diff options
| -rw-r--r-- | configure.ac | 3 | ||||
| -rw-r--r-- | contrib/60-openocd.rules | 6 | ||||
| -rw-r--r-- | doc/openocd.texi | 6 | ||||
| -rw-r--r-- | src/jtag/drivers/Makefile.am | 4 | ||||
| -rw-r--r-- | src/jtag/drivers/xds110.c | 1974 | ||||
| -rw-r--r-- | src/jtag/interfaces.c | 6 | ||||
| -rw-r--r-- | tcl/interface/xds110.cfg | 12 |
7 files changed, 2009 insertions, 2 deletions
diff --git a/configure.ac b/configure.ac index 11f8042..d4338df 100644 --- a/configure.ac +++ b/configure.ac @@ -115,7 +115,8 @@ m4_define([USB1_ADAPTERS], [[ulink], [Keil ULINK JTAG Programmer], [ULINK]], [[usb_blaster_2], [Altera USB-Blaster II Compatible], [USB_BLASTER_2]], [[ft232r], [Bitbang mode of FT232R based devices], [FT232R]], - [[vsllink], [Versaloon-Link JTAG Programmer], [VSLLINK]]]) + [[vsllink], [Versaloon-Link JTAG Programmer], [VSLLINK]], + [[xds110], [TI XDS110 Debug Probe], [XDS110]]]) m4_define([USB_ADAPTERS], [[[osbdm], [OSBDM (JTAG only) Programmer], [OSBDM]], diff --git a/contrib/60-openocd.rules b/contrib/60-openocd.rules index da760f8..af092c1 100644 --- a/contrib/60-openocd.rules +++ b/contrib/60-openocd.rules @@ -128,6 +128,12 @@ ATTRS{idVendor}=="1781", ATTRS{idProduct}=="0c63", MODE="660", GROUP="plugdev", # TI/Luminary Stellaris In-Circuit Debug Interface (ICDI) Board ATTRS{idVendor}=="1cbe", ATTRS{idProduct}=="00fd", MODE="660", GROUP="plugdev", TAG+="uaccess" +# TI XDS110 Debug Probe (Launchpads and Standalone) +ATTRS{idVendor}=="0451", ATTRS{idProduct}=="bef3", MODE="660", GROUP="plugdev", TAG+="uaccess" + +# TI Tiva-based ICDI and XDS110 probes in DFU mode +ATTRS{idVendor}=="1cbe", ATTRS{idProduct}=="00ff", MODE="660", GROUP="plugdev", TAG+="uaccess" + # Ambiq Micro EVK and Debug boards. ATTRS{idVendor}=="2aec", ATTRS{idProduct}=="6010", MODE="664", GROUP="plugdev", TAG+="uaccess" ATTRS{idVendor}=="2aec", ATTRS{idProduct}=="6011", MODE="664", GROUP="plugdev", TAG+="uaccess" diff --git a/doc/openocd.texi b/doc/openocd.texi index 3944572..4b964ed 100644 --- a/doc/openocd.texi +++ b/doc/openocd.texi @@ -531,6 +531,12 @@ debuggers to ARM Cortex based targets @url{http://www.keil.com/support/man/docs/ @item @b{Keil ULINK v1} @* Link: @url{http://www.keil.com/ulink1/} + +@item @b{TI XDS110 Debug Probe} +@* The XDS110 is included as the embedded debug probe on many Texas Instruments +LaunchPad evaluation boards. +@* Link: @url{http://processors.wiki.ti.com/index.php/XDS110} +@* Link: @url{http://processors.wiki.ti.com/index.php/XDS_Emulation_Software_Package#XDS110_Support_Utilities} @end itemize @section IBM PC Parallel Printer Port Based diff --git a/src/jtag/drivers/Makefile.am b/src/jtag/drivers/Makefile.am index b3b4d21..ccef018 100644 --- a/src/jtag/drivers/Makefile.am +++ b/src/jtag/drivers/Makefile.am @@ -156,10 +156,12 @@ endif if IMX_GPIO DRIVERFILES += %D%/imx_gpio.c endif - if KITPROG DRIVERFILES += %D%/kitprog.c endif +if XDS110 +DRIVERFILES += %D%/xds110.c +endif DRIVERHEADERS = \ %D%/bitbang.h \ diff --git a/src/jtag/drivers/xds110.c b/src/jtag/drivers/xds110.c new file mode 100644 index 0000000..90b6990 --- /dev/null +++ b/src/jtag/drivers/xds110.c @@ -0,0 +1,1974 @@ +/*************************************************************************** + * Copyright (C) 2017 by Texas Instruments, Inc. * + * * + * This program is free software; you can redistribute it and/or modify * + * it under the terms of the GNU General Public License as published by * + * the Free Software Foundation; either version 2 of the License, or * + * (at your option) any later version. * + * * + * This program is distributed in the hope that it will be useful, * + * but WITHOUT ANY WARRANTY; without even the implied warranty of * + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * + * GNU General Public License for more details. * + * * + * You should have received a copy of the GNU General Public License * + * along with this program. If not, see <http://www.gnu.org/licenses/>. * + ***************************************************************************/ + +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#include <transport/transport.h> +#include <jtag/swd.h> +#include <jtag/interface.h> +#include <jtag/commands.h> +#include <jtag/tcl.h> +#include <libusb.h> + +/* XDS110 USB serial number length */ +#define XDS110_SERIAL_LEN 8 + +/* Firmware version that introduced OpenOCD support via block accesses */ +#define OCD_FIRMWARE_VERSION 0x02030011 +#define OCD_FIRMWARE_UPGRADE \ + "XDS110: upgrade to version 2.3.0.11+ for improved support" + +/*************************************************************************** + * USB Connection Buffer Definitions * + ***************************************************************************/ + +/* Max USB packet size for up to USB 3.0 */ +#define MAX_PACKET 1024 + +/* + * Maximum data payload that can be handled in a single call + * Limitation is the size of the buffers in the XDS110 firmware + */ +#define MAX_DATA_BLOCK 4096 + +#ifndef USB_PAYLOAD_SIZE +/* Largest data block plus parameters */ +#define USB_PAYLOAD_SIZE (MAX_DATA_BLOCK + 60) +#endif +#define MAX_RESULT_QUEUE (MAX_DATA_BLOCK / 4) + +/*************************************************************************** + * USB Connection Endpoints * + ***************************************************************************/ + +/* Bulk endpoints used by the XDS110 debug interface */ +#define INTERFACE_DEBUG (2) +#define ENDPOINT_DEBUG_IN (3 | LIBUSB_ENDPOINT_IN) +#define ENDPOINT_DEBUG_OUT (2 | LIBUSB_ENDPOINT_OUT) + +/*************************************************************************** + * XDS110 Firmware API Definitions * + ***************************************************************************/ + +/* + * Default values controlling how the host communicates commands + * with XDS110 firmware (automatic retry count and wait timeout) + */ +#define DEFAULT_ATTEMPTS (1) +#define DEFAULT_TIMEOUT (4000) + +/* XDS110 API error codes */ +#define SC_ERR_NONE 0 +#define SC_ERR_XDS110_FAIL -261 +#define SC_ERR_SWD_WAIT -613 +#define SC_ERR_SWD_FAULT -614 +#define SC_ERR_SWD_PROTOCOL -615 +#define SC_ERR_SWD_PARITY -616 +#define SC_ERR_SWD_DEVICE_ID -617 + +/* TCK frequency limits */ +#define XDS110_MIN_TCK_SPEED 100 /* kHz */ +#define XDS110_MAX_TCK_SPEED 2500 /* kHz */ +#define XDS110_TCK_PULSE_INCREMENT 66.0 + +/* Scan mode on connect */ +#define MODE_JTAG 1 + +/* XDS110 API JTAG state definitions */ +#define XDS_JTAG_STATE_RESET 1 +#define XDS_JTAG_STATE_IDLE 2 +#define XDS_JTAG_STATE_SHIFT_DR 3 +#define XDS_JTAG_STATE_SHIFT_IR 4 +#define XDS_JTAG_STATE_PAUSE_DR 5 +#define XDS_JTAG_STATE_PAUSE_IR 6 +#define XDS_JTAG_STATE_EXIT1_DR 8 +#define XDS_JTAG_STATE_EXIT1_IR 9 +#define XDS_JTAG_STATE_EXIT2_DR 10 +#define XDS_JTAG_STATE_EXIT2_IR 11 +#define XDS_JTAG_STATE_SELECT_DR 12 +#define XDS_JTAG_STATE_SELECT_IR 13 +#define XDS_JTAG_STATE_UPDATE_DR 14 +#define XDS_JTAG_STATE_UPDATE_IR 15 +#define XDS_JTAG_STATE_CAPTURE_DR 16 +#define XDS_JTAG_STATE_CAPTURE_IR 17 + +/* XDS110 API JTAG transit definitions */ +#define XDS_JTAG_TRANSIT_QUICKEST 1 +#define XDS_JTAG_TRANSIT_VIA_CAPTURE 2 +#define XDS_JTAG_TRANSIT_VIA_IDLE 3 + +/* DAP register definitions as used by XDS110 APIs */ + +#define DAP_AP 0 /* DAP AP register type */ +#define DAP_DP 1 /* DAP DP register type */ + +#define DAP_DP_IDCODE 0x0 /* DAP DP IDCODE register (read only) */ +#define DAP_DP_ABORT 