xds110.c

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// SPDX-License-Identifier: GPL-2.0-or-later
 
/***************************************************************************
 *   Copyright (C) 2017 by Texas Instruments, Inc.                         *
 ***************************************************************************/
 
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
 
#include <transport/transport.h>
#include <jtag/adapter.h>
#include <jtag/swd.h>
#include <jtag/interface.h>
#include <jtag/commands.h>
#include <jtag/tcl.h>
#include <libusb.h>
 
/* XDS110 stand-alone probe voltage supply limits */
#define XDS110_MIN_VOLTAGE 1800
#define XDS110_MAX_VOLTAGE 3600
 
/* XDS110 stand-alone probe hardware ID */
#define XDS110_STAND_ALONE_ID 0x21
 
/* 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"
 
/* Firmware version that introduced improved TCK performance */
#define FAST_TCK_FIRMWARE_VERSION 0x03000000
 
/* Firmware version that introduced 10 MHz and 12 MHz TCK support */
#define FAST_TCK_PLUS_FIRMWARE_VERSION 0x03000003
 
/***************************************************************************
 *   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)
 
/***************************************************************************
 *   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_SLOW_TCK_SPEED 2500 /* kHz */
#define XDS110_MAX_FAST_TCK_SPEED 14000 /* kHz */
#define XDS110_DEFAULT_TCK_SPEED 2500 /* kHz */
 
/* Fixed TCK delay values for "Fast" TCK frequencies */
#define FAST_TCK_DELAY_14000_KHZ 0
#define FAST_TCK_DELAY_10000_KHZ 0xfffffffd
#define FAST_TCK_DELAY_12000_KHZ 0xfffffffe
#define FAST_TCK_DELAY_8500_KHZ 1
#define FAST_TCK_DELAY_5500_KHZ 2
/* For TCK frequencies below 5500 kHz, use calculated delay */
 
/* 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 XDS_SET_SUPPLY   0x32 /* Set up stand-alone probe upply voltage */
#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 */
static 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 */
    struct libusb_context *ctx;
    struct libusb_device_handle *dev;
    unsigned char read_payload[USB_PAYLOAD_SIZE];
    unsigned char write_packet[3];
    unsigned char write_payload[USB_PAYLOAD_SIZE];
    /* Device vid/pid */
    uint16_t vid;
    uint16_t pid;
    /* Debug interface */
    uint8_t interface;
    uint8_t endpoint_in;
    uint8_t endpoint_out;
    /* 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 voltage supply setting */
    uint32_t voltage;
    /* 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,
    .vid = 0,
    .pid = 0,
    .interface = 0,
    .endpoint_in = 0,
    .endpoint_out = 0,
    .is_connected = false,
    .is_cmapi_connected = false,
    .is_cmapi_acquired = false,
    .is_swd_mode = false,
    .is_ap_dirty = false,
    .speed = XDS110_DEFAULT_TCK_SPEED,
    .delay_count = 0,
    .voltage = 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)
{
    struct libusb_context *ctx  = NULL;
    struct libusb_device **list = NULL;
    struct libusb_device_handle *dev  = NULL;
 
    struct libusb_device_descriptor desc;
 
    /* The vid/pids of possible XDS110 configurations */
    uint16_t vids[] = { 0x0451, 0x0451, 0x1cbe };
    uint16_t pids[] = { 0xbef3, 0xbef4, 0x02a5 };
    /* Corresponding interface and endpoint numbers for configurations */
    uint8_t interfaces[] = { 2, 2, 0 };
    uint8_t endpoints_in[] = { 3, 3, 1 };
    uint8_t endpoints_out[] = { 2, 2, 1 };
 
    ssize_t count = 0;
    ssize_t i = 0;
    int result = 0;
    bool found = false;
    uint32_t device = 0;
    bool match = false;
 
    /* Initialize libusb context */
    result = libusb_init(&ctx);
 
    if (result == 0) {
        /* Get list of USB devices attached to system */
        count = libusb_get_device_list(ctx, &list);
        if (count <= 0) {
            result = -1;
            list = NULL;
        }
    }
 
    if (result == 0) {
        /* 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);
            match = false;
            for (device = 0; device < ARRAY_SIZE(vids); device++) {
                if (desc.idVendor == vids[device] &&
                    desc.idProduct == pids[device]) {
                    match = true;
                    break;
                }
            }
            if (match) {
                result = libusb_open(list[i], &dev);
                if (result == 0) {
                    const int max_data = 256;
                    unsigned char data[max_data + 1];
                    *data = '\0';
 
