git.sur5r.net Git - openocd/blob - src/jtag/jlink.c

   1 /***************************************************************************
   2  *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
   3  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   4  *                                                                         *
   5  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program; if not, write to the                         *
  17  *   Free Software Foundation, Inc.,                                       *
  18  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19  ***************************************************************************/
  20
  21 #ifdef HAVE_CONFIG_H
  22 #include "config.h"
  23 #endif
  24
  25 #include "replacements.h"
  26
  27 #include "jtag.h"
  28
  29 #include <usb.h>
  30 #include <string.h>
  31
  32 #include "log.h"
  33
  34 /* enable this to debug communication
  35  */
  36 #if 0
  37 #define _DEBUG_USB_COMMS_
  38 #endif
  39
  40 #ifdef _DEBUG_JTAG_IO_
  41 #define DEBUG_JTAG_IO(expr ...) LOG_DEBUG(expr)
  42 #else
  43 #define DEBUG_JTAG_IO(expr ...)
  44 #endif
  45
  46 #define VID 0x1366
  47 #define PID 0x0101
  48
  49 #define JLINK_WRITE_ENDPOINT    0x02
  50 #define JLINK_READ_ENDPOINT             0x81
  51
  52 #define JLINK_USB_TIMEOUT               100
  53
  54 #define JLINK_IN_BUFFER_SIZE    2064
  55 #define JLINK_OUT_BUFFER_SIZE   2064
  56
  57 /* Global USB buffers */
  58 static u8 usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  59 static u8 usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  60
  61 /* Constants for JLink command */
  62
  63 /* The JLINK_TAP_SEQUENCE_COMMAND is obsolete
  64  * and we should use EMU_CMD_HW_JTAG instead */
  65 #define JLINK_TAP_SEQUENCE_COMMAND              0xcd
  66
  67 #define EMU_CMD_VERSION     0x01
  68 #define EMU_CMD_SET_SPEED   0x05
  69 #define EMU_CMD_GET_STATE   0x07
  70 #define EMU_CMD_HW_JTAG     0xcf
  71 #define EMU_CMD_HW_RESET0   0xdc
  72 #define EMU_CMD_HW_RESET1   0xdd
  73 #define EMU_CMD_HW_TRST0    0xde
  74 #define EMU_CMD_HW_TRST1    0xdf
  75
  76 /* max speed 12MHz v5.0 jlink */
  77 #define JLINK_MAX_SPEED 12000
  78
  79 /* External interface functions */
  80 int jlink_execute_queue(void);
  81 int jlink_speed(int speed);
  82 int jlink_khz(int khz, int *jtag_speed);
  83 int jlink_register_commands(struct command_context_s *cmd_ctx);
  84 int jlink_init(void);
  85 int jlink_quit(void);
  86
  87 /* CLI command handler functions */
  88 int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  89
  90 /* Queue command functions */
  91 void jlink_end_state(enum tap_state state);
  92 void jlink_state_move(void);
  93 void jlink_path_move(int num_states, enum tap_state *path);
  94 void jlink_runtest(int num_cycles);
  95 void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
  96 void jlink_reset(int trst, int srst);
  97 void jlink_simple_command(u8 command);
  98 int jlink_get_status(void);
  99
 100 /* J-Link tap buffer functions */
 101 void jlink_tap_init();
 102 int jlink_tap_execute();
 103 void jlink_tap_ensure_space(int scans, int bits);
 104 void jlink_tap_append_step(int tms, int tdi);
 105 void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
 106
 107 /* Jlink lowlevel functions */
 108 typedef struct jlink_jtag
 109 {
 110         struct usb_dev_handle* usb_handle;
 111 } jlink_jtag_t;
 112
 113 jlink_jtag_t *jlink_usb_open(void);
 114 void jlink_usb_close(jlink_jtag_t *jlink_jtag);
 115 int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length);
 116 int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length);
 117 int jlink_usb_read(jlink_jtag_t *jlink_jtag);
 118
 119 /* helper functions */
 120 int jlink_get_version_info(void);
 121
 122 #ifdef _DEBUG_USB_COMMS_
 123 void jlink_debug_buffer(u8 *buffer, int length);
 124 #endif
 125
 126 jlink_jtag_t* jlink_jtag_handle;
 127
 128 /***************************************************************************/
 129 /* External interface implementation */
 130
 131 jtag_interface_t jlink_interface =
 132 {
 133         .name = "jlink",
 134         .execute_queue = jlink_execute_queue,
 135         .speed = jlink_speed,
 136         .khz = jlink_khz,
 137         .register_commands = jlink_register_commands,
 138         .init = jlink_init,
 139         .quit = jlink_quit
 140 };
 141
 142 int jlink_execute_queue(void)
 143 {
 144         jtag_command_t *cmd = jtag_command_queue;
 145         int scan_size;
 146         enum scan_type type;
 147         u8 *buffer;
 148
 149         while (cmd != NULL)
 150         {
 151                 switch (cmd->type)
 152                 {
 153                         case JTAG_END_STATE:
 154                                 DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
