1 /***************************************************************************
2 * Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net> *
3 * based on Dominic Rath's and Benedikt Sauter's usbprog.c *
5 * Copyright (C) 2008 by Spencer Oliver *
6 * spen@spen-soft.co.uk *
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. *
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. *
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 ***************************************************************************/
28 #include "replacements.h"
37 /* enable this to debug communication
40 #define _DEBUG_USB_COMMS_
43 #ifdef _DEBUG_JTAG_IO_
44 #define DEBUG_JTAG_IO(expr ...) LOG_DEBUG(expr)
46 #define DEBUG_JTAG_IO(expr ...)
52 #define JLINK_WRITE_ENDPOINT 0x02
53 #define JLINK_READ_ENDPOINT 0x81
55 #define JLINK_USB_TIMEOUT 1000
57 #define JLINK_IN_BUFFER_SIZE 8192
58 #define JLINK_OUT_BUFFER_SIZE 8192
59 #define JLINK_EMU_RESULT_BUFFER_SIZE 64
61 /* Global USB buffers */
62 static u8 usb_in_buffer[JLINK_IN_BUFFER_SIZE];
63 static u8 usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
64 static u8 usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
66 /* Constants for JLink command */
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_JTAG3 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
76 /* max speed 12MHz v5.0 jlink */
77 #define JLINK_MAX_SPEED 12000
79 /* External interface functions */
80 int jlink_execute_queue(void);
81 int jlink_speed(int speed);
82 int jlink_speed_div(int speed, int* khz);
83 int jlink_khz(int khz, int *jtag_speed);
84 int jlink_register_commands(struct command_context_s *cmd_ctx);
88 /* CLI command handler functions */
89 int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
91 /* Queue command functions */
92 void jlink_end_state(tap_state_t state);
93 void jlink_state_move(void);
94 void jlink_path_move(int num_states, tap_state_t *path);
95 void jlink_runtest(int num_cycles);
96 void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
97 void jlink_reset(int trst, int srst);
98 void jlink_simple_command(u8 command);
99 int jlink_get_status(void);
101 /* J-Link tap buffer functions */
102 void jlink_tap_init(void);
103 int jlink_tap_execute(void);
104 void jlink_tap_ensure_space(int scans, int bits);
105 void jlink_tap_append_step(int tms, int tdi);
106 void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
108 /* Jlink lowlevel functions */
109 typedef struct jlink_jtag
111 struct usb_dev_handle* usb_handle;
114 jlink_jtag_t *jlink_usb_open(void);
115 void jlink_usb_close(jlink_jtag_t *jlink_jtag);
116 int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length);
117 int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length);
118 int jlink_usb_read(jlink_jtag_t *jlink_jtag);
119 int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag);
121 /* helper functions */
122 int jlink_get_version_info(void);
124 #ifdef _DEBUG_USB_COMMS_
125 void jlink_debug_buffer(u8 *buffer, int length);
128 jlink_jtag_t* jlink_jtag_handle;
130 /***************************************************************************/
131 /* External interface implementation */
133 jtag_interface_t jlink_interface =
136 .execute_queue = jlink_execute_queue,
137 .speed = jlink_speed,
138 .speed_div = jlink_speed_div,
140 .register_commands = jlink_register_commands,
145 int jlink_execute_queue(void)
147 jtag_command_t *cmd = jtag_command_queue;
157 DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
159 if (cmd->cmd.end_state->end_state != TAP_INVALID)
161 jlink_end_state(cmd->cmd.end_state->end_state);
166 DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
167 cmd->cmd.runtest->end_state);
169 if (cmd->cmd.runtest->end_state != TAP_INVALID)
171 jlink_end_state(cmd->cmd.runtest->end_state);
173 jlink_runtest(cmd->cmd.runtest->num_cycles);
177 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
179 if (cmd->cmd.statemove->end_state != TAP_INVALID)
181 jlink_end_state(cmd->cmd.statemove->end_state);
187 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
188 cmd->cmd.pathmove->num_states, \
189 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
191 jlink_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
195 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
