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  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program; if not, write to the                         *
  17  *   Free Software Foundation, Inc.,                                       *
  18  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19  ***************************************************************************/
  20
  21 #ifdef HAVE_CONFIG_H
  22 #include "config.h"
  23 #endif
  24
  25 #include "replacements.h"
  26
  27 #include "jtag.h"
  28
  29 #include <usb.h>
  30 #include <string.h>
  31
  32 #include "log.h"
  33
  34 /* enable this to debug communication
  35  */
  36 #if 0
  37 #define _DEBUG_USB_COMMS_
  38 #endif
  39
  40 #ifdef _DEBUG_JTAG_IO_
  41 #define DEBUG_JTAG_IO(expr ...) LOG_DEBUG(expr)
  42 #else
  43 #define DEBUG_JTAG_IO(expr ...)
  44 #endif
  45
  46 #define VID 0x1366
  47 #define PID 0x0101
  48
  49 #define JLINK_WRITE_ENDPOINT    0x02
  50 #define JLINK_READ_ENDPOINT             0x81
  51
  52 #define JLINK_USB_TIMEOUT               100
  53
  54 #define JLINK_IN_BUFFER_SIZE    2064
  55 #define JLINK_OUT_BUFFER_SIZE   2064
  56
  57 /* Global USB buffers */
  58 static u8 usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  59 static u8 usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  60
  61 /* Constants for JLink command */
  62
  63 /* The JLINK_TAP_SEQUENCE_COMMAND is obsolete *
  64 /* and we should use EMU_CMD_HW_JTAG instead */
  65 #define JLINK_TAP_SEQUENCE_COMMAND              0xcd
  66
  67 #define EMU_CMD_VERSION     0x01
  68 #define EMU_CMD_SET_SPEED   0x05
  69 #define EMU_CMD_GET_STATE   0x07
  70 #define EMU_CMD_HW_JTAG     0xcf
  71 #define EMU_CMD_HW_RESET0   0xdc
  72 #define EMU_CMD_HW_RESET1   0xdd
  73 #define EMU_CMD_HW_TRST0    0xde
  74 #define EMU_CMD_HW_TRST1    0xdf
  75
  76 /* max speed 12MHz v5.0 jlink */
  77 #define JLINK_MAX_SPEED 12000
  78
  79 /* External interface functions */
  80 int jlink_execute_queue(void);
  81 int jlink_speed(int speed);
  82 int jlink_khz(int khz, int *jtag_speed);
  83 int jlink_register_commands(struct command_context_s *cmd_ctx);
  84 int jlink_init(void);
  85 int jlink_quit(void);
  86
  87 /* CLI command handler functions */
  88 int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  89
  90 /* Queue command functions */
  91 void jlink_end_state(enum tap_state state);
  92 void jlink_state_move(void);
  93 void jlink_path_move(int num_states, enum tap_state *path);
  94 void jlink_runtest(int num_cycles);
  95 void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
  96 void jlink_reset(int trst, int srst);
  97 void jlink_simple_command(u8 command);
  98 int jlink_get_status(void);
  99
 100 /* J-Link tap buffer functions */
 101 void jlink_tap_init();
 102 int jlink_tap_execute();
 103 void jlink_tap_ensure_space(int scans, int bits);
 104 void jlink_tap_append_step(int tms, int tdi);
 105 void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
 106
 107 /* Jlink lowlevel functions */
 108 typedef struct jlink_jtag
 109 {
 110         struct usb_dev_handle* usb_handle;
 111 } jlink_jtag_t;
 112
 113 jlink_jtag_t *jlink_usb_open(void);
 114 void jlink_usb_close(jlink_jtag_t *jlink_jtag);
 115 int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length);
 116 int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length);
 117 int jlink_usb_read(jlink_jtag_t *jlink_jtag);
 118
 119 #ifdef _DEBUG_USB_COMMS_
 120 void jlink_debug_buffer(u8 *buffer, int length);
 121 #endif
 122
 123 jlink_jtag_t* jlink_jtag_handle;
 124
 125 /***************************************************************************/
 126 /* External interface implementation */
 127
 128 jtag_interface_t jlink_interface =
 129 {
 130         .name = "jlink",
 131         .execute_queue = jlink_execute_queue,
 132         .speed = jlink_speed,
 133         .khz = jlink_khz,
 134         .register_commands = jlink_register_commands,
 135         .init = jlink_init,
 136         .quit = jlink_quit
 137 };
 138
 139 int jlink_execute_queue(void)
 140 {
 141         jtag_command_t *cmd = jtag_command_queue;
 142         int scan_size;
 143         enum scan_type type;
 144         u8 *buffer;
 145
 146         while (cmd != NULL)
 147         {
 148                 switch (cmd->type)
 149                 {
 150                         case JTAG_END_STATE:
 151                                 DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
 152
 153                                 if (cmd->cmd.end_state->end_state != -1)
 154                                 {
 155                                         jlink_end_state(cmd->cmd.end_state->end_state);
 156                                 }
 157                                 break;
 158
 159                         case JTAG_RUNTEST:
