3 /***************************************************************************
4 * Copyright (C) 2009 by Dimitar Dimitrov <dinuxbg@gmail.com> *
5 * based on Dominic Rath's and Benedikt Sauter's usbprog.c *
7 * This program is free software; you can redistribute it and/or modify *
8 * it under the terms of the GNU General Public License as published by *
9 * the Free Software Foundation; either version 2 of the License, or *
10 * (at your option) any later version. *
12 * This program is distributed in the hope that it will be useful, *
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
15 * GNU General Public License for more details. *
17 * You should have received a copy of the GNU General Public License *
18 * along with this program; if not, write to the *
19 * Free Software Foundation, Inc., *
20 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
21 ***************************************************************************/
27 #include "replacements.h"
38 /* enable this to debug communication
41 #define _DEBUG_USB_COMMS_
42 #define _DEBUG_JTAG_IO_
45 #ifdef _DEBUG_JTAG_IO_
46 #define DEBUG_JTAG_IO(expr ...) LOG_DEBUG(expr)
48 #define DEBUG_JTAG_IO(expr ...)
51 #define USB_VID 0x15ba
52 #define USB_PID 0x001e
54 #define ARMJTAGEW_EPT_BULK_OUT 0x01u
55 #define ARMJTAGEW_EPT_BULK_IN 0x82u
57 #define ARMJTAGEW_USB_TIMEOUT 2000
59 #define ARMJTAGEW_IN_BUFFER_SIZE (4*1024)
60 #define ARMJTAGEW_OUT_BUFFER_SIZE (4*1024)
63 /* USB command request codes. */
64 #define CMD_GET_VERSION 0x00
65 #define CMD_SELECT_DPIMPL 0x10
66 #define CMD_SET_TCK_FREQUENCY 0x11
67 #define CMD_GET_TCK_FREQUENCY 0x12
68 #define CMD_MEASURE_MAX_TCK_FREQ 0x15
69 #define CMD_MEASURE_RTCK_RESPONSE 0x16
70 #define CMD_TAP_SHIFT 0x17
71 #define CMD_SET_TAPHW_STATE 0x20
72 #define CMD_GET_TAPHW_STATE 0x21
73 #define CMD_TGPWR_SETUP 0x22
75 /* Global USB buffers */
76 static u8 usb_in_buffer[ARMJTAGEW_IN_BUFFER_SIZE];
77 static u8 usb_out_buffer[ARMJTAGEW_OUT_BUFFER_SIZE];
79 /* External interface functions */
80 static int armjtagew_execute_queue(void);
81 static int armjtagew_speed(int speed);
82 static int armjtagew_khz(int khz, int *jtag_speed);
83 static int armjtagew_register_commands(struct command_context_s *cmd_ctx);
84 static int armjtagew_init(void);
85 static int armjtagew_quit(void);
87 /* CLI command handler functions */
88 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
90 /* Queue command functions */
91 static void armjtagew_end_state(tap_state_t state);
92 static void armjtagew_state_move(void);
93 static void armjtagew_path_move(int num_states, tap_state_t *path);
94 static void armjtagew_runtest(int num_cycles);
95 static void armjtagew_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
96 static void armjtagew_reset(int trst, int srst);
97 //static void armjtagew_simple_command(u8 command);
98 static int armjtagew_get_status(void);
100 /* tap buffer functions */
101 static void armjtagew_tap_init(void);
102 static int armjtagew_tap_execute(void);
103 static void armjtagew_tap_ensure_space(int scans, int bits);
104 static void armjtagew_tap_append_step(int tms, int tdi);
105 static void armjtagew_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
107 /* ARM-JTAG-EW lowlevel functions */
108 typedef struct armjtagew_jtag
110 struct usb_dev_handle* usb_handle;
113 static armjtagew_jtag_t *armjtagew_usb_open(void);
114 static void armjtagew_usb_close(armjtagew_jtag_t *armjtagew_jtag);
115 static int armjtagew_usb_message(armjtagew_jtag_t *armjtagew_jtag, int out_length, int in_length);
116 static int armjtagew_usb_write(armjtagew_jtag_t *armjtagew_jtag, int out_length);
117 static int armjtagew_usb_read(armjtagew_jtag_t *armjtagew_jtag, int exp_in_length);
119 /* helper functions */
120 static int armjtagew_get_version_info(void);
122 #ifdef _DEBUG_USB_COMMS_
123 static void armjtagew_debug_buffer(u8 *buffer, int length);
126 static armjtagew_jtag_t* armjtagew_jtag_handle;
130 /***************************************************************************/
131 /* External interface implementation */
133 jtag_interface_t armjtagew_interface =
135 .name = "arm-jtag-ew",
136 .execute_queue = armjtagew_execute_queue,
137 .speed = armjtagew_speed,
138 .khz = armjtagew_khz,
139 .register_commands = armjtagew_register_commands,
