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   1 /***************************************************************************
   2  *   Copyright (C) 2009 by Dimitar Dimitrov <dinuxbg@gmail.com>            *
   3  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   4  *                                                                         *
   5  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program; if not, write to the                         *
  17  *   Free Software Foundation, Inc.,                                       *
  18  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19  ***************************************************************************/
  20
  21 #ifdef HAVE_CONFIG_H
  22 #include "config.h"
  23 #endif
  24
  25 #include "interface.h"
  26 #include "commands.h"
  27 #include <usb.h>
  28
  29
  30 #define USB_VID                                         0x15ba
  31 #define USB_PID                                         0x001e
  32
  33 #define ARMJTAGEW_EPT_BULK_OUT          0x01u
  34 #define ARMJTAGEW_EPT_BULK_IN           0x82u
  35
  36 #define ARMJTAGEW_USB_TIMEOUT           2000
  37
  38 #define ARMJTAGEW_IN_BUFFER_SIZE        (4*1024)
  39 #define ARMJTAGEW_OUT_BUFFER_SIZE       (4*1024)
  40
  41
  42 /* USB command request codes. */
  43 #define CMD_GET_VERSION                         0x00
  44 #define CMD_SELECT_DPIMPL                       0x10
  45 #define CMD_SET_TCK_FREQUENCY           0x11
  46 #define CMD_GET_TCK_FREQUENCY           0x12
  47 #define CMD_MEASURE_MAX_TCK_FREQ        0x15
  48 #define CMD_MEASURE_RTCK_RESPONSE       0x16
  49 #define CMD_TAP_SHIFT                           0x17
  50 #define CMD_SET_TAPHW_STATE                     0x20
  51 #define CMD_GET_TAPHW_STATE                     0x21
  52 #define CMD_TGPWR_SETUP                         0x22
  53
  54 /* Global USB buffers */
  55 static uint8_t usb_in_buffer[ARMJTAGEW_IN_BUFFER_SIZE];
  56 static uint8_t usb_out_buffer[ARMJTAGEW_OUT_BUFFER_SIZE];
  57
  58 /* Queue command functions */
  59 static void armjtagew_end_state(tap_state_t state);
  60 static void armjtagew_state_move(void);
  61 static void armjtagew_path_move(int num_states, tap_state_t *path);
  62 static void armjtagew_runtest(int num_cycles);
  63 static void armjtagew_scan(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command);
  64 static void armjtagew_reset(int trst, int srst);
  65 //static void armjtagew_simple_command(uint8_t command);
  66 static int armjtagew_get_status(void);
  67
  68 /* tap buffer functions */
  69 static void armjtagew_tap_init(void);
  70 static int armjtagew_tap_execute(void);
  71 static void armjtagew_tap_ensure_space(int scans, int bits);
  72 static void armjtagew_tap_append_step(int tms, int tdi);
  73 static void armjtagew_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command);
  74
  75 /* ARM-JTAG-EW lowlevel functions */
  76 struct armjtagew {
  77         struct usb_dev_handle* usb_handle;
  78 };
  79
  80 static struct armjtagew *armjtagew_usb_open(void);
  81 static void armjtagew_usb_close(struct armjtagew *armjtagew);
  82 static int armjtagew_usb_message(struct armjtagew *armjtagew, int out_length, int in_length);
  83 static int armjtagew_usb_write(struct armjtagew *armjtagew, int out_length);
  84 static int armjtagew_usb_read(struct armjtagew *armjtagew, int exp_in_length);
  85
  86 /* helper functions */
  87 static int armjtagew_get_version_info(void);
  88
  89 #ifdef _DEBUG_USB_COMMS_
  90 static void armjtagew_debug_buffer(uint8_t *buffer, int length);
  91 #endif
  92
  93 static struct armjtagew* armjtagew_handle;
  94
  95
  96
  97 /***************************************************************************/
  98 /* External interface implementation */
  99
 100 static int armjtagew_execute_queue(void)
 101 {
 102         struct jtag_command *cmd = jtag_command_queue;
 103         int scan_size;
 104         enum scan_type type;
 105         uint8_t *buffer;
 106
 107         while (cmd != NULL)
 108         {
 109                 switch (cmd->type)
 110                 {
 111                         case JTAG_RUNTEST:
 112                                 DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
 113                                         cmd->cmd.runtest->end_state);
 114