 160                                 DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
 161                                         cmd->cmd.runtest->end_state);
 162
 163                                 if (cmd->cmd.runtest->end_state != -1)
 164                                 {
 165                                         jlink_end_state(cmd->cmd.runtest->end_state);
 166                                 }
 167                                 jlink_runtest(cmd->cmd.runtest->num_cycles);
 168                                 break;
 169
 170                         case JTAG_STATEMOVE:
 171                                 DEBUG_JTAG_IO("statemove end in %i",
 172                                 cmd->cmd.statemove->end_state);
 173
 174                                 if (cmd->cmd.statemove->end_state != -1)
 175                                 {
 176                                         jlink_end_state(cmd->cmd.statemove->end_state);
 177                                 }
 178                                 jlink_state_move();
 179                                 break;
 180
 181                         case JTAG_PATHMOVE:
 182                             DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 183                                 cmd->cmd.pathmove->num_states,
 184                                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 185
 186                                 jlink_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 187                                 break;
 188
 189                         case JTAG_SCAN:
 190                                 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 191
 192                                 if (cmd->cmd.scan->end_state != -1)
 193                                 {
 194                                     jlink_end_state(cmd->cmd.scan->end_state);
 195                                 }
 196
 197                                 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 198                                 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 199
 200 #ifdef _DEBUG_USB_COMMS_
 201                                 jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 202 #endif
 203                                 type = jtag_scan_type(cmd->cmd.scan);
 204                                 jlink_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
 205                                 break;
 206
 207                         case JTAG_RESET:
 208                                 DEBUG_JTAG_IO("reset trst: %i srst %i",
 209                                 cmd->cmd.reset->trst,
 210                                 cmd->cmd.reset->srst);
 211
 212                                 jlink_tap_execute();
 213
 214                                 if (cmd->cmd.reset->trst == 1)
 215                                 {
 216                                         cur_state = TAP_TLR;
 217                                 }
 218                                 jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 219                                 break;
 220
 221                         case JTAG_SLEEP:
 222                                 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 223                                 jlink_tap_execute();
 224                                 jtag_sleep(cmd->cmd.sleep->us);
 225                                 break;
 226
 227                 default:
 228                         LOG_ERROR("BUG: unknown JTAG command type encountered");
 229                         exit(-1);
 230                 }
 231                 cmd = cmd->next;
 232         }
 233         jlink_tap_execute();
 234
 235         return ERROR_OK;
 236 }
 237
 238 /* Sets speed in kHz. */
 239 int jlink_speed(int speed)
 240 {
 241         int result;
 242
 243 //      if ((speed == -1) || ((1 <= speed) && (speed <= JLINK_MAX_SPEED)))
 244         if (speed <= JLINK_MAX_SPEED)
 245         {
 246                 /* check for RTCK setting */
 247                 if (speed == 0)
 248                         speed = -1;
 249
 250                 usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 251                 usb_out_buffer[1] = (speed >> 0) & 0xff;
 252                 usb_out_buffer[2] = (speed >> 8) & 0xff;
 253
 254                 result = jlink_usb_write(jlink_jtag_handle, 3);
 255
 256                 if (result == 3)
 257                 {
 258                         return ERROR_OK;
 259                 }
 260                 else
 261                 {
 262                         LOG_ERROR("J-Link setting speed failed (%d)", result);
 263                         return ERROR_JTAG_DEVICE_ERROR;
 264                 }
 265         }
 266         else
 267         {
