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  */
  36
  37 #define VID 0x1366
  38 #define PID 0x0101
  39
  40 #define JLINK_WRITE_ENDPOINT    0x02
  41 #define JLINK_READ_ENDPOINT             0x81
  42
  43 static unsigned int jlink_write_ep = JLINK_WRITE_ENDPOINT;
  44 static unsigned int jlink_read_ep = JLINK_READ_ENDPOINT;
  45 static unsigned int jlink_hw_jtag_version = 2;
  46
  47 #define JLINK_USB_TIMEOUT               1000
  48
  49 // See Section 1.3.2 of the Segger JLink USB protocol manual
  50 /* 2048 is the max value we can use here */
  51 //#define JLINK_TAP_BUFFER_SIZE 2048
  52 #define JLINK_TAP_BUFFER_SIZE 256
  53 //#define JLINK_TAP_BUFFER_SIZE 384
  54
  55 #define JLINK_IN_BUFFER_SIZE                    2048
  56 #define JLINK_OUT_BUFFER_SIZE                   2*2048 + 4
  57 #define JLINK_EMU_RESULT_BUFFER_SIZE    64
  58
  59 /* Global USB buffers */
  60 static uint8_t usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  61 static uint8_t usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  62 static uint8_t usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
  63
  64 /* Constants for JLink command */
  65 #define EMU_CMD_VERSION         0x01
  66 #define EMU_CMD_SET_SPEED               0x05
  67 #define EMU_CMD_GET_STATE               0x07
  68 #define EMU_CMD_HW_CLOCK                        0xc8
  69 #define EMU_CMD_HW_TMS0                 0xc9
  70 #define EMU_CMD_HW_TMS1                 0xca
  71 #define EMU_CMD_HW_JTAG2                0xce
  72 #define EMU_CMD_HW_JTAG3                0xcf
  73 #define EMU_CMD_GET_MAX_MEM_BLOCK       0xd4
  74 #define EMU_CMD_HW_RESET0               0xdc
  75 #define EMU_CMD_HW_RESET1               0xdd
  76 #define EMU_CMD_HW_TRST0                0xde
  77 #define EMU_CMD_HW_TRST1                0xdf
  78 #define EMU_CMD_GET_CAPS                0xe8
  79 #define EMU_CMD_GET_HW_VERSION  0xf0
  80
  81 /* bits return from EMU_CMD_GET_CAPS */
  82 #define EMU_CAP_GET_HW_VERSION          1
  83 #define EMU_CAP_GET_MAX_BLOCK_SIZE      11
  84
  85 /* max speed 12MHz v5.0 jlink */
  86 #define JLINK_MAX_SPEED 12000
  87
  88 /* Queue command functions */
  89 static void jlink_end_state(tap_state_t state);
  90 static void jlink_state_move(void);
  91 static void jlink_path_move(int num_states, tap_state_t *path);
  92 static void jlink_runtest(int num_cycles);
  93 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command);
  94 static void jlink_reset(int trst, int srst);
  95 static void jlink_simple_command(uint8_t command);
  96 static int jlink_get_status(void);
  97
  98 /* J-Link tap buffer functions */
  99 static void jlink_tap_init(void);
 100 static int jlink_tap_execute(void);
 101 static void jlink_tap_ensure_space(int scans, int bits);
 102 static void jlink_tap_append_step(int tms, int tdi);
 103 static void jlink_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command);
 104
 105 /* Jlink lowlevel functions */
 106 struct jlink {
 107         struct usb_dev_handle* usb_handle;
 108 };
 109
 110 static struct jlink *jlink_usb_open(void);
 111 static void jlink_usb_close(struct jlink *jlink);
 112 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length);
 113 static int jlink_usb_write(struct jlink *jlink, int out_length);
 114 static int jlink_usb_read(struct jlink *jlink, int expected_size);
 115 static int jlink_usb_read_emu_result(struct jlink *jlink);
 116
 117 /* helper functions */
 118 static int jlink_get_version_info(void);
 119
 120 #ifdef _DEBUG_USB_COMMS_
 121 static void jlink_debug_buffer(uint8_t *buffer, int length);
 122 #endif
 123
 124 static enum tap_state jlink_last_state = TAP_RESET;
 125
 126 static struct jlink* jlink_handle;
 127
 128 /***************************************************************************/
 129 /* External interface implementation */
 130
 131 static void jlink_execute_runtest(struct jtag_command *cmd)
 132 {
 133         DEBUG_JTAG_IO("runtest %i cycles, end in %i",
 134                         cmd->cmd.runtest->num_cycles,
 135                         cmd->cmd.runtest->end_state);
 136
 137         jlink_end_state(cmd->cmd.runtest->end_state);
 138
 139         jlink_runtest(cmd->cmd.runtest->num_cycles);
 140 }
 141
 142 static void jlink_execute_statemove(struct jtag_command *cmd)
 143 {
 144         DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 145
 146         jlink_end_state(cmd->cmd.statemove->end_state);
 147         jlink_state_move();
 148 }
 149
 150 static void jlink_execute_pathmove(struct jtag_command *cmd)
 151 {
 152         DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 153                 cmd->cmd.pathmove->num_states,
 154                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 155
 156         jlink_path_move(cmd->cmd.pathmove->num_states,
