git.sur5r.net Git - openocd/blob - src/jtag/drivers/jlink.c

   1 /***************************************************************************
   2  *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
   3  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   4  *                                                                         *
   5  *   Copyright (C) 2008 by Spencer Oliver                                  *
   6  *   spen@spen-soft.co.uk                                                  *
   7  *                                                                         *
   8  *   This program is free software; you can redistribute it and/or modify  *
   9  *   it under the terms of the GNU General Public License as published by  *
  10  *   the Free Software Foundation; either version 2 of the License, or     *
  11  *   (at your option) any later version.                                   *
  12  *                                                                         *
  13  *   This program is distributed in the hope that it will be useful,       *
  14  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  15  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  16  *   GNU General Public License for more details.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program; if not, write to the                         *
  20  *   Free Software Foundation, Inc.,                                       *
  21  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  22  ***************************************************************************/
  23
  24 #ifdef HAVE_CONFIG_H
  25 #include "config.h"
  26 #endif
  27
  28 #include <jtag/interface.h>
  29 #include <jtag/commands.h>
  30 #include "usb_common.h"
  31
  32 /* See Segger's public documentation:
  33  *      Reference manual for J-Link USB Protocol
  34  *      Document RM08001-R6 Date: June 16, 2009
  35  *      (Or newer, with some SWD information).
  36
  37 http://www.segger.com/cms/admin/uploads/productDocs/RM08001_JLinkUSBProtocol.pdf
  38  */
  39
  40 /*
  41  * The default pid of the segger is 0x0101
  42  * But when you change the USB Address it will also
  43  *
  44  * pid = ( usb_address > 0x4) ? 0x0101 : (0x101 + usb_address)
  45  */
  46 #define VID 0x1366, 0x1366, 0x1366, 0x1366
  47 #define PID 0x0101, 0x0102, 0x0103, 0x0104
  48
  49 #define JLINK_WRITE_ENDPOINT    0x02
  50 #define JLINK_READ_ENDPOINT             0x81
  51
  52 static unsigned int jlink_write_ep = JLINK_WRITE_ENDPOINT;
  53 static unsigned int jlink_read_ep = JLINK_READ_ENDPOINT;
  54 static unsigned int jlink_hw_jtag_version = 2;
  55
  56 #define JLINK_USB_TIMEOUT               1000
  57
  58 // See Section 3.3.2 of the Segger JLink USB protocol manual
  59 /* 2048 is the max value we can use here */
  60 #define JLINK_TAP_BUFFER_SIZE 2048
  61 //#define JLINK_TAP_BUFFER_SIZE 256
  62 //#define JLINK_TAP_BUFFER_SIZE 384
  63
  64 #define JLINK_IN_BUFFER_SIZE                    2048
  65 #define JLINK_OUT_BUFFER_SIZE                   2*2048 + 4
  66 #define JLINK_EMU_RESULT_BUFFER_SIZE    64
  67
  68 /* Global USB buffers */
  69 static uint8_t usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  70 static uint8_t usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  71 static uint8_t usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
  72
  73 /* Constants for JLink command */
  74 #define EMU_CMD_VERSION                 0x01
  75 #define EMU_CMD_SET_SPEED               0x05
  76 #define EMU_CMD_GET_STATE               0x07
  77 #define EMU_CMD_HW_CLOCK                0xc8
  78 #define EMU_CMD_HW_TMS0                 0xc9
  79 #define EMU_CMD_HW_TMS1                 0xca
  80 #define EMU_CMD_HW_JTAG2                0xce
  81 #define EMU_CMD_HW_JTAG3                0xcf
  82 #define EMU_CMD_GET_MAX_MEM_BLOCK       0xd4
  83 #define EMU_CMD_HW_RESET0               0xdc
  84 #define EMU_CMD_HW_RESET1               0xdd
  85 #define EMU_CMD_HW_TRST0                0xde
  86 #define EMU_CMD_HW_TRST1                0xdf
  87 #define EMU_CMD_GET_CAPS                0xe8
  88 #define EMU_CMD_GET_HW_VERSION  0xf0
  89
  90 /* bits return from EMU_CMD_GET_CAPS */
  91 #define EMU_CAP_RESERVED_1              0
  92 #define EMU_CAP_GET_HW_VERSION          1
  93 #define EMU_CAP_WRITE_DCC               2
  94 #define EMU_CAP_ADAPTIVE_CLOCKING       3
  95 #define EMU_CAP_READ_CONFIG             4
  96 #define EMU_CAP_WRITE_CONFIG            5
  97 #define EMU_CAP_TRACE                   6
  98 #define EMU_CAP_WRITE_MEM               7
  99 #define EMU_CAP_READ_MEM                8
 100 #define EMU_CAP_SPEED_INFO              9
 101 #define EMU_CAP_EXEC_CODE               10
 102 #define EMU_CAP_GET_MAX_BLOCK_SIZE      11
 103 #define EMU_CAP_GET_HW_INFO             12
 104 #define EMU_CAP_SET_KS_POWER            13
 105 #define EMU_CAP_RESET_STOP_TIMED        14
 106 #define EMU_CAP_RESERVED_2              15
 107 #define EMU_CAP_MEASURE_RTCK_REACT      16
 108 #define EMU_CAP_SELECT_IF               17
 109 #define EMU_CAP_RW_MEM_ARM79            18
 110 #define EMU_CAP_GET_COUNTERS            19
 111 #define EMU_CAP_READ_DCC                20
 112 #define EMU_CAP_GET_CPU_CAPS            21
 113 #define EMU_CAP_EXEC_CPU_CMD            22