197 if (cmd->cmd.scan->end_state != TAP_INVALID)
199 jlink_end_state(cmd->cmd.scan->end_state);
202 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
203 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
205 #ifdef _DEBUG_USB_COMMS_
206 jlink_debug_buffer(buffer, (scan_size + 7) / 8);
208 type = jtag_scan_type(cmd->cmd.scan);
209 jlink_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
213 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
217 if (cmd->cmd.reset->trst == 1)
219 tap_set_state(TAP_RESET);
221 jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
225 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
227 jtag_sleep(cmd->cmd.sleep->us);
231 LOG_ERROR("BUG: unknown JTAG command type encountered");
237 return jlink_tap_execute();
240 /* Sets speed in kHz. */
241 int jlink_speed(int speed)
245 if (speed <= JLINK_MAX_SPEED)
247 /* check for RTCK setting */
251 usb_out_buffer[0] = EMU_CMD_SET_SPEED;
252 usb_out_buffer[1] = (speed >> 0) & 0xff;
253 usb_out_buffer[2] = (speed >> 8) & 0xff;
255 result = jlink_usb_write(jlink_jtag_handle, 3);
263 LOG_ERROR("J-Link setting speed failed (%d)", result);
264 return ERROR_JTAG_DEVICE_ERROR;
269 LOG_INFO("Requested speed %dkHz exceeds maximum of %dkHz, ignored", speed, JLINK_MAX_SPEED);
275 int jlink_speed_div(int speed, int* khz)
282 int jlink_khz(int khz, int *jtag_speed)
289 int jlink_register_commands(struct command_context_s *cmd_ctx)
291 register_command(cmd_ctx, NULL, "jlink_info", jlink_handle_jlink_info_command, COMMAND_EXEC,
300 jlink_jtag_handle = jlink_usb_open();
302 if (jlink_jtag_handle == 0)
304 LOG_ERROR("Cannot find jlink Interface! Please check connection and permissions.");
305 return ERROR_JTAG_INIT_FAILED;
309 while (check_cnt < 3)
311 if (jlink_get_version_info() == ERROR_OK)
313 /* attempt to get status */
323 LOG_INFO("J-Link initial read failed, don't worry");
326 LOG_INFO("J-Link JTAG Interface ready");
336 jlink_usb_close(jlink_jtag_handle);
340 /***************************************************************************/
341 /* Queue command implementations */
343 void jlink_end_state(tap_state_t state)
345 if (tap_is_state_stable(state))
347 tap_set_end_state(state);
351 LOG_ERROR("BUG: %i is not a valid end state", state);
356 /* Goes to the end state. */
357 void jlink_state_move(void)
361 u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
363 for (i = 0; i < 7; i++)
365 tms = (tms_scan >> i) & 1;
366 jlink_tap_append_step(tms, 0);
369 tap_set_state(tap_get_end_state());
372 void jlink_path_move(int num_states, tap_state_t *path)
376 for (i = 0; i < num_states; i++)
378 if (path[i] == tap_state_transition(tap_get_state(), false))
380 jlink_tap_append_step(0, 0);
382 else if (path[i] == tap_state_transition(tap_get_state(), true))
384 jlink_tap_append_step(1, 0);
388 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
392 tap_set_state(path[i]);
395 tap_set_end_state(tap_get_state());
398 void jlink_runtest(int num_cycles)
402 tap_state_t saved_end_state = tap_get_end_state();
404 /* only do a state_move when we're not already in IDLE */
405 if (tap_get_state() != TAP_IDLE)
407 jlink_end_state(TAP_IDLE);
411 /* execute num_cycles */
412 for (i = 0; i < num_cycles; i++)
414 jlink_tap_append_step(0, 0);
417 /* finish in end_state */
418 jlink_end_state(saved_end_state);
419 if (tap_get_state() != tap_get_end_state())
425 void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
427 tap_state_t saved_end_state;
429 jlink_tap_ensure_space(1, scan_size + 8);
431 saved_end_state = tap_get_end_state();
433 /* Move to appropriate scan state */
434 jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
436 /* Only move if we're not already there */
437 if (tap_get_state() != tap_get_end_state())
440 jlink_end_state(saved_end_state);
443 jlink_tap_append_scan(scan_size, buffer, command);
445 /* We are in Exit1, go to Pause */
446 jlink_tap_append_step(0, 0);
448 tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
450 if (tap_get_state() != tap_get_end_state())
456 void jlink_reset(int trst, int srst)
458 LOG_DEBUG("trst: %i, srst: %i", trst, srst);
460 /* Signals are active low */
463 jlink_simple_command(EMU_CMD_HW_RESET1);
467 jlink_simple_command(EMU_CMD_HW_RESET0);
472 jlink_simple_command(EMU_CMD_HW_TRST1);
