git.sur5r.net Git - openocd/blob - src/jtag/arm-jtag-ew.c

   1 // vim:ts=4 sw=4:
   2
   3 /***************************************************************************
   4  *   Copyright (C) 2009 by Dimitar Dimitrov <dinuxbg@gmail.com>            *
   5  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   6  *                                                                         *
   7  *   This program is free software; you can redistribute it and/or modify  *
   8  *   it under the terms of the GNU General Public License as published by  *
   9  *   the Free Software Foundation; either version 2 of the License, or     *
  10  *   (at your option) any later version.                                   *
  11  *                                                                         *
  12  *   This program is distributed in the hope that it will be useful,       *
  13  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  14  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  15  *   GNU General Public License for more details.                          *
  16  *                                                                         *
  17  *   You should have received a copy of the GNU General Public License     *
  18  *   along with this program; if not, write to the                         *
  19  *   Free Software Foundation, Inc.,                                       *
  20  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  21  ***************************************************************************/
  22
  23 #ifdef HAVE_CONFIG_H
  24 #include "config.h"
  25 #endif
  26
  27 #include "replacements.h"
  28
  29 #include "jtag.h"
  30 #include <usb.h>
  31 #include <string.h>
  32 #include <ctype.h>
  33
  34 /* system includes */
  35
  36 #include "log.h"
  37
  38 /* enable this to debug communication
  39  */
  40 #if 1
  41 #define _DEBUG_USB_COMMS_
  42 #define _DEBUG_JTAG_IO_
  43 #endif
  44
  45 #ifdef _DEBUG_JTAG_IO_
  46 #define DEBUG_JTAG_IO(expr ...) LOG_DEBUG(expr)
  47 #else
  48 #define DEBUG_JTAG_IO(expr ...)
  49 #endif
  50
  51 #define USB_VID                                         0x15ba
  52 #define USB_PID                                         0x001e
  53
  54 #define ARMJTAGEW_EPT_BULK_OUT          0x01u
  55 #define ARMJTAGEW_EPT_BULK_IN           0x82u
  56
  57 #define ARMJTAGEW_USB_TIMEOUT           2000
  58
  59 #define ARMJTAGEW_IN_BUFFER_SIZE        (4*1024)
  60 #define ARMJTAGEW_OUT_BUFFER_SIZE       (4*1024)
  61
  62
  63 /* USB command request codes. */
  64 #define CMD_GET_VERSION                         0x00
  65 #define CMD_SELECT_DPIMPL                       0x10
  66 #define CMD_SET_TCK_FREQUENCY           0x11
  67 #define CMD_GET_TCK_FREQUENCY           0x12
  68 #define CMD_MEASURE_MAX_TCK_FREQ        0x15
  69 #define CMD_MEASURE_RTCK_RESPONSE       0x16
  70 #define CMD_TAP_SHIFT                           0x17
  71 #define CMD_SET_TAPHW_STATE                     0x20
  72 #define CMD_GET_TAPHW_STATE                     0x21
  73 #define CMD_TGPWR_SETUP                         0x22
  74
  75 /* Global USB buffers */
  76 static u8 usb_in_buffer[ARMJTAGEW_IN_BUFFER_SIZE];
  77 static u8 usb_out_buffer[ARMJTAGEW_OUT_BUFFER_SIZE];
  78
  79 /* External interface functions */
  80 static int armjtagew_execute_queue(void);
  81 static int armjtagew_speed(int speed);
  82 static int armjtagew_khz(int khz, int *jtag_speed);
  83 static int armjtagew_register_commands(struct command_context_s *cmd_ctx);
  84 static int armjtagew_init(void);
  85 static int armjtagew_quit(void);
  86
  87 /* CLI command handler functions */
  88 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  89
  90 /* Queue command functions */
  91 static void armjtagew_end_state(tap_state_t state);
  92 static void armjtagew_state_move(void);
  93 static void armjtagew_path_move(int num_states, tap_state_t *path);
  94 static void armjtagew_runtest(int num_cycles);
  95 static void armjtagew_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
