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

   1 /***************************************************************************
   2  *                                                                         *
   3  *   Copyright (C) 2009 by Cahya Wirawan <cahya@gmx.at>                    *
   4  *   Based on opendous driver by Vladimir Fonov                            *
   5  *                                                                         *
   6  *   Copyright (C) 2009 by Vladimir Fonov <vladimir.fonov@gmai.com>        *
   7  *   Based on J-link driver by  Juergen Stuber                             *
   8  *                                                                         *
   9  *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
  10  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
  11  *                                                                         *
  12  *   Copyright (C) 2008 by Spencer Oliver                                  *
  13  *   spen@spen-soft.co.uk                                                  *
  14  *                                                                         *
  15  *   This program is free software; you can redistribute it and/or modify  *
  16  *   it under the terms of the GNU General Public License as published by  *
  17  *   the Free Software Foundation; either version 2 of the License, or     *
  18  *   (at your option) any later version.                                   *
  19  *                                                                         *
  20  *   This program is distributed in the hope that it will be useful,       *
  21  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  22  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  23  *   GNU General Public License for more details.                          *
  24  *                                                                         *
  25  *   You should have received a copy of the GNU General Public License     *
  26  *   along with this program; if not, write to the                         *
  27  *   Free Software Foundation, Inc.,                                       *
  28  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  29  ***************************************************************************/
  30
  31 #ifdef HAVE_CONFIG_H
  32 #include "config.h"
  33 #endif
  34
  35 #include <jtag/interface.h>
  36 #include <jtag/commands.h>
  37 #include "libusb_common.h"
  38 #include <string.h>
  39 #include <sys/timeb.h>
  40 #include <time.h>
  41
  42 #define ESTICK_VID 0x1781
  43 #define ESTICK_PID 0xC0C0
  44
  45 #define OPENDOUS_VID 0x03EB
  46 #define OPENDOUS_PID 0x204F
  47
  48 /* pid could be specified at runtime */
  49 static uint16_t vids[] = { OPENDOUS_VID, ESTICK_VID, 0 };
  50 static uint16_t pids[] = { OPENDOUS_PID, ESTICK_PID, 0 };
  51
  52 #define OPENDOUS_WRITE_ENDPOINT   0x02
  53 #define OPENDOUS_READ_ENDPOINT    0x81
  54
  55 static unsigned int opendous_hw_jtag_version = 1;
  56
  57 #define OPENDOUS_USB_TIMEOUT      1000
  58
  59 #define OPENDOUS_USB_BUFFER_SIZE  360
  60 #define OPENDOUS_IN_BUFFER_SIZE   (OPENDOUS_USB_BUFFER_SIZE)
  61 #define OPENDOUS_OUT_BUFFER_SIZE  (OPENDOUS_USB_BUFFER_SIZE)
  62
  63 /* Global USB buffers */
  64 static uint8_t usb_in_buffer[OPENDOUS_IN_BUFFER_SIZE];
  65 static uint8_t usb_out_buffer[OPENDOUS_OUT_BUFFER_SIZE];
  66
  67 /* Constants for OPENDOUS command */
  68
  69 #define OPENDOUS_MAX_SPEED                      66
  70 #define OPENDOUS_MAX_TAP_TRANSMIT       350     /* even number is easier to handle */
  71 #define OPENDOUS_MAX_INPUT_DATA         (OPENDOUS_MAX_TAP_TRANSMIT*4)
  72
  73 #define OPENDOUS_TAP_BUFFER_SIZE 65536
  74
  75 #define MAX_PENDING_SCAN_RESULTS (OPENDOUS_MAX_INPUT_DATA)
  76
  77 /* JTAG usb commands */
  78 #define JTAG_CMD_TAP_OUTPUT             0x0
  79 #define JTAG_CMD_SET_TRST               0x1
  80 #define JTAG_CMD_SET_SRST               0x2
  81 #define JTAG_CMD_READ_INPUT             0x3
  82 #define JTAG_CMD_TAP_OUTPUT_EMU 0x4
  83 #define JTAG_CMD_SET_DELAY              0x5
  84 #define JTAG_CMD_SET_SRST_TRST  0x6
  85 #define JTAG_CMD_READ_CONFIG    0x7
  86
  87 /* External interface functions */
  88 static int opendous_execute_queue(void);
