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 static unsigned int jlink_write_ep = JLINK_WRITE_ENDPOINT;
  40 static unsigned int jlink_read_ep = JLINK_READ_ENDPOINT;
  41 static unsigned int jlink_hw_jtag_version = 2;
  42
  43 #define JLINK_USB_TIMEOUT               1000
  44
  45 // See Section 1.3.2 of the Segger JLink USB protocol manual
  46 /* 2048 is the max value we can use here */
  47 //#define JLINK_TAP_BUFFER_SIZE 2048
  48 #define JLINK_TAP_BUFFER_SIZE 256
  49 //#define JLINK_TAP_BUFFER_SIZE 384
  50
  51 #define JLINK_IN_BUFFER_SIZE                    2048
  52 #define JLINK_OUT_BUFFER_SIZE                   2*2048+4
  53 #define JLINK_EMU_RESULT_BUFFER_SIZE    64
  54
  55 /* Global USB buffers */
  56 static u8 usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  57 static u8 usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  58 static u8 usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
  59
  60 /* Constants for JLink command */
  61 #define EMU_CMD_VERSION                 0x01
  62 #define EMU_CMD_SET_SPEED               0x05
  63 #define EMU_CMD_GET_STATE               0x07
  64 #define EMU_CMD_HW_CLOCK                        0xc8
  65 #define EMU_CMD_HW_TMS0                         0xc9
  66 #define EMU_CMD_HW_TMS1                         0xca
  67 #define EMU_CMD_HW_JTAG2                0xce
  68 #define EMU_CMD_HW_JTAG3                0xcf
  69 #define EMU_CMD_GET_MAX_MEM_BLOCK       0xd4
  70 #define EMU_CMD_HW_RESET0               0xdc
  71 #define EMU_CMD_HW_RESET1               0xdd
  72 #define EMU_CMD_HW_TRST0                0xde
  73 #define EMU_CMD_HW_TRST1                0xdf
  74 #define EMU_CMD_GET_CAPS                0xe8
  75 #define EMU_CMD_GET_HW_VERSION          0xf0
  76
  77 /* bits return from EMU_CMD_GET_CAPS */
  78 #define EMU_CAP_GET_HW_VERSION          1
  79 #define EMU_CAP_GET_MAX_BLOCK_SIZE      11
  80
  81 /* max speed 12MHz v5.0 jlink */
  82 #define JLINK_MAX_SPEED 12000
  83
  84 /* External interface functions */
  85 static int jlink_execute_queue(void);
  86 static int jlink_speed(int speed);
  87 static int jlink_speed_div(int speed, int* khz);
  88 static int jlink_khz(int khz, int *jtag_speed);
  89 static int jlink_register_commands(struct command_context_s *cmd_ctx);
  90 static int jlink_init(void);
  91 static int jlink_quit(void);
  92
  93 /* CLI command handler functions */
  94 static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  95 static int jlink_handle_jlink_hw_jtag_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  96
  97 /* Queue command functions */
  98 static void jlink_end_state(tap_state_t state);
  99 static void jlink_state_move(void);
 100 static void jlink_path_move(int num_states, tap_state_t *path);
 101 static void jlink_runtest(int num_cycles);
 102 static void jlink_scan(bool ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
 103 static void jlink_reset(int trst, int srst);
 104 static void jlink_simple_command(u8 command);
 105 static int jlink_get_status(void);
 106
 107 /* J-Link tap buffer functions */
 108 static void jlink_tap_init(void);
 109 static int jlink_tap_execute(void);
 110 static void jlink_tap_ensure_space(int scans, int bits);
 111 static void jlink_tap_append_step(int tms, int tdi);
 112 static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
 113
 114 /* Jlink lowlevel functions */
 115 typedef struct jlink_jtag
 116 {
 117         struct usb_dev_handle* usb_handle;
 118 } jlink_jtag_t;
 119
 120 static jlink_jtag_t *jlink_usb_open(void);
 121 static void jlink_usb_close(jlink_jtag_t *jlink_jtag);
 122 static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length);
 123 static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length);
 124 static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size);
 125 static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag);
 126
 127 /* helper functions */
 128 static int jlink_get_version_info(void);
 129
 130 #ifdef _DEBUG_USB_COMMS_
 131 static void jlink_debug_buffer(u8 *buffer, int length);
 132 #endif
 133
 134 static enum tap_state jlink_last_state = TAP_RESET;
 135
 136 static jlink_jtag_t* jlink_jtag_handle;
 137
 138 /***************************************************************************/
 139 /* External interface implementation */
 140
 141 jtag_interface_t jlink_interface =
 142 {
 143         .name = "jlink",
 144         .execute_queue = jlink_execute_queue,
 145         .speed = jlink_speed,
 146         .speed_div = jlink_speed_div,
 147         .khz = jlink_khz,
