http://www.keil.com/support/man/docs/dapdebug/dapdebug_introduction.htm
CMSIS-DAP is the interface firmware for a Debug Unit that connects the Debug Port to USB.
Debuggers, which execute on a host computer, connect via USB to the Debug Unit
and to the Device that runs the application software.
The Debug Unit connects via JTAG or SW to the target Device.
ARM Cortex processors provide the CoreSight Debug and Trace Unit.
CMSIS-DAP supports target devices that contain one or more Cortex processors.
The Debug Unit can be an integral part of the evaluation board or an external debug adapter.
https://mbed.org/handbook/CMSIS-DAP
The mbed HDK and mbed-enabled hardware support the CMSIS-DAP debug interface, which consists of an abstraction of the Cortex Debug Access Port (DAP) command set over a driver-less USB HID connection. This provides a USB connection to the DAP that major tool vendors have started to support. It even provides the flexibility for users to write their own debugger, or debug script using the USB bindings in languages like Python.
CMSIS-DAP provides a standardized way to access the Coresight Debug Access Port (DAP) of an ARM Cortex microcontroller via USB. CMSIS-DAP is generally implemented as an on-board interface chip, providing direct USB connection from a development board to a debugger running on a host computer on one side, and over JTAG (Joint Test Action Group) or SWD (Serial Wire Debug) to the target device to access the Coresight DAP on the other.
You can access the documentation on the ARM website. You will need to register for an ARM silver account to access the documentation.
There are several reasons concerning the introduction of CMSIS-DAP:
- Before the CMSIS-DAP standard, a lot of USB wigglers implemented their own protocols. With this configuration, the host debugger has to be aware of these different protocols and has to implement all of them, which produces a lot of fragmentation and re-inventing the wheel. At the same time, the protocols were usually defined at the JTAG level, meaning they are slow. CMSIS-DAP provides a standardised interface for debuggers that is defined at the Coresight DAP level, allowing for a standard interface and fast driverless implementations.
- With the new CMSIS-DAP layer, the host debugger can debug targets over SWD or JTAG without the need to implement these two protocols
- The USB connection uses the HID driver class. As HID drivers are built-in in every Operating Systems, there is no need for a specific driver to be installed on the host computer
/****************************************************************************** * @file DAP.h * @brief CMSIS-DAP Definitions * @version V1.00 * @date 31. May 2012 * * @note * Copyright (C) 2012 ARM Limited. All rights reserved. * * @par * ARM Limited (ARM) is supplying this software for use with Cortex-M * processor based microcontrollers. * * @par * THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. * ******************************************************************************/ #ifndef __DAP_H__ #define __DAP_H__ // DAP Command IDs #define ID_DAP_Info 0x00 #define ID_DAP_LED 0x01 #define ID_DAP_Connect 0x02 #define ID_DAP_Disconnect 0x03 #define ID_DAP_TransferConfigure 0x04 #define ID_DAP_Transfer 0x05 #define ID_DAP_TransferBlock 0x06 #define ID_DAP_TransferAbort 0x07 #define ID_DAP_WriteABORT 0x08 #define ID_DAP_Delay 0x09 #define ID_DAP_ResetTarget 0x0A #define ID_DAP_SWJ_Pins 0x10 #define ID_DAP_SWJ_Clock 0x11 #define ID_DAP_SWJ_Sequence 0x12 #define ID_DAP_SWD_Configure 0x13 #define ID_DAP_JTAG_Sequence 0x14 #define ID_DAP_JTAG_Configure 0x15 #define ID_DAP_JTAG_IDCODE 0x16 // DAP Vendor Command IDs #define ID_DAP_Vendor0 0x80 #define ID_DAP_Vendor1 0x81 #define ID_DAP_Vendor2 0x82 #define ID_DAP_Vendor3 0x83 #define ID_DAP_Vendor4 0x84 #define ID_DAP_Vendor5 0x85 #define ID_DAP_Vendor6 0x86 #define ID_DAP_Vendor7 0x87 #define ID_DAP_Vendor8 0x88 #define ID_DAP_Vendor9 0x89 #define ID_DAP_Vendor10 0x8A #define ID_DAP_Vendor11 0x8B #define ID_DAP_Vendor12 0x8C #define ID_DAP_Vendor13 0x8D #define ID_DAP_Vendor14 0x8E #define ID_DAP_Vendor15 0x8F #define ID_DAP_Vendor16 0x90 #define ID_DAP_Vendor17 0x91 #define ID_DAP_Vendor18 0x92 #define ID_DAP_Vendor19 0x93 #define ID_DAP_Vendor20 0x94 #define ID_DAP_Vendor21 0x95 #define ID_DAP_Vendor22 0x96 #define ID_DAP_Vendor23 0x97 #define ID_DAP_Vendor24 0x98 #define ID_DAP_Vendor25 0x99 #define ID_DAP_Vendor26 0x9A #define ID_DAP_Vendor27 0x9B #define ID_DAP_Vendor28 0x9C #define ID_DAP_Vendor29 0x9D #define ID_DAP_Vendor30 0x9E #define ID_DAP_Vendor31 0x9F #define ID_DAP_Invalid 0xFF // DAP Status Code #define DAP_OK 0 #define DAP_ERROR 0xFF // DAP ID #define DAP_ID_VENDOR 1 #define DAP_ID_PRODUCT 2 #define DAP_ID_SER_NUM 3 #define DAP_ID_FW_VER 4 #define DAP_ID_DEVICE_VENDOR 5 #define DAP_ID_DEVICE_NAME 6 #define DAP_ID_CAPABILITIES 0xF0 #define DAP_ID_PACKET_COUNT 0xFE #define DAP_ID_PACKET_SIZE 0xFF // DAP LEDs #define DAP_LED_DEBUGGER_CONNECTED 0 #define DAP_LED_TARGET_RUNNING 1 // DAP Port #define DAP_PORT_AUTODETECT 0 // Autodetect Port #define DAP_PORT_DISABLED 0 // Port Disabled (I/O pins in High-Z) #define DAP_PORT_SWD 1 // SWD Port (SWCLK, SWDIO) + nRESET #define DAP_PORT_JTAG 2 // JTAG Port (TCK, TMS, TDI, TDO, nTRST) + nRESET // DAP SWJ Pins #define DAP_SWJ_SWCLK_TCK 0 // SWCLK/TCK #define DAP_SWJ_SWDIO_TMS 1 // SWDIO/TMS #define DAP_SWJ_TDI 2 // TDI #define DAP_SWJ_TDO 3 // TDO #define DAP_SWJ_nTRST 5 // nTRST #define DAP_SWJ_nRESET 7 // nRESET // DAP Transfer Request #define DAP_TRANSFER_APnDP (1<<0) #define DAP_TRANSFER_RnW (1<<1) #define DAP_TRANSFER_A2 (1<<2) #define DAP_TRANSFER_A3 (1<<3) #define DAP_TRANSFER_MATCH_VALUE (1<<4) #define DAP_TRANSFER_MATCH_MASK (1<<5) // DAP Transfer Response #define DAP_TRANSFER_OK (1<<0) #define DAP_TRANSFER_WAIT (1<<1) #define DAP_TRANSFER_FAULT (1<<2) #define DAP_TRANSFER_ERROR (1<<3) #define DAP_TRANSFER_MISMATCH (1<<4) // Debug Port Register Addresses #define DP_IDCODE 0x00 // IDCODE Register (SW Read only) #define DP_ABORT 0x00 // Abort Register (SW Write only) #define DP_CTRL_STAT 0x04 // Control & Status #define DP_WCR 0x04 // Wire Control Register (SW Only) #define DP_SELECT 0x08 // Select Register (JTAG R/W & SW W) #define DP_RESEND 0x08 // Resend (SW Read Only) #define DP_RDBUFF 0x0C // Read Buffer (Read Only) // JTAG IR Codes #define JTAG_ABORT 0x08 #define JTAG_DPACC 0x0A #define JTAG_APACC 0x0B #define JTAG_IDCODE 0x0E #define JTAG_BYPASS 0x0F // JTAG Sequence Info #define JTAG_SEQUENCE_TCK 0x3F // TCK count #define JTAG_SEQUENCE_TMS 0x40 // TMS value #define JTAG_SEQUENCE_TDO 0x80 // TDO capture #include <stddef.h> #include <stdint.h> // DAP Data structure typedef struct { uint8_t debug_port; // Debug Port uint8_t fast_clock; // Fast Clock Flag uint32_t clock_delay; // Clock Delay struct { // Transfer Configuration uint8_t idle_cycles; // Idle cycles after transfer uint16_t retry_count; // Number of retries after WAIT response uint16_t match_retry; // Number of retries if read value does not match uint32_t match_mask; // Match Mask } transfer; #if (DAP_SWD != 0) struct { // SWD Configuration uint8_t turnaround; // Turnaround period uint8_t data_phase; // Always generate Data Phase } swd_conf; #endif #if (DAP_JTAG != 0) struct { // JTAG Device Chain uint8_t count; // Number of devices uint8_t index; // Device index (device at TDO has index 0) #if (DAP_JTAG_DEV_CNT != 0) uint8_t ir_length[DAP_JTAG_DEV_CNT]; // IR Length in bits uint16_t ir_before[DAP_JTAG_DEV_CNT]; // Bits before IR uint16_t ir_after [DAP_JTAG_DEV_CNT]; // Bits after IR #endif } jtag_dev; #endif } DAP_Data_t; extern DAP_Data_t DAP_Data; // DAP Data extern volatile uint8_t DAP_TransferAbort; // Transfer Abort Flag // Functions extern void SWJ_Sequence (uint32_t count, uint8_t *data); extern void JTAG_Sequence (uint32_t info, uint8_t *tdi, uint8_t *tdo); extern void JTAG_IR (uint32_t ir); extern uint32_t JTAG_ReadIDCode (void); extern void JTAG_WriteAbort (uint32_t data); extern uint8_t JTAG_Transfer (uint32_t request, uint32_t *data); extern uint8_t SWD_Transfer (uint32_t request, uint32_t *data); extern void Delayms (uint32_t delay); extern uint32_t DAP_ProcessVendorCommand (uint8_t *request, uint8_t *response); extern uint32_t DAP_ProcessCommand (uint8_t *request, uint8_t *response); extern void DAP_Setup (void); // Configurable delay for clock generation #define DELAY_SLOW_CYCLES 3 // Number of cycles for one iteration static __forceinline void PIN_DELAY_SLOW (uint32_t delay) { volatile int32_t count; count = delay; while (--count); } // Fixed delay for fast clock generation #define DELAY_FAST_CYCLES 0 // Number of cycles static __forceinline void PIN_DELAY_FAST (void) { //__nop(); } #endif /* __DAP_H__ */
/****************************************************************************** * @file DAP.c * @brief CMSIS-DAP Commands * @version V1.00 * @date 31. May 2012 * * @note * Copyright (C) 2012 ARM Limited. All rights reserved. * * @par * ARM Limited (ARM) is supplying this software for use with Cortex-M * processor based microcontrollers. * * @par * THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. * ******************************************************************************/ #include <string.h> #include "DAP_config.h" #include "DAP.h" #define DAP_FW_VER "1.0" // Firmware Version #if (DAP_PACKET_SIZE < 64) #error "Minimum Packet Size is 64" #endif #if (DAP_PACKET_SIZE > 32768) #error "Maximum Packet Size is 32768" #endif #if (DAP_PACKET_COUNT < 1) #error "Minimum Packet Count is 1" #endif #if (DAP_PACKET_COUNT > 255) #error "Maximum Packet Count is 255" #endif // Clock Macros #define MAX_SWJ_CLOCK(delay_cycles) (CPU_CLOCK/2 / (IO_PORT_WRITE_CYCLES + delay_cycles)) #define CLOCK_DELAY(swj_clock) ((CPU_CLOCK/2 / swj_clock) - IO_PORT_WRITE_CYCLES) DAP_Data_t DAP_Data; // DAP Data volatile uint8_t DAP_TransferAbort; // Trasfer Abort Flag #ifdef DAP_VENDOR const char DAP_Vendor [] = DAP_VENDOR; #endif #ifdef DAP_PRODUCT const char DAP_Product[] = DAP_PRODUCT; #endif #ifdef DAP_SER_NUM const char DAP_SerNum [] = DAP_SER_NUM; #endif const char DAP_FW_Ver [] = DAP_FW_VER; #if TARGET_DEVICE_FIXED const char TargetDeviceVendor [] = TARGET_DEVICE_VENDOR; const char TargetDeviceName [] = TARGET_DEVICE_NAME; #endif // Get DAP Information // id: info identifier // info: pointer to info data // return: number of bytes in info data static uint8_t DAP_Info(uint8_t id, uint8_t *info) { uint8_t length = 0; switch (id) { case DAP_ID_VENDOR: #ifdef DAP_VENDOR memcpy(info, DAP_Vendor, sizeof(DAP_Vendor)); length = sizeof(DAP_Vendor); #endif break; case DAP_ID_PRODUCT: #ifdef DAP_PRODUCT memcpy(info, DAP_Product, sizeof(DAP_Product)); length = sizeof(DAP_Product); #endif break; case DAP_ID_SER_NUM: #ifdef DAP_SER_NUM memcpy(info, DAP_SerNum, sizeof(DAP_SerNum)); length = sizeof(DAP_SerNum); #endif break; case DAP_ID_FW_VER: memcpy(info, DAP_FW_Ver, sizeof(DAP_FW_Ver)); length = sizeof(DAP_FW_Ver); break; case DAP_ID_DEVICE_VENDOR: #if TARGET_DEVICE_FIXED memcpy(info, TargetDeviceVendor, sizeof(TargetDeviceVendor)); length = sizeof(DAP_Target_Device); #endif break; case DAP_ID_DEVICE_NAME: #if TARGET_DEVICE_FIXED memcpy(info, TargetDeviceName, sizeof(TargetDeviceName)); length = sizeof(DAP_Target_Device); #endif break; case DAP_ID_CAPABILITIES: info[0] = ((DAP_SWD != 0) ? (1 << 0) : 0) | ((DAP_JTAG != 0) ? (1 << 1) : 0); length = 1; break; case DAP_ID_PACKET_SIZE: info[0] = (uint8_t)(DAP_PACKET_SIZE >> 0); info[1] = (uint8_t)(DAP_PACKET_SIZE >> 8); length = 2; break; case DAP_ID_PACKET_COUNT: info[0] = DAP_PACKET_COUNT; length = 1; break; } return (length); } // Timer Functions #if ((DAP_SWD != 0) || (DAP_JTAG != 0)) // Start Timer static __inline void TIMER_START (uint32_t usec) { SysTick->VAL = 0; SysTick->LOAD = usec * CPU_CLOCK/1000000; SysTick->CTRL = (1 << SysTick_CTRL_ENABLE_Pos) | (1 << SysTick_CTRL_CLKSOURCE_Pos); } // Stop Timer static __inline void TIMER_STOP (void) { SysTick->CTRL = 0; } // Check if Timer expired static __inline uint32_t TIMER_EXPIRED (void) { return ((SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk) ? 