struct cmsis_dap {
hid_device *dev_handle;
uint16_t packet_size;
- uint16_t packet_count;
+ int packet_count;
uint8_t *packet_buffer;
uint8_t caps;
uint8_t mode;
void *buffer;
};
+struct pending_request_block {
+ struct pending_transfer_result *transfers;
+ int transfer_count;
+};
+
struct pending_scan_result {
/** Offset in bytes in the CMD_DAP_JTAG_SEQ response buffer. */
unsigned first;
unsigned buffer_offset;
};
-static int pending_transfer_count, pending_queue_len;
-static struct pending_transfer_result *pending_transfers;
+/* Up to MIN(packet_count, MAX_PENDING_REQUESTS) requests may be issued
+ * until the first response arrives */
+#define MAX_PENDING_REQUESTS 3
+
+/* Pending requests are organized as a FIFO - circular buffer */
+/* Each block in FIFO can contain up to pending_queue_len transfers */
+static int pending_queue_len;
+static struct pending_request_block pending_fifo[MAX_PENDING_REQUESTS];
+static int pending_fifo_put_idx, pending_fifo_get_idx;
+static int pending_fifo_block_count;
/* pointers to buffers that will receive jtag scan results on the next flush */
#define MAX_PENDING_SCAN_RESULTS 256
static int queued_retval;
+static uint8_t output_pins = SWJ_PIN_SRST | SWJ_PIN_TRST;
+
static struct cmsis_dap *cmsis_dap_handle;
static int cmsis_dap_usb_open(void)
int packet_size = PACKET_SIZE;
/* atmel cmsis-dap uses 512 byte reports */
+ /* except when it doesn't e.g. with mEDBG on SAMD10 Xplained
+ * board */
/* TODO: HID report descriptor should be parsed instead of
* hardcoding a match by VID */
- if (target_vid == 0x03eb)
+ if (target_vid == 0x03eb && target_pid != 0x2145)
packet_size = 512 + 1;
cmsis_dap_handle->packet_buffer = malloc(packet_size);
cmsis_dap_handle = NULL;
free(cmsis_dap_serial);
cmsis_dap_serial = NULL;
- free(pending_transfers);
- pending_transfers = NULL;
+
+ for (int i = 0; i < MAX_PENDING_REQUESTS; i++) {
+ free(pending_fifo[i].transfers);
+ pending_fifo[i].transfers = NULL;
+ }
return;
}
-/* Send a message and receive the reply */
-static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
+static int cmsis_dap_usb_write(struct cmsis_dap *dap, int txlen)
{
#ifdef CMSIS_DAP_JTAG_DEBUG
LOG_DEBUG("cmsis-dap usb xfer cmd=%02X", dap->packet_buffer[1]);
return ERROR_FAIL;
}
+ return ERROR_OK;
+}
+
+/* Send a message and receive the reply */
+static int cmsis_dap_usb_xfer(struct cmsis_dap *dap, int txlen)
+{
+ if (pending_fifo_block_count) {
+ LOG_ERROR("pending %d blocks, flushing", pending_fifo_block_count);
+ while (pending_fifo_block_count) {
+ hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, 10);
+ pending_fifo_block_count--;
+ }
+ pending_fifo_put_idx = 0;
+ pending_fifo_get_idx = 0;
+ }
+
+ int retval = cmsis_dap_usb_write(dap, txlen);
+ if (retval != ERROR_OK)
+ return retval;
+
/* get reply */
retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, USB_TIMEOUT);
if (retval == -1 || retval == 0) {
}
#endif
-static int cmsis_dap_swd_run_queue(void)
+static void cmsis_dap_swd_write_from_queue(struct cmsis_dap *dap)
{
- uint8_t *buffer = cmsis_dap_handle->packet_buffer;
+ uint8_t *buffer = dap->packet_buffer;
+ struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
- LOG_DEBUG("Executing %d queued transactions", pending_transfer_count);