 148         .register_commands = jlink_register_commands,
 149         .init = jlink_init,
 150         .quit = jlink_quit
 151 };
 152
 153 static void jlink_execute_runtest(jtag_command_t *cmd)
 154 {
 155         DEBUG_JTAG_IO("runtest %i cycles, end in %i",
 156                         cmd->cmd.runtest->num_cycles,
 157                         cmd->cmd.runtest->end_state);
 158
 159         if (cmd->cmd.runtest->end_state != TAP_INVALID)
 160                 jlink_end_state(cmd->cmd.runtest->end_state);
 161
 162         jlink_runtest(cmd->cmd.runtest->num_cycles);
 163 }
 164
 165 static void jlink_execute_statemove(jtag_command_t *cmd)
 166 {
 167         DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 168
 169         if (cmd->cmd.statemove->end_state != TAP_INVALID)
 170         {
 171                 jlink_end_state(cmd->cmd.statemove->end_state);
 172         }
 173         jlink_state_move();
 174 }
 175
 176 static void jlink_execute_pathmove(jtag_command_t *cmd)
 177 {
 178         DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 179                 cmd->cmd.pathmove->num_states,
 180                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 181
 182         jlink_path_move(cmd->cmd.pathmove->num_states,
 183                         cmd->cmd.pathmove->path);
 184 }
 185
 186 static void jlink_execute_scan(jtag_command_t *cmd)
 187 {
 188         int scan_size;
 189         enum scan_type type;
 190         u8 *buffer;
 191
 192         DEBUG_JTAG_IO("scan end in %s", tap_state_name(cmd->cmd.scan->end_state));
 193
 194         if (cmd->cmd.scan->end_state != TAP_INVALID)
 195                 jlink_end_state(cmd->cmd.scan->end_state);
 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,
 205                         type, buffer, scan_size, cmd->cmd.scan);
 206 }
 207
 208 static void jlink_execute_reset(jtag_command_t *cmd)
 209 {
 210         DEBUG_JTAG_IO("reset trst: %i srst %i",
 211                         cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 212
 213         jlink_tap_execute();
 214         jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 215         jlink_tap_execute();
 216 }
 217
 218 static void jlink_execute_sleep(jtag_command_t *cmd)
 219 {
 220         DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 221         jlink_tap_execute();
 222         jtag_sleep(cmd->cmd.sleep->us);
 223 }
 224
 225 static void jlink_execute_command(jtag_command_t *cmd)
 226 {
 227         switch (cmd->type)
 228         {
 229         case JTAG_RUNTEST:   jlink_execute_runtest(cmd); break;
 230         case JTAG_STATEMOVE: jlink_execute_statemove(cmd); break;
 231         case JTAG_PATHMOVE:  jlink_execute_pathmove(cmd); break;
 232         case JTAG_SCAN:      jlink_execute_scan(cmd); break;
 233         case JTAG_RESET:     jlink_execute_reset(cmd); break;
 234         case JTAG_SLEEP:     jlink_execute_sleep(cmd); break;
 235         default:
 236                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 237                 exit(-1);
 238         }
 239 }
 240
 241 static int jlink_execute_queue(void)
 242 {
 243         jtag_command_t *cmd = jtag_command_queue;
 244
 245         while (cmd != NULL)
 246         {
 247                 jlink_execute_command(cmd);
 248                 cmd = cmd->next;
 249         }
 250
 251         return jlink_tap_execute();
 252 }
 253
 254 /* Sets speed in kHz. */
 255 static int jlink_speed(int speed)
 256 {
 257         int result;
 258
 259         if (speed > JLINK_MAX_SPEED)
 260         {
 261                 LOG_INFO("Ignoring speed request: %dkHz exceeds %dkHz maximum",
 262                                 speed, JLINK_MAX_SPEED);
 263                 return ERROR_OK;
 264         }
 265
 266         /* check for RTCK setting */
 267         if (speed == 0)
 268                 speed = -1;
 269
 270         usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 271         usb_out_buffer[1] = (speed >> 0) & 0xff;
 272         usb_out_buffer[2] = (speed >> 8) & 0xff;
 273
 274         result = jlink_usb_write(jlink_jtag_handle, 3);
 275         if (result != 3)
 276         {
 277                 LOG_ERROR("J-Link setting speed failed (%d)", result);
 278                 return ERROR_JTAG_DEVICE_ERROR;
 279         }
 280
 281         return ERROR_OK;
 282 }
 283
 284 static int jlink_speed_div(int speed, int* khz)
 285 {
 286         *khz = speed;
 287
 288         return ERROR_OK;
 289 }
 290
 291 static int jlink_khz(int khz, int *jtag_speed)
 292 {
 293         *jtag_speed = khz;