 157                         cmd->cmd.pathmove->path);
 158 }
 159
 160 static void jlink_execute_scan(struct jtag_command *cmd)
 161 {
 162         int scan_size;
 163         enum scan_type type;
 164         uint8_t *buffer;
 165
 166         DEBUG_JTAG_IO("scan end in %s", tap_state_name(cmd->cmd.scan->end_state));
 167
 168         jlink_end_state(cmd->cmd.scan->end_state);
 169
 170         scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 171         DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 172
 173 #ifdef _DEBUG_USB_COMMS_
 174         jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 175 #endif
 176         type = jtag_scan_type(cmd->cmd.scan);
 177         jlink_scan(cmd->cmd.scan->ir_scan,
 178                         type, buffer, scan_size, cmd->cmd.scan);
 179 }
 180
 181 static void jlink_execute_reset(struct jtag_command *cmd)
 182 {
 183         DEBUG_JTAG_IO("reset trst: %i srst %i",
 184                         cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 185
 186         jlink_tap_execute();
 187         jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 188         jlink_tap_execute();
 189 }
 190
 191 static void jlink_execute_sleep(struct jtag_command *cmd)
 192 {
 193         DEBUG_JTAG_IO("sleep %" PRIi32 "", cmd->cmd.sleep->us);
 194         jlink_tap_execute();
 195         jtag_sleep(cmd->cmd.sleep->us);
 196 }
 197
 198 static void jlink_execute_command(struct jtag_command *cmd)
 199 {
 200         switch (cmd->type)
 201         {
 202         case JTAG_RUNTEST:   jlink_execute_runtest(cmd); break;
 203         case JTAG_STATEMOVE: jlink_execute_statemove(cmd); break;
 204         case JTAG_PATHMOVE:  jlink_execute_pathmove(cmd); break;
 205         case JTAG_SCAN:      jlink_execute_scan(cmd); break;
 206         case JTAG_RESET:     jlink_execute_reset(cmd); break;
 207         case JTAG_SLEEP:     jlink_execute_sleep(cmd); break;
 208         default:
 209                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 210                 exit(-1);
 211         }
 212 }
 213
 214 static int jlink_execute_queue(void)
 215 {
 216         struct jtag_command *cmd = jtag_command_queue;
 217
 218         while (cmd != NULL)
 219         {
 220                 jlink_execute_command(cmd);
 221                 cmd = cmd->next;
 222         }
 223
 224         return jlink_tap_execute();
 225 }
 226
 227 /* Sets speed in kHz. */
 228 static int jlink_speed(int speed)
 229 {
 230         int result;
 231
 232         if (speed > JLINK_MAX_SPEED)
 233         {
 234                 LOG_INFO("Ignoring speed request: %dkHz exceeds %dkHz maximum",
 235                                 speed, JLINK_MAX_SPEED);
 236                 return ERROR_OK;
 237         }
 238
 239         /* check for RTCK setting */
 240         if (speed == 0)
 241                 speed = -1;
 242
 243         usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 244         usb_out_buffer[1] = (speed >> 0) & 0xff;
 245         usb_out_buffer[2] = (speed >> 8) & 0xff;
 246
 247         result = jlink_usb_write(jlink_handle, 3);
 248         if (result != 3)
 249         {
 250                 LOG_ERROR("J-Link setting speed failed (%d)", result);
 251                 return ERROR_JTAG_DEVICE_ERROR;
 252         }
 253
 254         return ERROR_OK;
 255 }
 256
 257 static int jlink_speed_div(int speed, int* khz)
 258 {
 259         *khz = speed;
 260
 261         return ERROR_OK;
 262 }
 263
 264 static int jlink_khz(int khz, int *jtag_speed)
 265 {
 266         *jtag_speed = khz;
 267
 268         return ERROR_OK;
 269 }
 270
 271 static int jlink_init(void)
 272 {
 273         int i;
 274
 275         jlink_handle = jlink_usb_open();
 276
 277         if (jlink_handle == 0)
 278         {
 279                 LOG_ERROR("Cannot find jlink Interface! Please check connection and permissions.");
 280                 return ERROR_JTAG_INIT_FAILED;
 281         }
 282
 283         /*
 284          *  The next three instructions were added after discovering a problem while using an oscilloscope.  For the V8
 285          *      SAM-ICE dongle (and likely other j-link device variants), the reset line to the target microprocessor was found to
 286          *      cycle only intermittently during emulator startup (even after encountering the downstream reset instruction later
 287          *      in the code).  This was found to create two issues:  1) In general it is a bad practice to not reset a CPU to a known
 288          *      state when starting an emulator and 2) something critical happens inside the dongle when it does the first read
 289          *      following a new USB session.  Keeping the processor in reset during the first read collecting version information
 290          *      seems to prevent errant "J-Link command EMU_CMD_VERSION failed" issues.
