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 #define JLINK_IN_BUFFER_SIZE                    8192
  46 #define JLINK_OUT_BUFFER_SIZE                   8192
  47 #define JLINK_EMU_RESULT_BUFFER_SIZE    64
  48
  49 /* Global USB buffers */
  50 static u8 usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  51 static u8 usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  52 static u8 usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
  53
  54 /* Constants for JLink command */
  55 #define EMU_CMD_VERSION     0x01
  56 #define EMU_CMD_SET_SPEED   0x05
  57 #define EMU_CMD_GET_STATE   0x07
  58 #define EMU_CMD_HW_JTAG3    0xcf
  59 #define EMU_CMD_HW_RESET0   0xdc
  60 #define EMU_CMD_HW_RESET1   0xdd
  61 #define EMU_CMD_HW_TRST0    0xde
  62 #define EMU_CMD_HW_TRST1    0xdf
  63
  64 /* max speed 12MHz v5.0 jlink */
  65 #define JLINK_MAX_SPEED 12000
  66
  67 /* External interface functions */
  68 static int jlink_execute_queue(void);
  69 static int jlink_speed(int speed);
  70 static int jlink_speed_div(int speed, int* khz);
  71 static int jlink_khz(int khz, int *jtag_speed);
  72 static int jlink_register_commands(struct command_context_s *cmd_ctx);
  73 static int jlink_init(void);
  74 static int jlink_quit(void);
  75
  76 /* CLI command handler functions */
  77 static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  78
  79 /* Queue command functions */
  80 static void jlink_end_state(tap_state_t state);
  81 static void jlink_state_move(void);
  82 static void jlink_path_move(int num_states, tap_state_t *path);
  83 static void jlink_runtest(int num_cycles);
  84 static void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
  85 static void jlink_reset(int trst, int srst);
  86 static void jlink_simple_command(u8 command);
  87 static int jlink_get_status(void);
  88
  89 /* J-Link tap buffer functions */
  90 static void jlink_tap_init(void);
  91 static int jlink_tap_execute(void);
  92 static void jlink_tap_ensure_space(int scans, int bits);
  93 static void jlink_tap_append_step(int tms, int tdi);
  94 static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
  95
  96 /* Jlink lowlevel functions */
  97 typedef struct jlink_jtag
  98 {
  99         struct usb_dev_handle* usb_handle;
 100 } jlink_jtag_t;
 101
 102 static jlink_jtag_t *jlink_usb_open(void);
 103 static void jlink_usb_close(jlink_jtag_t *jlink_jtag);
 104 static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length);
 105 static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length);
 106 static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size);
 107 static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag);
 108
 109 /* helper functions */
 110 static int jlink_get_version_info(void);
 111
 112 #ifdef _DEBUG_USB_COMMS_
 113 static void jlink_debug_buffer(u8 *buffer, int length);
 114 #endif
 115
 116 static jlink_jtag_t* jlink_jtag_handle;
 117
 118 /***************************************************************************/
 119 /* External interface implementation */
 120
 121 jtag_interface_t jlink_interface =
 122 {
 123         .name = "jlink",
 124         .execute_queue = jlink_execute_queue,
 125         .speed = jlink_speed,
 126         .speed_div = jlink_speed_div,
 127         .khz = jlink_khz,
 128         .register_commands = jlink_register_commands,
 129         .init = jlink_init,
 130         .quit = jlink_quit
 131 };
 132
 133 static int jlink_execute_queue(void)
 134 {
 135         jtag_command_t *cmd = jtag_command_queue;
 136         int scan_size;
 137         enum scan_type type;
 138         u8 *buffer;
 139
 140         while (cmd != NULL)
 141         {
 142                 switch (cmd->type)
 143                 {
 144                         case JTAG_END_STATE:
 145                                 DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
 146
 147                                 if (cmd->cmd.end_state->end_state != TAP_INVALID)
 148                                 {
 149                                         jlink_end_state(cmd->cmd.end_state->end_state);
 150                                 }
 151                                 break;
 152
 153                         case JTAG_RUNTEST:
 154                                 DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
 155                                         cmd->cmd.runtest->end_state);
 156
