git.sur5r.net Git - openocd/blob - src/jtag/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.h"
  29
  30 #include <usb.h>
  31
  32
  33 #define VID 0x1366
  34 #define PID 0x0101
  35
  36 #define JLINK_WRITE_ENDPOINT    0x02
  37 #define JLINK_READ_ENDPOINT             0x81
  38
  39 #define JLINK_USB_TIMEOUT               1000
  40
  41 // See Section 1.3.2 of the Segger JLink USB protocol manual
  42 /* 2048 is the max value we can use here */
  43 //#define JLINK_TAP_BUFFER_SIZE 2048
  44 #define JLINK_TAP_BUFFER_SIZE 256
  45 //#define JLINK_TAP_BUFFER_SIZE 384
  46
  47 #define JLINK_IN_BUFFER_SIZE                    2048
  48 #define JLINK_OUT_BUFFER_SIZE                   2*2048+4
  49 #define JLINK_EMU_RESULT_BUFFER_SIZE    64
  50
  51 /* Global USB buffers */
  52 static u8 usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  53 static u8 usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  54 static u8 usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
  55
  56 /* Constants for JLink command */
  57 #define EMU_CMD_VERSION                 0x01
  58 #define EMU_CMD_SET_SPEED               0x05
  59 #define EMU_CMD_GET_STATE               0x07
  60 #define EMU_CMD_HW_CLOCK                        0xc8
  61 #define EMU_CMD_HW_TMS0                         0xc9
  62 #define EMU_CMD_HW_TMS1                         0xca
  63 #define EMU_CMD_HW_JTAG3                0xcf
  64 #define EMU_CMD_GET_MAX_MEM_BLOCK       0xd4
  65 #define EMU_CMD_HW_RESET0               0xdc
  66 #define EMU_CMD_HW_RESET1               0xdd
  67 #define EMU_CMD_HW_TRST0                0xde
  68 #define EMU_CMD_HW_TRST1                0xdf
  69 #define EMU_CMD_GET_CAPS                0xe8
  70
  71 /* max speed 12MHz v5.0 jlink */
  72 #define JLINK_MAX_SPEED 12000
  73
  74 /* External interface functions */
  75 static int jlink_execute_queue(void);
  76 static int jlink_speed(int speed);
  77 static int jlink_speed_div(int speed, int* khz);
  78 static int jlink_khz(int khz, int *jtag_speed);
  79 static int jlink_register_commands(struct command_context_s *cmd_ctx);
  80 static int jlink_init(void);
  81 static int jlink_quit(void);
  82
  83 /* CLI command handler functions */
  84 static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  85
  86 /* Queue command functions */
  87 static void jlink_end_state(tap_state_t state);
  88 static void jlink_state_move(void);
  89 static void jlink_path_move(int num_states, tap_state_t *path);
  90 static void jlink_runtest(int num_cycles);
  91 static void jlink_scan(bool ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
  92 static void jlink_reset(int trst, int srst);
  93 static void jlink_simple_command(u8 command);
  94 static int jlink_get_status(void);
  95
  96 /* J-Link tap buffer functions */
  97 static void jlink_tap_init(void);
  98 static int jlink_tap_execute(void);
  99 static void jlink_tap_ensure_space(int scans, int bits);
 100 static void jlink_tap_append_step(int tms, int tdi);
 101 static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
 102
 103 /* Jlink lowlevel functions */
 104 typedef struct jlink_jtag
 105 {
 106         struct usb_dev_handle* usb_handle;
 107 } jlink_jtag_t;
 108
 109 static jlink_jtag_t *jlink_usb_open(void);
 110 static void jlink_usb_close(jlink_jtag_t *jlink_jtag);
 111 static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length);
 112 static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length);
 113 static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size);
 114 static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag);
 115
 116 /* helper functions */
 117 static int jlink_get_version_info(void);
 118
 119 #ifdef _DEBUG_USB_COMMS_
 120 static void jlink_debug_buffer(u8 *buffer, int length);
 121 #endif
 122
 123 static enum tap_state jlink_last_state = TAP_RESET;
 124
 125 static jlink_jtag_t* jlink_jtag_handle;
 126
 127 /***************************************************************************/
 128 /* External interface implementation */
 129
 130 jtag_interface_t jlink_interface =
 131 {
 132         .name = "jlink",
 133         .execute_queue = jlink_execute_queue,
 134         .speed = jlink_speed,
