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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 "jtag.h"
  28 #include <usb.h>
  29
  30
  31 #define USB_VID                                         0x15ba
  32 #define USB_PID                                         0x001e
  33
  34 #define ARMJTAGEW_EPT_BULK_OUT          0x01u
  35 #define ARMJTAGEW_EPT_BULK_IN           0x82u
  36
  37 #define ARMJTAGEW_USB_TIMEOUT           2000
  38
  39 #define ARMJTAGEW_IN_BUFFER_SIZE        (4*1024)
  40 #define ARMJTAGEW_OUT_BUFFER_SIZE       (4*1024)
  41
  42
  43 /* USB command request codes. */
  44 #define CMD_GET_VERSION                         0x00
  45 #define CMD_SELECT_DPIMPL                       0x10
  46 #define CMD_SET_TCK_FREQUENCY           0x11
  47 #define CMD_GET_TCK_FREQUENCY           0x12
  48 #define CMD_MEASURE_MAX_TCK_FREQ        0x15
  49 #define CMD_MEASURE_RTCK_RESPONSE       0x16
  50 #define CMD_TAP_SHIFT                           0x17
  51 #define CMD_SET_TAPHW_STATE                     0x20
  52 #define CMD_GET_TAPHW_STATE                     0x21
  53 #define CMD_TGPWR_SETUP                         0x22
  54
  55 /* Global USB buffers */
  56 static u8 usb_in_buffer[ARMJTAGEW_IN_BUFFER_SIZE];
  57 static u8 usb_out_buffer[ARMJTAGEW_OUT_BUFFER_SIZE];
  58
  59 /* External interface functions */
  60 static int armjtagew_execute_queue(void);
  61 static int armjtagew_speed(int speed);
  62 static int armjtagew_khz(int khz, int *jtag_speed);
  63 static int armjtagew_register_commands(struct command_context_s *cmd_ctx);
  64 static int armjtagew_init(void);
  65 static int armjtagew_quit(void);
  66
  67 /* CLI command handler functions */
  68 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
  69
  70 /* Queue command functions */
  71 static void armjtagew_end_state(tap_state_t state);
  72 static void armjtagew_state_move(void);
  73 static void armjtagew_path_move(int num_states, tap_state_t *path);
  74 static void armjtagew_runtest(int num_cycles);
  75 static void armjtagew_scan(bool ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
  76 static void armjtagew_reset(int trst, int srst);
  77 //static void armjtagew_simple_command(u8 command);
  78 static int armjtagew_get_status(void);
  79
  80 /* tap buffer functions */
  81 static void armjtagew_tap_init(void);
  82 static int armjtagew_tap_execute(void);
  83 static void armjtagew_tap_ensure_space(int scans, int bits);
  84 static void armjtagew_tap_append_step(int tms, int tdi);
  85 static void armjtagew_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
  86
  87 /* ARM-JTAG-EW lowlevel functions */
  88 typedef struct armjtagew_jtag
  89 {
  90         struct usb_dev_handle* usb_handle;
  91 } armjtagew_jtag_t;
  92
  93 static armjtagew_jtag_t *armjtagew_usb_open(void);
  94 static void armjtagew_usb_close(armjtagew_jtag_t *armjtagew_jtag);
  95 static int armjtagew_usb_message(armjtagew_jtag_t *armjtagew_jtag, int out_length, int in_length);
  96 static int armjtagew_usb_write(armjtagew_jtag_t *armjtagew_jtag, int out_length);
  97 static int armjtagew_usb_read(armjtagew_jtag_t *armjtagew_jtag, int exp_in_length);
  98
  99 /* helper functions */
 100 static int armjtagew_get_version_info(void);
 101
 102 #ifdef _DEBUG_USB_COMMS_
 103 static void armjtagew_debug_buffer(u8 *buffer, int length);
 104 #endif
 105
 106 static armjtagew_jtag_t* armjtagew_jtag_handle;
 107
 108
 109
 110 /***************************************************************************/
 111 /* External interface implementation */
 112
 113 jtag_interface_t armjtagew_interface =
 114 {
 115         .name = "arm-jtag-ew",
 116         .execute_queue = armjtagew_execute_queue,
 117         .speed = armjtagew_speed,
 118         .khz = armjtagew_khz,
 119         .register_commands = armjtagew_register_commands,
 120         .init = armjtagew_init,
 121         .quit = armjtagew_quit
 122 };
 123
 124
 125 static int armjtagew_execute_queue(void)
 126 {
 127         jtag_command_t *cmd = jtag_command_queue;