 157                                 if (cmd->cmd.runtest->end_state != TAP_INVALID)
 158                                 {
 159                                         jlink_end_state(cmd->cmd.runtest->end_state);
 160                                 }
 161                                 jlink_runtest(cmd->cmd.runtest->num_cycles);
 162                                 break;
 163
 164                         case JTAG_STATEMOVE:
 165                                 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 166
 167                                 if (cmd->cmd.statemove->end_state != TAP_INVALID)
 168                                 {
 169                                         jlink_end_state(cmd->cmd.statemove->end_state);
 170                                 }
 171                                 jlink_state_move();
 172                                 break;
 173
 174                         case JTAG_PATHMOVE:
 175                                 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
 176                                         cmd->cmd.pathmove->num_states, \
 177                                         cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 178
 179                                 jlink_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 180                                 break;
 181
 182                         case JTAG_SCAN:
 183                                 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 184
 185                                 if (cmd->cmd.scan->end_state != TAP_INVALID)
 186                                 {
 187                                         jlink_end_state(cmd->cmd.scan->end_state);
 188                                 }
 189
 190                                 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 191                                 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 192
 193 #ifdef _DEBUG_USB_COMMS_
 194                                 jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 195 #endif
 196                                 type = jtag_scan_type(cmd->cmd.scan);
 197                                 jlink_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
 198                                 break;
 199
 200                         case JTAG_RESET:
 201                                 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 202
 203                                 jlink_tap_execute();
 204
 205                                 if (cmd->cmd.reset->trst == 1)
 206                                 {
 207                                         tap_set_state(TAP_RESET);
 208                                 }
 209                                 jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 210                                 break;
 211
 212                         case JTAG_SLEEP:
 213                                 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 214                                 jlink_tap_execute();
 215                                 jtag_sleep(cmd->cmd.sleep->us);
 216                                 break;
 217
 218                         default:
 219                                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 220                                 exit(-1);
 221                 }
 222                 cmd = cmd->next;
 223         }
 224
 225         return jlink_tap_execute();
 226 }
 227
 228 /* Sets speed in kHz. */
 229 static int jlink_speed(int speed)
 230 {
 231         int result;
 232
 233         if (speed > JLINK_MAX_SPEED)
 234         {
 235                 LOG_INFO("Ignoring speed request: %dkHz exceeds %dkHz maximum",
 236                                 speed, JLINK_MAX_SPEED);
 237                 return ERROR_OK;
 238         }
 239
 240         /* check for RTCK setting */
 241         if (speed == 0)
 242                 speed = -1;
 243
 244         usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 245         usb_out_buffer[1] = (speed >> 0) & 0xff;
 246         usb_out_buffer[2] = (speed >> 8) & 0xff;
 247
 248         result = jlink_usb_write(jlink_jtag_handle, 3);
 249         if (result != 3)
 250         {
 251                 LOG_ERROR("J-Link setting speed failed (%d)", result);
 252                 return ERROR_JTAG_DEVICE_ERROR;
 253         }
 254
 255         return ERROR_OK;
 256 }
 257