140 .init = armjtagew_init,
141 .quit = armjtagew_quit
145 static int armjtagew_execute_queue(void)
147 jtag_command_t *cmd = jtag_command_queue;
157 DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
159 if (cmd->cmd.end_state->end_state != TAP_INVALID)
161 armjtagew_end_state(cmd->cmd.end_state->end_state);
166 DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
167 cmd->cmd.runtest->end_state);
169 if (cmd->cmd.runtest->end_state != TAP_INVALID)
171 armjtagew_end_state(cmd->cmd.runtest->end_state);
173 armjtagew_runtest(cmd->cmd.runtest->num_cycles);
177 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
179 if (cmd->cmd.statemove->end_state != TAP_INVALID)
181 armjtagew_end_state(cmd->cmd.statemove->end_state);
183 armjtagew_state_move();
187 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
188 cmd->cmd.pathmove->num_states, \
189 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
191 armjtagew_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
195 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
197 if (cmd->cmd.scan->end_state != TAP_INVALID)
199 armjtagew_end_state(cmd->cmd.scan->end_state);
202 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
203 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
205 #ifdef _DEBUG_USB_COMMS_
206 armjtagew_debug_buffer(buffer, (scan_size + 7) / 8);
208 type = jtag_scan_type(cmd->cmd.scan);
209 armjtagew_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
213 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
215 armjtagew_tap_execute();
217 if (cmd->cmd.reset->trst == 1)
219 tap_set_state(TAP_RESET);
221 armjtagew_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
225 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
226 armjtagew_tap_execute();
227 jtag_sleep(cmd->cmd.sleep->us);
231 LOG_ERROR("BUG: unknown JTAG command type encountered");
237 return armjtagew_tap_execute();
241 /* Sets speed in kHz. */
242 static int armjtagew_speed(int speed)
248 usb_out_buffer[0] = CMD_SET_TCK_FREQUENCY;
249 buf_set_u32(usb_out_buffer+1, 0, 32, speed);
251 result = armjtagew_usb_message(armjtagew_jtag_handle, 4, 4);
255 LOG_ERROR("ARM-JTAG-EW setting speed failed (%d)", result);
256 return ERROR_JTAG_DEVICE_ERROR;
259 usb_out_buffer[0] = CMD_GET_TCK_FREQUENCY;
260 result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 4);
261 speed_real = (int)buf_get_u32(usb_in_buffer,0,32);
264 LOG_ERROR("ARM-JTAG-EW getting speed failed (%d)", result);
265 return ERROR_JTAG_DEVICE_ERROR;
269 LOG_INFO("Requested speed %dkHz, emulator reported %dkHz.", speed, speed_real);
276 static int armjtagew_khz(int khz, int *jtag_speed)
283 static int armjtagew_register_commands(struct command_context_s *cmd_ctx)
285 register_command(cmd_ctx, NULL, "armjtagew_info", armjtagew_handle_armjtagew_info_command, COMMAND_EXEC,
286 "query armjtagew info");
290 static int armjtagew_init(void)
294 armjtagew_jtag_handle = armjtagew_usb_open();
296 if (armjtagew_jtag_handle == 0)
298 LOG_ERROR("Cannot find ARM-JTAG-EW Interface! Please check connection and permissions.");
299 return ERROR_JTAG_INIT_FAILED;
303 while (check_cnt < 3)
305 if (armjtagew_get_version_info() == ERROR_OK)
307 /* attempt to get status */
308 armjtagew_get_status();
317 LOG_INFO("ARM-JTAG-EW initial read failed, don't worry");
320 LOG_INFO("ARM-JTAG-EW JTAG Interface ready");
322 armjtagew_reset(0, 0);
323 armjtagew_tap_init();
328 static int armjtagew_quit(void)
330 armjtagew_usb_close(armjtagew_jtag_handle);
334 /***************************************************************************/
335 /* Queue command implementations */
337 static void armjtagew_end_state(tap_state_t state)
339 if (tap_is_state_stable(state))
341 tap_set_end_state(state);
345 LOG_ERROR("BUG: %i is not a valid end state", state);
350 /* Goes to the end state. */
351 static void armjtagew_state_move(void)
355 u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
357 for (i = 0; i < 7; i++)
359 tms = (tms_scan >> i) & 1;
360 armjtagew_tap_append_step(tms, 0);
363 tap_set_state(tap_get_end_state());
366 static void armjtagew_path_move(int num_states, tap_state_t *path)
370 for (i = 0; i < num_states; i++)
373 * TODO: The ARM-JTAG-EW hardware delays TDI with 3 TCK cycles when in RTCK mode.