0x0 /* DAP DP ABORT register (write only) */ +#define DAP_DP_STAT 0x4 /* DAP DP STAT register (for read only) */ +#define DAP_DP_CTRL 0x4 /* DAP DP CTRL register (for write only) */ +#define DAP_DP_ADDR 0x8 /* DAP DP SELECT register (legacy name) */ +#define DAP_DP_RESEND 0x8 /* DAP DP RESEND register (read only) */ +#define DAP_DP_SELECT 0x8 /* DAP DP SELECT register (write only) */ +#define DAP_DP_RDBUFF 0xc /* DAP DP RDBUFF Read Buffer register */ + +#define DAP_AP_CSW 0x00 /* DAP AP Control Status Word */ +#define DAP_AP_TAR 0x04 /* DAP AP Transfer Address */ +#define DAP_AP_DRW 0x0C /* DAP AP Data Read/Write */ +#define DAP_AP_BD0 0x10 /* DAP AP Banked Data 0 */ +#define DAP_AP_BD1 0x14 /* DAP AP Banked Data 1 */ +#define DAP_AP_BD2 0x18 /* DAP AP Banked Data 2 */ +#define DAP_AP_BD3 0x1C /* DAP AP Banked Data 3 */ +#define DAP_AP_RTBL 0xF8 /* DAP AP Debug ROM Table */ +#define DAP_AP_IDR 0xFC /* DAP AP Identification Register */ + +/* Command packet definitions */ + +#define XDS_OUT_LEN 1 /* command (byte) */ +#define XDS_IN_LEN 4 /* error code (int) */ + +/* XDS API Commands */ +#define XDS_CONNECT 0x01 /* Connect JTAG connection */ +#define XDS_DISCONNECT 0x02 /* Disconnect JTAG connection */ +#define XDS_VERSION 0x03 /* Get firmware version and hardware ID */ +#define XDS_SET_TCK 0x04 /* Set TCK delay (to set TCK frequency) */ +#define XDS_SET_TRST 0x05 /* Assert or deassert nTRST signal */ +#define XDS_CYCLE_TCK 0x07 /* Toggle TCK for a number of cycles */ +#define XDS_GOTO_STATE 0x09 /* Go to requested JTAG state */ +#define XDS_JTAG_SCAN 0x0c /* Send and receive JTAG scan */ +#define XDS_SET_SRST 0x0e /* Assert or deassert nSRST signal */ +#define CMAPI_CONNECT 0x0f /* CMAPI connect */ +#define CMAPI_DISCONNECT 0x10 /* CMAPI disconnect */ +#define CMAPI_ACQUIRE 0x11 /* CMAPI acquire */ +#define CMAPI_RELEASE 0x12 /* CMAPI release */ +#define CMAPI_REG_READ 0x15 /* CMAPI DAP register read */ +#define CMAPI_REG_WRITE 0x16 /* CMAPI DAP register write */ +#define SWD_CONNECT 0x17 /* Switch from JTAG to SWD connection */ +#define SWD_DISCONNECT 0x18 /* Switch from SWD to JTAG connection */ +#define CJTAG_CONNECT 0x2b /* Switch from JTAG to cJTAG connection */ +#define CJTAG_DISCONNECT 0x2c /* Switch from cJTAG to JTAG connection */ +#define OCD_DAP_REQUEST 0x3a /* Handle block of DAP requests */ +#define OCD_SCAN_REQUEST 0x3b /* Handle block of JTAG scan requests */ +#define OCD_PATHMOVE 0x3c /* Handle PATHMOVE to navigate JTAG states */ + +#define CMD_IR_SCAN 1 +#define CMD_DR_SCAN 2 +#define CMD_RUNTEST 3 +#define CMD_STABLECLOCKS 4 + +/* Array to convert from OpenOCD tap_state_t to XDS JTAG state */ +const uint32_t xds_jtag_state[] = { + XDS_JTAG_STATE_EXIT2_DR, /* TAP_DREXIT2 = 0x0 */ + XDS_JTAG_STATE_EXIT1_DR, /* TAP_DREXIT1 = 0x1 */ + XDS_JTAG_STATE_SHIFT_DR, /* TAP_DRSHIFT = 0x2 */ + XDS_JTAG_STATE_PAUSE_DR, /* TAP_DRPAUSE = 0x3 */ + XDS_JTAG_STATE_SELECT_IR, /* TAP_IRSELECT = 0x4 */ + XDS_JTAG_STATE_UPDATE_DR, /* TAP_DRUPDATE = 0x5 */ + XDS_JTAG_STATE_CAPTURE_DR, /* TAP_DRCAPTURE = 0x6 */ + XDS_JTAG_STATE_SELECT_DR, /* TAP_DRSELECT = 0x7 */ + XDS_JTAG_STATE_EXIT2_IR, /* TAP_IREXIT2 = 0x8 */ + XDS_JTAG_STATE_EXIT1_IR, /* TAP_IREXIT1 = 0x9 */ + XDS_JTAG_STATE_SHIFT_IR, /* TAP_IRSHIFT = 0xa */ + XDS_JTAG_STATE_PAUSE_IR, /* TAP_IRPAUSE = 0xb */ + XDS_JTAG_STATE_IDLE, /* TAP_IDLE = 0xc */ + XDS_JTAG_STATE_UPDATE_IR, /* TAP_IRUPDATE = 0xd */ + XDS_JTAG_STATE_CAPTURE_IR, /* TAP_IRCAPTURE = 0xe */ + XDS_JTAG_STATE_RESET, /* TAP_RESET = 0xf */ +}; + +struct scan_result { + bool first; + uint8_t *buffer; + uint32_t num_bits; +}; + +struct xds110_info { + /* USB connection handles and data buffers */ + libusb_context *ctx; + libusb_device_handle *dev; + unsigned char read_payload[USB_PAYLOAD_SIZE]; + unsigned char write_packet[3]; + unsigned char write_payload[USB_PAYLOAD_SIZE]; + /* Status flags */ + bool is_connected; + bool is_cmapi_connected; + bool is_cmapi_acquired; + bool is_swd_mode; + bool is_ap_dirty; + /* DAP register caches */ + uint32_t select; + uint32_t rdbuff; + bool use_rdbuff; + /* TCK speed and delay count*/ + uint32_t speed; + uint32_t delay_count; + /* XDS110 serial number */ + char serial[XDS110_SERIAL_LEN + 1]; + /* XDS110 firmware and hardware version */ + uint32_t firmware; + uint16_t hardware; + /* Transaction queues */ + unsigned char txn_requests[MAX_DATA_BLOCK]; + uint32_t *txn_dap_results[MAX_DATA_BLOCK / 4]; + struct scan_result txn_scan_results[MAX_DATA_BLOCK / 4]; + uint32_t txn_request_size; + uint32_t txn_result_size; + uint32_t txn_result_count; +}; + +static struct xds110_info xds110 = { + .ctx = NULL, + .dev = NULL, + .is_connected = false, + .is_cmapi_connected = false, + .is_cmapi_acquired = false, + .is_swd_mode = false, + .is_ap_dirty = false, + .speed = XDS110_MAX_TCK_SPEED, + .delay_count = 0, + .serial = {0}, + .firmware = 0, + .hardware = 0, + .txn_request_size = 0, + .txn_result_size = 0, + .txn_result_count = 0 +}; + +static inline void xds110_set_u32(uint8_t *buffer, uint32_t value) +{ + buffer[3] = (value >> 24) & 0xff; + buffer[2] = (value >> 16) & 0xff; + buffer[1] = (value >> 8) & 0xff; + buffer[0] = (value >> 0) & 0xff; +} + +static inline void xds110_set_u16(uint8_t *buffer, uint16_t value) +{ + buffer[1] = (value >> 8) & 0xff; + buffer[0] = (value >> 0) & 0xff; +} + +static inline uint32_t xds110_get_u32(uint8_t *buffer) +{ + uint32_t value = (((uint32_t)buffer[3]) << 24) | + (((uint32_t)buffer[2]) << 16) | + (((uint32_t)buffer[1]) << 8) | + (((uint32_t)buffer[0]) << 0); + return value; +} + +static inline uint16_t xds110_get_u16(uint8_t *buffer) +{ + uint16_t value = (((uint32_t)buffer[1]) << 8) | + (((uint32_t)buffer[0]) << 0); + return value; +} + +/*************************************************************************** + * usb connection routines * + * * + * The following functions handle connecting, reading, and writing to * + * the XDS110 over USB using the libusb library. * + ***************************************************************************/ + +static bool usb_connect(void) +{ + libusb_context *ctx = NULL; + libusb_device **list = NULL; + libusb_device_handle *dev = NULL; + + struct libusb_device_descriptor desc; + + uint16_t vid = 0x0451; + uint16_t pid = 0xbef3; + ssize_t count = 0; + ssize_t i = 0; + int result = 0; + bool found = false; + + /* Initialize libusb context */ + result = libusb_init(&ctx); + + if (0 == result) { + /* Get list of USB devices attached to system */ + count = libusb_get_device_list(ctx, &list); + if (count <= 0) { + result = -1; + list = NULL; + } + } + + if (0 == result) { + /* Scan through list of devices for any XDS110s */ + for (i = 0; i < count; i++) { + /* Check for device VID/PID match */ + libusb_get_device_descriptor(list[i], &desc); + if (desc.idVendor == vid && desc.idProduct == pid) { + result = libusb_open(list[i], &dev); + if (0 == result) { + const int MAX_DATA = 256; + unsigned char data[MAX_DATA + 1]; + *data = '\0'; + + /* May be the requested device if serial number matches */ + if (0 == xds110.serial[0]) { + /* No serial number given; match first XDS110 found */ + found = true; + break; + } else { + /* Get the device's serial number string */ + result = libusb_get_string_descriptor_ascii(dev, + desc.iSerialNumber, data, MAX_DATA); + if (0 < result && + 0 == strcmp((char *)data, (char *)xds110.serial)) { + found = true; + break; + } + } + + /* If