 258 static int jlink_speed_div(int speed, int* khz)
 259 {
 260         *khz = speed;
 261
 262         return ERROR_OK;
 263 }
 264
 265 static int jlink_khz(int khz, int *jtag_speed)
 266 {
 267         *jtag_speed = khz;
 268
 269         return ERROR_OK;
 270 }
 271
 272 static int jlink_register_commands(struct command_context_s *cmd_ctx)
 273 {
 274         register_command(cmd_ctx, NULL, "jlink_info", jlink_handle_jlink_info_command, COMMAND_EXEC,
 275                 "query jlink info");
 276         return ERROR_OK;
 277 }
 278
 279 static int jlink_init(void)
 280 {
 281         int check_cnt;
 282
 283         jlink_jtag_handle = jlink_usb_open();
 284
 285         if (jlink_jtag_handle == 0)
 286         {
 287                 LOG_ERROR("Cannot find jlink Interface! Please check connection and permissions.");
 288                 return ERROR_JTAG_INIT_FAILED;
 289         }
 290
 291         check_cnt = 0;
 292         while (check_cnt < 3)
 293         {
 294                 if (jlink_get_version_info() == ERROR_OK)
 295                 {
 296                         /* attempt to get status */
 297                         jlink_get_status();
 298                         break;
 299                 }
 300
 301                 check_cnt++;
 302         }
 303
 304         if (check_cnt == 3)
 305         {
 306                 LOG_INFO("J-Link initial read failed, don't worry");
 307         }
 308
 309         LOG_INFO("J-Link JTAG Interface ready");
 310
 311         jlink_reset(0, 0);
 312         jlink_tap_init();
 313
 314         return ERROR_OK;
 315 }
 316
 317 static int jlink_quit(void)
 318 {
 319         jlink_usb_close(jlink_jtag_handle);
 320         return ERROR_OK;
 321 }
 322
 323 /***************************************************************************/
 324 /* Queue command implementations */
 325
 326 static void jlink_end_state(tap_state_t state)
 327 {
 328         if (tap_is_state_stable(state))
 329         {
 330                 tap_set_end_state(state);
 331         }
 332         else
 333         {
 334                 LOG_ERROR("BUG: %i is not a valid end state", state);
 335                 exit(-1);
 336         }
 337 }
 338
 339 /* Goes to the end state. */
 340 static void jlink_state_move(void)
 341 {
 342         int i;
 343         int tms = 0;
 344         u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 345
 346         for (i = 0; i < 7; i++)
 347         {
 348                 tms = (tms_scan >> i) & 1;
 349                 jlink_tap_append_step(tms, 0);
 350         }
 351
 352         tap_set_state(tap_get_end_state());
 353 }
 354
 355 static void jlink_path_move(int num_states, tap_state_t *path)
 356 {
 357         int i;
 358
 359         for (i = 0; i < num_states; i++)
 360         {
 361                 if (path[i] == tap_state_transition(tap_get_state(), false))
 362                 {
 363                         jlink_tap_append_step(0, 0);
 364                 }
 365                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 366                 {
 367                         jlink_tap_append_step(1, 0);
 368                 }
 369                 else
 370                 {
 371                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 372                         exit(-1);
 373                 }
 374
 375                 tap_set_state(path[i]);
 376         }
 377
 378         tap_set_end_state(tap_get_state());
 379 }
 380
 381 static void jlink_runtest(int num_cycles)
 382 {
 383         int i;
 384
 385         tap_state_t saved_end_state = tap_get_end_state();
 386
 387         /* only do a state_move when we're not already in IDLE */
 388         if (tap_get_state() != TAP_IDLE)
 389         {
 390                 jlink_end_state(TAP_IDLE);
 391                 jlink_state_move();
 392         }
 393
 394         /* execute num_cycles */
 395         for (i = 0; i < num_cycles; i++)
 396         {
 397                 jlink_tap_append_step(0, 0);
 398         }
 399
 400         /* finish in end_state */
 401         jlink_end_state(saved_end_state);
 402         if (tap_get_state() != tap_get_end_state())
 403         {
 404                 jlink_state_move();
 405         }
 406 }
 407
 408 static void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
 409 {
 410         tap_state_t saved_end_state;
 411
 412         jlink_tap_ensure_space(1, scan_size + 8);
 413