+ LOG_DEBUG_IO("Executing %d queued transactions from FIFO index %d", block->transfer_count, pending_fifo_put_idx);
if (queued_retval != ERROR_OK) {
LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
goto skip;
}
- if (!pending_transfer_count)
+ if (block->transfer_count == 0)
goto skip;
size_t idx = 0;
buffer[idx++] = 0; /* report number */
buffer[idx++] = CMD_DAP_TFER;
buffer[idx++] = 0x00; /* DAP Index */
- buffer[idx++] = pending_transfer_count;
+ buffer[idx++] = block->transfer_count;
- for (int i = 0; i < pending_transfer_count; i++) {
- uint8_t cmd = pending_transfers[i].cmd;
- uint32_t data = pending_transfers[i].data;
+ for (int i = 0; i < block->transfer_count; i++) {
+ struct pending_transfer_result *transfer = &(block->transfers[i]);
+ uint8_t cmd = transfer->cmd;
+ uint32_t data = transfer->data;
- LOG_DEBUG("%s %s reg %x %"PRIx32,
+ LOG_DEBUG_IO("%s %s reg %x %"PRIx32,
cmd & SWD_CMD_APnDP ? "AP" : "DP",
cmd & SWD_CMD_RnW ? "read" : "write",
(cmd & SWD_CMD_A32) >> 1, data);
}
}
- queued_retval = cmsis_dap_usb_xfer(cmsis_dap_handle, idx);
+ queued_retval = cmsis_dap_usb_write(dap, idx);
if (queued_retval != ERROR_OK)
goto skip;
- idx = 2;
- uint8_t ack = buffer[idx] & 0x07;
- if (ack != SWD_ACK_OK || (buffer[idx] & 0x08)) {
- LOG_DEBUG("SWD ack not OK: %d %s", buffer[idx-1],
+ pending_fifo_put_idx = (pending_fifo_put_idx + 1) % dap->packet_count;
+ pending_fifo_block_count++;
+ if (pending_fifo_block_count > dap->packet_count)
+ LOG_ERROR("too much pending writes %d", pending_fifo_block_count);
+
+ return;
+
+skip:
+ block->transfer_count = 0;
+}
+
+static void cmsis_dap_swd_read_process(struct cmsis_dap *dap, int timeout_ms)
+{
+ uint8_t *buffer = dap->packet_buffer;
+ struct pending_request_block *block = &pending_fifo[pending_fifo_get_idx];
+
+ if (pending_fifo_block_count == 0)
+ LOG_ERROR("no pending write");
+
+ /* get reply */
+ int retval = hid_read_timeout(dap->dev_handle, dap->packet_buffer, dap->packet_size, timeout_ms);
+ if (retval == 0 && timeout_ms < USB_TIMEOUT)
+ return;
+
+ if (retval == -1 || retval == 0) {
+ LOG_DEBUG("error reading data: %ls", hid_error(dap->dev_handle));
+ queued_retval = ERROR_FAIL;
+ goto skip;
+ }
+
+ if (buffer[2] & 0x08) {
+ LOG_DEBUG("CMSIS-DAP Protocol Error @ %d (wrong parity)", buffer[1]);
+ queued_retval = ERROR_FAIL;
+ goto skip;
+ }
+ uint8_t ack = buffer[2] & 0x07;
+ if (ack != SWD_ACK_OK) {
+ LOG_DEBUG("SWD ack not OK @ %d %s", buffer[1],
ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
queued_retval = ack == SWD_ACK_WAIT ? ERROR_WAIT : ERROR_FAIL;
goto skip;
}
- idx++;
- if (pending_transfer_count != buffer[1])
+ if (block->transfer_count != buffer[1])
LOG_ERROR("CMSIS-DAP transfer count mismatch: expected %d, got %d",
- pending_transfer_count, buffer[1]);
+ block->transfer_count, buffer[1]);
+ LOG_DEBUG_IO("Received results of %d queued transactions FIFO index %d", buffer[1], pending_fifo_get_idx);
+ size_t idx = 3;
for (int i = 0; i < buffer[1]; i++) {
- if (pending_transfers[i].cmd & SWD_CMD_RnW) {
+ struct pending_transfer_result *transfer = &(block->transfers[i]);
+ if (transfer->cmd & SWD_CMD_RnW) {
static uint32_t last_read;
uint32_t data = le_to_h_u32(&buffer[idx]);
uint32_t tmp = data;
idx += 4;