 291          */
 292
 293         LOG_INFO("J-Link initialization started / target CPU reset initiated");
 294         jlink_simple_command(EMU_CMD_HW_TRST0);
 295         jlink_simple_command(EMU_CMD_HW_RESET0);
 296         usleep(1000);
 297
 298         jlink_hw_jtag_version = 2;
 299
 300         if (jlink_get_version_info() == ERROR_OK)
 301         {
 302                 /* attempt to get status */
 303                 jlink_get_status();
 304         }
 305
 306         LOG_INFO("J-Link JTAG Interface ready");
 307
 308         jlink_reset(0, 0);
 309         jtag_sleep(3000);
 310         jlink_tap_init();
 311         jlink_speed(jtag_get_speed());
 312
 313         /* v5/6 jlink seems to have an issue if the first tap move
 314          * is not divisible by 8, so we send a TLR on first power up */
 315         for (i = 0; i < 8; i++) {
 316                 jlink_tap_append_step(1, 0);
 317         }
 318         jlink_tap_execute();
 319
 320         return ERROR_OK;
 321 }
 322
 323 static int jlink_quit(void)
 324 {
 325         jlink_usb_close(jlink_handle);
 326         return ERROR_OK;
 327 }
 328
 329 /***************************************************************************/
 330 /* Queue command implementations */
 331
 332 static void jlink_end_state(tap_state_t state)
 333 {
 334         if (tap_is_state_stable(state))
 335         {
 336                 tap_set_end_state(state);
 337         }
 338         else
 339         {
 340                 LOG_ERROR("BUG: %i is not a valid end state", state);
 341                 exit(-1);
 342         }
 343 }
 344
 345 /* Goes to the end state. */
 346 static void jlink_state_move(void)
 347 {
 348         int i;
 349         int tms = 0;
 350         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 351         uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 352
 353         for (i = 0; i < tms_scan_bits; i++)
 354         {
 355                 tms = (tms_scan >> i) & 1;
 356                 jlink_tap_append_step(tms, 0);
 357         }
 358
 359         tap_set_state(tap_get_end_state());
 360 }
 361
 362 static void jlink_path_move(int num_states, tap_state_t *path)
 363 {
 364         int i;
 365
 366         for (i = 0; i < num_states; i++)
 367         {
 368                 if (path[i] == tap_state_transition(tap_get_state(), false))
 369                 {
 370                         jlink_tap_append_step(0, 0);
 371                 }
 372                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 373                 {
 374                         jlink_tap_append_step(1, 0);
 375                 }
 376                 else
 377                 {
 378                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 379                         exit(-1);
 380                 }
 381
 382                 tap_set_state(path[i]);
 383         }
 384
 385         tap_set_end_state(tap_get_state());
 386 }
 387
 388 static void jlink_runtest(int num_cycles)
 389 {
 390         int i;
 391
 392         tap_state_t saved_end_state = tap_get_end_state();
 393
 394         jlink_tap_ensure_space(1,num_cycles + 16);
 395
 396         /* only do a state_move when we're not already in IDLE */
 397         if (tap_get_state() != TAP_IDLE)
 398         {
 399                 jlink_end_state(TAP_IDLE);
 400                 jlink_state_move();
 401 //              num_cycles--;
 402         }
 403
 404         /* execute num_cycles */
 405         for (i = 0; i < num_cycles; i++)
 406         {
 407                 jlink_tap_append_step(0, 0);
 408         }
 409
 410         /* finish in end_state */
 411         jlink_end_state(saved_end_state);
 412         if (tap_get_state() != tap_get_end_state())
 413         {
 414                 jlink_state_move();
 415         }
 416 }
 417
 418 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command)
 419 {
 420         tap_state_t saved_end_state;
 421
 422         jlink_tap_ensure_space(1, scan_size + 16);
 423
 424         saved_end_state = tap_get_end_state();
 425
 426         /* Move to appropriate scan state */
 427         jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 428
 429         /* Only move if we're not already there */
 430         if (tap_get_state() != tap_get_end_state())
 431                 jlink_state_move();
 432
 433         jlink_end_state(saved_end_state);
 434
 435         /* Scan */
 436         jlink_tap_append_scan(scan_size, buffer, command);
 437
 438         /* We are in Exit1, go to Pause */
 439         jlink_tap_append_step(0, 0);
 440
 441         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 442
 443         if (tap_get_state() != tap_get_end_state())
 444         {