 294
 295         return ERROR_OK;
 296 }
 297
 298 static int jlink_register_commands(struct command_context_s *cmd_ctx)
 299 {
 300
 301         register_command(cmd_ctx, NULL, "jlink_info",
 302                 &jlink_handle_jlink_info_command, COMMAND_EXEC,
 303                 "query jlink info");
 304         register_command(cmd_ctx, NULL, "jlink_hw_jtag",
 305                 &jlink_handle_jlink_hw_jtag_command, COMMAND_EXEC,
 306                 "set/get jlink hw jtag command version [2|3]");
 307         return ERROR_OK;
 308 }
 309
 310 static int jlink_init(void)
 311 {
 312         int check_cnt;
 313
 314         jlink_jtag_handle = jlink_usb_open();
 315
 316         if (jlink_jtag_handle == 0)
 317         {
 318                 LOG_ERROR("Cannot find jlink Interface! Please check connection and permissions.");
 319                 return ERROR_JTAG_INIT_FAILED;
 320         }
 321
 322         jlink_hw_jtag_version = 2;
 323         check_cnt = 0;
 324         while (check_cnt < 3)
 325         {
 326                 if (jlink_get_version_info() == ERROR_OK)
 327                 {
 328                         /* attempt to get status */
 329                         jlink_get_status();
 330                         break;
 331                 }
 332
 333                 check_cnt++;
 334         }
 335
 336         if (check_cnt == 3)
 337         {
 338                 LOG_INFO("J-Link initial read failed, don't worry");
 339         }
 340
 341         LOG_INFO("J-Link JTAG Interface ready");
 342
 343         jlink_reset(0, 0);
 344         jtag_sleep(3000);
 345         jlink_tap_init();
 346         jlink_speed(jtag_speed);
 347
 348         return ERROR_OK;
 349 }
 350
 351 static int jlink_quit(void)
 352 {
 353         jlink_usb_close(jlink_jtag_handle);
 354         return ERROR_OK;
 355 }
 356
 357 /***************************************************************************/
 358 /* Queue command implementations */
 359
 360 static void jlink_end_state(tap_state_t state)
 361 {
 362         if (tap_is_state_stable(state))
 363         {
 364                 tap_set_end_state(state);
 365         }
 366         else
 367         {
 368                 LOG_ERROR("BUG: %i is not a valid end state", state);
 369                 exit(-1);
 370         }
 371 }
 372
 373 /* Goes to the end state. */
 374 static void jlink_state_move(void)
 375 {
 376         int i;
 377         int tms = 0;
 378         u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 379         u8 tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 380
 381         for (i = 0; i < tms_scan_bits; i++)
 382         {
 383                 tms = (tms_scan >> i) & 1;
 384                 jlink_tap_append_step(tms, 0);
 385         }
 386
 387         tap_set_state(tap_get_end_state());
 388 }
 389
 390 static void jlink_path_move(int num_states, tap_state_t *path)
 391 {
 392         int i;
 393
 394         for (i = 0; i < num_states; i++)
 395         {
 396                 if (path[i] == tap_state_transition(tap_get_state(), false))
 397                 {
 398                         jlink_tap_append_step(0, 0);
 399                 }
 400                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 401                 {
 402                         jlink_tap_append_step(1, 0);
 403                 }
 404                 else
 405                 {
 406                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 407                         exit(-1);
 408                 }
 409
 410                 tap_set_state(path[i]);
 411         }
 412
 413         tap_set_end_state(tap_get_state());
 414 }
 415
 416 static void jlink_runtest(int num_cycles)
 417 {
 418         int i;
 419
 420         tap_state_t saved_end_state = tap_get_end_state();
 421
 422         jlink_tap_ensure_space(1,num_cycles + 16);
 423
 424         /* only do a state_move when we're not already in IDLE */
 425         if (tap_get_state() != TAP_IDLE)
 426         {
 427                 jlink_end_state(TAP_IDLE);
 428                 jlink_state_move();
 429 //              num_cycles--;
 430         }
 431
 432         /* execute num_cycles */
 433         for (i = 0; i < num_cycles; i++)
 434         {
 435                 jlink_tap_append_step(0, 0);
 436         }
 437
 438         /* finish in end_state */
 439         jlink_end_state(saved_end_state);
 440         if (tap_get_state() != tap_get_end_state())
 441         {
 442                 jlink_state_move();
 443         }
 444 }
 445