 115                                 armjtagew_end_state(cmd->cmd.runtest->end_state);
 116                                 armjtagew_runtest(cmd->cmd.runtest->num_cycles);
 117                                 break;
 118
 119                         case JTAG_STATEMOVE:
 120                                 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 121
 122                                 armjtagew_end_state(cmd->cmd.statemove->end_state);
 123                                 armjtagew_state_move();
 124                                 break;
 125
 126                         case JTAG_PATHMOVE:
 127                                 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
 128                                         cmd->cmd.pathmove->num_states, \
 129                                         cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 130
 131                                 armjtagew_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 132                                 break;
 133
 134                         case JTAG_SCAN:
 135                                 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 136
 137                                 armjtagew_end_state(cmd->cmd.scan->end_state);
 138
 139                                 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 140                                 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 141
 142 #ifdef _DEBUG_USB_COMMS_
 143                                 armjtagew_debug_buffer(buffer, (scan_size + 7) / 8);
 144 #endif
 145                                 type = jtag_scan_type(cmd->cmd.scan);
 146                                 armjtagew_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
 147                                 break;
 148
 149                         case JTAG_RESET:
 150                                 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 151
 152                                 armjtagew_tap_execute();
 153
 154                                 if (cmd->cmd.reset->trst == 1)
 155                                 {
 156                                         tap_set_state(TAP_RESET);
 157                                 }
 158                                 armjtagew_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 159                                 break;
 160
 161                         case JTAG_SLEEP:
 162                                 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 163                                 armjtagew_tap_execute();
 164                                 jtag_sleep(cmd->cmd.sleep->us);
 165                                 break;
 166
 167                         default:
 168                                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 169                                 exit(-1);
 170                 }
 171                 cmd = cmd->next;
 172         }
 173
 174         return armjtagew_tap_execute();
 175 }
 176
 177
 178 /* Sets speed in kHz. */
 179 static int armjtagew_speed(int speed)
 180 {
 181     int result;
 182     int speed_real;
 183
 184
 185     usb_out_buffer[0] = CMD_SET_TCK_FREQUENCY;
 186         buf_set_u32(usb_out_buffer + 1, 0, 32, speed);
 187
 188     result = armjtagew_usb_message(armjtagew_handle, 4, 4);
 189
 190     if (result < 0)
 191     {
 192         LOG_ERROR("ARM-JTAG-EW setting speed failed (%d)", result);
 193         return ERROR_JTAG_DEVICE_ERROR;
 194     }
 195
 196         usb_out_buffer[0] = CMD_GET_TCK_FREQUENCY;
 197     result = armjtagew_usb_message(armjtagew_handle, 1, 4);
 198         speed_real = (int)buf_get_u32(usb_in_buffer,0,32);
 199         if (result < 0)
 200         {
 201         LOG_ERROR("ARM-JTAG-EW getting speed failed (%d)", result);
 202         return ERROR_JTAG_DEVICE_ERROR;
 203         }
 204         else
 205         {
 206         LOG_INFO("Requested speed %dkHz, emulator reported %dkHz.", speed, speed_real);
 207         }
 208
 209     return ERROR_OK;
 210 }
 211
 212
 213 static int armjtagew_khz(int khz, int *jtag_speed)
 214 {
 215         *jtag_speed = khz;
 216
 217         return ERROR_OK;
 218 }
 219
 220 static int armjtagew_init(void)
 221 {
 222         int check_cnt;
 223
 224         armjtagew_handle = armjtagew_usb_open();
 225
 226         if (armjtagew_handle == 0)
 227         {
