIS-DAP General Commands */
  71 #define CMD_DAP_INFO              0x00
  72 #define CMD_DAP_LED               0x01
  73 #define CMD_DAP_CONNECT           0x02
  74 #define CMD_DAP_DISCONNECT        0x03
  75 #define CMD_DAP_WRITE_ABORT       0x08
  76 #define CMD_DAP_DELAY             0x09
  77 #define CMD_DAP_RESET_TARGET      0x0A
  78
  79 /* CMD_INFO */
  80 #define INFO_ID_VID               0x00      /* string */
  81 #define INFO_ID_PID               0x02      /* string */
  82 #define INFO_ID_SERNUM            0x03      /* string */
  83 #define INFO_ID_FW_VER            0x04      /* string */
  84 #define INFO_ID_TD_VEND           0x05      /* string */
  85 #define INFO_ID_TD_NAME           0x06      /* string */
  86 #define INFO_ID_CAPS              0xf0      /* byte */
  87 #define INFO_ID_PKT_CNT           0xfe      /* byte */
  88 #define INFO_ID_PKT_SZ            0xff      /* short */
  89
  90 #define INFO_CAPS_SWD             0x01
  91 #define INFO_CAPS_JTAG            0x02
  92
  93 /* CMD_LED */
  94 #define LED_ID_CONNECT            0x00
  95 #define LED_ID_RUN                0x01
  96
  97 #define LED_OFF                   0x00
  98 #define LED_ON                    0x01
  99
 100 /* CMD_CONNECT */
 101 #define CONNECT_DEFAULT           0x00
 102 #define CONNECT_SWD               0x01
 103 #define CONNECT_JTAG              0x02
 104
 105 /* CMSIS-DAP Common SWD/JTAG Commands */
 106 #define CMD_DAP_DELAY             0x09
 107 #define CMD_DAP_SWJ_PINS          0x10
 108 #define CMD_DAP_SWJ_CLOCK         0x11
 109 #define CMD_DAP_SWJ_SEQ           0x12
 110
 111 /*
 112  * PINS
 113  * Bit 0: SWCLK/TCK
 114  * Bit 1: SWDIO/TMS
 115  * Bit 2: TDI
 116  * Bit 3: TDO
 117  * Bit 5: nTRST
 118  * Bit 7: nRESET
 119  */
 120
 121 #define SWJ_PIN_TCK               (1<<0)
 122 #define SWJ_PIN_TMS               (1<<1)
 123 #define SWJ_PIN_TDI               (1<<2)
 124 #define SWJ_PIN_TDO               (1<<3)
 125 #define SWJ_PIN_TRST              (1<<5)
 126 #define SWJ_PIN_SRST              (1<<7)
 127
 128 /* CMSIS-DAP SWD Commands */
 129 #define CMD_DAP_SWD_CONFIGURE     0x13
 130
 131 /* CMSIS-DAP JTAG Commands */
 132 #define CMD_DAP_JTAG_SEQ          0x14
 133 #define CMD_DAP_JTAG_CONFIGURE    0x15
 134 #define CMD_DAP_JTAG_IDCODE       0x16
 135
 136 /* CMSIS-DAP JTAG sequence info masks */
 137 /* Number of bits to clock through (0 means 64) */
 138 #define DAP_JTAG_SEQ_TCK          0x3F
 139 /* TMS will be set during the sequence if this bit is set */
 140 #define DAP_JTAG_SEQ_TMS          0x40
 141 /* TDO output will be captured if this bit is set */
 142 #define DAP_JTAG_SEQ_TDO          0x80
 143
 144
 145 /* CMSIS-DAP Transfer Commands */
 146 #define CMD_DAP_TFER_CONFIGURE    0x04
 147 #define CMD_DAP_TFER              0x05
 148 #define CMD_DAP_TFER_BLOCK        0x06
 149 #define CMD_DAP_TFER_ABORT        0x07
 150
 151 /* DAP Status Code */
 152 #define DAP_OK                    0
 153 #define DAP_ERROR                 0xFF
 154
 155 /* CMSIS-DAP Vendor Commands
 156  * None as yet... */
 157
 158 static const char * const info_caps_str[] = {
 159         "SWD  Supported",
 160         "JTAG Supported"
 161 };
 162
 163 /* max clock speed (kHz) */
 164 #define DAP_MAX_CLOCK             5000
 165
 166 struct cmsis_dap {
 167         hid_device *dev_handle;
 168         uint16_t packet_size;
 169         int packet_count;
 170         uint8_t *packet_buffer;
 171         uint8_t caps;
 172         uint8_t mode;
 173 };
 174
 175 struct pending_transfer_result {
 176         uint8_t cmd;
 177         uint32_t data;
 178         void *buffer;
 179 };
 180
 181 struct pending_request_block {
 182         struct pending_transfer_result *transfers;
 183         int transfer_count;
 184 };
 185
 186 struct pending_scan_result {
 187         /** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
 188         unsigned first;
 189         /** Number of bits to read. */
 190         unsigned length;
 191         /** Location to store the result */
 192         uint8_t *buffer;
 193         /** Offset in the destination buffer */
 194         unsigned buffer_offset;
 195 };
 196
 197 /* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued
 198  * until the first response arrives */
 199 #define MAX_PENDING_REQUESTS 3
 200
 201 /* Pending requests are organized as a FIFO - circular buffer */
 202 /* Each block in FIFO can contain up to pending_queue_len transfers */
 203 static int pending_queue_len;
 204 static struct pending_request_block pending_fifo[MAX_PENDING_REQUESTS];
 205 static int pending_fifo_put_idx, pending_fifo_get_idx;
 206 static int pending_fifo_block_count;
 207
 208 /* pointers to buffers that will receive jtag scan results on the next flush */
 209 #define MAX_PENDING_SCAN_RESULTS 256
 210 static int pending_scan_result_count;
 211 static struct pending_scan_result pending_scan_results[MAX_PENDING_SCAN_RESULTS];
 212
 213 /* queued JTAG sequences that will be executed on the next flush */
 214 #define QUEUED_SEQ_BUF_LEN (cmsis_dap_handle->packet_size - 3)
 215 static int queued_seq_count;
 216 static int queued_seq_buf_end;
 217 static int queued_seq_tdo_ptr;
 218 static uint8_t queued_seq_buf[1024]; /* TODO: make dynamic / move into cmsis object */
 219
 220 static int queued_retval;
 221
 222 static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
 223
 224 static struct cmsis_dap *cmsis_dap_handle;
 225
 226 static int cmsis_dap_usb_open(void)
 227 {
 228         hid_device *dev = NULL;
 229         int i;
 230         struct hid_device_info *devs, *cur_dev;
 231         unsigned short target_vid, target_pid;
 232         wchar_t *target_serial = NULL;
 233
 234         bool found = false;
 235         bool serial_found = false;
 236
 237         target_vid = 0;
 238         target_pid = 0;
 239
 240         /*
 241          * The CMSIS-DAP specification stipulates:
 242          * "The Product String must contain "CMSIS-DAP" somewhere in the string. This is used by the
 243          * debuggers to identify a CMSIS-DAP compliant Debug Unit that is connected to a host computer."