476 jlink_simple_command(EMU_CMD_HW_TRST0);
480 void jlink_simple_command(u8 command)
484 DEBUG_JTAG_IO("0x%02x", command);
486 usb_out_buffer[0] = command;
487 result = jlink_usb_write(jlink_jtag_handle, 1);
491 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
495 int jlink_get_status(void)
499 jlink_simple_command(EMU_CMD_GET_STATE);
500 result = jlink_usb_read(jlink_jtag_handle);
504 int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
505 LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d\n", \
506 vref / 1000, vref % 1000, \
507 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
508 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
512 LOG_ERROR("Vref too low. Check Target Power\n");
517 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
523 int jlink_get_version_info(void)
528 /* query hardware version */
529 jlink_simple_command(EMU_CMD_VERSION);
530 result = jlink_usb_read(jlink_jtag_handle);
534 len = buf_get_u32(usb_in_buffer, 0, 16);
535 result = jlink_usb_read(jlink_jtag_handle);
539 usb_in_buffer[result] = 0;
540 LOG_INFO((char *)usb_in_buffer);
545 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
546 return ERROR_JTAG_DEVICE_ERROR;
549 int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
551 if (jlink_get_version_info() == ERROR_OK)
553 /* attempt to get status */
560 /***************************************************************************/
561 /* J-Link tap functions */
563 /* 2048 is the max value we can use here */
564 #define JLINK_TAP_BUFFER_SIZE 2048
566 static int tap_length;
567 static u8 tms_buffer[JLINK_TAP_BUFFER_SIZE];
568 static u8 tdi_buffer[JLINK_TAP_BUFFER_SIZE];
569 static u8 tdo_buffer[JLINK_TAP_BUFFER_SIZE];
573 int first; /* First bit position in tdo_buffer to read */
574 int length; /* Number of bits to read */
575 scan_command_t *command; /* Corresponding scan command */
577 } pending_scan_result_t;
579 #define MAX_PENDING_SCAN_RESULTS 256
581 static int pending_scan_results_length;
582 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
586 void jlink_tap_init(void)
589 pending_scan_results_length = 0;
592 void jlink_tap_ensure_space(int scans, int bits)
594 int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
595 int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length;
597 if (scans > available_scans || bits > available_bits)
603 void jlink_tap_append_step(int tms, int tdi)
606 int index = tap_length / 8;
608 if (index < JLINK_TAP_BUFFER_SIZE)
610 int bit_index = tap_length % 8;
611 u8 bit = 1 << bit_index;
615 tms_buffer[index] |= bit;
619 tms_buffer[index] &= ~bit;
624 tdi_buffer[index] |= bit;
628 tdi_buffer[index] &= ~bit;
635 LOG_ERROR("jlink_tap_append_step, overflow");
639 void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
641 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
644 pending_scan_result->first = tap_length;
645 pending_scan_result->length = length;
646 pending_scan_result->command = command;
647 pending_scan_result->buffer = buffer;
649 for (i = 0; i < length; i++)
651 jlink_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
653 pending_scan_results_length++;
656 /* Pad and send a tap sequence to the device, and receive the answer.
657 * For the purpose of padding we assume that we are in idle or pause state. */
658 int jlink_tap_execute(void)
668 /* Pad last byte so that tap_length is divisible by 8 */
669 while (tap_length % 8 != 0)
671 /* More of the last TMS value keeps us in the same state,
672 * analogous to free-running JTAG interfaces. */
673 jlink_tap_append_step(last_tms, 0);
676 byte_length = tap_length / 8;
678 usb_out_buffer[0] = EMU_CMD_HW_JTAG3;
679 usb_out_buffer[1] = 0;
680 usb_out_buffer[2] = (tap_length >> 0) & 0xff;
681 usb_out_buffer[3] = (tap_length >> 8) & 0xff;
684 for (i = 0; i < byte_length; i++)
686 usb_out_buffer[tms_offset + i] = tms_buffer[i];
689 tdi_offset = tms_offset + byte_length;
690 for (i = 0; i < byte_length; i++)
692 usb_out_buffer[tdi_offset + i] = tdi_buffer[i];
695 result = jlink_usb_message(jlink_jtag_handle, 4 + 2 * byte_length, byte_length);
697 if (result == byte_length)
699 for (i = 0; i < byte_length; i++)
701 tdo_buffer[i] = usb_in_buffer[i];
704 for (i = 0; i < pending_scan_results_length; i++)
706 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