 114 #define EMU_CAP_SWO                     23
 115 #define EMU_CAP_WRITE_DCC_EX            24
 116 #define EMU_CAP_UPDATE_FIRMWARE_EX      25
 117 #define EMU_CAP_FILE_IO                 26
 118 #define EMU_CAP_REGISTER                27
 119 #define EMU_CAP_INDICATORS              28
 120 #define EMU_CAP_TEST_NET_SPEED          29
 121 #define EMU_CAP_RAWTRACE                30
 122 #define EMU_CAP_RESERVED_3              31
 123
 124 static char *jlink_cap_str[] = {
 125         "Always 1.",
 126         "Supports command EMU_CMD_GET_HARDWARE_VERSION",
 127         "Supports command EMU_CMD_WRITE_DCC",
 128         "Supports adaptive clocking",
 129         "Supports command EMU_CMD_READ_CONFIG",
 130         "Supports command EMU_CMD_WRITE_CONFIG",
 131         "Supports trace commands",
 132         "Supports command EMU_CMD_WRITE_MEM",
 133         "Supports command EMU_CMD_READ_MEM",
 134         "Supports command EMU_CMD_GET_SPEED",
 135         "Supports command EMU_CMD_CODE_...",
 136         "Supports command EMU_CMD_GET_MAX_BLOCK_SIZE",
 137         "Supports command EMU_CMD_GET_HW_INFO",
 138         "Supports command EMU_CMD_SET_KS_POWER",
 139         "Supports command EMU_CMD_HW_RELEASE_RESET_STOP_TIMED",
 140         "Reserved",
 141         "Supports command EMU_CMD_MEASURE_RTCK_REACT",
 142         "Supports command EMU_CMD_HW_SELECT_IF",
 143         "Supports command EMU_CMD_READ/WRITE_MEM_ARM79",
 144         "Supports command EMU_CMD_GET_COUNTERS",
 145         "Supports command EMU_CMD_READ_DCC",
 146         "Supports command EMU_CMD_GET_CPU_CAPS",
 147         "Supports command EMU_CMD_EXEC_CPU_CMD",
 148         "Supports command EMU_CMD_SWO",
 149         "Supports command EMU_CMD_WRITE_DCC_EX",
 150         "Supports command EMU_CMD_UPDATE_FIRMWARE_EX",
 151         "Supports command EMU_CMD_FILE_IO",
 152         "Supports command EMU_CMD_REGISTER",
 153         "Supports command EMU_CMD_INDICATORS",
 154         "Supports command EMU_CMD_TEST_NET_SPEED",
 155         "Supports command EMU_CMD_RAWTRACE",
 156         "Reserved",
 157 };
 158
 159 /* max speed 12MHz v5.0 jlink */
 160 #define JLINK_MAX_SPEED 12000
 161
 162 /* J-Link hardware versions */
 163 #define JLINK_HW_TYPE_JLINK     0
 164 #define JLINK_HW_TYPE_JTRACE    1
 165 #define JLINK_HW_TYPE_FLASHER   2
 166 #define JLINK_HW_TYPE_JLINK_PRO 3
 167 #define JLINK_HW_TYPE_MAX       4
 168
 169 static char *jlink_hw_type_str[] = {
 170         "J-Link",
 171         "J-Trace",
 172         "Flasher",
 173         "J-Link Pro",
 174 };
 175
 176 /* Queue command functions */
 177 static void jlink_end_state(tap_state_t state);
 178 static void jlink_state_move(void);
 179 static void jlink_path_move(int num_states, tap_state_t *path);
 180 static void jlink_runtest(int num_cycles);
 181 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
 182                 int scan_size, struct scan_command *command);
 183 static void jlink_reset(int trst, int srst);
 184 static void jlink_simple_command(uint8_t command);
 185 static int jlink_get_status(void);
 186
 187 /* J-Link tap buffer functions */
 188 static void jlink_tap_init(void);
 189 static int jlink_tap_execute(void);
 190 static void jlink_tap_ensure_space(int scans, int bits);
 191 static void jlink_tap_append_step(int tms, int tdi);
 192 static void jlink_tap_append_scan(int length, uint8_t *buffer,
 193                 struct scan_command *command);
 194
 195 /* Jlink lowlevel functions */
 196 struct jlink {
 197         struct usb_dev_handle* usb_handle;
 198 };
 199
 200 static struct jlink *jlink_usb_open(void);
 201 static void jlink_usb_close(struct jlink *jlink);
 202 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length);
 203 static int jlink_usb_write(struct jlink *jlink, int out_length);
 204 static int jlink_usb_read(struct jlink *jlink, int expected_size);
 205 static int jlink_usb_read_emu_result(struct jlink *jlink);
 206
 207 /* helper functions */
 208 static int jlink_get_version_info(void);
 209
 210 #ifdef _DEBUG_USB_COMMS_
 211 static void jlink_debug_buffer(uint8_t *buffer, int length);
 212 #endif
 213
 214 static enum tap_state jlink_last_state = TAP_RESET;
 215
 216 static struct jlink* jlink_handle;
 217
 218 /* pid could be specified at runtime */
 219 static uint16_t vids[] = { VID, 0 };
 220 static uint16_t pids[] = { PID, 0 };
 221
 222 static uint32_t jlink_caps;
 223 static uint32_t jlink_hw_type;
 224
 225 /***************************************************************************/
 226 /* External interface implementation */
 227
 228 static void jlink_execute_runtest(struct jtag_command *cmd)
 229 {
 230         DEBUG_JTAG_IO("runtest %i cycles, end in %i",
 231                         cmd->cmd.runtest->num_cycles,
 232                         cmd->cmd.runtest->end_state);
 233
 234         jlink_end_state(cmd->cmd.runtest->end_state);
 235
 236         jlink_runtest(cmd->cmd.runtest->num_cycles);
 237 }
 238
 239 static void jlink_execute_statemove(struct jtag_command *cmd)
 240 {
 241         DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 242
 243         jlink_end_state(cmd->cmd.statemove->end_state);
 244         jlink_state_move();
 245 }
 246
 247 static void jlink_execute_pathmove(struct jtag_command *cmd)