 446 static void jlink_scan(bool ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
 447 {
 448         tap_state_t saved_end_state;
 449
 450         jlink_tap_ensure_space(1, scan_size + 16);
 451
 452         saved_end_state = tap_get_end_state();
 453
 454         /* Move to appropriate scan state */
 455         jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 456
 457         /* Only move if we're not already there */
 458         if (tap_get_state() != tap_get_end_state())
 459                 jlink_state_move();
 460
 461         jlink_end_state(saved_end_state);
 462
 463         /* Scan */
 464         jlink_tap_append_scan(scan_size, buffer, command);
 465
 466         /* We are in Exit1, go to Pause */
 467         jlink_tap_append_step(0, 0);
 468
 469         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 470
 471         if (tap_get_state() != tap_get_end_state())
 472         {
 473                 jlink_state_move();
 474         }
 475 }
 476
 477 static void jlink_reset(int trst, int srst)
 478 {
 479         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 480
 481         /* Signals are active low */
 482         if (srst == 0)
 483         {
 484                 jlink_simple_command(EMU_CMD_HW_RESET1);
 485         }
 486         if (srst == 1)
 487         {
 488                 jlink_simple_command(EMU_CMD_HW_RESET0);
 489         }
 490
 491         if (trst == 1)
 492         {
 493                 jlink_simple_command(EMU_CMD_HW_TRST0);
 494         }
 495         if (trst == 0)
 496         {
 497                 jlink_simple_command(EMU_CMD_HW_TRST1);
 498                 jtag_sleep(5000);
 499                 jlink_end_state(TAP_RESET);
 500                 jlink_state_move();
 501         }
 502 }
 503
 504 static void jlink_simple_command(u8 command)
 505 {
 506         int result;
 507
 508         DEBUG_JTAG_IO("0x%02x", command);
 509
 510         usb_out_buffer[0] = command;
 511         result = jlink_usb_write(jlink_jtag_handle, 1);
 512
 513         if (result != 1)
 514         {
 515                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 516         }
 517 }
 518
 519 static int jlink_get_status(void)
 520 {
 521         int result;
 522
 523         jlink_simple_command(EMU_CMD_GET_STATE);
 524
 525         result = jlink_usb_read(jlink_jtag_handle, 8);
 526         if (result != 8)
 527         {
 528                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
 529                 return ERROR_JTAG_DEVICE_ERROR;
 530         }
 531
 532         int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 533         LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d\n", \
 534                 vref / 1000, vref % 1000, \
 535                 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 536                 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 537
 538         if (vref < 1500)
 539                 LOG_ERROR("Vref too low. Check Target Power\n");
 540
 541         return ERROR_OK;
 542 }
 543
 544 static int jlink_get_version_info(void)
 545 {
 546         int result;
 547         int len;
 548         u32 jlink_caps, jlink_max_size;
 549
 550         /* query hardware version */
 551         jlink_simple_command(EMU_CMD_VERSION);
 552
 553         result = jlink_usb_read(jlink_jtag_handle, 2);
 554         if (2 != result)
 555         {
 556                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
 557                 return ERROR_JTAG_DEVICE_ERROR;
 558         }
 559
 560         len = buf_get_u32(usb_in_buffer, 0, 16);
 561         if (len > JLINK_IN_BUFFER_SIZE)
 562         {
 563                 LOG_ERROR("J-Link command EMU_CMD_VERSION impossible return length 0x%0x", len);
 564                 len = JLINK_IN_BUFFER_SIZE;
 565         }
 566
 567         result = jlink_usb_read(jlink_jtag_handle, len);
 568         if (result != len)
 569         {
 570                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
 571                 return ERROR_JTAG_DEVICE_ERROR;
 572         }
 573
 574         usb_in_buffer[result] = 0;
 575         LOG_INFO("%s", (char *)usb_in_buffer);
 576
 577         /* query hardware capabilities */
 578         jlink_simple_command(EMU_CMD_GET_CAPS);
 579
 580         result = jlink_usb_read(jlink_jtag_handle, 4);
 581         if (4 != result)
 582         {
 583                 LOG_ERROR("J-Link command EMU_CMD_GET_CAPS failed (%d)\n", result);
 584                 return ERROR_JTAG_DEVICE_ERROR;
 585         }
 586