 135         .speed_div = jlink_speed_div,
 136         .khz = jlink_khz,
 137         .register_commands = jlink_register_commands,
 138         .init = jlink_init,
 139         .quit = jlink_quit
 140 };
 141
 142 static void jlink_execute_end_state(jtag_command_t *cmd)
 143 {
 144         DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
 145
 146         if (cmd->cmd.end_state->end_state != TAP_INVALID)
 147                 jlink_end_state(cmd->cmd.end_state->end_state);
 148 }
 149
 150 static void jlink_execute_runtest(jtag_command_t *cmd)
 151 {
 152         DEBUG_JTAG_IO("runtest %i cycles, end in %i",
 153                         cmd->cmd.runtest->num_cycles,
 154                         cmd->cmd.runtest->end_state);
 155
 156         if (cmd->cmd.runtest->end_state != TAP_INVALID)
 157                 jlink_end_state(cmd->cmd.runtest->end_state);
 158
 159         jlink_runtest(cmd->cmd.runtest->num_cycles);
 160 }
 161
 162 static void jlink_execute_statemove(jtag_command_t *cmd)
 163 {
 164         DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 165
 166         if (cmd->cmd.statemove->end_state != TAP_INVALID)
 167         {
 168                 jlink_end_state(cmd->cmd.statemove->end_state);
 169         }
 170         jlink_state_move();
 171 }
 172
 173 static void jlink_execute_pathmove(jtag_command_t *cmd)
 174 {
 175         DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 176                 cmd->cmd.pathmove->num_states,
 177                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 178
 179         jlink_path_move(cmd->cmd.pathmove->num_states,
 180                         cmd->cmd.pathmove->path);
 181 }
 182
 183 static void jlink_execute_scan(jtag_command_t *cmd)
 184 {
 185         int scan_size;
 186         enum scan_type type;
 187         u8 *buffer;
 188
 189         DEBUG_JTAG_IO("scan end in %s", tap_state_name(cmd->cmd.scan->end_state));
 190
 191         if (cmd->cmd.scan->end_state != TAP_INVALID)
 192                 jlink_end_state(cmd->cmd.scan->end_state);
 193
 194         scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 195         DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 196
 197 #ifdef _DEBUG_USB_COMMS_
 198         jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 199 #endif
 200         type = jtag_scan_type(cmd->cmd.scan);
 201         jlink_scan(cmd->cmd.scan->ir_scan,
 202                         type, buffer, scan_size, cmd->cmd.scan);
 203 }
 204
 205 static void jlink_execute_reset(jtag_command_t *cmd)
 206 {
 207         DEBUG_JTAG_IO("reset trst: %i srst %i",
 208                         cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 209
 210         jlink_tap_execute();
 211
 212         if ( (cmd->cmd.reset->trst == 1) || ( cmd->cmd.reset->srst && (jtag_reset_config & RESET_SRST_PULLS_TRST) ) )
 213         {
 214                 tap_set_state(TAP_RESET);
 215         }
 216
 217         jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 218         jlink_tap_execute();
 219 }
 220
 221 static void jlink_execute_sleep(jtag_command_t *cmd)
 222 {
 223         DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 224         jlink_tap_execute();
 225         jtag_sleep(cmd->cmd.sleep->us);
 226 }
 227
 228 static void jlink_execute_command(jtag_command_t *cmd)
 229 {
 230         switch (cmd->type)
 231         {
 232         case JTAG_END_STATE: jlink_execute_end_state(cmd); break;
 233         case JTAG_RUNTEST:   jlink_execute_runtest(cmd); break;
 234         case JTAG_STATEMOVE: jlink_execute_statemove(cmd); break;
 235         case JTAG_PATHMOVE:  jlink_execute_pathmove(cmd); break;
 236         case JTAG_SCAN:      jlink_execute_scan(cmd); break;
 237         case JTAG_RESET:     jlink_execute_reset(cmd); break;
 238         case JTAG_SLEEP:     jlink_execute_sleep(cmd); break;
 239         default:
 240                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 241                 exit(-1);
 242         }
 243 }
 244
 245 static int jlink_execute_queue(void)
 246 {
 247         jtag_command_t *cmd = jtag_command_queue;
 248
 249         while (cmd != NULL)
 250         {
 251                 jlink_execute_command(cmd);