 128         int scan_size;
 129         enum scan_type type;
 130         u8 *buffer;
 131
 132         while (cmd != NULL)
 133         {
 134                 switch (cmd->type)
 135                 {
 136                         case JTAG_RUNTEST:
 137                                 DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
 138                                         cmd->cmd.runtest->end_state);
 139
 140                                 if (cmd->cmd.runtest->end_state != TAP_INVALID)
 141                                 {
 142                                         armjtagew_end_state(cmd->cmd.runtest->end_state);
 143                                 }
 144                                 armjtagew_runtest(cmd->cmd.runtest->num_cycles);
 145                                 break;
 146
 147                         case JTAG_STATEMOVE:
 148                                 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 149
 150                                 if (cmd->cmd.statemove->end_state != TAP_INVALID)
 151                                 {
 152                                         armjtagew_end_state(cmd->cmd.statemove->end_state);
 153                                 }
 154                                 armjtagew_state_move();
 155                                 break;
 156
 157                         case JTAG_PATHMOVE:
 158                                 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
 159                                         cmd->cmd.pathmove->num_states, \
 160                                         cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 161
 162                                 armjtagew_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 163                                 break;
 164
 165                         case JTAG_SCAN:
 166                                 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 167
 168                                 if (cmd->cmd.scan->end_state != TAP_INVALID)
 169                                 {
 170                                         armjtagew_end_state(cmd->cmd.scan->end_state);
 171                                 }
 172
 173                                 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 174                                 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 175
 176 #ifdef _DEBUG_USB_COMMS_
 177                                 armjtagew_debug_buffer(buffer, (scan_size + 7) / 8);
 178 #endif
 179                                 type = jtag_scan_type(cmd->cmd.scan);
 180                                 armjtagew_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
 181                                 break;
 182
 183                         case JTAG_RESET:
 184                                 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 185
 186                                 armjtagew_tap_execute();
 187
 188                                 if (cmd->cmd.reset->trst == 1)
 189                                 {
 190                                         tap_set_state(TAP_RESET);
 191                                 }
 192                                 armjtagew_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 193                                 break;
 194
 195                         case JTAG_SLEEP:
 196                                 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 197                                 armjtagew_tap_execute();
 198                                 jtag_sleep(cmd->cmd.sleep->us);
 199                                 break;
 200
 201                         default:
 202                                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 203                                 exit(-1);
 204                 }
 205                 cmd = cmd->next;
 206         }
 207
 208         return armjtagew_tap_execute();
 209 }
 210
 211
 212 /* Sets speed in kHz. */
 213 static int armjtagew_speed(int speed)
 214 {
 215     int result;
 216     int speed_real;