  89 static int opendous_speed(int speed);
  90 static int opendous_speed_div(int speed, int *khz);
  91 static int opendous_khz(int khz, int *jtag_speed);
  92 static int opendous_init(void);
  93 static int opendous_quit(void);
  94
  95 /* Queue command functions */
  96 static void opendous_end_state(tap_state_t state);
  97 static void opendous_state_move(void);
  98 static void opendous_path_move(int num_states, tap_state_t *path);
  99 static void opendous_runtest(int num_cycles);
 100 static void opendous_scan(int ir_scan, enum scan_type type, uint8_t *buffer,
 101                 int scan_size, struct scan_command *command);
 102 static void opendous_reset(int trst, int srst);
 103 static void opendous_simple_command(uint8_t command, uint8_t _data);
 104 static int opendous_get_status(void);
 105
 106 /* opendous tap buffer functions */
 107 static void opendous_tap_init(void);
 108 static int opendous_tap_execute(void);
 109 static void opendous_tap_ensure_space(int scans, int bits);
 110 static void opendous_tap_append_step(int tms, int tdi);
 111 static void opendous_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command);
 112
 113 /* opendous lowlevel functions */
 114 struct opendous_jtag {
 115         struct jtag_libusb_device_handle *usb_handle;
 116 };
 117
 118 static struct opendous_jtag *opendous_usb_open(void);
 119 static void opendous_usb_close(struct opendous_jtag *opendous_jtag);
 120 static int opendous_usb_message(struct opendous_jtag *opendous_jtag, int out_length, int in_length);
 121 static int opendous_usb_write(struct opendous_jtag *opendous_jtag, int out_length);
 122 static int opendous_usb_read(struct opendous_jtag *opendous_jtag);
 123
 124 /* helper functions */
 125 int opendous_get_version_info(void);
 126
 127 #ifdef _DEBUG_USB_COMMS_
 128 char time_str[50];
 129 static void opendous_debug_buffer(uint8_t *buffer, int length);
 130 char *opendous_get_time(char *);
 131 #endif
 132
 133 static struct opendous_jtag *opendous_jtag_handle;
 134
 135 /***************************************************************************/
 136 /* External interface implementation */
 137
 138 COMMAND_HANDLER(opendous_handle_opendous_info_command)
 139 {
 140         if (opendous_get_version_info() == ERROR_OK) {
 141                 /* attempt to get status */
 142                 opendous_get_status();
 143         }
 144
 145         return ERROR_OK;
 146 }
 147
 148 COMMAND_HANDLER(opendous_handle_opendous_hw_jtag_command)
 149 {
 150         switch (CMD_ARGC) {
 151                 case 0:
 152                         command_print(CMD_CTX, "opendous hw jtag  %i", opendous_hw_jtag_version);
 153                         break;
 154
 155                 case 1: {
 156                         int request_version = atoi(CMD_ARGV[0]);
 157                         switch (request_version) {
 158                                 case 2:
 159                                 case 3:
 160                                         opendous_hw_jtag_version = request_version;
 161                                         break;
 162
 163                         default:
 164                                 return ERROR_COMMAND_SYNTAX_ERROR;
 165                         }
 166                         break;
 167                 }
 168
 169                 default:
 170                         return ERROR_COMMAND_SYNTAX_ERROR;
 171         }
 172
 173         return ERROR_OK;
 174 }
 175
 176 static const struct command_registration opendous_command_handlers[] = {
 177         {
 178                 .name = "opendous_info",
 179                 .handler = &opendous_handle_opendous_info_command,
 180                 .mode = COMMAND_EXEC,
 181                 .help = "show opendous info",
 182         },
 183         {
 184                 .name = "opendous_hw_jtag",
 185                 .handler = &opendous_handle_opendous_hw_jtag_command,
 186                 .mode = COMMAND_EXEC,
 187                 .help = "access opendous HW JTAG command version",
 188                 .usage = "[2|3]",
 189         },
 190         COMMAND_REGISTRATION_DONE
 191 };
 192
 193 struct jtag_interface opendous_interface = {
 194         .name = "opendous",
 195         .commands = opendous_command_handlers,