 414         saved_end_state = tap_get_end_state();
 415
 416         /* Move to appropriate scan state */
 417         jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 418
 419         /* Only move if we're not already there */
 420         if (tap_get_state() != tap_get_end_state())
 421                 jlink_state_move();
 422
 423         jlink_end_state(saved_end_state);
 424
 425         /* Scan */
 426         jlink_tap_append_scan(scan_size, buffer, command);
 427
 428         /* We are in Exit1, go to Pause */
 429         jlink_tap_append_step(0, 0);
 430
 431         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 432
 433         if (tap_get_state() != tap_get_end_state())
 434         {
 435                 jlink_state_move();
 436         }
 437 }
 438
 439 static void jlink_reset(int trst, int srst)
 440 {
 441         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 442
 443         /* Signals are active low */
 444         if (srst == 0)
 445         {
 446                 jlink_simple_command(EMU_CMD_HW_RESET1);
 447         }
 448         else if (srst == 1)
 449         {
 450                 jlink_simple_command(EMU_CMD_HW_RESET0);
 451         }
 452
 453         if (trst == 0)
 454         {
 455                 jlink_simple_command(EMU_CMD_HW_TRST1);
 456         }
 457         else if (trst == 1)
 458         {
 459                 jlink_simple_command(EMU_CMD_HW_TRST0);
 460         }
 461 }
 462
 463 static void jlink_simple_command(u8 command)
 464 {
 465         int result;
 466
 467         DEBUG_JTAG_IO("0x%02x", command);
 468
 469         usb_out_buffer[0] = command;
 470         result = jlink_usb_write(jlink_jtag_handle, 1);
 471
 472         if (result != 1)
 473         {
 474                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 475         }
 476 }
 477
 478 static int jlink_get_status(void)
 479 {
 480         int result;
 481
 482         jlink_simple_command(EMU_CMD_GET_STATE);
 483
 484         result = jlink_usb_read(jlink_jtag_handle, 8);
 485         if (result != 8)
 486         {
 487                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
 488                 return ERROR_JTAG_DEVICE_ERROR;
 489         }
 490
 491         int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 492         LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d\n", \
 493                 vref / 1000, vref % 1000, \
 494                 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 495                 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 496
 497         if (vref < 1500)
 498                 LOG_ERROR("Vref too low. Check Target Power\n");
 499
 500         return ERROR_OK;
 501 }
 502
 503 static int jlink_get_version_info(void)
 504 {
 505         int result;
 506         int len;
 507
 508         /* query hardware version */
 509         jlink_simple_command(EMU_CMD_VERSION);
 510
 511         result = jlink_usb_read(jlink_jtag_handle, 2);
 512         if (2 != result)
 513         {
 514                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n",
 515                                 result);
 516                 return ERROR_JTAG_DEVICE_ERROR;
 517         }
 518
 519         len = buf_get_u32(usb_in_buffer, 0, 16);
 520         result = jlink_usb_read(jlink_jtag_handle, len);
 521         if (result != len)
 522         {
 523                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n",
 524                                 result);
 525                 return ERROR_JTAG_DEVICE_ERROR;
 526         }
 527
 528         usb_in_buffer[result] = 0;
 529         LOG_INFO("%s", (char *)usb_in_buffer);
 530
 531         return ERROR_OK;
 532 }
 533
 534 static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 535 {
 536         if (jlink_get_version_info() == ERROR_OK)
 537         {
 538                 /* attempt to get status */
 539                 jlink_get_status();
 540         }
 541
 542         return ERROR_OK;
 543 }
 544
 545 /***************************************************************************/
 546 /* J-Link tap functions */
 547
 548 /* 2048 is the max value we can use here */
 549 #define JLINK_TAP_BUFFER_SIZE 2048
 550
 551 static unsigned tap_length;
 552 static u8 tms_buffer[JLINK_TAP_BUFFER_SIZE];
 553 static u8 tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 554 static u8 tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 555
