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 #define VID 0x1366
  41 #define PID 0x0101
  42
  43 #define JLINK_WRITE_ENDPOINT    0x02
  44 #define JLINK_READ_ENDPOINT             0x81
  45
  46 static unsigned int jlink_write_ep = JLINK_WRITE_ENDPOINT;
  47 static unsigned int jlink_read_ep = JLINK_READ_ENDPOINT;
  48 static unsigned int jlink_hw_jtag_version = 2;
  49
  50 #define JLINK_USB_TIMEOUT               1000
  51
  52 // See Section 1.3.2 of the Segger JLink USB protocol manual
  53 /* 2048 is the max value we can use here */
  54 //#define JLINK_TAP_BUFFER_SIZE 2048
  55 #define JLINK_TAP_BUFFER_SIZE 256
  56 //#define JLINK_TAP_BUFFER_SIZE 384
  57
  58 #define JLINK_IN_BUFFER_SIZE                    2048
  59 #define JLINK_OUT_BUFFER_SIZE                   2*2048 + 4
  60 #define JLINK_EMU_RESULT_BUFFER_SIZE    64
  61
  62 /* Global USB buffers */
  63 static uint8_t usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  64 static uint8_t usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  65 static uint8_t usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
  66
  67 /* Constants for JLink command */
  68 #define EMU_CMD_VERSION                 0x01
  69 #define EMU_CMD_SET_SPEED               0x05
  70 #define EMU_CMD_GET_STATE               0x07
  71 #define EMU_CMD_HW_CLOCK                0xc8
  72 #define EMU_CMD_HW_TMS0                 0xc9
  73 #define EMU_CMD_HW_TMS1                 0xca
  74 #define EMU_CMD_HW_JTAG2                0xce
  75 #define EMU_CMD_HW_JTAG3                0xcf
  76 #define EMU_CMD_GET_MAX_MEM_BLOCK       0xd4
  77 #define EMU_CMD_HW_RESET0               0xdc
  78 #define EMU_CMD_HW_RESET1               0xdd
  79 #define EMU_CMD_HW_TRST0                0xde
  80 #define EMU_CMD_HW_TRST1                0xdf
  81 #define EMU_CMD_GET_CAPS                0xe8
  82 #define EMU_CMD_GET_HW_VERSION  0xf0
  83
  84 /* bits return from EMU_CMD_GET_CAPS */
  85 #define EMU_CAP_GET_HW_VERSION          1
  86 #define EMU_CAP_GET_MAX_BLOCK_SIZE      11
  87
  88 /* max speed 12MHz v5.0 jlink */
  89 #define JLINK_MAX_SPEED 12000
  90
  91 /* Queue command functions */
  92 static void jlink_end_state(tap_state_t state);
  93 static void jlink_state_move(void);
  94 static void jlink_path_move(int num_states, tap_state_t *path);
  95 static void jlink_runtest(int num_cycles);
  96 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
  97                 int scan_size, struct scan_command *command);
  98 static void jlink_reset(int trst, int srst);
  99 static void jlink_simple_command(uint8_t command);
 100 static int jlink_get_status(void);
 101
 102 /* J-Link tap buffer functions */
 103 static void jlink_tap_init(void);
 104 static int jlink_tap_execute(void);
 105 static void jlink_tap_ensure_space(int scans, int bits);
 106 static void jlink_tap_append_step(int tms, int tdi);
 107 static void jlink_tap_append_scan(int length, uint8_t *buffer,
 108                 struct scan_command *command);
 109
 110 /* Jlink lowlevel functions */
 111 struct jlink {
 112         struct usb_dev_handle* usb_handle;
 113 };
 114
 115 static struct jlink *jlink_usb_open(void);
 116 static void jlink_usb_close(struct jlink *jlink);
 117 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length);
 118 static int jlink_usb_write(struct jlink *jlink, int out_length);
 119 static int jlink_usb_read(struct jlink *jlink, int expected_size);
 120 static int jlink_usb_read_emu_result(struct jlink *jlink);
 121
 122 /* helper functions */
 123 static int jlink_get_version_info(void);
 124
 125 #ifdef _DEBUG_USB_COMMS_
 126 static void jlink_debug_buffer(uint8_t *buffer, int length);
 127 #endif
 128
 129 static enum tap_state jlink_last_state = TAP_RESET;
 130
 131 static struct jlink* jlink_handle;
 132
 133 /***************************************************************************/
 134 /* External interface implementation */
 135
 136 static void jlink_execute_runtest(struct jtag_command *cmd)
 137 {
 138         DEBUG_JTAG_IO("runtest %i cycles, end in %i",
 139                         cmd->cmd.runtest->num_cycles,
 140                         cmd->cmd.runtest->end_state);
 141
 142         jlink_end_state(cmd->cmd.runtest->end_state);
 143
 144         jlink_runtest(cmd->cmd.runtest->num_cycles);
 145 }
 146
 147 static void jlink_execute_statemove(struct jtag_command *cmd)
 148 {
 149         DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 150
 151         jlink_end_state(cmd->cmd.statemove->end_state);