 445                 jlink_state_move();
 446         }
 447 }
 448
 449 static void jlink_reset(int trst, int srst)
 450 {
 451         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 452
 453         /* Signals are active low */
 454         if (srst == 0)
 455         {
 456                 jlink_simple_command(EMU_CMD_HW_RESET1);
 457         }
 458         if (srst == 1)
 459         {
 460                 jlink_simple_command(EMU_CMD_HW_RESET0);
 461         }
 462
 463         if (trst == 1)
 464         {
 465                 jlink_simple_command(EMU_CMD_HW_TRST0);
 466         }
 467
 468         if (trst == 0)
 469         {
 470                 jlink_simple_command(EMU_CMD_HW_TRST1);
 471         }
 472 }
 473
 474 static void jlink_simple_command(uint8_t command)
 475 {
 476         int result;
 477
 478         DEBUG_JTAG_IO("0x%02x", command);
 479
 480         usb_out_buffer[0] = command;
 481         result = jlink_usb_write(jlink_handle, 1);
 482
 483         if (result != 1)
 484         {
 485                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 486         }
 487 }
 488
 489 static int jlink_get_status(void)
 490 {
 491         int result;
 492
 493         jlink_simple_command(EMU_CMD_GET_STATE);
 494
 495         result = jlink_usb_read(jlink_handle, 8);
 496         if (result != 8)
 497         {
 498                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
 499                 return ERROR_JTAG_DEVICE_ERROR;
 500         }
 501
 502         int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 503         LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d\n", \
 504                 vref / 1000, vref % 1000, \
 505                 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 506                 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 507
 508         if (vref < 1500)
 509                 LOG_ERROR("Vref too low. Check Target Power\n");
 510
 511         return ERROR_OK;
 512 }
 513
 514 static int jlink_get_version_info(void)
 515 {
 516         int result;
 517         int len;
 518         uint32_t jlink_caps, jlink_max_size;
 519
 520         /* query hardware version */
 521         jlink_simple_command(EMU_CMD_VERSION);
 522
 523         result = jlink_usb_read(jlink_handle, 2);
 524         if (2 != result)
 525         {
 526                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
 527                 return ERROR_JTAG_DEVICE_ERROR;
 528         }
 529
 530         len = buf_get_u32(usb_in_buffer, 0, 16);
 531         if (len > JLINK_IN_BUFFER_SIZE)
 532         {
 533                 LOG_ERROR("J-Link command EMU_CMD_VERSION impossible return length 0x%0x", len);
 534                 len = JLINK_IN_BUFFER_SIZE;
 535         }
 536
 537         result = jlink_usb_read(jlink_handle, len);
 538         if (result != len)
 539         {
 540                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
 541                 return ERROR_JTAG_DEVICE_ERROR;
 542         }
 543
 544         usb_in_buffer[result] = 0;
 545         LOG_INFO("%s", (char *)usb_in_buffer);
 546
 547         /* query hardware capabilities */
 548         jlink_simple_command(EMU_CMD_GET_CAPS);
 549
 550         result = jlink_usb_read(jlink_handle, 4);
 551         if (4 != result)
 552         {
 553                 LOG_ERROR("J-Link command EMU_CMD_GET_CAPS failed (%d)\n", result);
 554                 return ERROR_JTAG_DEVICE_ERROR;
 555         }
 556
 557         jlink_caps = buf_get_u32(usb_in_buffer, 0, 32);
 558         LOG_INFO("JLink caps 0x%x", (unsigned)jlink_caps);
 559
 560         if (jlink_caps & (1 << EMU_CAP_GET_HW_VERSION))
 561         {
 562                 /* query hardware version */
 563                 jlink_simple_command(EMU_CMD_GET_HW_VERSION);
 564
 565                 result = jlink_usb_read(jlink_handle, 4);
 566                 if (4 != result)
 567                 {
 568                         LOG_ERROR("J-Link command EMU_CMD_GET_HW_VERSION failed (%d)\n", result);
 569                         return ERROR_JTAG_DEVICE_ERROR;
 570                 }
 571
 572                 uint32_t jlink_hw_version = buf_get_u32(usb_in_buffer, 0, 32);
 573                 uint32_t major_revision = (jlink_hw_version / 10000) % 100;
 574                 if (major_revision >= 5)
 575                         jlink_hw_jtag_version = 3;
 576
 577                 LOG_INFO("JLink hw version %i", (int)jlink_hw_version);
 578         }
 579
 580         if (jlink_caps & (1 << EMU_CAP_GET_MAX_BLOCK_SIZE))
 581         {
 582                 /* query hardware maximum memory block */
 583                 jlink_simple_command(EMU_CMD_GET_MAX_MEM_BLOCK);
 584