 228                 LOG_ERROR("Cannot find ARM-JTAG-EW Interface! Please check connection and permissions.");
 229                 return ERROR_JTAG_INIT_FAILED;
 230         }
 231
 232         check_cnt = 0;
 233         while (check_cnt < 3)
 234         {
 235                 if (armjtagew_get_version_info() == ERROR_OK)
 236                 {
 237                         /* attempt to get status */
 238                         armjtagew_get_status();
 239                         break;
 240                 }
 241
 242                 check_cnt++;
 243         }
 244
 245         if (check_cnt == 3)
 246         {
 247                 LOG_INFO("ARM-JTAG-EW initial read failed, don't worry");
 248         }
 249
 250         LOG_INFO("ARM-JTAG-EW JTAG Interface ready");
 251
 252         armjtagew_reset(0, 0);
 253         armjtagew_tap_init();
 254
 255         return ERROR_OK;
 256 }
 257
 258 static int armjtagew_quit(void)
 259 {
 260         armjtagew_usb_close(armjtagew_handle);
 261         return ERROR_OK;
 262 }
 263
 264 /***************************************************************************/
 265 /* Queue command implementations */
 266
 267 static void armjtagew_end_state(tap_state_t state)
 268 {
 269         if (tap_is_state_stable(state))
 270         {
 271                 tap_set_end_state(state);
 272         }
 273         else
 274         {
 275                 LOG_ERROR("BUG: %i is not a valid end state", state);
 276                 exit(-1);
 277         }
 278 }
 279
 280 /* Goes to the end state. */
 281 static void armjtagew_state_move(void)
 282 {
 283         int i;
 284         int tms = 0;
 285         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 286         int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 287
 288         for (i = 0; i < tms_count; i++)
 289         {
 290                 tms = (tms_scan >> i) & 1;
 291                 armjtagew_tap_append_step(tms, 0);
 292         }
 293
 294         tap_set_state(tap_get_end_state());
 295 }
 296
 297 static void armjtagew_path_move(int num_states, tap_state_t *path)
 298 {
 299         int i;
 300
 301         for (i = 0; i < num_states; i++)
 302         {
 303                 /*
 304                  * TODO: The ARM-JTAG-EW hardware delays TDI with 3 TCK cycles when in RTCK mode.
 305                  * Either handle that here, or update the documentation with examples
 306                  * how to fix that in the configuration files.
 307                  */
 308                 if (path[i] == tap_state_transition(tap_get_state(), false))
 309                 {
 310                         armjtagew_tap_append_step(0, 0);
 311                 }
 312                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 313                 {
 314                         armjtagew_tap_append_step(1, 0);
 315                 }
 316                 else
 317                 {
 318                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 319                         exit(-1);
 320                 }
 321
 322                 tap_set_state(path[i]);
 323         }
 324
 325         tap_set_end_state(tap_get_state());
 326 }
 327
 328 static void armjtagew_runtest(int num_cycles)
 329 {
 330         int i;
 331
 332         tap_state_t saved_end_state = tap_get_end_state();
 333
 334         /* only do a state_move when we're not already in IDLE */
 335         if (tap_get_state() != TAP_IDLE)
 336         {
 337                 armjtagew_end_state(TAP_IDLE);
 338                 armjtagew_state_move();
 339         }
 340
 341         /* execute num_cycles */
 342         for (i = 0; i < num_cycles; i++)
 343         {
 344                 armjtagew_tap_append_step(0, 0);
 345         }
 346
 347         /* finish in end_state */
 348         armjtagew_end_state(saved_end_state);
 349         if (tap_get_state() != tap_get_end_state())
 350         {
 351                 armjtagew_state_move();
 352         }
 353 }
 354
 355 static void armjtagew_scan(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command)
 356 {
 357         tap_state_t saved_end_state;
 358
 359         armjtagew_tap_ensure_space(1, scan_size + 8);
 360
 361         saved_end_state = tap_get_end_state();
 362
 363         /* Move to appropriate scan state */
 364         armjtagew_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 365
