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   1 // vim:ts=4 sw=4:
   2
   3 /***************************************************************************
   4  *   Copyright (C) 2009 by Dimitar Dimitrov <dinuxbg@gmail.com>            *
   5  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   6  *                                                                         *
   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.                                   *
  11  *                                                                         *
  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.                          *
  16  *                                                                         *
  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  ***************************************************************************/
  22
  23 #ifdef HAVE_CONFIG_H
  24 #include "config.h"
  25 #endif
  26
  27 #include "replacements.h"
  28
  29 #include "jtag.h"
  30 #include <usb.h>
  31 #include <string.h>
  32 #include <ctype.h>
  33
  34 /* system includes */
  35
  36 #include "log.h"
  37
  38 #define USB_VID                                         0x15ba
  39 #define USB_PID                                         0x001e
  40
  41 #define ARMJTAGEW_EPT_BULK_OUT          0x01u
  42 #define ARMJTAGEW_EPT_BULK_IN           0x82u
  43
  44 #define ARMJTAGEW_USB_TIMEOUT           2000
  45
  46 #define ARMJTAGEW_IN_BUFFER_SIZE        (4*1024)
  47 #define ARMJTAGEW_OUT_BUFFER_SIZE       (4*1024)
  48
  49
  50 /* USB command request codes. */
  51 #define CMD_GET_VERSION                         0x00
  52 #define CMD_SELECT_DPIMPL                       0x10
  53 #define CMD_SET_TCK_FREQUENCY           0x11
  54 #define CMD_GET_TCK_FREQUENCY           0x12
  55 #define CMD_MEASURE_MAX_TCK_FREQ        0x15
  56 #define CMD_MEASURE_RTCK_RESPONSE       0x16
  57 #define CMD_TAP_SHIFT                           0x17
  58 #define CMD_SET_TAPHW_STATE                     0x20
  59 #define CMD_GET_TAPHW_STATE                     0x21
  60 #define CMD_TGPWR_SETUP                         0x22
  61
  62 /* Global USB buffers */
  63 static u8 usb_in_buffer[ARMJTAGEW_IN_BUFFER_SIZE];
  64 static u8 usb_out_buffer[ARMJTAGEW_OUT_BUFFER_SIZE];
  65
  66 /* External interface functions */
  67 static int armjtagew_execute_queue(void);
  68 static int armjtagew_speed(int speed);
  69 static int armjtagew_khz(int khz, int *jtag_speed);
  70 static int armjtagew_register_commands(struct command_context_s *cmd_ctx);
  71 static int armjtagew_init(void);
  72 static int armjtagew_quit(void);
  73
  74 /* CLI command handler functions */
  75 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  76
  77 /* Queue command functions */
  78 static void armjtagew_end_state(tap_state_t state);
  79 static void armjtagew_state_move(void);
  80 static void armjtagew_path_move(int num_states, tap_state_t *path);
  81 static void armjtagew_runtest(int num_cycles);
  82 static void armjtagew_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
  83 static void armjtagew_reset(int trst, int srst);
  84 //static void armjtagew_simple_command(u8 command);
  85 static int armjtagew_get_status(void);
  86
  87 /* tap buffer functions */
  88 static void armjtagew_tap_init(void);
  89 static int armjtagew_tap_execute(void);
  90 static void armjtagew_tap_ensure_space(int scans, int bits);
  91 static void armjtagew_tap_append_step(int tms, int tdi);
  92 static void armjtagew_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
  93
  94 /* ARM-JTAG-EW lowlevel functions */
  95 typedef struct armjtagew_jtag
  96 {
  97         struct usb_dev_handle* usb_handle;
  98 } armjtagew_jtag_t;
  99
 100 static armjtagew_jtag_t *armjtagew_usb_open(void);
 101 static void armjtagew_usb_close(armjtagew_jtag_t *armjtagew_jtag);
 102 static int armjtagew_usb_message(armjtagew_jtag_t *armjtagew_jtag, int out_length, int in_length);
 103 static int armjtagew_usb_write(armjtagew_jtag_t *armjtagew_jtag, int out_length);
 104 static int armjtagew_usb_read(armjtagew_jtag_t *armjtagew_jtag, int exp_in_length);
 105
 106 /* helper functions */
 107 static int armjtagew_get_version_info(void);
 108
 109 #ifdef _DEBUG_USB_COMMS_
 110 static void armjtagew_debug_buffer(u8 *buffer, int length);
 111 #endif
 112
 113 static armjtagew_jtag_t* armjtagew_jtag_handle;
 114
 115
 116
 117 /***************************************************************************/