 196         .execute_queue = opendous_execute_queue,
 197         .speed = opendous_speed,
 198         .speed_div = opendous_speed_div,
 199         .khz = opendous_khz,
 200         .init = opendous_init,
 201         .quit = opendous_quit,
 202 };
 203
 204 static int opendous_execute_queue(void)
 205 {
 206         struct jtag_command *cmd = jtag_command_queue;
 207         int scan_size;
 208         enum scan_type type;
 209         uint8_t *buffer;
 210
 211         while (cmd != NULL) {
 212                 switch (cmd->type) {
 213                         case JTAG_RUNTEST:
 214                                 DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
 215                                         cmd->cmd.runtest->end_state);
 216
 217                                 if (cmd->cmd.runtest->end_state != -1)
 218                                         opendous_end_state(cmd->cmd.runtest->end_state);
 219                                 opendous_runtest(cmd->cmd.runtest->num_cycles);
 220                                 break;
 221
 222                         case JTAG_TLR_RESET:
 223                                 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 224
 225                                 if (cmd->cmd.statemove->end_state != -1)
 226                                         opendous_end_state(cmd->cmd.statemove->end_state);
 227                                 opendous_state_move();
 228                                 break;
 229
 230                         case JTAG_PATHMOVE:
 231                                 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
 232                                         cmd->cmd.pathmove->num_states, \
 233                                         cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 234
 235                                 opendous_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 236                                 break;
 237
 238                         case JTAG_SCAN:
 239                                 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 240
 241                                 if (cmd->cmd.scan->end_state != -1)
 242                                         opendous_end_state(cmd->cmd.scan->end_state);
 243
 244                                 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 245                                 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 246
 247 #ifdef _DEBUG_USB_COMMS_
 248                                 opendous_debug_buffer(buffer, (scan_size + 7) / 8);
 249 #endif
 250                                 type = jtag_scan_type(cmd->cmd.scan);
 251                                 opendous_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
 252                                 break;
 253
 254                         case JTAG_RESET:
 255                                 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 256
 257                                 opendous_tap_execute();
 258
 259                                 if (cmd->cmd.reset->trst == 1)
 260                                         tap_set_state(TAP_RESET);
 261                                 opendous_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 262                                 break;
 263
 264                         case JTAG_SLEEP:
 265                                 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 266                                 opendous_tap_execute();
 267                                 jtag_sleep(cmd->cmd.sleep->us);
 268                                 break;
 269
 270                         default:
 271                                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 272                                 exit(-1);
 273                 }
 274                 cmd = cmd->next;
 275         }
 276         return opendous_tap_execute();
 277 }
 278
 279 /* Sets speed in kHz. */
 280 static int opendous_speed(int speed)
 281 {
 282         if (speed <= OPENDOUS_MAX_SPEED) {
 283                 /* one day... */
 284                 return ERROR_OK;
 285         } else
 286                 LOG_INFO("Requested speed %dkHz exceeds maximum of %dkHz, ignored", speed, OPENDOUS_MAX_SPEED);
 287
 288         return ERROR_OK;
 289 }
 290