 244          */
 245         devs = hid_enumerate(0x0, 0x0);
 246         cur_dev = devs;
 247         while (NULL != cur_dev) {
 248                 if (0 == cmsis_dap_vid[0]) {
 249                         if (NULL == cur_dev->product_string) {
 250                                 LOG_DEBUG("Cannot read product string of device 0x%x:0x%x",
 251                                           cur_dev->vendor_id, cur_dev->product_id);
 252                         } else {
 253                                 if (wcsstr(cur_dev->product_string, L"CMSIS-DAP")) {
 254                                         /* if the user hasn't specified VID:PID *and*
 255                                          * product string contains "CMSIS-DAP", pick it
 256                                          */
 257                                         found = true;
 258                                 }
 259                         }
 260                 } else {
 261                         /* otherwise, exhaustively compare against all VID:PID in list */
 262                         for (i = 0; cmsis_dap_vid[i] || cmsis_dap_pid[i]; i++) {
 263                                 if ((cmsis_dap_vid[i] == cur_dev->vendor_id) && (cmsis_dap_pid[i] == cur_dev->product_id))
 264                                         found = true;
 265                         }
 266
 267                         if (cmsis_dap_vid[i] || cmsis_dap_pid[i])
 268                                 found = true;
 269                 }
 270
 271                 if (found) {
 272                         /* we have found an adapter, so exit further checks */
 273                         /* check serial number matches if given */
 274                         if (cmsis_dap_serial != NULL) {
 275                                 if ((cur_dev->serial_number != NULL) && wcscmp(cmsis_dap_serial, cur_dev->serial_number) == 0) {
 276                                         serial_found = true;
 277                                         break;
 278                                 }
 279                         } else
 280                                 break;
 281
 282                         found = false;
 283                 }
 284
 285                 cur_dev = cur_dev->next;
 286         }
 287
 288         if (NULL != cur_dev) {
 289                 target_vid = cur_dev->vendor_id;
 290                 target_pid = cur_dev->product_id;
 291                 if (serial_found)
 292                         target_serial = cmsis_dap_serial;
 293         }
 294
 295         hid_free_enumeration(devs);
 296
 297         if (target_vid == 0 && target_pid == 0) {
 298                 LOG_ERROR("unable to find CMSIS-DAP device");
 299                 return ERROR_FAIL;
 300         }
 301
 302         if (hid_init() != 0) {
 303                 LOG_ERROR("unable to open HIDAPI");
 304                 return ERROR_FAIL;
 305         }
 306
 307         dev = hid_open(target_vid, target_pid, target_serial);
 308
 309         if (dev == NULL) {
 310                 LOG_ERROR("unable to open CMSIS-DAP device 0x%x:0x%x", target_vid, target_pid);
 311                 return ERROR_FAIL;
 312         }
 313
 314         struct cmsis_dap *dap = malloc(sizeof(struct cmsis_dap));
 315         if (dap == NULL) {
 316                 LOG_ERROR("unable to allocate memory");
 317                 return ERROR_FAIL;
 318         }
 319
 320         dap->dev_handle = dev;
 321         dap->caps = 0;
 322         dap->mode = 0;
 323
 324         cmsis_dap_handle = dap;
 325
 326         /* allocate default packet buffer, may be changed later.
 327          * currently with HIDAPI we have no way of getting the output report length
 328          * without this info we cannot communicate with the adapter.
 329          * For the moment we ahve to hard code the packet size */
 330
 331         int packet_size = PACKET_SIZE;
 332
 333         /* atmel cmsis-dap uses 512 byte reports */
 334         /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained
 335          * board */
 336         /* TODO: HID report descriptor should be parsed instead of
 337          * hardcoding a match by VID */
 338         if (target_vid == 0x03eb && target_pid != 0x2145)
 339                 packet_size = 512 + 1;
 340
 341         cmsis_dap_handle->packet_buffer = malloc(packet_size);
 342         cmsis_dap_handle->packet_size = packet_size;
 343
 344         if (cmsis_dap_handle->packet_buffer == NULL) {
 345                 LOG_ERROR("unable to allocate memory");
 346                 return ERROR_FAIL;
 347         }
 348
 349         return ERROR_OK;
 350 }
 351
 352 static void cmsis_dap_usb_close(struct cmsis_dap *dap)
 353 {
 354         hid_close(dap->dev_handle);
 355         hid_exit();
 356
 357         free(cmsis_dap_handle->packet_buffer);
 358         free(cmsis_dap_handle);
 359         cmsis_dap_handle = NULL;
 360         free(cmsis_dap_serial);
 361         cmsis_dap_serial = NULL;
 362
 363         for (int i = 0; i < MAX_PENDING_REQUESTS; i++) {
 364                 free(pending_fifo[i].transfers);
 365                 pending_fifo[i].transfers = NULL;
 366         }
 367
 368         return;
 369 }
 370
 371 static int cmsis_dap_usb_write(struct cmsis_dap *dap, int txlen)
 372 {
 373 #ifdef CMSIS_DAP_JTAG_DEBUG
 374         LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
 375 #endif
 376         /* Pad the rest of the TX buffer with 0's */
 377         memset(dap->packet_buffer + txlen, 0, dap->packet_size - txlen);
 378
 379         /* write data to device */
 380         int retval = hid_write(dap->dev_handle, dap->packet_buffer, dap->packet_size);
 381         if (retval == -1) {
 382                 LOG_ERROR("error writing data: %ls", hid_error(dap->dev_handle));
 383                 return ERROR_FAIL;
 384         }
 385
 386         return ERROR_OK;
 387 }
 388
 389 /* Send a message and receive the reply */
 390 static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
 391 {
 392         if (pending_fifo_block_count) {
 393                 LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count);
 394                 while (pending_fifo_block_count) {
 395                         hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, 10);
 396                         pending_fifo_block_count--;
 397                 }
 398                 pending_fifo_put_idx = 0;
 399                 pending_fifo_get_idx = 0;
 400         }
 401
 402         int retval = cmsis_dap_usb_write(dap, txlen);
 403         if (retval != ERROR_OK)
 404                 return retval;
 405
 406         /* get reply */
 407         retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
 408         if (retval == -1 || retval == 0) {
 409                 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
 410                 return ERROR_FAIL;
 411         }
 412
 413         return ERROR_OK;
 414 }
 415
 416 static int cmsis_dap_cmd_DAP_SWJ_Pins(uint8_t pins, uint8_t mask, uint32_t delay, uint8_t *input)
 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_SWJ_PINS;
 423         buffer[2] = pins;
 424         buffer[3] = mask;
 425         buffer[4] = delay & 0xff;
 426         buffer[5] = (delay >> 8) & 0xff;
 427         buffer[6] = (delay >> 16) & 0xff;
 428         buffer[7] = (delay >> 24) & 0xff;
 429         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 8);
 430
 431         if (retval != ERROR_OK) {
 432                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_PINS failed.");
 433                 return ERROR_JTAG_DEVICE_ERROR;
 434         }
 435
 436         if (input)
 437                 *input = buffer[1];
 438
 439         return ERROR_OK;
 440 }
 441
 442 static int cmsis_dap_cmd_DAP_SWJ_Clock(uint32_t swj_clock)
 443 {
 444         int retval;
 445         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 446
 447         /* set clock in Hz */
 448         swj_clock *= 1000;
 449         buffer[0] = 0;  /* report number */
 450         buffer[1] = CMD_DAP_SWJ_CLOCK;
 451         buffer[2] = swj_clock & 0xff;
 452         buffer[3] = (swj_clock >> 8) & 0xff;