707 u8 *buffer = pending_scan_result->buffer;
708 int length = pending_scan_result->length;
709 int first = pending_scan_result->first;
710 scan_command_t *command = pending_scan_result->command;
713 buf_set_buf(tdo_buffer, first, buffer, 0, length);
715 DEBUG_JTAG_IO("pending scan result, length = %d", length);
717 #ifdef _DEBUG_USB_COMMS_
718 jlink_debug_buffer(buffer, byte_length);
721 if (jtag_read_buffer(buffer, command) != ERROR_OK)
724 return ERROR_JTAG_QUEUE_FAILED;
727 if (pending_scan_result->buffer != NULL)
729 free(pending_scan_result->buffer);
735 LOG_ERROR("jlink_tap_execute, wrong result %d, expected %d", result, byte_length);
736 return ERROR_JTAG_QUEUE_FAILED;
745 /*****************************************************************************/
746 /* JLink USB low-level functions */
748 jlink_jtag_t* jlink_usb_open()
750 struct usb_bus *busses;
752 struct usb_device *dev;
754 jlink_jtag_t *result;
756 result = (jlink_jtag_t*) malloc(sizeof(jlink_jtag_t));
762 busses = usb_get_busses();
764 /* find jlink_jtag device in usb bus */
766 for (bus = busses; bus; bus = bus->next)
768 for (dev = bus->devices; dev; dev = dev->next)
770 if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID))
772 result->usb_handle = usb_open(dev);
774 /* usb_set_configuration required under win32 */
775 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
776 usb_claim_interface(result->usb_handle, 0);
780 * This makes problems under Mac OS X. And is not needed
781 * under Windows. Hopefully this will not break a linux build
783 usb_set_altinterface(result->usb_handle, 0);
794 void jlink_usb_close(jlink_jtag_t *jlink_jtag)
796 usb_close(jlink_jtag->usb_handle);
800 /* Send a message and receive the reply. */
801 int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length)
806 result = jlink_usb_write(jlink_jtag, out_length);
807 if (result == out_length)
809 result = jlink_usb_read(jlink_jtag);
810 if (result == in_length || result == in_length+1)
812 if (result == in_length)
814 /* Must read the result from the EMU too */
815 result2 = jlink_usb_read_emu_result(jlink_jtag);
818 /* Check the result itself */
819 if (0 == usb_emu_result_buffer[0])
825 LOG_ERROR("jlink_usb_read_emu_result (requested=0, result=%d)", usb_emu_result_buffer[0]);
831 LOG_ERROR("jlink_usb_read_emu_result len (requested=1, result=%d)", result2);
837 /* Check the result itself */
838 if (0 == usb_in_buffer[result-1])
844 LOG_ERROR("jlink_usb_read_emu_result (requested=0, result=%d)", usb_in_buffer[result]);
851 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
857 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
862 /* Write data from out_buffer to USB. */
863 int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length)
867 if (out_length > JLINK_OUT_BUFFER_SIZE)
869 LOG_ERROR("jlink_jtag_write illegal out_length=%d (max=%d)", out_length, JLINK_OUT_BUFFER_SIZE);
873 result = usb_bulk_write(jlink_jtag->usb_handle, JLINK_WRITE_ENDPOINT,
874 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
876 DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d", out_length, result);
878 #ifdef _DEBUG_USB_COMMS_
879 jlink_debug_buffer(usb_out_buffer, out_length);
884 /* Read data from USB into in_buffer. */
885 int jlink_usb_read(jlink_jtag_t *jlink_jtag)
887 int result = usb_bulk_read(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT,
888 (char *)usb_in_buffer, JLINK_IN_BUFFER_SIZE, JLINK_USB_TIMEOUT);
890 DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
892 #ifdef _DEBUG_USB_COMMS_
893 jlink_debug_buffer(usb_in_buffer, result);
898 /* Read the result from the previous EMU cmd into result_buffer. */
899 int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag)
901 int result = usb_bulk_read(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT,
902 (char *)usb_emu_result_buffer, JLINK_EMU_RESULT_BUFFER_SIZE,
905 DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
907 #ifdef _DEBUG_USB_COMMS_
908 jlink_debug_buffer(usb_emu_result_buffer, result);
913 #ifdef _DEBUG_USB_COMMS_
914 #define BYTES_PER_LINE 16
916 void jlink_debug_buffer(u8 *buffer, int length)
923 for (i = 0; i < length; i += BYTES_PER_LINE)
925 snprintf(line, 5, "%04x", i);
926 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
928 snprintf(s, 4, " %02x", buffer[j]);