 291 static int opendous_speed_div(int speed, int *khz)
 292 {
 293         *khz = speed;
 294
 295         return ERROR_OK;
 296 }
 297
 298 static int opendous_khz(int khz, int *jtag_speed)
 299 {
 300         *jtag_speed = khz;
 301         /* TODO: convert this into delay value for opendous */
 302
 303         return ERROR_OK;
 304 }
 305
 306 static int opendous_init(void)
 307 {
 308         int check_cnt;
 309
 310         opendous_jtag_handle = opendous_usb_open();
 311
 312         if (opendous_jtag_handle == 0) {
 313                 LOG_ERROR("Cannot find opendous Interface! Please check connection and permissions.");
 314                 return ERROR_JTAG_INIT_FAILED;
 315         }
 316
 317         check_cnt = 0;
 318         while (check_cnt < 3) {
 319                 if (opendous_get_version_info() == ERROR_OK) {
 320                         /* attempt to get status */
 321                         opendous_get_status();
 322                         break;
 323                 }
 324
 325                 check_cnt++;
 326         }
 327
 328         LOG_INFO("opendous JTAG Interface ready");
 329
 330         opendous_reset(0, 0);
 331         opendous_tap_init();
 332
 333         return ERROR_OK;
 334 }
 335
 336 static int opendous_quit(void)
 337 {
 338         opendous_usb_close(opendous_jtag_handle);
 339         return ERROR_OK;
 340 }
 341
 342 /***************************************************************************/
 343 /* Queue command implementations */
 344
 345 void opendous_end_state(tap_state_t state)
 346 {
 347         if (tap_is_state_stable(state))
 348                 tap_set_end_state(state);
 349         else {
 350                 LOG_ERROR("BUG: %i is not a valid end state", state);
 351                 exit(-1);
 352         }
 353 }
 354
 355 /* Goes to the end state. */
 356 void opendous_state_move(void)
 357 {
 358         int i;
 359         int tms = 0;
 360         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 361         uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 362
 363         for (i = 0; i < tms_scan_bits; i++) {
 364                 tms = (tms_scan >> i) & 1;
 365                 opendous_tap_append_step(tms, 0);
 366         }
 367
 368         tap_set_state(tap_get_end_state());
 369 }
 370
 371 void opendous_path_move(int num_states, tap_state_t *path)
 372 {
 373         int i;
 374
 375         for (i = 0; i < num_states; i++) {
 376                 if (path[i] == tap_state_transition(tap_get_state(), false))
 377                         opendous_tap_append_step(0, 0);
 378                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 379                         opendous_tap_append_step(1, 0);
 380                 else {
 381                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
 382                                         tap_state_name(tap_get_state()), tap_state_name(path[i]));
 383                         exit(-1);
 384                 }
 385
 386                 tap_set_state(path[i]);
 387         }
 388
 389         tap_set_end_state(tap_get_state());
 390 }
 391
 392 void opendous_runtest(int num_cycles)
 393 {
 394         int i;
 395
 396         tap_state_t saved_end_state = tap_get_end_state();
 397
 398         /* only do a state_move when we're not already in IDLE */
 399         if (tap_get_state() != TAP_IDLE) {
 400                 opendous_end_state(TAP_IDLE);
 401                 opendous_state_move();
 402         }
 403
 404         /* execute num_cycles */
 405         for (i = 0; i < num_cycles; i++)
 406                 opendous_tap_append_step(0, 0);
 407
 408         /* finish in end_state */
 409         opendous_end_state(saved_end_state);
 410         if (tap_get_state() != tap_get_end_state())
 411                 opendous_state_move();
 412 }
 413
 414 void opendous_scan(int ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command)
 415 {
 416         tap_state_t saved_end_state;
 417
 418         opendous_tap_ensure_space(1, scan_size + 8);
 419
 420         saved_end_state = tap_get_end_state();
 421
 422         /* Move to appropriate scan state */
 423         opendous_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 424
 425         opendous_state_move();