 217
 218
 219     usb_out_buffer[0] = CMD_SET_TCK_FREQUENCY;
 220         buf_set_u32(usb_out_buffer+1, 0, 32, speed);
 221
 222     result = armjtagew_usb_message(armjtagew_jtag_handle, 4, 4);
 223
 224     if (result < 0)
 225     {
 226         LOG_ERROR("ARM-JTAG-EW setting speed failed (%d)", result);
 227         return ERROR_JTAG_DEVICE_ERROR;
 228     }
 229
 230         usb_out_buffer[0] = CMD_GET_TCK_FREQUENCY;
 231     result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 4);
 232         speed_real = (int)buf_get_u32(usb_in_buffer,0,32);
 233         if(result < 0)
 234         {
 235         LOG_ERROR("ARM-JTAG-EW getting speed failed (%d)", result);
 236         return ERROR_JTAG_DEVICE_ERROR;
 237         }
 238         else
 239         {
 240         LOG_INFO("Requested speed %dkHz, emulator reported %dkHz.", speed, speed_real);
 241         }
 242
 243     return ERROR_OK;
 244 }
 245
 246
 247 static int armjtagew_khz(int khz, int *jtag_speed)
 248 {
 249         *jtag_speed = khz;
 250
 251         return ERROR_OK;
 252 }
 253
 254 static int armjtagew_register_commands(struct command_context_s *cmd_ctx)
 255 {
 256         register_command(cmd_ctx, NULL, "armjtagew_info", armjtagew_handle_armjtagew_info_command, COMMAND_EXEC,
 257                 "query armjtagew info");
 258         return ERROR_OK;
 259 }
 260
 261 static int armjtagew_init(void)
 262 {
 263         int check_cnt;
 264
 265         armjtagew_jtag_handle = armjtagew_usb_open();
 266
 267         if (armjtagew_jtag_handle == 0)
 268         {
 269                 LOG_ERROR("Cannot find ARM-JTAG-EW Interface! Please check connection and permissions.");
 270                 return ERROR_JTAG_INIT_FAILED;
 271         }
 272
 273         check_cnt = 0;
 274         while (check_cnt < 3)
 275         {
 276                 if (armjtagew_get_version_info() == ERROR_OK)
 277                 {
 278                         /* attempt to get status */
 279                         armjtagew_get_status();
 280                         break;
 281                 }
 282
 283                 check_cnt++;
 284         }
 285
 286         if (check_cnt == 3)
 287         {
 288                 LOG_INFO("ARM-JTAG-EW initial read failed, don't worry");
 289         }
 290
 291         LOG_INFO("ARM-JTAG-EW JTAG Interface ready");
 292
 293         armjtagew_reset(0, 0);
 294         armjtagew_tap_init();
 295
 296         return ERROR_OK;
 297 }
 298
 299 static int armjtagew_quit(void)
 300 {
 301         armjtagew_usb_close(armjtagew_jtag_handle);
 302         return ERROR_OK;
 303 }
 304
 305 /***************************************************************************/
 306 /* Queue command implementations */
 307
 308 static void armjtagew_end_state(tap_state_t state)
 309 {
 310         if (tap_is_state_stable(state))
 311         {
 312                 tap_set_end_state(state);
 313         }
 314         else
 315         {
 316                 LOG_ERROR("BUG: %i is not a valid end state", state);
 317                 exit(-1);
 318         }
 319 }
 320
 321 /* Goes to the end state. */
 322 static void armjtagew_state_move(void)
 323 {
 324         int i;
 325         int tms = 0;
 326         u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 327         int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 328
 329         for (i = 0; i < tms_count; i++)
 330         {
 331                 tms = (tms_scan >> i) & 1;
 332                 armjtagew_tap_append_step(tms, 0);
 333         }
 334
 335         tap_set_state(tap_get_end_state());
 336 }
 337
 338 static void armjtagew_path_move(int num_states, tap_state_t *path)
 339 {
 340         int i;
 341
 342         for (i = 0; i < num_states; i++)
 343         {
 344                 /*
 345                  * TODO: The ARM-JTAG-EW hardware delays TDI with 3 TCK cycles when in RTCK mode.
 346                  * Either handle that here, or update the documentation with examples
 347                  * how to fix that in the configuration files.