 453         buffer[4] = (swj_clock >> 16) & 0xff;
 454         buffer[5] = (swj_clock >> 24) & 0xff;
 455         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 6);
 456
 457         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 458                 LOG_ERROR("CMSIS-DAP command CMD_DAP_SWJ_CLOCK failed.");
 459                 return ERROR_JTAG_DEVICE_ERROR;
 460         }
 461
 462         return ERROR_OK;
 463 }
 464
 465 /* clock a sequence of bits out on TMS, to change JTAG states */
 466 static int cmsis_dap_cmd_DAP_SWJ_Sequence(uint8_t s_len, const uint8_t *sequence)
 467 {
 468         int retval;
 469         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 470
 471 #ifdef CMSIS_DAP_JTAG_DEBUG
 472         LOG_DEBUG("cmsis-dap TMS sequence: len=%d", s_len);
 473         for (int i = 0; i < DIV_ROUND_UP(s_len, 8); ++i)
 474                 printf("%02X ", sequence[i]);
 475
 476         printf("\n");
 477 #endif
 478
 479         buffer[0] = 0;  /* report number */
 480         buffer[1] = CMD_DAP_SWJ_SEQ;
 481         buffer[2] = s_len;
 482         bit_copy(&buffer[3], 0, sequence, 0, s_len);
 483
 484         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, DIV_ROUND_UP(s_len, 8) + 3);
 485
 486         if (retval != ERROR_OK || buffer[1] != DAP_OK)
 487                 return ERROR_FAIL;
 488
 489         return ERROR_OK;
 490 }
 491
 492 static int cmsis_dap_cmd_DAP_Info(uint8_t info, uint8_t **data)
 493 {
 494         int retval;
 495         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 496
 497         buffer[0] = 0;  /* report number */
 498         buffer[1] = CMD_DAP_INFO;
 499         buffer[2] = info;
 500         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 501
 502         if (retval != ERROR_OK) {
 503                 LOG_ERROR("CMSIS-DAP command CMD_INFO failed.");
 504                 return ERROR_JTAG_DEVICE_ERROR;
 505         }
 506
 507         *data = &(buffer[1]);
 508
 509         return ERROR_OK;
 510 }
 511
 512 static int cmsis_dap_cmd_DAP_LED(uint8_t leds)
 513 {
 514         int retval;
 515         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 516
 517         buffer[0] = 0;  /* report number */
 518         buffer[1] = CMD_DAP_LED;
 519         buffer[2] = 0x00;
 520         buffer[3] = leds;
 521         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 522
 523         if (retval != ERROR_OK || buffer[1] != 0x00) {
 524                 LOG_ERROR("CMSIS-DAP command CMD_LED failed.");
 525                 return ERROR_JTAG_DEVICE_ERROR;
 526         }
 527
 528         return ERROR_OK;
 529 }
 530
 531 static int cmsis_dap_cmd_DAP_Connect(uint8_t mode)
 532 {
 533         int retval;
 534         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 535
 536         buffer[0] = 0;  /* report number */
 537         buffer[1] = CMD_DAP_CONNECT;
 538         buffer[2] = mode;
 539         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 540
 541         if (retval != ERROR_OK) {
 542                 LOG_ERROR("CMSIS-DAP command CMD_CONNECT failed.");
 543                 return ERROR_JTAG_DEVICE_ERROR;
 544         }
 545
 546         if (buffer[1] != mode) {
 547                 LOG_ERROR("CMSIS-DAP failed to connect in mode (%d)", mode);
 548                 return ERROR_JTAG_DEVICE_ERROR;
 549         }
 550
 551         return ERROR_OK;
 552 }
 553
 554 static int cmsis_dap_cmd_DAP_Disconnect(void)
 555 {
 556         int retval;
 557         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 558
 559         buffer[0] = 0;  /* report number */
 560         buffer[1] = CMD_DAP_DISCONNECT;
 561         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 2);
 562
 563         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 564                 LOG_ERROR("CMSIS-DAP command CMD_DISCONNECT failed.");
 565                 return ERROR_JTAG_DEVICE_ERROR;
 566         }
 567
 568         return ERROR_OK;
 569 }
 570
 571 static int cmsis_dap_cmd_DAP_TFER_Configure(uint8_t idle, uint16_t retry_count, uint16_t match_retry)
 572 {
 573         int retval;
 574         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 575
 576         buffer[0] = 0;  /* report number */
 577         buffer[1] = CMD_DAP_TFER_CONFIGURE;
 578         buffer[2] = idle;
 579         buffer[3] = retry_count & 0xff;
 580         buffer[4] = (retry_count >> 8) & 0xff;
 581         buffer[5] = match_retry & 0xff;
 582         buffer[6] = (match_retry >> 8) & 0xff;
 583         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 7);
 584
 585         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 586                 LOG_ERROR("CMSIS-DAP command CMD_TFER_Configure failed.");
 587                 return ERROR_JTAG_DEVICE_ERROR;
 588         }
 589
 590         return ERROR_OK;
 591 }
 592
 593 static int cmsis_dap_cmd_DAP_SWD_Configure(uint8_t cfg)
 594 {
 595         int retval;
 596         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 597
 598         buffer[0] = 0;  /* report number */
 599         buffer[1] = CMD_DAP_SWD_CONFIGURE;
 600         buffer[2] = cfg;
 601         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 3);
 602
 603         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 604                 LOG_ERROR("CMSIS-DAP command CMD_SWD_Configure failed.");
 605                 return ERROR_JTAG_DEVICE_ERROR;
 606         }
 607
 608         return ERROR_OK;
 609 }
 610
 611 #if 0
 612 static int cmsis_dap_cmd_DAP_Delay(uint16_t delay_us)
 613 {
 614         int retval;
 615         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
 616
 617         buffer[0] = 0;  /* report number */
 618         buffer[1] = CMD_DAP_DELAY;
 619         buffer[2] = delay_us & 0xff;
 620         buffer[3] = (delay_us >> 8) & 0xff;
 621         retval = cmsis_dap_usb_xfer(cmsis_dap_handle, 4);
 622
 623         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
 624                 LOG_ERROR("CMSIS-DAP command CMD_Delay failed.");
 625                 return ERROR_JTAG_DEVICE_ERROR;
 626         }
 627
 628         return ERROR_OK;
 629 }
 630 #endif
 631
 632 static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
 633 {
 634         uint8_t *buffer = dap->packet_buffer;
 635         struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
 636
 637         LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx);
 638
 639         if (queued_retval != ERROR_OK) {
 640                 LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
 641                 goto skip;
 642         }
 643
 644         if (block->transfer_count == 0)
 645                 goto skip;
 646
 647         size_t idx = 0;
 648         buffer[idx++] = 0;      /* report number */
 649         buffer[idx++] = CMD_DAP_TFER;
 650         buffer[idx++] = 0x00;   /* DAP Index */
 651         buffer[idx++] = block->transfer_count;
 652
 653         for (int i = 0; i < block->transfer_count; i++) {
 654                 struct pending_transfer_result *transfer = &(block->transfers[i]);
 655                 uint8_t cmd = transfer->cmd;
 656                 uint32_t data = transfer->data;
 657
 658                 LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
 659                                 cmd & SWD_CMD_APnDP ? "AP" : "DP",
 660                                 cmd & SWD_CMD_RnW ? "read" : "write",
 661                           (cmd & SWD_CMD_A32) >> 1, data);
 662
 663                 /* When proper WAIT handling is implemented in the
 664                  * common SWD framework, this kludge can be
 665                  * removed. However, this might lead to minor
 666                  * performance degradation as the adapter wouldn't be
 667                  * able to automatically retry anything (because ARM
 668                  * has forgotten to implement sticky error flags
 669                  * clearing). See also comments regarding
 670                  * cmsis_dap_cmd_DAP_TFER_Configure() and
 671                  * cmsis_dap_cmd_DAP_SWD_Configure() in
 672                  * cmsis_dap_init().