 152         jlink_state_move();
 153 }
 154
 155 static void jlink_execute_pathmove(struct jtag_command *cmd)
 156 {
 157         DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 158                 cmd->cmd.pathmove->num_states,
 159                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 160
 161         jlink_path_move(cmd->cmd.pathmove->num_states,
 162                         cmd->cmd.pathmove->path);
 163 }
 164
 165 static void jlink_execute_scan(struct jtag_command *cmd)
 166 {
 167         int scan_size;
 168         enum scan_type type;
 169         uint8_t *buffer;
 170
 171         DEBUG_JTAG_IO("scan end in %s", tap_state_name(cmd->cmd.scan->end_state));
 172
 173         jlink_end_state(cmd->cmd.scan->end_state);
 174
 175         scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 176         DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 177
 178 #ifdef _DEBUG_USB_COMMS_
 179         jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 180 #endif
 181         type = jtag_scan_type(cmd->cmd.scan);
 182         jlink_scan(cmd->cmd.scan->ir_scan,
 183                         type, buffer, scan_size, cmd->cmd.scan);
 184 }
 185
 186 static void jlink_execute_reset(struct jtag_command *cmd)
 187 {
 188         DEBUG_JTAG_IO("reset trst: %i srst %i",
 189                         cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 190
 191         jlink_tap_execute();
 192         jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 193         jlink_tap_execute();
 194 }
 195
 196 static void jlink_execute_sleep(struct jtag_command *cmd)
 197 {
 198         DEBUG_JTAG_IO("sleep %" PRIi32 "", cmd->cmd.sleep->us);
 199         jlink_tap_execute();
 200         jtag_sleep(cmd->cmd.sleep->us);
 201 }
 202
 203 static void jlink_execute_command(struct jtag_command *cmd)
 204 {
 205         switch (cmd->type)
 206         {
 207         case JTAG_RUNTEST:   jlink_execute_runtest(cmd); break;
 208         case JTAG_TLR_RESET: jlink_execute_statemove(cmd); break;
 209         case JTAG_PATHMOVE:  jlink_execute_pathmove(cmd); break;
 210         case JTAG_SCAN:      jlink_execute_scan(cmd); break;
 211         case JTAG_RESET:     jlink_execute_reset(cmd); break;
 212         case JTAG_SLEEP:     jlink_execute_sleep(cmd); break;
 213         default:
 214                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 215                 exit(-1);
 216         }
 217 }
 218
 219 static int jlink_execute_queue(void)
 220 {
 221         struct jtag_command *cmd = jtag_command_queue;
 222
 223         while (cmd != NULL)
 224         {
 225                 jlink_execute_command(cmd);
 226                 cmd = cmd->next;
 227         }
 228
 229         return jlink_tap_execute();
 230 }
 231
 232 /* Sets speed in kHz. */
 233 static int jlink_speed(int speed)
 234 {
 235         int result;
 236
 237         if (speed > JLINK_MAX_SPEED)
 238         {
 239                 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum",
 240                                 speed, JLINK_MAX_SPEED);
 241                 speed = JLINK_MAX_SPEED;
 242         }
 243
 244         /* check for RTCK setting */
 245         if (speed == 0)
 246                 speed = -1;
 247
 248         usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 249         usb_out_buffer[1] = (speed >> 0) & 0xff;
 250         usb_out_buffer[2] = (speed >> 8) & 0xff;
 251
 252         result = jlink_usb_write(jlink_handle, 3);
 253         if (result != 3)
 254         {
 255                 LOG_ERROR("J-Link setting speed failed (%d)", result);
 256                 return ERROR_JTAG_DEVICE_ERROR;
 257         }
 258
 259         return ERROR_OK;
 260 }
 261
 262 static int jlink_speed_div(int speed, int* khz)
 263 {
 264         *khz = speed;
 265
 266         return ERROR_OK;
 267 }
 268
 269 static int jlink_khz(int khz, int *jtag_speed)
 270 {
 271         *jtag_speed = khz;
 272
 273         return ERROR_OK;
 274 }
 275
 276 static int jlink_init(void)
 277 {
 278         int i;
 279
 280         jlink_handle = jlink_usb_open();
 281
 282         if (jlink_handle == 0)
 283         {
 284                 LOG_ERROR("Cannot find jlink Interface! Please check "
 285                                 "connection and permissions.");
 286                 return ERROR_JTAG_INIT_FAILED;
 287         }
 288
 289         /*
 290          * The next three instructions were added after discovering a problem
 291          * while using an oscilloscope.