- LOG_DEBUG("Read result: %"PRIx32, data);
+ LOG_DEBUG_IO("Read result: %"PRIx32, data);
/* Imitate posted AP reads */
- if ((pending_transfers[i].cmd & SWD_CMD_APnDP) ||
- ((pending_transfers[i].cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
+ if ((transfer->cmd & SWD_CMD_APnDP) ||
+ ((transfer->cmd & SWD_CMD_A32) >> 1 == DP_RDBUFF)) {
tmp = last_read;
last_read = data;
}
- if (pending_transfers[i].buffer)
- *(uint32_t *)pending_transfers[i].buffer = tmp;
+ if (transfer->buffer)
+ *(uint32_t *)(transfer->buffer) = tmp;
}
}
skip:
- pending_transfer_count = 0;
+ block->transfer_count = 0;
+ pending_fifo_get_idx = (pending_fifo_get_idx + 1) % dap->packet_count;
+ pending_fifo_block_count--;
+}
+
+static int cmsis_dap_swd_run_queue(void)
+{
+ if (pending_fifo_block_count)
+ cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
+
+ cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
+
+ while (pending_fifo_block_count)
+ cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
+
+ pending_fifo_put_idx = 0;
+ pending_fifo_get_idx = 0;
+
int retval = queued_retval;
queued_retval = ERROR_OK;
static void cmsis_dap_swd_queue_cmd(uint8_t cmd, uint32_t *dst, uint32_t data)
{
- if (pending_transfer_count == pending_queue_len) {
+ if (pending_fifo[pending_fifo_put_idx].transfer_count == pending_queue_len) {
+ if (pending_fifo_block_count)
+ cmsis_dap_swd_read_process(cmsis_dap_handle, 0);
+
/* Not enough room in the queue. Run the queue. */
- queued_retval = cmsis_dap_swd_run_queue();
+ cmsis_dap_swd_write_from_queue(cmsis_dap_handle);
+
+ if (pending_fifo_block_count >= cmsis_dap_handle->packet_count)
+ cmsis_dap_swd_read_process(cmsis_dap_handle, USB_TIMEOUT);
}
if (queued_retval != ERROR_OK)
return;
- pending_transfers[pending_transfer_count].data = data;
- pending_transfers[pending_transfer_count].cmd = cmd;
+ struct pending_request_block *block = &pending_fifo[pending_fifo_put_idx];
+ struct pending_transfer_result *transfer = &(block->transfers[block->transfer_count]);
+ transfer->data = data;
+ transfer->cmd = cmd;
if (cmd & SWD_CMD_RnW) {
/* Queue a read transaction */
- pending_transfers[pending_transfer_count].buffer = dst;
+ transfer->buffer = dst;
}
- pending_transfer_count++;
+ block->transfer_count++;
}
static void cmsis_dap_swd_write_reg(uint8_t cmd, uint32_t value, uint32_t ap_delay_clk)
cmsis_dap_swd_queue_cmd(cmd, value, 0);
}
+static int cmsis_dap_get_serial_info(void)
+{
+ uint8_t *data;
+
+ int retval = cmsis_dap_cmd_DAP_Info(INFO_ID_SERNUM, &data);
+ if (retval != ERROR_OK)
+ return retval;
+
+ if (data[0]) /* strlen */
+ LOG_INFO("CMSIS-DAP: Serial# = %s", &data[1]);
+
+ return ERROR_OK;
+}
+
static int cmsis_dap_get_version_info(void)
{
uint8_t *data;
unsigned int s_len;
int retval;
- /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
- cmsis_dap_cmd_DAP_Disconnect();
+ if ((output_pins & (SWJ_PIN_SRST | SWJ_PIN_TRST)) == (SWJ_PIN_SRST | SWJ_PIN_TRST)) {
+ /* Following workaround deasserts reset on most adapters.
+ * Do not reconnect if a reset line is active!
+ * Reconnecting would break connecting under reset. */
- /* When we are reconnecting, DAP_Connect needs to be rerun, at
- * least on Keil ULINK-ME */
- retval = cmsis_dap_cmd_DAP_Connect(seq == LINE_RESET || seq == JTAG_TO_SWD ?