 587         jlink_caps = buf_get_u32(usb_in_buffer, 0, 32);
 588         LOG_INFO("JLink caps 0x%x", jlink_caps);
 589
 590         if (jlink_caps & (1 << EMU_CAP_GET_HW_VERSION))
 591         {
 592                 /* query hardware version */
 593                 jlink_simple_command(EMU_CMD_GET_HW_VERSION);
 594
 595                 result = jlink_usb_read(jlink_jtag_handle, 4);
 596                 if (4 != result)
 597                 {
 598                         LOG_ERROR("J-Link command EMU_CMD_GET_HW_VERSION failed (%d)\n", result);
 599                         return ERROR_JTAG_DEVICE_ERROR;
 600                 }
 601
 602                 u32 jlink_hw_version = buf_get_u32(usb_in_buffer, 0, 32);
 603                 u32 major_revision = (jlink_hw_version / 10000) % 100;
 604                 if (major_revision >= 5)
 605                         jlink_hw_jtag_version = 3;
 606
 607                 LOG_INFO("JLink hw version %i", jlink_hw_version);
 608         }
 609
 610         if (jlink_caps & (1 << EMU_CAP_GET_MAX_BLOCK_SIZE))
 611         {
 612                 /* query hardware maximum memory block */
 613                 jlink_simple_command(EMU_CMD_GET_MAX_MEM_BLOCK);
 614
 615                 result = jlink_usb_read(jlink_jtag_handle, 4);
 616                 if (4 != result)
 617                 {
 618                         LOG_ERROR("J-Link command EMU_CMD_GET_MAX_MEM_BLOCK failed (%d)\n", result);
 619                         return ERROR_JTAG_DEVICE_ERROR;
 620                 }
 621
 622                 jlink_max_size = buf_get_u32(usb_in_buffer, 0, 32);
 623                 LOG_INFO("JLink max mem block %i", jlink_max_size);
 624         }
 625
 626         return ERROR_OK;
 627 }
 628
 629 static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 630 {
 631         if (jlink_get_version_info() == ERROR_OK)
 632         {
 633                 /* attempt to get status */
 634                 jlink_get_status();
 635         }
 636
 637         return ERROR_OK;
 638 }
 639
 640 static int jlink_handle_jlink_hw_jtag_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 641 {
 642         switch (argc) {
 643         case 0:
 644                 command_print(cmd_ctx, "jlink hw jtag  %i", jlink_hw_jtag_version);
 645                 break;
 646         case 1: {
 647                 int request_version = atoi(args[0]);
 648                 switch (request_version) {
 649                 case 2: case 3:
 650                         jlink_hw_jtag_version = request_version;
 651                         break;
 652                 default:
 653                         return ERROR_COMMAND_SYNTAX_ERROR;
 654                 }
 655                 break;
 656         }
 657         default:
 658                 return ERROR_COMMAND_SYNTAX_ERROR;
 659         }
 660
 661         return ERROR_OK;
 662 }
 663
 664 /***************************************************************************/
 665 /* J-Link tap functions */
 666
 667
 668 static unsigned tap_length=0;
 669 static u8 tms_buffer[JLINK_TAP_BUFFER_SIZE];
 670 static u8 tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 671 static u8 tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 672
 673 typedef struct
 674 {
 675         int first;      /* First bit position in tdo_buffer to read */
 676         int length; /* Number of bits to read */
 677         scan_command_t *command; /* Corresponding scan command */
 678         u8 *buffer;
 679 } pending_scan_result_t;
 680
 681 #define MAX_PENDING_SCAN_RESULTS 256
 682
 683 static int pending_scan_results_length;
 684 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 685
 686 static void jlink_tap_init(void)
 687 {
 688         tap_length = 0;
 689         pending_scan_results_length = 0;
 690 }
 691
 692 static void jlink_tap_ensure_space(int scans, int bits)
 693 {
 694         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 695         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length - 32;
 696
 697         if (scans > available_scans || bits > available_bits)
 698         {
 699                 jlink_tap_execute();
 700         }
 701 }
 702
 703 static void jlink_tap_append_step(int tms, int tdi)
 704 {
 705         int index = tap_length / 8;
 706
 707         if (index >= JLINK_TAP_BUFFER_SIZE)
 708         {
 709                 LOG_ERROR("jlink_tap_append_step: overflow");
 710                 *(u32 *)0xFFFFFFFF = 0;
 711                 exit(-1);
 712         }
 713
 714         int bit_index = tap_length % 8;
 715         u8 bit = 1 << bit_index;
 716