 292          * For the V8 SAM-ICE dongle (and likely other j-link device variants),
 293          * the reset line to the target microprocessor was found to cycle only
 294          * intermittently during emulator startup (even after encountering the
 295          * downstream reset instruction later in the code).
 296          * This was found to create two issues:
 297          * 1) In general it is a bad practice to not reset a CPU to a known
 298          * state when starting an emulator and
 299          * 2) something critical happens inside the dongle when it does the
 300          * first read following a new USB session.
 301          * Keeping the processor in reset during the first read collecting
 302          * version information seems to prevent errant
 303          * "J-Link command EMU_CMD_VERSION failed" issues.
 304          */
 305
 306         LOG_INFO("J-Link initialization started / target CPU reset initiated");
 307         jlink_simple_command(EMU_CMD_HW_TRST0);
 308         jlink_simple_command(EMU_CMD_HW_RESET0);
 309         usleep(1000);
 310
 311         jlink_hw_jtag_version = 2;
 312
 313         if (jlink_get_version_info() == ERROR_OK)
 314         {
 315                 /* attempt to get status */
 316                 jlink_get_status();
 317         }
 318
 319         LOG_INFO("J-Link JTAG Interface ready");
 320
 321         jlink_reset(0, 0);
 322         jtag_sleep(3000);
 323         jlink_tap_init();
 324         int jtag_speed_var;
 325         int retval = jtag_get_speed(&jtag_speed_var);
 326         if (retval != ERROR_OK)
 327                 return retval;
 328         jlink_speed(jtag_speed_var);
 329
 330         /* v5/6 jlink seems to have an issue if the first tap move
 331          * is not divisible by 8, so we send a TLR on first power up */
 332         for (i = 0; i < 8; i++) {
 333                 jlink_tap_append_step(1, 0);
 334         }
 335         jlink_tap_execute();
 336
 337         return ERROR_OK;
 338 }
 339
 340 static int jlink_quit(void)
 341 {
 342         jlink_usb_close(jlink_handle);
 343         return ERROR_OK;
 344 }
 345
 346 /***************************************************************************/
 347 /* Queue command implementations */
 348
 349 static void jlink_end_state(tap_state_t state)
 350 {
 351         if (tap_is_state_stable(state))
 352         {
 353                 tap_set_end_state(state);
 354         }
 355         else
 356         {
 357                 LOG_ERROR("BUG: %i is not a valid end state", state);
 358                 exit(-1);
 359         }
 360 }
 361
 362 /* Goes to the end state. */
 363 static void jlink_state_move(void)
 364 {
 365         int i;
 366         int tms = 0;
 367         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 368         uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 369
 370         for (i = 0; i < tms_scan_bits; i++)
 371         {
 372                 tms = (tms_scan >> i) & 1;
 373                 jlink_tap_append_step(tms, 0);
 374         }
 375
 376         tap_set_state(tap_get_end_state());
 377 }
 378
 379 static void jlink_path_move(int num_states, tap_state_t *path)
 380 {
 381         int i;
 382
 383         for (i = 0; i < num_states; i++)
 384         {
 385                 if (path[i] == tap_state_transition(tap_get_state(), false))
 386                 {
 387                         jlink_tap_append_step(0, 0);
 388                 }
 389                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 390                 {
 391                         jlink_tap_append_step(1, 0);
 392                 }
 393                 else
 394                 {
 395                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
 396                                         tap_state_name(tap_get_state()), tap_state_name(path[i]));
 397                         exit(-1);
 398                 }
 399
 400                 tap_set_state(path[i]);
 401         }
 402
 403         tap_set_end_state(tap_get_state());
 404 }
 405
 406 static void jlink_runtest(int num_cycles)
 407 {
 408         int i;
 409
 410         tap_state_t saved_end_state = tap_get_end_state();
 411
 412         jlink_tap_ensure_space(1,num_cycles + 16);
 413
 414         /* only do a state_move when we're not already in IDLE */
 415         if (tap_get_state() != TAP_IDLE)
 416         {
 417                 jlink_end_state(TAP_IDLE);
 418                 jlink_state_move();
 419 //              num_cycles--;
 420         }
 421
 422         /* execute num_cycles */
 423         for (i = 0; i < num_cycles; i++)
 424         {
 425                 jlink_tap_append_step(0, 0);
 426         }
 427
 428         /* finish in end_state */
 429         jlink_end_state(saved_end_state);
 430         if (tap_get_state() != tap_get_end_state())
 431         {
 432                 jlink_state_move();
 433         }
 434 }
 435
 436 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
 437                 int scan_size, struct scan_command *command)