 673                  */
 674                 if (!(cmd & SWD_CMD_RnW) &&
 675                     !(cmd & SWD_CMD_APnDP) &&
 676                     (cmd & SWD_CMD_A32) >> 1 == DP_CTRL_STAT &&
 677                     (data & CORUNDETECT)) {
 678                         LOG_DEBUG("refusing to enable sticky overrun detection");
 679                         data &= ~CORUNDETECT;
 680                 }
 681
 682                 buffer[idx++] = (cmd >> 1) & 0x0f;
 683                 if (!(cmd & SWD_CMD_RnW)) {
 684                         buffer[idx++] = (data) & 0xff;
 685                         buffer[idx++] = (data >> 8) & 0xff;
 686                         buffer[idx++] = (data >> 16) & 0xff;
 687                         buffer[idx++] = (data >> 24) & 0xff;
 688                 }
 689         }
 690
 691         queued_retval = cmsis_dap_usb_write(dap, idx);
 692         if (queued_retval != ERROR_OK)
 693                 goto skip;
 694
 695         pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count;
 696         pending_fifo_block_count++;
 697         if (pending_fifo_block_count > dap->packet_count)
 698                 LOG_ERROR("too much pending writes %d", pending_fifo_block_count);
 699
 700         return;
 701
 702 skip:
 703         block->transfer_count = 0;
 704 }
 705
 706 static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
 707 {
 708         uint8_t *buffer = dap->packet_buffer;
 709         struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx];
 710
 711         if (pending_fifo_block_count == 0)
 712                 LOG_ERROR("no pending write");
 713
 714         /* get reply */
 715         int retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, timeout_ms);
 716         if (retval == 0 && timeout_ms < USB_TIMEOUT)
 717                 return;
 718
 719         if (retval == -1 || retval == 0) {
 720                 LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
 721                 queued_retval = ERROR_FAIL;
 722                 goto skip;
 723         }
 724
 725         if (buffer[2] & 0x08) {
 726                 LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", buffer[1]);
 727                 queued_retval = ERROR_FAIL;
 728                 goto skip;
 729         }
 730         uint8_t ack = buffer[2] & 0x07;
 731         if (ack != SWD_ACK_OK) {
 732                 LOG_DEBUG("SWD ack not OK @ %d %s", buffer[1],
 733                           ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
 734                 queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
 735                 goto skip;
 736         }
 737
 738         if (block->transfer_count != buffer[1])
 739                 LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
 740                           block->transfer_count, buffer[1]);
 741
 742         LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d", buffer[1], pending_fifo_get_idx);
 743         size_t idx = 3;
 744         for (int i = 0; i < buffer[1]; i++) {
 745                 struct pending_transfer_result *transfer = &(block->transfers[i]);
 746                 if (transfer->cmd & SWD_CMD_RnW) {
 747                         static uint32_t last_read;
 748                         uint32_t data = le_to_h_u32(&buffer[idx]);
 749                         uint32_t tmp = data;
 750                         idx += 4;
 751
 752                         LOG_DEBUG_IO("Read result: %"PRIx32, data);
 753
 754                         /* Imitate posted AP reads */
 755                         if ((transfer->cmd & SWD_CMD_APnDP) ||
 756                             ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
 757                                 tmp = last_read;
 758                                 last_read = data;
 759                         }
 760
 761                         if (transfer->buffer)
 762                                 *(uint32_t *)(transfer->buffer) = tmp;
 763                 }
 764         }
 765
 766 skip:
 767         block->transfer_count = 0;
 768         pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count;
 769         pending_fifo_block_count--;
 770 }
 771
 772 static int cmsis_dap_swd_run_queue(void)
 773 {
 774         if (pending_fifo_block_count)
 775                 cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
 776
 777         cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
 778
 779         while (pending_fifo_block_count)
 780                 cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
 781
 782         pending_fifo_put_idx = 0;
 783         pending_fifo_get_idx = 0;
 784
 785         int retval = queued_retval;
 786         queued_retval = ERROR_OK;
 787
 788         return retval;
 789 }
 790
 791 static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
 792 {
 793         if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len) {
 794                 if (pending_fifo_block_count)
 795                         cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
 796
 797                 /* Not enough room in the queue. Run the queue. */
 798                 cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
 799
 800                 if (pending_fifo_block_count >= cmsis_dap_handle->packet_count)
 801                         cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
 802         }
 803
 804         if (queued_retval != ERROR_OK)
 805                 return;
 806
 807         struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
 808         struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
 809         transfer->data = data;
 810         transfer->cmd = cmd;
 811         if (cmd & SWD_CMD_RnW) {
 812                 /* Queue a read transaction */
 813                 transfer->buffer = dst;
 814         }
 815         block->transfer_count++;
 816 }
 817
 818 static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
 819 {
 820         assert(!(cmd & SWD_CMD_RnW));
 821         cmsis_dap_swd_queue_cmd(cmd, NULL, value);
 822 }
 823
 824 static void cmsis_dap_swd_read_reg(uint8_t cmd, uint32_t *value, uint32_t ap_delay_clk)
 825 {
 826         assert(cmd & SWD_CMD_RnW);
 827         cmsis_dap_swd_queue_cmd(cmd, value, 0);
 828 }
 829
 830 static int cmsis_dap_get_serial_info(void)
 831 {
 832         uint8_t *data;
 833
 834         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM, &data);
 835         if (retval != ERROR_OK)
 836                 return retval;
 837
 838         if (data[0]) /* strlen */
 839                 LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
 840
 841         return ERROR_OK;
 842 }
 843
 844 static int cmsis_dap_get_version_info(void)
 845 {
 846         uint8_t *data;
 847
 848         /* INFO_ID_FW_VER - string */
 849         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_FW_VER, &data);
 850         if (retval != ERROR_OK)
 851                 return retval;
 852
 853         if (data[0]) /* strlen */
 854                 LOG_INFO("CMSIS-DAP: FW Version = %s", &data[1]);
 855
 856         return ERROR_OK;
 857 }
 858
 859 static int cmsis_dap_get_caps_info(void)
 860 {
 861         uint8_t *data;
 862
 863         /* INFO_ID_CAPS - byte */
 864         int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_CAPS, &data);
 865         if (retval != ERROR_OK)
 866                 return retval;
 867
 868         if (data[0] == 1) {
 869                 uint8_t caps = data[1];
 870
 871                 cmsis_dap_handle->caps = caps;
 872
 873                 if (caps & INFO_CAPS_SWD)
 874                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[0]);
 875                 if (caps & INFO_CAPS_JTAG)
 876                         LOG_INFO("CMSIS-DAP: %s", info_caps_str[1]);
 877         }
 878
 879         return ERROR_OK;
 880 }
 881
 882 static int cmsis_dap_get_status(void)
 883 {
 884         uint8_t d;
 885
 886         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, 0, 0, &d);
 887
 888         if (retval == ERROR_OK) {
 889                 LOG_INFO("SWCLK/TCK = %d SWDIO/TMS = %d TDI = %d TDO = %d nTRST = %d nRESET = %d",
 890                         (d & SWJ_PIN_TCK) ? 1 : 0,
 891                         (d & SWJ_PIN_TMS) ? 1 : 0,
 892                         (d & SWJ_PIN_TDI) ? 1 : 0,
 893                         (d & SWJ_PIN_TDO) ? 1 : 0,
 894                         (d & SWJ_PIN_TRST) ? 1 : 0,
 895                         (d & SWJ_PIN_SRST) ? 1 : 0);
 896         }
 897
 898         return retval;
 899 }
 900
 901 static int cmsis_dap_swd_switch_seq(enum swd_special_seq seq)
 902 {
 903         const uint8_t *s;
 904         unsigned int s_len;
 905         int retval;
 906
 907         if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
 908                 /* Following workaround deasserts reset on most adapters.
 909                  * Do not reconnect if a reset line is active!
 910                  * Reconnecting would break connecting under reset. */