 366         armjtagew_state_move();
 367         armjtagew_end_state(saved_end_state);
 368
 369         /* Scan */
 370         armjtagew_tap_append_scan(scan_size, buffer, command);
 371
 372         /* We are in Exit1, go to Pause */
 373         armjtagew_tap_append_step(0, 0);
 374
 375         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 376
 377         if (tap_get_state() != tap_get_end_state())
 378         {
 379                 armjtagew_state_move();
 380         }
 381 }
 382
 383 static void armjtagew_reset(int trst, int srst)
 384 {
 385         const uint8_t trst_mask = (1u << 5);
 386         const uint8_t srst_mask = (1u << 6);
 387         uint8_t val = 0;
 388         uint8_t outp_en = 0;
 389         uint8_t change_mask = 0;
 390         int result;
 391
 392         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 393
 394         if (srst == 0)
 395         {
 396                 val |= srst_mask;
 397                 outp_en &= ~srst_mask;          /* tristate */
 398                 change_mask |= srst_mask;
 399         }
 400         else if (srst == 1)
 401         {
 402                 val &= ~srst_mask;
 403                 outp_en |= srst_mask;
 404                 change_mask |= srst_mask;
 405         }
 406
 407         if (trst == 0)
 408         {
 409                 val |= trst_mask;
 410                 outp_en &= ~trst_mask;          /* tristate */
 411                 change_mask |= trst_mask;
 412         }
 413         else if (trst == 1)
 414         {
 415                 val &= ~trst_mask;
 416                 outp_en |= trst_mask;
 417                 change_mask |= trst_mask;
 418         }
 419
 420         usb_out_buffer[0] = CMD_SET_TAPHW_STATE;
 421         usb_out_buffer[1] = val;
 422         usb_out_buffer[2] = outp_en;
 423         usb_out_buffer[3] = change_mask;
 424         result = armjtagew_usb_write(armjtagew_handle, 4);
 425         if (result != 4)
 426         {
 427                 LOG_ERROR("ARM-JTAG-EW TRST/SRST pin set failed failed (%d)", result);
 428         }
 429 }
 430
 431
 432 static int armjtagew_get_status(void)
 433 {
 434         int result;
 435
 436         usb_out_buffer[0] = CMD_GET_TAPHW_STATE;
 437         result = armjtagew_usb_message(armjtagew_handle, 1, 12);
 438
 439         if (result == 0)
 440         {
 441                 unsigned int u_tg = buf_get_u32(usb_in_buffer, 0, 16);
 442                 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",
 443                          (int)(buf_get_u32(usb_in_buffer + 0, 0, 16)),
 444                          (int)(buf_get_u32(usb_in_buffer + 2, 0, 16)),
 445                          (int)(buf_get_u32(usb_in_buffer + 4, 0, 16)),
 446                          (int)(buf_get_u32(usb_in_buffer + 6, 0, 16)),
 447                          usb_in_buffer[9],
 448                          usb_in_buffer[11] ? "OVERCURRENT" : "OK",
 449                          usb_in_buffer[10] ? "enabled" : "disabled");
 450
 451                 if (u_tg < 1500)
 452                 {
 453                         LOG_ERROR("Vref too low. Check Target Power\n");
 454                 }
 455         }
 456         else
 457         {
 458                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_TAPHW_STATE failed (%d)\n", result);
 459         }
 460
 461         return ERROR_OK;
 462 }
 463
 464 static int armjtagew_get_version_info(void)
 465 {
 466         int result;
 467         char sn[16];
 468         char auxinfo[257];
 469
 470         /* query hardware version */
 471         usb_out_buffer[0] = CMD_GET_VERSION;
 472         result = armjtagew_usb_message(armjtagew_handle, 1, 4 + 15 + 256);
 473
 474         if (result != 0)
 475         {
 476                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_VERSION failed (%d)\n", result);
 477                 return ERROR_JTAG_DEVICE_ERROR;
 478         }
 479
 480
 481         memcpy(sn, usb_in_buffer + 4, 15);
 482         sn[15] = '\0';
 483         memcpy(auxinfo, usb_in_buffer + 4+15, 256);
 484         auxinfo[256] = '\0';
 485
 486         LOG_INFO("ARM-JTAG-EW firmware version %d.%d, hardware revision %c, SN=%s, Additional info: %s", \
 487                         usb_in_buffer[1], usb_in_buffer[0], \
 488                         isgraph(usb_in_buffer[2]) ? usb_in_buffer[2] : 'X', \