 252                 cmd = cmd->next;
 253         }
 254
 255         return jlink_tap_execute();
 256 }
 257
 258 /* Sets speed in kHz. */
 259 static int jlink_speed(int speed)
 260 {
 261         int result;
 262
 263         if (speed > JLINK_MAX_SPEED)
 264         {
 265                 LOG_INFO("Ignoring speed request: %dkHz exceeds %dkHz maximum",
 266                                 speed, JLINK_MAX_SPEED);
 267                 return ERROR_OK;
 268         }
 269
 270         /* check for RTCK setting */
 271         if (speed == 0)
 272                 speed = -1;
 273
 274         usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 275         usb_out_buffer[1] = (speed >> 0) & 0xff;
 276         usb_out_buffer[2] = (speed >> 8) & 0xff;
 277
 278         result = jlink_usb_write(jlink_jtag_handle, 3);
 279         if (result != 3)
 280         {
 281                 LOG_ERROR("J-Link setting speed failed (%d)", result);
 282                 return ERROR_JTAG_DEVICE_ERROR;
 283         }
 284
 285         return ERROR_OK;
 286 }
 287
 288 static int jlink_speed_div(int speed, int* khz)
 289 {
 290         *khz = speed;
 291
 292         return ERROR_OK;
 293 }
 294
 295 static int jlink_khz(int khz, int *jtag_speed)
 296 {
 297         *jtag_speed = khz;
 298
 299         return ERROR_OK;
 300 }
 301
 302 static int jlink_register_commands(struct command_context_s *cmd_ctx)
 303 {
 304         register_command(cmd_ctx, NULL, "jlink_info", jlink_handle_jlink_info_command, COMMAND_EXEC,
 305                 "query jlink info");
 306         return ERROR_OK;
 307 }
 308
 309 static int jlink_init(void)
 310 {
 311         int check_cnt;
 312
 313         jlink_jtag_handle = jlink_usb_open();
 314
 315         if (jlink_jtag_handle == 0)
 316         {
 317                 LOG_ERROR("Cannot find jlink Interface! Please check connection and permissions.");
 318                 return ERROR_JTAG_INIT_FAILED;
 319         }
 320
 321         check_cnt = 0;
 322         while (check_cnt < 3)
 323         {
 324                 if (jlink_get_version_info() == ERROR_OK)
 325                 {
 326                         /* attempt to get status */
 327                         jlink_get_status();
 328                         break;
 329                 }
 330
 331                 check_cnt++;
 332         }
 333
 334         if (check_cnt == 3)
 335         {
 336                 LOG_INFO("J-Link initial read failed, don't worry");
 337         }
 338
 339         LOG_INFO("J-Link JTAG Interface ready");
 340
 341         jlink_reset(0, 0);
 342         jtag_sleep(3000);
 343         jlink_tap_init();
 344         jlink_speed(jtag_speed);
 345
 346         return ERROR_OK;
 347 }
 348
 349 static int jlink_quit(void)
 350 {
 351         jlink_usb_close(jlink_jtag_handle);
 352         return ERROR_OK;
 353 }
 354
 355 /***************************************************************************/
 356 /* Queue command implementations */
 357
 358 static void jlink_end_state(tap_state_t state)
 359 {
 360         if (tap_is_state_stable(state))
 361         {
 362                 tap_set_end_state(state);
 363         }
 364         else
 365         {
 366                 LOG_ERROR("BUG: %i is not a valid end state", state);
 367                 exit(-1);
 368         }
 369 }
 370
 371 /* Goes to the end state. */
 372 static void jlink_state_move(void)
 373 {
 374         int i;
 375         int tms = 0;
 376         u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 377         u8 tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 378
 379         for (i = 0; i < tms_scan_bits; i++)
 380         {
 381                 tms = (tms_scan >> i) & 1;
 382                 jlink_tap_append_step(tms, 0);
 383         }
 384
 385         tap_set_state(tap_get_end_state());
 386 }
 387
 388 static void jlink_path_move(int num_states, tap_state_t *path)
 389 {
 390         int i;
 391
 392         for (i = 0; i < num_states; i++)
 393         {
 394                 if (path[i] == tap_state_transition(tap_get_state(), false))
 395                 {
 396                         jlink_tap_append_step(0, 0);
 397                 }