 348                  */
 349                 if (path[i] == tap_state_transition(tap_get_state(), false))
 350                 {
 351                         armjtagew_tap_append_step(0, 0);
 352                 }
 353                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 354                 {
 355                         armjtagew_tap_append_step(1, 0);
 356                 }
 357                 else
 358                 {
 359                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 360                         exit(-1);
 361                 }
 362
 363                 tap_set_state(path[i]);
 364         }
 365
 366         tap_set_end_state(tap_get_state());
 367 }
 368
 369 static void armjtagew_runtest(int num_cycles)
 370 {
 371         int i;
 372
 373         tap_state_t saved_end_state = tap_get_end_state();
 374
 375         /* only do a state_move when we're not already in IDLE */
 376         if (tap_get_state() != TAP_IDLE)
 377         {
 378                 armjtagew_end_state(TAP_IDLE);
 379                 armjtagew_state_move();
 380         }
 381
 382         /* execute num_cycles */
 383         for (i = 0; i < num_cycles; i++)
 384         {
 385                 armjtagew_tap_append_step(0, 0);
 386         }
 387
 388         /* finish in end_state */
 389         armjtagew_end_state(saved_end_state);
 390         if (tap_get_state() != tap_get_end_state())
 391         {
 392                 armjtagew_state_move();
 393         }
 394 }
 395
 396 static void armjtagew_scan(bool ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
 397 {
 398         tap_state_t saved_end_state;
 399
 400         armjtagew_tap_ensure_space(1, scan_size + 8);
 401
 402         saved_end_state = tap_get_end_state();
 403
 404         /* Move to appropriate scan state */
 405         armjtagew_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 406
 407         armjtagew_state_move();
 408         armjtagew_end_state(saved_end_state);
 409
 410         /* Scan */
 411         armjtagew_tap_append_scan(scan_size, buffer, command);
 412
 413         /* We are in Exit1, go to Pause */
 414         armjtagew_tap_append_step(0, 0);
 415
 416         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 417
 418         if (tap_get_state() != tap_get_end_state())
 419         {
 420                 armjtagew_state_move();
 421         }
 422 }
 423
 424 static void armjtagew_reset(int trst, int srst)
 425 {
 426         const u8 trst_mask = (1u<<5);
 427         const u8 srst_mask = (1u<<6);
 428         u8 val = 0;
 429         u8 outp_en = 0;
 430         u8 change_mask = 0;
 431         int result;
 432
 433         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 434
 435         if (srst == 0)
 436         {
 437                 val |= srst_mask;
 438                 outp_en &= ~srst_mask;          /* tristate */
 439                 change_mask |= srst_mask;
 440         }
 441         else if (srst == 1)
 442         {
 443                 val &= ~srst_mask;
 444                 outp_en |= srst_mask;
 445                 change_mask |= srst_mask;
 446         }
 447
 448         if (trst == 0)
 449         {
 450                 val |= trst_mask;
 451                 outp_en &= ~trst_mask;          /* tristate */
 452                 change_mask |= trst_mask;
 453         }
 454         else if (trst == 1)
 455         {
 456                 val &= ~trst_mask;
 457                 outp_en |= trst_mask;
 458                 change_mask |= trst_mask;
 459         }
 460
 461         usb_out_buffer[0] = CMD_SET_TAPHW_STATE;
 462         usb_out_buffer[1] = val;
 463         usb_out_buffer[2] = outp_en;
 464         usb_out_buffer[3] = change_mask;
 465         result = armjtagew_usb_write(armjtagew_jtag_handle, 4);
 466         if (result != 4)
 467         {
 468                 LOG_ERROR("ARM-JTAG-EW TRST/SRST pin set failed failed (%d)", result);
 469         }
 470 }
 471
 472
 473 static int armjtagew_get_status(void)
 474 {
 475         int result;
 476
 477         usb_out_buffer[0] = CMD_GET_TAPHW_STATE;
 478         result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 12);
 479
 480         if (result == 0)
 481         {
 482                 unsigned int u_tg = buf_get_u32(usb_in_buffer, 0, 16);
 483                 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", \
 484                         buf_get_u32(usb_in_buffer + 0, 0, 16), \
 485                         buf_get_u32(usb_in_buffer + 2, 0, 16), \
 486                         buf_get_u32(usb_in_buffer + 4, 0, 16), \
 487                         buf_get_u32(usb_in_buffer + 6, 0, 16), \
 488                         usb_in_buffer[9], \
 489                         usb_in_buffer[11] ? "OVERCURRENT" : "OK", \
 490                         usb_in_buffer[10] ? "enabled" : "disabled");
 491