 155
 156                                 if (cmd->cmd.end_state->end_state != -1)
 157                                 {
 158                                         jlink_end_state(cmd->cmd.end_state->end_state);
 159                                 }
 160                                 break;
 161
 162                         case JTAG_RUNTEST:
 163                                 DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
 164                                         cmd->cmd.runtest->end_state);
 165
 166                                 if (cmd->cmd.runtest->end_state != -1)
 167                                 {
 168                                         jlink_end_state(cmd->cmd.runtest->end_state);
 169                                 }
 170                                 jlink_runtest(cmd->cmd.runtest->num_cycles);
 171                                 break;
 172
 173                         case JTAG_STATEMOVE:
 174                                 DEBUG_JTAG_IO("statemove end in %i",
 175                                 cmd->cmd.statemove->end_state);
 176
 177                                 if (cmd->cmd.statemove->end_state != -1)
 178                                 {
 179                                         jlink_end_state(cmd->cmd.statemove->end_state);
 180                                 }
 181                                 jlink_state_move();
 182                                 break;
 183
 184                         case JTAG_PATHMOVE:
 185                                 DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 186                                 cmd->cmd.pathmove->num_states,
 187                                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 188
 189                                 jlink_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 190                                 break;
 191
 192                         case JTAG_SCAN:
 193                                 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 194
 195                                 if (cmd->cmd.scan->end_state != -1)
 196                                 {
 197                                         jlink_end_state(cmd->cmd.scan->end_state);
 198                                 }
 199
 200                                 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 201                                 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 202
 203 #ifdef _DEBUG_USB_COMMS_
 204                                 jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 205 #endif
 206                                 type = jtag_scan_type(cmd->cmd.scan);
 207                                 jlink_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
 208                                 break;
 209
 210                         case JTAG_RESET:
 211                                 DEBUG_JTAG_IO("reset trst: %i srst %i",
 212                                 cmd->cmd.reset->trst,
 213                                 cmd->cmd.reset->srst);
 214
 215                                 jlink_tap_execute();
 216
 217                                 if (cmd->cmd.reset->trst == 1)
 218                                 {
 219                                         cur_state = TAP_TLR;
 220                                 }
 221                                 jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 222                                 break;
 223
 224                         case JTAG_SLEEP:
 225                                 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 226                                 jlink_tap_execute();
 227                                 jtag_sleep(cmd->cmd.sleep->us);
 228                                 break;
 229
 230                         default:
 231                                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 232                                 exit(-1);
 233                 }
 234                 cmd = cmd->next;
 235         }
 236
 237         return jlink_tap_execute();
 238 }
 239
 240 /* Sets speed in kHz. */
 241 int jlink_speed(int speed)
 242 {
 243         int result;
 244
 245         if (speed <= JLINK_MAX_SPEED)
 246         {
 247                 /* check for RTCK setting */
 248                 if (speed == 0)
 249                         speed = -1;
 250
 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;
 254
 255                 result = jlink_usb_write(jlink_jtag_handle, 3);
 256
 257                 if (result == 3)
 258                 {
 259                         return ERROR_OK;
 260                 }
 261                 else
 262                 {
 263                         LOG_ERROR("J-Link setting speed failed (%d)", result);
 264                         return ERROR_JTAG_DEVICE_ERROR;