 585                 result = jlink_usb_read(jlink_handle, 4);
 586                 if (4 != result)
 587                 {
 588                         LOG_ERROR("J-Link command EMU_CMD_GET_MAX_MEM_BLOCK failed (%d)\n", result);
 589                         return ERROR_JTAG_DEVICE_ERROR;
 590                 }
 591
 592                 jlink_max_size = buf_get_u32(usb_in_buffer, 0, 32);
 593                 LOG_INFO("JLink max mem block %i", (int)jlink_max_size);
 594         }
 595
 596         return ERROR_OK;
 597 }
 598
 599 COMMAND_HANDLER(jlink_handle_jlink_info_command)
 600 {
 601         if (jlink_get_version_info() == ERROR_OK)
 602         {
 603                 /* attempt to get status */
 604                 jlink_get_status();
 605         }
 606
 607         return ERROR_OK;
 608 }
 609
 610 COMMAND_HANDLER(jlink_handle_jlink_hw_jtag_command)
 611 {
 612         switch (CMD_ARGC) {
 613         case 0:
 614                 command_print(CMD_CTX, "jlink hw jtag  %i", jlink_hw_jtag_version);
 615                 break;
 616         case 1: {
 617                 int request_version = atoi(CMD_ARGV[0]);
 618                 switch (request_version) {
 619                 case 2: case 3:
 620                         jlink_hw_jtag_version = request_version;
 621                         break;
 622                 default:
 623                         return ERROR_COMMAND_SYNTAX_ERROR;
 624                 }
 625                 break;
 626         }
 627         default:
 628                 return ERROR_COMMAND_SYNTAX_ERROR;
 629         }
 630
 631         return ERROR_OK;
 632 }
 633
 634 static const struct command_registration jlink_command_handlers[] = {
 635         {
 636                 .name = "jlink_info",
 637                 .handler = &jlink_handle_jlink_info_command,
 638                 .mode = COMMAND_EXEC,
 639                 .help = "show jlink info",
 640         },
 641         {
 642                 .name = "jlink_hw_jtag",
 643                 .handler = &jlink_handle_jlink_hw_jtag_command,
 644                 .mode = COMMAND_EXEC,
 645                 .help = "access J-Link HW JTAG command version",
 646                 .usage = "[2|3]",
 647         },
 648         COMMAND_REGISTRATION_DONE
 649 };
 650
 651 struct jtag_interface jlink_interface = {
 652         .name = "jlink",
 653         .commands = jlink_command_handlers,
 654
 655         .execute_queue = jlink_execute_queue,
 656         .speed = jlink_speed,
 657         .speed_div = jlink_speed_div,
 658         .khz = jlink_khz,
 659         .init = jlink_init,
 660         .quit = jlink_quit,
 661 };
 662
 663 /***************************************************************************/
 664 /* J-Link tap functions */
 665
 666
 667 static unsigned tap_length = 0;
 668 static uint8_t tms_buffer[JLINK_TAP_BUFFER_SIZE];
 669 static uint8_t tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 670 static uint8_t tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 671
 672 struct pending_scan_result {
 673         int first;      /* First bit position in tdo_buffer to read */
 674         int length; /* Number of bits to read */
 675         struct scan_command *command; /* Corresponding scan command */
 676         uint8_t *buffer;
 677 };
 678
 679 #define MAX_PENDING_SCAN_RESULTS 256
 680
 681 static int pending_scan_results_length;
 682 static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 683
 684 static void jlink_tap_init(void)
 685 {
 686         tap_length = 0;
 687         pending_scan_results_length = 0;
 688 }
 689
 690 static void jlink_tap_ensure_space(int scans, int bits)
 691 {
 692         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 693         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length - 32;
 694
 695         if (scans > available_scans || bits > available_bits)
 696         {
 697                 jlink_tap_execute();
 698         }
 699 }
 700
 701 static void jlink_tap_append_step(int tms, int tdi)
 702 {
 703         int index = tap_length / 8;
 704
 705         if (index >= JLINK_TAP_BUFFER_SIZE)
 706         {
 707                 LOG_ERROR("jlink_tap_append_step: overflow");
 708                 *(uint32_t *)0xFFFFFFFF = 0;
 709                 exit(-1);
 710         }
 711
 712         int bit_index = tap_length % 8;
 713         uint8_t bit = 1 << bit_index;
 714
 715         // we do not pad TMS, so be sure to initialize all bits
 716         if (0 == bit_index)
 717         {
 718                 tms_buffer[index] = tdi_buffer[index] = 0;
 719         }
 720
 721         if (tms)
 722                 tms_buffer[index] |= bit;
 723         else
 724                 tms_buffer[index] &= ~bit;
 725
 726         if (tdi)
