1 /***************************************************************************
2 * Copyright (C) 2009 by Dimitar Dimitrov <dinuxbg@gmail.com> *
3 * based on Dominic Rath's and Benedikt Sauter's usbprog.c *
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. *
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. *
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 ***************************************************************************/
25 #include "interface.h"
30 #define USB_VID 0x15ba
31 #define USB_PID 0x001e
33 #define ARMJTAGEW_EPT_BULK_OUT 0x01u
34 #define ARMJTAGEW_EPT_BULK_IN 0x82u
36 #define ARMJTAGEW_USB_TIMEOUT 2000
38 #define ARMJTAGEW_IN_BUFFER_SIZE (4*1024)
39 #define ARMJTAGEW_OUT_BUFFER_SIZE (4*1024)
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
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];
58 /* External interface functions */
59 static int armjtagew_execute_queue(void);
60 static int armjtagew_speed(int speed);
61 static int armjtagew_khz(int khz, int *jtag_speed);
62 static int armjtagew_register_commands(struct command_context_s *cmd_ctx);
63 static int armjtagew_init(void);
64 static int armjtagew_quit(void);
66 /* CLI command handler functions */
67 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
69 /* Queue command functions */
70 static void armjtagew_end_state(tap_state_t state);
71 static void armjtagew_state_move(void);
72 static void armjtagew_path_move(int num_states, tap_state_t *path);
73 static void armjtagew_runtest(int num_cycles);
74 static void armjtagew_scan(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, scan_command_t *command);
75 static void armjtagew_reset(int trst, int srst);
76 //static void armjtagew_simple_command(uint8_t command);
77 static int armjtagew_get_status(void);
79 /* tap buffer functions */
80 static void armjtagew_tap_init(void);
81 static int armjtagew_tap_execute(void);
82 static void armjtagew_tap_ensure_space(int scans, int bits);
83 static void armjtagew_tap_append_step(int tms, int tdi);
84 static void armjtagew_tap_append_scan(int length, uint8_t *buffer, scan_command_t *command);
86 /* ARM-JTAG-EW lowlevel functions */
88 struct usb_dev_handle* usb_handle;
91 static struct armjtagew *armjtagew_usb_open(void);
92 static void armjtagew_usb_close(struct armjtagew *armjtagew);
93 static int armjtagew_usb_message(struct armjtagew *armjtagew, int out_length, int in_length);
94 static int armjtagew_usb_write(struct armjtagew *armjtagew, int out_length);
95 static int armjtagew_usb_read(struct armjtagew *armjtagew, int exp_in_length);
97 /* helper functions */
98 static int armjtagew_get_version_info(void);
100 #ifdef _DEBUG_USB_COMMS_
101 static void armjtagew_debug_buffer(uint8_t *buffer, int length);
104 static struct armjtagew* armjtagew_handle;
108 /***************************************************************************/
109 /* External interface implementation */
111 struct jtag_interface armjtagew_interface =
113 .name = "arm-jtag-ew",
114 .execute_queue = armjtagew_execute_queue,
115 .speed = armjtagew_speed,
116 .khz = armjtagew_khz,
117 .register_commands = armjtagew_register_commands,
118 .init = armjtagew_init,
119 .quit = armjtagew_quit
123 static int armjtagew_execute_queue(void)
125 jtag_command_t *cmd = jtag_command_queue;
135 DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
136 cmd->cmd.runtest->end_state);
138 armjtagew_end_state(cmd->cmd.runtest->end_state);
139 armjtagew_runtest(cmd->cmd.runtest->num_cycles);
143 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
145 armjtagew_end_state(cmd->cmd.statemove->end_state);
146 armjtagew_state_move();
150 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
151 cmd->cmd.pathmove->num_states, \
152 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
154 armjtagew_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
158 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
160 armjtagew_end_state(cmd->cmd.scan->end_state);
162 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
163 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
165 #ifdef _DEBUG_USB_COMMS_
166 armjtagew_debug_buffer(buffer, (scan_size + 7) / 8);
168 type = jtag_scan_type(cmd->cmd.scan);
169 armjtagew_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
173 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
175 armjtagew_tap_execute();
177 if (cmd->cmd.reset->trst == 1)
179 tap_set_state(TAP_RESET);
181 armjtagew_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
185 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
186 armjtagew_tap_execute();
187 jtag_sleep(cmd->cmd.sleep->us);
191 LOG_ERROR("BUG: unknown JTAG command type encountered");
197 return armjtagew_tap_execute();
201 /* Sets speed in kHz. */
202 static int armjtagew_speed(int speed)
208 usb_out_buffer[0] = CMD_SET_TCK_FREQUENCY;
209 buf_set_u32(usb_out_buffer + 1, 0, 32, speed);
211 result = armjtagew_usb_message(armjtagew_handle, 4, 4);
215 LOG_ERROR("ARM-JTAG-EW setting speed failed (%d)", result);
216 return ERROR_JTAG_DEVICE_ERROR;
219 usb_out_buffer[0] = CMD_GET_TCK_FREQUENCY;
220 result = armjtagew_usb_message(armjtagew_handle, 1, 4);
221 speed_real = (int)buf_get_u32(usb_in_buffer,0,32);
224 LOG_ERROR("ARM-JTAG-EW getting speed failed (%d)", result);
225 return ERROR_JTAG_DEVICE_ERROR;
229 LOG_INFO("Requested speed %dkHz, emulator reported %dkHz.", speed, speed_real);
236 static int armjtagew_khz(int khz, int *jtag_speed)
243 static int armjtagew_register_commands(struct command_context_s *cmd_ctx)
245 register_command(cmd_ctx, NULL, "armjtagew_info", armjtagew_handle_armjtagew_info_command, COMMAND_EXEC,
246 "query armjtagew info");
250 static int armjtagew_init(void)
254 armjtagew_handle = armjtagew_usb_open();
256 if (armjtagew_handle == 0)
258 LOG_ERROR("Cannot find ARM-JTAG-EW Interface! Please check connection and permissions.");
259 return ERROR_JTAG_INIT_FAILED;
263 while (check_cnt < 3)
265 if (armjtagew_get_version_info() == ERROR_OK)
267 /* attempt to get status */
268 armjtagew_get_status();
277 LOG_INFO("ARM-JTAG-EW initial read failed, don't worry");
280 LOG_INFO("ARM-JTAG-EW JTAG Interface ready");
282 armjtagew_reset(0, 0);
283 armjtagew_tap_init();
288 static int armjtagew_quit(void)
290 armjtagew_usb_close(armjtagew_handle);
294 /***************************************************************************/
295 /* Queue command implementations */
297 static void armjtagew_end_state(tap_state_t state)
299 if (tap_is_state_stable(state))
301 tap_set_end_state(state);
305 LOG_ERROR("BUG: %i is not a valid end state", state);
310 /* Goes to the end state. */
311 static void armjtagew_state_move(void)
315 uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
316 int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
318 for (i = 0; i < tms_count; i++)
320 tms = (tms_scan >> i) & 1;
321 armjtagew_tap_append_step(tms, 0);
324 tap_set_state(tap_get_end_state());
327 static void armjtagew_path_move(int num_states, tap_state_t *path)
331 for (i = 0; i < num_states; i++)
334 * TODO: The ARM-JTAG-EW hardware delays TDI with 3 TCK cycles when in RTCK mode.