 911
 912                 /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
 913                 cmsis_dap_cmd_DAP_Disconnect();
 914
 915                 /* When we are reconnecting, DAP_Connect needs to be rerun, at
 916                  * least on Keil ULINK-ME */
 917                 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
 918                 if (retval != ERROR_OK)
 919                         return retval;
 920         }
 921
 922         switch (seq) {
 923         case LINE_RESET:
 924                 LOG_DEBUG("SWD line reset");
 925                 s = swd_seq_line_reset;
 926                 s_len = swd_seq_line_reset_len;
 927                 break;
 928         case JTAG_TO_SWD:
 929                 LOG_DEBUG("JTAG-to-SWD");
 930                 s = swd_seq_jtag_to_swd;
 931                 s_len = swd_seq_jtag_to_swd_len;
 932                 break;
 933         case SWD_TO_JTAG:
 934                 LOG_DEBUG("SWD-to-JTAG");
 935                 s = swd_seq_swd_to_jtag;
 936                 s_len = swd_seq_swd_to_jtag_len;
 937                 break;
 938         default:
 939                 LOG_ERROR("Sequence %d not supported", seq);
 940                 return ERROR_FAIL;
 941         }
 942
 943         retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
 944         if (retval != ERROR_OK)
 945                 return retval;
 946
 947         /* Atmel EDBG needs renew clock setting after SWJ_Sequence
 948          * otherwise default frequency is used */
 949         return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
 950 }
 951
 952 static int cmsis_dap_swd_open(void)
 953 {
 954         int retval;
 955
 956         if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
 957                 LOG_ERROR("CMSIS-DAP: SWD not supported");
 958                 return ERROR_JTAG_DEVICE_ERROR;
 959         }
 960
 961         retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
 962         if (retval != ERROR_OK)
 963                 return retval;
 964
 965         /* Add more setup here.??... */
 966
 967         LOG_INFO("CMSIS-DAP: Interface Initialised (SWD)");
 968         return ERROR_OK;
 969 }
 970
 971 static int cmsis_dap_init(void)
 972 {
 973         int retval;
 974         uint8_t *data;
 975
 976         retval = cmsis_dap_usb_open();
 977         if (retval != ERROR_OK)
 978                 return retval;
 979
 980         retval = cmsis_dap_get_caps_info();
 981         if (retval != ERROR_OK)
 982                 return retval;
 983
 984         retval = cmsis_dap_get_version_info();
 985         if (retval != ERROR_OK)
 986                 return retval;
 987
 988         retval = cmsis_dap_get_serial_info();
 989         if (retval != ERROR_OK)
 990                 return retval;
 991
 992         if (swd_mode) {
 993                 retval = cmsis_dap_swd_open();
 994                 if (retval != ERROR_OK)
 995                         return retval;
 996         } else {
 997                 /* Connect in JTAG mode */
 998                 if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
 999                         LOG_ERROR("CMSIS-DAP: JTAG not supported");
1000                         return ERROR_JTAG_DEVICE_ERROR;
1001                 }
1002
1003                 retval = cmsis_dap_cmd_DAP_Connect(CONNECT_JTAG);
1004                 if (retval != ERROR_OK)
1005                         return retval;
1006
1007                 LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
1008         }
1009
1010         /* Be conservative and supress submiting multiple HID requests
1011          * until we get packet count info from the adaptor */
1012         cmsis_dap_handle->packet_count = 1;
1013         pending_queue_len = 12;
1014
1015         /* INFO_ID_PKT_SZ - short */
1016         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
1017         if (retval != ERROR_OK)
1018                 return retval;
1019
1020         if (data[0] == 2) {  /* short */
1021                 uint16_t pkt_sz = data[1] + (data[2] << 8);
1022
1023                 /* 4 bytes of command header + 5 bytes per register
1024                  * write. For bulk read sequences just 4 bytes are
1025                  * needed per transfer, so this is suboptimal. */
1026                 pending_queue_len = (pkt_sz - 4) / 5;
1027
1028                 if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
1029                         /* reallocate buffer */
1030                         cmsis_dap_handle->packet_size = pkt_sz + 1;
1031                         cmsis_dap_handle->packet_buffer = realloc(cmsis_dap_handle->packet_buffer,
1032                                         cmsis_dap_handle->packet_size);
1033                         if (cmsis_dap_handle->packet_buffer == NULL) {
1034                                 LOG_ERROR("unable to reallocate memory");
1035                                 return ERROR_FAIL;
1036                         }
1037                 }
1038
1039                 LOG_DEBUG("CMSIS-DAP: Packet Size = %" PRId16, pkt_sz);
1040         }
1041
1042         /* INFO_ID_PKT_CNT - byte */
1043         retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_CNT, &data);
1044         if (retval != ERROR_OK)
1045                 return retval;
1046
1047         if (data[0] == 1) { /* byte */
1048                 int pkt_cnt = data[1];
1049                 if (pkt_cnt > 1)
1050                         cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
1051
1052                 LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt);
1053         }
1054
1055         LOG_DEBUG("Allocating FIFO for %d pending HID requests", cmsis_dap_handle->packet_count);
1056         for (int i = 0; i < cmsis_dap_handle->packet_count; i++) {
1057                 pending_fifo[i].transfers = malloc(pending_queue_len * sizeof(struct pending_transfer_result));
1058                 if (!pending_fifo[i].transfers) {
1059                         LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
1060                         return ERROR_FAIL;
1061                 }
1062         }
1063
1064
1065         retval = cmsis_dap_get_status();
1066         if (retval != ERROR_OK)
1067                 return ERROR_FAIL;
1068
1069         /* Now try to connect to the target
1070          * TODO: This is all SWD only @ present */
1071         retval = cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
1072         if (retval != ERROR_OK)
1073                 return ERROR_FAIL;
1074
1075         /* Ask CMSIS-DAP to automatically retry on receiving WAIT for
1076          * up to 64 times. This must be changed to 0 if sticky
1077          * overrun detection is enabled. */
1078         retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
1079         if (retval != ERROR_OK)
1080                 return ERROR_FAIL;
1081
1082         if (swd_mode) {
1083                 /* Data Phase (bit 2) must be set to 1 if sticky overrun
1084                  * detection is enabled */
1085                 retval = cmsis_dap_cmd_DAP_SWD_Configure(0);    /* 1 TRN, no Data Phase */
1086                 if (retval != ERROR_OK)
1087                         return ERROR_FAIL;
1088         }
1089
1090         retval = cmsis_dap_cmd_DAP_LED(0x03);           /* Both LEDs on */
1091         if (retval != ERROR_OK)
1092                 return ERROR_FAIL;
1093
1094         /* support connecting with srst asserted */
1095         enum reset_types jtag_reset_config = jtag_get_reset_config();
1096
1097         if (jtag_reset_config & RESET_CNCT_UNDER_SRST) {
1098                 if (jtag_reset_config & RESET_SRST_NO_GATING) {
1099                         retval = cmsis_dap_cmd_DAP_SWJ_Pins(0, (1 << 7), 0, NULL);
1100                         if (retval != ERROR_OK)
1101                                 return ERROR_FAIL;
1102                         LOG_INFO("Connecting under reset");
1103                 }
1104         }
1105
1106         cmsis_dap_cmd_DAP_LED(0x00);                    /* Both LEDs off */
1107
1108         LOG_INFO("CMSIS-DAP: Interface ready");
1109
1110         return ERROR_OK;
1111 }
1112
1113 static int cmsis_dap_swd_init(void)
1114 {
1115         swd_mode = true;
1116         return ERROR_OK;
1117 }
1118
1119 static int cmsis_dap_quit(void)
1120 {
1121         cmsis_dap_cmd_DAP_Disconnect();
1122         cmsis_dap_cmd_DAP_LED(0x00);            /* Both LEDs off */
1123
1124         cmsis_dap_usb_close(cmsis_dap_handle);
1125
1126         return ERROR_OK;
1127 }
1128
1129 static void cmsis_dap_execute_reset(struct jtag_command *cmd)
1130 {
1131         /* Set both TRST and SRST even if they're not enabled as
1132          * there's no way to tristate them */
1133
1134         output_pins = 0;
1135         if (!cmd->cmd.reset->srst)
1136                 output_pins |= SWJ_PIN_SRST;
1137         if (!cmd->cmd.reset->trst)
1138                 output_pins |= SWJ_PIN_TRST;