 398                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 399                 {
 400                         jlink_tap_append_step(1, 0);
 401                 }
 402                 else
 403                 {
 404                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 405                         exit(-1);
 406                 }
 407
 408                 tap_set_state(path[i]);
 409         }
 410
 411         tap_set_end_state(tap_get_state());
 412 }
 413
 414 static void jlink_runtest(int num_cycles)
 415 {
 416         int i;
 417
 418         tap_state_t saved_end_state = tap_get_end_state();
 419
 420         jlink_tap_ensure_space(1,num_cycles + 16);
 421
 422         /* only do a state_move when we're not already in IDLE */
 423         if (tap_get_state() != TAP_IDLE)
 424         {
 425                 jlink_end_state(TAP_IDLE);
 426                 jlink_state_move();
 427 //              num_cycles--;
 428         }
 429
 430         /* execute num_cycles */
 431         for (i = 0; i < num_cycles; i++)
 432         {
 433                 jlink_tap_append_step(0, 0);
 434         }
 435
 436         /* finish in end_state */
 437         jlink_end_state(saved_end_state);
 438         if (tap_get_state() != tap_get_end_state())
 439         {
 440                 jlink_state_move();
 441         }
 442 }
 443
 444 static void jlink_scan(bool ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
 445 {
 446         tap_state_t saved_end_state;
 447
 448         jlink_tap_ensure_space(1, scan_size + 16);
 449
 450         saved_end_state = tap_get_end_state();
 451
 452         /* Move to appropriate scan state */
 453         jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 454
 455         /* Only move if we're not already there */
 456         if (tap_get_state() != tap_get_end_state())
 457                 jlink_state_move();
 458
 459         jlink_end_state(saved_end_state);
 460
 461         /* Scan */
 462         jlink_tap_append_scan(scan_size, buffer, command);
 463
 464         /* We are in Exit1, go to Pause */
 465         jlink_tap_append_step(0, 0);
 466
 467         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 468
 469         if (tap_get_state() != tap_get_end_state())
 470         {
 471                 jlink_state_move();
 472         }
 473 }
 474
 475 static void jlink_reset(int trst, int srst)
 476 {
 477         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 478
 479         /* Signals are active low */
 480         if (srst == 0)
 481         {
 482                 jlink_simple_command(EMU_CMD_HW_RESET1);
 483         }
 484         if (srst == 1)
 485         {
 486                 jlink_simple_command(EMU_CMD_HW_RESET0);
 487         }
 488
 489         if (trst == 1)
 490         {
 491                 jlink_simple_command(EMU_CMD_HW_TRST0);
 492         }
 493         if (trst == 0)
 494         {
 495                 jlink_simple_command(EMU_CMD_HW_TRST1);
 496                 jtag_sleep(5000);
 497                 jlink_end_state(TAP_RESET);
 498                 jlink_state_move();
 499         }
 500 }
 501
 502 static void jlink_simple_command(u8 command)
 503 {
 504         int result;
 505
 506         DEBUG_JTAG_IO("0x%02x", command);
 507
 508         usb_out_buffer[0] = command;
 509         result = jlink_usb_write(jlink_jtag_handle, 1);
 510
 511         if (result != 1)
 512         {
 513                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 514         }
 515 }
 516
 517 static int jlink_get_status(void)
 518 {
 519         int result;
 520
 521         jlink_simple_command(EMU_CMD_GET_STATE);
 522
 523         result = jlink_usb_read(jlink_jtag_handle, 8);
 524         if (result != 8)
 525         {
 526                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
 527                 return ERROR_JTAG_DEVICE_ERROR;
 528         }
 529
 530         int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 531         LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d\n", \
 532                 vref / 1000, vref % 1000, \
 533                 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 534                 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 535