 438 {
 439         tap_state_t saved_end_state;
 440
 441         jlink_tap_ensure_space(1, scan_size + 16);
 442
 443         saved_end_state = tap_get_end_state();
 444
 445         /* Move to appropriate scan state */
 446         jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 447
 448         /* Only move if we're not already there */
 449         if (tap_get_state() != tap_get_end_state())
 450                 jlink_state_move();
 451
 452         jlink_end_state(saved_end_state);
 453
 454         /* Scan */
 455         jlink_tap_append_scan(scan_size, buffer, command);
 456
 457         /* We are in Exit1, go to Pause */
 458         jlink_tap_append_step(0, 0);
 459
 460         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 461
 462         if (tap_get_state() != tap_get_end_state())
 463         {
 464                 jlink_state_move();
 465         }
 466 }
 467
 468 static void jlink_reset(int trst, int srst)
 469 {
 470         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 471
 472         /* Signals are active low */
 473         if (srst == 0)
 474         {
 475                 jlink_simple_command(EMU_CMD_HW_RESET1);
 476         }
 477         if (srst == 1)
 478         {
 479                 jlink_simple_command(EMU_CMD_HW_RESET0);
 480         }
 481
 482         if (trst == 1)
 483         {
 484                 jlink_simple_command(EMU_CMD_HW_TRST0);
 485         }
 486
 487         if (trst == 0)
 488         {
 489                 jlink_simple_command(EMU_CMD_HW_TRST1);
 490         }
 491 }
 492
 493 static void jlink_simple_command(uint8_t command)
 494 {
 495         int result;
 496
 497         DEBUG_JTAG_IO("0x%02x", command);
 498
 499         usb_out_buffer[0] = command;
 500         result = jlink_usb_write(jlink_handle, 1);
 501
 502         if (result != 1)
 503         {
 504                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 505         }
 506 }
 507
 508 static int jlink_get_status(void)
 509 {
 510         int result;
 511
 512         jlink_simple_command(EMU_CMD_GET_STATE);
 513
 514         result = jlink_usb_read(jlink_handle, 8);
 515         if (result != 8)
 516         {
 517                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)", result);
 518                 return ERROR_JTAG_DEVICE_ERROR;
 519         }
 520
 521         int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 522         LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d", \
 523                 vref / 1000, vref % 1000, \
 524                 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 525                 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 526
 527         if (vref < 1500)
 528                 LOG_ERROR("Vref too low. Check Target Power");
 529
 530         return ERROR_OK;
 531 }
 532
 533 static int jlink_get_version_info(void)
 534 {
 535         int result;
 536         int len;
 537         uint32_t jlink_caps, jlink_max_size;
 538
 539         /* query hardware version */
 540         jlink_simple_command(EMU_CMD_VERSION);
 541
 542         result = jlink_usb_read(jlink_handle, 2);
 543         if (2 != result)
 544         {
 545                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
 546                 return ERROR_JTAG_DEVICE_ERROR;
 547         }
 548
 549         len = buf_get_u32(usb_in_buffer, 0, 16);
 550         if (len > JLINK_IN_BUFFER_SIZE)
 551         {
 552                 LOG_ERROR("J-Link command EMU_CMD_VERSION impossible return length 0x%0x", len);
 553                 len = JLINK_IN_BUFFER_SIZE;
 554         }
 555
 556         result = jlink_usb_read(jlink_handle, len);
 557         if (result != len)
 558         {
 559                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
 560                 return ERROR_JTAG_DEVICE_ERROR;
 561         }
 562
 563         usb_in_buffer[result] = 0;
 564         LOG_INFO("%s", (char *)usb_in_buffer);
 565
 566         /* query hardware capabilities */
 567         jlink_simple_command(EMU_CMD_GET_CAPS);
 568
 569         result = jlink_usb_read(jlink_handle, 4);
 570         if (4 != result)
 571         {
 572                 LOG_ERROR("J-Link command EMU_CMD_GET_CAPS failed (%d)", result);
 573                 return ERROR_JTAG_DEVICE_ERROR;
 574         }
 575
 576         jlink_caps = buf_get_u32(usb_in_buffer, 0, 32);
 577         LOG_INFO("JLink caps 0x%x", (unsigned)jlink_caps);
 578
 579         if (jlink_caps & (1 << EMU_CAP_GET_HW_VERSION))
 580         {
 581                 /* query hardware version */
 582                 jlink_simple_command(EMU_CMD_GET_HW_VERSION);
 583
 584                 result = jlink_usb_read(jlink_handle, 4);
 585                 if (4 != result)
 586                 {
 587                         LOG_ERROR("J-Link command EMU_CMD_GET_HW_VERSION failed (%d)", result);
 588                         return ERROR_JTAG_DEVICE_ERROR;
 589                 }
 590
 591                 uint32_t jlink_hw_version = buf_get_u32(usb_in_buffer, 0, 32);