374 * Either handle that here, or update the documentation with examples
375 * how to fix that in the configuration files.
377 if (path[i] == tap_state_transition(tap_get_state(), false))
379 armjtagew_tap_append_step(0, 0);
381 else if (path[i] == tap_state_transition(tap_get_state(), true))
383 armjtagew_tap_append_step(1, 0);
387 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
391 tap_set_state(path[i]);
394 tap_set_end_state(tap_get_state());
397 static void armjtagew_runtest(int num_cycles)
401 tap_state_t saved_end_state = tap_get_end_state();
403 /* only do a state_move when we're not already in IDLE */
404 if (tap_get_state() != TAP_IDLE)
406 armjtagew_end_state(TAP_IDLE);
407 armjtagew_state_move();
410 /* execute num_cycles */
411 for (i = 0; i < num_cycles; i++)
413 armjtagew_tap_append_step(0, 0);
416 /* finish in end_state */
417 armjtagew_end_state(saved_end_state);
418 if (tap_get_state() != tap_get_end_state())
420 armjtagew_state_move();
424 static void armjtagew_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
426 tap_state_t saved_end_state;
428 armjtagew_tap_ensure_space(1, scan_size + 8);
430 saved_end_state = tap_get_end_state();
432 /* Move to appropriate scan state */
433 armjtagew_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
435 armjtagew_state_move();
436 armjtagew_end_state(saved_end_state);
439 armjtagew_tap_append_scan(scan_size, buffer, command);
441 /* We are in Exit1, go to Pause */
442 armjtagew_tap_append_step(0, 0);
444 tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
446 if (tap_get_state() != tap_get_end_state())
448 armjtagew_state_move();
452 static void armjtagew_reset(int trst, int srst)
454 const u8 trst_mask = (1u<<5);
455 const u8 srst_mask = (1u<<6);
461 LOG_DEBUG("trst: %i, srst: %i", trst, srst);
466 outp_en &= ~srst_mask; /* tristate */
467 change_mask |= srst_mask;
472 outp_en |= srst_mask;
473 change_mask |= srst_mask;
479 outp_en &= ~trst_mask; /* tristate */
480 change_mask |= trst_mask;
485 outp_en |= trst_mask;
486 change_mask |= trst_mask;
489 usb_out_buffer[0] = CMD_SET_TAPHW_STATE;
490 usb_out_buffer[1] = val;
491 usb_out_buffer[2] = outp_en;
492 usb_out_buffer[3] = change_mask;
493 result = armjtagew_usb_write(armjtagew_jtag_handle, 4);
496 LOG_ERROR("ARM-JTAG-EW TRST/SRST pin set failed failed (%d)", result);
501 static int armjtagew_get_status(void)
505 usb_out_buffer[0] = CMD_GET_TAPHW_STATE;
506 result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 12);
510 unsigned int u_tg = buf_get_u32(usb_in_buffer, 0, 16);
511 LOG_INFO("U_tg = %d mV, U_aux = %d mV, U_tgpwr = %d mV, I_tgpwr = %d mA, D1 = %d, Target power %s %s\n", \
512 buf_get_u32(usb_in_buffer + 0, 0, 16), \
513 buf_get_u32(usb_in_buffer + 2, 0, 16), \
514 buf_get_u32(usb_in_buffer + 4, 0, 16), \
515 buf_get_u32(usb_in_buffer + 6, 0, 16), \
517 usb_in_buffer[11] ? "OVERCURRENT" : "OK", \
518 usb_in_buffer[10] ? "enabled" : "disabled");
522 LOG_ERROR("Vref too low. Check Target Power\n");
527 LOG_ERROR("ARM-JTAG-EW command CMD_GET_TAPHW_STATE failed (%d)\n", result);
533 static int armjtagew_get_version_info(void)
539 /* query hardware version */
540 usb_out_buffer[0] = CMD_GET_VERSION;
541 result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 4+15+256);
545 LOG_ERROR("ARM-JTAG-EW command CMD_GET_VERSION failed (%d)\n", result);
546 return ERROR_JTAG_DEVICE_ERROR;
550 memcpy(sn, usb_in_buffer+4, 15);
552 memcpy(auxinfo, usb_in_buffer+4+15, 256);
555 LOG_INFO("ARM-JTAG-EW firmware version %d.%d, hardware revision %c, SN=%s, Additional info: %s", \
556 usb_in_buffer[1], usb_in_buffer[0], \