 536         if (vref < 1500)
 537                 LOG_ERROR("Vref too low. Check Target Power\n");
 538
 539         return ERROR_OK;
 540 }
 541
 542 static int jlink_get_version_info(void)
 543 {
 544         int result;
 545         int len;
 546         u32 jlink_caps, jlink_max_size;
 547
 548         /* query hardware version */
 549         jlink_simple_command(EMU_CMD_VERSION);
 550
 551         result = jlink_usb_read(jlink_jtag_handle, 2);
 552         if (2 != result)
 553         {
 554                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
 555                 return ERROR_JTAG_DEVICE_ERROR;
 556         }
 557
 558         len = buf_get_u32(usb_in_buffer, 0, 16);
 559         result = jlink_usb_read(jlink_jtag_handle, len);
 560         if (result != len)
 561         {
 562                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
 563                 return ERROR_JTAG_DEVICE_ERROR;
 564         }
 565
 566         usb_in_buffer[result] = 0;
 567         LOG_INFO("%s", (char *)usb_in_buffer);
 568
 569         /* query hardware capabilities */
 570         jlink_simple_command(EMU_CMD_GET_CAPS);
 571
 572         result = jlink_usb_read(jlink_jtag_handle, 4);
 573         if (4 != result)
 574         {
 575                 LOG_ERROR("J-Link command EMU_CMD_GET_CAPS failed (%d)\n", result);
 576                 return ERROR_JTAG_DEVICE_ERROR;
 577         }
 578
 579         jlink_caps = buf_get_u32(usb_in_buffer, 0, 32);
 580         LOG_INFO("JLink caps 0x%x", jlink_caps);
 581
 582
 583         /* query hardware maximum memory block */
 584         jlink_simple_command(EMU_CMD_GET_MAX_MEM_BLOCK);
 585
 586         result = jlink_usb_read(jlink_jtag_handle, 4);
 587         if (4 != result)
 588         {
 589                 LOG_ERROR("J-Link command EMU_CMD_GET_MAX_MEM_BLOCK failed (%d)\n", result);
 590                 return ERROR_JTAG_DEVICE_ERROR;
 591         }
 592
 593         jlink_max_size = buf_get_u32(usb_in_buffer, 0, 32);
 594         LOG_INFO("JLink max mem block %i", jlink_max_size);
 595
 596
 597         return ERROR_OK;
 598 }
 599
 600 static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 601 {
 602         if (jlink_get_version_info() == ERROR_OK)
 603         {
 604                 /* attempt to get status */
 605                 jlink_get_status();
 606         }
 607
 608         return ERROR_OK;
 609 }
 610
 611 /***************************************************************************/
 612 /* J-Link tap functions */
 613
 614
 615 static unsigned tap_length=0;
 616 static u8 tms_buffer[JLINK_TAP_BUFFER_SIZE];
 617 static u8 tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 618 static u8 tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 619
 620 typedef struct
 621 {
 622         int first;      /* First bit position in tdo_buffer to read */
 623         int length; /* Number of bits to read */
 624         scan_command_t *command; /* Corresponding scan command */
 625         u8 *buffer;
 626 } pending_scan_result_t;
 627
 628 #define MAX_PENDING_SCAN_RESULTS 256
 629
 630 static int pending_scan_results_length;
 631 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 632
 633 static void jlink_tap_init(void)
 634 {
 635         tap_length = 0;
 636         pending_scan_results_length = 0;
 637 }
 638
 639 static void jlink_tap_ensure_space(int scans, int bits)
 640 {
 641         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 642         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length - 32;
 643
 644         if (scans > available_scans || bits > available_bits)
 645         {
 646                 jlink_tap_execute();
 647         }
 648 }
 649
 650 static void jlink_tap_append_step(int tms, int tdi)
 651 {
 652         int index = tap_length / 8;
 653
 654         if (index >= JLINK_TAP_BUFFER_SIZE)
 655         {
 656                 LOG_ERROR("jlink_tap_append_step: overflow");
 657                 *(u32 *)0xFFFFFFFF = 0;
 658                 exit(-1);
 659         }
 660
 661         int bit_index = tap_length % 8;
 662         u8 bit = 1 << bit_index;
 663
 664         // we do not pad TMS, so be sure to initialize all bits