1 : 0); } #endif // Delay for specified time // delay: delay time in ms void Delayms(uint32_t delay) { delay *= (CPU_CLOCK/1000 + (DELAY_SLOW_CYCLES-1)) / DELAY_SLOW_CYCLES; PIN_DELAY_SLOW(delay); } // Process Delay command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response static uint32_t DAP_Delay(uint8_t *request, uint8_t *response) { uint32_t delay; delay = *(request+0) | (*(request+1) << 8); delay *= (CPU_CLOCK/1000000 + (DELAY_SLOW_CYCLES-1)) / DELAY_SLOW_CYCLES; PIN_DELAY_SLOW(delay); *response = DAP_OK; return (1); } // Process LED command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response static uint32_t DAP_LED(uint8_t *request, uint8_t *response) { switch (*request) { case DAP_LED_DEBUGGER_CONNECTED: LED_CONNECTED_OUT((*(request+1) & 1)); break; case DAP_LED_TARGET_RUNNING: LED_RUNNING_OUT((*(request+1) & 1)); break; default: *response = DAP_ERROR; return (1); } *response = DAP_OK; return (1); } // Process Connect command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response static uint32_t DAP_Connect(uint8_t *request, uint8_t *response) { uint32_t port; if (*request == DAP_PORT_AUTODETECT) { port = DAP_DEFAULT_PORT; } else { port = *request; } switch (port) { #if (DAP_SWD != 0) case DAP_PORT_SWD: DAP_Data.debug_port = DAP_PORT_SWD; PORT_SWD_SETUP(); break; #endif #if (DAP_JTAG != 0) case DAP_PORT_JTAG: DAP_Data.debug_port = DAP_PORT_JTAG; PORT_JTAG_SETUP(); break; #endif default: *response = DAP_PORT_DISABLED; return (1); } *response = port; return (1); } // Process Disconnect command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response static uint32_t DAP_Disconnect(uint8_t *response) { DAP_Data.debug_port = DAP_PORT_DISABLED; PORT_OFF(); *response = DAP_OK; return (1); } // Process Reset Target command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response static uint32_t DAP_ResetTarget(uint8_t *response) { *(response+1) = RESET_TARGET(); *(response+0) = DAP_OK; return (2); } // Process SWJ Pins command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if ((DAP_SWD != 0) || (DAP_JTAG != 0)) static uint32_t DAP_SWJ_Pins(uint8_t *request, uint8_t *response) { uint32_t value; uint32_t select; uint32_t wait; value = *(request+0); select = *(request+1); wait = (*(request+2) << 0) | (*(request+3) << 8) | (*(request+4) << 16) | (*(request+5) << 24); if (select & (1 << DAP_SWJ_SWCLK_TCK)) { if (value & (1 << DAP_SWJ_SWCLK_TCK)) { PIN_SWCLK_TCK_SET(); } else { PIN_SWCLK_TCK_CLR(); } } if (select & (1 << DAP_SWJ_SWDIO_TMS)) { if (value & (1 << DAP_SWJ_SWDIO_TMS)) { PIN_SWDIO_TMS_SET(); } else { PIN_SWDIO_TMS_CLR(); } } if (select & (1 << DAP_SWJ_TDI)) { PIN_TDI_OUT(value >> DAP_SWJ_TDI); } if (select & (1 << DAP_SWJ_nTRST)) { PIN_nTRST_OUT(value >> DAP_SWJ_nTRST); } if (select & (1 << DAP_SWJ_nRESET)) { PIN_nRESET_OUT(value >> DAP_SWJ_nRESET); } if (wait) { if (wait > 3000000) wait = 3000000; TIMER_START(wait); do { if (select & (1 << DAP_SWJ_SWCLK_TCK)) { if ((value >> DAP_SWJ_SWCLK_TCK) ^ PIN_SWCLK_TCK_IN()) continue; } if (select & (1 << DAP_SWJ_SWDIO_TMS)) { if ((value >> DAP_SWJ_SWDIO_TMS) ^ PIN_SWDIO_TMS_IN()) continue; } if (select & (1 << DAP_SWJ_TDI)) { if ((value >> DAP_SWJ_TDI) ^ PIN_TDI_IN()) continue; } if (select & (1 << DAP_SWJ_nTRST)) { if ((value >> DAP_SWJ_nTRST) ^ PIN_nTRST_IN()) continue; } if (select & (1 << DAP_SWJ_nRESET)) { if ((value >> DAP_SWJ_nRESET) ^ PIN_nRESET_IN()) continue; } break; } while (!TIMER_EXPIRED()); TIMER_STOP(); } value = (PIN_SWCLK_TCK_IN() << DAP_SWJ_SWCLK_TCK) | (PIN_SWDIO_TMS_IN() << DAP_SWJ_SWDIO_TMS) | (PIN_TDI_IN() << DAP_SWJ_TDI) | (PIN_TDO_IN() << DAP_SWJ_TDO) | (PIN_nTRST_IN() << DAP_SWJ_nTRST) | (PIN_nRESET_IN() << DAP_SWJ_nRESET); *response = (uint8_t)value; return (1); } #endif // Process SWJ Clock command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if ((DAP_SWD != 0) || (DAP_JTAG != 0)) static uint32_t DAP_SWJ_Clock(uint8_t *request, uint8_t *response) { uint32_t clock; uint32_t delay; clock = (*(request+0) << 0) | (*(request+1) << 8) | (*(request+2) << 16) | (*(request+3) << 24); if (clock == 0) { *response = DAP_ERROR; return (1); } if (clock >= MAX_SWJ_CLOCK(DELAY_FAST_CYCLES)) { DAP_Data.fast_clock = 1; DAP_Data.clock_delay = 1; } else { DAP_Data.fast_clock = 0; delay = (CPU_CLOCK/2 + (clock - 1)) / clock; if (delay > IO_PORT_WRITE_CYCLES) { delay -= IO_PORT_WRITE_CYCLES; delay = (delay + (DELAY_SLOW_CYCLES - 1)) / DELAY_SLOW_CYCLES; } else { delay = 1; } DAP_Data.clock_delay = delay; } *response = DAP_OK; return (1); } #endif // Process SWJ Sequence command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if ((DAP_SWD != 0) || (DAP_JTAG != 0)) static uint32_t DAP_SWJ_Sequence(uint8_t *request, uint8_t *response) { uint32_t count; count = *request++; if (count == 0) count = 256; SWJ_Sequence(count, request); *response = DAP_OK; return (1); } #endif // Process SWD Configure command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_SWD != 0) static uint32_t DAP_SWD_Configure(uint8_t *request, uint8_t *response) { uint8_t value; value = *request; DAP_Data.swd_conf.turnaround = (value & 0x03) + 1; DAP_Data.swd_conf.data_phase = (value & 0x04) ? 1 : 0; *response = DAP_OK; return (1); } #endif // Process SWD Abort command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_SWD != 0) static uint32_t DAP_SWD_Abort(uint8_t *request, uint8_t *response) { uint32_t data; if (DAP_Data.debug_port != DAP_PORT_SWD) { *response = DAP_ERROR; return (1); } // Load data (Ignore DAP index) data = (*(request+1) << 0) | (*(request+2) << 8) | (*(request+3) << 16) | (*(request+4) << 24); // Write Abort register SWD_Transfer(DP_ABORT, &data); *response = DAP_OK; return (1); } #endif // Process JTAG Sequence command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_JTAG != 0) static uint32_t DAP_JTAG_Sequence(uint8_t *request, uint8_t *response) { uint32_t sequence_info; uint32_t sequence_count; uint32_t response_count; uint32_t count; *response++ = DAP_OK; response_count = 1; sequence_count = *request++; while (sequence_count--) { sequence_info = *request++; JTAG_Sequence(sequence_info, request, response); count = sequence_info & JTAG_SEQUENCE_TCK; if (count == 0) count = 64; count = (count + 