                    /* May be the requested device if serial number matches */
                    if (!adapter_get_required_serial()) {
                        /* 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 (result > 0 &&
                            strcmp((char *)data, adapter_get_required_serial()) == 0) {
                            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 (list) {
        /* Free the device list, we're done with it */
        libusb_free_device_list(list, 1);
    }
 
    if (found) {
        /* Save the vid/pid of the device we're using */
        xds110.vid = vids[device];
        xds110.pid = pids[device];
 
        /* Save the debug interface and endpoints for the device */
        xds110.interface = interfaces[device];
        xds110.endpoint_in = endpoints_in[device] | LIBUSB_ENDPOINT_IN;
        xds110.endpoint_out = endpoints_out[device] | LIBUSB_ENDPOINT_OUT;
 
        /* Save the context and device handles */
        xds110.ctx = ctx;
        xds110.dev = dev;
 
        /* Set libusb to auto detach kernel */
        (void)libusb_set_auto_detach_kernel_driver(dev, 1);
 
        /* Claim the debug interface on the XDS110 */
        result = libusb_claim_interface(dev, xds110.interface);
    } else {
        /* Couldn't find an XDS110, flag the error */
        result = -1;
    }
 
    /* On an error, clean up what we can */
    if (result != 0) {
        if (dev) {
            /* Release the debug and data interface on the XDS110 */
            (void)libusb_release_interface(dev, xds110.interface);
            libusb_close(dev);
        }
        if (ctx)
            libusb_exit(ctx);
        xds110.ctx = NULL;
        xds110.dev = NULL;
    }
 
    /* Log the results */
    if (result == 0)
        LOG_INFO("XDS110: connected");
    else
        LOG_ERROR("XDS110: failed to connect");
 
    return (result == 0) ? true : false;
}
 
static void usb_disconnect(void)
{
    if (xds110.dev) {
        /* Release the debug and data interface on the XDS110 */
        (void)libusb_release_interface(xds110.dev, xds110.interface);
        libusb_close(xds110.dev);
        xds110.dev = NULL;
    }
    if (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 (!xds110.dev || !buffer || !bytes_read)
        return false;
 
    /* Force a non-zero timeout to prevent blocking */
    if (timeout == 0)
        timeout = DEFAULT_TIMEOUT;
 
    result = libusb_bulk_transfer(xds110.dev, xds110.endpoint_in, buffer, size,
                bytes_read, timeout);
 
    return (result == 0) ? 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 (!xds110.dev || !buffer)
        return false;
 
    result = libusb_bulk_transfer(xds110.dev, xds110.endpoint_out, buffer,
                size, &bytes_written, 0);
 
    while (result == LIBUSB_ERROR_PIPE && retries < 3) {
        /* Try clearing the pipe stall and retry transfer */
        libusb_clear_halt(xds110.dev, xds110.endpoint_out);
        result = libusb_bulk_transfer(xds110.dev, xds110.endpoint_out, buffer,
                    size, &bytes_written, 0);
        retries++;
    }
 
    if (written)
        *written = bytes_written;
 
    return (result == 0 && 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 (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 (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 (!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;
                LOG_DEBUG("XDS110: command 0x%02x return %" PRIu32 " bytes, expected %" PRIu32,
                    xds110.write_payload[0], bytes_read, in_length);
            } else {
                /* Extract error code from return packet */
                error = (int)xds110_get_u32(&xds110.read_payload[0]);
                done = true;
                if (error != SC_ERR_NONE)
                    LOG_DEBUG("XDS110: command 0x%02x returned error %d",
                        xds110.write_payload[0], error);
            }
        }
    }
 
    if (!success)
        error = SC_ERR_XDS110_FAIL;
 
    if (error != 0)
        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 (firmware_id)
            *firmware_id = xds110_get_u32(fw_id_pntr);
        if (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 (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 (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 (!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 xds_set_supply(uint32_t voltage)
{
    uint8_t *volts_pntr = &xds110.write_payload[XDS_OUT_LEN + 0]; /* 32-bits */
    uint8_t *source_pntr = &xds110.write_payload[XDS_OUT_LEN + 4]; /* 8-bits */
 
    bool success;
 
    xds110.write_payload[0] = XDS_SET_SUPPLY;
 
    xds110_set_u32(volts_pntr, voltage);
    *source_pntr = (uint8_t)(voltage != 0 ? 1 : 0);
 