 665         if (0 == bit_index)
 666         {
 667                 tms_buffer[index] = tdi_buffer[index] = 0;
 668         }
 669
 670         if (tms)
 671                 tms_buffer[index] |= bit;
 672         else
 673                 tms_buffer[index] &= ~bit;
 674
 675         if (tdi)
 676                 tdi_buffer[index] |= bit;
 677         else
 678                 tdi_buffer[index] &= ~bit;
 679
 680         tap_length++;
 681 }
 682
 683 static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
 684 {
 685         pending_scan_result_t *pending_scan_result =
 686                 &pending_scan_results_buffer[pending_scan_results_length];
 687         int i;
 688
 689         pending_scan_result->first = tap_length;
 690         pending_scan_result->length = length;
 691         pending_scan_result->command = command;
 692         pending_scan_result->buffer = buffer;
 693
 694         for (i = 0; i < length; i++)
 695         {
 696                 int tms = (i < (length - 1)) ? 0 : 1;
 697                 int tdi = (buffer[i / 8] & (1 << (i % 8)))!=0;
 698                 jlink_tap_append_step(tms, tdi);
 699         }
 700         pending_scan_results_length++;
 701 }
 702
 703 /* Pad and send a tap sequence to the device, and receive the answer.
 704  * For the purpose of padding we assume that we are in idle or pause state. */
 705 static int jlink_tap_execute(void)
 706 {
 707         int byte_length;
 708         int i;
 709         int result;
 710
 711         if (!tap_length)
 712                 return ERROR_OK;
 713
 714         /* JLink returns an extra NULL in packet when size of in message is a multiple of 64, creates problems with usb comms */
 715         /* WARNING This will interfere with tap state counting */
 716         while ((TAP_SCAN_BYTES(tap_length)%64)==0)
 717         {
 718                 jlink_tap_append_step((tap_get_state() == TAP_RESET)?1:0, 0);
 719         }
 720
 721         // number of full bytes (plus one if some would be left over)
 722         byte_length = TAP_SCAN_BYTES(tap_length);
 723
 724         usb_out_buffer[0] = EMU_CMD_HW_JTAG3;
 725         usb_out_buffer[1] = 0;
 726         usb_out_buffer[2] = (tap_length >> 0) & 0xff;
 727         usb_out_buffer[3] = (tap_length >> 8) & 0xff;
 728         memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
 729         memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);
 730
 731         jlink_last_state = jtag_debug_state_machine(tms_buffer, tdi_buffer,
 732                         tap_length, jlink_last_state);
 733
 734         result = jlink_usb_message(jlink_jtag_handle, 4 + 2 * byte_length, byte_length);
 735         if (result != byte_length)
 736         {
 737                 LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)", result, byte_length);
 738                 jlink_tap_init();
 739                 return ERROR_JTAG_QUEUE_FAILED;
 740         }
 741
 742         memcpy(tdo_buffer, usb_in_buffer, byte_length);
 743
 744         for (i = 0; i < pending_scan_results_length; i++)
 745         {
 746                 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
 747                 u8 *buffer = pending_scan_result->buffer;
 748                 int length = pending_scan_result->length;
 749                 int first = pending_scan_result->first;
 750                 scan_command_t *command = pending_scan_result->command;
 751
 752                 /* Copy to buffer */
 753                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 754
 755                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 756
 757 #ifdef _DEBUG_USB_COMMS_
 758                 jlink_debug_buffer(buffer, byte_length);
 759 #endif
 760
 761                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 762                 {
 763                         jlink_tap_init();
 764                         return ERROR_JTAG_QUEUE_FAILED;
 765                 }
 766
 767                 if (pending_scan_result->buffer != NULL)
 768                 {
 769                         free(pending_scan_result->buffer);
 770                 }
 771         }
 772
 773         jlink_tap_init();