 489                         sn, auxinfo);
 490         return ERROR_OK;
 491 }
 492
 493 COMMAND_HANDLER(armjtagew_handle_armjtagew_info_command)
 494 {
 495         if (armjtagew_get_version_info() == ERROR_OK)
 496         {
 497                 /* attempt to get status */
 498                 armjtagew_get_status();
 499         }
 500
 501         return ERROR_OK;
 502 }
 503
 504 static int armjtagew_register_commands(struct command_context *cmd_ctx)
 505 {
 506         register_command(cmd_ctx, NULL, "armjtagew_info",
 507                         &armjtagew_handle_armjtagew_info_command, COMMAND_EXEC,
 508                         "query armjtagew info");
 509         return ERROR_OK;
 510 }
 511
 512 struct jtag_interface armjtagew_interface = {
 513                 .name = "arm-jtag-ew",
 514                 .execute_queue = &armjtagew_execute_queue,
 515                 .speed = &armjtagew_speed,
 516                 .khz = &armjtagew_khz,
 517                 .register_commands = &armjtagew_register_commands,
 518                 .init = &armjtagew_init,
 519                 .quit = &armjtagew_quit,
 520         };
 521
 522 /***************************************************************************/
 523 /* ARM-JTAG-EW tap functions */
 524
 525 /* 2048 is the max value we can use here */
 526 #define ARMJTAGEW_TAP_BUFFER_SIZE 2048
 527
 528 static int tap_length;
 529 static uint8_t tms_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 530 static uint8_t tdi_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 531 static uint8_t tdo_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 532
 533 struct pending_scan_result {
 534         int first;      /* First bit position in tdo_buffer to read */
 535         int length; /* Number of bits to read */
 536         struct scan_command *command; /* Corresponding scan command */
 537         uint8_t *buffer;
 538 };
 539
 540 #define MAX_PENDING_SCAN_RESULTS 256
 541
 542 static int pending_scan_results_length;
 543 static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 544
 545 static int last_tms;
 546
 547 static void armjtagew_tap_init(void)
 548 {
 549         tap_length = 0;
 550         pending_scan_results_length = 0;
 551 }
 552
 553 static void armjtagew_tap_ensure_space(int scans, int bits)
 554 {
 555         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 556         int available_bits = ARMJTAGEW_TAP_BUFFER_SIZE * 8 - tap_length;
 557
 558         if (scans > available_scans || bits > available_bits)
 559         {
 560                 armjtagew_tap_execute();
 561         }
 562 }
 563
 564 static void armjtagew_tap_append_step(int tms, int tdi)
 565 {
 566         last_tms = tms;
 567         int index = tap_length / 8;
 568
 569         if (index < ARMJTAGEW_TAP_BUFFER_SIZE)
 570         {
 571                 int bit_index = tap_length % 8;
 572                 uint8_t bit = 1 << bit_index;
 573
 574                 if (tms)
 575                 {
 576                         tms_buffer[index] |= bit;
 577                 }
 578                 else
 579                 {
 580                         tms_buffer[index] &= ~bit;
 581                 }
 582
 583                 if (tdi)
 584                 {
 585                         tdi_buffer[index] |= bit;
 586                 }
 587                 else
 588                 {
 589                         tdi_buffer[index] &= ~bit;
 590                 }
 591
 592                 tap_length++;
 593         }
 594         else
 595         {
 596                 LOG_ERROR("armjtagew_tap_append_step, overflow");
 597         }
 598 }
 599
 600 void armjtagew_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command)
 601 {
 602         struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
 603         int i;
 604
 605         pending_scan_result->first = tap_length;
 606         pending_scan_result->length = length;
 607         pending_scan_result->command = command;
 608         pending_scan_result->buffer = buffer;
 609
 610         for (i = 0; i < length; i++)
 611         {
 612                 armjtagew_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
 613         }
 614         pending_scan_results_length++;
 615 }
 616
 617 /* Pad and send a tap sequence to the device, and receive the answer.