 727                 tdi_buffer[index] |= bit;
 728         else
 729                 tdi_buffer[index] &= ~bit;
 730
 731         tap_length++;
 732 }
 733
 734 static void jlink_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command)
 735 {
 736         struct pending_scan_result *pending_scan_result =
 737                 &pending_scan_results_buffer[pending_scan_results_length];
 738         int i;
 739
 740         pending_scan_result->first = tap_length;
 741         pending_scan_result->length = length;
 742         pending_scan_result->command = command;
 743         pending_scan_result->buffer = buffer;
 744
 745         for (i = 0; i < length; i++)
 746         {
 747                 int tms = (i < (length - 1)) ? 0 : 1;
 748                 int tdi = (buffer[i / 8] & (1 << (i % 8))) != 0;
 749                 jlink_tap_append_step(tms, tdi);
 750         }
 751         pending_scan_results_length++;
 752 }
 753
 754 /* Pad and send a tap sequence to the device, and receive the answer.
 755  * For the purpose of padding we assume that we are in idle or pause state. */
 756 static int jlink_tap_execute(void)
 757 {
 758         int byte_length;
 759         int i;
 760         int result;
 761
 762         if (!tap_length)
 763                 return ERROR_OK;
 764
 765         /* JLink returns an extra NULL in packet when size of incoming
 766          * message is a multiple of 64, creates problems with USB comms.
 767          * WARNING: This will interfere with tap state counting. */
 768         while ((DIV_ROUND_UP(tap_length, 8) % 64) == 0)
 769         {
 770                 jlink_tap_append_step((tap_get_state() == TAP_RESET)?1:0, 0);
 771         }
 772
 773         // number of full bytes (plus one if some would be left over)
 774         byte_length = DIV_ROUND_UP(tap_length, 8);
 775
 776         bool use_jtag3 = jlink_hw_jtag_version >= 3;
 777         usb_out_buffer[0] = use_jtag3 ? EMU_CMD_HW_JTAG3 : EMU_CMD_HW_JTAG2;
 778         usb_out_buffer[1] = 0;
 779         usb_out_buffer[2] = (tap_length >> 0) & 0xff;
 780         usb_out_buffer[3] = (tap_length >> 8) & 0xff;
 781         memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
 782         memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);
 783
 784         jlink_last_state = jtag_debug_state_machine(tms_buffer, tdi_buffer,
 785                         tap_length, jlink_last_state);
 786
 787         result = jlink_usb_message(jlink_handle, 4 + 2 * byte_length, byte_length);
 788         if (result != byte_length)
 789         {
 790                 LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)", result, byte_length);
 791                 jlink_tap_init();
 792                 return ERROR_JTAG_QUEUE_FAILED;
 793         }
 794
 795         memcpy(tdo_buffer, usb_in_buffer, byte_length);
 796
 797         for (i = 0; i < pending_scan_results_length; i++)
 798         {
 799                 struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
 800                 uint8_t *buffer = pending_scan_result->buffer;
 801                 int length = pending_scan_result->length;
 802                 int first = pending_scan_result->first;
 803                 struct scan_command *command = pending_scan_result->command;
 804
 805                 /* Copy to buffer */
 806                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 807
 808                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 809
 810 #ifdef _DEBUG_USB_COMMS_
 811                 jlink_debug_buffer(buffer, DIV_ROUND_UP(length, 8));
 812 #endif
 813
 814                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 815                 {
 816                         jlink_tap_init();
 817                         return ERROR_JTAG_QUEUE_FAILED;
 818                 }
 819
 820                 if (pending_scan_result->buffer != NULL)
 821                 {
 822                         free(pending_scan_result->buffer);
 823                 }
 824         }
 825
 826         jlink_tap_init();
 827         return ERROR_OK;
 828 }
 829
 830 /*****************************************************************************/
 831 /* JLink USB low-level functions */
 832
 833 static struct jlink* jlink_usb_open()
 834 {
 835         usb_init();
 836
 837         const uint16_t vids[] = { VID, 0 };
 838         const uint16_t pids[] = { PID, 0 };
 839         struct usb_dev_handle *dev;
 840         if (jtag_usb_open(vids, pids, &dev) != ERROR_OK)
 841                 return NULL;
 842
 843         /* BE ***VERY CAREFUL*** ABOUT MAKING CHANGES IN THIS
 844          * AREA!!!!!!!!!!!  The behavior of libusb is not completely
 845          * consistent across Windows, Linux, and Mac OS X platforms.