 248 {
 249         DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 250                 cmd->cmd.pathmove->num_states,
 251                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 252
 253         jlink_path_move(cmd->cmd.pathmove->num_states,
 254                         cmd->cmd.pathmove->path);
 255 }
 256
 257 static void jlink_execute_scan(struct jtag_command *cmd)
 258 {
 259         int scan_size;
 260         enum scan_type type;
 261         uint8_t *buffer;
 262
 263         DEBUG_JTAG_IO("scan end in %s", tap_state_name(cmd->cmd.scan->end_state));
 264
 265         jlink_end_state(cmd->cmd.scan->end_state);
 266
 267         scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 268         DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 269
 270 #ifdef _DEBUG_USB_COMMS_
 271         jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 272 #endif
 273         type = jtag_scan_type(cmd->cmd.scan);
 274         jlink_scan(cmd->cmd.scan->ir_scan,
 275                         type, buffer, scan_size, cmd->cmd.scan);
 276 }
 277
 278 static void jlink_execute_reset(struct jtag_command *cmd)
 279 {
 280         DEBUG_JTAG_IO("reset trst: %i srst %i",
 281                         cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 282
 283         jlink_tap_execute();
 284         jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 285         jlink_tap_execute();
 286 }
 287
 288 static void jlink_execute_sleep(struct jtag_command *cmd)
 289 {
 290         DEBUG_JTAG_IO("sleep %" PRIi32 "", cmd->cmd.sleep->us);
 291         jlink_tap_execute();
 292         jtag_sleep(cmd->cmd.sleep->us);
 293 }
 294
 295 static void jlink_execute_command(struct jtag_command *cmd)
 296 {
 297         switch (cmd->type)
 298         {
 299         case JTAG_RUNTEST:   jlink_execute_runtest(cmd); break;
 300         case JTAG_TLR_RESET: jlink_execute_statemove(cmd); break;
 301         case JTAG_PATHMOVE:  jlink_execute_pathmove(cmd); break;
 302         case JTAG_SCAN:      jlink_execute_scan(cmd); break;
 303         case JTAG_RESET:     jlink_execute_reset(cmd); break;
 304         case JTAG_SLEEP:     jlink_execute_sleep(cmd); break;
 305         default:
 306                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 307                 exit(-1);
 308         }
 309 }
 310
 311 static int jlink_execute_queue(void)
 312 {
 313         struct jtag_command *cmd = jtag_command_queue;
 314
 315         while (cmd != NULL)
 316         {
 317                 jlink_execute_command(cmd);
 318                 cmd = cmd->next;
 319         }
 320
 321         return jlink_tap_execute();
 322 }
 323
 324 /* Sets speed in kHz. */
 325 static int jlink_speed(int speed)
 326 {
 327         int result;
 328
 329         if (speed > JLINK_MAX_SPEED)
 330         {
 331                 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum",
 332                                 speed, JLINK_MAX_SPEED);
 333                 speed = JLINK_MAX_SPEED;
 334         }
 335
 336         /* check for RTCK setting */
 337         if (speed == 0)
 338                 speed = -1;
 339
 340         usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 341         usb_out_buffer[1] = (speed >> 0) & 0xff;
 342         usb_out_buffer[2] = (speed >> 8) & 0xff;
 343
 344         result = jlink_usb_write(jlink_handle, 3);
 345         if (result != 3)
 346         {
 347                 LOG_ERROR("J-Link setting speed failed (%d)", result);
 348                 return ERROR_JTAG_DEVICE_ERROR;
 349         }
 350
 351         return ERROR_OK;
 352 }
 353
 354 static int jlink_speed_div(int speed, int* khz)
 355 {
 356         *khz = speed;
 357
 358         return ERROR_OK;
 359 }
 360
 361 static int jlink_khz(int khz, int *jtag_speed)
 362 {
 363         *jtag_speed = khz;
 364
 365         return ERROR_OK;
 366 }
 367
 368 static int jlink_init(void)
 369 {
 370         int i;
 371
 372         jlink_handle = jlink_usb_open();
 373
 374         if (jlink_handle == 0)
 375         {
 376                 LOG_ERROR("Cannot find jlink Interface! Please check "
 377                                 "connection and permissions.");
 378                 return ERROR_JTAG_INIT_FAILED;
 379         }
 380
 381         /*
 382          * The next three instructions were added after discovering a problem
 383          * while using an oscilloscope.
 384          * For the V8 SAM-ICE dongle (and likely other j-link device variants),
 385          * the reset line to the target microprocessor was found to cycle only
 386          * intermittently during emulator startup (even after encountering the
 387          * downstream reset instruction later in the code).
 388          * This was found to create two issues:
 389          * 1) In general it is a bad practice to not reset a CPU to a known
 390          * state when starting an emulator and
 391          * 2) something critical happens inside the dongle when it does the
 392          * first read following a new USB session.
 393          * Keeping the processor in reset during the first read collecting
 394          * version information seems to prevent errant
 395          * "J-Link command EMU_CMD_VERSION failed" issues.