 618  * For the purpose of padding we assume that we are in idle or pause state. */
 619 static int armjtagew_tap_execute(void)
 620 {
 621         int byte_length;
 622         int tms_offset;
 623         int tdi_offset;
 624         int i;
 625         int result;
 626
 627         if (tap_length > 0)
 628         {
 629                 /* Pad last byte so that tap_length is divisible by 8 */
 630                 while (tap_length % 8 != 0)
 631                 {
 632                         /* More of the last TMS value keeps us in the same state,
 633                          * analogous to free-running JTAG interfaces. */
 634                         armjtagew_tap_append_step(last_tms, 0);
 635                 }
 636
 637                 byte_length = tap_length / 8;
 638
 639                 usb_out_buffer[0] = CMD_TAP_SHIFT;
 640                 buf_set_u32(usb_out_buffer + 1, 0, 16, byte_length);
 641
 642                 tms_offset = 3;
 643                 for (i = 0; i < byte_length; i++)
 644                 {
 645                         usb_out_buffer[tms_offset + i] = flip_u32(tms_buffer[i],8);
 646                 }
 647
 648                 tdi_offset = tms_offset + byte_length;
 649                 for (i = 0; i < byte_length; i++)
 650                 {
 651                         usb_out_buffer[tdi_offset + i] = flip_u32(tdi_buffer[i],8);
 652                 }
 653
 654                 result = armjtagew_usb_message(armjtagew_handle, 3 + 2 * byte_length, byte_length + 4);
 655
 656                 if (result == 0)
 657                 {
 658                         int stat;
 659
 660                         stat = (int)buf_get_u32(usb_in_buffer + byte_length, 0, 32);
 661                         if (stat) {
 662                                 LOG_ERROR("armjtagew_tap_execute, emulator returned error code %d for a CMD_TAP_SHIFT command", stat);
 663                                 return ERROR_JTAG_QUEUE_FAILED;
 664                         }
 665
 666                         for (i = 0; i < byte_length; i++)
 667                         {
 668                                 tdo_buffer[i] = flip_u32(usb_in_buffer[i],8);
 669                         }
 670
 671                         for (i = 0; i < pending_scan_results_length; i++)
 672                         {
 673                                 struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
 674                                 uint8_t *buffer = pending_scan_result->buffer;
 675                                 int length = pending_scan_result->length;
 676                                 int first = pending_scan_result->first;
 677                                 struct scan_command *command = pending_scan_result->command;
 678
 679                                 /* Copy to buffer */
 680                                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 681
 682                                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 683
 684 #ifdef _DEBUG_USB_COMMS_
 685                                 armjtagew_debug_buffer(buffer, byte_length);
 686 #endif
 687
 688                                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 689                                 {
 690                                         armjtagew_tap_init();
 691                                         return ERROR_JTAG_QUEUE_FAILED;
 692                                 }
 693
 694                                 if (pending_scan_result->buffer != NULL)
 695                                 {
 696                                         free(pending_scan_result->buffer);
 697                                 }
 698                         }
 699                 }
 700                 else
 701                 {
 702                         LOG_ERROR("armjtagew_tap_execute, wrong result %d, expected %d", result, byte_length);
 703                         return ERROR_JTAG_QUEUE_FAILED;
 704                 }
 705
 706                 armjtagew_tap_init();
 707         }
 708
 709         return ERROR_OK;
 710 }
 711
 712 /*****************************************************************************/
 713 /* JLink USB low-level functions */
 714
 715 static struct armjtagew* armjtagew_usb_open()
 716 {
 717         struct usb_bus *busses;
 718         struct usb_bus *bus;
 719         struct usb_device *dev;
 720
 721         struct armjtagew *result;
 722