 268                 LOG_INFO("Requested speed %dkHz exceeds maximum of %dkHz, ignored", speed, JLINK_MAX_SPEED);
 269         }
 270
 271         return ERROR_OK;
 272 }
 273
 274 int jlink_khz(int khz, int *jtag_speed)
 275 {
 276         *jtag_speed = khz;
 277
 278         return ERROR_OK;
 279 }
 280
 281 int jlink_register_commands(struct command_context_s *cmd_ctx)
 282 {
 283         register_command(cmd_ctx, NULL, "jlink_info", jlink_handle_jlink_info_command, COMMAND_EXEC,
 284                 "query jlink info");
 285         return ERROR_OK;
 286 }
 287
 288 int jlink_init(void)
 289 {
 290         int result;
 291   int len;
 292   int check_cnt;
 293
 294         jlink_jtag_handle = jlink_usb_open();
 295
 296         if (jlink_jtag_handle == 0)
 297         {
 298                 LOG_ERROR("Can't find USB JTAG Interface! Please check connection and permissions.");
 299                 return ERROR_JTAG_INIT_FAILED;
 300         }
 301
 302   check_cnt = 0;
 303   while (check_cnt < 3)
 304   {
 305           /* query hardware version */
 306           jlink_simple_command(EMU_CMD_VERSION);
 307           result = jlink_usb_read(jlink_jtag_handle);
 308
 309           if (result == 2)
 310           {
 311       /* Get length */
 312                   len = buf_get_u32(usb_in_buffer, 0, 16);
 313
 314       /* Get version */
 315                   result = jlink_usb_read(jlink_jtag_handle);
 316
 317                   if(result == len)
 318                   {
 319                           usb_in_buffer[result] = 0;
 320                           LOG_INFO(usb_in_buffer);
 321
 322                   /* attempt to get status */
 323                   jlink_get_status();
 324
 325         break;
 326                   }
 327     }
 328
 329     check_cnt++;
 330   }
 331
 332   if (check_cnt == 3)
 333   {
 334           LOG_INFO("J-Link initial read failed, don't worry");
 335   }
 336
 337         LOG_INFO("J-Link JTAG Interface ready");
 338
 339         jlink_reset(0, 0);
 340         jlink_tap_init();
 341
 342         return ERROR_OK;
 343 }
 344
 345 int jlink_quit(void)
 346 {
 347         jlink_usb_close(jlink_jtag_handle);
 348         return ERROR_OK;
 349 }
 350
 351 /***************************************************************************/
 352 /* Queue command implementations */
 353
 354 void jlink_end_state(enum tap_state state)
 355 {
 356         if (tap_move_map[state] != -1)
 357         {
 358                 end_state = state;
 359         }
 360         else
 361         {
 362                 LOG_ERROR("BUG: %i is not a valid end state", state);
 363                 exit(-1);
 364         }
 365 }
 366
 367 /* Goes to the end state. */
 368 void jlink_state_move(void)
 369 {
 370         int i;
 371         int tms = 0;
 372         u8 tms_scan = TAP_MOVE(cur_state, end_state);
 373
 374         for (i = 0; i < 7; i++)
 375         {
 376                 tms = (tms_scan >> i) & 1;
 377                 jlink_tap_append_step(tms, 0);
 378         }
 379
 380         cur_state = end_state;
 381 }
 382
 383 void jlink_path_move(int num_states, enum tap_state *path)
 384 {
 385         int i;
 386
 387         for (i = 0; i < num_states; i++)
 388         {
 389                 if (path[i] == tap_transitions[cur_state].low)
 390                 {
 391                         jlink_tap_append_step(0, 0);
 392                 }
 393                 else if (path[i] == tap_transitions[cur_state].high)
 394                 {
 395                         jlink_tap_append_step(1, 0);
 396                 }
 397                 else
 398                 {
 399                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_strings[cur_state], tap_state_strings[path[i]]);
 400                         exit(-1);
 401                 }
 402
 403                 cur_state = path[i];
 404         }
 405
 406         end_state = cur_state;
 407 }
 408
 409 void jlink_runtest(int num_cycles)
 410 {
 411         int i;
 412
 413         enum tap_state saved_end_state = end_state;
 414
 415         /* only do a state_move when we're not already in RTI */
 416         if (cur_state != TAP_RTI)
 417         {
 418                 jlink_end_state(TAP_RTI);
 419                 jlink_state_move();
 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 (cur_state != end_state)
 431         {
 432                 jlink_state_move();
 433         }
 434 }
 435
 436 void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
 437 {
 438         enum tap_state saved_end_state;
 439
 440         jlink_tap_ensure_space(1, scan_size + 8);
 441
 442         saved_end_state = end_state;
 443
 444         /* Move to appropriate scan state */
 445         jlink_end_state(ir_scan ? TAP_SI : TAP_SD);
 446
 447         jlink_state_move();