 717         // we do not pad TMS, so be sure to initialize all bits
 718         if (0 == bit_index)
 719         {
 720                 tms_buffer[index] = tdi_buffer[index] = 0;
 721         }
 722
 723         if (tms)
 724                 tms_buffer[index] |= bit;
 725         else
 726                 tms_buffer[index] &= ~bit;
 727
 728         if (tdi)
 729                 tdi_buffer[index] |= bit;
 730         else
 731                 tdi_buffer[index] &= ~bit;
 732
 733         tap_length++;
 734 }
 735
 736 static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
 737 {
 738         pending_scan_result_t *pending_scan_result =
 739                 &pending_scan_results_buffer[pending_scan_results_length];
 740         int i;
 741
 742         pending_scan_result->first = tap_length;
 743         pending_scan_result->length = length;
 744         pending_scan_result->command = command;
 745         pending_scan_result->buffer = buffer;
 746
 747         for (i = 0; i < length; i++)
 748         {
 749                 int tms = (i < (length - 1)) ? 0 : 1;
 750                 int tdi = (buffer[i / 8] & (1 << (i % 8)))!=0;
 751                 jlink_tap_append_step(tms, tdi);
 752         }
 753         pending_scan_results_length++;
 754 }
 755
 756 /* Pad and send a tap sequence to the device, and receive the answer.
 757  * For the purpose of padding we assume that we are in idle or pause state. */
 758 static int jlink_tap_execute(void)
 759 {
 760         int byte_length;
 761         int i;
 762         int result;
 763
 764         if (!tap_length)
 765                 return ERROR_OK;
 766
 767         /* JLink returns an extra NULL in packet when size of in message is a multiple of 64, creates problems with usb comms */
 768         /* WARNING This will interfere with tap state counting */
 769         while ((TAP_SCAN_BYTES(tap_length)%64)==0)
 770         {
 771                 jlink_tap_append_step((tap_get_state() == TAP_RESET)?1:0, 0);
 772         }
 773
 774         // number of full bytes (plus one if some would be left over)
 775         byte_length = TAP_SCAN_BYTES(tap_length);
 776
 777         bool use_jtag3 = jlink_hw_jtag_version >= 3;
 778         usb_out_buffer[0] = use_jtag3 ? EMU_CMD_HW_JTAG3 : EMU_CMD_HW_JTAG2;
 779         usb_out_buffer[1] = 0;
 780         usb_out_buffer[2] = (tap_length >> 0) & 0xff;
 781         usb_out_buffer[3] = (tap_length >> 8) & 0xff;
 782         memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
 783         memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);
 784
 785         jlink_last_state = jtag_debug_state_machine(tms_buffer, tdi_buffer,
 786                         tap_length, jlink_last_state);
 787
 788         result = jlink_usb_message(jlink_jtag_handle, 4 + 2 * byte_length, byte_length);
 789         if (result != byte_length)
 790         {
 791                 LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)", result, byte_length);
 792                 jlink_tap_init();
 793                 return ERROR_JTAG_QUEUE_FAILED;
 794         }
 795
 796         memcpy(tdo_buffer, usb_in_buffer, byte_length);
 797
 798         for (i = 0; i < pending_scan_results_length; i++)
 799         {
 800                 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
 801                 u8 *buffer = pending_scan_result->buffer;
 802                 int length = pending_scan_result->length;
 803                 int first = pending_scan_result->first;
 804                 scan_command_t *command = pending_scan_result->command;
 805
 806                 /* Copy to buffer */
 807                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 808
 809                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 810
 811 #ifdef _DEBUG_USB_COMMS_
 812                 jlink_debug_buffer(buffer, byte_length);
 813 #endif
 814
 815                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 816                 {
 817                         jlink_tap_init();
 818                         return ERROR_JTAG_QUEUE_FAILED;
 819                 }
 820
 821                 if (pending_scan_result->buffer != NULL)
 822                 {
 823                         free(pending_scan_result->buffer);
 824                 }
 825         }
 826
 827         jlink_tap_init();
 828         return ERROR_OK;
 829 }
 830
 831 /*****************************************************************************/
 832 /* JLink USB low-level functions */
 833
 834 static jlink_jtag_t* jlink_usb_open()
 835 {