 592                 uint32_t major_revision = (jlink_hw_version / 10000) % 100;
 593                 if (major_revision >= 5)
 594                         jlink_hw_jtag_version = 3;
 595
 596                 LOG_INFO("JLink hw version %i", (int)jlink_hw_version);
 597         }
 598
 599         if (jlink_caps & (1 << EMU_CAP_GET_MAX_BLOCK_SIZE))
 600         {
 601                 /* query hardware maximum memory block */
 602                 jlink_simple_command(EMU_CMD_GET_MAX_MEM_BLOCK);
 603
 604                 result = jlink_usb_read(jlink_handle, 4);
 605                 if (4 != result)
 606                 {
 607                         LOG_ERROR("J-Link command EMU_CMD_GET_MAX_MEM_BLOCK failed (%d)", result);
 608                         return ERROR_JTAG_DEVICE_ERROR;
 609                 }
 610
 611                 jlink_max_size = buf_get_u32(usb_in_buffer, 0, 32);
 612                 LOG_INFO("JLink max mem block %i", (int)jlink_max_size);
 613         }
 614
 615         return ERROR_OK;
 616 }
 617
 618 COMMAND_HANDLER(jlink_handle_jlink_info_command)
 619 {
 620         if (jlink_get_version_info() == ERROR_OK)
 621         {
 622                 /* attempt to get status */
 623                 jlink_get_status();
 624         }
 625
 626         return ERROR_OK;
 627 }
 628
 629 COMMAND_HANDLER(jlink_handle_jlink_hw_jtag_command)
 630 {
 631         switch (CMD_ARGC) {
 632         case 0:
 633                 command_print(CMD_CTX, "jlink hw jtag  %i", jlink_hw_jtag_version);
 634                 break;
 635         case 1: {
 636                 int request_version = atoi(CMD_ARGV[0]);
 637                 switch (request_version) {
 638                 case 2: case 3:
 639                         jlink_hw_jtag_version = request_version;
 640                         break;
 641                 default:
 642                         return ERROR_COMMAND_SYNTAX_ERROR;
 643                 }
 644                 break;
 645         }
 646         default:
 647                 return ERROR_COMMAND_SYNTAX_ERROR;
 648         }
 649
 650         return ERROR_OK;
 651 }
 652
 653 static const struct command_registration jlink_command_handlers[] = {
 654         {
 655                 .name = "jlink_info",
 656                 .handler = &jlink_handle_jlink_info_command,
 657                 .mode = COMMAND_EXEC,
 658                 .help = "show jlink info",
 659         },
 660         {
 661                 .name = "jlink_hw_jtag",
 662                 .handler = &jlink_handle_jlink_hw_jtag_command,
 663                 .mode = COMMAND_EXEC,
 664                 .help = "access J-Link HW JTAG command version",
 665                 .usage = "[2|3]",
 666         },
 667         COMMAND_REGISTRATION_DONE
 668 };
 669
 670 struct jtag_interface jlink_interface = {
 671         .name = "jlink",
 672         .commands = jlink_command_handlers,
 673
 674         .execute_queue = jlink_execute_queue,
 675         .speed = jlink_speed,
 676         .speed_div = jlink_speed_div,
 677         .khz = jlink_khz,
 678         .init = jlink_init,
 679         .quit = jlink_quit,
 680 };
 681
 682 /***************************************************************************/
 683 /* J-Link tap functions */
 684
 685
 686 static unsigned tap_length = 0;
 687 static uint8_t tms_buffer[JLINK_TAP_BUFFER_SIZE];
 688 static uint8_t tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 689 static uint8_t tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 690
 691 struct pending_scan_result {
 692         int first;      /* First bit position in tdo_buffer to read */
 693         int length; /* Number of bits to read */
 694         struct scan_command *command; /* Corresponding scan command */
 695         uint8_t *buffer;
 696 };
 697
 698 #define MAX_PENDING_SCAN_RESULTS 256
 699
 700 static int pending_scan_results_length;
 701 static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 702
 703 static void jlink_tap_init(void)
 704 {
 705         tap_length = 0;
 706         pending_scan_results_length = 0;
 707 }
 708
 709 static void jlink_tap_ensure_space(int scans, int bits)
 710 {
 711         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 712         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length - 32;
 713
 714         if (scans > available_scans || bits > available_bits)
 715         {
 716                 jlink_tap_execute();
 717         }
 718 }
 719
 720 static void jlink_tap_append_step(int tms, int tdi)
 721 {
 722         int index_var = tap_length / 8;
 723
 724         if (index_var >= JLINK_TAP_BUFFER_SIZE)
 725         {
 726                 LOG_ERROR("jlink_tap_append_step: overflow");
 727                 *(uint32_t *)0xFFFFFFFF = 0;
 728                 exit(-1);
 729         }
 730
 731         int bit_index = tap_length % 8;
 732         uint8_t bit = 1 << bit_index;
 733
 734         // we do not pad TMS, so be sure to initialize all bits
 735         if (0 == bit_index)
 736         {
 737                 tms_buffer[index_var] = tdi_buffer[index_var] = 0;