 396          */
 397
 398         LOG_INFO("J-Link initialization started / target CPU reset initiated");
 399         jlink_simple_command(EMU_CMD_HW_TRST0);
 400         jlink_simple_command(EMU_CMD_HW_RESET0);
 401         usleep(1000);
 402
 403         jlink_hw_jtag_version = 2;
 404
 405         if (jlink_get_version_info() == ERROR_OK)
 406         {
 407                 /* attempt to get status */
 408                 jlink_get_status();
 409         }
 410
 411         LOG_INFO("J-Link JTAG Interface ready");
 412
 413         jlink_reset(0, 0);
 414         jtag_sleep(3000);
 415         jlink_tap_init();
 416         int jtag_speed_var;
 417         int retval = jtag_get_speed(&jtag_speed_var);
 418         if (retval != ERROR_OK)
 419                 return retval;
 420         jlink_speed(jtag_speed_var);
 421
 422         /* v5/6 jlink seems to have an issue if the first tap move
 423          * is not divisible by 8, so we send a TLR on first power up */
 424         for (i = 0; i < 8; i++) {
 425                 jlink_tap_append_step(1, 0);
 426         }
 427         jlink_tap_execute();
 428
 429         return ERROR_OK;
 430 }
 431
 432 static int jlink_quit(void)
 433 {
 434         jlink_usb_close(jlink_handle);
 435         return ERROR_OK;
 436 }
 437
 438 /***************************************************************************/
 439 /* Queue command implementations */
 440
 441 static void jlink_end_state(tap_state_t state)
 442 {
 443         if (tap_is_state_stable(state))
 444         {
 445                 tap_set_end_state(state);
 446         }
 447         else
 448         {
 449                 LOG_ERROR("BUG: %i is not a valid end state", state);
 450                 exit(-1);
 451         }
 452 }
 453
 454 /* Goes to the end state. */
 455 static void jlink_state_move(void)
 456 {
 457         int i;
 458         int tms = 0;
 459         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 460         uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 461
 462         for (i = 0; i < tms_scan_bits; i++)
 463         {
 464                 tms = (tms_scan >> i) & 1;
 465                 jlink_tap_append_step(tms, 0);
 466         }
 467
 468         tap_set_state(tap_get_end_state());
 469 }
 470
 471 static void jlink_path_move(int num_states, tap_state_t *path)
 472 {
 473         int i;
 474
 475         for (i = 0; i < num_states; i++)
 476         {
 477                 if (path[i] == tap_state_transition(tap_get_state(), false))
 478                 {
 479                         jlink_tap_append_step(0, 0);
 480                 }
 481                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 482                 {
 483                         jlink_tap_append_step(1, 0);
 484                 }
 485                 else
 486                 {
 487                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
 488                                         tap_state_name(tap_get_state()), tap_state_name(path[i]));
 489                         exit(-1);
 490                 }
 491
 492                 tap_set_state(path[i]);
 493         }
 494
 495         tap_set_end_state(tap_get_state());
 496 }
 497
 498 static void jlink_runtest(int num_cycles)
 499 {
 500         int i;
 501
 502         tap_state_t saved_end_state = tap_get_end_state();
 503
 504         jlink_tap_ensure_space(1,num_cycles + 16);
 505
 506         /* only do a state_move when we're not already in IDLE */
 507         if (tap_get_state() != TAP_IDLE)
 508         {
 509                 jlink_end_state(TAP_IDLE);
 510                 jlink_state_move();
 511 //              num_cycles--;
 512         }
 513
 514         /* execute num_cycles */
 515         for (i = 0; i < num_cycles; i++)
 516         {
 517                 jlink_tap_append_step(0, 0);
 518         }
 519
 520         /* finish in end_state */
 521         jlink_end_state(saved_end_state);
 522         if (tap_get_state() != tap_get_end_state())
 523         {
 524                 jlink_state_move();
 525         }
 526 }
 527
 528 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
 529                 int scan_size, struct scan_command *command)
 530 {
 531         tap_state_t saved_end_state;
 532
 533         jlink_tap_ensure_space(1, scan_size + 16);
 534
 535         saved_end_state = tap_get_end_state();
 536
 537         /* Move to appropriate scan state */
 538         jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 539
 540         /* Only move if we're not already there */
 541         if (tap_get_state() != tap_get_end_state())
 542                 jlink_state_move();
 543
 544         jlink_end_state(saved_end_state);
 545
 546         /* Scan */
 547         jlink_tap_append_scan(scan_size, buffer, command);
 548
 549         /* We are in Exit1, go to Pause */
 550         jlink_tap_append_step(0, 0);
 551
 552         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 553
 554         if (tap_get_state() != tap_get_end_state())
 555         {
 556                 jlink_state_move();
 557         }
 558 }
 559
 560 static void jlink_reset(int trst, int srst)
 561 {
 562         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 563
 564         /* Signals are active low */
 565         if (srst == 0)
 566         {
 567                 jlink_simple_command(EMU_CMD_HW_RESET1);
 568         }
 569         if (srst == 1)
 570         {
 571                 jlink_simple_command(EMU_CMD_HW_RESET0);
 572         }
 573
 574         if (trst == 1)
 575         {
 576                 jlink_simple_command(EMU_CMD_HW_TRST0);
 577         }
 578
 579         if (trst == 0)
 580         {
 581                 jlink_simple_command(EMU_CMD_HW_TRST1);
 582         }
 583 }
 584
 585 static void jlink_simple_command(uint8_t command)
 586 {
 587         int result;
 588
 589         DEBUG_JTAG_IO("0x%02x", command);
 590
 591         usb_out_buffer[0] = command;