 426         opendous_end_state(saved_end_state);
 427
 428         /* Scan */
 429         opendous_tap_append_scan(scan_size, buffer, command);
 430
 431         /* We are in Exit1, go to Pause */
 432         opendous_tap_append_step(0, 0);
 433
 434         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 435
 436         if (tap_get_state() != tap_get_end_state())
 437                 opendous_state_move();
 438 }
 439
 440 void opendous_reset(int trst, int srst)
 441 {
 442         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 443
 444         /* Signals are active low */
 445 #if 0
 446         if (srst == 0)
 447                 opendous_simple_command(JTAG_CMD_SET_SRST, 1);
 448         else if (srst == 1)
 449                 opendous_simple_command(JTAG_CMD_SET_SRST, 0);
 450
 451         if (trst == 0)
 452                 opendous_simple_command(JTAG_CMD_SET_TRST, 1);
 453         else if (trst == 1)
 454                 opendous_simple_command(JTAG_CMD_SET_TRST, 0);
 455 #endif
 456
 457         srst = srst ? 0 : 1;
 458         trst = trst ? 0 : 2;
 459         opendous_simple_command(JTAG_CMD_SET_SRST_TRST, srst | trst);
 460 }
 461
 462 void opendous_simple_command(uint8_t command, uint8_t _data)
 463 {
 464         int result;
 465
 466         DEBUG_JTAG_IO("0x%02x 0x%02x", command, _data);
 467
 468         usb_out_buffer[0] = (uint16_t) 2;
 469         usb_out_buffer[2] = command;
 470         usb_out_buffer[3] = _data;
 471
 472         result = opendous_usb_message(opendous_jtag_handle, 4, 1);
 473         if (result != 1)
 474                 LOG_ERROR("opendous command 0x%02x failed (%d)", command, result);
 475 }
 476
 477 int opendous_get_status(void)
 478 {
 479         return ERROR_OK;
 480 }
 481
 482 int opendous_get_version_info(void)
 483 {
 484         return ERROR_OK;
 485 }
 486
 487 /***************************************************************************/
 488 /* Estick tap functions */
 489
 490 static int tap_length;
 491 static uint8_t tms_buffer[OPENDOUS_TAP_BUFFER_SIZE];
 492 static uint8_t tdo_buffer[OPENDOUS_TAP_BUFFER_SIZE];
 493
 494 struct pending_scan_result {
 495         int first;      /* First bit position in tdo_buffer to read */
 496         int length; /* Number of bits to read */
 497         struct scan_command *command; /* Corresponding scan command */
 498         uint8_t *buffer;
 499 };
 500
 501 static int pending_scan_results_length;
 502 static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 503
 504 static int last_tms;
 505
 506 void opendous_tap_init(void)
 507 {
 508         tap_length = 0;
 509         pending_scan_results_length = 0;
 510 }
 511
 512 void opendous_tap_ensure_space(int scans, int bits)
 513 {
 514         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 515
 516         if (scans > available_scans)
 517                 opendous_tap_execute();
 518 }
 519
 520 void opendous_tap_append_step(int tms, int tdi)
 521 {
 522         last_tms = tms;
 523         unsigned char _tms = tms ? 1 : 0;
 524         unsigned char _tdi = tdi ? 1 : 0;
 525
 526         int tap_index =  tap_length / 4;
 527         int bits  = (tap_length % 4) * 2;
 528
 529         if (tap_length < OPENDOUS_TAP_BUFFER_SIZE) {
 530                 if (!bits)
 531                         tms_buffer[tap_index] = 0;
 532
 533                 tms_buffer[tap_index] |= (_tdi << bits)|(_tms << (bits + 1)) ;
 534                 tap_length++;
 535         } else
 536                 LOG_ERROR("opendous_tap_append_step, overflow");
 537 }
 538
 539 void opendous_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command)
 540 {
 541         DEBUG_JTAG_IO("append scan, length = %d", length);
 542
 543         struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
 544         int i;
 545
 546         pending_scan_result->first = tap_length;
 547         pending_scan_result->length = length;
 548         pending_scan_result->command = command;
 549         pending_scan_result->buffer = buffer;
 550
 551         for (i = 0; i < length; i++)
 552                 opendous_tap_append_step((i < length-1 ? 0 : 1), (buffer[i / 8] >> (i % 8)) & 1);
 553         pending_scan_results_length++;
 554 }
 555
 556 /* Pad and send a tap sequence to the device, and receive the answer.