 492                 if (u_tg < 1500)
 493                 {
 494                         LOG_ERROR("Vref too low. Check Target Power\n");
 495                 }
 496         }
 497         else
 498         {
 499                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_TAPHW_STATE failed (%d)\n", result);
 500         }
 501
 502         return ERROR_OK;
 503 }
 504
 505 static int armjtagew_get_version_info(void)
 506 {
 507         int result;
 508         char sn[16];
 509         char auxinfo[257];
 510
 511         /* query hardware version */
 512         usb_out_buffer[0] = CMD_GET_VERSION;
 513         result = armjtagew_usb_message(armjtagew_jtag_handle, 1, 4+15+256);
 514
 515         if (result != 0)
 516         {
 517                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_VERSION failed (%d)\n", result);
 518                 return ERROR_JTAG_DEVICE_ERROR;
 519         }
 520
 521
 522         memcpy(sn, usb_in_buffer+4, 15);
 523         sn[15] = '\0';
 524         memcpy(auxinfo, usb_in_buffer+4+15, 256);
 525         auxinfo[256] = '\0';
 526
 527         LOG_INFO("ARM-JTAG-EW firmware version %d.%d, hardware revision %c, SN=%s, Additional info: %s", \
 528                         usb_in_buffer[1], usb_in_buffer[0], \
 529                         isgraph(usb_in_buffer[2]) ? usb_in_buffer[2] : 'X', \
 530                         sn, auxinfo);
 531         return ERROR_OK;
 532 }
 533
 534 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
 535 {
 536         if (armjtagew_get_version_info() == ERROR_OK)
 537         {
 538                 /* attempt to get status */
 539                 armjtagew_get_status();
 540         }
 541
 542         return ERROR_OK;
 543 }
 544
 545 /***************************************************************************/
 546 /* ARM-JTAG-EW tap functions */
 547
 548 /* 2048 is the max value we can use here */
 549 #define ARMJTAGEW_TAP_BUFFER_SIZE 2048
 550
 551 static int tap_length;
 552 static u8 tms_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 553 static u8 tdi_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 554 static u8 tdo_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 555
 556 typedef struct
 557 {
 558         int first;      /* First bit position in tdo_buffer to read */
 559         int length; /* Number of bits to read */
 560         scan_command_t *command; /* Corresponding scan command */
 561         u8 *buffer;
 562 } pending_scan_result_t;
 563
 564 #define MAX_PENDING_SCAN_RESULTS 256
 565
 566 static int pending_scan_results_length;
 567 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 568
 569 static int last_tms;
 570
 571 static void armjtagew_tap_init(void)
 572 {
 573         tap_length = 0;
 574         pending_scan_results_length = 0;
 575 }
 576
 577 static void armjtagew_tap_ensure_space(int scans, int bits)
 578 {
 579         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 580         int available_bits = ARMJTAGEW_TAP_BUFFER_SIZE * 8 - tap_length;
 581
 582         if (scans > available_scans || bits > available_bits)
 583         {
 584                 armjtagew_tap_execute();
 585         }
 586 }
 587
 588 static void armjtagew_tap_append_step(int tms, int tdi)
 589 {
 590         last_tms = tms;
 591         int index = tap_length / 8;
 592
 593         if (index < ARMJTAGEW_TAP_BUFFER_SIZE)
 594         {
 595                 int bit_index = tap_length % 8;
 596                 u8 bit = 1 << bit_index;
 597
 598                 if (tms)
 599                 {
 600                         tms_buffer[index] |= bit;
 601                 }
 602                 else
 603                 {
 604                         tms_buffer[index] &= ~bit;
 605                 }
 606
 607                 if (tdi)
 608                 {
 609                         tdi_buffer[index] |= bit;
 610                 }
 611                 else
 612                 {
 613                         tdi_buffer[index] &= ~bit;
 614                 }
 615
 616                 tap_length++;
 617         }
 618         else
 619         {
 620                 LOG_ERROR("armjtagew_tap_append_step, overflow");
 621         }
 622 }
 623
 624 void armjtagew_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
 625 {
 626         pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
 627         int i;
 628
 629         pending_scan_result->first = tap_length;
 630         pending_scan_result->length = length;
 631         pending_scan_result->command = command;
 632         pending_scan_result->buffer = buffer;
 633
 634         for (i = 0; i < length; i++)
 635         {
 636                 armjtagew_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
 637         }
 638         pending_scan_results_length++;
 639 }
 640
 641 /* Pad and send a tap sequence to the device, and receive the answer.