    success = xds_execute(XDS_OUT_LEN + 5, 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 (!dap_requests || !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 (!scan_requests || !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 (!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-initialize 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 (type == DAP_AP) {
        /* 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 (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 (type == DAP_AP) {
        /* 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 (address == DAP_DP_SELECT) {
        /* 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 ((type == DAP_DP) && (address == DAP_DP_SELECT))
            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 (xds110.txn_request_size == 0)
        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 (xds110.txn_dap_results[result] != 0)
            *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)
{
    assert(cmd & SWD_CMD_RNW);
    xds110_swd_queue_cmd(cmd, value);
}
static void xds110_swd_write_reg(uint8_t cmd, uint32_t value,
    uint32_t ap_delay_clk)
{
    assert(!(cmd & SWD_CMD_RNW));
    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: vid/pid = %04x/%04x", xds110.vid, xds110.pid);
    LOG_INFO("XDS110: firmware version = %" PRIu32 ".%" PRIu32 ".%" PRIu32 ".%" PRIu32,
        (((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 (adapter_get_required_serial())
        LOG_INFO("XDS110: serial number = %s", adapter_get_required_serial());
    if (xds110.is_swd_mode) {
        LOG_INFO("XDS110: connected to target via SWD");
        LOG_INFO("XDS110: SWCLK set to %" PRIu32 " kHz", xds110.speed);
    } else {
        LOG_INFO("XDS110: connected to target via JTAG");
        LOG_INFO("XDS110: TCK set to %" PRIu32 " 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) {
        /* Set supply voltage for stand-alone probes */
        if (xds110.hardware == XDS110_STAND_ALONE_ID) {
            success = xds_set_supply(xds110.voltage);
            /* Allow time for target device to power up */
            /* (CC32xx takes up to 1300 ms before debug is enabled) */
            alive_sleep(1500);
        } else if (xds110.voltage != 0) {
            /* Voltage supply not a feature of embedded probes */
            LOG_WARNING(
                "XDS110: ignoring supply voltage, not supported on this probe");
        }
    }
 
    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 (xds110.txn_request_size == 0)
        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 int xds110_reset(int trst, int srst)
{
    uint8_t value;
    bool success;
    int retval = ERROR_OK;
 
    if (trst != -1) {
        if (trst == 0) {
            /* Deassert nTRST (active low) */
            value = 1;
        } else {
            /* Assert nTRST (active low) */
            value = 0;
        }
        success = xds_set_trst(value);
        if (!success)
            retval = ERROR_FAIL;
    }
 
    if (srst != -1) {
        if (srst == 0) {
            /* Deassert nSRST (active low) */
            value = 1;
        } else {
            /* Assert nSRST (active low) */
            value = 0;
        }
        success = xds_set_srst(value);
        if (!success)
            retval = ERROR_FAIL;
 
        /* Toggle TCK to trigger HIB on CC13x/CC26x devices */
        if (success && !xds110.is_swd_mode) {
            /* Toggle TCK for about 50 ms */
            success = xds_cycle_tck(xds110.speed * 50);
        }
 
        if (!success)
            retval = ERROR_FAIL;
    }
 
    return retval;
}
 
static void xds110_execute_sleep(struct jtag_command *cmd)
{
    jtag_sleep(cmd->cmd.sleep->us);
}
 
static void xds110_execute_tlr_reset(struct jtag_command *cmd)
{
    (void)xds_goto_state(XDS_JTAG_STATE_RESET);
}
 
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);
}
 
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 (%" PRIu32 " 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;
}
 
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;
}
 
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;
}
 
static void xds110_execute_command(struct jtag_command *cmd)
{
    switch (cmd->type) {
        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) {
        xds110_execute_command(cmd);
        cmd = cmd->next;
    }
 
    xds110_flush();
 
    return ERROR_OK;
}
 
static int xds110_speed(int speed)
{
    double freq_to_use;
    uint32_t delay_count;
    bool success;
 
    if (speed == 0) {
        LOG_INFO("XDS110: RTCK not supported");
        return ERROR_JTAG_NOT_IMPLEMENTED;
    }
 
    if (speed < XDS110_MIN_TCK_SPEED) {
        LOG_INFO("XDS110: increase speed request: %d kHz to %d kHz minimum",
            speed, XDS110_MIN_TCK_SPEED);
        speed = XDS110_MIN_TCK_SPEED;
    }
 
    /* Older XDS110 firmware had inefficient scan routines and could only */
    /* achieve a peak TCK frequency of about 2500 kHz */
    if (xds110.firmware < FAST_TCK_FIRMWARE_VERSION) {
 
        /* Check for request for top speed or higher */
        if (speed >= XDS110_MAX_SLOW_TCK_SPEED) {
 
            /* Inform user that speed was adjusted down to max possible */
            if (speed > XDS110_MAX_SLOW_TCK_SPEED) {
                LOG_INFO(
                    "XDS110: reduce speed request: %d kHz to %d kHz maximum",
                    speed, XDS110_MAX_SLOW_TCK_SPEED);
                speed = XDS110_MAX_SLOW_TCK_SPEED;
            }
            delay_count = 0;
 