 774         return ERROR_OK;
 775 }
 776
 777 /*****************************************************************************/
 778 /* JLink USB low-level functions */
 779
 780 static jlink_jtag_t* jlink_usb_open()
 781 {
 782         struct usb_bus *busses;
 783         struct usb_bus *bus;
 784         struct usb_device *dev;
 785
 786         jlink_jtag_t *result;
 787
 788         result = (jlink_jtag_t*) malloc(sizeof(jlink_jtag_t));
 789
 790         usb_init();
 791         usb_find_busses();
 792         usb_find_devices();
 793
 794         busses = usb_get_busses();
 795
 796         /* find jlink_jtag device in usb bus */
 797
 798         for (bus = busses; bus; bus = bus->next)
 799         {
 800                 for (dev = bus->devices; dev; dev = dev->next)
 801                 {
 802                         if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID))
 803                         {
 804                                 result->usb_handle = usb_open(dev);
 805
 806                                 /* usb_set_configuration required under win32 */
 807                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 808                                 usb_claim_interface(result->usb_handle, 0);
 809
 810 #if 0
 811                                 /*
 812                                  * This makes problems under Mac OS X. And is not needed
 813                                  * under Windows. Hopefully this will not break a linux build
 814                                  */
 815                                 usb_set_altinterface(result->usb_handle, 0);
 816 #endif
 817                                 return result;
 818                         }
 819                 }
 820         }
 821
 822         free(result);
 823         return NULL;
 824 }
 825
 826 static void jlink_usb_close(jlink_jtag_t *jlink_jtag)
 827 {
 828         usb_close(jlink_jtag->usb_handle);
 829         free(jlink_jtag);
 830 }
 831
 832 /* Send a message and receive the reply. */
 833 static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length)
 834 {
 835         int result;
 836         int result2;
 837
 838         result = jlink_usb_write(jlink_jtag, out_length);
 839         if (result != out_length)
 840         {
 841                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
 842                                 out_length, result);
 843                 return ERROR_JTAG_DEVICE_ERROR;
 844         }
 845
 846         result = jlink_usb_read(jlink_jtag, in_length);
 847         if ((result != in_length) && (result != (in_length + 1)))
 848         {
 849                 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
 850                                 in_length, result);
 851                 return ERROR_JTAG_DEVICE_ERROR;
 852         }
 853
 854         if (result == in_length)
 855         {
 856                 /* Must read the result from the EMU too */
 857                 result2 = jlink_usb_read_emu_result(jlink_jtag);
 858                 if (1 != result2)
 859                 {
 860                         LOG_ERROR("jlink_usb_read_emu_result retried requested=1, result=%d, in_length=%i", result2,in_length);
 861                         /* Try again once, should only happen if (in_length%64==0) */
 862                         result2 = jlink_usb_read_emu_result(jlink_jtag);
 863                         if (1 != result2)
 864                         {
 865                                 LOG_ERROR("jlink_usb_read_emu_result failed "
 866                                         "(requested=1, result=%d)", result2);
 867                                 return ERROR_JTAG_DEVICE_ERROR;
 868                         }
 869                 }
 870
 871                 /* Check the result itself */
 872                 result2 = usb_emu_result_buffer[0];
 873         }
 874         else
 875         {
 876                 /* Save the result, then remove it from return value */
 877                 result2 = usb_in_buffer[result--];
 878         }
 879
 880         if (result2)
 881         {
 882                 LOG_ERROR("jlink_usb_message failed with result=%d)", result2);
 883                 return ERROR_JTAG_DEVICE_ERROR;