  96 static void armjtagew_reset(int trst, int srst);
  97 //static void armjtagew_simple_command(u8 command);
  98 static int armjtagew_get_status(void);
  99
 100 /* tap buffer functions */
 101 static void armjtagew_tap_init(void);
 102 static int armjtagew_tap_execute(void);
 103 static void armjtagew_tap_ensure_space(int scans, int bits);
 104 static void armjtagew_tap_append_step(int tms, int tdi);
 105 static void armjtagew_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
 106
 107 /* ARM-JTAG-EW lowlevel functions */
 108 typedef struct armjtagew_jtag
 109 {
 110         struct usb_dev_handle* usb_handle;
 111 } armjtagew_jtag_t;
 112
 113 static armjtagew_jtag_t *armjtagew_usb_open(void);
 114 static void armjtagew_usb_close(armjtagew_jtag_t *armjtagew_jtag);
 115 static int armjtagew_usb_message(armjtagew_jtag_t *armjtagew_jtag, int out_length, int in_length);
 116 static int armjtagew_usb_write(armjtagew_jtag_t *armjtagew_jtag, int out_length);
 117 static int armjtagew_usb_read(armjtagew_jtag_t *armjtagew_jtag, int exp_in_length);
 118
 119 /* helper functions */
 120 static int armjtagew_get_version_info(void);
 121
 122 #ifdef _DEBUG_USB_COMMS_
 123 static void armjtagew_debug_buffer(u8 *buffer, int length);
 124 #endif
 125
 126 static armjtagew_jtag_t* armjtagew_jtag_handle;
 127
 128
 129
 130 /***************************************************************************/
 131 /* External interface implementation */
 132
 133 jtag_interface_t armjtagew_interface =
 134 {
 135         .name = "arm-jtag-ew",
 136         .execute_queue = armjtagew_execute_queue,
 137         .speed = armjtagew_speed,
 138         .khz = armjtagew_khz,
 139         .register_commands = armjtagew_register_commands,
 140         .init = armjtagew_init,
 141         .quit = armjtagew_quit
 142 };
 143
 144
 145 static int armjtagew_execute_queue(void)
 146 {
 147         jtag_command_t *cmd = jtag_command_queue;
 148         int scan_size;
 149         enum scan_type type;
 150         u8 *buffer;
 151
 152         while (cmd != NULL)
 153         {
 154                 switch (cmd->type)
 155                 {
 156                         case JTAG_END_STATE:
 157                                 DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
 158
 159                                 if (cmd->cmd.end_state->end_state != TAP_INVALID)
 160                                 {
 161                                         armjtagew_end_state(cmd->cmd.end_state->end_state);
 162                                 }
 163                                 break;
 164
 165                         case JTAG_RUNTEST:
 166                                 DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
 167                                         cmd->cmd.runtest->end_state);
 168
 169                                 if (cmd->cmd.runtest->end_state != TAP_INVALID)
 170                                 {
 171                                         armjtagew_end_state(cmd->cmd.runtest->end_state);
 172                                 }
 173                                 armjtagew_runtest(cmd->cmd.runtest->num_cycles);
 174                                 break;
 175
 176                         case JTAG_STATEMOVE:
 177                                 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 178
 179                                 if (cmd->cmd.statemove->end_state != TAP_INVALID)
 180                                 {
 181                                         armjtagew_end_state(cmd->cmd.statemove->end_state);
 182                                 }
 183                                 armjtagew_state_move();
 184                                 break;
 185
 186                         case JTAG_PATHMOVE:
 187                                 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
 188                                         cmd->cmd.pathmove->num_states, \
 189                                         cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 190