 448         jlink_end_state(saved_end_state);
 449
 450         /* Scan */
 451         jlink_tap_append_scan(scan_size, buffer, command);
 452
 453         /* We are in Exit1, go to Pause */
 454         jlink_tap_append_step(0, 0);
 455
 456         cur_state = ir_scan ? TAP_PI : TAP_PD;
 457
 458         if (cur_state != end_state)
 459         {
 460                 jlink_state_move();
 461         }
 462 }
 463
 464 void jlink_reset(int trst, int srst)
 465 {
 466         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 467
 468         /* Signals are active low */
 469         if (trst == 0)
 470         {
 471                 jlink_simple_command(EMU_CMD_HW_TRST1);
 472         }
 473         else if (trst == 1)
 474         {
 475                 jlink_simple_command(EMU_CMD_HW_TRST0);
 476         }
 477
 478         if (srst == 0)
 479         {
 480                 jlink_simple_command(EMU_CMD_HW_RESET1);
 481         }
 482         else if (srst == 1)
 483         {
 484                 jlink_simple_command(EMU_CMD_HW_RESET0);
 485         }
 486 }
 487
 488 void jlink_simple_command(u8 command)
 489 {
 490         int result;
 491
 492         DEBUG_JTAG_IO("0x%02x", command);
 493
 494         usb_out_buffer[0] = command;
 495         result = jlink_usb_write(jlink_jtag_handle, 1);
 496
 497         if (result != 1)
 498         {
 499                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 500         }
 501 }
 502
 503 int jlink_get_status(void)
 504 {
 505         int result;
 506
 507         jlink_simple_command(EMU_CMD_GET_STATE);
 508         result = jlink_usb_read(jlink_jtag_handle);
 509
 510         if(result == 8)
 511         {
 512                 int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 513                 LOG_INFO("Vref = %d.%d TCK=%d TDI=%d TDO=%d TMS=%d SRST=%d TRST=%d\n", \
 514                         vref / 1000, vref % 1000, \
 515                         usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 516                         usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 517
 518                 if(vref < 1500)
 519                 {
 520                         LOG_ERROR("Vref too low. Eventually the target isn't powered or disconnected?\n");
 521                 }
 522         }
 523         else
 524         {
 525                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
 526         }
 527
 528         return ERROR_OK;
 529 }
 530
 531 int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 532 {
 533         int result;
 534         int len = 0;
 535
 536         /* query hardware version */
 537         jlink_simple_command(EMU_CMD_VERSION);
 538         result = jlink_usb_read(jlink_jtag_handle);
 539
 540         if (result == 2)
 541         {
 542                 len = buf_get_u32(usb_in_buffer, 0, 16);
 543                 result = jlink_usb_read(jlink_jtag_handle);
 544
 545                 if(result == len)
 546                 {
 547                         usb_in_buffer[result] = 0;
 548                         LOG_INFO(usb_in_buffer);
 549                 }
 550
 551                 /* attempt to get status */
 552                 jlink_get_status();
 553         }
 554         else
 555         {
 556                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
 557         }
 558
 559         return ERROR_OK;
 560 }
 561
 562 /***************************************************************************/
 563 /* J-Link tap functions */
 564
 565 /* We use the maximal value observed */
 566 #define JLINK_TAP_BUFFER_SIZE 390
 567
 568 static int tap_length;
 569 static u8 tms_buffer[JLINK_TAP_BUFFER_SIZE];
 570 static u8 tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 571 static u8 tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 572
 573 typedef struct
 574 {
 575         int first;      /* First bit position in tdo_buffer to read */
 576         int length; /* Number of bits to read */
 577         scan_command_t *command; /* Corresponding scan command */
 578         u8 *buffer;
 579 } pending_scan_result_t;
 580
 581 #define MAX_PENDING_SCAN_RESULTS 16
 582
 583 static int pending_scan_results_length;
 584 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 585
 586 static int last_tms;
 587
 588 void jlink_tap_init()
 589 {
 590         tap_length = 0;
 591         pending_scan_results_length = 0;
 592 }
 593
 594 void jlink_tap_ensure_space(int scans, int bits)
 595 {
 596         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 597         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length;
 598
 599         if (scans > available_scans || bits > available_bits)
 600         {
 601                 jlink_tap_execute();
 602         }
 603 }
 604