        } else {
 
            const double XDS110_TCK_PULSE_INCREMENT = 66.0;
            freq_to_use = speed * 1000; /* Hz */
            delay_count = 0;
 
            /* Calculate the delay count value */
            double one_giga = 1000000000;
            /* Get the pulse duration for the max frequency supported in ns */
            double max_freq_pulse_duration = one_giga /
                (XDS110_MAX_SLOW_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 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;
            }
        }
 
    /* Newer firmware has reworked TCK routines that are much more efficient */
    /* and can now achieve a peak TCK frequency of 14000 kHz */
    } else {
 
        if (speed >= XDS110_MAX_FAST_TCK_SPEED) {
            if (speed > XDS110_MAX_FAST_TCK_SPEED) {
                LOG_INFO(
                    "XDS110: reduce speed request: %d kHz to %d kHz maximum",
                    speed, XDS110_MAX_FAST_TCK_SPEED);
                speed = XDS110_MAX_FAST_TCK_SPEED;
            }
            delay_count = 0;
        } else if (speed >= 12000 && xds110.firmware >=
            FAST_TCK_PLUS_FIRMWARE_VERSION) {
            delay_count = FAST_TCK_DELAY_12000_KHZ;
        } else if (speed >= 10000 && xds110.firmware >=
            FAST_TCK_PLUS_FIRMWARE_VERSION) {
            delay_count = FAST_TCK_DELAY_10000_KHZ;
        } else if (speed >= 8500) {
            delay_count = FAST_TCK_DELAY_8500_KHZ;
        } else if (speed >= 5500) {
            delay_count = FAST_TCK_DELAY_5500_KHZ;
        } else {
            /* Calculate the delay count to set the frequency */
            /* Formula determined by measuring the waveform on Saeleae logic */
            /* analyzer using known values for delay count */
            const double m = 17100000.0; /* slope */
            const double b = -1.02;      /* y-intercept */
 
            freq_to_use = speed * 1000; /* Hz */
            double period = 1.0/freq_to_use;
            double delay = m * period + b;
 
            if (delay < 1.0)
                delay_count = 1;
            else
                delay_count = (uint32_t)delay;
        }
    }
 
    /* 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;
}
 
COMMAND_HANDLER(xds110_handle_info_command)
{
    xds110_show_info();
    return ERROR_OK;
}
 
COMMAND_HANDLER(xds110_handle_supply_voltage_command)
{
    uint32_t voltage = 0;
 
    if (CMD_ARGC == 1) {
        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], voltage);
        if (voltage == 0 || (voltage >= XDS110_MIN_VOLTAGE && voltage
            <= XDS110_MAX_VOLTAGE)) {
            /* Requested voltage is in range */
            xds110.voltage = voltage;
        } else {
            LOG_ERROR("XDS110: voltage must be 0 or between %d and %d "
                "millivolts", XDS110_MIN_VOLTAGE, XDS110_MAX_VOLTAGE);
            return ERROR_FAIL;
        }
        xds110.voltage = voltage;
    } else
        return ERROR_COMMAND_SYNTAX_ERROR;
 
    return ERROR_OK;
}
 
static const struct command_registration xds110_subcommand_handlers[] = {
    {
        .name = "info",
        .handler = &xds110_handle_info_command,
        .mode = COMMAND_EXEC,
        .help = "show XDS110 info",
        .usage = "",
    },
    {
        .name = "supply",
        .handler = &xds110_handle_supply_voltage_command,
        .mode = COMMAND_CONFIG,
        .help = "set the XDS110 probe supply voltage",
        .usage = "voltage_in_millivolts",
    },
    COMMAND_REGISTRATION_DONE
};
 
static const struct command_registration xds110_command_handlers[] = {
    {
        .name = "xds110",
        .mode = COMMAND_ANY,
        .help = "perform XDS110 management",
        .usage = "",
        .chain = xds110_subcommand_handlers,
    },
    COMMAND_REGISTRATION_DONE
};
 
static const struct swd_driver xds110_swd_driver = {
    .init = xds110_swd_init,
    .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 };
 
static struct jtag_interface xds110_interface = {
    .execute_queue = xds110_execute_queue,
};
 
struct adapter_driver xds110_adapter_driver = {
    .name = "xds110",
    .transports = xds110_transport,
    .commands = xds110_command_handlers,
 
    .init = xds110_init,
    .quit = xds110_quit,
    .reset = xds110_reset,
    .speed = xds110_speed,
    .khz = xds110_khz,
    .speed_div = xds110_speed_div,
 
    .jtag_ops = &xds110_interface,
    .swd_ops = &xds110_swd_driver,
};