 846          * The actions taken in the following compiler conditionals may
 847          * not agree with published documentation for libusb, but were
 848          * found to be necessary through trials and tribulations.  Even
 849          * little tweaks can break one or more platforms, so if you do
 850          * make changes test them carefully on all platforms before
 851          * committing them!
 852          */
 853
 854 #if IS_WIN32 == 0
 855
 856         usb_reset(dev);
 857
 858 #if IS_DARWIN == 0
 859
 860         int timeout = 5;
 861         /* reopen jlink after usb_reset
 862          * on win32 this may take a second or two to re-enumerate */
 863         int retval;
 864         while ((retval = jtag_usb_open(vids, pids, &dev)) != ERROR_OK)
 865         {
 866                 usleep(1000);
 867                 timeout--;
 868                 if (!timeout) {
 869                         break;
 870                 }
 871         }
 872         if (ERROR_OK != retval)
 873                 return NULL;
 874 #endif
 875
 876 #endif
 877
 878         /* usb_set_configuration required under win32 */
 879         struct usb_device *udev = usb_device(dev);
 880         usb_set_configuration(dev, udev->config[0].bConfigurationValue);
 881         usb_claim_interface(dev, 0);
 882
 883 #if 0
 884         /*
 885          * This makes problems under Mac OS X. And is not needed
 886          * under Windows. Hopefully this will not break a linux build
 887          */
 888         usb_set_altinterface(result->usb_handle, 0);
 889 #endif
 890         struct usb_interface *iface = udev->config->interface;
 891         struct usb_interface_descriptor *desc = iface->altsetting;
 892         for (int i = 0; i < desc->bNumEndpoints; i++)
 893         {
 894                 uint8_t epnum = desc->endpoint[i].bEndpointAddress;
 895                 bool is_input = epnum & 0x80;
 896                 LOG_DEBUG("usb ep %s %02x", is_input ? "in" : "out", epnum);
 897                 if (is_input)
 898                         jlink_read_ep = epnum;
 899                 else
 900                         jlink_write_ep = epnum;
 901         }
 902
 903         struct jlink *result = malloc(sizeof(struct jlink));
 904         result->usb_handle = dev;
 905         return result;
 906 }
 907
 908 static void jlink_usb_close(struct jlink *jlink)
 909 {
 910         usb_close(jlink->usb_handle);
 911         free(jlink);
 912 }
 913
 914 /* Send a message and receive the reply. */
 915 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length)
 916 {
 917         int result;
 918
 919         result = jlink_usb_write(jlink, out_length);
 920         if (result != out_length)
 921         {
 922                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
 923                                 out_length, result);
 924                 return ERROR_JTAG_DEVICE_ERROR;
 925         }
 926
 927         result = jlink_usb_read(jlink, in_length);
 928         if ((result != in_length) && (result != (in_length + 1)))
 929         {
 930                 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
 931                                 in_length, result);
 932                 return ERROR_JTAG_DEVICE_ERROR;
 933         }
 934
 935         if (jlink_hw_jtag_version < 3)
 936                 return result;
 937
 938         int result2 = ERROR_OK;
 939         if (result == in_length)
 940         {
 941                 /* Must read the result from the EMU too */
 942                 result2 = jlink_usb_read_emu_result(jlink);
 943                 if (1 != result2)
 944                 {
 945                         LOG_ERROR("jlink_usb_read_emu_result retried requested = 1, result=%d, in_length=%i", result2,in_length);
 946                         /* Try again once, should only happen if (in_length%64 == 0) */
 947                         result2 = jlink_usb_read_emu_result(jlink);
 948                         if (1 != result2)
 949                         {
 950                                 LOG_ERROR("jlink_usb_read_emu_result failed "
 951                                         "(requested = 1, result=%d)", result2);
 952                                 return ERROR_JTAG_DEVICE_ERROR;
 953                         }
 954                 }
 955
 956                 /* Check the result itself */
 957                 result2 = usb_emu_result_buffer[0];
 958         }
 959         else