- CONNECT_SWD : CONNECT_JTAG);
- if (retval != ERROR_OK)
- return retval;
+ /* First disconnect before connecting, Atmel EDBG needs it for SAMD/R/L/C */
+ cmsis_dap_cmd_DAP_Disconnect();
+
+ /* When we are reconnecting, DAP_Connect needs to be rerun, at
+ * least on Keil ULINK-ME */
+ retval = cmsis_dap_cmd_DAP_Connect(CONNECT_SWD);
+ if (retval != ERROR_OK)
+ return retval;
+ }
switch (seq) {
case LINE_RESET:
return ERROR_FAIL;
}
- return cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
+ retval = cmsis_dap_cmd_DAP_SWJ_Sequence(s_len, s);
+ if (retval != ERROR_OK)
+ return retval;
+
+ /* Atmel EDBG needs renew clock setting after SWJ_Sequence
+ * otherwise default frequency is used */
+ return cmsis_dap_cmd_DAP_SWJ_Clock(jtag_get_speed_khz());
}
static int cmsis_dap_swd_open(void)
{
int retval;
- if (cmsis_dap_handle == NULL) {
- /* SWD init */
- retval = cmsis_dap_usb_open();
- if (retval != ERROR_OK)
- return retval;
-
- retval = cmsis_dap_get_caps_info();
- if (retval != ERROR_OK)
- return retval;
- }
-
if (!(cmsis_dap_handle->caps & INFO_CAPS_SWD)) {
LOG_ERROR("CMSIS-DAP: SWD not supported");
return ERROR_JTAG_DEVICE_ERROR;
int retval;
uint8_t *data;
- if (swd_mode) {
- retval = cmsis_dap_swd_open();
- if (retval != ERROR_OK)
- return retval;
- }
+ retval = cmsis_dap_usb_open();
+ if (retval != ERROR_OK)
+ return retval;
- if (cmsis_dap_handle == NULL) {
+ retval = cmsis_dap_get_caps_info();
+ if (retval != ERROR_OK)
+ return retval;
- /* JTAG init */
- retval = cmsis_dap_usb_open();
- if (retval != ERROR_OK)
- return retval;
+ retval = cmsis_dap_get_version_info();
+ if (retval != ERROR_OK)
+ return retval;
+
+ retval = cmsis_dap_get_serial_info();
+ if (retval != ERROR_OK)
+ return retval;
- retval = cmsis_dap_get_caps_info();
+ if (swd_mode) {
+ retval = cmsis_dap_swd_open();
if (retval != ERROR_OK)
return retval;
-
+ } else {
/* Connect in JTAG mode */
if (!(cmsis_dap_handle->caps & INFO_CAPS_JTAG)) {
LOG_ERROR("CMSIS-DAP: JTAG not supported");
LOG_INFO("CMSIS-DAP: Interface Initialised (JTAG)");
}
- retval = cmsis_dap_get_version_info();
- if (retval != ERROR_OK)
- return retval;
+ /* Be conservative and supress submiting multiple HID requests
+ * until we get packet count info from the adaptor */
+ cmsis_dap_handle->packet_count = 1;
+ pending_queue_len = 12;
/* INFO_ID_PKT_SZ - short */
retval = cmsis_dap_cmd_DAP_Info(INFO_ID_PKT_SZ, &data);
* write. For bulk read sequences just 4 bytes are
* needed per transfer, so this is suboptimal. */
pending_queue_len = (pkt_sz - 4) / 5;
- pending_transfers = malloc(pending_queue_len * sizeof(*pending_transfers));
- if (!pending_transfers) {
- LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
- return ERROR_FAIL;
- }
if (cmsis_dap_handle->packet_size != pkt_sz + 1) {
/* reallocate buffer */
return retval;
if (data[0] == 1) { /* byte */
- uint16_t pkt_cnt = data[1];
- cmsis_dap_handle->packet_count = pkt_cnt;
- LOG_DEBUG("CMSIS-DAP: Packet Count = %" PRId16, pkt_cnt);
+ int pkt_cnt = data[1];
+ if (pkt_cnt > 1)
+ cmsis_dap_handle->packet_count = MIN(MAX_PENDING_REQUESTS, pkt_cnt);