 191                                 armjtagew_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 192                                 break;
 193
 194                         case JTAG_SCAN:
 195                                 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 196
 197                                 if (cmd->cmd.scan->end_state != TAP_INVALID)
 198                                 {
 199                                         armjtagew_end_state(cmd->cmd.scan->end_state);
 200                                 }
 201
 202                                 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 203                                 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 204
 205 #ifdef _DEBUG_USB_COMMS_
 206                                 armjtagew_debug_buffer(buffer, (scan_size + 7) / 8);
 207 #endif
 208                                 type = jtag_scan_type(cmd->cmd.scan);
 209                                 armjtagew_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
 210                                 break;
 211
 212                         case JTAG_RESET:
 213                                 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 214
 215                                 armjtagew_tap_execute();
 216
 217                                 if (cmd->cmd.reset->trst == 1)
 218                                 {
 219                                         tap_set_state(TAP_RESET);
 220                                 }
 221                                 armjtagew_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 222                                 break;
 223
 224                         case JTAG_SLEEP:
 225                                 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 226                                 armjtagew_tap_execute();
 227                                 jtag_sleep(cmd->cmd.sleep->us);
 228                                 break;
 229
 230                         default:
 231                                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 232                                 exit(-1);
 233                 }
 234                 cmd = cmd->next;
 235         }
 236
 237         return armjtagew_tap_execute();
 238 }
 239
 240
 241 /* Sets speed in kHz. */
 242 static int armjtagew_speed(int speed)
 243 {
 244     int result;
 245     int speed_real;
 246
 247
 248     usb_out_buffer[0] = CMD_SET_TCK_FREQUENCY;
 249         buf_set_u32(usb_out_buffer+1, 0, 32, speed);
 250
 251     result = armjtagew_usb_message(armjtagew_jtag_handle, 4, 4);
 252
 253     if (result < 0)
 254     {
 255         LOG_ERROR("ARM-JTAG-EW setting speed failed (%d)", result);
 256         return ERROR_JTAG_DEVICE_ERROR;
 257     }
 258
 259         usb_out_buffer[0] = CMD_GET_TCK_FREQUENCY;
 260     result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 4);
 261         speed_real = (int)buf_get_u32(usb_in_buffer,0,32);
 262         if(result < 0)
 263         {
 264         LOG_ERROR("ARM-JTAG-EW getting speed failed (%d)", result);
 265         return ERROR_JTAG_DEVICE_ERROR;
 266         }
 267         else
 268         {
 269         LOG_INFO("Requested speed %dkHz, emulator reported %dkHz.", speed, speed_real);
 270         }
 271
 272     return ERROR_OK;
 273 }
 274
 275
 276 static int armjtagew_khz(int khz, int *jtag_speed)
 277 {
 278         *jtag_speed = khz;
 279
 280         return ERROR_OK;
 281 }
 282
 283 static int armjtagew_register_commands(struct command_context_s *cmd_ctx)
 284 {
 285         register_command(cmd_ctx, NULL, "armjtagew_info", armjtagew_handle_armjtagew_info_command, COMMAND_EXEC,
 286                 "query armjtagew info");
 287         return ERROR_OK;
 288 }
 289
 290 static int armjtagew_init(void)
 291 {
 292         int check_cnt;
 293
 294         armjtagew_jtag_handle = armjtagew_usb_open();
 295
 296         if (armjtagew_jtag_handle == 0)
 297         {
 298                 LOG_ERROR("Cannot find ARM-JTAG-EW Interface! Please check connection and permissions.");