 592         result = jlink_usb_write(jlink_handle, 1);
 593
 594         if (result != 1)
 595         {
 596                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 597         }
 598 }
 599
 600 static int jlink_get_status(void)
 601 {
 602         int result;
 603
 604         jlink_simple_command(EMU_CMD_GET_STATE);
 605
 606         result = jlink_usb_read(jlink_handle, 8);
 607         if (result != 8)
 608         {
 609                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)", result);
 610                 return ERROR_JTAG_DEVICE_ERROR;
 611         }
 612
 613         int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 614         LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d", \
 615                 vref / 1000, vref % 1000, \
 616                 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 617                 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 618
 619         if (vref < 1500)
 620                 LOG_ERROR("Vref too low. Check Target Power");
 621
 622         return ERROR_OK;
 623 }
 624
 625 #define jlink_dump_printf(context, expr ...)    \
 626         do {                                    \
 627         if (context)                            \
 628                 command_print(context, expr);   \
 629         else                                    \
 630                 LOG_INFO(expr);                 \
 631         } while(0);
 632
 633
 634 static void jlink_caps_dump(struct command_context *ctx)
 635 {
 636         int i;
 637
 638         jlink_dump_printf(ctx, "J-Link Capabilities");
 639
 640         for (i = 1; i < 31; i++)
 641                 if (jlink_caps & (1 << i))
 642                         jlink_dump_printf(ctx, "%s", jlink_cap_str[i]);
 643 }
 644
 645 static int jlink_get_version_info(void)
 646 {
 647         int result;
 648         int len;
 649         uint32_t jlink_max_size;
 650
 651         /* query hardware version */
 652         jlink_simple_command(EMU_CMD_VERSION);
 653
 654         result = jlink_usb_read(jlink_handle, 2);
 655         if (2 != result)
 656         {
 657                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
 658                 return ERROR_JTAG_DEVICE_ERROR;
 659         }
 660
 661         len = buf_get_u32(usb_in_buffer, 0, 16);
 662         if (len > JLINK_IN_BUFFER_SIZE)
 663         {
 664                 LOG_ERROR("J-Link command EMU_CMD_VERSION impossible return length 0x%0x", len);
 665                 len = JLINK_IN_BUFFER_SIZE;
 666         }
 667
 668         result = jlink_usb_read(jlink_handle, len);
 669         if (result != len)
 670         {
 671                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
 672                 return ERROR_JTAG_DEVICE_ERROR;
 673         }
 674
 675         usb_in_buffer[result] = 0;
 676         LOG_INFO("%s", (char *)usb_in_buffer);
 677
 678         /* query hardware capabilities */
 679         jlink_simple_command(EMU_CMD_GET_CAPS);
 680
 681         result = jlink_usb_read(jlink_handle, 4);
 682         if (4 != result)
 683         {
 684                 LOG_ERROR("J-Link command EMU_CMD_GET_CAPS failed (%d)", result);
 685                 return ERROR_JTAG_DEVICE_ERROR;
 686         }
 687
 688         jlink_caps = buf_get_u32(usb_in_buffer, 0, 32);
 689         LOG_INFO("J-Link caps 0x%x", (unsigned)jlink_caps);
 690
 691         if (jlink_caps & (1 << EMU_CAP_GET_HW_VERSION))
 692         {
 693                 /* query hardware version */
 694                 jlink_simple_command(EMU_CMD_GET_HW_VERSION);
 695
 696                 result = jlink_usb_read(jlink_handle, 4);
 697                 if (4 != result)
 698                 {
 699                         LOG_ERROR("J-Link command EMU_CMD_GET_HW_VERSION failed (%d)", result);
 700                         return ERROR_JTAG_DEVICE_ERROR;
 701                 }
 702
 703                 uint32_t jlink_hw_version = buf_get_u32(usb_in_buffer, 0, 32);
 704                 uint32_t major_revision = (jlink_hw_version / 10000) % 100;
 705                 jlink_hw_type = (jlink_hw_version / 1000000) % 100;
 706                 if (major_revision >= 5)
 707                         jlink_hw_jtag_version = 3;
 708
 709                 LOG_INFO("J-Link hw version %i", (int)jlink_hw_version);
 710
 711                 if (jlink_hw_type >= JLINK_HW_TYPE_MAX)
 712                         LOG_INFO("J-Link hw type uknown 0x%x", jlink_hw_type);
 713                 else
 714                         LOG_INFO("J-Link hw type %s", jlink_hw_type_str[jlink_hw_type]);
 715         }
 716
 717         if (jlink_caps & (1 << EMU_CAP_GET_MAX_BLOCK_SIZE))
 718         {
 719                 /* query hardware maximum memory block */
 720                 jlink_simple_command(EMU_CMD_GET_MAX_MEM_BLOCK);
 721
 722                 result = jlink_usb_read(jlink_handle, 4);
 723                 if (4 != result)
 724                 {
 725                         LOG_ERROR("J-Link command EMU_CMD_GET_MAX_MEM_BLOCK failed (%d)", result);
 726                         return ERROR_JTAG_DEVICE_ERROR;
 727                 }
 728
 729                 jlink_max_size = buf_get_u32(usb_in_buffer, 0, 32);
 730                 LOG_INFO("J-Link max mem block %i", (int)jlink_max_size);
 731         }
 732
 733         return ERROR_OK;
 734 }
 735
 736 COMMAND_HANDLER(jlink_pid_command)
 737 {
 738         if (CMD_ARGC != 1)
 739         {
 740                 LOG_ERROR("Need exactly one argument to jlink_pid");
 741                 return ERROR_FAIL;
 742         }
 743
 744         pids[0] = strtoul(CMD_ARGV[0], NULL, 16);
 745         pids[1] = 0;
 746         vids[1] = 0;
 747
 748         return ERROR_OK;
 749 }
 750
 751 COMMAND_HANDLER(jlink_handle_jlink_info_command)
 752 {
 753         if (jlink_get_version_info() == ERROR_OK)
 754         {
 755                 /* attempt to get status */
 756                 jlink_get_status();
 757         }
 758
 759         return ERROR_OK;