 738         }
 739
 740         if (tms)
 741                 tms_buffer[index_var] |= bit;
 742         else
 743                 tms_buffer[index_var] &= ~bit;
 744
 745         if (tdi)
 746                 tdi_buffer[index_var] |= bit;
 747         else
 748                 tdi_buffer[index_var] &= ~bit;
 749
 750         tap_length++;
 751 }
 752
 753 static void jlink_tap_append_scan(int length, uint8_t *buffer,
 754                 struct scan_command *command)
 755 {
 756         struct pending_scan_result *pending_scan_result =
 757                 &pending_scan_results_buffer[pending_scan_results_length];
 758         int i;
 759
 760         pending_scan_result->first = tap_length;
 761         pending_scan_result->length = length;
 762         pending_scan_result->command = command;
 763         pending_scan_result->buffer = buffer;
 764
 765         for (i = 0; i < length; i++)
 766         {
 767                 int tms = (i < (length - 1)) ? 0 : 1;
 768                 int tdi = (buffer[i / 8] & (1 << (i % 8))) != 0;
 769                 jlink_tap_append_step(tms, tdi);
 770         }
 771         pending_scan_results_length++;
 772 }
 773
 774 /* Pad and send a tap sequence to the device, and receive the answer.
 775  * For the purpose of padding we assume that we are in idle or pause state. */
 776 static int jlink_tap_execute(void)
 777 {
 778         int byte_length;
 779         int i;
 780         int result;
 781
 782         if (!tap_length)
 783                 return ERROR_OK;
 784
 785         /* JLink returns an extra NULL in packet when size of incoming
 786          * message is a multiple of 64, creates problems with USB comms.
 787          * WARNING: This will interfere with tap state counting. */
 788         while ((DIV_ROUND_UP(tap_length, 8) % 64) == 0)
 789         {
 790                 jlink_tap_append_step((tap_get_state() == TAP_RESET) ? 1 : 0, 0);
 791         }
 792
 793         // number of full bytes (plus one if some would be left over)
 794         byte_length = DIV_ROUND_UP(tap_length, 8);
 795
 796         bool use_jtag3 = jlink_hw_jtag_version >= 3;
 797         usb_out_buffer[0] = use_jtag3 ? EMU_CMD_HW_JTAG3 : EMU_CMD_HW_JTAG2;
 798         usb_out_buffer[1] = 0;
 799         usb_out_buffer[2] = (tap_length >> 0) & 0xff;
 800         usb_out_buffer[3] = (tap_length >> 8) & 0xff;
 801         memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
 802         memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);
 803
 804         jlink_last_state = jtag_debug_state_machine(tms_buffer, tdi_buffer,
 805                         tap_length, jlink_last_state);
 806
 807         result = jlink_usb_message(jlink_handle, 4 + 2 * byte_length, byte_length);
 808         if (result != byte_length)
 809         {
 810                 LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)",
 811                                 result, byte_length);
 812                 jlink_tap_init();
 813                 return ERROR_JTAG_QUEUE_FAILED;
 814         }
 815
 816         memcpy(tdo_buffer, usb_in_buffer, byte_length);
 817
 818         for (i = 0; i < pending_scan_results_length; i++)
 819         {
 820                 struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
 821                 uint8_t *buffer = pending_scan_result->buffer;
 822                 int length = pending_scan_result->length;
 823                 int first = pending_scan_result->first;
 824                 struct scan_command *command = pending_scan_result->command;
 825
 826                 /* Copy to buffer */
 827                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 828
 829                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 830
 831 #ifdef _DEBUG_USB_COMMS_
 832                 jlink_debug_buffer(buffer, DIV_ROUND_UP(length, 8));
 833 #endif
 834
 835                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 836                 {
 837                         jlink_tap_init();
 838                         return ERROR_JTAG_QUEUE_FAILED;
 839                 }
 840
 841                 if (pending_scan_result->buffer != NULL)
 842                 {
 843                         free(pending_scan_result->buffer);
 844                 }
 845         }
 846
 847         jlink_tap_init();
 848         return ERROR_OK;
 849 }
 850
 851 /*****************************************************************************/
 852 /* JLink USB low-level functions */
 853
 854 static struct jlink* jlink_usb_open()
 855 {
 856         usb_init();
 857
 858         const uint16_t vids[] = { VID, 0 };
 859         const uint16_t pids[] = { PID, 0 };
 860         struct usb_dev_handle *dev;
 861         if (jtag_usb_open(vids, pids, &dev) != ERROR_OK)
 862                 return NULL;
 863
 864         /* BE ***VERY CAREFUL*** ABOUT MAKING CHANGES IN THIS
 865          * AREA!!!!!!!!!!!  The behavior of libusb is not completely
 866          * consistent across Windows, Linux, and Mac OS X platforms.