 299                 return ERROR_JTAG_INIT_FAILED;
 300         }
 301
 302         check_cnt = 0;
 303         while (check_cnt < 3)
 304         {
 305                 if (armjtagew_get_version_info() == ERROR_OK)
 306                 {
 307                         /* attempt to get status */
 308                         armjtagew_get_status();
 309                         break;
 310                 }
 311
 312                 check_cnt++;
 313         }
 314
 315         if (check_cnt == 3)
 316         {
 317                 LOG_INFO("ARM-JTAG-EW initial read failed, don't worry");
 318         }
 319
 320         LOG_INFO("ARM-JTAG-EW JTAG Interface ready");
 321
 322         armjtagew_reset(0, 0);
 323         armjtagew_tap_init();
 324
 325         return ERROR_OK;
 326 }
 327
 328 static int armjtagew_quit(void)
 329 {
 330         armjtagew_usb_close(armjtagew_jtag_handle);
 331         return ERROR_OK;
 332 }
 333
 334 /***************************************************************************/
 335 /* Queue command implementations */
 336
 337 static void armjtagew_end_state(tap_state_t state)
 338 {
 339         if (tap_is_state_stable(state))
 340         {
 341                 tap_set_end_state(state);
 342         }
 343         else
 344         {
 345                 LOG_ERROR("BUG: %i is not a valid end state", state);
 346                 exit(-1);
 347         }
 348 }
 349
 350 /* Goes to the end state. */
 351 static void armjtagew_state_move(void)
 352 {
 353         int i;
 354         int tms = 0;
 355         u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 356
 357         for (i = 0; i < 7; i++)
 358         {
 359                 tms = (tms_scan >> i) & 1;
 360                 armjtagew_tap_append_step(tms, 0);
 361         }
 362
 363         tap_set_state(tap_get_end_state());
 364 }
 365
 366 static void armjtagew_path_move(int num_states, tap_state_t *path)
 367 {
 368         int i;
 369
 370         for (i = 0; i < num_states; i++)
 371         {
 372                 /*
 373                  * TODO: The ARM-JTAG-EW hardware delays TDI with 3 TCK cycles when in RTCK mode.
 374                  * Either handle that here, or update the documentation with examples
 375                  * how to fix that in the configuration files.
 376                  */
 377                 if (path[i] == tap_state_transition(tap_get_state(), false))
 378                 {
 379                         armjtagew_tap_append_step(0, 0);
 380                 }
 381                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 382                 {
 383                         armjtagew_tap_append_step(1, 0);
 384                 }
 385                 else
 386                 {
 387                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 388                         exit(-1);
 389                 }
 390
 391                 tap_set_state(path[i]);
 392         }
 393
 394         tap_set_end_state(tap_get_state());
 395 }
 396
 397 static void armjtagew_runtest(int num_cycles)
 398 {
 399         int i;
 400
 401         tap_state_t saved_end_state = tap_get_end_state();
 402
 403         /* only do a state_move when we're not already in IDLE */
 404         if (tap_get_state() != TAP_IDLE)
 405         {
 406                 armjtagew_end_state(TAP_IDLE);
 407                 armjtagew_state_move();
 408         }
 409
 410         /* execute num_cycles */
 411         for (i = 0; i < num_cycles; i++)
 412         {
 413                 armjtagew_tap_append_step(0, 0);
 414         }
 415
 416         /* finish in end_state */
 417         armjtagew_end_state(saved_end_state);
 418         if (tap_get_state() != tap_get_end_state())
 419         {
 420                 armjtagew_state_move();
 421         }
 422 }
 423
 424 static void armjtagew_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
 425 {
 426         tap_state_t saved_end_state;
 427
 428         armjtagew_tap_ensure_space(1, scan_size + 8);