 265                 }
 266         }
 267         else
 268         {
 269                 LOG_INFO("Requested speed %dkHz exceeds maximum of %dkHz, ignored", speed, JLINK_MAX_SPEED);
 270         }
 271
 272         return ERROR_OK;
 273 }
 274
 275 int jlink_khz(int khz, int *jtag_speed)
 276 {
 277         *jtag_speed = khz;
 278
 279         return ERROR_OK;
 280 }
 281
 282 int jlink_register_commands(struct command_context_s *cmd_ctx)
 283 {
 284         register_command(cmd_ctx, NULL, "jlink_info", jlink_handle_jlink_info_command, COMMAND_EXEC,
 285                 "query jlink info");
 286         return ERROR_OK;
 287 }
 288
 289 int jlink_init(void)
 290 {
 291         int check_cnt;
 292
 293         jlink_jtag_handle = jlink_usb_open();
 294
 295         if (jlink_jtag_handle == 0)
 296         {
 297                 LOG_ERROR("Can't find USB JTAG Interface! Please check connection and permissions.");
 298                 return ERROR_JTAG_INIT_FAILED;
 299         }
 300
 301         check_cnt = 0;
 302         while (check_cnt < 3)
 303         {
 304                 if (jlink_get_version_info() == ERROR_OK)
 305                 {
 306                         /* attempt to get status */
 307                         jlink_get_status();
 308                         break;
 309                 }
 310
 311                 check_cnt++;
 312         }
 313
 314         if (check_cnt == 3)
 315         {
 316                 LOG_INFO("J-Link initial read failed, don't worry");
 317         }
 318
 319         LOG_INFO("J-Link JTAG Interface ready");
 320
 321         jlink_reset(0, 0);
 322         jlink_tap_init();
 323
 324         return ERROR_OK;
 325 }
 326
 327 int jlink_quit(void)
 328 {
 329         jlink_usb_close(jlink_jtag_handle);
 330         return ERROR_OK;
 331 }
 332
 333 /***************************************************************************/
 334 /* Queue command implementations */
 335
 336 void jlink_end_state(enum tap_state state)
 337 {
 338         if (tap_move_map[state] != -1)
 339         {
 340                 end_state = state;
 341         }
 342         else
 343         {
 344                 LOG_ERROR("BUG: %i is not a valid end state", state);
 345                 exit(-1);
 346         }
 347 }
 348
 349 /* Goes to the end state. */
 350 void jlink_state_move(void)
 351 {
 352         int i;
 353         int tms = 0;
 354         u8 tms_scan = TAP_MOVE(cur_state, end_state);
 355
 356         for (i = 0; i < 7; i++)
 357         {
 358                 tms = (tms_scan >> i) & 1;
 359                 jlink_tap_append_step(tms, 0);
 360         }
 361
 362         cur_state = end_state;
 363 }
 364
 365 void jlink_path_move(int num_states, enum tap_state *path)
 366 {
 367         int i;
 368
 369         for (i = 0; i < num_states; i++)
 370         {
 371                 if (path[i] == tap_transitions[cur_state].low)
 372                 {
 373                         jlink_tap_append_step(0, 0);
 374                 }
 375                 else if (path[i] == tap_transitions[cur_state].high)
 376                 {
 377                         jlink_tap_append_step(1, 0);
 378                 }
 379                 else
 380                 {
 381                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_strings[cur_state], tap_state_strings[path[i]]);
 382                         exit(-1);
 383                 }
 384
 385                 cur_state = path[i];
 386         }
 387
 388         end_state = cur_state;
 389 }
 390
 391 void jlink_runtest(int num_cycles)
 392 {
 393         int i;
 394
 395         enum tap_state saved_end_state = end_state;
 396
 397         /* only do a state_move when we're not already in RTI */
 398         if (cur_state != TAP_RTI)
 399         {
 400                 jlink_end_state(TAP_RTI);
 401                 jlink_state_move();
 402         }
 403
 404         /* execute num_cycles */
 405         for (i = 0; i < num_cycles; i++)
 406         {
 407                 jlink_tap_append_step(0, 0);
 408         }
 409
 410         /* finish in end_state */
 411         jlink_end_state(saved_end_state);
 412         if (cur_state != end_state)
 413         {
 414                 jlink_state_move();
 415         }
 416 }
 417
 418 void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
 419 {
 420         enum tap_state saved_end_state;
 421
 422         jlink_tap_ensure_space(1, scan_size + 8);
 423
 424         saved_end_state = end_state;
 425
 426         /* Move to appropriate scan state */
 427         jlink_end_state(ir_scan ? TAP_SI : TAP_SD);
 428
 429         jlink_state_move();
 430         jlink_end_state(saved_end_state);
 431
 432         /* Scan */
 433         jlink_tap_append_scan(scan_size, buffer, command);
 434
 435         /* We are in Exit1, go to Pause */