7) / 8; request += count; if (sequence_info & JTAG_SEQUENCE_TDO) { response += count; response_count += count; } } return (response_count); } #endif // Process JTAG Configure command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_JTAG != 0) static uint32_t DAP_JTAG_Configure(uint8_t *request, uint8_t *response) { uint32_t count; uint32_t length; uint32_t bits; uint32_t n; count = *request++; DAP_Data.jtag_dev.count = count; bits = 0; for (n = 0; n < count; n++) { length = *request++; DAP_Data.jtag_dev.ir_length[n] = length; DAP_Data.jtag_dev.ir_before[n] = bits; bits += length; } for (n = 0; n < count; n++) { bits -= DAP_Data.jtag_dev.ir_length[n]; DAP_Data.jtag_dev.ir_after[n] = bits; } *response = DAP_OK; return (1); } #endif // Process JTAG IDCODE command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_JTAG != 0) static uint32_t DAP_JTAG_IDCode(uint8_t *request, uint8_t *response) { uint32_t data; if (DAP_Data.debug_port != DAP_PORT_JTAG) { err:*response = DAP_ERROR; return (1); } // Device index (JTAP TAP) DAP_Data.jtag_dev.index = *request; if (DAP_Data.jtag_dev.index >= DAP_Data.jtag_dev.count) goto err; // Select JTAG chain JTAG_IR(JTAG_IDCODE); // Read IDCODE register data = JTAG_ReadIDCode(); // Store Data *(response+0) = DAP_OK; *(response+1) = (uint8_t)(data >> 0); *(response+2) = (uint8_t)(data >> 8); *(response+3) = (uint8_t)(data >> 16); *(response+4) = (uint8_t)(data >> 24); return (1+4); } #endif // Process JTAG Abort command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_JTAG != 0) static uint32_t DAP_JTAG_Abort(uint8_t *request, uint8_t *response) { uint32_t data; if (DAP_Data.debug_port != DAP_PORT_JTAG) { err:*response = DAP_ERROR; return (1); } // Device index (JTAP TAP) DAP_Data.jtag_dev.index = *request; if (DAP_Data.jtag_dev.index >= DAP_Data.jtag_dev.count) goto err; // Select JTAG chain JTAG_IR(JTAG_ABORT); // Load data data = (*(request+1) << 0) | (*(request+2) << 8) | (*(request+3) << 16) | (*(request+4) << 24); // Write Abort register JTAG_WriteAbort(data); *response = DAP_OK; return (1); } #endif // Process Transfer Configure command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response static uint32_t DAP_TransferConfigure(uint8_t *request, uint8_t *response) { DAP_Data.transfer.idle_cycles = *(request+0); DAP_Data.transfer.retry_count = *(request+1) | (*(request+2) << 8); DAP_Data.transfer.match_retry = *(request+3) | (*(request+4) << 8); *response = DAP_OK; return (1); } // Process SWD Transfer command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_SWD != 0) static uint32_t DAP_SWD_Transfer(uint8_t *request, uint8_t *response) { uint32_t request_count; uint32_t request_value; uint32_t response_count; uint32_t response_value; uint8_t *response_head; uint32_t post_read; uint32_t check_write; uint32_t match_value; uint32_t match_retry; uint32_t retry; uint32_t data; response_count = 0; response_value = 0; response_head = response; response += 2; DAP_TransferAbort = 0; post_read = 0; check_write = 0; request++; // Ignore DAP index request_count = *request++; while (request_count--) { request_value = *request++; if (request_value & DAP_TRANSFER_RnW) { // Read register if (post_read) { // Read was posted before retry = DAP_Data.transfer.retry_count; if ((request_value & (DAP_TRANSFER_APnDP | DAP_TRANSFER_MATCH_VALUE)) == DAP_TRANSFER_APnDP) { // Read previous AP data and post next AP read do { response_value = SWD_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); } else { // Read previous AP data do { response_value = SWD_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); post_read = 0; } if (response_value != DAP_TRANSFER_OK) break; // Store previous AP data *response++ = (uint8_t) data; *response++ = (uint8_t)(data >> 8); *response++ = (uint8_t)(data >> 16); *response++ = (uint8_t)(data >> 24); } if (request_value & DAP_TRANSFER_MATCH_VALUE) { // Read with value match match_value = (*(request+0) << 0) | (*(request+1) << 8) | (*(request+2) << 16) | (*(request+3) << 24); request += 4; match_retry = DAP_Data.transfer.match_retry; if (request_value & DAP_TRANSFER_APnDP) { // Post AP read retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(request_value, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; } do { // Read register until its value matches or retry counter expires retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; } while (((data & DAP_Data.transfer.match_mask) != match_value) && match_retry-- && !DAP_TransferAbort); if ((data & DAP_Data.transfer.match_mask) != match_value) { response_value |= DAP_TRANSFER_MISMATCH; } if (response_value != DAP_TRANSFER_OK) break; } else { // Normal read retry = DAP_Data.transfer.retry_count; if (request_value & DAP_TRANSFER_APnDP) { // Read AP register if (post_read == 0) { // Post AP read do { response_value = SWD_Transfer(request_value, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; post_read = 1; } } else { // Read DP register do { response_value = SWD_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; // Store data *response++ = (uint8_t) data; *response++ = (uint8_t)(data >> 8); *response++ = (uint8_t)(data >> 16); *response++ = (uint8_t)(data >> 24); } } check_write = 0; } else { // Write register if (post_read) { // Read previous data retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; // Store previous data *response++ = (uint8_t) data; *response++ = (uint8_t)(data >> 8); *response++ = (uint8_t)(data >> 16); *response++ = (uint8_t)(data >> 24); post_read = 0; } // Load data data = (*(request+0) << 0) | (*(request+1) << 8) | (*(request+2) << 16) | (*(request+3) << 24); request += 4; if (request_value & DAP_TRANSFER_MATCH_MASK) { // Write match mask DAP_Data.transfer.match_mask = data; response_value = DAP_TRANSFER_OK; } else { // Write DP/AP register retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; check_write = 1; } } response_count++; if (DAP_TransferAbort) break; } if (response_value == DAP_TRANSFER_OK) { if (post_read) { // Read previous data retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) goto end; // Store previous data *response++ = (uint8_t) data; *response++ = (uint8_t)(data >> 8); *response++ = (uint8_t)(data >> 16); *response++ = (uint8_t)(data >> 24); } else if (check_write) { // Check last write retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); } } end: *(response_head+0) = (uint8_t)response_count; *(response_head+1) = (uint8_t)response_value; return (response - response_head); } #endif // Process JTAG Transfer command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_JTAG != 0) static uint32_t DAP_JTAG_Transfer(uint8_t *request, uint8_t *response) { uint32_t request_count; uint32_t request_value; uint32_t request_ir; uint32_t response_count; uint32_t response_value; uint8_t *response_head; uint32_t post_read; uint32_t match_value; uint32_t match_retry; uint32_t retry; uint32_t data; uint32_t ir; response_count = 0; response_value = 0; response_head = response; response += 2; DAP_TransferAbort = 0; ir = 0; post_read = 0; // Device index (JTAP TAP) DAP_Data.jtag_dev.index = *request++; if (DAP_Data.jtag_dev.index >= DAP_Data.jtag_dev.count) goto end; request_count = *request++; while (request_count--) { request_value = *request++; request_ir = (request_value & DAP_TRANSFER_APnDP) ? JTAG_APACC : JTAG_DPACC; if (request_value & DAP_TRANSFER_RnW) { // Read register if (post_read) { // Read was posted before retry = DAP_Data.transfer.retry_count; if ((ir == request_ir) && ((request_value & DAP_TRANSFER_MATCH_VALUE) == 0)) { // Read previous data and post next read do { response_value = JTAG_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); } else { // Select JTAG chain if (ir != JTAG_DPACC) { ir = JTAG_DPACC; JTAG_IR(ir); } // Read previous data do { response_value = JTAG_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); post_read = 0; } if (response_value != DAP_TRANSFER_OK) break; // Store previous data *response++ = (uint8_t) data; *response++ = (uint8_t)(data >> 8); *response++ = (uint8_t)(data >> 16); *response++ = (uint8_t)(data >> 24); } if (request_value & DAP_TRANSFER_MATCH_VALUE) { // Read with value match match_value = (*(request+0) << 0) | (*(request+1) << 8) | (*(request+2) << 16) | (*(request+3) << 24); request += 4; match_retry = DAP_Data.transfer.match_retry; // Select JTAG chain if (ir != request_ir) { ir = request_ir; JTAG_IR(ir); } // Post DP/AP read retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(request_value, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; do { // Read register until its value matches or retry counter expires retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; } while (((data & DAP_Data.transfer.match_mask) != match_value) && match_retry-- && !DAP_TransferAbort); if ((data & DAP_Data.transfer.match_mask) != match_value) { response_value |= DAP_TRANSFER_MISMATCH; } if (response_value != DAP_TRANSFER_OK) break; } else { // Normal read if (post_read == 0) { // Select JTAG chain if (ir != request_ir) { ir = request_ir; JTAG_IR(ir); } // Post DP/AP read retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(request_value, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; post_read = 1; } } } else { // Write register if (post_read) { // Select JTAG chain if (ir != JTAG_DPACC) { ir = JTAG_DPACC; JTAG_IR(ir); } // Read previous data retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; // Store previous data *response++ = (uint8_t) data; *response++ = (uint8_t)(data >> 8); *response++ = (uint8_t)(data >> 16); *response++ = (uint8_t)(data >> 24); post_read = 0; } // Load data data = (*(request+0) << 0) | (*(request+1) << 8) | (*(request+2) << 16) | (*(request+3) << 24); request += 4; if (request_value & DAP_TRANSFER_MATCH_MASK) { // Write match mask DAP_Data.transfer.match_mask = data; response_value = DAP_TRANSFER_OK; } else { // Select JTAG chain if (ir != request_ir) { ir = request_ir; JTAG_IR(ir); } // Write DP/AP register retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) break; } } response_count++; if (DAP_TransferAbort) break; } if (response_value == DAP_TRANSFER_OK) { // Select JTAG chain if (ir != JTAG_DPACC) { ir = JTAG_DPACC; JTAG_IR(ir); } if (post_read) { // Read previous data retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) goto end; // Store previous data *response++ = (uint8_t) data; *response++ = (uint8_t)(data >> 8); *response++ = (uint8_t)(data >> 16); *response++ = (uint8_t)(data >> 24); } else { // Check last write retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); } } end: *(response_head+0) = (uint8_t)response_count; *(response_head+1) = (uint8_t)response_value; return (response - response_head); } #endif // Process SWD Transfer Block command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_SWD != 0) static uint32_t DAP_SWD_TransferBlock(uint8_t *request, uint8_t *response) { uint32_t request_count; uint32_t request_value; uint32_t response_count; uint32_t response_value; uint8_t *response_head; uint32_t retry; uint32_t data; response_count = 0; response_value = 0; response_head = response; response += 3; DAP_TransferAbort = 0; request++; // Ignore DAP index request_count = *request | (*(request+1) << 8); request += 2; if (request_count == 0) goto end; request_value = *request++; if (request_value & DAP_TRANSFER_RnW) { // Read register block if (request_value & DAP_TRANSFER_APnDP) { // Post AP read retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(request_value, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) goto end; } while (request_count--) { // Read DP/AP register if ((request_count == 0) && (request_value & DAP_TRANSFER_APnDP)) { // Last AP read request_value = DP_RDBUFF | DAP_TRANSFER_RnW; } retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) goto end; // Store data *response++ = (uint8_t) data; *response++ = (uint8_t)(data >> 8); *response++ = (uint8_t)(data >> 16); *response++ = (uint8_t)(data >> 24); response_count++; } } else { // Write register block while (request_count--) { // Load data data = (*(request+0) << 0) | (*(request+1) << 8) | (*(request+2) << 16) | (*(request+3) << 24); request += 4; // Write DP/AP register retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) goto