 605 void jlink_tap_append_step(int tms, int tdi)
 606 {
 607         last_tms = tms;
 608         int index = tap_length / 8;
 609
 610         if (index < JLINK_TAP_BUFFER_SIZE)
 611         {
 612                 int bit_index = tap_length % 8;
 613                 u8 bit = 1 << bit_index;
 614
 615                 if (tms)
 616                 {
 617                         tms_buffer[index] |= bit;
 618                 }
 619                 else
 620                 {
 621                         tms_buffer[index] &= ~bit;
 622                 }
 623
 624                 if (tdi)
 625                 {
 626                         tdi_buffer[index] |= bit;
 627                 }
 628                 else
 629                 {
 630                         tdi_buffer[index] &= ~bit;
 631                 }
 632
 633                 tap_length++;
 634         }
 635         else
 636         {
 637                 LOG_ERROR("jlink_tap_append_step, overflow");
 638         }
 639 }
 640
 641 void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
 642 {
 643         pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
 644         int i;
 645
 646         pending_scan_result->first = tap_length;
 647         pending_scan_result->length = length;
 648         pending_scan_result->command = command;
 649         pending_scan_result->buffer = buffer;
 650
 651         for (i = 0; i < length; i++)
 652         {
 653                 jlink_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
 654         }
 655         pending_scan_results_length++;
 656 }
 657
 658 /* Pad and send a tap sequence to the device, and receive the answer.
 659  * For the purpose of padding we assume that we are in idle or pause state. */
 660 int jlink_tap_execute()
 661 {
 662         int byte_length;
 663         int tms_offset;
 664         int tdi_offset;
 665         int i;
 666         int result;
 667
 668         if (tap_length > 0)
 669         {
 670                 /* Pad last byte so that tap_length is divisible by 8 */
 671                 while (tap_length % 8 != 0)
 672                 {
 673                         /* More of the last TMS value keeps us in the same state,
 674                          * analogous to free-running JTAG interfaces. */
 675                         jlink_tap_append_step(last_tms, 0);
 676                 }
 677
 678                 byte_length = tap_length / 8;
 679
 680                 usb_out_buffer[0] = JLINK_TAP_SEQUENCE_COMMAND;
 681                 usb_out_buffer[1] = (tap_length >> 0) & 0xff;
 682                 usb_out_buffer[2] = (tap_length >> 8) & 0xff;
 683
 684                 tms_offset = 3;
 685                 for (i = 0; i < byte_length; i++)
 686                 {
 687                     usb_out_buffer[tms_offset + i] = tms_buffer[i];
 688                 }
 689
 690                 tdi_offset = tms_offset + byte_length;
 691                 for (i = 0; i < byte_length; i++)
 692                 {
 693                     usb_out_buffer[tdi_offset + i] = tdi_buffer[i];
 694                 }
 695
 696                 result = jlink_usb_message(jlink_jtag_handle, 3 + 2 * byte_length, byte_length);
 697
 698                 if (result == byte_length)
 699                 {
 700                         for (i = 0; i < byte_length; i++)
 701                         {
 702                                 tdo_buffer[i] = usb_in_buffer[i];
 703                         }
 704
 705                         for (i = 0; i < pending_scan_results_length; i++)
 706                         {
 707                                 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
 708                                 u8 *buffer = pending_scan_result->buffer;
 709                                 int length = pending_scan_result->length;
 710                                 int first = pending_scan_result->first;
 711                                 scan_command_t *command = pending_scan_result->command;
 712
 713                                 /* Copy to buffer */
 714                                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 715
 716                                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 717
 718 #ifdef _DEBUG_USB_COMMS_
 719                                 jlink_debug_buffer(buffer, byte_length);
 720 #endif
 721
 722                         if (jtag_read_buffer(buffer, command) != ERROR_OK)
 723                         {
 724                                 jlink_tap_init();
 725                                         return ERROR_JTAG_QUEUE_FAILED;
 726                         }
 727
 728                         if (pending_scan_result->buffer != NULL)
 729                         {
 730                                         free(pending_scan_result->buffer);