 436         jlink_tap_append_step(0, 0);
 437
 438         cur_state = ir_scan ? TAP_PI : TAP_PD;
 439
 440         if (cur_state != end_state)
 441         {
 442                 jlink_state_move();
 443         }
 444 }
 445
 446 void jlink_reset(int trst, int srst)
 447 {
 448         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 449
 450         /* Signals are active low */
 451         if (trst == 0)
 452         {
 453                 jlink_simple_command(EMU_CMD_HW_TRST1);
 454         }
 455         else if (trst == 1)
 456         {
 457                 jlink_simple_command(EMU_CMD_HW_TRST0);
 458         }
 459
 460         if (srst == 0)
 461         {
 462                 jlink_simple_command(EMU_CMD_HW_RESET1);
 463         }
 464         else if (srst == 1)
 465         {
 466                 jlink_simple_command(EMU_CMD_HW_RESET0);
 467         }
 468 }
 469
 470 void jlink_simple_command(u8 command)
 471 {
 472         int result;
 473
 474         DEBUG_JTAG_IO("0x%02x", command);
 475
 476         usb_out_buffer[0] = command;
 477         result = jlink_usb_write(jlink_jtag_handle, 1);
 478
 479         if (result != 1)
 480         {
 481                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 482         }
 483 }
 484
 485 int jlink_get_status(void)
 486 {
 487         int result;
 488
 489         jlink_simple_command(EMU_CMD_GET_STATE);
 490         result = jlink_usb_read(jlink_jtag_handle);
 491
 492         if(result == 8)
 493         {
 494                 int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 495                 LOG_INFO("Vref = %d.%d TCK=%d TDI=%d TDO=%d TMS=%d SRST=%d TRST=%d\n", \
 496                         vref / 1000, vref % 1000, \
 497                         usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 498                         usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 499
 500                 if(vref < 1500)
 501                 {
 502                         LOG_ERROR("Vref too low. Eventually the target isn't powered or disconnected?\n");
 503                 }
 504         }
 505         else
 506         {
 507                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
 508         }
 509
 510         return ERROR_OK;
 511 }
 512
 513 int jlink_get_version_info(void)
 514 {
 515         int result;
 516         int len = 0;
 517
 518         /* query hardware version */
 519         jlink_simple_command(EMU_CMD_VERSION);
 520         result = jlink_usb_read(jlink_jtag_handle);
 521
 522         if (result == 2)
 523         {
 524                 len = buf_get_u32(usb_in_buffer, 0, 16);
 525                 result = jlink_usb_read(jlink_jtag_handle);
 526
 527                 if(result == len)
 528                 {
 529                         usb_in_buffer[result] = 0;
 530                         LOG_INFO(usb_in_buffer);
 531                         return ERROR_OK;
 532                 }
 533         }
 534
 535         LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
 536         return ERROR_JTAG_DEVICE_ERROR;
 537 }
 538
 539 int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 540 {
 541         if (jlink_get_version_info() == ERROR_OK)
 542         {
 543                 /* attempt to get status */
 544                 jlink_get_status();
 545         }
 546
 547         return ERROR_OK;
 548 }
 549
 550 /***************************************************************************/
 551 /* J-Link tap functions */
 552
 553 /* We use the maximal value observed */
 554 #define JLINK_TAP_BUFFER_SIZE 390
 555
 556 static int tap_length;
 557 static u8 tms_buffer[JLINK_TAP_BUFFER_SIZE];
 558 static u8 tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 559 static u8 tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 560
 561 typedef struct
 562 {
 563         int first;      /* First bit position in tdo_buffer to read */
 564         int length; /* Number of bits to read */
 565         scan_command_t *command; /* Corresponding scan command */
 566         u8 *buffer;
 567 } pending_scan_result_t;
 568
 569 #define MAX_PENDING_SCAN_RESULTS 16
 570
 571 static int pending_scan_results_length;
 572 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 573
 574 static int last_tms;
 575
 576 void jlink_tap_init()
 577 {
 578         tap_length = 0;
 579         pending_scan_results_length = 0;
 580 }
 581
 582 void jlink_tap_ensure_space(int scans, int bits)
 583 {
 584         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 585         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length;
 586
 587         if (scans > available_scans || bits > available_bits)
 588         {
 589                 jlink_tap_execute();
 590         }
 591 }
 592
 593 void jlink_tap_append_step(int tms, int tdi)