end; response_count++; } // Check last write retry = DAP_Data.transfer.retry_count; do { response_value = SWD_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); } end: *(response_head+0) = (uint8_t)(response_count >> 0); *(response_head+1) = (uint8_t)(response_count >> 8); *(response_head+2) = (uint8_t) response_value; return (response - response_head); } #endif // Process JTAG Transfer Block command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response #if (DAP_JTAG != 0) static uint32_t DAP_JTAG_TransferBlock(uint8_t *request, uint8_t *response) { uint32_t request_count; uint32_t request_value; uint32_t response_count; uint32_t response_value; uint8_t *response_head; uint32_t retry; uint32_t data; uint32_t ir; response_count = 0; response_value = 0; response_head = response; response += 3; DAP_TransferAbort = 0; // Device index (JTAP TAP) DAP_Data.jtag_dev.index = *request++; if (DAP_Data.jtag_dev.index >= DAP_Data.jtag_dev.count) goto end; request_count = *request | (*(request+1) << 8); request += 2; if (request_count == 0) goto end; request_value = *request++; // Select JTAG chain ir = (request_value & DAP_TRANSFER_APnDP) ? JTAG_APACC : JTAG_DPACC; JTAG_IR(ir); if (request_value & DAP_TRANSFER_RnW) { // Post read retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(request_value, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) goto end; // Read register block while (request_count--) { // Read DP/AP register if (request_count == 0) { // Last read if (ir != JTAG_DPACC) { JTAG_IR(JTAG_DPACC); } request_value = DP_RDBUFF | DAP_TRANSFER_RnW; } retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) goto end; // Store data *response++ = (uint8_t) data; *response++ = (uint8_t)(data >> 8); *response++ = (uint8_t)(data >> 16); *response++ = (uint8_t)(data >> 24); response_count++; } } else { // Write register block while (request_count--) { // Load data data = (*(request+0) << 0) | (*(request+1) << 8) | (*(request+2) << 16) | (*(request+3) << 24); request += 4; // Write DP/AP register retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(request_value, &data); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); if (response_value != DAP_TRANSFER_OK) goto end; response_count++; } // Check last write if (ir != JTAG_DPACC) { JTAG_IR(JTAG_DPACC); } retry = DAP_Data.transfer.retry_count; do { response_value = JTAG_Transfer(DP_RDBUFF | DAP_TRANSFER_RnW, NULL); } while ((response_value == DAP_TRANSFER_WAIT) && retry-- && !DAP_TransferAbort); } end: *(response_head+0) = (uint8_t)(response_count >> 0); *(response_head+1) = (uint8_t)(response_count >> 8); *(response_head+2) = (uint8_t) response_value; return (response - response_head); } #endif // Process DAP Vendor command and prepare response // Default function (can be overridden) // request: pointer to request data // response: pointer to response data // return: number of bytes in response __weak uint32_t DAP_ProcessVendorCommand(uint8_t *request, uint8_t *response) { *response = ID_DAP_Invalid; return (1); } // Process DAP command and prepare response // request: pointer to request data // response: pointer to response data // return: number of bytes in response uint32_t DAP_ProcessCommand(uint8_t *request, uint8_t *response) { uint32_t num; if ((*request >= ID_DAP_Vendor0) && (*request <= ID_DAP_Vendor31)) { return DAP_ProcessVendorCommand(request, response); } *response++ = *request; switch (*request++) { case ID_DAP_Info: num = DAP_Info(*request, response+1); *response = num; return (2 + num); case ID_DAP_LED: num = DAP_LED(request, response); break; case ID_DAP_Connect: num = DAP_Connect(request, response); break; case ID_DAP_Disconnect: num = DAP_Disconnect(response); break; case ID_DAP_Delay: num = DAP_Delay(request, response); break; case ID_DAP_ResetTarget: num = DAP_ResetTarget(response); break; #if ((DAP_SWD != 0) || (DAP_JTAG != 0)) case ID_DAP_SWJ_Pins: num = DAP_SWJ_Pins(request, response); break; case ID_DAP_SWJ_Clock: num = DAP_SWJ_Clock(request, response); break; case ID_DAP_SWJ_Sequence: num = DAP_SWJ_Sequence(request, response); break; #else case ID_DAP_SWJ_Pins: case ID_DAP_SWJ_Clock: case ID_DAP_SWJ_Sequence: *response = DAP_ERROR; return (2); #endif #if (DAP_SWD != 0) case ID_DAP_SWD_Configure: num = DAP_SWD_Configure(request, response); break; #else case ID_DAP_SWD_Configure: *response = DAP_ERROR; return (2); #endif #if (DAP_JTAG != 0) case ID_DAP_JTAG_Sequence: num = DAP_JTAG_Sequence(request, response); break; case ID_DAP_JTAG_Configure: num = DAP_JTAG_Configure(request, response); break; case ID_DAP_JTAG_IDCODE: num = DAP_JTAG_IDCode(request, response); break; #else case ID_DAP_JTAG_Sequence: case ID_DAP_JTAG_Configure: case ID_DAP_JTAG_IDCODE: *response = DAP_ERROR; return (2); #endif case ID_DAP_TransferConfigure: num = DAP_TransferConfigure(request, response); break; case ID_DAP_Transfer: switch (DAP_Data.debug_port) { #if (DAP_SWD != 0) case DAP_PORT_SWD: num = DAP_SWD_Transfer (request, response); break; #endif #if (DAP_JTAG != 0) case DAP_PORT_JTAG: num = DAP_JTAG_Transfer(request, response); break; #endif default: *(response+0) = 0; // Response count *(response+1) = 0; // Response value num = 2; } break; case ID_DAP_TransferBlock: switch (DAP_Data.debug_port) { #if (DAP_SWD != 0) case DAP_PORT_SWD: num = DAP_SWD_TransferBlock (request, response); break; #endif #if (DAP_JTAG != 0) case DAP_PORT_JTAG: num = DAP_JTAG_TransferBlock(request, response); break; #endif default: *(response+0) = 0; // Response count [7:0] *(response+1) = 0; // Response count[15:8] *(response+2) = 0; // Response value num = 3; } break; case ID_DAP_WriteABORT: switch (DAP_Data.debug_port) { #if (DAP_SWD != 0) case DAP_PORT_SWD: num = DAP_SWD_Abort (request, response); break; #endif #if (DAP_JTAG != 0) case DAP_PORT_JTAG: num = DAP_JTAG_Abort(request, response); break; #endif default: *response = DAP_ERROR; return (2); } break; default: *(response-1) = ID_DAP_Invalid; return (1); } return (1 + num); } // Setup DAP void DAP_Setup(void) { // Default settings (only non-zero values) //DAP_Data.debug_port = 0; //DAP_Data.fast_clock = 0; DAP_Data.clock_delay = CLOCK_DELAY(DAP_DEFAULT_SWJ_CLOCK); //DAP_Data.transfer.idle_cycles = 0; DAP_Data.transfer.retry_count = 100; //DAP_Data.transfer.match_retry = 0; //DAP_Data.transfer.match_mask = 0x000000; #if (DAP_SWD != 0) DAP_Data.swd_conf.turnaround = 1; //DAP_Data.swd_conf.data_phase = 0; #endif #if (DAP_JTAG != 0) //DAP_Data.jtag_dev.count = 0; #endif DAP_SETUP(); // Device specific setup }