 723         result = (struct armjtagew*) malloc(sizeof(struct armjtagew));
 724
 725         usb_init();
 726         usb_find_busses();
 727         usb_find_devices();
 728
 729         busses = usb_get_busses();
 730
 731         /* find armjtagew device in usb bus */
 732
 733         for (bus = busses; bus; bus = bus->next)
 734         {
 735                 for (dev = bus->devices; dev; dev = dev->next)
 736                 {
 737                         if ((dev->descriptor.idVendor == USB_VID) && (dev->descriptor.idProduct == USB_PID))
 738                         {
 739                                 result->usb_handle = usb_open(dev);
 740
 741 #if 0
 742                                 /* usb_set_configuration required under win32 */
 743                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 744 #endif
 745                                 usb_claim_interface(result->usb_handle, 0);
 746
 747 #if 0
 748                                 /*
 749                                  * This makes problems under Mac OS X. And is not needed
 750                                  * under Windows. Hopefully this will not break a linux build
 751                                  */
 752                                 usb_set_altinterface(result->usb_handle, 0);
 753 #endif
 754                                 return result;
 755                         }
 756                 }
 757         }
 758
 759         free(result);
 760         return NULL;
 761 }
 762
 763 static void armjtagew_usb_close(struct armjtagew *armjtagew)
 764 {
 765         usb_close(armjtagew->usb_handle);
 766         free(armjtagew);
 767 }
 768
 769 /* Send a message and receive the reply. */
 770 static int armjtagew_usb_message(struct armjtagew *armjtagew, int out_length, int in_length)
 771 {
 772         int result;
 773
 774         result = armjtagew_usb_write(armjtagew, out_length);
 775         if (result == out_length)
 776         {
 777                 result = armjtagew_usb_read(armjtagew, in_length);
 778                 if (result != in_length)
 779                 {
 780                         LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
 781                         return -1;
 782                 }
 783         }
 784         else
 785         {
 786                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
 787                 return -1;
 788         }
 789         return 0;
 790 }
 791
 792 /* Write data from out_buffer to USB. */
 793 static int armjtagew_usb_write(struct armjtagew *armjtagew, int out_length)
 794 {
 795         int result;
 796
 797         if (out_length > ARMJTAGEW_OUT_BUFFER_SIZE)
 798         {
 799                 LOG_ERROR("armjtagew_write illegal out_length=%d (max=%d)", out_length, ARMJTAGEW_OUT_BUFFER_SIZE);
 800                 return -1;
 801         }
 802
 803         result = usb_bulk_write(armjtagew->usb_handle, ARMJTAGEW_EPT_BULK_OUT, \
 804                 (char*)usb_out_buffer, out_length, ARMJTAGEW_USB_TIMEOUT);
 805
 806         DEBUG_JTAG_IO("armjtagew_usb_write, out_length = %d, result = %d", out_length, result);
 807
 808 #ifdef _DEBUG_USB_COMMS_
 809         armjtagew_debug_buffer(usb_out_buffer, out_length);
 810 #endif
 811         return result;
 812 }
 813
 814 /* Read data from USB into in_buffer. */
 815 static int armjtagew_usb_read(struct armjtagew *armjtagew, int exp_in_length)
 816 {
 817         int result = usb_bulk_read(armjtagew->usb_handle, ARMJTAGEW_EPT_BULK_IN, \
 818                 (char*)usb_in_buffer, exp_in_length, ARMJTAGEW_USB_TIMEOUT);
 819
 820         DEBUG_JTAG_IO("armjtagew_usb_read, result = %d", result);
 821
 822 #ifdef _DEBUG_USB_COMMS_
 823         armjtagew_debug_buffer(usb_in_buffer, result);
 824 #endif
 825         return result;
 826 }
 827
 828
 829 #ifdef _DEBUG_USB_COMMS_
 830 #define BYTES_PER_LINE  16
 831
 832 static void armjtagew_debug_buffer(uint8_t *buffer, int length)
 833 {
 834         char line[81];
 835         char s[4];
 836         int i;
 837         int j;
 838
 839         for (i = 0; i < length; i += BYTES_PER_LINE)
 840         {
 841                 snprintf(line, 5, "%04x", i);
 842                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 843                 {
 844                         snprintf(s, 4, " %02x", buffer[j]);
 845                         strcat(line, s);
 846                 }
 847                 LOG_DEBUG("%s", line);
 848         }
 849 }
 850 #endif
 851