 594 {
 595         last_tms = tms;
 596         int index = tap_length / 8;
 597
 598         if (index < JLINK_TAP_BUFFER_SIZE)
 599         {
 600                 int bit_index = tap_length % 8;
 601                 u8 bit = 1 << bit_index;
 602
 603                 if (tms)
 604                 {
 605                         tms_buffer[index] |= bit;
 606                 }
 607                 else
 608                 {
 609                         tms_buffer[index] &= ~bit;
 610                 }
 611
 612                 if (tdi)
 613                 {
 614                         tdi_buffer[index] |= bit;
 615                 }
 616                 else
 617                 {
 618                         tdi_buffer[index] &= ~bit;
 619                 }
 620
 621                 tap_length++;
 622         }
 623         else
 624         {
 625                 LOG_ERROR("jlink_tap_append_step, overflow");
 626         }
 627 }
 628
 629 void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
 630 {
 631         pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
 632         int i;
 633
 634         pending_scan_result->first = tap_length;
 635         pending_scan_result->length = length;
 636         pending_scan_result->command = command;
 637         pending_scan_result->buffer = buffer;
 638
 639         for (i = 0; i < length; i++)
 640         {
 641                 jlink_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
 642         }
 643         pending_scan_results_length++;
 644 }
 645
 646 /* Pad and send a tap sequence to the device, and receive the answer.
 647  * For the purpose of padding we assume that we are in idle or pause state. */
 648 int jlink_tap_execute()
 649 {
 650         int byte_length;
 651         int tms_offset;
 652         int tdi_offset;
 653         int i;
 654         int result;
 655
 656         if (tap_length > 0)
 657         {
 658                 /* Pad last byte so that tap_length is divisible by 8 */
 659                 while (tap_length % 8 != 0)
 660                 {
 661                         /* More of the last TMS value keeps us in the same state,
 662                          * analogous to free-running JTAG interfaces. */
 663                         jlink_tap_append_step(last_tms, 0);
 664                 }
 665
 666                 byte_length = tap_length / 8;
 667
 668                 usb_out_buffer[0] = JLINK_TAP_SEQUENCE_COMMAND;
 669                 usb_out_buffer[1] = (tap_length >> 0) & 0xff;
 670                 usb_out_buffer[2] = (tap_length >> 8) & 0xff;
 671
 672                 tms_offset = 3;
 673                 for (i = 0; i < byte_length; i++)
 674                 {
 675                         usb_out_buffer[tms_offset + i] = tms_buffer[i];
 676                 }
 677
 678                 tdi_offset = tms_offset + byte_length;
 679                 for (i = 0; i < byte_length; i++)
 680                 {
 681                         usb_out_buffer[tdi_offset + i] = tdi_buffer[i];
 682                 }
 683
 684                 result = jlink_usb_message(jlink_jtag_handle, 3 + 2 * byte_length, byte_length);
 685
 686                 if (result == byte_length)
 687                 {
 688                         for (i = 0; i < byte_length; i++)
 689                         {
 690                                 tdo_buffer[i] = usb_in_buffer[i];
 691                         }
 692
 693                         for (i = 0; i < pending_scan_results_length; i++)
 694                         {
 695                                 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
 696                                 u8 *buffer = pending_scan_result->buffer;
 697                                 int length = pending_scan_result->length;
 698                                 int first = pending_scan_result->first;
 699                                 scan_command_t *command = pending_scan_result->command;
 700
 701                                 /* Copy to buffer */
 702                                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 703
 704                                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 705
 706 #ifdef _DEBUG_USB_COMMS_
 707                                 jlink_debug_buffer(buffer, byte_length);
 708 #endif
 709
 710                                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 711                                 {
 712                                         jlink_tap_init();
 713                                         return ERROR_JTAG_QUEUE_FAILED;
 714                                 }
 715
 716                                 if (pending_scan_result->buffer != NULL)
 717                                 {
 718                                         free(pending_scan_result->buffer);