 118 /* External interface implementation */
 119
 120 jtag_interface_t armjtagew_interface =
 121 {
 122         .name = "arm-jtag-ew",
 123         .execute_queue = armjtagew_execute_queue,
 124         .speed = armjtagew_speed,
 125         .khz = armjtagew_khz,
 126         .register_commands = armjtagew_register_commands,
 127         .init = armjtagew_init,
 128         .quit = armjtagew_quit
 129 };
 130
 131
 132 static int armjtagew_execute_queue(void)
 133 {
 134         jtag_command_t *cmd = jtag_command_queue;
 135         int scan_size;
 136         enum scan_type type;
 137         u8 *buffer;
 138
 139         while (cmd != NULL)
 140         {
 141                 switch (cmd->type)
 142                 {
 143                         case JTAG_END_STATE:
 144                                 DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
 145
 146                                 if (cmd->cmd.end_state->end_state != TAP_INVALID)
 147                                 {
 148                                         armjtagew_end_state(cmd->cmd.end_state->end_state);
 149                                 }
 150                                 break;
 151
 152                         case JTAG_RUNTEST:
 153                                 DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
 154                                         cmd->cmd.runtest->end_state);
 155
 156                                 if (cmd->cmd.runtest->end_state != TAP_INVALID)
 157                                 {
 158                                         armjtagew_end_state(cmd->cmd.runtest->end_state);
 159                                 }
 160                                 armjtagew_runtest(cmd->cmd.runtest->num_cycles);
 161                                 break;
 162
 163                         case JTAG_STATEMOVE:
 164                                 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 165
 166                                 if (cmd->cmd.statemove->end_state != TAP_INVALID)
 167                                 {
 168                                         armjtagew_end_state(cmd->cmd.statemove->end_state);
 169                                 }
 170                                 armjtagew_state_move();
 171                                 break;
 172
 173                         case JTAG_PATHMOVE:
 174                                 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
 175                                         cmd->cmd.pathmove->num_states, \
 176                                         cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 177
 178                                 armjtagew_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 179                                 break;
 180
 181                         case JTAG_SCAN:
 182                                 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 183
 184                                 if (cmd->cmd.scan->end_state != TAP_INVALID)
 185                                 {
 186                                         armjtagew_end_state(cmd->cmd.scan->end_state);
 187                                 }
 188
 189                                 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 190                                 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 191
 192 #ifdef _DEBUG_USB_COMMS_
 193                                 armjtagew_debug_buffer(buffer, (scan_size + 7) / 8);
 194 #endif
 195                                 type = jtag_scan_type(cmd->cmd.scan);
 196                                 armjtagew_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
 197                                 break;
 198
 199                         case JTAG_RESET:
 200                                 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 201
 202                                 armjtagew_tap_execute();
 203
 204                                 if (cmd->cmd.reset->trst == 1)
 205                                 {
 206                                         tap_set_state(TAP_RESET);
 207                                 }
 208                                 armjtagew_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 209                                 break;
 210
 211                         case JTAG_SLEEP:
 212                                 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 213                                 armjtagew_tap_execute();