 556 typedef struct
 557 {
 558         int first;      /* First bit position in tdo_buffer to read */
 559         int length; /* Number of bits to read */
 560         scan_command_t *command; /* Corresponding scan command */
 561         u8 *buffer;
 562 } pending_scan_result_t;
 563
 564 #define MAX_PENDING_SCAN_RESULTS 256
 565
 566 static int pending_scan_results_length;
 567 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 568
 569 static int last_tms;
 570
 571 static void jlink_tap_init(void)
 572 {
 573         tap_length = 0;
 574         pending_scan_results_length = 0;
 575 }
 576
 577 static void jlink_tap_ensure_space(int scans, int bits)
 578 {
 579         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 580         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length;
 581
 582         if (scans > available_scans || bits > available_bits)
 583         {
 584                 jlink_tap_execute();
 585         }
 586 }
 587
 588 static void jlink_tap_append_step(int tms, int tdi)
 589 {
 590         last_tms = tms;
 591         int index = tap_length / 8;
 592
 593         if (index >= JLINK_TAP_BUFFER_SIZE)
 594         {
 595                 LOG_ERROR("jlink_tap_append_step: overflow");
 596                 exit(-1);
 597         }
 598
 599         int bit_index = tap_length % 8;
 600         u8 bit = 1 << bit_index;
 601
 602         if (tms)
 603                 tms_buffer[index] |= bit;
 604         else
 605                 tms_buffer[index] &= ~bit;
 606
 607         if (tdi)
 608                 tdi_buffer[index] |= bit;
 609         else
 610                 tdi_buffer[index] &= ~bit;
 611
 612         tap_length++;
 613 }
 614
 615 static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
 616 {
 617         pending_scan_result_t *pending_scan_result =
 618                 &pending_scan_results_buffer[pending_scan_results_length];
 619         int i;
 620
 621         pending_scan_result->first = tap_length;
 622         pending_scan_result->length = length;
 623         pending_scan_result->command = command;
 624         pending_scan_result->buffer = buffer;
 625
 626         for (i = 0; i < length; i++)
 627         {
 628                 int tms = i < length - 1 ? 0 : 1;
 629                 int tdi = buffer[i / 8] & (1 << (i % 8));
 630                 jlink_tap_append_step(tms, tdi);
 631         }
 632         pending_scan_results_length++;
 633 }
 634
 635 /* Pad and send a tap sequence to the device, and receive the answer.
 636  * For the purpose of padding we assume that we are in idle or pause state. */
 637 static int jlink_tap_execute(void)
 638 {
 639         int byte_length;
 640         int tms_offset;
 641         int tdi_offset;
 642         int i;
 643         int result;
 644
 645         if (!tap_length)
 646                 return ERROR_OK;
 647
 648         /* Pad last byte so that tap_length is divisible by 8 */
 649         while (tap_length % 8 != 0)
 650         {
 651                 /* More of the last TMS value keeps us in the same state,
 652                  * analogous to free-running JTAG interfaces. */
 653                 jlink_tap_append_step(last_tms, 0);
 654         }
 655
 656         byte_length = tap_length / 8;
 657
 658         usb_out_buffer[0] = EMU_CMD_HW_JTAG3;
 659         usb_out_buffer[1] = 0;
 660         usb_out_buffer[2] = (tap_length >> 0) & 0xff;
 661         usb_out_buffer[3] = (tap_length >> 8) & 0xff;
 662
 663         tms_offset = 4;
 664         for (i = 0; i < byte_length; i++)
 665         {
 666                 usb_out_buffer[tms_offset + i] = tms_buffer[i];
 667         }
 668
 669         tdi_offset = tms_offset + byte_length;
 670         for (i = 0; i < byte_length; i++)
 671         {
 672                 usb_out_buffer[tdi_offset + i] = tdi_buffer[i];
 673         }
 674
 675         result = jlink_usb_message(jlink_jtag_handle, 4 + 2 * byte_length, byte_length);
 676
 677         if (result != byte_length)
 678         {
 679                 LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)",
 680                                 result, byte_length);
 681                 return ERROR_JTAG_QUEUE_FAILED;
 682         }
 683
 684         for (i = 0; i < byte_length; i++)
 685                 tdo_buffer[i] = usb_in_buffer[i];
 686
 687         for (i = 0; i < pending_scan_results_length; i++)
 688         {