we fall though to here, we don't want this device */ + libusb_close(dev); + dev = NULL; + } + } + } + } + + /* + * We can fall through the for() loop with two possible exit conditions: + * 1) found the right XDS110, and that device is open + * 2) didn't find the XDS110, and no devices are currently open + */ + + if (NULL != list) { + /* Free the device list, we're done with it */ + libusb_free_device_list(list, 1); + } + + if (found) { + /* Save the context and device handles */ + xds110.ctx = ctx; + xds110.dev = dev; + + /* Set libusb to auto detach kernel and disable debug messages */ + (void)libusb_set_auto_detach_kernel_driver(dev, 1); + libusb_set_debug(ctx, LIBUSB_LOG_LEVEL_NONE); + + /* Claim the debug interface on the XDS110 */ + result = libusb_claim_interface(dev, INTERFACE_DEBUG); + } else { + /* Couldn't find an XDS110, flag the error */ + result = -1; + } + + /* On an error, clean up what we can */ + if (0 != result) { + if (NULL != dev) { + /* Release the debug and data interface on the XDS110 */ + (void)libusb_release_interface(dev, INTERFACE_DEBUG); + libusb_close(dev); + } + if (NULL != ctx) + libusb_exit(ctx); + xds110.ctx = NULL; + xds110.dev = NULL; + } + + /* Log the results */ + if (0 == result) + LOG_INFO("XDS110: connected"); + else + LOG_ERROR("XDS110: failed to connect"); + + return (0 == result) ? true : false; +} + +static void usb_disconnect(void) +{ + if (NULL != xds110.dev) { + /* Release the debug and data interface on the XDS110 */ + (void)libusb_release_interface(xds110.dev, INTERFACE_DEBUG); + libusb_close(xds110.dev); + xds110.dev = NULL; + } + if (NULL != xds110.ctx) { + libusb_exit(xds110.ctx); + xds110.ctx = NULL; + } + + LOG_INFO("XDS110: disconnected"); +} + +static bool usb_read(unsigned char *buffer, int size, int *bytes_read, + int timeout) +{ + int result; + + if (NULL == xds110.dev || NULL == buffer || NULL == bytes_read) + return false; + + /* Force a non-zero timeout to prevent blocking */ + if (0 == timeout) + timeout = DEFAULT_TIMEOUT; + + result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_IN, buffer, size, + bytes_read, timeout); + + return (0 == result) ? true : false; +} + +static bool usb_write(unsigned char *buffer, int size, int *written) +{ + int bytes_written = 0; + int result = LIBUSB_SUCCESS; + int retries = 0; + + if (NULL == xds110.dev || NULL == buffer) + return false; + + result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_OUT, buffer, + size, &bytes_written, 0); + + while (LIBUSB_ERROR_PIPE == result && retries < 3) { + /* Try clearing the pipe stall and retry transfer */ + libusb_clear_halt(xds110.dev, ENDPOINT_DEBUG_OUT); + result = libusb_bulk_transfer(xds110.dev, ENDPOINT_DEBUG_OUT, buffer, + size, &bytes_written, 0); + retries++; + } + + if (NULL != written) + *written = bytes_written; + + return (0 == result && size == bytes_written) ? true : false; +} + +static bool usb_get_response(uint32_t *total_bytes_read, uint32_t timeout) +{ + static unsigned char buffer[MAX_PACKET]; + int bytes_read; + uint16_t size; + uint16_t count; + bool success; + + size = 0; + success = true; + while (success) { + success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout); + if (success) { + /* + * Validate that this appears to be a good response packet + * First check it contains enough data for header and error + * code, plus the first character is the start character + */ + if (bytes_read >= 7 && '*' == buffer[0]) { + /* Extract the payload size */ + size = xds110_get_u16(&buffer[1]); + /* Sanity test on payload size */ + if (USB_PAYLOAD_SIZE >= size && 4 <= size) { + /* Check we didn't get more data than expected */ + if ((bytes_read - 3) <= size) { + /* Packet appears to be valid, move on */ + break; + } + } + } + } + /* + * Somehow received an invalid packet, retry till we + * time out or a valid response packet is received + */ + } + + /* Abort now if we didn't receive a valid response */ + if (!success) { + if (NULL != total_bytes_read) + *total_bytes_read = 0; + return false; + } + + /* Build the return payload into xds110.read_payload */ + + /* Copy over payload data from received buffer (skipping header) */ + count = 0; + bytes_read -= 3; + memcpy((void *)&xds110.read_payload[count], (void *)&buffer[3], bytes_read); + count += bytes_read; + /* + * Drop timeout to just 1/2 second. Once the XDS110 starts sending + * a response, the remaining packets should arrive in short order + */ + if (timeout > 500) + timeout = 500; /* ms */ + + /* If there's more data to retrieve, get it now */ + while ((count < size) && success) { + success = usb_read(buffer, sizeof(buffer), &bytes_read, timeout); + if (success) { + if ((count + bytes_read) > size) { + /* Read too much data, not a valid packet, abort */ + success = false; + } else { + /* Copy this data over to xds110.read_payload */ + memcpy((void *)&xds110.read_payload[count], (void *)buffer, + bytes_read); + count += bytes_read; + } + } + } + + if (!success) + count = 0; + if (NULL != total_bytes_read) + *total_bytes_read = count; + + return success; +} + +static bool usb_send_command(uint16_t size) +{ + int written; + bool success = true; + + /* Check the packet length */ + if (size > USB_PAYLOAD_SIZE) + return false; + + /* Place the start character into the packet buffer */ + xds110.write_packet[0] = '*'; + + /* Place the payload size into the packet buffer */ + xds110_set_u16(&xds110.write_packet[1], size); + + /* Adjust size to include header */ + size += 3; + + /* Send the data via the USB connection */ + success = usb_write(xds110.write_packet, (int)size, &written); + + /* Check if the correct number of bytes was written */ + if (written != (int)size) + success = false; + + return success; +} + +/*************************************************************************** + * XDS110 firmware API routines * + * * + * The following functions handle calling into the XDS110 firmware to * + * perform requested debug actions. * + ***************************************************************************/ + +static bool xds_execute(uint32_t out_length, uint32_t in_length, + uint32_t attempts, uint32_t timeout) +{ + bool done = false; + bool success = true; + int error = 0; + uint32_t bytes_read = 0; + + if (NULL == xds110.dev) + return false; + + while (!done && attempts > 0) { + attempts--; + + /* Send command to XDS110 */ + success = usb_send_command(out_length); + + if (success) { + /* Get response from XDS110 */ + success = usb_get_response(&bytes_read, timeout); + } + + if (success) { + /* Check for valid response from XDS code handling */ + if (bytes_read != in_length) { + /* Unexpected amount of data returned */ + success = false; + } else { + /* Extract error code from return packet */ + error = (int)xds110_get_u32(&xds110.read_payload[0]); + done = true; + } + } + } + + if (!success) + error = SC_ERR_XDS110_FAIL; + + if (0 != error) + success = false; + + return success; +} + +static bool xds_connect(void) +{ + bool success; + + xds110.write_payload[0] = XDS_CONNECT; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool xds_disconnect(void) +{ + bool success; + + xds110.write_payload[0] = XDS_DISCONNECT; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool xds_version(uint32_t *firmware_id, uint16_t *hardware_id) +{ + uint8_t *fw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */ + uint8_t *hw_id_pntr = &xds110.read_payload[XDS_IN_LEN + 4]; /* 16-bits */ + + bool success; + + xds110.write_payload[0] = XDS_VERSION; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN + 6, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + if (success) { + if (NULL != firmware_id) + *firmware_id = xds110_get_u32(fw_id_pntr); + if (NULL != hardware_id) + *hardware_id = xds110_get_u16(hw_id_pntr); + } + + return success; +} + +static bool xds_set_tck_delay(uint32_t delay) +{ + uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */ + + bool success; + + xds110.write_payload[0] = XDS_SET_TCK; + + xds110_set_u32(delay_pntr, delay); + + success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool xds_set_trst(uint8_t trst) +{ + uint8_t *trst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */ + + bool success; + + xds110.write_payload[0] = XDS_SET_TRST; + + *trst_pntr = trst; + + success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool xds_cycle_tck(uint32_t count) +{ + uint8_t *count_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */ + + bool success; + + xds110.write_payload[0] = XDS_CYCLE_TCK; + + xds110_set_u32(count_pntr, count); + + success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool xds_goto_state(uint32_t state) +{ + uint8_t *state_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */ + uint8_t *transit_pntr = &xds110.write_payload[XDS_OUT_LEN+4]; /* 32-bits */ + + bool success; + + xds110.write_payload[0] = XDS_GOTO_STATE; + + xds110_set_u32(state_pntr, state); + xds110_set_u32(transit_pntr, XDS_JTAG_TRANSIT_QUICKEST); + + success = xds_execute(XDS_OUT_LEN+8, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool xds_jtag_scan(uint32_t shift_state, uint16_t shift_bits, + uint32_t end_state, uint8_t *data_out, uint8_t *data_in) +{ + uint8_t *bits_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 16-bits */ + uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */ + uint8_t *trans1_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 8-bits */ + uint8_t *end_pntr = &xds110.write_payload[XDS_OUT_LEN + 4]; /* 8-bits */ + uint8_t *trans2_pntr = &xds110.write_payload[XDS_OUT_LEN + 5]; /* 8-bits */ + uint8_t *pre_pntr = &xds110.write_payload[XDS_OUT_LEN + 6]; /* 16-bits */ + uint8_t *pos_pntr = &xds110.write_payload[XDS_OUT_LEN + 8]; /* 16-bits */ + uint8_t *delay_pntr = &xds110.write_payload[XDS_OUT_LEN + 10]; /* 16-bits */ + uint8_t *rep_pntr = &xds110.write_payload[XDS_OUT_LEN + 12]; /* 16-bits */ + uint8_t *out_pntr = &xds110.write_payload[XDS_OUT_LEN + 14]; /* 16-bits */ + uint8_t *in_pntr = &xds110.write_payload[XDS_OUT_LEN + 16]; /* 16-bits */ + uint8_t *data_out_pntr = &xds110.write_payload[XDS_OUT_LEN + 18]; + uint8_t *data_in_pntr = &xds110.read_payload[XDS_IN_LEN+0]; + + uint16_t total_bytes = DIV_ROUND_UP(shift_bits, 8); + + bool success; + + xds110.write_payload[0] = XDS_JTAG_SCAN; + + xds110_set_u16(bits_pntr, shift_bits); /* bits to scan */ + *path_pntr = (uint8_t)(shift_state & 0xff); /* IR vs DR path */ + *trans1_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* start state route */ + *end_pntr = (uint8_t)(end_state & 0xff); /* JTAG state after scan */ + *trans2_pntr = (uint8_t)XDS_JTAG_TRANSIT_QUICKEST; /* end state route */ + xds110_set_u16(pre_pntr, 0); /* number of preamble bits */ + xds110_set_u16(pos_pntr, 0); /* number of postamble bits */ + xds110_set_u16(delay_pntr, 0); /* number of extra TCKs after scan */ + xds110_set_u16(rep_pntr, 1); /* number of repetitions */ + xds110_set_u16(out_pntr, total_bytes); /* out buffer offset (if repeats) */ + xds110_set_u16(in_pntr, total_bytes); /* in buffer offset (if repeats) */ + + memcpy((void *)data_out_pntr, (void *)data_out, total_bytes); + + success = xds_execute(XDS_OUT_LEN + 18 + total_bytes, + XDS_IN_LEN + total_bytes, DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT); + + if (success) + memcpy((void *)data_in, (void *)data_in_pntr, total_bytes); + + return success; +} + +static bool xds_set_srst(uint8_t srst) +{ + uint8_t *srst_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */ + + bool success; + + xds110.write_payload[0] = XDS_SET_SRST; + + *srst_pntr = srst; + + success = xds_execute(XDS_OUT_LEN + 1, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool cmapi_connect(uint32_t *idcode) +{ + uint8_t *idcode_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */ + + bool success; + + xds110.write_payload[0] = CMAPI_CONNECT; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN+4, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + if (success) { + if (NULL != idcode) + *idcode = xds110_get_u32(idcode_pntr); + } + + return success; +} + +static bool cmapi_disconnect(void) +{ + bool success; + + xds110.write_payload[0] = CMAPI_DISCONNECT; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool cmapi_acquire(void) +{ + bool success; + + xds110.write_payload[0] = CMAPI_ACQUIRE; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool cmapi_release(void) +{ + bool success; + + xds110.write_payload[0] = CMAPI_RELEASE; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool cmapi_read_dap_reg(uint32_t type, uint32_t ap_num, + uint32_t address, uint32_t *value) +{ + uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */ + uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */ + uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */ + uint8_t *value_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; /* 32-bits */ + + bool success; + + xds110.write_payload[0] = CMAPI_REG_READ; + + *type_pntr = (uint8_t)(type & 0xff); + *ap_num_pntr = (uint8_t)(ap_num & 0xff); + *address_pntr = (uint8_t)(address & 0xff); + + success = xds_execute(XDS_OUT_LEN + 3, XDS_IN_LEN + 4, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + if (success) { + if (NULL != value) + *value = xds110_get_u32(value_pntr); + } + + return success; +} + +static bool cmapi_write_dap_reg(uint32_t type, uint32_t ap_num, + uint32_t address, uint32_t *value) +{ + uint8_t *type_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 8-bits */ + uint8_t *ap_num_pntr = &xds110.write_payload[XDS_OUT_LEN + 1]; /* 8-bits */ + uint8_t *address_pntr = &xds110.write_payload[XDS_OUT_LEN + 2]; /* 8-bits */ + uint8_t *value_pntr = &xds110.write_payload[XDS_OUT_LEN + 3]; /* 32-bits */ + + bool success; + + if (NULL == value) + return false; + + xds110.write_payload[0] = CMAPI_REG_WRITE; + + *type_pntr = (uint8_t)(type & 0xff); + *ap_num_pntr = (uint8_t)(ap_num & 0xff); + *address_pntr = (uint8_t)(address & 0xff); + xds110_set_u32(value_pntr, *value); + + success = xds_execute(XDS_OUT_LEN + 7, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool swd_connect(void) +{ + bool success; + + xds110.write_payload[0] = SWD_CONNECT; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool swd_disconnect(void) +{ + bool success; + + xds110.write_payload[0] = SWD_DISCONNECT; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool cjtag_connect(uint32_t format) +{ + uint8_t *format_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */ + + bool success; + + xds110.write_payload[0] = CJTAG_CONNECT; + + xds110_set_u32(format_pntr, format); + + success = xds_execute(XDS_OUT_LEN + 4, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool cjtag_disconnect(void) +{ + bool success; + + xds110.write_payload[0] = CJTAG_DISCONNECT; + + success = xds_execute(XDS_OUT_LEN, XDS_IN_LEN, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + return success; +} + +static bool ocd_dap_request(uint8_t *dap_requests, uint32_t request_size, + uint32_t *dap_results, uint32_t result_count) +{ + uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; + uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; + + bool success; + + if (NULL == dap_requests || NULL == dap_results) + return false; + + xds110.write_payload[0] = OCD_DAP_REQUEST; + + memcpy((void *)request_pntr, (void *)dap_requests, request_size); + + success = xds_execute(XDS_OUT_LEN + request_size, + XDS_IN_LEN + (result_count * 4), DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + if (success && (result_count > 0)) + memcpy((void *)dap_results, (void *)result_pntr, result_count * 4); + + return success; +} + +static bool ocd_scan_request(uint8_t *scan_requests, uint32_t request_size, + uint8_t *scan_results, uint32_t result_size) +{ + uint8_t *request_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; + uint8_t *result_pntr = &xds110.read_payload[XDS_IN_LEN + 0]; + + bool success; + + if (NULL == scan_requests || NULL == scan_results) + return false; + + xds110.write_payload[0] = OCD_SCAN_REQUEST; + + memcpy((void *)request_pntr, (void *)scan_requests, request_size); + + success = xds_execute(XDS_OUT_LEN + request_size, + XDS_IN_LEN + result_size, DEFAULT_ATTEMPTS, + DEFAULT_TIMEOUT); + + if (success && (result_size > 0)) + memcpy((void *)scan_results, (void *)result_pntr, result_size); + + return success; +} + +static bool ocd_pathmove(uint32_t num_states, uint8_t *path) +{ + uint8_t *num_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */ + uint8_t *path_pntr = &xds110.write_payload[XDS_OUT_LEN + 4]; + + bool success; + + if (NULL == path) + return false; + + xds110.write_payload[0] = OCD_PATHMOVE; + + xds110_set_u32(num_pntr, num_states); + + memcpy((void *)path_pntr, (void *)path, num_states); + + success = xds_execute(XDS_OUT_LEN + 4 + num_states, XDS_IN_LEN, + DEFAULT_ATTEMPTS, DEFAULT_TIMEOUT); + + return success; +} + +/*************************************************************************** + * swd driver interface * + * * + * The following functions provide SWD support to OpenOCD. * + ***************************************************************************/ + +static int xds110_swd_init(void) +{ + xds110.is_swd_mode = true; + return ERROR_OK; +} + +static int xds110_swd_switch_seq(enum swd_special_seq seq) +{ + uint32_t idcode; + bool success; + + switch (seq) { + case LINE_RESET: + LOG_ERROR("Sequence SWD line reset (%d) not supported", seq); + return ERROR_FAIL; + case JTAG_TO_SWD: + LOG_DEBUG("JTAG-to-SWD"); + xds110.is_swd_mode = false; + xds110.is_cmapi_connected = false; + xds110.is_cmapi_acquired = false; + /* Run sequence to put target in SWD mode */ + success = swd_connect(); + /* Re-iniitialize CMAPI API for DAP access */ + if (success) { + xds110.is_swd_mode = true; + success = cmapi_connect(&idcode); + if (success) { + xds110.is_cmapi_connected = true; + success = cmapi_acquire(); + } + } + break; + case SWD_TO_JTAG: + LOG_DEBUG("SWD-to-JTAG"); + xds110.is_swd_mode = false; + xds110.is_cmapi_connected = false; + xds110.is_cmapi_acquired = false; + /* Run sequence to put target in JTAG mode */ + success = swd_disconnect(); + if (success) { + /* Re-initialize JTAG interface */ + success = cjtag_connect(MODE_JTAG); + } + break; + default: + LOG_ERROR("Sequence %d not supported", seq); + return ERROR_FAIL; + } + + if (success) + return ERROR_OK; + else + return ERROR_FAIL; +} + +static bool xds110_legacy_read_reg(uint8_t cmd, uint32_t *value) +{ + /* Make sure this is a read request */ + bool is_read_request = (0 != (SWD_CMD_RnW & cmd)); + /* Determine whether this is a DP or AP register access */ + uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP; + /* Determine the AP number from cached SELECT value */ + uint32_t ap_num = (xds110.select & 0xff000000) >> 24; + /* Extract register address from command */ + uint32_t address = ((cmd & SWD_CMD_A32) >> 1); + /* Extract bank address from cached SELECT value */ + uint32_t bank = (xds110.select & 0x000000f0); + + uint32_t reg_value = 0; + uint32_t temp_value = 0; + + bool success; + + if (!is_read_request) + return false; + + if (DAP_AP == type) { + /* Add bank address to register address for CMAPI call */ + address |= bank; + } + + if (DAP_DP == type && DAP_DP_RDBUFF == address && xds110.use_rdbuff) { + /* If RDBUFF is cached and this is a DP RDBUFF read, use the cache */ + reg_value = xds110.rdbuff; + success = true; + } else if (DAP_AP == type && DAP_AP_DRW == address && xds110.use_rdbuff) { + /* If RDBUFF is cached and this is an AP DRW read, use the cache, */ + /* but still call into the firmware to get the next read. */ + reg_value = xds110.rdbuff; + success = cmapi_read_dap_reg(type, ap_num, address, &temp_value); + } else { + success = cmapi_read_dap_reg(type, ap_num, address, &temp_value); + if (success) + reg_value = temp_value; + } + + /* Mark that we have consumed or invalidated the RDBUFF cache */ + xds110.use_rdbuff = false; + + /* Handle result of read attempt */ + if (!success) + LOG_ERROR("XDS110: failed to read DAP register"); + else if (NULL != value) + *value = reg_value; + + if (success && DAP_AP == type) { + /* + * On a successful DAP AP read, we actually have the value from RDBUFF, + * the firmware will have run the AP request and made the RDBUFF read + */ + xds110.use_rdbuff = true; + xds110.rdbuff = temp_value; + } + + return success; +} + +static bool xds110_legacy_write_reg(uint8_t cmd, uint32_t value) +{ + /* Make sure this isn't a read request */ + bool is_read_request = (0 != (SWD_CMD_RnW & cmd)); + /* Determine whether this is a DP or AP register access */ + uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP; + /* Determine the AP number from cached SELECT value */ + uint32_t ap_num = (xds110.select & 0xff000000) >> 24; + /* Extract register address from command */ + uint32_t address = ((cmd & SWD_CMD_A32) >> 1); + /* Extract bank address from cached SELECT value */ + uint32_t bank = (xds110.select & 0x000000f0); + + bool success; + + if (is_read_request) + return false; + + /* Invalidate the RDBUFF cache */ + xds110.use_rdbuff = false; + + if (DAP_AP == type) { + /* Add bank address to register address for CMAPI call */ + address |= bank; + /* Any write to an AP register invalidates the firmware's cache */ + xds110.is_ap_dirty = true; + } else if (DAP_DP_SELECT == address) { + /* Any write to the SELECT register invalidates the firmware's cache */ + xds110.is_ap_dirty = true; + } + + success = cmapi_write_dap_reg(type, ap_num, address, &value); + + if (!success) { + LOG_ERROR("XDS110: failed to write DAP register"); + } else { + /* + * If the debugger wrote to SELECT, cache the value + * to use to build the apNum and address values above + */ + if ((DAP_DP == type) && (DAP_DP_SELECT == address)) + xds110.select = value; + } + + return success; +} + +static int xds110_swd_run_queue(void) +{ + static uint32_t dap_results[MAX_RESULT_QUEUE]; + uint8_t cmd; + uint32_t request; + uint32_t result; + uint32_t value; + bool success = true; + + if (0 == xds110.txn_request_size) + return ERROR_OK; + + /* Terminate request queue */ + xds110.txn_requests[xds110.txn_request_size++] = 0; + + if (xds110.firmware >= OCD_FIRMWARE_VERSION) { + /* XDS110 firmware has the API to directly handle the queue */ + success = ocd_dap_request(xds110.txn_requests, + xds110.txn_request_size, dap_results, xds110.txn_result_count); + } else { + /* Legacy firmware needs to handle queue via discrete DAP calls */ + request = 0; + result = 0; + while (xds110.txn_requests[request] != 0) { + cmd = xds110.txn_requests[request++]; + if (0 == (SWD_CMD_RnW & cmd)) { + /* DAP register write command */ + value = (uint32_t)(xds110.txn_requests[request++]) << 0; + value |= (uint32_t)(xds110.txn_requests[request++]) << 8; + value |= (uint32_t)(xds110.txn_requests[request++]) << 16; + value |= (uint32_t)(xds110.txn_requests[request++]) << 24; + if (success) + success = xds110_legacy_write_reg(cmd, value); + } else { + /* DAP register read command */ + value = 0; + if (success) + success = xds110_legacy_read_reg(cmd, &value); + dap_results[result++] = value; + } + } + } + + /* Transfer results into caller's buffers */ + for (result = 0; result < xds110.txn_result_count; result++) + if (0 != xds110.txn_dap_results[result]) + *xds110.txn_dap_results[result] = dap_results[result]; + + xds110.txn_request_size = 0; + xds110.txn_result_size = 0; + xds110.txn_result_count = 0; + + return (success) ? ERROR_OK : ERROR_FAIL; +} + +static void xds110_swd_queue_cmd(uint8_t cmd, uint32_t *value) +{ + /* Check if this is a read or write request */ + bool is_read_request = (0 != (SWD_CMD_RnW & cmd)); + /* Determine whether this is a DP or AP register access */ + uint32_t type = (0 != (SWD_CMD_APnDP & cmd)) ? DAP_AP : DAP_DP; + /* Extract register address from command */ + uint32_t address = ((cmd & SWD_CMD_A32) >> 1); + uint32_t request_size = (is_read_request) ? 1 : 5; + + /* Check if new request would be too large to fit */ + if (((xds110.txn_request_size + request_size + 1) > MAX_DATA_BLOCK) || + ((xds110.txn_result_count + 1) > MAX_RESULT_QUEUE)) + xds110_swd_run_queue(); + + /* Set the START bit in cmd to ensure cmd is not zero */ + /* (a value of zero is used to terminate the buffer) */ + cmd |= SWD_CMD_START; + + /* Add request to queue; queue is built marshalled for XDS110 call */ + if (is_read_request) { + /* Queue read request, save pointer to pass back result */ + xds110.txn_requests[xds110.txn_request_size++] = cmd; + xds110.txn_dap_results[xds110.txn_result_count++] = value; + xds110.txn_result_size += 4; + } else { + /* Check for and prevent sticky overrun detection */ + if (DAP_DP == type && DAP_DP_CTRL == address && + (*value & CORUNDETECT)) { + LOG_DEBUG("XDS110: refusing to enable sticky overrun detection"); + *value &= ~CORUNDETECT; + } + /* Queue write request, add value directly to queue buffer */ + xds110.txn_requests[xds110.txn_request_size++] = cmd; + xds110.txn_requests[xds110.txn_request_size++] = (*value >> 0) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (*value >> 8) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (*value >> 16) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (*value >> 24) & 0xff; + } +} + +static void xds110_swd_read_reg(uint8_t cmd, uint32_t *value, + uint32_t ap_delay_clk) +{ + xds110_swd_queue_cmd(cmd, value); +} +static void xds110_swd_write_reg(uint8_t cmd, uint32_t value, + uint32_t ap_delay_clk) +{ + xds110_swd_queue_cmd(cmd, &value); +} + +/*************************************************************************** + * jtag interface * + * * + * The following functions provide XDS110 interface to OpenOCD. * + ***************************************************************************/ + +static void xds110_show_info(void) +{ + uint32_t firmware = xds110.firmware; + + LOG_INFO("XDS110: firmware version = %d.%d.%d.%d", + (((firmware >> 28) & 0xf) * 10) + ((firmware >> 24) & 0xf), + (((firmware >> 20) & 0xf) * 10) + ((firmware >> 16) & 0xf), + (((firmware >> 12) & 0xf) * 10) + ((firmware >> 8) & 0xf), + (((firmware >> 4) & 0xf) * 10) + ((firmware >> 0) & 0xf)); + LOG_INFO("XDS110: hardware version = 0x%04x", xds110.hardware); + if (0 != xds110.serial[0]) + LOG_INFO("XDS110: serial number = %s)", xds110.serial); + if (xds110.is_swd_mode) { + LOG_INFO("XDS110: connected to target via SWD"); + LOG_INFO("XDS110: SWCLK set to %d kHz", xds110.speed); + } else { + LOG_INFO("XDS110: connected to target via JTAG"); + LOG_INFO("XDS110: TCK set to %d kHz", xds110.speed); + } + + /* Alert user that there's a better firmware to use */ + if (firmware < OCD_FIRMWARE_VERSION) { + LOG_WARNING("XDS110: the firmware is not optimized for OpenOCD"); + LOG_WARNING(OCD_FIRMWARE_UPGRADE); + } +} + +static int xds110_quit(void) +{ + if (xds110.is_cmapi_acquired) { + (void)cmapi_release(); + xds110.is_cmapi_acquired = false; + } + if (xds110.is_cmapi_connected) { + (void)cmapi_disconnect(); + xds110.is_cmapi_connected = false; + } + if (xds110.is_connected) { + if (xds110.is_swd_mode) { + /* Switch out of SWD mode */ + (void)swd_disconnect(); + } else { + /* Switch out of cJTAG mode */ + (void)cjtag_disconnect(); + } + /* Tell firmware we're disconnecting */ + (void)xds_disconnect(); + xds110.is_connected = false; + } + /* Close down the USB connection to the XDS110 debug probe */ + usb_disconnect(); + + return ERROR_OK; +} + +static int xds110_init(void) +{ + bool success; + + /* Establish USB connection to the XDS110 debug probe */ + success = usb_connect(); + + if (success) { + /* Send connect message to XDS110 firmware */ + success = xds_connect(); + if (success) + xds110.is_connected = true; + } + + if (success) { + uint32_t firmware; + uint16_t hardware; + + /* Retrieve version IDs from firmware */ + /* Version numbers are stored in BCD format */ + success = xds_version(&firmware, &hardware); + if (success) { + /* Save the firmware and hardware version */ + xds110.firmware = firmware; + xds110.hardware = hardware; + } + } + + if (success) { + success = xds_set_trst(0); + if (success) + success = xds_cycle_tck(50); + if (success) + success = xds_set_trst(1); + if (success) + success = xds_cycle_tck(50); + } + + if (success) { + if (xds110.is_swd_mode) { + /* Switch to SWD if needed */ + success = swd_connect(); + } else { + success = cjtag_connect(MODE_JTAG); + } + } + + if (success && xds110.is_swd_mode) { + uint32_t idcode; + + /* Connect to CMAPI interface in XDS110 */ + success = cmapi_connect(&idcode); + + /* Acquire exclusive access to CMAPI interface */ + if (success) { + xds110.is_cmapi_connected = true; + success = cmapi_acquire(); + if (success) + xds110.is_cmapi_acquired = true; + } + } + + if (!success) + xds110_quit(); + + if (success) + xds110_show_info(); + + return (success) ? ERROR_OK : ERROR_FAIL; +} + +static void xds110_legacy_scan(uint32_t shift_state, uint32_t total_bits, + uint32_t end_state, uint8_t *data_out, uint8_t *data_in) +{ + (void)xds_jtag_scan(shift_state, total_bits, end_state, data_out, data_in); +} + +static void xds110_legacy_runtest(uint32_t clocks, uint32_t end_state) +{ + xds_goto_state(XDS_JTAG_STATE_IDLE); + xds_cycle_tck(clocks); + xds_goto_state(end_state); +} + +static void xds110_legacy_stableclocks(uint32_t clocks) +{ + xds_cycle_tck(clocks); +} + +static void xds110_flush(void) +{ + uint8_t command; + uint32_t clocks; + uint32_t shift_state; + uint32_t end_state; + uint32_t bits; + uint32_t bytes; + uint32_t request; + uint32_t result; + uint8_t *data_out; + uint8_t data_in[MAX_DATA_BLOCK]; + uint8_t *data_pntr; + + if (0 == xds110.txn_request_size) + return; + + /* Terminate request queue */ + xds110.txn_requests[xds110.txn_request_size++] = 