 760 }
 761
 762 COMMAND_HANDLER(jlink_handle_jlink_caps_command)
 763 {
 764         jlink_caps_dump(CMD_CTX);
 765
 766         return ERROR_OK;
 767 }
 768
 769 COMMAND_HANDLER(jlink_handle_jlink_hw_jtag_command)
 770 {
 771         switch (CMD_ARGC) {
 772         case 0:
 773                 command_print(CMD_CTX, "J-Link hw jtag  %i", jlink_hw_jtag_version);
 774                 break;
 775         case 1: {
 776                 int request_version = atoi(CMD_ARGV[0]);
 777                 switch (request_version) {
 778                 case 2: case 3:
 779                         jlink_hw_jtag_version = request_version;
 780                         break;
 781                 default:
 782                         return ERROR_COMMAND_SYNTAX_ERROR;
 783                 }
 784                 break;
 785         }
 786         default:
 787                 return ERROR_COMMAND_SYNTAX_ERROR;
 788         }
 789
 790         return ERROR_OK;
 791 }
 792
 793 static const struct command_registration jlink_subcommand_handlers[] = {
 794         {
 795                 .name = "caps",
 796                 .handler = &jlink_handle_jlink_caps_command,
 797                 .mode = COMMAND_EXEC,
 798                 .help = "show jlink capabilities",
 799         },
 800         {
 801                 .name = "info",
 802                 .handler = &jlink_handle_jlink_info_command,
 803                 .mode = COMMAND_EXEC,
 804                 .help = "show jlink info",
 805         },
 806         {
 807                 .name = "hw_jtag",
 808                 .handler = &jlink_handle_jlink_hw_jtag_command,
 809                 .mode = COMMAND_EXEC,
 810                 .help = "access J-Link HW JTAG command version",
 811                 .usage = "[2|3]",
 812         },
 813         {
 814                 .name = "pid",
 815                 .handler = &jlink_pid_command,
 816                 .mode = COMMAND_CONFIG,
 817                 .help = "set the pid of the interface we want to use",
 818         },
 819         COMMAND_REGISTRATION_DONE
 820 };
 821
 822 static const struct command_registration jlink_command_handlers[] = {
 823         {
 824                 .name = "jlink",
 825                 .mode = COMMAND_ANY,
 826                 .help = "perform jlink management",
 827                 .chain = jlink_subcommand_handlers,
 828         },
 829         COMMAND_REGISTRATION_DONE
 830 };
 831
 832 struct jtag_interface jlink_interface = {
 833         .name = "jlink",
 834         .commands = jlink_command_handlers,
 835
 836         .execute_queue = jlink_execute_queue,
 837         .speed = jlink_speed,
 838         .speed_div = jlink_speed_div,
 839         .khz = jlink_khz,
 840         .init = jlink_init,
 841         .quit = jlink_quit,
 842 };
 843
 844 /***************************************************************************/
 845 /* J-Link tap functions */
 846
 847
 848 static unsigned tap_length = 0;
 849 static uint8_t tms_buffer[JLINK_TAP_BUFFER_SIZE];
 850 static uint8_t tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 851 static uint8_t tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 852
 853 struct pending_scan_result {
 854         int first;      /* First bit position in tdo_buffer to read */
 855         int length; /* Number of bits to read */
 856         struct scan_command *command; /* Corresponding scan command */
 857         uint8_t *buffer;
 858 };
 859
 860 #define MAX_PENDING_SCAN_RESULTS 256
 861
 862 static int pending_scan_results_length;
 863 static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 864
 865 static void jlink_tap_init(void)
 866 {
 867         tap_length = 0;
 868         pending_scan_results_length = 0;
 869 }
 870
 871 static void jlink_tap_ensure_space(int scans, int bits)
 872 {
 873         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 874         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length - 32;
 875
 876         if (scans > available_scans || bits > available_bits)
 877         {
 878                 jlink_tap_execute();
 879         }
 880 }
 881
 882 static void jlink_tap_append_step(int tms, int tdi)
 883 {
 884         int index_var = tap_length / 8;
 885
 886         if (index_var >= JLINK_TAP_BUFFER_SIZE)
 887         {
 888                 LOG_ERROR("jlink_tap_append_step: overflow");
 889                 *(uint32_t *)0xFFFFFFFF = 0;
 890                 exit(-1);
 891         }
 892
 893         int bit_index = tap_length % 8;
 894         uint8_t bit = 1 << bit_index;
 895
 896         // we do not pad TMS, so be sure to initialize all bits
 897         if (0 == bit_index)
 898         {
 899                 tms_buffer[index_var] = tdi_buffer[index_var] = 0;
 900         }
 901
 902         if (tms)
 903                 tms_buffer[index_var] |= bit;
 904         else
 905                 tms_buffer[index_var] &= ~bit;
 906
 907         if (tdi)
 908                 tdi_buffer[index_var] |= bit;
 909         else
 910                 tdi_buffer[index_var] &= ~bit;
 911
 912         tap_length++;
 913 }
 914
 915 static void jlink_tap_append_scan(int length, uint8_t *buffer,
 916                 struct scan_command *command)
 917 {
 918         struct pending_scan_result *pending_scan_result =
 919                 &pending_scan_results_buffer[pending_scan_results_length];
 920         int i;
 921
 922         pending_scan_result->first = tap_length;
 923         pending_scan_result->length = length;
 924         pending_scan_result->command = command;
 925         pending_scan_result->buffer = buffer;
 926
 927         for (i = 0; i < length; i++)
 928         {
 929                 int tms = (i < (length - 1)) ? 0 : 1;
 930                 int tdi = (buffer[i / 8] & (1 << (i % 8))) != 0;
 931                 jlink_tap_append_step(tms, tdi);
 932         }
 933         pending_scan_results_length++;
 934 }
 935
 936 /* Pad and send a tap sequence to the device, and receive the answer.