 429
 430         saved_end_state = tap_get_end_state();
 431
 432         /* Move to appropriate scan state */
 433         armjtagew_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 434
 435         armjtagew_state_move();
 436         armjtagew_end_state(saved_end_state);
 437
 438         /* Scan */
 439         armjtagew_tap_append_scan(scan_size, buffer, command);
 440
 441         /* We are in Exit1, go to Pause */
 442         armjtagew_tap_append_step(0, 0);
 443
 444         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 445
 446         if (tap_get_state() != tap_get_end_state())
 447         {
 448                 armjtagew_state_move();
 449         }
 450 }
 451
 452 static void armjtagew_reset(int trst, int srst)
 453 {
 454         const u8 trst_mask = (1u<<5);
 455         const u8 srst_mask = (1u<<6);
 456         u8 val = 0;
 457         u8 outp_en = 0;
 458         u8 change_mask = 0;
 459         int result;
 460
 461         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 462
 463         if (srst == 0)
 464         {
 465                 val |= srst_mask;
 466                 outp_en &= ~srst_mask;          /* tristate */
 467                 change_mask |= srst_mask;
 468         }
 469         else if (srst == 1)
 470         {
 471                 val &= ~srst_mask;
 472                 outp_en |= srst_mask;
 473                 change_mask |= srst_mask;
 474         }
 475
 476         if (trst == 0)
 477         {
 478                 val |= trst_mask;
 479                 outp_en &= ~trst_mask;          /* tristate */
 480                 change_mask |= trst_mask;
 481         }
 482         else if (trst == 1)
 483         {
 484                 val &= ~trst_mask;
 485                 outp_en |= trst_mask;
 486                 change_mask |= trst_mask;
 487         }
 488
 489         usb_out_buffer[0] = CMD_SET_TAPHW_STATE;
 490         usb_out_buffer[1] = val;
 491         usb_out_buffer[2] = outp_en;
 492         usb_out_buffer[3] = change_mask;
 493         result = armjtagew_usb_write(armjtagew_jtag_handle, 4);
 494         if (result != 4)
 495         {
 496                 LOG_ERROR("ARM-JTAG-EW TRST/SRST pin set failed failed (%d)", result);
 497         }
 498 }
 499
 500
 501 static int armjtagew_get_status(void)
 502 {
 503         int result;
 504
 505         usb_out_buffer[0] = CMD_GET_TAPHW_STATE;
 506         result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 12);
 507
 508         if (result == 0)
 509         {
 510                 unsigned int u_tg = buf_get_u32(usb_in_buffer, 0, 16);
 511                 LOG_INFO("U_tg = %d mV, U_aux = %d mV, U_tgpwr = %d mV, I_tgpwr = %d mA, D1 = %d, Target power %s %s\n", \
 512                         buf_get_u32(usb_in_buffer + 0, 0, 16), \
 513                         buf_get_u32(usb_in_buffer + 2, 0, 16), \
 514                         buf_get_u32(usb_in_buffer + 4, 0, 16), \
 515                         buf_get_u32(usb_in_buffer + 6, 0, 16), \
 516                         usb_in_buffer[9], \
 517                         usb_in_buffer[11] ? "OVERCURRENT" : "OK", \
 518                         usb_in_buffer[10] ? "enabled" : "disabled");
 519
 520                 if (u_tg < 1500)
 521                 {
 522                         LOG_ERROR("Vref too low. Check Target Power\n");
 523                 }
 524         }
 525         else
 526         {
 527                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_TAPHW_STATE failed (%d)\n", result);
 528         }
 529
 530         return ERROR_OK;
 531 }
 532
 533 static int armjtagew_get_version_info(void)
 534 {
 535         int result;
 536         char sn[16];
 537         char auxinfo[257];
 538
 539         /* query hardware version */
 540         usb_out_buffer[0] = CMD_GET_VERSION;
 541         result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 4+15+256);
 542
 543         if (result != 0)
 544         {
 545                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_VERSION failed (%d)\n", result);