 867          * The actions taken in the following compiler conditionals may
 868          * not agree with published documentation for libusb, but were
 869          * found to be necessary through trials and tribulations.  Even
 870          * little tweaks can break one or more platforms, so if you do
 871          * make changes test them carefully on all platforms before
 872          * committing them!
 873          */
 874
 875 #if IS_WIN32 == 0
 876
 877         usb_reset(dev);
 878
 879 #if IS_DARWIN == 0
 880
 881         int timeout = 5;
 882         /* reopen jlink after usb_reset
 883          * on win32 this may take a second or two to re-enumerate */
 884         int retval;
 885         while ((retval = jtag_usb_open(vids, pids, &dev)) != ERROR_OK)
 886         {
 887                 usleep(1000);
 888                 timeout--;
 889                 if (!timeout) {
 890                         break;
 891                 }
 892         }
 893         if (ERROR_OK != retval)
 894                 return NULL;
 895 #endif
 896
 897 #endif
 898
 899         /* usb_set_configuration required under win32 */
 900         struct usb_device *udev = usb_device(dev);
 901         usb_set_configuration(dev, udev->config[0].bConfigurationValue);
 902         usb_claim_interface(dev, 0);
 903
 904 #if 0
 905         /*
 906          * This makes problems under Mac OS X. And is not needed
 907          * under Windows. Hopefully this will not break a linux build
 908          */
 909         usb_set_altinterface(result->usb_handle, 0);
 910 #endif
 911         struct usb_interface *iface = udev->config->interface;
 912         struct usb_interface_descriptor *desc = iface->altsetting;
 913         for (int i = 0; i < desc->bNumEndpoints; i++)
 914         {
 915                 uint8_t epnum = desc->endpoint[i].bEndpointAddress;
 916                 bool is_input = epnum & 0x80;
 917                 LOG_DEBUG("usb ep %s %02x", is_input ? "in" : "out", epnum);
 918                 if (is_input)
 919                         jlink_read_ep = epnum;
 920                 else
 921                         jlink_write_ep = epnum;
 922         }
 923
 924         struct jlink *result = malloc(sizeof(struct jlink));
 925         result->usb_handle = dev;
 926         return result;
 927 }
 928
 929 static void jlink_usb_close(struct jlink *jlink)
 930 {
 931         usb_close(jlink->usb_handle);
 932         free(jlink);
 933 }
 934
 935 /* Send a message and receive the reply. */
 936 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length)
 937 {
 938         int result;
 939
 940         result = jlink_usb_write(jlink, out_length);
 941         if (result != out_length)
 942         {
 943                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
 944                                 out_length, result);
 945                 return ERROR_JTAG_DEVICE_ERROR;
 946         }
 947
 948         result = jlink_usb_read(jlink, in_length);
 949         if ((result != in_length) && (result != (in_length + 1)))
 950         {
 951                 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
 952                                 in_length, result);
 953                 return ERROR_JTAG_DEVICE_ERROR;
 954         }
 955
 956         if (jlink_hw_jtag_version < 3)
 957                 return result;
 958
 959         int result2 = ERROR_OK;
 960         if (result == in_length)
 961         {
 962                 /* Must read the result from the EMU too */
 963                 result2 = jlink_usb_read_emu_result(jlink);
 964                 if (1 != result2)
 965                 {
 966                         LOG_ERROR("jlink_usb_read_emu_result retried requested = 1, "
 967                                         "result=%d, in_length=%i", result2, in_length);
 968                         /* Try again once, should only happen if (in_length%64 == 0) */
 969                         result2 = jlink_usb_read_emu_result(jlink);
 970                         if (1 != result2)
 971                         {
 972                                 LOG_ERROR("jlink_usb_read_emu_result failed "
 973                                         "(requested = 1, result=%d)", result2);
 974                                 return ERROR_JTAG_DEVICE_ERROR;
 975                         }
 976                 }
 977
 978                 /* Check the result itself */
 979                 result2 = usb_emu_result_buffer[0];
 980         }
 981         else
 982         {