/****************************************************************************** * @file SW_DP.c * @brief CMSIS-DAP SW DP I/O * @version V1.00 * @date 31. May 2012 * * @note * Copyright (C) 2012 ARM Limited. All rights reserved. * * @par * ARM Limited (ARM) is supplying this software for use with Cortex-M * processor based microcontrollers. * * @par * THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. * ******************************************************************************/ #include "DAP_config.h" #include "DAP.h" // SW Macros #define PIN_SWCLK_SET PIN_SWCLK_TCK_SET #define PIN_SWCLK_CLR PIN_SWCLK_TCK_CLR #define SW_CLOCK_CYCLE() PIN_SWCLK_CLR(); PIN_DELAY(); PIN_SWCLK_SET(); PIN_DELAY() #define SW_WRITE_BIT(bit) PIN_SWDIO_OUT(bit); PIN_SWCLK_CLR(); PIN_DELAY(); PIN_SWCLK_SET(); PIN_DELAY() #define SW_READ_BIT(bit) PIN_SWCLK_CLR(); PIN_DELAY(); bit = PIN_SWDIO_IN(); PIN_SWCLK_SET(); PIN_DELAY() #define PIN_DELAY() PIN_DELAY_SLOW(DAP_Data.clock_delay) // Generate SWJ Sequence // count: sequence bit count // data: pointer to sequence bit data // return: none #if ((DAP_SWD != 0) || (DAP_JTAG != 0)) void SWJ_Sequence (uint32_t count, uint8_t *data) { uint32_t val; uint32_t n; val = 0; n = 0; while (count--) { if (n == 0) { val = *data++; n = 8; } if (val & 1) { PIN_SWDIO_TMS_SET(); } else { PIN_SWDIO_TMS_CLR(); } SW_CLOCK_CYCLE(); val >>= 1; n--; } } #endif #if (DAP_SWD != 0) // SWD Transfer I/O // request: A[3:2] RnW APnDP // data: DATA[31:0] // return: ACK[2:0] #define SWD_TransferFunction(speed) /**/ uint8_t SWD_Transfer##speed (uint32_t request, uint32_t *data) { uint32_t ack; uint32_t bit; uint32_t val; uint32_t parity; uint32_t n; /* Packet Request */ parity = 0; SW_WRITE_BIT(1); /* Start Bit */ bit = request >> 0; SW_WRITE_BIT(bit); /* APnDP Bit */ parity += bit; bit = request >> 1; SW_WRITE_BIT(bit); /* RnW Bit */ parity += bit; bit = request >> 2; SW_WRITE_BIT(bit); /* A2 Bit */ parity += bit; bit = request >> 3; SW_WRITE_BIT(bit); /* A3 Bit */ parity += bit; SW_WRITE_BIT(parity); /* Parity Bit */ SW_WRITE_BIT(0); /* Stop Bit */ SW_WRITE_BIT(1); /* Park Bit */ /* Turnaround */ PIN_SWDIO_OUT_DISABLE(); for (n = DAP_Data.swd_conf.turnaround; n; n--) { SW_CLOCK_CYCLE(); } /* Acknowledge response */ SW_READ_BIT(bit); ack = bit << 0; SW_READ_BIT(bit); ack |= bit << 1; SW_READ_BIT(bit); ack |= bit << 2; if (ack == DAP_TRANSFER_OK) { /* OK response */ /* Data transfer */ if (request & DAP_TRANSFER_RnW) { /* Read data */ val = 0; parity = 0; for (n = 32; n; n--) { SW_READ_BIT(bit); /* Read RDATA[0:31] */ parity += bit; val >>= 1; val |= bit << 31; } SW_READ_BIT(bit); /* Read Parity */ if ((parity ^ bit) & 1) { ack = DAP_TRANSFER_ERROR; } if (data) *data = val; /* Turnaround */ for (n = DAP_Data.swd_conf.turnaround; n; n--) { SW_CLOCK_CYCLE(); } PIN_SWDIO_OUT_ENABLE(); } else { /* Turnaround */ for (n = DAP_Data.swd_conf.turnaround; n; n--) { SW_CLOCK_CYCLE(); } PIN_SWDIO_OUT_ENABLE(); /* Write data */ val = *data; parity = 0; for (n = 32; n; n--) { SW_WRITE_BIT(val); /* Write WDATA[0:31] */ parity += val; val >>= 1; } SW_WRITE_BIT(parity); /* Write Parity Bit */ } /* Idle cycles */ n = DAP_Data.transfer.idle_cycles; if (n) { PIN_SWDIO_OUT(0); for (; n; n--) { SW_CLOCK_CYCLE(); } } PIN_SWDIO_OUT(1); return (ack); } if ((ack == DAP_TRANSFER_WAIT) || (ack == DAP_TRANSFER_FAULT)) { /* WAIT or FAULT response */ if (DAP_Data.swd_conf.data_phase && ((request & DAP_TRANSFER_RnW) != 0)) { for (n = 32+1; n; n--) { SW_CLOCK_CYCLE(); /* Dummy Read RDATA[0:31] + Parity */ } } /* Turnaround */ for (n = DAP_Data.swd_conf.turnaround; n; n--) { SW_CLOCK_CYCLE(); } PIN_SWDIO_OUT_ENABLE(); if (DAP_Data.swd_conf.data_phase && ((request & DAP_TRANSFER_RnW) == 0)) { PIN_SWDIO_OUT(0); for (n = 32+1; n; n--) { SW_CLOCK_CYCLE(); /* Dummy Write WDATA[0:31] + Parity */ } } PIN_SWDIO_OUT(1); return (ack); } /* Protocol error */ for (n = DAP_Data.swd_conf.turnaround + 32 + 1; n; n--) { SW_CLOCK_CYCLE(); /* Back off data phase */ } PIN_SWDIO_OUT(1); return (ack); } #undef PIN_DELAY #define PIN_DELAY() PIN_DELAY_FAST() SWD_TransferFunction(Fast); #undef PIN_DELAY #define PIN_DELAY() PIN_DELAY_SLOW(DAP_Data.clock_delay) SWD_TransferFunction(Slow); // SWD Transfer I/O // request: A[3:2] RnW APnDP // data: DATA[31:0] // return: ACK[2:0] uint8_t SWD_Transfer(uint32_t request, uint32_t *data) { if (DAP_Data.fast_clock) { return SWD_TransferFast(request, data); } else { return SWD_TransferSlow(request, data); } } #endif /* (DAP_SWD != 0) */
/****************************************************************************** * @file JTAG_DP.c * @brief CMSIS-DAP JTAG DP I/O * @version V1.00 * @date 31. May 2012 * * @note * Copyright (C) 2012 ARM Limited. All rights reserved. * * @par * ARM Limited (ARM) is supplying this software for use with Cortex-M * processor based microcontrollers. * * @par * THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED * OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. * ARM SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR * CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. * ******************************************************************************/ #include "DAP_config.h" #include "DAP.h" // JTAG Macros #define PIN_TCK_SET PIN_SWCLK_TCK_SET #define PIN_TCK_CLR PIN_SWCLK_TCK_CLR #define PIN_TMS_SET PIN_SWDIO_TMS_SET #define PIN_TMS_CLR PIN_SWDIO_TMS_CLR #define JTAG_CYCLE_TCK() PIN_TCK_CLR(); PIN_DELAY(); PIN_TCK_SET(); PIN_DELAY() #define JTAG_CYCLE_TDI(tdi) PIN_TDI_OUT(tdi); PIN_TCK_CLR(); PIN_DELAY(); PIN_TCK_SET(); PIN_DELAY() #define JTAG_CYCLE_TDO(tdo) PIN_TCK_CLR(); PIN_DELAY(); tdo = PIN_TDO_IN(); PIN_TCK_SET(); PIN_DELAY() #define