 836         struct usb_bus *busses;
 837         struct usb_bus *bus;
 838         struct usb_device *dev;
 839
 840         jlink_jtag_t *result;
 841
 842         result = (jlink_jtag_t*) malloc(sizeof(jlink_jtag_t));
 843
 844         usb_init();
 845         usb_find_busses();
 846         usb_find_devices();
 847
 848         busses = usb_get_busses();
 849
 850         /* find jlink_jtag device in usb bus */
 851
 852         for (bus = busses; bus; bus = bus->next)
 853         {
 854                 for (dev = bus->devices; dev; dev = dev->next)
 855                 {
 856                         if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID))
 857                         {
 858                                 result->usb_handle = usb_open(dev);
 859
 860                                 /* usb_set_configuration required under win32 */
 861                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 862                                 usb_claim_interface(result->usb_handle, 0);
 863
 864 #if 0
 865                                 /*
 866                                  * This makes problems under Mac OS X. And is not needed
 867                                  * under Windows. Hopefully this will not break a linux build
 868                                  */
 869                                 usb_set_altinterface(result->usb_handle, 0);
 870 #endif
 871                                 struct usb_interface *iface = dev->config->interface;
 872                                 struct usb_interface_descriptor *desc = iface->altsetting;
 873                                 for (int i = 0; i < desc->bNumEndpoints; i++)
 874                                 {
 875                                         u8 epnum = desc->endpoint[i].bEndpointAddress;
 876                                         bool is_input = epnum & 0x80;
 877                                         LOG_DEBUG("usb ep %s %02x", is_input ? "in" : "out", epnum);
 878                                         if (is_input)
 879                                                 jlink_read_ep = epnum;
 880                                         else
 881                                                 jlink_write_ep = epnum;
 882                                 }
 883
 884                                 return result;
 885                         }
 886                 }
 887         }
 888
 889         free(result);
 890         return NULL;
 891 }
 892
 893 static void jlink_usb_close(jlink_jtag_t *jlink_jtag)
 894 {
 895         usb_close(jlink_jtag->usb_handle);
 896         free(jlink_jtag);
 897 }
 898
 899 /* Send a message and receive the reply. */
 900 static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length)
 901 {
 902         int result;
 903
 904         result = jlink_usb_write(jlink_jtag, out_length);
 905         if (result != out_length)
 906         {
 907                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
 908                                 out_length, result);
 909                 return ERROR_JTAG_DEVICE_ERROR;
 910         }
 911
 912         result = jlink_usb_read(jlink_jtag, in_length);
 913         if ((result != in_length) && (result != (in_length + 1)))
 914         {
 915                 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
 916                                 in_length, result);
 917                 return ERROR_JTAG_DEVICE_ERROR;
 918         }
 919
 920         if (jlink_hw_jtag_version < 3)
 921                 return result;
 922
 923         int result2 = ERROR_OK;
 924         if (result == in_length)
 925         {
 926                 /* Must read the result from the EMU too */
 927                 result2 = jlink_usb_read_emu_result(jlink_jtag);
 928                 if (1 != result2)
 929                 {
 930                         LOG_ERROR("jlink_usb_read_emu_result retried requested=1, result=%d, in_length=%i", result2,in_length);
 931                         /* Try again once, should only happen if (in_length%64==0) */
 932                         result2 = jlink_usb_read_emu_result(jlink_jtag);
 933                         if (1 != result2)
 934                         {
 935                                 LOG_ERROR("jlink_usb_read_emu_result failed "
 936                                         "(requested=1, result=%d)", result2);
 937                                 return ERROR_JTAG_DEVICE_ERROR;
 938                         }
 939                 }
 940
 941                 /* Check the result itself */