0; + + if (xds110.firmware >= OCD_FIRMWARE_VERSION) { + /* Updated firmware has the API to directly handle the queue */ + (void)ocd_scan_request(xds110.txn_requests, xds110.txn_request_size, + data_in, xds110.txn_result_size); + } else { + /* Legacy firmware needs to handle queue via discrete JTAG calls */ + request = 0; + result = 0; + while (xds110.txn_requests[request] != 0) { + command = xds110.txn_requests[request++]; + switch (command) { + case CMD_IR_SCAN: + case CMD_DR_SCAN: + if (command == CMD_IR_SCAN) + shift_state = XDS_JTAG_STATE_SHIFT_IR; + else + shift_state = XDS_JTAG_STATE_SHIFT_DR; + end_state = (uint32_t)(xds110.txn_requests[request++]); + bits = (uint32_t)(xds110.txn_requests[request++]) << 0; + bits |= (uint32_t)(xds110.txn_requests[request++]) << 8; + data_out = &xds110.txn_requests[request]; + bytes = DIV_ROUND_UP(bits, 8); + xds110_legacy_scan(shift_state, bits, end_state, data_out, + &data_in[result]); + result += bytes; + request += bytes; + break; + case CMD_RUNTEST: + clocks = (uint32_t)(xds110.txn_requests[request++]) << 0; + clocks |= (uint32_t)(xds110.txn_requests[request++]) << 8; + clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16; + clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24; + end_state = (uint32_t)xds110.txn_requests[request++]; + xds110_legacy_runtest(clocks, end_state); + break; + case CMD_STABLECLOCKS: + clocks = (uint32_t)(xds110.txn_requests[request++]) << 0; + clocks |= (uint32_t)(xds110.txn_requests[request++]) << 8; + clocks |= (uint32_t)(xds110.txn_requests[request++]) << 16; + clocks |= (uint32_t)(xds110.txn_requests[request++]) << 24; + xds110_legacy_stableclocks(clocks); + break; + default: + LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered", + command); + exit(-1); + break; + } + } + } + + /* Transfer results into caller's buffers from data_in buffer */ + bits = 0; /* Bit offset into current scan result */ + data_pntr = data_in; + for (result = 0; result < xds110.txn_result_count; result++) { + if (xds110.txn_scan_results[result].first) { + if (bits != 0) { + bytes = DIV_ROUND_UP(bits, 8); + data_pntr += bytes; + } + bits = 0; + } + if (xds110.txn_scan_results[result].buffer != 0) + bit_copy(xds110.txn_scan_results[result].buffer, 0, data_pntr, + bits, xds110.txn_scan_results[result].num_bits); + bits += xds110.txn_scan_results[result].num_bits; + } + + xds110.txn_request_size = 0; + xds110.txn_result_size = 0; + xds110.txn_result_count = 0; +} + +static void xds110_execute_reset(struct jtag_command *cmd) +{ + char trst; + char srst; + + if (cmd->cmd.reset->trst != -1) { + if (cmd->cmd.reset->trst == 0) { + /* Deassert nTRST (active low) */ + trst = 1; + } else { + /* Assert nTRST (active low) */ + trst = 0; + } + (void)xds_set_trst(trst); + } + + if (cmd->cmd.reset->srst != -1) { + if (cmd->cmd.reset->srst == 0) { + /* Deassert nSRST (active low) */ + srst = 1; + } else { + /* Assert nSRST (active low) */ + srst = 0; + } + (void)xds_set_srst(srst); + } +} + +static void xds110_execute_sleep(struct jtag_command *cmd) +{ + jtag_sleep(cmd->cmd.sleep->us); + return; +} + +static void xds110_execute_tlr_reset(struct jtag_command *cmd) +{ + (void)xds_goto_state(XDS_JTAG_STATE_RESET); + + return; +} + +static void xds110_execute_pathmove(struct jtag_command *cmd) +{ + uint32_t i; + uint32_t num_states; + uint8_t *path; + + num_states = (uint32_t)cmd->cmd.pathmove->num_states; + + if (num_states == 0) + return; + + path = (uint8_t *)malloc(num_states * sizeof(uint8_t)); + if (path == 0) { + LOG_ERROR("XDS110: unable to allocate memory"); + return; + } + + /* Convert requested path states into XDS API states */ + for (i = 0; i < num_states; i++) + path[i] = (uint8_t)xds_jtag_state[cmd->cmd.pathmove->path[i]]; + + if (xds110.firmware >= OCD_FIRMWARE_VERSION) { + /* Updated firmware fully supports pathmove */ + (void)ocd_pathmove(num_states, path); + } else { + /* Notify user that legacy firmware simply cannot handle pathmove */ + LOG_ERROR("XDS110: the firmware does not support pathmove command"); + LOG_ERROR(OCD_FIRMWARE_UPGRADE); + /* If pathmove is required, then debug is not possible */ + exit(-1); + } + + free((void *)path); + + return; +} + +static void xds110_queue_scan(struct jtag_command *cmd) +{ + int i; + uint32_t offset; + uint32_t total_fields; + uint32_t total_bits; + uint32_t total_bytes; + uint8_t end_state; + uint8_t *buffer; + + /* Calculate the total number of bits to scan */ + total_bits = 0; + total_fields = 0; + for (i = 0; i < cmd->cmd.scan->num_fields; i++) { + total_fields++; + total_bits += (uint32_t)cmd->cmd.scan->fields[i].num_bits; + } + + if (total_bits == 0) + return; + + total_bytes = DIV_ROUND_UP(total_bits, 8); + + /* Check if new request would be too large to fit */ + if (((xds110.txn_request_size + 1 + total_bytes + sizeof(end_state) + 1) + > MAX_DATA_BLOCK) || ((xds110.txn_result_count + total_fields) > + MAX_RESULT_QUEUE)) + xds110_flush(); + + /* Check if this single request is too large to fit */ + if ((1 + total_bytes + sizeof(end_state) + 1) > MAX_DATA_BLOCK) { + LOG_ERROR("BUG: JTAG scan request is too large to handle (%d bits)", + total_bits); + /* Failing to run this scan mucks up debug on this target */ + exit(-1); + } + + if (cmd->cmd.scan->ir_scan) + xds110.txn_requests[xds110.txn_request_size++] = CMD_IR_SCAN; + else + xds110.txn_requests[xds110.txn_request_size++] = CMD_DR_SCAN; + + end_state = (uint8_t)xds_jtag_state[cmd->cmd.scan->end_state]; + xds110.txn_requests[xds110.txn_request_size++] = end_state; + + xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 0) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (total_bits >> 8) & 0xff; + + /* Build request data by flattening fields into single buffer */ + /* also populate the results array to return the results when run */ + offset = 0; + buffer = &xds110.txn_requests[xds110.txn_request_size]; + /* Clear data out buffer to default value of all zeros */ + memset((void *)buffer, 0x00, total_bytes); + for (i = 0; i < cmd->cmd.scan->num_fields; i++) { + if (cmd->cmd.scan->fields[i].out_value != 0) { + /* Copy over data to scan out into request buffer */ + bit_copy(buffer, offset, cmd->cmd.scan->fields[i].out_value, 0, + cmd->cmd.scan->fields[i].num_bits); + } + offset += cmd->cmd.scan->fields[i].num_bits; + xds110.txn_scan_results[xds110.txn_result_count].first = (i == 0); + xds110.txn_scan_results[xds110.txn_result_count].num_bits = + cmd->cmd.scan->fields[i].num_bits; + xds110.txn_scan_results[xds110.txn_result_count++].buffer = + cmd->cmd.scan->fields[i].in_value; + } + xds110.txn_request_size += total_bytes; + xds110.txn_result_size += total_bytes; + + return; +} + +static void xds110_queue_runtest(struct jtag_command *cmd) +{ + uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles; + uint8_t end_state = (uint8_t)xds_jtag_state[cmd->cmd.runtest->end_state]; + + /* Check if new request would be too large to fit */ + if ((xds110.txn_request_size + 1 + sizeof(clocks) + sizeof(end_state) + 1) + > MAX_DATA_BLOCK) + xds110_flush(); + + /* Queue request and cycle count directly to queue buffer */ + xds110.txn_requests[xds110.txn_request_size++] = CMD_RUNTEST; + xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 0) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 8) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = end_state; + + return; +} + +static void