 884         }
 885
 886         return result;
 887 }
 888
 889 /* calls the given usb_bulk_* function, allowing for the data to trickle in with some timeouts  */
 890 static int usb_bulk_with_retries(
 891                 int (*f)(usb_dev_handle *, int, char *, int, int),
 892                 usb_dev_handle *dev, int ep,
 893                 char *bytes, int size, int timeout)
 894 {
 895         int tries = 3, count = 0;
 896
 897         while (tries && (count < size))
 898         {
 899                 int result = f(dev, ep, bytes + count, size - count, timeout);
 900                 if (result > 0)
 901                         count += result;
 902                 else if ((-ETIMEDOUT != result) || !--tries)
 903                         return result;
 904         }
 905         return count;
 906 }
 907
 908 static int wrap_usb_bulk_write(usb_dev_handle *dev, int ep,
 909                                char *buff, int size, int timeout)
 910 {
 911         /* usb_bulk_write() takes const char *buff */
 912         return usb_bulk_write(dev, ep, buff, size, timeout);
 913 }
 914
 915 static inline int usb_bulk_write_ex(usb_dev_handle *dev, int ep,
 916                 char *bytes, int size, int timeout)
 917 {
 918         return usb_bulk_with_retries(&wrap_usb_bulk_write,
 919                         dev, ep, bytes, size, timeout);
 920 }
 921
 922 static inline int usb_bulk_read_ex(usb_dev_handle *dev, int ep,
 923                 char *bytes, int size, int timeout)
 924 {
 925         return usb_bulk_with_retries(&usb_bulk_read,
 926                         dev, ep, bytes, size, timeout);
 927 }
 928
 929 /* Write data from out_buffer to USB. */
 930 static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length)
 931 {
 932         int result;
 933
 934         if (out_length > JLINK_OUT_BUFFER_SIZE)
 935         {
 936                 LOG_ERROR("jlink_jtag_write illegal out_length=%d (max=%d)", out_length, JLINK_OUT_BUFFER_SIZE);
 937                 return -1;
 938         }
 939
 940         result = usb_bulk_write_ex(jlink_jtag->usb_handle, JLINK_WRITE_ENDPOINT,
 941                 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
 942
 943         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d", out_length, result);
 944
 945 #ifdef _DEBUG_USB_COMMS_
 946         jlink_debug_buffer(usb_out_buffer, out_length);
 947 #endif
 948         return result;
 949 }
 950
 951 /* Read data from USB into in_buffer. */
 952 static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size)
 953 {
 954         int result = usb_bulk_read_ex(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT,
 955                 (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);
 956
 957         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
 958
 959 #ifdef _DEBUG_USB_COMMS_
 960         jlink_debug_buffer(usb_in_buffer, result);
 961 #endif
 962         return result;
 963 }
 964
 965 /* Read the result from the previous EMU cmd into result_buffer. */
 966 static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag)
 967 {
 968         int result = usb_bulk_read_ex(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT,
 969                 (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */,
 970                 JLINK_USB_TIMEOUT);
 971
 972         DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
 973
 974 #ifdef _DEBUG_USB_COMMS_
 975         jlink_debug_buffer(usb_emu_result_buffer, result);
 976 #endif
 977         return result;
 978 }
 979
 980 #ifdef _DEBUG_USB_COMMS_
 981 #define BYTES_PER_LINE  16
 982
 983 static void jlink_debug_buffer(u8 *buffer, int length)
 984 {
 985         char line[81];
 986         char s[4];
 987         int i;
 988         int j;
 989
 990         for (i = 0; i < length; i += BYTES_PER_LINE)
 991         {
 992                 snprintf(line, 5, "%04x", i);
 993                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 994                 {
 995                         snprintf(s, 4, " %02x", buffer[j]);
 996                         strcat(line, s);
 997                 }
 998                 LOG_DEBUG("%s", line);
 999         }
1000 }
1001 #endif
1002