 557  * For the purpose of padding we assume that we are in idle or pause state. */
 558 int opendous_tap_execute(void)
 559 {
 560         int byte_length, byte_length_out;
 561         int i, j;
 562         int result;
 563         int output_counter;
 564
 565         if (tap_length > 0) {
 566
 567                 /* memset(tdo_buffer,0,OPENDOUS_TAP_BUFFER_SIZE); */
 568                 /* LOG_INFO("OPENDOUS tap execute %d",tap_length); */
 569                 byte_length = (tap_length + 3) / 4;
 570                 byte_length_out = (tap_length + 7) / 8;
 571
 572 #ifdef _DEBUG_USB_COMMS_
 573                 LOG_DEBUG("opendous is sending %d bytes", byte_length);
 574 #endif
 575
 576                 output_counter = 0;
 577                 for (j = 0, i = 0; j <  byte_length;) {
 578
 579                         int recieve;
 580                         int transmit = byte_length - j;
 581                         if (transmit > OPENDOUS_MAX_TAP_TRANSMIT) {
 582                                 transmit = OPENDOUS_MAX_TAP_TRANSMIT;
 583                                 recieve = (OPENDOUS_MAX_TAP_TRANSMIT) / 2;
 584                                 usb_out_buffer[2] = JTAG_CMD_TAP_OUTPUT;
 585                         } else {
 586                                 usb_out_buffer[2] = JTAG_CMD_TAP_OUTPUT | ((tap_length % 4) << 4);
 587                                 recieve = (transmit + 1) / 2;
 588                         }
 589                         usb_out_buffer[0] = (transmit + 1) & 0xff;
 590                         usb_out_buffer[1] = ((transmit + 1) >> 8) & 0xff;
 591
 592                         memmove(usb_out_buffer + 3, tms_buffer + j, transmit);
 593                         result = opendous_usb_message(opendous_jtag_handle, 3 + transmit, recieve);
 594                         if (result != recieve) {
 595                                 LOG_ERROR("opendous_tap_execute, wrong result %d, expected %d", result, recieve);
 596                                 return ERROR_JTAG_QUEUE_FAILED;
 597                         }
 598
 599                         memmove(tdo_buffer + i, usb_in_buffer, recieve);
 600                         i += recieve;
 601                         j += transmit;
 602                 }
 603
 604                 result = byte_length_out;
 605 #ifdef _DEBUG_USB_COMMS_
 606                 LOG_DEBUG("opendous tap result %d", result);
 607                 opendous_debug_buffer(tdo_buffer, result);
 608 #endif
 609
 610                 /* LOG_INFO("eStick tap execute %d",tap_length); */
 611                 for (i = 0; i < pending_scan_results_length; i++) {
 612
 613                         struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
 614                         uint8_t *buffer = pending_scan_result->buffer;
 615                         int length = pending_scan_result->length;
 616                         int first = pending_scan_result->first;
 617                         struct scan_command *command = pending_scan_result->command;
 618
 619                         /* Copy to buffer */
 620                         buf_set_buf(tdo_buffer, first, buffer, 0, length);
 621
 622                         DEBUG_JTAG_IO("pending scan result, length = %d", length);
 623
 624 #ifdef _DEBUG_USB_COMMS_
 625                         opendous_debug_buffer(buffer, byte_length_out);
 626 #endif
 627
 628                         if (jtag_read_buffer(buffer, command) != ERROR_OK) {
 629                                 opendous_tap_init();
 630                                 return ERROR_JTAG_QUEUE_FAILED;
 631                         }
 632
 633                         if (pending_scan_result->buffer != NULL)
 634                                 free(pending_scan_result->buffer);
 635                 }
 636
 637                 opendous_tap_init();
 638         }
 639
 640         return ERROR_OK;
 641 }
 642
 643 /*****************************************************************************/
 644 /* Estick USB low-level functions */
 645
 646 struct opendous_jtag *opendous_usb_open(void)
 647 {
 648         struct opendous_jtag *result;
 649