 689                 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
 690                 u8 *buffer = pending_scan_result->buffer;
 691                 int length = pending_scan_result->length;
 692                 int first = pending_scan_result->first;
 693                 scan_command_t *command = pending_scan_result->command;
 694
 695                 /* Copy to buffer */
 696                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 697
 698                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 699
 700 #ifdef _DEBUG_USB_COMMS_
 701                 jlink_debug_buffer(buffer, byte_length);
 702 #endif
 703
 704                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 705                 {
 706                         jlink_tap_init();
 707                         return ERROR_JTAG_QUEUE_FAILED;
 708                 }
 709
 710                 if (pending_scan_result->buffer != NULL)
 711                 {
 712                         free(pending_scan_result->buffer);
 713                 }
 714         }
 715
 716         jlink_tap_init();
 717
 718         return ERROR_OK;
 719 }
 720
 721 /*****************************************************************************/
 722 /* JLink USB low-level functions */
 723
 724 static jlink_jtag_t* jlink_usb_open()
 725 {
 726         struct usb_bus *busses;
 727         struct usb_bus *bus;
 728         struct usb_device *dev;
 729
 730         jlink_jtag_t *result;
 731
 732         result = (jlink_jtag_t*) malloc(sizeof(jlink_jtag_t));
 733
 734         usb_init();
 735         usb_find_busses();
 736         usb_find_devices();
 737
 738         busses = usb_get_busses();
 739
 740         /* find jlink_jtag device in usb bus */
 741
 742         for (bus = busses; bus; bus = bus->next)
 743         {
 744                 for (dev = bus->devices; dev; dev = dev->next)
 745                 {
 746                         if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID))
 747                         {
 748                                 result->usb_handle = usb_open(dev);
 749
 750                                 /* usb_set_configuration required under win32 */
 751                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 752                                 usb_claim_interface(result->usb_handle, 0);
 753
 754 #if 0
 755                                 /*
 756                                  * This makes problems under Mac OS X. And is not needed
 757                                  * under Windows. Hopefully this will not break a linux build
 758                                  */
 759                                 usb_set_altinterface(result->usb_handle, 0);
 760 #endif
 761                                 return result;
 762                         }
 763                 }
 764         }
 765
 766         free(result);
 767         return NULL;
 768 }
 769
 770 static void jlink_usb_close(jlink_jtag_t *jlink_jtag)
 771 {
 772         usb_close(jlink_jtag->usb_handle);
 773         free(jlink_jtag);
 774 }
 775
 776 /* Send a message and receive the reply. */
 777 static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length)
 778 {
 779         int result;
 780         int result2;
 781
 782         result = jlink_usb_write(jlink_jtag, out_length);
 783         if (result != out_length)
 784         {
 785                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
 786                                 out_length, result);
 787                 return ERROR_JTAG_DEVICE_ERROR;
 788         }
 789
 790         result = jlink_usb_read(jlink_jtag, in_length);
 791         if ((result != in_length) && (result != in_length + 1))
 792         {
 793                 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
 794                                 in_length, result);
 795                 return ERROR_JTAG_DEVICE_ERROR;
 796         }
 797
 798         if (result == in_length)
 799         {
 800                 /* Must read the result from the EMU too */
 801                 result2 = jlink_usb_read_emu_result(jlink_jtag);
 802                 if (1 != result2)
 803                 {
 804                         LOG_ERROR("jlink_usb_read_emu_result failed "
 805                                 "(requested=1, result=%d)", result2);
 806                         return ERROR_JTAG_DEVICE_ERROR;
 807                 }
 808