 719                                 }
 720                         }
 721                 }
 722                 else
 723                 {
 724                         LOG_ERROR("jlink_tap_execute, wrong result %d, expected %d", result, byte_length);
 725                         return ERROR_JTAG_QUEUE_FAILED;
 726                 }
 727
 728                 jlink_tap_init();
 729         }
 730
 731         return ERROR_OK;
 732 }
 733
 734 /*****************************************************************************/
 735 /* JLink USB low-level functions */
 736
 737 jlink_jtag_t* jlink_usb_open()
 738 {
 739         struct usb_bus *busses;
 740         struct usb_bus *bus;
 741         struct usb_device *dev;
 742
 743         jlink_jtag_t *result;
 744
 745         result = (jlink_jtag_t*) malloc(sizeof(jlink_jtag_t));
 746
 747         usb_init();
 748         usb_find_busses();
 749         usb_find_devices();
 750
 751         busses = usb_get_busses();
 752
 753         /* find jlink_jtag device in usb bus */
 754
 755         for (bus = busses; bus; bus = bus->next)
 756         {
 757                 for (dev = bus->devices; dev; dev = dev->next)
 758                 {
 759                         if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID))
 760                         {
 761                                 result->usb_handle = usb_open(dev);
 762
 763                                 /* usb_set_configuration required under win32 */
 764                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 765                                 usb_claim_interface(result->usb_handle, 0);
 766                                 usb_set_altinterface(result->usb_handle, 0);
 767                                 return result;
 768                         }
 769                 }
 770         }
 771
 772         free(result);
 773         return NULL;
 774 }
 775
 776 void jlink_usb_close(jlink_jtag_t *jlink_jtag)
 777 {
 778         usb_close(jlink_jtag->usb_handle);
 779         free(jlink_jtag);
 780 }
 781
 782 /* Send a message and receive the reply. */
 783 int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length)
 784 {
 785         int result;
 786
 787         result = jlink_usb_write(jlink_jtag, out_length);
 788         if (result == out_length)
 789         {
 790                 result = jlink_usb_read(jlink_jtag);
 791                 if (result == in_length)
 792                 {
 793                         return result;
 794                 }
 795                 else
 796                 {
 797                         LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
 798                         return -1;
 799                 }
 800         }
 801         else
 802         {
 803                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
 804                 return -1;
 805         }
 806 }
 807
 808 /* Write data from out_buffer to USB. */
 809 int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length)
 810 {
 811         int result;
 812
 813         if (out_length > JLINK_OUT_BUFFER_SIZE)
 814         {
 815                 LOG_ERROR("jlink_jtag_write illegal out_length=%d (max=%d)", out_length, JLINK_OUT_BUFFER_SIZE);
 816                 return -1;
 817         }
 818
 819         result = usb_bulk_write(jlink_jtag->usb_handle, JLINK_WRITE_ENDPOINT, \
 820                 usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
 821
 822         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d", out_length, result);
 823
 824 #ifdef _DEBUG_USB_COMMS_
 825         jlink_debug_buffer(usb_out_buffer, out_length);
 826 #endif
 827         return result;
 828 }
 829
 830 /* Read data from USB into in_buffer. */
 831 int jlink_usb_read(jlink_jtag_t *jlink_jtag)
 832 {
 833         int result = usb_bulk_read(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT, \
 834                 usb_in_buffer, JLINK_IN_BUFFER_SIZE, JLINK_USB_TIMEOUT);
 835
 836         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
 837
 838 #ifdef _DEBUG_USB_COMMS_
 839         jlink_debug_buffer(usb_in_buffer, result);
 840 #endif
 841         return result;
 842 }
 843
 844 #ifdef _DEBUG_USB_COMMS_
 845 #define BYTES_PER_LINE  16
 846
 847 void jlink_debug_buffer(u8 *buffer, int length)
 848 {
 849         char line[81];
 850         char s[4];
 851         int i;
 852         int j;
 853
 854         for (i = 0; i < length; i += BYTES_PER_LINE)
 855         {
 856                 snprintf(line, 5, "%04x", i);
 857                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 858                 {
 859                         snprintf(s, 4, " %02x", buffer[j]);
 860                         strcat(line, s);
 861                 }
 862                 LOG_DEBUG(line);
 863         }
 864 }
 865 #endif