 937  * For the purpose of padding we assume that we are in idle or pause state. */
 938 static int jlink_tap_execute(void)
 939 {
 940         int byte_length;
 941         int i;
 942         int result;
 943
 944         if (!tap_length)
 945                 return ERROR_OK;
 946
 947         /* JLink returns an extra NULL in packet when size of incoming
 948          * message is a multiple of 64, creates problems with USB comms.
 949          * WARNING: This will interfere with tap state counting. */
 950         while ((DIV_ROUND_UP(tap_length, 8) % 64) == 0)
 951         {
 952                 jlink_tap_append_step((tap_get_state() == TAP_RESET) ? 1 : 0, 0);
 953         }
 954
 955         // number of full bytes (plus one if some would be left over)
 956         byte_length = DIV_ROUND_UP(tap_length, 8);
 957
 958         bool use_jtag3 = jlink_hw_jtag_version >= 3;
 959         usb_out_buffer[0] = use_jtag3 ? EMU_CMD_HW_JTAG3 : EMU_CMD_HW_JTAG2;
 960         usb_out_buffer[1] = 0;
 961         usb_out_buffer[2] = (tap_length >> 0) & 0xff;
 962         usb_out_buffer[3] = (tap_length >> 8) & 0xff;
 963         memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
 964         memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);
 965
 966         jlink_last_state = jtag_debug_state_machine(tms_buffer, tdi_buffer,
 967                         tap_length, jlink_last_state);
 968
 969         result = jlink_usb_message(jlink_handle, 4 + 2 * byte_length, byte_length);
 970         if (result != byte_length)
 971         {
 972                 LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)",
 973                                 result, byte_length);
 974                 jlink_tap_init();
 975                 return ERROR_JTAG_QUEUE_FAILED;
 976         }
 977
 978         memcpy(tdo_buffer, usb_in_buffer, byte_length);
 979
 980         for (i = 0; i < pending_scan_results_length; i++)
 981         {
 982                 struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
 983                 uint8_t *buffer = pending_scan_result->buffer;
 984                 int length = pending_scan_result->length;
 985                 int first = pending_scan_result->first;
 986                 struct scan_command *command = pending_scan_result->command;
 987
 988                 /* Copy to buffer */
 989                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 990
 991                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 992
 993 #ifdef _DEBUG_USB_COMMS_
 994                 jlink_debug_buffer(buffer, DIV_ROUND_UP(length, 8));
 995 #endif
 996
 997                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 998                 {
 999                         jlink_tap_init();
1000                         return ERROR_JTAG_QUEUE_FAILED;
1001                 }
1002
1003                 if (pending_scan_result->buffer != NULL)
1004                 {
1005                         free(pending_scan_result->buffer);
1006                 }
1007         }
1008
1009         jlink_tap_init();
1010         return ERROR_OK;
1011 }
1012
1013 /*****************************************************************************/
1014 /* JLink USB low-level functions */
1015
1016 static struct jlink* jlink_usb_open()
1017 {
1018         usb_init();
1019
1020         struct usb_dev_handle *dev;
1021         if (jtag_usb_open(vids, pids, &dev) != ERROR_OK)
1022                 return NULL;
1023
1024         /* BE ***VERY CAREFUL*** ABOUT MAKING CHANGES IN THIS
1025          * AREA!!!!!!!!!!!  The behavior of libusb is not completely
1026          * consistent across Windows, Linux, and Mac OS X platforms.
1027          * The actions taken in the following compiler conditionals may
1028          * not agree with published documentation for libusb, but were
1029          * found to be necessary through trials and tribulations.  Even
1030          * little tweaks can break one or more platforms, so if you do
1031          * make changes test them carefully on all platforms before
1032          * committing them!
1033          */
1034
1035 #if IS_WIN32 == 0
1036
1037         usb_reset(dev);
1038
1039 #if IS_DARWIN == 0
1040
1041         int timeout = 5;
1042         /* reopen jlink after usb_reset
1043          * on win32 this may take a second or two to re-enumerate */
1044         int retval;
1045         while ((retval = jtag_usb_open(vids, pids, &dev)) != ERROR_OK)
1046         {
1047                 usleep(1000);
1048                 timeout--;
1049                 if (!timeout) {
1050                         break;
1051                 }
1052         }
1053         if (ERROR_OK != retval)
1054                 return NULL;
1055 #endif
1056
1057 #endif
1058
1059         /* usb_set_configuration required under win32 */
1060         struct usb_device *udev = usb_device(dev);
1061         usb_set_configuration(dev, udev->config[0].bConfigurationValue);
1062         usb_claim_interface(dev, 0);
1063
1064 #if 0
1065         /*
1066          * This makes problems under Mac OS X. And is not needed
1067          * under Windows. Hopefully this will not break a linux build
1068          */
1069         usb_set_altinterface(result->usb_handle, 0);
1070 #endif
1071         struct usb_interface *iface = udev->config->interface;
1072         struct usb_interface_descriptor *desc = iface->altsetting;
1073         for (int i = 0; i < desc->bNumEndpoints; i++)
1074         {
1075                 uint8_t epnum = desc->endpoint[i].bEndpointAddress;
1076                 bool is_input = epnum & 0x80;
1077                 LOG_DEBUG("usb ep %s %02x", is_input ? "in" : "out", epnum);
1078                 if (is_input)
1079                         jlink_read_ep = epnum;
1080                 else
1081                         jlink_write_ep = epnum;
1082         }
1083
1084         struct jlink *result = malloc(sizeof(struct jlink));
1085         result->usb_handle = dev;
1086         return result;
1087 }
1088
1089 static void jlink_usb_close(struct jlink *jlink)
1090 {
1091         usb_close(jlink->usb_handle);
1092         free(jlink);
1093 }
1094
1095 /* Send a message and receive the reply. */
1096 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length)
1097 {
1098         int result;
1099
1100         result = jlink_usb_write(jlink, out_length);