557 isgraph(usb_in_buffer[2]) ? usb_in_buffer[2] : 'X', \
562 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
564 if (armjtagew_get_version_info() == ERROR_OK)
566 /* attempt to get status */
567 armjtagew_get_status();
573 /***************************************************************************/
574 /* ARM-JTAG-EW tap functions */
576 /* 2048 is the max value we can use here */
577 #define ARMJTAGEW_TAP_BUFFER_SIZE 2048
579 static int tap_length;
580 static u8 tms_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
581 static u8 tdi_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
582 static u8 tdo_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
586 int first; /* First bit position in tdo_buffer to read */
587 int length; /* Number of bits to read */
588 scan_command_t *command; /* Corresponding scan command */
590 } pending_scan_result_t;
592 #define MAX_PENDING_SCAN_RESULTS 256
594 static int pending_scan_results_length;
595 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
599 static void armjtagew_tap_init(void)
602 pending_scan_results_length = 0;
605 static void armjtagew_tap_ensure_space(int scans, int bits)
607 int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
608 int available_bits = ARMJTAGEW_TAP_BUFFER_SIZE * 8 - tap_length;
610 if (scans > available_scans || bits > available_bits)
612 armjtagew_tap_execute();
616 static void armjtagew_tap_append_step(int tms, int tdi)
619 int index = tap_length / 8;
621 if (index < ARMJTAGEW_TAP_BUFFER_SIZE)
623 int bit_index = tap_length % 8;
624 u8 bit = 1 << bit_index;
628 tms_buffer[index] |= bit;
632 tms_buffer[index] &= ~bit;
637 tdi_buffer[index] |= bit;
641 tdi_buffer[index] &= ~bit;
648 LOG_ERROR("armjtagew_tap_append_step, overflow");
652 void armjtagew_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
654 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
657 pending_scan_result->first = tap_length;
658 pending_scan_result->length = length;
659 pending_scan_result->command = command;
660 pending_scan_result->buffer = buffer;
662 for (i = 0; i < length; i++)
664 armjtagew_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
666 pending_scan_results_length++;
669 /* Pad and send a tap sequence to the device, and receive the answer.
670 * For the purpose of padding we assume that we are in idle or pause state. */
671 static int armjtagew_tap_execute(void)
681 /* Pad last byte so that tap_length is divisible by 8 */
682 while (tap_length % 8 != 0)
684 /* More of the last TMS value keeps us in the same state,
685 * analogous to free-running JTAG interfaces. */
686 armjtagew_tap_append_step(last_tms, 0);
689 byte_length = tap_length / 8;
691 usb_out_buffer[0] = CMD_TAP_SHIFT;
692 buf_set_u32(usb_out_buffer+1, 0, 16, byte_length);
695 for (i = 0; i < byte_length; i++)
697 usb_out_buffer[tms_offset + i] = flip_u32(tms_buffer[i],8);
700 tdi_offset = tms_offset + byte_length;
701 for (i = 0; i < byte_length; i++)
703 usb_out_buffer[tdi_offset + i] = flip_u32(tdi_buffer[i],8);
706 result = armjtagew_usb_message(armjtagew_jtag_handle, 3 + 2 * byte_length, byte_length + 4);
712 stat = (int)buf_get_u32(usb_in_buffer + byte_length, 0, 32);
714 LOG_ERROR("armjtagew_tap_execute, emulator returned error code %d for a CMD_TAP_SHIFT command", stat);
715 return ERROR_JTAG_QUEUE_FAILED;
718 for (i = 0; i < byte_length; i++)
720 tdo_buffer[i] = flip_u32(usb_in_buffer[i],8);
723 for (i = 0; i < pending_scan_results_length; i++)
725 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
726 u8 *buffer = pending_scan_result->buffer;