 546                 return ERROR_JTAG_DEVICE_ERROR;
 547         }
 548
 549
 550         memcpy(sn, usb_in_buffer+4, 15);
 551         sn[15] = '\0';
 552         memcpy(auxinfo, usb_in_buffer+4+15, 256);
 553         auxinfo[256] = '\0';
 554
 555         LOG_INFO("ARM-JTAG-EW firmware version %d.%d, hardware revision %c, SN=%s, Additional info: %s", \
 556                         usb_in_buffer[1], usb_in_buffer[0], \
 557                         isgraph(usb_in_buffer[2]) ? usb_in_buffer[2] : 'X', \
 558                         sn, auxinfo);
 559         return ERROR_OK;
 560 }
 561
 562 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 563 {
 564         if (armjtagew_get_version_info() == ERROR_OK)
 565         {
 566                 /* attempt to get status */
 567                 armjtagew_get_status();
 568         }
 569
 570         return ERROR_OK;
 571 }
 572
 573 /***************************************************************************/
 574 /* ARM-JTAG-EW tap functions */
 575
 576 /* 2048 is the max value we can use here */
 577 #define ARMJTAGEW_TAP_BUFFER_SIZE 2048
 578
 579 static int tap_length;
 580 static u8 tms_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 581 static u8 tdi_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 582 static u8 tdo_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 583
 584 typedef struct
 585 {
 586         int first;      /* First bit position in tdo_buffer to read */
 587         int length; /* Number of bits to read */
 588         scan_command_t *command; /* Corresponding scan command */
 589         u8 *buffer;
 590 } pending_scan_result_t;
 591
 592 #define MAX_PENDING_SCAN_RESULTS 256
 593
 594 static int pending_scan_results_length;
 595 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 596
 597 static int last_tms;
 598
 599 static void armjtagew_tap_init(void)
 600 {
 601         tap_length = 0;
 602         pending_scan_results_length = 0;
 603 }
 604
 605 static void armjtagew_tap_ensure_space(int scans, int bits)
 606 {
 607         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 608         int available_bits = ARMJTAGEW_TAP_BUFFER_SIZE * 8 - tap_length;
 609
 610         if (scans > available_scans || bits > available_bits)
 611         {
 612                 armjtagew_tap_execute();
 613         }
 614 }
 615
 616 static void armjtagew_tap_append_step(int tms, int tdi)
 617 {
 618         last_tms = tms;
 619         int index = tap_length / 8;
 620
 621         if (index < ARMJTAGEW_TAP_BUFFER_SIZE)
 622         {
 623                 int bit_index = tap_length % 8;
 624                 u8 bit = 1 << bit_index;
 625
 626                 if (tms)
 627                 {
 628                         tms_buffer[index] |= bit;
 629                 }
 630                 else
 631                 {
 632                         tms_buffer[index] &= ~bit;
 633                 }
 634
 635                 if (tdi)
 636                 {
 637                         tdi_buffer[index] |= bit;
 638                 }
 639                 else
 640                 {
 641                         tdi_buffer[index] &= ~bit;
 642                 }
 643
 644                 tap_length++;
 645         }
 646         else
 647         {
 648                 LOG_ERROR("armjtagew_tap_append_step, overflow");
 649         }
 650 }
 651
 652 void armjtagew_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
 653 {
 654         pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
 655         int i;
 656
 657         pending_scan_result->first = tap_length;
 658         pending_scan_result->length = length;
 659         pending_scan_result->command = command;
 660         pending_scan_result->buffer = buffer;
 661
 662         for (i = 0; i < length; i++)
 663         {
 664                 armjtagew_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
 665         }
 666         pending_scan_results_length++;
 667 }
 668
 669 /* Pad and send a tap sequence to the device, and receive the answer.