1139
1140         int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins,
1141                         SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
1142         if (retval != ERROR_OK)
1143                 LOG_ERROR("CMSIS-DAP: Interface reset failed");
1144 }
1145
1146 static void cmsis_dap_execute_sleep(struct jtag_command *cmd)
1147 {
1148 #if 0
1149         int retval = cmsis_dap_cmd_DAP_Delay(cmd->cmd.sleep->us);
1150         if (retval != ERROR_OK)
1151 #endif
1152                 jtag_sleep(cmd->cmd.sleep->us);
1153 }
1154
1155 /* Set TMS high for five TCK clocks, to move the TAP to the Test-Logic-Reset state */
1156 static int cmsis_dap_execute_tlr_reset(struct jtag_command *cmd)
1157 {
1158         LOG_INFO("cmsis-dap JTAG TLR_RESET");
1159         uint8_t seq = 0xff;
1160         int ret = cmsis_dap_cmd_DAP_SWJ_Sequence(8, &seq);
1161         if (ret == ERROR_OK)
1162                 tap_set_state(TAP_RESET);
1163         return ret;
1164 }
1165
1166 /* Set new end state */
1167 static void cmsis_dap_end_state(tap_state_t state)
1168 {
1169         if (tap_is_state_stable(state))
1170                 tap_set_end_state(state);
1171         else {
1172                 LOG_ERROR("BUG: %i is not a valid end state", state);
1173                 exit(-1);
1174         }
1175 }
1176
1177 #ifdef SPRINT_BINARY
1178 static void sprint_binary(char *s, const uint8_t *buf, int offset, int len)
1179 {
1180         if (!len)
1181                 return;
1182
1183         /*
1184         buf = { 0x18 } len=5 should result in: 11000
1185         buf = { 0xff 0x18 } len=13 should result in: 11111111 11000
1186         buf = { 0xc0 0x18 } offset=3 len=10 should result in: 11000 11000
1187                 i=3 there means i/8 = 0 so c = 0xFF, and
1188         */
1189         for (int i = offset; i < offset + len; ++i) {
1190                 uint8_t c = buf[i / 8], mask = 1 << (i % 8);
1191                 if ((i != offset) && !(i % 8))
1192                         putchar(' ');
1193                 *s++ = (c & mask) ? '1' : '0';
1194         }
1195         *s = 0;
1196 }
1197 #endif
1198
1199 #ifdef CMSIS_DAP_JTAG_DEBUG
1200 static void debug_parse_cmsis_buf(const uint8_t *cmd, int cmdlen)
1201 {
1202         /* cmd is a usb packet to go to the cmsis-dap interface */
1203         printf("cmsis-dap buffer (%d b): ", cmdlen);
1204         for (int i = 0; i < cmdlen; ++i)
1205                 printf(" %02x", cmd[i]);
1206         printf("\n");
1207         switch (cmd[1]) {
1208                 case CMD_DAP_JTAG_SEQ: {
1209                         printf("cmsis-dap jtag sequence command %02x (n=%d)\n", cmd[1], cmd[2]);
1210                         /*
1211                          * #2 = number of sequences
1212                          * #3 = sequence info 1
1213                          * #4...4+n_bytes-1 = sequence 1
1214                          * #4+n_bytes = sequence info 2
1215                          * #5+n_bytes = sequence 2 (single bit)
1216                          */
1217                         int pos = 3;
1218                         for (int seq = 0; seq < cmd[2]; ++seq) {
1219                                 uint8_t info = cmd[pos++];
1220                                 int len = info & DAP_JTAG_SEQ_TCK;
1221                                 if (len == 0)
1222                                         len = 64;
1223                                 printf("  sequence %d starting %d: info %02x (len=%d tms=%d read_tdo=%d): ",
1224                                         seq, pos, info, len, info & DAP_JTAG_SEQ_TMS, info & DAP_JTAG_SEQ_TDO);
1225                                 for (int i = 0; i < DIV_ROUND_UP(len, 8); ++i)
1226                                         printf(" %02x", cmd[pos+i]);
1227                                 pos += DIV_ROUND_UP(len, 8);
1228                                 printf("\n");
1229                         }
1230                         if (pos != cmdlen) {
1231                                 printf("BUFFER LENGTH MISMATCH looks like %d but %d specified", pos, cmdlen);
1232                                 exit(-1);
1233                         }
1234
1235                         break;
1236                 }
1237                 default:
1238                         LOG_DEBUG("unknown cmsis-dap command %02x", cmd[1]);
1239                         break;
1240         }
1241 }
1242 #endif
1243
1244 static void cmsis_dap_flush(void)
1245 {
1246         if (!queued_seq_count)
1247                 return;
1248
1249         DEBUG_JTAG_IO("Flushing %d queued sequences (%d bytes) with %d pending scan results to capture",
1250                 queued_seq_count, queued_seq_buf_end, pending_scan_result_count);
1251
1252         /* prep CMSIS-DAP packet */
1253         uint8_t *buffer = cmsis_dap_handle->packet_buffer;
1254         buffer[0] = 0;  /* report number */
1255         buffer[1] = CMD_DAP_JTAG_SEQ;
1256         buffer[2] = queued_seq_count;
1257         memcpy(buffer + 3, queued_seq_buf, queued_seq_buf_end);
1258
1259 #ifdef CMSIS_DAP_JTAG_DEBUG
1260         debug_parse_cmsis_buf(buffer, queued_seq_buf_end + 3);
1261 #endif
1262
1263         /* send command to USB device */
1264         int retval = cmsis_dap_usb_xfer(cmsis_dap_handle, queued_seq_buf_end + 3);
1265         if (retval != ERROR_OK || buffer[1] != DAP_OK) {
1266                 LOG_ERROR("CMSIS-DAP command CMD_DAP_JTAG_SEQ failed.");
1267                 exit(-1);
1268         }
1269
1270 #ifdef CMSIS_DAP_JTAG_DEBUG
1271         DEBUG_JTAG_IO("USB response buf:");
1272         for (int c = 0; c < queued_seq_buf_end + 3; ++c)
1273                 printf("%02X ", buffer[c]);
1274         printf("\n");
1275 #endif
1276
1277         /* copy scan results into client buffers */
1278         for (int i = 0; i < pending_scan_result_count; ++i) {
1279                 struct pending_scan_result *scan = &pending_scan_results[i];
1280                 DEBUG_JTAG_IO("Copying pending_scan_result %d/%d: %d bits from byte %d -> buffer + %d bits",
1281                         i, pending_scan_result_count, scan->length, scan->first + 2, scan->buffer_offset);
1282 #ifdef CMSIS_DAP_JTAG_DEBUG
1283                 for (uint32_t b = 0; b < DIV_ROUND_UP(scan->length, 8); ++b)
1284                         printf("%02X ", buffer[2+scan->first+b]);
1285                 printf("\n");
1286 #endif
1287                 bit_copy(scan->buffer, scan->buffer_offset, buffer + 2 + scan->first, 0, scan->length);
1288         }
1289
1290         /* reset */
1291         queued_seq_count = 0;
1292         queued_seq_buf_end = 0;
1293         queued_seq_tdo_ptr = 0;
1294         pending_scan_result_count = 0;
1295 }
1296
1297 /* queue a sequence of bits to clock out TDI / in TDO, executing if the buffer is full.
1298  *
1299  * sequence=NULL means clock out zeros on TDI
1300  * tdo_buffer=NULL means don't capture TDO
1301  */
1302 static void cmsis_dap_add_jtag_sequence(int s_len, const uint8_t *sequence, int s_offset,
1303                                         bool tms, uint8_t *tdo_buffer, int tdo_buffer_offset)
1304 {
1305         DEBUG_JTAG_IO("[at %d] %d bits, tms %s, seq offset %d, tdo buf %p, tdo offset %d",
1306                 queued_seq_buf_end,
1307                 s_len, tms ? "HIGH" : "LOW", s_offset, tdo_buffer, tdo_buffer_offset);
1308
1309         if (s_len == 0)
1310                 return;
1311
1312         if (s_len > 64) {
1313                 DEBUG_JTAG_IO("START JTAG SEQ SPLIT");
1314                 for (int offset = 0; offset < s_len; offset += 64) {
1315                         int len = s_len - offset;
1316                         if (len > 64)
1317                                 len = 64;
1318                         DEBUG_JTAG_IO("Splitting long jtag sequence: %d-bit chunk starting at offset %d", len, offset);
1319                         cmsis_dap_add_jtag_sequence(
1320                                 len,
1321                                 sequence,
1322                                 s_offset + offset,
1323                                 tms,
1324                                 tdo_buffer,
1325                                 tdo_buffer == NULL ? 0 : (tdo_buffer_offset + offset)
1326                                 );
1327                 }
1328                 DEBUG_JTAG_IO("END JTAG SEQ SPLIT");
1329                 return;
1330         }
1331
1332         int cmd_len = 1 + DIV_ROUND_UP(s_len, 8);
1333         if (queued_seq_count >= 255 || queued_seq_buf_end + cmd_len > QUEUED_SEQ_BUF_LEN)
1334                 /* empty out the buffer */
1335                 cmsis_dap_flush();
1336
1337         ++queued_seq_count;
1338
1339         /* control byte */
1340         queued_seq_buf[queued_seq_buf_end] =
1341                 (tms ? DAP_JTAG_SEQ_TMS : 0) |
1342                 (tdo_buffer != NULL ? DAP_JTAG_SEQ_TDO : 0) |
1343                 (s_len == 64 ? 0 : s_len);
1344
1345         if (sequence != NULL)