727 int length = pending_scan_result->length;
728 int first = pending_scan_result->first;
729 scan_command_t *command = pending_scan_result->command;
732 buf_set_buf(tdo_buffer, first, buffer, 0, length);
734 DEBUG_JTAG_IO("pending scan result, length = %d", length);
736 #ifdef _DEBUG_USB_COMMS_
737 armjtagew_debug_buffer(buffer, byte_length);
740 if (jtag_read_buffer(buffer, command) != ERROR_OK)
742 armjtagew_tap_init();
743 return ERROR_JTAG_QUEUE_FAILED;
746 if (pending_scan_result->buffer != NULL)
748 free(pending_scan_result->buffer);
754 LOG_ERROR("armjtagew_tap_execute, wrong result %d, expected %d", result, byte_length);
755 return ERROR_JTAG_QUEUE_FAILED;
758 armjtagew_tap_init();
764 /*****************************************************************************/
765 /* JLink USB low-level functions */
767 static armjtagew_jtag_t* armjtagew_usb_open()
769 struct usb_bus *busses;
771 struct usb_device *dev;
773 armjtagew_jtag_t *result;
775 result = (armjtagew_jtag_t*) malloc(sizeof(armjtagew_jtag_t));
781 busses = usb_get_busses();
783 /* find armjtagew_jtag device in usb bus */
785 for (bus = busses; bus; bus = bus->next)
787 for (dev = bus->devices; dev; dev = dev->next)
789 if ((dev->descriptor.idVendor == USB_VID) && (dev->descriptor.idProduct == USB_PID))
791 result->usb_handle = usb_open(dev);
794 /* usb_set_configuration required under win32 */
795 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
797 usb_claim_interface(result->usb_handle, 0);
801 * This makes problems under Mac OS X. And is not needed
802 * under Windows. Hopefully this will not break a linux build
804 usb_set_altinterface(result->usb_handle, 0);
815 static void armjtagew_usb_close(armjtagew_jtag_t *armjtagew_jtag)
817 usb_close(armjtagew_jtag->usb_handle);
818 free(armjtagew_jtag);
821 /* Send a message and receive the reply. */
822 static int armjtagew_usb_message(armjtagew_jtag_t *armjtagew_jtag, int out_length, int in_length)
826 result = armjtagew_usb_write(armjtagew_jtag, out_length);
827 if (result == out_length)
829 result = armjtagew_usb_read(armjtagew_jtag, in_length);
830 if (result != in_length)
832 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
838 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
844 /* Write data from out_buffer to USB. */
845 static int armjtagew_usb_write(armjtagew_jtag_t *armjtagew_jtag, int out_length)
849 if (out_length > ARMJTAGEW_OUT_BUFFER_SIZE)
851 LOG_ERROR("armjtagew_jtag_write illegal out_length=%d (max=%d)", out_length, ARMJTAGEW_OUT_BUFFER_SIZE);
855 result = usb_bulk_write(armjtagew_jtag->usb_handle, ARMJTAGEW_EPT_BULK_OUT, \
856 (char*)usb_out_buffer, out_length, ARMJTAGEW_USB_TIMEOUT);
858 DEBUG_JTAG_IO("armjtagew_usb_write, out_length = %d, result = %d", out_length, result);
860 #ifdef _DEBUG_USB_COMMS_
861 armjtagew_debug_buffer(usb_out_buffer, out_length);
866 /* Read data from USB into in_buffer. */
867 static int armjtagew_usb_read(armjtagew_jtag_t *armjtagew_jtag, int exp_in_length)
869 int result = usb_bulk_read(armjtagew_jtag->usb_handle, ARMJTAGEW_EPT_BULK_IN, \
870 (char*)usb_in_buffer, exp_in_length, ARMJTAGEW_USB_TIMEOUT);
872 DEBUG_JTAG_IO("armjtagew_usb_read, result = %d", result);
874 #ifdef _DEBUG_USB_COMMS_
875 armjtagew_debug_buffer(usb_in_buffer, result);
881 #ifdef _DEBUG_USB_COMMS_
882 #define BYTES_PER_LINE 16
884 static void armjtagew_debug_buffer(u8 *buffer, int length)
891 for (i = 0; i < length; i += BYTES_PER_LINE)
893 snprintf(line, 5, "%04x", i);
894 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
896 snprintf(s, 4, " %02x", buffer[j]);