 214                                 jtag_sleep(cmd->cmd.sleep->us);
 215                                 break;
 216
 217                         default:
 218                                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 219                                 exit(-1);
 220                 }
 221                 cmd = cmd->next;
 222         }
 223
 224         return armjtagew_tap_execute();
 225 }
 226
 227
 228 /* Sets speed in kHz. */
 229 static int armjtagew_speed(int speed)
 230 {
 231     int result;
 232     int speed_real;
 233
 234
 235     usb_out_buffer[0] = CMD_SET_TCK_FREQUENCY;
 236         buf_set_u32(usb_out_buffer+1, 0, 32, speed);
 237
 238     result = armjtagew_usb_message(armjtagew_jtag_handle, 4, 4);
 239
 240     if (result < 0)
 241     {
 242         LOG_ERROR("ARM-JTAG-EW setting speed failed (%d)", result);
 243         return ERROR_JTAG_DEVICE_ERROR;
 244     }
 245
 246         usb_out_buffer[0] = CMD_GET_TCK_FREQUENCY;
 247     result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 4);
 248         speed_real = (int)buf_get_u32(usb_in_buffer,0,32);
 249         if(result < 0)
 250         {
 251         LOG_ERROR("ARM-JTAG-EW getting speed failed (%d)", result);
 252         return ERROR_JTAG_DEVICE_ERROR;
 253         }
 254         else
 255         {
 256         LOG_INFO("Requested speed %dkHz, emulator reported %dkHz.", speed, speed_real);
 257         }
 258
 259     return ERROR_OK;
 260 }
 261
 262
 263 static int armjtagew_khz(int khz, int *jtag_speed)
 264 {
 265         *jtag_speed = khz;
 266
 267         return ERROR_OK;
 268 }
 269
 270 static int armjtagew_register_commands(struct command_context_s *cmd_ctx)
 271 {
 272         register_command(cmd_ctx, NULL, "armjtagew_info", armjtagew_handle_armjtagew_info_command, COMMAND_EXEC,
 273                 "query armjtagew info");
 274         return ERROR_OK;
 275 }
 276
 277 static int armjtagew_init(void)
 278 {
 279         int check_cnt;
 280
 281         armjtagew_jtag_handle = armjtagew_usb_open();
 282
 283         if (armjtagew_jtag_handle == 0)
 284         {
 285                 LOG_ERROR("Cannot find ARM-JTAG-EW Interface! Please check connection and permissions.");
 286                 return ERROR_JTAG_INIT_FAILED;
 287         }
 288
 289         check_cnt = 0;
 290         while (check_cnt < 3)
 291         {
 292                 if (armjtagew_get_version_info() == ERROR_OK)
 293                 {
 294                         /* attempt to get status */
 295                         armjtagew_get_status();
 296                         break;
 297                 }
 298
 299                 check_cnt++;
 300         }
 301
 302         if (check_cnt == 3)
 303         {
 304                 LOG_INFO("ARM-JTAG-EW initial read failed, don't worry");
 305         }
 306
 307         LOG_INFO("ARM-JTAG-EW JTAG Interface ready");
 308
 309         armjtagew_reset(0, 0);
 310         armjtagew_tap_init();
 311
 312         return ERROR_OK;
 313 }
 314
 315 static int armjtagew_quit(void)
 316 {
 317         armjtagew_usb_close(armjtagew_jtag_handle);
 318         return ERROR_OK;
 319 }
 320
 321 /***************************************************************************/
 322 /* Queue command implementations */
 323
 324 static void armjtagew_end_state(tap_state_t state)
 325 {
 326         if (tap_is_state_stable(state))
 327         {
 328                 tap_set_end_state(state);
 329         }
 330         else
 331         {
 332                 LOG_ERROR("BUG: %i is not a valid end state", state);
 333                 exit(-1);
 334         }
 335 }
 336
 337 /* Goes to the end state. */
 338 static void armjtagew_state_move(void)
 339 {
 340         int i;
 341         int tms = 0;
 342         u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 343
 344         for (i = 0; i < 7; i++)
 345         {
 346                 tms = (tms_scan >> i) & 1;
 347                 armjtagew_tap_append_step(tms, 0);
 348         }
 349
 350         tap_set_state(tap_get_end_state());
 351 }
 352
 353 static void armjtagew_path_move(int num_states, tap_state_t *path)
 354 {
 355         int i;
 356
 357         for (i = 0; i < num_states; i++)
 358         {
 359                 /*
 360                  * TODO: The ARM-JTAG-EW hardware delays TDI with 3 TCK cycles when in RTCK mode.
 361                  * Either handle that here, or update the documentation with examples
 362                  * how to fix that in the configuration files.