xds110_queue_stableclocks(struct jtag_command *cmd) +{ + uint32_t clocks = (uint32_t)cmd->cmd.stableclocks->num_cycles; + + /* Check if new request would be too large to fit */ + if ((xds110.txn_request_size + 1 + sizeof(clocks) + 1) > MAX_DATA_BLOCK) + xds110_flush(); + + /* Queue request and cycle count directly to queue buffer */ + xds110.txn_requests[xds110.txn_request_size++] = CMD_STABLECLOCKS; + xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 0) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 8) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 16) & 0xff; + xds110.txn_requests[xds110.txn_request_size++] = (clocks >> 24) & 0xff; + + return; +} + +static void xds110_execute_command(struct jtag_command *cmd) +{ + switch (cmd->type) { + case JTAG_RESET: + xds110_flush(); + xds110_execute_reset(cmd); + break; + case JTAG_SLEEP: + xds110_flush(); + xds110_execute_sleep(cmd); + break; + case JTAG_TLR_RESET: + xds110_flush(); + xds110_execute_tlr_reset(cmd); + break; + case JTAG_PATHMOVE: + xds110_flush(); + xds110_execute_pathmove(cmd); + break; + case JTAG_SCAN: + xds110_queue_scan(cmd); + break; + case JTAG_RUNTEST: + xds110_queue_runtest(cmd); + break; + case JTAG_STABLECLOCKS: + xds110_queue_stableclocks(cmd); + break; + case JTAG_TMS: + default: + LOG_ERROR("BUG: unknown JTAG command type 0x%x encountered", + cmd->type); + exit(-1); + } +} + +static int xds110_execute_queue(void) +{ + struct jtag_command *cmd = jtag_command_queue; + + while (cmd != NULL) { + xds110_execute_command(cmd); + cmd = cmd->next; + } + + xds110_flush(); + + return ERROR_OK; +} + +static int xds110_speed(int speed) +{ + bool success; + + if (speed == 0) { + LOG_INFO("XDS110: RTCK not supported"); + return ERROR_JTAG_NOT_IMPLEMENTED; + } + + if (speed > XDS110_MAX_TCK_SPEED) { + LOG_INFO("XDS110: reduce speed request: %dkHz to %dkHz maximum", + speed, XDS110_MAX_TCK_SPEED); + speed = XDS110_MAX_TCK_SPEED; + } + + if (speed < XDS110_MIN_TCK_SPEED) { + LOG_INFO("XDS110: increase speed request: %dkHz to %dkHz minimum", + speed, XDS110_MIN_TCK_SPEED); + speed = XDS110_MIN_TCK_SPEED; + } + + /* The default is the maximum frequency the XDS110 can support */ + uint32_t freq_to_use = XDS110_MAX_TCK_SPEED * 1000; /* Hz */ + uint32_t delay_count = 0; + + if (XDS110_MAX_TCK_SPEED != speed) { + freq_to_use = speed * 1000; /* Hz */ + + /* Calculate the delay count value */ + double one_giga = 1000000000; + /* Get the pulse duration for the maximum frequency supported in ns */ + double max_freq_pulse_duration = one_giga / + (XDS110_MAX_TCK_SPEED * 1000); + + /* Convert frequency to pulse duration */ + double freq_to_pulse_width_in_ns = one_giga / freq_to_use; + + /* + * Start with the pulse duration for the maximum frequency. Keep + * decrementing the time added by each count value till the requested + * frequency pulse is less than the calculated value. + */ + double current_value = max_freq_pulse_duration; + + while (current_value < freq_to_pulse_width_in_ns) { + current_value += XDS110_TCK_PULSE_INCREMENT; + ++delay_count; + } + + /* + * Determine which delay count yields the best match. + * The one obtained above or one less. + */ + if (delay_count) { + double diff_freq_1 = freq_to_use - + (one_giga / (max_freq_pulse_duration + + (XDS110_TCK_PULSE_INCREMENT * delay_count))); + double diff_freq_2 = (one_giga / (max_freq_pulse_duration + + (XDS110_TCK_PULSE_INCREMENT * (delay_count - 1)))) - + freq_to_use; + + /* One less count value yields a better match */ + if (diff_freq_1 > diff_freq_2) + --delay_count; + } + } + + /* Send the delay count to the XDS110 firmware */ + success = xds_set_tck_delay(delay_count); + + if (success) { + xds110.delay_count = delay_count; + xds110.speed = speed; + } + + return (success) ? ERROR_OK : ERROR_FAIL; +} + +static int xds110_speed_div(int speed, int *khz) +{ + *khz = speed; + return ERROR_OK; +} + +static int xds110_khz(int khz, int *jtag_speed) +{ + *jtag_speed = khz; + return ERROR_OK; +} + +static int_least32_t xds110_swd_frequency(int_least32_t hz) +{ + if (hz > 0) + xds110_speed(hz / 1000); + return hz; +} + +COMMAND_HANDLER(xds110_handle_info_command) +{ + xds110_show_info(); + return ERROR_OK; +} + +COMMAND_HANDLER(xds110_handle_serial_command) +{ + wchar_t serial[XDS110_SERIAL_LEN + 1]; + + xds110.serial[0] = 0; + + if (CMD_ARGC == 1) { + size_t len = mbstowcs(0, CMD_ARGV[0], 0); + if (len > XDS110_SERIAL_LEN) { + LOG_ERROR("XDS110: serial number is limited to %d characters", + XDS110_SERIAL_LEN); + return ERROR_FAIL; + } + if ((size_t)-1 == mbstowcs(serial, CMD_ARGV[0], len + 1)) { + LOG_ERROR("XDS110: unable to convert serial number"); + return ERROR_FAIL; + } + + for (uint32_t i = 0; i < len; i++) + xds110.serial[i] = (char)serial[i]; + + xds110.serial[len] = 0; + } else { + LOG_ERROR("XDS110: expected exactly one argument to xds110_serial " + "<serial-number>"); + return ERROR_FAIL; + } + + return ERROR_OK; +} + +static const struct command_registration xds110_subcommand_handlers[] = { + { + .name = "info", + .handler = &xds110_handle_info_command, + .mode = COMMAND_EXEC, + .usage = "", + .help = "show XDS110 info", + }, + COMMAND_REGISTRATION_DONE +}; + +static const struct command_registration xds110_command_handlers[] = { + { + .name = "xds110", + .mode = COMMAND_ANY, + .help = "perform XDS110 management", + .usage = "<cmd>", + .chain = xds110_subcommand_handlers, + }, + { + .name = "xds110_serial", + .handler = &xds110_handle_serial_command, + .mode = COMMAND_CONFIG, + .help = "set the XDS110 probe serial number", + .usage = "serial_string", + }, + COMMAND_REGISTRATION_DONE +}; + +static const struct swd_driver xds110_swd_driver = { + .init = xds110_swd_init, + .frequency = xds110_swd_frequency, + .switch_seq = xds110_swd_switch_seq, + .read_reg = xds110_swd_read_reg, + .write_reg = xds110_swd_write_reg, + .run = xds110_swd_run_queue, +}; + +static const char * const xds110_transport[] = { "swd", "jtag", NULL }; + +struct jtag_interface xds110_interface = { + .name = "xds110", + .commands = xds110_command_handlers, + .swd = &xds110_swd_driver, + .transports = xds110_transport, + + .execute_queue = xds110_execute_queue, + .speed = xds110_speed, + .speed_div = xds110_speed_div, + .khz = xds110_khz, + .init = xds110_init, + .quit = xds110_quit, +}; diff --git a/src/jtag/interfaces.c b/src/jtag/interfaces.c index ddeadb4..286a73a 100644 --- a/src/jtag/interfaces.c +++ b/src/jtag/interfaces.c @@ -132,6 +132,9 @@ extern struct jtag_interface kitprog_interface; #if BUILD_IMX_GPIO == 1 extern struct jtag_interface imx_gpio_interface; #endif +#if BUILD_XDS110 == 1 +extern struct jtag_interface xds110_interface; +#endif #endif /* standard drivers */ /** @@ -234,6 +237,9 @@ struct jtag_interface *jtag_interfaces[] = { #if BUILD_IMX_GPIO == 1 &imx_gpio_interface, #endif +#if BUILD_XDS110 == 1 + &xds110_interface, +#endif #endif /* standard drivers */ NULL, }; diff --git a/tcl/interface/xds110.cfg b/tcl/interface/xds110.cfg new file mode 100644 index 0000000..495e202 --- /dev/null +++ b/tcl/interface/xds110.cfg @@ -0,0 +1,12 @@ +# +# Texas Instruments XDS110 +# +# http://processors.wiki.ti.com/index.php/XDS110 +# http://processors.wiki.ti.com/index.php/Emulation_Software_Package#XDS110_Support_Utilities +# + +interface xds110 + +# Use serial number option to use a specific XDS110 +# when more than one are connected to the host. +#xds110_serial 00000000 |