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