 983                 /* Save the result, then remove it from return value */
 984                 result2 = usb_in_buffer[result--];
 985         }
 986
 987         if (result2)
 988         {
 989                 LOG_ERROR("jlink_usb_message failed with result=%d)", result2);
 990                 return ERROR_JTAG_DEVICE_ERROR;
 991         }
 992
 993         return result;
 994 }
 995
 996 /* calls the given usb_bulk_* function, allowing for the data to
 997  * trickle in with some timeouts  */
 998 static int usb_bulk_with_retries(
 999                 int (*f)(usb_dev_handle *, int, char *, int, int),
1000                 usb_dev_handle *dev, int ep,
1001                 char *bytes, int size, int timeout)
1002 {
1003         int tries = 3, count = 0;
1004
1005         while (tries && (count < size))
1006         {
1007                 int result = f(dev, ep, bytes + count, size - count, timeout);
1008                 if (result > 0)
1009                         count += result;
1010                 else if ((-ETIMEDOUT != result) || !--tries)
1011                         return result;
1012         }
1013         return count;
1014 }
1015
1016 static int wrap_usb_bulk_write(usb_dev_handle *dev, int ep,
1017                                char *buff, int size, int timeout)
1018 {
1019         /* usb_bulk_write() takes const char *buff */
1020         return usb_bulk_write(dev, ep, buff, size, timeout);
1021 }
1022
1023 static inline int usb_bulk_write_ex(usb_dev_handle *dev, int ep,
1024                 char *bytes, int size, int timeout)
1025 {
1026         return usb_bulk_with_retries(&wrap_usb_bulk_write,
1027                         dev, ep, bytes, size, timeout);
1028 }
1029
1030 static inline int usb_bulk_read_ex(usb_dev_handle *dev, int ep,
1031                 char *bytes, int size, int timeout)
1032 {
1033         return usb_bulk_with_retries(&usb_bulk_read,
1034                         dev, ep, bytes, size, timeout);
1035 }
1036
1037 /* Write data from out_buffer to USB. */
1038 static int jlink_usb_write(struct jlink *jlink, int out_length)
1039 {
1040         int result;
1041
1042         if (out_length > JLINK_OUT_BUFFER_SIZE)
1043         {
1044                 LOG_ERROR("jlink_write illegal out_length=%d (max=%d)",
1045                                 out_length, JLINK_OUT_BUFFER_SIZE);
1046                 return -1;
1047         }
1048
1049         result = usb_bulk_write_ex(jlink->usb_handle, jlink_write_ep,
1050                 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
1051
1052         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d",
1053                         out_length, result);
1054
1055 #ifdef _DEBUG_USB_COMMS_
1056         jlink_debug_buffer(usb_out_buffer, out_length);
1057 #endif
1058         return result;
1059 }
1060
1061 /* Read data from USB into in_buffer. */
1062 static int jlink_usb_read(struct jlink *jlink, int expected_size)
1063 {
1064         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1065                 (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);
1066
1067         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
1068
1069 #ifdef _DEBUG_USB_COMMS_
1070         jlink_debug_buffer(usb_in_buffer, result);
1071 #endif
1072         return result;
1073 }
1074
1075 /* Read the result from the previous EMU cmd into result_buffer. */
1076 static int jlink_usb_read_emu_result(struct jlink *jlink)
1077 {
1078         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1079                 (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */,
1080                 JLINK_USB_TIMEOUT);
1081
1082         DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
1083
1084 #ifdef _DEBUG_USB_COMMS_
1085         jlink_debug_buffer(usb_emu_result_buffer, result);
1086 #endif
1087         return result;
1088 }
1089
1090 #ifdef _DEBUG_USB_COMMS_
1091 #define BYTES_PER_LINE  16
1092
1093 static void jlink_debug_buffer(uint8_t *buffer, int length)
1094 {
1095         char line[81];
1096         char s[4];
1097         int i;
1098         int j;
1099
1100         for (i = 0; i < length; i += BYTES_PER_LINE)
1101         {
1102                 snprintf(line, 5, "%04x", i);
1103                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
1104                 {
1105                         snprintf(s, 4, " %02x", buffer[j]);
1106                         strcat(line, s);
1107                 }
1108                 LOG_DEBUG("%s", line);
1109         }
1110 }
1111 #endif