 642  * For the purpose of padding we assume that we are in idle or pause state. */
 643 static int armjtagew_tap_execute(void)
 644 {
 645         int byte_length;
 646         int tms_offset;
 647         int tdi_offset;
 648         int i;
 649         int result;
 650
 651         if (tap_length > 0)
 652         {
 653                 /* Pad last byte so that tap_length is divisible by 8 */
 654                 while (tap_length % 8 != 0)
 655                 {
 656                         /* More of the last TMS value keeps us in the same state,
 657                          * analogous to free-running JTAG interfaces. */
 658                         armjtagew_tap_append_step(last_tms, 0);
 659                 }
 660
 661                 byte_length = tap_length / 8;
 662
 663                 usb_out_buffer[0] = CMD_TAP_SHIFT;
 664                 buf_set_u32(usb_out_buffer+1, 0, 16, byte_length);
 665
 666                 tms_offset = 3;
 667                 for (i = 0; i < byte_length; i++)
 668                 {
 669                         usb_out_buffer[tms_offset + i] = flip_u32(tms_buffer[i],8);
 670                 }
 671
 672                 tdi_offset = tms_offset + byte_length;
 673                 for (i = 0; i < byte_length; i++)
 674                 {
 675                         usb_out_buffer[tdi_offset + i] = flip_u32(tdi_buffer[i],8);
 676                 }
 677
 678                 result = armjtagew_usb_message(armjtagew_jtag_handle, 3 + 2 * byte_length, byte_length + 4);
 679
 680                 if (result == 0)
 681                 {
 682                         int stat;
 683
 684                         stat = (int)buf_get_u32(usb_in_buffer + byte_length, 0, 32);
 685                         if(stat) {
 686                                 LOG_ERROR("armjtagew_tap_execute, emulator returned error code %d for a CMD_TAP_SHIFT command", stat);
 687                                 return ERROR_JTAG_QUEUE_FAILED;
 688                         }
 689
 690                         for (i = 0; i < byte_length; i++)
 691                         {
 692                                 tdo_buffer[i] = flip_u32(usb_in_buffer[i],8);
 693                         }
 694
 695                         for (i = 0; i < pending_scan_results_length; i++)
 696                         {
 697                                 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
 698                                 u8 *buffer = pending_scan_result->buffer;
 699                                 int length = pending_scan_result->length;
 700                                 int first = pending_scan_result->first;
 701                                 scan_command_t *command = pending_scan_result->command;
 702
 703                                 /* Copy to buffer */
 704                                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 705
 706                                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 707
 708 #ifdef _DEBUG_USB_COMMS_
 709                                 armjtagew_debug_buffer(buffer, byte_length);
 710 #endif
 711
 712                                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 713                                 {
 714                                         armjtagew_tap_init();
 715                                         return ERROR_JTAG_QUEUE_FAILED;
 716                                 }
 717
 718                                 if (pending_scan_result->buffer != NULL)
 719                                 {
 720                                         free(pending_scan_result->buffer);
 721                                 }
 722                         }
 723                 }
 724                 else
 725                 {
 726                         LOG_ERROR("armjtagew_tap_execute, wrong result %d, expected %d", result, byte_length);
 727                         return ERROR_JTAG_QUEUE_FAILED;
 728                 }
 729
 730                 armjtagew_tap_init();
 731         }
 732
 733         return ERROR_OK;
 734 }
 735
 736 /*****************************************************************************/
 737 /* JLink USB low-level functions */
 738
 739 static armjtagew_jtag_t* armjtagew_usb_open()
 740 {
 741         struct usb_bus *busses;
 742         struct usb_bus *bus;
 743         struct usb_device *dev;
 744
 745         armjtagew_jtag_t *result;
 746
 747         result = (armjtagew_jtag_t*) malloc(sizeof(armjtagew_jtag_t));