1346                 bit_copy(&queued_seq_buf[queued_seq_buf_end + 1], 0, sequence, s_offset, s_len);
1347         else
1348                 memset(&queued_seq_buf[queued_seq_buf_end + 1], 0, DIV_ROUND_UP(s_len, 8));
1349
1350         queued_seq_buf_end += cmd_len;
1351
1352         if (tdo_buffer != NULL) {
1353                 struct pending_scan_result *scan = &pending_scan_results[pending_scan_result_count++];
1354                 scan->first = queued_seq_tdo_ptr;
1355                 queued_seq_tdo_ptr += DIV_ROUND_UP(s_len, 8);
1356                 scan->length = s_len;
1357                 scan->buffer = tdo_buffer;
1358                 scan->buffer_offset = tdo_buffer_offset;
1359         }
1360 }
1361
1362 /* queue a sequence of bits to clock out TMS, executing if the buffer is full */
1363 static void cmsis_dap_add_tms_sequence(const uint8_t *sequence, int s_len)
1364 {
1365         DEBUG_JTAG_IO("%d bits: %02X", s_len, *sequence);
1366         /* we use a series of CMD_DAP_JTAG_SEQ commands to toggle TMS,
1367            because even though it seems ridiculously inefficient, it
1368            allows us to combine TMS and scan sequences into the same
1369            USB packet. */
1370         /* TODO: combine runs of the same tms value */
1371         for (int i = 0; i < s_len; ++i) {
1372                 bool bit = (sequence[i / 8] & (1 << (i % 8))) != 0;
1373                 cmsis_dap_add_jtag_sequence(1, NULL, 0, bit, NULL, 0);
1374         }
1375 }
1376
1377 /* Move to the end state by queuing a sequence to clock into TMS */
1378 static void cmsis_dap_state_move(void)
1379 {
1380         uint8_t tms_scan;
1381         uint8_t tms_scan_bits;
1382
1383         tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1384         tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1385
1386         DEBUG_JTAG_IO("state move from %s to %s: %d clocks, %02X on tms",
1387                 tap_state_name(tap_get_state()), tap_state_name(tap_get_end_state()),
1388                 tms_scan_bits, tms_scan);
1389         cmsis_dap_add_tms_sequence(&tms_scan, tms_scan_bits);
1390
1391         tap_set_state(tap_get_end_state());
1392 }
1393
1394
1395 /* Execute a JTAG scan operation by queueing TMS and TDI/TDO sequences */
1396 static void cmsis_dap_execute_scan(struct jtag_command *cmd)
1397 {
1398         DEBUG_JTAG_IO("%s type:%d", cmd->cmd.scan->ir_scan ? "IRSCAN" : "DRSCAN",
1399                 jtag_scan_type(cmd->cmd.scan));
1400
1401         /* Make sure there are no trailing fields with num_bits == 0, or the logic below will fail. */
1402         while (cmd->cmd.scan->num_fields > 0
1403                         && cmd->cmd.scan->fields[cmd->cmd.scan->num_fields - 1].num_bits == 0) {
1404                 cmd->cmd.scan->num_fields--;
1405                 LOG_DEBUG("discarding trailing empty field");
1406         }
1407
1408         if (cmd->cmd.scan->num_fields == 0) {
1409                 LOG_DEBUG("empty scan, doing nothing");
1410                 return;
1411         }
1412
1413         if (cmd->cmd.scan->ir_scan) {
1414                 if (tap_get_state() != TAP_IRSHIFT) {
1415                         cmsis_dap_end_state(TAP_IRSHIFT);
1416                         cmsis_dap_state_move();
1417                 }
1418         } else {
1419                 if (tap_get_state() != TAP_DRSHIFT) {
1420                         cmsis_dap_end_state(TAP_DRSHIFT);
1421                         cmsis_dap_state_move();
1422                 }
1423         }
1424
1425         cmsis_dap_end_state(cmd->cmd.scan->end_state);
1426
1427         struct scan_field *field = cmd->cmd.scan->fields;
1428         unsigned scan_size = 0;
1429
1430         for (int i = 0; i < cmd->cmd.scan->num_fields; i++, field++) {
1431                 scan_size += field->num_bits;
1432                 DEBUG_JTAG_IO("%s%s field %d/%d %d bits",
1433                         field->in_value ? "in" : "",
1434                         field->out_value ? "out" : "",
1435                         i,
1436                         cmd->cmd.scan->num_fields,
1437                         field->num_bits);
1438
1439                 if (i == cmd->cmd.scan->num_fields - 1 && tap_get_state() != tap_get_end_state()) {
1440                         DEBUG_JTAG_IO("Last field and have to move out of SHIFT state");
1441                         /* Last field, and we're leaving IRSHIFT/DRSHIFT. Clock last bit during tap
1442                          * movement. This last field can't have length zero, it was checked above. */
1443                         cmsis_dap_add_jtag_sequence(
1444                                 field->num_bits - 1, /* number of bits to clock */
1445                                 field->out_value, /* output sequence */
1446                                 0, /* output offset */
1447                                 false, /* TMS low */
1448                                 field->in_value,
1449                                 0);
1450
1451                         /* Clock the last bit out, with TMS high */
1452                         uint8_t last_bit = 0;
1453                         if (field->out_value)
1454                                 bit_copy(&last_bit, 0, field->out_value, field->num_bits - 1, 1);
1455                         cmsis_dap_add_jtag_sequence(
1456                                 1,
1457                                 &last_bit,
1458                                 0,
1459                                 true,
1460                                 field->in_value,
1461                                 field->num_bits - 1);
1462                         tap_set_state(tap_state_transition(tap_get_state(), 1));
1463
1464                         /* Now clock one more cycle, with TMS low, to get us into a PAUSE state */
1465                         cmsis_dap_add_jtag_sequence(
1466                                 1,
1467                                 &last_bit,
1468                                 0,
1469                                 false,
1470                                 NULL,
1471                                 0);
1472                         tap_set_state(tap_state_transition(tap_get_state(), 0));
1473                 } else {
1474                         DEBUG_JTAG_IO("Internal field, staying in SHIFT state afterwards");
1475                         /* Clocking part of a sequence into DR or IR with TMS=0,
1476                            leaving TMS=0 at the end so we can continue later */
1477                         cmsis_dap_add_jtag_sequence(
1478                                 field->num_bits,
1479                                 field->out_value,
1480                                 0,
1481                                 false,
1482                                 field->in_value,
1483                                 0);
1484                 }
1485         }
1486
1487         if (tap_get_state() != tap_get_end_state()) {
1488                 cmsis_dap_end_state(tap_get_end_state());
1489                 cmsis_dap_state_move();
1490         }
1491
1492         DEBUG_JTAG_IO("%s scan, %i bits, end in %s",
1493                 (cmd->cmd.scan->ir_scan) ? "IR" : "DR", scan_size,
1494                 tap_state_name(tap_get_end_state()));
1495 }
1496
1497 static void cmsis_dap_pathmove(int num_states, tap_state_t *path)
1498 {
1499         int i;
1500         uint8_t tms0 = 0x00;
1501         uint8_t tms1 = 0xff;
1502
1503         for (i = 0; i < num_states; i++) {
1504                 if (path[i] == tap_state_transition(tap_get_state(), false))
1505                         cmsis_dap_add_tms_sequence(&tms0, 1);
1506                 else if (path[i] == tap_state_transition(tap_get_state(), true))
1507                         cmsis_dap_add_tms_sequence(&tms1, 1);
1508                 else {
1509                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition.",
1510                                   tap_state_name(tap_get_state()), tap_state_name(path[i]));
1511                         exit(-1);
1512                 }
1513
1514                 tap_set_state(path[i]);
1515         }
1516
1517         cmsis_dap_end_state(tap_get_state());
1518 }
1519
1520 static void cmsis_dap_execute_pathmove(struct jtag_command *cmd)
1521 {
1522         DEBUG_JTAG_IO("pathmove: %i states, end in %i",
1523                       cmd->cmd.pathmove->num_states,
1524                cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
1525
1526         cmsis_dap_pathmove(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
1527 }
1528
1529 static void cmsis_dap_stableclocks(int num_cycles)
1530 {
1531         int i;
1532
1533         uint8_t tms = tap_get_state() == TAP_RESET;
1534         /* TODO: Perform optimizations? */
1535         /* Execute num_cycles. */
1536         for (i = 0; i < num_cycles; i++)
1537                 cmsis_dap_add_tms_sequence(&tms, 1);
1538 }
1539
1540 static void cmsis_dap_runtest(int num_cycles)
1541 {