 650         struct jtag_libusb_device_handle *devh;
 651         if (jtag_libusb_open(vids, pids, &devh) != ERROR_OK)
 652                 return NULL;
 653
 654         jtag_libusb_set_configuration(devh, 0);
 655         jtag_libusb_claim_interface(devh, 0);
 656
 657         result = (struct opendous_jtag *) malloc(sizeof(struct opendous_jtag));
 658         result->usb_handle = devh;
 659         return result;
 660 }
 661
 662 void opendous_usb_close(struct opendous_jtag *opendous_jtag)
 663 {
 664         jtag_libusb_close(opendous_jtag->usb_handle);
 665         free(opendous_jtag);
 666 }
 667
 668 /* Send a message and receive the reply. */
 669 int opendous_usb_message(struct opendous_jtag *opendous_jtag, int out_length, int in_length)
 670 {
 671         int result;
 672
 673         result = opendous_usb_write(opendous_jtag, out_length);
 674         if (result == out_length) {
 675                 result = opendous_usb_read(opendous_jtag);
 676                 if (result == in_length)
 677                         return result;
 678                 else {
 679                         LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
 680                         return -1;
 681                 }
 682         } else {
 683                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
 684                 return -1;
 685         }
 686 }
 687
 688 /* Write data from out_buffer to USB. */
 689 int opendous_usb_write(struct opendous_jtag *opendous_jtag, int out_length)
 690 {
 691         int result;
 692
 693         if (out_length > OPENDOUS_OUT_BUFFER_SIZE) {
 694                 LOG_ERROR("opendous_jtag_write illegal out_length=%d (max=%d)", out_length, OPENDOUS_OUT_BUFFER_SIZE);
 695                 return -1;
 696         }
 697
 698 #ifdef _DEBUG_USB_COMMS_
 699         LOG_DEBUG("%s: USB write begin", opendous_get_time(time_str));
 700 #endif
 701         result = jtag_libusb_bulk_write(opendous_jtag->usb_handle, OPENDOUS_WRITE_ENDPOINT, \
 702                 (char *)usb_out_buffer, out_length, OPENDOUS_USB_TIMEOUT);
 703 #ifdef _DEBUG_USB_COMMS_
 704         LOG_DEBUG("%s: USB write end: %d bytes", opendous_get_time(time_str), result);
 705 #endif
 706
 707         DEBUG_JTAG_IO("opendous_usb_write, out_length = %d, result = %d", out_length, result);
 708
 709 #ifdef _DEBUG_USB_COMMS_
 710         opendous_debug_buffer(usb_out_buffer, out_length);
 711 #endif
 712         return result;
 713 }
 714
 715 /* Read data from USB into in_buffer. */
 716 int opendous_usb_read(struct opendous_jtag *opendous_jtag)
 717 {
 718 #ifdef _DEBUG_USB_COMMS_
 719         LOG_DEBUG("%s: USB read begin", opendous_get_time(time_str));
 720 #endif
 721         int result = jtag_libusb_bulk_read(opendous_jtag->usb_handle, OPENDOUS_READ_ENDPOINT,
 722                 (char *)usb_in_buffer, OPENDOUS_IN_BUFFER_SIZE, OPENDOUS_USB_TIMEOUT);
 723 #ifdef _DEBUG_USB_COMMS_
 724         LOG_DEBUG("%s: USB read end: %d bytes", opendous_get_time(time_str), result);
 725 #endif
 726         DEBUG_JTAG_IO("opendous_usb_read, result = %d", result);
 727
 728 #ifdef _DEBUG_USB_COMMS_
 729         opendous_debug_buffer(usb_in_buffer, result);
 730 #endif
 731         return result;
 732 }
 733
 734 #ifdef _DEBUG_USB_COMMS_
 735 #define BYTES_PER_LINE  16
 736
 737 void opendous_debug_buffer(uint8_t *buffer, int length)
 738 {
 739         char line[81];
 740         char s[4];
 741         int i;
 742         int j;
 743
 744         for (i = 0; i < length; i += BYTES_PER_LINE) {
 745                 snprintf(line, 5, "%04x", i);
 746                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++) {
 747                         snprintf(s, 4, " %02x", buffer[j]);
 748                         strcat(line, s);
 749                 }
 750                 LOG_DEBUG("%s", line);
 751         }
 752 }
 753
 754 char *opendous_get_time(char *str)
 755 {
 756         struct timeb timebuffer;
 757         char *timeline;
 758
 759         ftime(&timebuffer);
 760         timeline = ctime(&(timebuffer.time));
 761         snprintf(str, 49, "%.8s.%hu", &timeline[11], timebuffer.millitm);
 762         return str;
 763 }
 764 #endif