+
+ LOG_DEBUG("CMSIS-DAP: Packet Count = %d", pkt_cnt);
}
+ LOG_DEBUG("Allocating FIFO for %d pending HID requests", cmsis_dap_handle->packet_count);
+ for (int i = 0; i < cmsis_dap_handle->packet_count; i++) {
+ pending_fifo[i].transfers = malloc(pending_queue_len * sizeof(struct pending_transfer_result));
+ if (!pending_fifo[i].transfers) {
+ LOG_ERROR("Unable to allocate memory for CMSIS-DAP queue");
+ return ERROR_FAIL;
+ }
+ }
+
+
retval = cmsis_dap_get_status();
if (retval != ERROR_OK)
return ERROR_FAIL;
* up to 64 times. This must be changed to 0 if sticky
* overrun detection is enabled. */
retval = cmsis_dap_cmd_DAP_TFER_Configure(0, 64, 0);
- if (retval != ERROR_OK)
- return ERROR_FAIL;
- /* Data Phase (bit 2) must be set to 1 if sticky overrun
- * detection is enabled */
- retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
if (retval != ERROR_OK)
return ERROR_FAIL;
+ if (swd_mode) {
+ /* Data Phase (bit 2) must be set to 1 if sticky overrun
+ * detection is enabled */
+ retval = cmsis_dap_cmd_DAP_SWD_Configure(0); /* 1 TRN, no Data Phase */
+ if (retval != ERROR_OK)
+ return ERROR_FAIL;
+ }
+
retval = cmsis_dap_cmd_DAP_LED(0x03); /* Both LEDs on */
if (retval != ERROR_OK)
return ERROR_FAIL;
{
/* Set both TRST and SRST even if they're not enabled as
* there's no way to tristate them */
- uint8_t pins = 0;
+ output_pins = 0;
if (!cmd->cmd.reset->srst)
- pins |= SWJ_PIN_SRST;
+ output_pins |= SWJ_PIN_SRST;
if (!cmd->cmd.reset->trst)
- pins |= SWJ_PIN_TRST;
+ output_pins |= SWJ_PIN_TRST;
- int retval = cmsis_dap_cmd_DAP_SWJ_Pins(pins,
+ int retval = cmsis_dap_cmd_DAP_SWJ_Pins(output_pins,
SWJ_PIN_TRST | SWJ_PIN_SRST, 0, NULL);
if (retval != ERROR_OK)
LOG_ERROR("CMSIS-DAP: Interface reset failed");
cmsis_dap_stableclocks(cmd->cmd.runtest->num_cycles);
}
+static void cmsis_dap_execute_tms(struct jtag_command *cmd)
+{
+ DEBUG_JTAG_IO("TMS: %d bits", cmd->cmd.tms->num_bits);
+ cmsis_dap_cmd_DAP_SWJ_Sequence(cmd->cmd.tms->num_bits, cmd->cmd.tms->bits);
+}
+
/* TODO: Is there need to call cmsis_dap_flush() for the JTAG_PATHMOVE,
* JTAG_RUNTEST, JTAG_STABLECLOCKS? */
static void cmsis_dap_execute_command(struct jtag_command *cmd)
cmsis_dap_execute_stableclocks(cmd);
break;
case JTAG_TMS:
+ cmsis_dap_execute_tms(cmd);
+ break;
default:
LOG_ERROR("BUG: unknown JTAG command type 0x%X encountered", cmd->type);
exit(-1);
static int cmsis_dap_speed(int speed)
{
- if (speed > DAP_MAX_CLOCK) {
- LOG_INFO("reduce speed request: %dkHz to %dkHz maximum", speed, DAP_MAX_CLOCK);
- speed = DAP_MAX_CLOCK;
- }
+ if (speed > DAP_MAX_CLOCK)
+ LOG_INFO("High speed (adapter_khz %d) may be limited by adapter firmware.", speed);
if (speed == 0) {
- LOG_INFO("RTCK not supported");
+ LOG_ERROR("RTCK not supported. Set nonzero adapter_khz.");
return ERROR_JTAG_NOT_IMPLEMENTED;
}
struct jtag_interface cmsis_dap_interface = {
.name = "cmsis-dap",
+ .supported = DEBUG_CAP_TMS_SEQ,
.commands = cmsis_dap_command_handlers,
.swd = &cmsis_dap_swd_driver,
.transports = cmsis_dap_transport,
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