1542         tap_state_t saved_end_state = tap_get_end_state();
1543
1544         /* Only do a state_move when we're not already in IDLE. */
1545         if (tap_get_state() != TAP_IDLE) {
1546                 cmsis_dap_end_state(TAP_IDLE);
1547                 cmsis_dap_state_move();
1548         }
1549         cmsis_dap_stableclocks(num_cycles);
1550
1551         /* Finish in end_state. */
1552         cmsis_dap_end_state(saved_end_state);
1553
1554         if (tap_get_state() != tap_get_end_state())
1555                 cmsis_dap_state_move();
1556 }
1557
1558 static void cmsis_dap_execute_runtest(struct jtag_command *cmd)
1559 {
1560         DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles,
1561                       cmd->cmd.runtest->end_state);
1562
1563         cmsis_dap_end_state(cmd->cmd.runtest->end_state);
1564         cmsis_dap_runtest(cmd->cmd.runtest->num_cycles);
1565 }
1566
1567 static void cmsis_dap_execute_stableclocks(struct jtag_command *cmd)
1568 {
1569         DEBUG_JTAG_IO("stableclocks %i cycles", cmd->cmd.runtest->num_cycles);
1570         cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
1571 }
1572
1573 static void cmsis_dap_execute_tms(struct jtag_command *cmd)
1574 {
1575         DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
1576         cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
1577 }
1578
1579 /* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
1580  * JTAG_RUNTEST, JTAG_STABLECLOCKS? */
1581 static void cmsis_dap_execute_command(struct jtag_command *cmd)
1582 {
1583         switch (cmd->type) {
1584                 case JTAG_RESET:
1585                         cmsis_dap_flush();
1586                         cmsis_dap_execute_reset(cmd);
1587                         break;
1588                 case JTAG_SLEEP:
1589                         cmsis_dap_flush();
1590                         cmsis_dap_execute_sleep(cmd);
1591                         break;
1592                 case JTAG_TLR_RESET:
1593                         cmsis_dap_flush();
1594                         cmsis_dap_execute_tlr_reset(cmd);
1595                         break;
1596                 case JTAG_SCAN:
1597                         cmsis_dap_execute_scan(cmd);
1598                         break;
1599                 case JTAG_PATHMOVE:
1600                         cmsis_dap_execute_pathmove(cmd);
1601                         break;
1602                 case JTAG_RUNTEST:
1603                         cmsis_dap_execute_runtest(cmd);
1604                         break;
1605                 case JTAG_STABLECLOCKS:
1606                         cmsis_dap_execute_stableclocks(cmd);
1607                         break;
1608                 case JTAG_TMS:
1609                         cmsis_dap_execute_tms(cmd);
1610                         break;
1611                 default:
1612                         LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
1613                         exit(-1);
1614         }
1615 }
1616
1617 static int cmsis_dap_execute_queue(void)
1618 {
1619         struct jtag_command *cmd = jtag_command_queue;
1620
1621         while (cmd != NULL) {
1622                 cmsis_dap_execute_command(cmd);
1623                 cmd = cmd->next;
1624         }
1625
1626         cmsis_dap_flush();
1627
1628         return ERROR_OK;
1629 }
1630
1631 static int cmsis_dap_speed(int speed)
1632 {
1633         if (speed > DAP_MAX_CLOCK)
1634                 LOG_INFO("High speed (adapter_khz %d) may be limited by adapter firmware.", speed);
1635
1636         if (speed == 0) {
1637                 LOG_ERROR("RTCK not supported. Set nonzero adapter_khz.");
1638                 return ERROR_JTAG_NOT_IMPLEMENTED;
1639         }
1640
1641         return cmsis_dap_cmd_DAP_SWJ_Clock(speed);
1642 }
1643
1644 static int cmsis_dap_speed_div(int speed, int *khz)
1645 {
1646         *khz = speed;
1647         return ERROR_OK;
1648 }
1649
1650 static int cmsis_dap_khz(int khz, int *jtag_speed)
1651 {
1652         *jtag_speed = khz;
1653         return ERROR_OK;
1654 }
1655
1656 static int_least32_t cmsis_dap_swd_frequency(int_least32_t hz)
1657 {
1658         if (hz > 0)
1659                 cmsis_dap_speed(hz / 1000);
1660
1661         return hz;
1662 }
1663
1664
1665 COMMAND_HANDLER(cmsis_dap_handle_info_command)
1666 {
1667         if (cmsis_dap_get_version_info() == ERROR_OK)
1668                 cmsis_dap_get_status();
1669
1670         return ERROR_OK;
1671 }
1672
1673 COMMAND_HANDLER(cmsis_dap_handle_vid_pid_command)
1674 {
1675         if (CMD_ARGC > MAX_USB_IDS * 2) {
1676                 LOG_WARNING("ignoring extra IDs in cmsis_dap_vid_pid "
1677                         "(maximum is %d pairs)", MAX_USB_IDS);
1678                 CMD_ARGC = MAX_USB_IDS * 2;
1679         }
1680         if (CMD_ARGC < 2 || (CMD_ARGC & 1)) {
1681                 LOG_WARNING("incomplete cmsis_dap_vid_pid configuration directive");
1682                 if (CMD_ARGC < 2)
1683                         return ERROR_COMMAND_SYNTAX_ERROR;
1684                 /* remove the incomplete trailing id */
1685                 CMD_ARGC -= 1;
1686         }
1687
1688         unsigned i;
1689         for (i = 0; i < CMD_ARGC; i += 2) {
1690                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i], cmsis_dap_vid[i >> 1]);
1691                 COMMAND_PARSE_NUMBER(u16, CMD_ARGV[i + 1], cmsis_dap_pid[i >> 1]);
1692         }
1693
1694         /*
1695          * Explicitly terminate, in case there are multiples instances of
1696          * cmsis_dap_vid_pid.
1697          */
1698         cmsis_dap_vid[i >> 1] = cmsis_dap_pid[i >> 1] = 0;
1699
1700         return ERROR_OK;
1701 }
1702
1703 COMMAND_HANDLER(cmsis_dap_handle_serial_command)
1704 {
1705         if (CMD_ARGC == 1) {
1706                 size_t len = mbstowcs(NULL, CMD_ARGV[0], 0);
1707                 cmsis_dap_serial = calloc(len + 1, sizeof(wchar_t));
1708                 if (cmsis_dap_serial == NULL) {
1709                         LOG_ERROR("unable to allocate memory");
1710                         return ERROR_OK;
1711                 }
1712                 if (mbstowcs(cmsis_dap_serial, CMD_ARGV[0], len + 1) == (size_t)-1) {
1713                         free(cmsis_dap_serial);
1714                         cmsis_dap_serial = NULL;
1715                         LOG_ERROR("unable to convert serial");
1716                 }
1717         } else {
1718                 LOG_ERROR("expected exactly one argument to cmsis_dap_serial <serial-number>");
1719         }
1720
1721         return ERROR_OK;
1722 }
1723
1724 static const struct command_registration cmsis_dap_subcommand_handlers[] = {
1725         {
1726                 .name = "info",
1727                 .handler = &cmsis_dap_handle_info_command,
1728                 .mode = COMMAND_EXEC,
1729                 .usage = "",
1730                 .help = "show cmsis-dap info",
1731         },
1732         COMMAND_REGISTRATION_DONE
1733 };
1734
1735 static const struct command_registration cmsis_dap_command_handlers[] = {
1736         {
1737                 .name = "cmsis-dap",
1738                 .mode = COMMAND_ANY,
1739                 .help = "perform CMSIS-DAP management",
1740                 .usage = "<cmd>",
1741                 .chain = cmsis_dap_subcommand_handlers,
1742         },
1743         {
1744                 .name = "cmsis_dap_vid_pid",
1745                 .handler = &cmsis_dap_handle_vid_pid_command,
1746                 .mode = COMMAND_CONFIG,
1747                 .help = "the vendor ID and product ID of the CMSIS-DAP device",
1748                 .usage = "(vid pid)* ",
1749         },
1750         {
1751                 .name = "cmsis_dap_serial",
1752                 .handler = &cmsis_dap_handle_serial_command,
1753                 .mode = COMMAND_CONFIG,
1754                 .help = "set the serial number of the adapter",
1755                 .usage = "serial_string",
1756         },
1757         COMMAND_REGISTRATION_DONE
1758 };
1759
1760 static const struct swd_driver cmsis_dap_swd_driver = {
1761         .init = cmsis_dap_swd_init,
1762         .frequency = cmsis_dap_swd_frequency,
1763         .switch_seq = cmsis_dap_swd_switch_seq,
1764         .read_reg = cmsis_dap_swd_read_reg,
1765         .write_reg = cmsis_dap_swd_write_reg,
1766         .run = cmsis_dap_swd_run_queue,
1767 };
1768
1769 static const char * const cmsis_dap_transport[] = { "swd", "jtag", NULL };
1770
1771 struct jtag_interface cmsis_dap_interface = {
1772         .name = "cmsis-dap",
1773         .supported = DEBUG_CAP_TMS_SEQ,
1774         .commands = cmsis_dap_command_handlers,
1775         .swd = &cmsis_dap_swd_driver,
1776         .transports = cmsis_dap_transport,
1777
1778         .execute_queue = cmsis_dap_execute_queue,
1779         .speed = cmsis_dap_speed,
1780         .speed_div = cmsis_dap_speed_div,
1781         .khz = cmsis_dap_khz,
1782         .init = cmsis_dap_init,
1783         .quit = cmsis_dap_quit,
1784 };