 363                  */
 364                 if (path[i] == tap_state_transition(tap_get_state(), false))
 365                 {
 366                         armjtagew_tap_append_step(0, 0);
 367                 }
 368                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 369                 {
 370                         armjtagew_tap_append_step(1, 0);
 371                 }
 372                 else
 373                 {
 374                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 375                         exit(-1);
 376                 }
 377
 378                 tap_set_state(path[i]);
 379         }
 380
 381         tap_set_end_state(tap_get_state());
 382 }
 383
 384 static void armjtagew_runtest(int num_cycles)
 385 {
 386         int i;
 387
 388         tap_state_t saved_end_state = tap_get_end_state();
 389
 390         /* only do a state_move when we're not already in IDLE */
 391         if (tap_get_state() != TAP_IDLE)
 392         {
 393                 armjtagew_end_state(TAP_IDLE);
 394                 armjtagew_state_move();
 395         }
 396
 397         /* execute num_cycles */
 398         for (i = 0; i < num_cycles; i++)
 399         {
 400                 armjtagew_tap_append_step(0, 0);
 401         }
 402
 403         /* finish in end_state */
 404         armjtagew_end_state(saved_end_state);
 405         if (tap_get_state() != tap_get_end_state())
 406         {
 407                 armjtagew_state_move();
 408         }
 409 }
 410
 411 static void armjtagew_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
 412 {
 413         tap_state_t saved_end_state;
 414
 415         armjtagew_tap_ensure_space(1, scan_size + 8);
 416
 417         saved_end_state = tap_get_end_state();
 418
 419         /* Move to appropriate scan state */
 420         armjtagew_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 421
 422         armjtagew_state_move();
 423         armjtagew_end_state(saved_end_state);
 424
 425         /* Scan */
 426         armjtagew_tap_append_scan(scan_size, buffer, command);
 427
 428         /* We are in Exit1, go to Pause */
 429         armjtagew_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                 armjtagew_state_move();
 436         }
 437 }
 438
 439 static void armjtagew_reset(int trst, int srst)
 440 {
 441         const u8 trst_mask = (1u<<5);
 442         const u8 srst_mask = (1u<<6);
 443         u8 val = 0;
 444         u8 outp_en = 0;
 445         u8 change_mask = 0;
 446         int result;
 447
 448         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 449
 450         if (srst == 0)
 451         {
 452                 val |= srst_mask;
 453                 outp_en &= ~srst_mask;          /* tristate */
 454                 change_mask |= srst_mask;
 455         }
 456         else if (srst == 1)
 457         {
 458                 val &= ~srst_mask;
 459                 outp_en |= srst_mask;
 460                 change_mask |= srst_mask;
 461         }
 462
 463         if (trst == 0)
 464         {
 465                 val |= trst_mask;
 466                 outp_en &= ~trst_mask;          /* tristate */
 467                 change_mask |= trst_mask;
 468         }
 469         else if (trst == 1)
 470         {
 471                 val &= ~trst_mask;
 472                 outp_en |= trst_mask;
 473                 change_mask |= trst_mask;
 474         }
 475
 476         usb_out_buffer[0] = CMD_SET_TAPHW_STATE;
 477         usb_out_buffer[1] = val;
 478         usb_out_buffer[2] = outp_en;
 479         usb_out_buffer[3] = change_mask;
 480         result = armjtagew_usb_write(armjtagew_jtag_handle, 4);
 481         if (result != 4)
 482         {
 483                 LOG_ERROR("ARM-JTAG-EW TRST/SRST pin set failed failed (%d)", result);
 484         }
 485 }
 486
 487
 488 static int armjtagew_get_status(void)
 489 {
 490         int result;
 491
 492         usb_out_buffer[0] = CMD_GET_TAPHW_STATE;
 493         result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 12);
 494
 495         if (result == 0)
 496         {
 497                 unsigned int u_tg = buf_get_u32(usb_in_buffer, 0, 16);
 498                 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", \
 499                         buf_get_u32(usb_in_buffer + 0, 0, 16), \
 500                         buf_get_u32(usb_in_buffer + 2, 0, 16), \
 501                         buf_get_u32(usb_in_buffer + 4, 0, 16), \
 502                         buf_get_u32(usb_in_buffer + 6, 0, 16), \
 503                         usb_in_buffer[9], \
 504                         usb_in_buffer[11] ? "OVERCURRENT" : "OK", \
 505                         usb_in_buffer[10] ? "enabled" : "disabled");
 506
 507                 if (u_tg < 1500)
 508                 {