 942                 result2 = usb_emu_result_buffer[0];
 943         }
 944         else
 945         {
 946                 /* Save the result, then remove it from return value */
 947                 result2 = usb_in_buffer[result--];
 948         }
 949
 950         if (result2)
 951         {
 952                 LOG_ERROR("jlink_usb_message failed with result=%d)", result2);
 953                 return ERROR_JTAG_DEVICE_ERROR;
 954         }
 955
 956         return result;
 957 }
 958
 959 /* calls the given usb_bulk_* function, allowing for the data to trickle in with some timeouts  */
 960 static int usb_bulk_with_retries(
 961                 int (*f)(usb_dev_handle *, int, char *, int, int),
 962                 usb_dev_handle *dev, int ep,
 963                 char *bytes, int size, int timeout)
 964 {
 965         int tries = 3, count = 0;
 966
 967         while (tries && (count < size))
 968         {
 969                 int result = f(dev, ep, bytes + count, size - count, timeout);
 970                 if (result > 0)
 971                         count += result;
 972                 else if ((-ETIMEDOUT != result) || !--tries)
 973                         return result;
 974         }
 975         return count;
 976 }
 977
 978 static int wrap_usb_bulk_write(usb_dev_handle *dev, int ep,
 979                                char *buff, int size, int timeout)
 980 {
 981         /* usb_bulk_write() takes const char *buff */
 982         return usb_bulk_write(dev, ep, buff, size, timeout);
 983 }
 984
 985 static inline int usb_bulk_write_ex(usb_dev_handle *dev, int ep,
 986                 char *bytes, int size, int timeout)
 987 {
 988         return usb_bulk_with_retries(&wrap_usb_bulk_write,
 989                         dev, ep, bytes, size, timeout);
 990 }
 991
 992 static inline int usb_bulk_read_ex(usb_dev_handle *dev, int ep,
 993                 char *bytes, int size, int timeout)
 994 {
 995         return usb_bulk_with_retries(&usb_bulk_read,
 996                         dev, ep, bytes, size, timeout);
 997 }
 998
 999 /* Write data from out_buffer to USB. */
1000 static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length)
1001 {
1002         int result;
1003
1004         if (out_length > JLINK_OUT_BUFFER_SIZE)
1005         {
1006                 LOG_ERROR("jlink_jtag_write illegal out_length=%d (max=%d)", out_length, JLINK_OUT_BUFFER_SIZE);
1007                 return -1;
1008         }
1009
1010         result = usb_bulk_write_ex(jlink_jtag->usb_handle, jlink_write_ep,
1011                 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
1012
1013         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d", out_length, result);
1014
1015 #ifdef _DEBUG_USB_COMMS_
1016         jlink_debug_buffer(usb_out_buffer, out_length);
1017 #endif
1018         return result;
1019 }
1020
1021 /* Read data from USB into in_buffer. */
1022 static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size)
1023 {
1024         int result = usb_bulk_read_ex(jlink_jtag->usb_handle, jlink_read_ep,
1025                 (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);
1026
1027         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
1028
1029 #ifdef _DEBUG_USB_COMMS_
1030         jlink_debug_buffer(usb_in_buffer, result);
1031 #endif
1032         return result;
1033 }
1034
1035 /* Read the result from the previous EMU cmd into result_buffer. */
1036 static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag)
1037 {
1038         int result = usb_bulk_read_ex(jlink_jtag->usb_handle, jlink_read_ep,
1039                 (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */,
1040                 JLINK_USB_TIMEOUT);
1041
1042         DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
1043
1044 #ifdef _DEBUG_USB_COMMS_
1045         jlink_debug_buffer(usb_emu_result_buffer, result);
1046 #endif
1047         return result;
1048 }
1049
1050 #ifdef _DEBUG_USB_COMMS_
1051 #define BYTES_PER_LINE  16
1052
1053 static void jlink_debug_buffer(u8 *buffer, int length)
1054 {
1055         char line[81];
1056         char s[4];
1057         int i;
1058         int j;
1059
1060         for (i = 0; i < length; i += BYTES_PER_LINE)
1061         {
1062                 snprintf(line, 5, "%04x", i);
1063                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
1064                 {
1065                         snprintf(s, 4, " %02x", buffer[j]);
1066                         strcat(line, s);
1067                 }
1068                 LOG_DEBUG("%s", line);
1069         }
1070 }
1071 #endif
1072