 670  * For the purpose of padding we assume that we are in idle or pause state. */
 671 static int armjtagew_tap_execute(void)
 672 {
 673         int byte_length;
 674         int tms_offset;
 675         int tdi_offset;
 676         int i;
 677         int result;
 678
 679         if (tap_length > 0)
 680         {
 681                 /* Pad last byte so that tap_length is divisible by 8 */
 682                 while (tap_length % 8 != 0)
 683                 {
 684                         /* More of the last TMS value keeps us in the same state,
 685                          * analogous to free-running JTAG interfaces. */
 686                         armjtagew_tap_append_step(last_tms, 0);
 687                 }
 688
 689                 byte_length = tap_length / 8;
 690
 691                 usb_out_buffer[0] = CMD_TAP_SHIFT;
 692                 buf_set_u32(usb_out_buffer+1, 0, 16, byte_length);
 693
 694                 tms_offset = 3;
 695                 for (i = 0; i < byte_length; i++)
 696                 {
 697                         usb_out_buffer[tms_offset + i] = flip_u32(tms_buffer[i],8);
 698                 }
 699
 700                 tdi_offset = tms_offset + byte_length;
 701                 for (i = 0; i < byte_length; i++)
 702                 {
 703                         usb_out_buffer[tdi_offset + i] = flip_u32(tdi_buffer[i],8);
 704                 }
 705
 706                 result = armjtagew_usb_message(armjtagew_jtag_handle, 3 + 2 * byte_length, byte_length + 4);
 707
 708                 if (result == 0)
 709                 {
 710                         int stat;
 711
 712                         stat = (int)buf_get_u32(usb_in_buffer + byte_length, 0, 32);
 713                         if(stat) {
 714                                 LOG_ERROR("armjtagew_tap_execute, emulator returned error code %d for a CMD_TAP_SHIFT command", stat);
 715                                 return ERROR_JTAG_QUEUE_FAILED;
 716                         }
 717
 718                         for (i = 0; i < byte_length; i++)
 719                         {
 720                                 tdo_buffer[i] = flip_u32(usb_in_buffer[i],8);
 721                         }
 722
 723                         for (i = 0; i < pending_scan_results_length; i++)
 724                         {
 725                                 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
 726                                 u8 *buffer = pending_scan_result->buffer;
 727                                 int length = pending_scan_result->length;
 728                                 int first = pending_scan_result->first;
 729                                 scan_command_t *command = pending_scan_result->command;
 730
 731                                 /* Copy to buffer */
 732                                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 733
 734                                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 735
 736 #ifdef _DEBUG_USB_COMMS_
 737                                 armjtagew_debug_buffer(buffer, byte_length);
 738 #endif
 739
 740                                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 741                                 {
 742                                         armjtagew_tap_init();
 743                                         return ERROR_JTAG_QUEUE_FAILED;
 744                                 }
 745
 746                                 if (pending_scan_result->buffer != NULL)
 747                                 {
 748                                         free(pending_scan_result->buffer);
 749                                 }
 750                         }
 751                 }
 752                 else
 753                 {
 754                         LOG_ERROR("armjtagew_tap_execute, wrong result %d, expected %d", result, byte_length);
 755                         return ERROR_JTAG_QUEUE_FAILED;
 756                 }
 757
 758                 armjtagew_tap_init();
 759         }
 760
 761         return ERROR_OK;
 762 }
 763
 764 /*****************************************************************************/
 765 /* JLink USB low-level functions */
 766
 767 static armjtagew_jtag_t* armjtagew_usb_open()
 768 {
 769         struct usb_bus *busses;
 770         struct usb_bus *bus;
 771         struct usb_device *dev;
 772
 773         armjtagew_jtag_t *result;
 774
 775         result = (armjtagew_jtag_t*) malloc(sizeof(armjtagew_jtag_t));