1101         if (result != out_length)
1102         {
1103                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
1104                                 out_length, result);
1105                 return ERROR_JTAG_DEVICE_ERROR;
1106         }
1107
1108         result = jlink_usb_read(jlink, in_length);
1109         if ((result != in_length) && (result != (in_length + 1)))
1110         {
1111                 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
1112                                 in_length, result);
1113                 return ERROR_JTAG_DEVICE_ERROR;
1114         }
1115
1116         if (jlink_hw_jtag_version < 3)
1117                 return result;
1118
1119         int result2 = ERROR_OK;
1120         if (result == in_length)
1121         {
1122                 /* Must read the result from the EMU too */
1123                 result2 = jlink_usb_read_emu_result(jlink);
1124                 if (1 != result2)
1125                 {
1126                         LOG_ERROR("jlink_usb_read_emu_result retried requested = 1, "
1127                                         "result=%d, in_length=%i", result2, in_length);
1128                         /* Try again once, should only happen if (in_length%64 == 0) */
1129                         result2 = jlink_usb_read_emu_result(jlink);
1130                         if (1 != result2)
1131                         {
1132                                 LOG_ERROR("jlink_usb_read_emu_result failed "
1133                                         "(requested = 1, result=%d)", result2);
1134                                 return ERROR_JTAG_DEVICE_ERROR;
1135                         }
1136                 }
1137
1138                 /* Check the result itself */
1139                 result2 = usb_emu_result_buffer[0];
1140         }
1141         else
1142         {
1143                 /* Save the result, then remove it from return value */
1144                 result2 = usb_in_buffer[result--];
1145         }
1146
1147         if (result2)
1148         {
1149                 LOG_ERROR("jlink_usb_message failed with result=%d)", result2);
1150                 return ERROR_JTAG_DEVICE_ERROR;
1151         }
1152
1153         return result;
1154 }
1155
1156 /* calls the given usb_bulk_* function, allowing for the data to
1157  * trickle in with some timeouts  */
1158 static int usb_bulk_with_retries(
1159                 int (*f)(usb_dev_handle *, int, char *, int, int),
1160                 usb_dev_handle *dev, int ep,
1161                 char *bytes, int size, int timeout)
1162 {
1163         int tries = 3, count = 0;
1164
1165         while (tries && (count < size))
1166         {
1167                 int result = f(dev, ep, bytes + count, size - count, timeout);
1168                 if (result > 0)
1169                         count += result;
1170                 else if ((-ETIMEDOUT != result) || !--tries)
1171                         return result;
1172         }
1173         return count;
1174 }
1175
1176 static int wrap_usb_bulk_write(usb_dev_handle *dev, int ep,
1177                                char *buff, int size, int timeout)
1178 {
1179         /* usb_bulk_write() takes const char *buff */
1180         return usb_bulk_write(dev, ep, buff, size, timeout);
1181 }
1182
1183 static inline int usb_bulk_write_ex(usb_dev_handle *dev, int ep,
1184                 char *bytes, int size, int timeout)
1185 {
1186         return usb_bulk_with_retries(&wrap_usb_bulk_write,
1187                         dev, ep, bytes, size, timeout);
1188 }
1189
1190 static inline int usb_bulk_read_ex(usb_dev_handle *dev, int ep,
1191                 char *bytes, int size, int timeout)
1192 {
1193         return usb_bulk_with_retries(&usb_bulk_read,
1194                         dev, ep, bytes, size, timeout);
1195 }
1196
1197 /* Write data from out_buffer to USB. */
1198 static int jlink_usb_write(struct jlink *jlink, int out_length)
1199 {
1200         int result;
1201
1202         if (out_length > JLINK_OUT_BUFFER_SIZE)
1203         {
1204                 LOG_ERROR("jlink_write illegal out_length=%d (max=%d)",
1205                                 out_length, JLINK_OUT_BUFFER_SIZE);
1206                 return -1;
1207         }
1208
1209         result = usb_bulk_write_ex(jlink->usb_handle, jlink_write_ep,
1210                 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
1211
1212         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d",
1213                         out_length, result);
1214
1215 #ifdef _DEBUG_USB_COMMS_
1216         jlink_debug_buffer(usb_out_buffer, out_length);
1217 #endif
1218         return result;
1219 }
1220
1221 /* Read data from USB into in_buffer. */
1222 static int jlink_usb_read(struct jlink *jlink, int expected_size)
1223 {
1224         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1225                 (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);
1226
1227         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
1228
1229 #ifdef _DEBUG_USB_COMMS_
1230         jlink_debug_buffer(usb_in_buffer, result);
1231 #endif
1232         return result;
1233 }
1234
1235 /* Read the result from the previous EMU cmd into result_buffer. */
1236 static int jlink_usb_read_emu_result(struct jlink *jlink)
1237 {
1238         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1239                 (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */,
1240                 JLINK_USB_TIMEOUT);
1241
1242         DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
1243
1244 #ifdef _DEBUG_USB_COMMS_
1245         jlink_debug_buffer(usb_emu_result_buffer, result);
1246 #endif
1247         return result;
1248 }
1249
1250 #ifdef _DEBUG_USB_COMMS_
1251 #define BYTES_PER_LINE  16
1252
1253 static void jlink_debug_buffer(uint8_t *buffer, int length)
1254 {
1255         char line[81];
1256         char s[4];
1257         int i;
1258         int j;
1259
1260         for (i = 0; i < length; i += BYTES_PER_LINE)
1261         {
1262                 snprintf(line, 5, "%04x", i);
1263                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
1264                 {
1265                         snprintf(s, 4, " %02x", buffer[j]);
1266                         strcat(line, s);
1267                 }
1268                 LOG_DEBUG("%s", line);
1269         }
1270 }
1271 #endif