 509                         LOG_ERROR("Vref too low. Check Target Power\n");
 510                 }
 511         }
 512         else
 513         {
 514                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_TAPHW_STATE failed (%d)\n", result);
 515         }
 516
 517         return ERROR_OK;
 518 }
 519
 520 static int armjtagew_get_version_info(void)
 521 {
 522         int result;
 523         char sn[16];
 524         char auxinfo[257];
 525
 526         /* query hardware version */
 527         usb_out_buffer[0] = CMD_GET_VERSION;
 528         result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 4+15+256);
 529
 530         if (result != 0)
 531         {
 532                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_VERSION failed (%d)\n", result);
 533                 return ERROR_JTAG_DEVICE_ERROR;
 534         }
 535
 536
 537         memcpy(sn, usb_in_buffer+4, 15);
 538         sn[15] = '\0';
 539         memcpy(auxinfo, usb_in_buffer+4+15, 256);
 540         auxinfo[256] = '\0';
 541
 542         LOG_INFO("ARM-JTAG-EW firmware version %d.%d, hardware revision %c, SN=%s, Additional info: %s", \
 543                         usb_in_buffer[1], usb_in_buffer[0], \
 544                         isgraph(usb_in_buffer[2]) ? usb_in_buffer[2] : 'X', \
 545                         sn, auxinfo);
 546         return ERROR_OK;
 547 }
 548
 549 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 550 {
 551         if (armjtagew_get_version_info() == ERROR_OK)
 552         {
 553                 /* attempt to get status */
 554                 armjtagew_get_status();
 555         }
 556
 557         return ERROR_OK;
 558 }
 559
 560 /***************************************************************************/
 561 /* ARM-JTAG-EW tap functions */
 562
 563 /* 2048 is the max value we can use here */
 564 #define ARMJTAGEW_TAP_BUFFER_SIZE 2048
 565
 566 static int tap_length;
 567 static u8 tms_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 568 static u8 tdi_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 569 static u8 tdo_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 570
 571 typedef struct
 572 {
 573         int first;      /* First bit position in tdo_buffer to read */
 574         int length; /* Number of bits to read */
 575         scan_command_t *command; /* Corresponding scan command */
 576         u8 *buffer;
 577 } pending_scan_result_t;
 578
 579 #define MAX_PENDING_SCAN_RESULTS 256
 580
 581 static int pending_scan_results_length;
 582 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 583
 584 static int last_tms;
 585
 586 static void armjtagew_tap_init(void)
 587 {
 588         tap_length = 0;
 589         pending_scan_results_length = 0;
 590 }
 591
 592 static void armjtagew_tap_ensure_space(int scans, int bits)
 593 {
 594         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 595         int available_bits = ARMJTAGEW_TAP_BUFFER_SIZE * 8 - tap_length;
 596
 597         if (scans > available_scans || bits > available_bits)
 598         {
 599                 armjtagew_tap_execute();
 600         }
 601 }
 602
 603 static void armjtagew_tap_append_step(int tms, int tdi)
 604 {
 605         last_tms = tms;
 606         int index = tap_length / 8;
 607
 608         if (index < ARMJTAGEW_TAP_BUFFER_SIZE)
 609         {
 610                 int bit_index = tap_length % 8;
 611                 u8 bit = 1 << bit_index;
 612
 613                 if (tms)
 614                 {
 615                         tms_buffer[index] |= bit;
 616                 }
 617                 else
 618                 {
 619                         tms_buffer[index] &= ~bit;
 620                 }
 621
 622                 if (tdi)
 623                 {
 624                         tdi_buffer[index] |= bit;
 625                 }
 626                 else
 627                 {
 628                         tdi_buffer[index] &= ~bit;
 629                 }
 630
 631                 tap_length++;
 632         }
 633         else
 634         {
 635                 LOG_ERROR("armjtagew_tap_append_step, overflow");
 636         }
 637 }
 638
 639 void armjtagew_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
 640 {
 641         pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
 642         int i;
 643
 644         pending_scan_result->first = tap_length;
 645         pending_scan_result->length = length;
 646         pending_scan_result->command = command;
 647         pending_scan_result->buffer = buffer;
 648
 649         for (i = 0; i < length; i++)
 650         {
 651                 armjtagew_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
 652         }
 653         pending_scan_results_length++;
 654 }
 655
 656 /* Pad and send a tap sequence to the device, and receive the answer.