 809                 /* Check the result itself */
 810                 result2 = usb_emu_result_buffer[0];
 811         }
 812         else
 813         {
 814                 /* Save the result, then remove it from return value */
 815                 result2 = usb_in_buffer[result--];
 816         }
 817
 818         if (result2)
 819         {
 820                 LOG_ERROR("jlink_usb_message failed with result=%d)", result2);
 821                 return ERROR_JTAG_DEVICE_ERROR;
 822         }
 823
 824         return result;
 825 }
 826
 827 /* calls the given usb_bulk_* function, allowing for the data to trickle in with some timeouts  */
 828 static int usb_bulk_with_retries(
 829                 int (*f)(usb_dev_handle *, int, char *, int, int),
 830                 usb_dev_handle *dev, int ep,
 831                 char *bytes, int size, int timeout)
 832 {
 833         int rc = 0, tries = 3, this_size;
 834
 835         while (tries && size) {
 836
 837                 this_size = f(dev, ep, bytes, size, timeout);
 838                 if (this_size > 0) {
 839
 840                         size -= this_size;
 841                         rc += this_size;
 842                         bytes += this_size;
 843
 844                 } else
 845                         tries --;
 846         }
 847         return rc;
 848 }
 849 static inline int usb_bulk_write_ex(usb_dev_handle *dev, int ep,
 850                 char *bytes, int size, int timeout)
 851 {
 852         return usb_bulk_with_retries(&usb_bulk_write,
 853                         dev, ep, bytes, size, timeout);
 854 }
 855 static inline int usb_bulk_read_ex(usb_dev_handle *dev, int ep,
 856                 char *bytes, int size, int timeout)
 857 {
 858         return usb_bulk_with_retries(&usb_bulk_read,
 859                         dev, ep, bytes, size, timeout);
 860 }
 861
 862 /* Write data from out_buffer to USB. */
 863 static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length)
 864 {
 865         int result;
 866
 867         if (out_length > JLINK_OUT_BUFFER_SIZE)
 868         {
 869                 LOG_ERROR("jlink_jtag_write illegal out_length=%d (max=%d)", out_length, JLINK_OUT_BUFFER_SIZE);
 870                 return -1;
 871         }
 872
 873         result = usb_bulk_write_ex(jlink_jtag->usb_handle, JLINK_WRITE_ENDPOINT,
 874                 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
 875
 876         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d", out_length, result);
 877
 878 #ifdef _DEBUG_USB_COMMS_
 879         jlink_debug_buffer(usb_out_buffer, out_length);
 880 #endif
 881         return result;
 882 }
 883
 884 /* Read data from USB into in_buffer. */
 885 static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size)
 886 {
 887         int result = usb_bulk_read_ex(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT,
 888                 (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);
 889
 890         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
 891
 892 #ifdef _DEBUG_USB_COMMS_
 893         jlink_debug_buffer(usb_in_buffer, result);
 894 #endif
 895         return result;
 896 }
 897
 898 /* Read the result from the previous EMU cmd into result_buffer. */
 899 static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag)
 900 {
 901         int result = usb_bulk_read_ex(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT,
 902                 (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */,
 903                 JLINK_USB_TIMEOUT);
 904
 905         DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
 906
 907 #ifdef _DEBUG_USB_COMMS_
 908         jlink_debug_buffer(usb_emu_result_buffer, result);
 909 #endif
 910         return result;
 911 }
 912
 913 #ifdef _DEBUG_USB_COMMS_
 914 #define BYTES_PER_LINE  16
 915
 916 static void jlink_debug_buffer(u8 *buffer, int length)
 917 {
 918         char line[81];
 919         char s[4];
 920         int i;
 921         int j;
 922
 923         for (i = 0; i < length; i += BYTES_PER_LINE)
 924         {
 925                 snprintf(line, 5, "%04x", i);
 926                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 927                 {
 928                         snprintf(s, 4, " %02x", buffer[j]);
 929                         strcat(line, s);
 930                 }
 931                 LOG_DEBUG("%s", line);
 932         }
 933 }
 934 #endif