 960         {
 961                 /* Save the result, then remove it from return value */
 962                 result2 = usb_in_buffer[result--];
 963         }
 964
 965         if (result2)
 966         {
 967                 LOG_ERROR("jlink_usb_message failed with result=%d)", result2);
 968                 return ERROR_JTAG_DEVICE_ERROR;
 969         }
 970
 971         return result;
 972 }
 973
 974 /* calls the given usb_bulk_* function, allowing for the data to trickle in with some timeouts  */
 975 static int usb_bulk_with_retries(
 976                 int (*f)(usb_dev_handle *, int, char *, int, int),
 977                 usb_dev_handle *dev, int ep,
 978                 char *bytes, int size, int timeout)
 979 {
 980         int tries = 3, count = 0;
 981
 982         while (tries && (count < size))
 983         {
 984                 int result = f(dev, ep, bytes + count, size - count, timeout);
 985                 if (result > 0)
 986                         count += result;
 987                 else if ((-ETIMEDOUT != result) || !--tries)
 988                         return result;
 989         }
 990         return count;
 991 }
 992
 993 static int wrap_usb_bulk_write(usb_dev_handle *dev, int ep,
 994                                char *buff, int size, int timeout)
 995 {
 996         /* usb_bulk_write() takes const char *buff */
 997         return usb_bulk_write(dev, ep, buff, size, timeout);
 998 }
 999
1000 static inline int usb_bulk_write_ex(usb_dev_handle *dev, int ep,
1001                 char *bytes, int size, int timeout)
1002 {
1003         return usb_bulk_with_retries(&wrap_usb_bulk_write,
1004                         dev, ep, bytes, size, timeout);
1005 }
1006
1007 static inline int usb_bulk_read_ex(usb_dev_handle *dev, int ep,
1008                 char *bytes, int size, int timeout)
1009 {
1010         return usb_bulk_with_retries(&usb_bulk_read,
1011                         dev, ep, bytes, size, timeout);
1012 }
1013
1014 /* Write data from out_buffer to USB. */
1015 static int jlink_usb_write(struct jlink *jlink, int out_length)
1016 {
1017         int result;
1018
1019         if (out_length > JLINK_OUT_BUFFER_SIZE)
1020         {
1021                 LOG_ERROR("jlink_write illegal out_length=%d (max=%d)", out_length, JLINK_OUT_BUFFER_SIZE);
1022                 return -1;
1023         }
1024
1025         result = usb_bulk_write_ex(jlink->usb_handle, jlink_write_ep,
1026                 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
1027
1028         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d", out_length, result);
1029
1030 #ifdef _DEBUG_USB_COMMS_
1031         jlink_debug_buffer(usb_out_buffer, out_length);
1032 #endif
1033         return result;
1034 }
1035
1036 /* Read data from USB into in_buffer. */
1037 static int jlink_usb_read(struct jlink *jlink, int expected_size)
1038 {
1039         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1040                 (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);
1041
1042         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
1043
1044 #ifdef _DEBUG_USB_COMMS_
1045         jlink_debug_buffer(usb_in_buffer, result);
1046 #endif
1047         return result;
1048 }
1049
1050 /* Read the result from the previous EMU cmd into result_buffer. */
1051 static int jlink_usb_read_emu_result(struct jlink *jlink)
1052 {
1053         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1054                 (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */,
1055                 JLINK_USB_TIMEOUT);
1056
1057         DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
1058
1059 #ifdef _DEBUG_USB_COMMS_
1060         jlink_debug_buffer(usb_emu_result_buffer, result);
1061 #endif
1062         return result;
1063 }
1064
1065 #ifdef _DEBUG_USB_COMMS_
1066 #define BYTES_PER_LINE  16
1067
1068 static void jlink_debug_buffer(uint8_t *buffer, int length)
1069 {
1070         char line[81];
1071         char s[4];
1072         int i;
1073         int j;
1074
1075         for (i = 0; i < length; i += BYTES_PER_LINE)
1076         {
1077                 snprintf(line, 5, "%04x", i);
1078                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
1079                 {
1080                         snprintf(s, 4, " %02x", buffer[j]);
1081                         strcat(line, s);
1082                 }
1083                 LOG_DEBUG("%s", line);
1084         }
1085 }
1086 #endif
1087