 657  * For the purpose of padding we assume that we are in idle or pause state. */
 658 static int armjtagew_tap_execute(void)
 659 {
 660         int byte_length;
 661         int tms_offset;
 662         int tdi_offset;
 663         int i;
 664         int result;
 665
 666         if (tap_length > 0)
 667         {
 668                 /* Pad last byte so that tap_length is divisible by 8 */
 669                 while (tap_length % 8 != 0)
 670                 {
 671                         /* More of the last TMS value keeps us in the same state,
 672                          * analogous to free-running JTAG interfaces. */
 673                         armjtagew_tap_append_step(last_tms, 0);
 674                 }
 675
 676                 byte_length = tap_length / 8;
 677
 678                 usb_out_buffer[0] = CMD_TAP_SHIFT;
 679                 buf_set_u32(usb_out_buffer+1, 0, 16, byte_length);
 680
 681                 tms_offset = 3;
 682                 for (i = 0; i < byte_length; i++)
 683                 {
 684                         usb_out_buffer[tms_offset + i] = flip_u32(tms_buffer[i],8);
 685                 }
 686
 687                 tdi_offset = tms_offset + byte_length;
 688                 for (i = 0; i < byte_length; i++)
 689                 {
 690                         usb_out_buffer[tdi_offset + i] = flip_u32(tdi_buffer[i],8);
 691                 }
 692
 693                 result = armjtagew_usb_message(armjtagew_jtag_handle, 3 + 2 * byte_length, byte_length + 4);
 694
 695                 if (result == 0)
 696                 {
 697                         int stat;
 698
 699                         stat = (int)buf_get_u32(usb_in_buffer + byte_length, 0, 32);
 700                         if(stat) {
 701                                 LOG_ERROR("armjtagew_tap_execute, emulator returned error code %d for a CMD_TAP_SHIFT command", stat);
 702                                 return ERROR_JTAG_QUEUE_FAILED;
 703                         }
 704
 705                         for (i = 0; i < byte_length; i++)
 706                         {
 707                                 tdo_buffer[i] = flip_u32(usb_in_buffer[i],8);
 708                         }
 709
 710                         for (i = 0; i < pending_scan_results_length; i++)
 711                         {
 712                                 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
 713                                 u8 *buffer = pending_scan_result->buffer;
 714                                 int length = pending_scan_result->length;
 715                                 int first = pending_scan_result->first;
 716                                 scan_command_t *command = pending_scan_result->command;
 717
 718                                 /* Copy to buffer */
 719                                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 720
 721                                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 722
 723 #ifdef _DEBUG_USB_COMMS_
 724                                 armjtagew_debug_buffer(buffer, byte_length);
 725 #endif
 726
 727                                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 728                                 {
 729                                         armjtagew_tap_init();
 730                                         return ERROR_JTAG_QUEUE_FAILED;
 731                                 }
 732
 733                                 if (pending_scan_result->buffer != NULL)
 734                                 {
 735                                         free(pending_scan_result->buffer);
 736                                 }
 737                         }
 738                 }
 739                 else
 740                 {
 741                         LOG_ERROR("armjtagew_tap_execute, wrong result %d, expected %d", result, byte_length);
 742                         return ERROR_JTAG_QUEUE_FAILED;
 743                 }
 744
 745                 armjtagew_tap_init();
 746         }
 747
 748         return ERROR_OK;
 749 }
 750
 751 /*****************************************************************************/
 752 /* JLink USB low-level functions */
 753
 754 static armjtagew_jtag_t* armjtagew_usb_open()
 755 {
 756         struct usb_bus *busses;
 757         struct usb_bus *bus;
 758         struct usb_device *dev;
 759
 760         armjtagew_jtag_t *result;
 761
 762         result = (armjtagew_jtag_t*) malloc(sizeof(armjtagew_jtag_t));