 748
 749         usb_init();
 750         usb_find_busses();
 751         usb_find_devices();
 752
 753         busses = usb_get_busses();
 754
 755         /* find armjtagew_jtag device in usb bus */
 756
 757         for (bus = busses; bus; bus = bus->next)
 758         {
 759                 for (dev = bus->devices; dev; dev = dev->next)
 760                 {
 761                         if ((dev->descriptor.idVendor == USB_VID) && (dev->descriptor.idProduct == USB_PID))
 762                         {
 763                                 result->usb_handle = usb_open(dev);
 764
 765 #if 0
 766                                 /* usb_set_configuration required under win32 */
 767                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 768 #endif
 769                                 usb_claim_interface(result->usb_handle, 0);
 770
 771 #if 0
 772                                 /*
 773                                  * This makes problems under Mac OS X. And is not needed
 774                                  * under Windows. Hopefully this will not break a linux build
 775                                  */
 776                                 usb_set_altinterface(result->usb_handle, 0);
 777 #endif
 778                                 return result;
 779                         }
 780                 }
 781         }
 782
 783         free(result);
 784         return NULL;
 785 }
 786
 787 static void armjtagew_usb_close(armjtagew_jtag_t *armjtagew_jtag)
 788 {
 789         usb_close(armjtagew_jtag->usb_handle);
 790         free(armjtagew_jtag);
 791 }
 792
 793 /* Send a message and receive the reply. */
 794 static int armjtagew_usb_message(armjtagew_jtag_t *armjtagew_jtag, int out_length, int in_length)
 795 {
 796         int result;
 797
 798         result = armjtagew_usb_write(armjtagew_jtag, out_length);
 799         if (result == out_length)
 800         {
 801                 result = armjtagew_usb_read(armjtagew_jtag, in_length);
 802                 if (result != in_length)
 803                 {
 804                         LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
 805                         return -1;
 806                 }
 807         }
 808         else
 809         {
 810                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
 811                 return -1;
 812         }
 813         return 0;
 814 }
 815
 816 /* Write data from out_buffer to USB. */
 817 static int armjtagew_usb_write(armjtagew_jtag_t *armjtagew_jtag, int out_length)
 818 {
 819         int result;
 820
 821         if (out_length > ARMJTAGEW_OUT_BUFFER_SIZE)
 822         {
 823                 LOG_ERROR("armjtagew_jtag_write illegal out_length=%d (max=%d)", out_length, ARMJTAGEW_OUT_BUFFER_SIZE);
 824                 return -1;
 825         }
 826
 827         result = usb_bulk_write(armjtagew_jtag->usb_handle, ARMJTAGEW_EPT_BULK_OUT, \
 828                 (char*)usb_out_buffer, out_length, ARMJTAGEW_USB_TIMEOUT);
 829
 830         DEBUG_JTAG_IO("armjtagew_usb_write, out_length = %d, result = %d", out_length, result);
 831
 832 #ifdef _DEBUG_USB_COMMS_
 833         armjtagew_debug_buffer(usb_out_buffer, out_length);
 834 #endif
 835         return result;
 836 }
 837
 838 /* Read data from USB into in_buffer. */
 839 static int armjtagew_usb_read(armjtagew_jtag_t *armjtagew_jtag, int exp_in_length)
 840 {
 841         int result = usb_bulk_read(armjtagew_jtag->usb_handle, ARMJTAGEW_EPT_BULK_IN, \
 842                 (char*)usb_in_buffer, exp_in_length, ARMJTAGEW_USB_TIMEOUT);
 843
 844         DEBUG_JTAG_IO("armjtagew_usb_read, result = %d", result);
 845
 846 #ifdef _DEBUG_USB_COMMS_
 847         armjtagew_debug_buffer(usb_in_buffer, result);
 848 #endif
 849         return result;
 850 }
 851
 852
 853 #ifdef _DEBUG_USB_COMMS_
 854 #define BYTES_PER_LINE  16
 855
 856 static void armjtagew_debug_buffer(u8 *buffer, int length)
 857 {
 858         char line[81];
 859         char s[4];
 860         int i;
 861         int j;
 862
 863         for (i = 0; i < length; i += BYTES_PER_LINE)
 864         {
 865                 snprintf(line, 5, "%04x", i);
 866                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 867                 {
 868                         snprintf(s, 4, " %02x", buffer[j]);
 869                         strcat(line, s);
 870                 }
 871                 LOG_DEBUG("%s", line);
 872         }
 873 }
 874 #endif
 875