 776
 777         usb_init();
 778         usb_find_busses();
 779         usb_find_devices();
 780
 781         busses = usb_get_busses();
 782
 783         /* find armjtagew_jtag device in usb bus */
 784
 785         for (bus = busses; bus; bus = bus->next)
 786         {
 787                 for (dev = bus->devices; dev; dev = dev->next)
 788                 {
 789                         if ((dev->descriptor.idVendor == USB_VID) && (dev->descriptor.idProduct == USB_PID))
 790                         {
 791                                 result->usb_handle = usb_open(dev);
 792
 793 #if 0
 794                                 /* usb_set_configuration required under win32 */
 795                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 796 #endif
 797                                 usb_claim_interface(result->usb_handle, 0);
 798
 799 #if 0
 800                                 /*
 801                                  * This makes problems under Mac OS X. And is not needed
 802                                  * under Windows. Hopefully this will not break a linux build
 803                                  */
 804                                 usb_set_altinterface(result->usb_handle, 0);
 805 #endif
 806                                 return result;
 807                         }
 808                 }
 809         }
 810
 811         free(result);
 812         return NULL;
 813 }
 814
 815 static void armjtagew_usb_close(armjtagew_jtag_t *armjtagew_jtag)
 816 {
 817         usb_close(armjtagew_jtag->usb_handle);
 818         free(armjtagew_jtag);
 819 }
 820
 821 /* Send a message and receive the reply. */
 822 static int armjtagew_usb_message(armjtagew_jtag_t *armjtagew_jtag, int out_length, int in_length)
 823 {
 824         int result;
 825
 826         result = armjtagew_usb_write(armjtagew_jtag, out_length);
 827         if (result == out_length)
 828         {
 829                 result = armjtagew_usb_read(armjtagew_jtag, in_length);
 830                 if (result != in_length)
 831                 {
 832                         LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
 833                         return -1;
 834                 }
 835         }
 836         else
 837         {
 838                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
 839                 return -1;
 840         }
 841         return 0;
 842 }
 843
 844 /* Write data from out_buffer to USB. */
 845 static int armjtagew_usb_write(armjtagew_jtag_t *armjtagew_jtag, int out_length)
 846 {
 847         int result;
 848
 849         if (out_length > ARMJTAGEW_OUT_BUFFER_SIZE)
 850         {
 851                 LOG_ERROR("armjtagew_jtag_write illegal out_length=%d (max=%d)", out_length, ARMJTAGEW_OUT_BUFFER_SIZE);
 852                 return -1;
 853         }
 854
 855         result = usb_bulk_write(armjtagew_jtag->usb_handle, ARMJTAGEW_EPT_BULK_OUT, \
 856                 (char*)usb_out_buffer, out_length, ARMJTAGEW_USB_TIMEOUT);
 857
 858         DEBUG_JTAG_IO("armjtagew_usb_write, out_length = %d, result = %d", out_length, result);
 859
 860 #ifdef _DEBUG_USB_COMMS_
 861         armjtagew_debug_buffer(usb_out_buffer, out_length);
 862 #endif
 863         return result;
 864 }
 865
 866 /* Read data from USB into in_buffer. */
 867 static int armjtagew_usb_read(armjtagew_jtag_t *armjtagew_jtag, int exp_in_length)
 868 {
 869         int result = usb_bulk_read(armjtagew_jtag->usb_handle, ARMJTAGEW_EPT_BULK_IN, \
 870                 (char*)usb_in_buffer, exp_in_length, ARMJTAGEW_USB_TIMEOUT);
 871
 872         DEBUG_JTAG_IO("armjtagew_usb_read, result = %d", result);
 873
 874 #ifdef _DEBUG_USB_COMMS_
 875         armjtagew_debug_buffer(usb_in_buffer, result);
 876 #endif
 877         return result;
 878 }
 879
 880
 881 #ifdef _DEBUG_USB_COMMS_
 882 #define BYTES_PER_LINE  16
 883
 884 static void armjtagew_debug_buffer(u8 *buffer, int length)
 885 {
 886         char line[81];
 887         char s[4];
 888         int i;
 889         int j;
 890
 891         for (i = 0; i < length; i += BYTES_PER_LINE)
 892         {
 893                 snprintf(line, 5, "%04x", i);
 894                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 895                 {
 896                         snprintf(s, 4, " %02x", buffer[j]);
 897                         strcat(line, s);
 898                 }
 899                 LOG_DEBUG("%s", line);
 900         }
 901 }
 902 #endif
 903