 763
 764         usb_init();
 765         usb_find_busses();
 766         usb_find_devices();
 767
 768         busses = usb_get_busses();
 769
 770         /* find armjtagew_jtag device in usb bus */
 771
 772         for (bus = busses; bus; bus = bus->next)
 773         {
 774                 for (dev = bus->devices; dev; dev = dev->next)
 775                 {
 776                         if ((dev->descriptor.idVendor == USB_VID) && (dev->descriptor.idProduct == USB_PID))
 777                         {
 778                                 result->usb_handle = usb_open(dev);
 779
 780 #if 0
 781                                 /* usb_set_configuration required under win32 */
 782                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 783 #endif
 784                                 usb_claim_interface(result->usb_handle, 0);
 785
 786 #if 0
 787                                 /*
 788                                  * This makes problems under Mac OS X. And is not needed
 789                                  * under Windows. Hopefully this will not break a linux build
 790                                  */
 791                                 usb_set_altinterface(result->usb_handle, 0);
 792 #endif
 793                                 return result;
 794                         }
 795                 }
 796         }
 797
 798         free(result);
 799         return NULL;
 800 }
 801
 802 static void armjtagew_usb_close(armjtagew_jtag_t *armjtagew_jtag)
 803 {
 804         usb_close(armjtagew_jtag->usb_handle);
 805         free(armjtagew_jtag);
 806 }
 807
 808 /* Send a message and receive the reply. */
 809 static int armjtagew_usb_message(armjtagew_jtag_t *armjtagew_jtag, int out_length, int in_length)
 810 {
 811         int result;
 812
 813         result = armjtagew_usb_write(armjtagew_jtag, out_length);
 814         if (result == out_length)
 815         {
 816                 result = armjtagew_usb_read(armjtagew_jtag, in_length);
 817                 if (result != in_length)
 818                 {
 819                         LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
 820                         return -1;
 821                 }
 822         }
 823         else
 824         {
 825                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
 826                 return -1;
 827         }
 828         return 0;
 829 }
 830
 831 /* Write data from out_buffer to USB. */
 832 static int armjtagew_usb_write(armjtagew_jtag_t *armjtagew_jtag, int out_length)
 833 {
 834         int result;
 835
 836         if (out_length > ARMJTAGEW_OUT_BUFFER_SIZE)
 837         {
 838                 LOG_ERROR("armjtagew_jtag_write illegal out_length=%d (max=%d)", out_length, ARMJTAGEW_OUT_BUFFER_SIZE);
 839                 return -1;
 840         }
 841
 842         result = usb_bulk_write(armjtagew_jtag->usb_handle, ARMJTAGEW_EPT_BULK_OUT, \
 843                 (char*)usb_out_buffer, out_length, ARMJTAGEW_USB_TIMEOUT);
 844
 845         DEBUG_JTAG_IO("armjtagew_usb_write, out_length = %d, result = %d", out_length, result);
 846
 847 #ifdef _DEBUG_USB_COMMS_
 848         armjtagew_debug_buffer(usb_out_buffer, out_length);
 849 #endif
 850         return result;
 851 }
 852
 853 /* Read data from USB into in_buffer. */
 854 static int armjtagew_usb_read(armjtagew_jtag_t *armjtagew_jtag, int exp_in_length)
 855 {
 856         int result = usb_bulk_read(armjtagew_jtag->usb_handle, ARMJTAGEW_EPT_BULK_IN, \
 857                 (char*)usb_in_buffer, exp_in_length, ARMJTAGEW_USB_TIMEOUT);
 858
 859         DEBUG_JTAG_IO("armjtagew_usb_read, result = %d", result);
 860
 861 #ifdef _DEBUG_USB_COMMS_
 862         armjtagew_debug_buffer(usb_in_buffer, result);
 863 #endif
 864         return result;
 865 }
 866
 867
 868 #ifdef _DEBUG_USB_COMMS_
 869 #define BYTES_PER_LINE  16
 870
 871 static void armjtagew_debug_buffer(u8 *buffer, int length)
 872 {
 873         char line[81];
 874         char s[4];
 875         int i;
 876         int j;
 877
 878         for (i = 0; i < length; i += BYTES_PER_LINE)
 879         {
 880                 snprintf(line, 5, "%04x", i);
 881                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 882                 {
 883                         snprintf(s, 4, " %02x", buffer[j]);
 884                         strcat(line, s);
 885                 }
 886                 LOG_DEBUG("%s", line);
 887         }
 888 }
 889 #endif
 890