 731                         }
 732                 }
 733                 }
 734                 else
 735                 {
 736                         LOG_ERROR("jlink_tap_execute, wrong result %d, expected %d", result, byte_length);
 737                         return ERROR_JTAG_QUEUE_FAILED;
 738                 }
 739
 740                 jlink_tap_init();
 741         }
 742
 743         return ERROR_OK;
 744 }
 745
 746 /*****************************************************************************/
 747 /* JLink USB low-level functions */
 748
 749 jlink_jtag_t* jlink_usb_open()
 750 {
 751         struct usb_bus *busses;
 752         struct usb_bus *bus;
 753         struct usb_device *dev;
 754
 755         jlink_jtag_t *result;
 756
 757         result = (jlink_jtag_t*) malloc(sizeof(jlink_jtag_t));
 758
 759         usb_init();
 760         usb_find_busses();
 761         usb_find_devices();
 762
 763         busses = usb_get_busses();
 764
 765         /* find jlink_jtag device in usb bus */
 766
 767         for (bus = busses; bus; bus = bus->next)
 768         {
 769                 for (dev = bus->devices; dev; dev = dev->next)
 770                 {
 771                         if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID))
 772                         {
 773                                 result->usb_handle = usb_open(dev);
 774
 775                                 /* usb_set_configuration required under win32 */
 776                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 777                                 usb_claim_interface(result->usb_handle, 0);
 778                                 usb_set_altinterface(result->usb_handle, 0);
 779                                 return result;
 780                         }
 781                 }
 782         }
 783
 784         free(result);
 785         return NULL;
 786 }
 787
 788 void jlink_usb_close(jlink_jtag_t *jlink_jtag)
 789 {
 790         usb_close(jlink_jtag->usb_handle);
 791         free(jlink_jtag);
 792 }
 793
 794 /* Send a message and receive the reply. */
 795 int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length)
 796 {
 797         int result;
 798
 799         result = jlink_usb_write(jlink_jtag, out_length);
 800         if (result == out_length)
 801         {
 802                 result = jlink_usb_read(jlink_jtag);
 803                 if (result == in_length)
 804                 {
 805                         return result;
 806                 }
 807             else
 808             {
 809                         LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
 810                         return -1;
 811             }
 812         }
 813         else
 814         {
 815                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
 816             return -1;
 817         }
 818 }
 819
 820 /* Write data from out_buffer to USB. */
 821 int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length)
 822 {
 823         int result;
 824
 825         if (out_length > JLINK_OUT_BUFFER_SIZE)
 826         {
 827                 LOG_ERROR("jlink_jtag_write illegal out_length=%d (max=%d)", out_length, JLINK_OUT_BUFFER_SIZE);
 828                 return -1;
 829         }
 830
 831         result = usb_bulk_write(jlink_jtag->usb_handle, JLINK_WRITE_ENDPOINT, \
 832                 usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
 833
 834         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d", out_length, result);
 835
 836 #ifdef _DEBUG_USB_COMMS_
 837         jlink_debug_buffer(usb_out_buffer, out_length);
 838 #endif
 839         return result;
 840 }
 841
 842 /* Read data from USB into in_buffer. */
 843 int jlink_usb_read(jlink_jtag_t *jlink_jtag)
 844 {
 845         int result = usb_bulk_read(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT, \
 846                 usb_in_buffer, JLINK_IN_BUFFER_SIZE, JLINK_USB_TIMEOUT);
 847
 848         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
 849
 850 #ifdef _DEBUG_USB_COMMS_
 851         jlink_debug_buffer(usb_in_buffer, result);
 852 #endif
 853     return result;
 854 }
 855
 856 #ifdef _DEBUG_USB_COMMS_
 857 #define BYTES_PER_LINE  16
 858
 859 void jlink_debug_buffer(u8 *buffer, int length)
 860 {
 861         char line[81];
 862         char s[4];
 863         int i;
 864         int j;
 865
 866         for (i = 0; i < length; i += BYTES_PER_LINE)
 867         {
 868                 snprintf(line, 5, "%04x", i);
 869                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 870                 {
 871                         snprintf(s, 4, " %02x", buffer[j]);
 872                         strcat(line, s);
 873                 }
 874                 LOG_DEBUG(line);
 875         }
 876 }
 877 #endif