JTAG_CYCLE_TDIO(tdi,tdo) PIN_TDI_OUT(tdi); PIN_TCK_CLR(); PIN_DELAY(); tdo = PIN_TDO_IN(); PIN_TCK_SET(); PIN_DELAY() #define PIN_DELAY() PIN_DELAY_SLOW(DAP_Data.clock_delay) #if (DAP_JTAG != 0) // Generate JTAG Sequence // info: sequence information // tdi: pointer to TDI generated data // tdo: pointer to TDO captured data // return: none void JTAG_Sequence (uint32_t info, uint8_t *tdi, uint8_t *tdo) { uint32_t i_val; uint32_t o_val; uint32_t bit; uint32_t n, k; n = info & JTAG_SEQUENCE_TCK; if (n == 0) n = 64; if (info & JTAG_SEQUENCE_TMS) { PIN_TMS_SET(); } else { PIN_TMS_CLR(); } while (n) { i_val = *tdi++; o_val = 0; for (k = 8; k && n; k--, n--) { JTAG_CYCLE_TDIO(i_val, bit); i_val >>= 1; o_val >>= 1; o_val |= bit << 7; } o_val >>= k; if (info & JTAG_SEQUENCE_TDO) { *tdo++ = o_val; } } } // JTAG Set IR // ir: IR value // return: none #define JTAG_IR_Function(speed) /**/ void JTAG_IR_##speed (uint32_t ir) { uint32_t n; PIN_TMS_SET(); JTAG_CYCLE_TCK(); /* Select-DR-Scan */ JTAG_CYCLE_TCK(); /* Select-IR-Scan */ PIN_TMS_CLR(); JTAG_CYCLE_TCK(); /* Capture-IR */ JTAG_CYCLE_TCK(); /* Shift-IR */ PIN_TDI_OUT(1); for (n = DAP_Data.jtag_dev.ir_before[DAP_Data.jtag_dev.index]; n; n--) { JTAG_CYCLE_TCK(); /* Bypass before data */ } for (n = DAP_Data.jtag_dev.ir_length[DAP_Data.jtag_dev.index] - 1; n; n--) { JTAG_CYCLE_TDI(ir); /* Set IR bits (except last) */ ir >>= 1; } n = DAP_Data.jtag_dev.ir_after[DAP_Data.jtag_dev.index]; if (n) { JTAG_CYCLE_TDI(ir); /* Set last IR bit */ PIN_TDI_OUT(1); for (--n; n; n--) { JTAG_CYCLE_TCK(); /* Bypass after data */ } PIN_TMS_SET(); JTAG_CYCLE_TCK(); /* Bypass & Exit1-IR */ } else { PIN_TMS_SET(); JTAG_CYCLE_TDI(ir); /* Set last IR bit & Exit1-IR */ } JTAG_CYCLE_TCK(); /* Update-IR */ PIN_TMS_CLR(); JTAG_CYCLE_TCK(); /* Idle */ PIN_TDI_OUT(1); } // JTAG Transfer I/O // request: A[3:2] RnW APnDP // data: DATA[31:0] // return: ACK[2:0] #define JTAG_TransferFunction(speed) /**/ uint8_t JTAG_Transfer##speed (uint32_t request, uint32_t *data) { uint32_t ack; uint32_t bit; uint32_t val; uint32_t n; PIN_TMS_SET(); JTAG_CYCLE_TCK(); /* Select-DR-Scan */ PIN_TMS_CLR(); JTAG_CYCLE_TCK(); /* Capture-DR */ JTAG_CYCLE_TCK(); /* Shift-DR */ for (n = DAP_Data.jtag_dev.index; n; n--) { JTAG_CYCLE_TCK(); /* Bypass before data */ } JTAG_CYCLE_TDIO(request >> 1, bit); /* Set RnW, Get ACK.0 */ ack = bit << 1; JTAG_CYCLE_TDIO(request >> 2, bit); /* Set A2, Get ACK.1 */ ack |= bit << 0; JTAG_CYCLE_TDIO(request >> 3, bit); /* Set A3, Get ACK.2 */ ack |= bit << 2; if (ack != DAP_TRANSFER_OK) { /* Exit on error */ PIN_TMS_SET(); JTAG_CYCLE_TCK(); /* Exit1-DR */ goto exit; } if (request & DAP_TRANSFER_RnW) { /* Read Transfer */ val = 0; for (n = 31; n; n--) { JTAG_CYCLE_TDO(bit); /* Get D0..D30 */ val |= bit << 31; val >>= 1; } n = DAP_Data.jtag_dev.count - DAP_Data.jtag_dev.index - 1; if (n) { JTAG_CYCLE_TDO(bit); /* Get D31 */ for (--n; n; n--) { JTAG_CYCLE_TCK(); /* Bypass after data */ } PIN_TMS_SET(); JTAG_CYCLE_TCK(); /* Bypass & Exit1-DR */ } else { PIN_TMS_SET(); JTAG_CYCLE_TDO(bit); /* Get D31 & Exit1-DR */ } val |= bit << 31; if (data) *data = val; } else { /* Write Transfer */ val = *data; for (n = 31; n; n--) { JTAG_CYCLE_TDI(val); /* Set D0..D30 */ val >>= 1; } n = DAP_Data.jtag_dev.count - DAP_Data.jtag_dev.index - 1; if (n) { JTAG_CYCLE_TDI(val); /* Set D31 */ for (--n; n; n--) { JTAG_CYCLE_TCK(); /* Bypass after data */ } PIN_TMS_SET(); JTAG_CYCLE_TCK(); /* Bypass & Exit1-DR */ } else { PIN_TMS_SET(); JTAG_CYCLE_TDI(val); /* Set D31 & Exit1-DR */ } } exit: JTAG_CYCLE_TCK(); /* Update-DR */ PIN_TMS_CLR(); JTAG_CYCLE_TCK(); /* Idle */ PIN_TDI_OUT(1); /* Idle cycles */ n = DAP_Data.transfer.idle_cycles; while (n--) { JTAG_CYCLE_TCK(); /* Idle */ } return (ack); } #undef PIN_DELAY #define PIN_DELAY() PIN_DELAY_FAST() JTAG_IR_Function(Fast); JTAG_TransferFunction(Fast); #undef PIN_DELAY #define PIN_DELAY() PIN_DELAY_SLOW(DAP_Data.clock_delay) JTAG_IR_Function(Slow); JTAG_TransferFunction(Slow); // JTAG Read IDCODE register // return: value read uint32_t JTAG_ReadIDCode (void) { uint32_t bit; uint32_t val; uint32_t n; PIN_TMS_SET(); JTAG_CYCLE_TCK(); /* Select-DR-Scan */ PIN_TMS_CLR(); JTAG_CYCLE_TCK(); /* Capture-DR */ JTAG_CYCLE_TCK(); /* Shift-DR */ for (n = DAP_Data.jtag_dev.index; n; n--) { JTAG_CYCLE_TCK(); /* Bypass before data */ } val = 0; for (n = 31; n; n--) { JTAG_CYCLE_TDO(bit); /* Get D0..D30 */ val |= bit << 31; val >>= 1; } PIN_TMS_SET(); JTAG_CYCLE_TDO(bit); /* Get D31 & Exit1-DR */ val |= bit << 31; JTAG_CYCLE_TCK(); /* Update-DR */ PIN_TMS_CLR(); JTAG_CYCLE_TCK(); /* Idle */ return (val); } // JTAG Write ABORT register // data: value to write // return: none void JTAG_WriteAbort (uint32_t data) { uint32_t n; PIN_TMS_SET(); JTAG_CYCLE_TCK(); /* Select-DR-Scan */ PIN_TMS_CLR(); JTAG_CYCLE_TCK(); /* Capture-DR */ JTAG_CYCLE_TCK(); /* Shift-DR */ for (n = DAP_Data.jtag_dev.index; n; n--) { JTAG_CYCLE_TCK(); /* Bypass before data */ } PIN_TDI_OUT(0); JTAG_CYCLE_TCK(); /* Set RnW=0 (Write) */ JTAG_CYCLE_TCK(); /* Set A2=0 */ JTAG_CYCLE_TCK(); /* Set A3=0 */ for (n = 31; n; n--) { JTAG_CYCLE_TDI(data); /* Set D0..D30 */ data >>= 1; } n = DAP_Data.jtag_dev.count - DAP_Data.jtag_dev.index - 1; if (n) { JTAG_CYCLE_TDI(data); /* Set D31 */ for (--n; n; n--) { JTAG_CYCLE_TCK(); /* Bypass after data */ } PIN_TMS_SET(); JTAG_CYCLE_TCK(); /* Bypass & Exit1-DR */ } else { PIN_TMS_SET(); JTAG_CYCLE_TDI(data); /* Set D31 & Exit1-DR */ } JTAG_CYCLE_TCK(); /* Update-DR */ PIN_TMS_CLR(); JTAG_CYCLE_TCK(); /* Idle */ PIN_TDI_OUT(1); } // JTAG Set IR // ir: IR value // return: none void JTAG_IR (uint32_t ir) { if (DAP_Data.fast_clock) { JTAG_IR_Fast(ir); } else { JTAG_IR_Slow(ir); } } // JTAG Transfer I/O // request: A[3:2] RnW APnDP // data: DATA[31:0] // return: ACK[2:0] uint8_t JTAG_Transfer(uint32_t request, uint32_t *data) { if (DAP_Data.fast_clock) { return JTAG_TransferFast(request, data); } else { return JTAG_TransferSlow(request, data); } } #endif /* (DAP_JTAG != 0) */
CMSIS-DAP USB HID Firmware for NXP LPC-Link-II board.
CMSIS-DAP USB HID Firmware for Freescale OpenSDA.
CMSIS-DAP USB HID Firmware for STM32F103.