335 * Either handle that here, or update the documentation with examples
336 * how to fix that in the configuration files.
338 if (path[i] == tap_state_transition(tap_get_state(), false))
340 armjtagew_tap_append_step(0, 0);
342 else if (path[i] == tap_state_transition(tap_get_state(), true))
344 armjtagew_tap_append_step(1, 0);
348 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
352 tap_set_state(path[i]);
355 tap_set_end_state(tap_get_state());
358 static void armjtagew_runtest(int num_cycles)
362 tap_state_t saved_end_state = tap_get_end_state();
364 /* only do a state_move when we're not already in IDLE */
365 if (tap_get_state() != TAP_IDLE)
367 armjtagew_end_state(TAP_IDLE);
368 armjtagew_state_move();
371 /* execute num_cycles */
372 for (i = 0; i < num_cycles; i++)
374 armjtagew_tap_append_step(0, 0);
377 /* finish in end_state */
378 armjtagew_end_state(saved_end_state);
379 if (tap_get_state() != tap_get_end_state())
381 armjtagew_state_move();
385 static void armjtagew_scan(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, scan_command_t *command)
387 tap_state_t saved_end_state;
389 armjtagew_tap_ensure_space(1, scan_size + 8);
391 saved_end_state = tap_get_end_state();
393 /* Move to appropriate scan state */
394 armjtagew_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
396 armjtagew_state_move();
397 armjtagew_end_state(saved_end_state);
400 armjtagew_tap_append_scan(scan_size, buffer, command);
402 /* We are in Exit1, go to Pause */
403 armjtagew_tap_append_step(0, 0);
405 tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
407 if (tap_get_state() != tap_get_end_state())
409 armjtagew_state_move();
413 static void armjtagew_reset(int trst, int srst)
415 const uint8_t trst_mask = (1u << 5);
416 const uint8_t srst_mask = (1u << 6);
419 uint8_t change_mask = 0;
422 LOG_DEBUG("trst: %i, srst: %i", trst, srst);
427 outp_en &= ~srst_mask; /* tristate */
428 change_mask |= srst_mask;
433 outp_en |= srst_mask;
434 change_mask |= srst_mask;
440 outp_en &= ~trst_mask; /* tristate */
441 change_mask |= trst_mask;
446 outp_en |= trst_mask;
447 change_mask |= trst_mask;
450 usb_out_buffer[0] = CMD_SET_TAPHW_STATE;
451 usb_out_buffer[1] = val;
452 usb_out_buffer[2] = outp_en;
453 usb_out_buffer[3] = change_mask;
454 result = armjtagew_usb_write(armjtagew_handle, 4);
457 LOG_ERROR("ARM-JTAG-EW TRST/SRST pin set failed failed (%d)", result);
462 static int armjtagew_get_status(void)
466 usb_out_buffer[0] = CMD_GET_TAPHW_STATE;
467 result = armjtagew_usb_message(armjtagew_handle, 1, 12);
471 unsigned int u_tg = buf_get_u32(usb_in_buffer, 0, 16);
472 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",
473 (int)(buf_get_u32(usb_in_buffer + 0, 0, 16)),
474 (int)(buf_get_u32(usb_in_buffer + 2, 0, 16)),
475 (int)(buf_get_u32(usb_in_buffer + 4, 0, 16)),
476 (int)(buf_get_u32(usb_in_buffer + 6, 0, 16)),
478 usb_in_buffer[11] ? "OVERCURRENT" : "OK",
479 usb_in_buffer[10] ? "enabled" : "disabled");
483 LOG_ERROR("Vref too low. Check Target Power\n");
488 LOG_ERROR("ARM-JTAG-EW command CMD_GET_TAPHW_STATE failed (%d)\n", result);
494 static int armjtagew_get_version_info(void)
500 /* query hardware version */
501 usb_out_buffer[0] = CMD_GET_VERSION;
502 result = armjtagew_usb_message(armjtagew_handle, 1, 4 + 15 + 256);
506 LOG_ERROR("ARM-JTAG-EW command CMD_GET_VERSION failed (%d)\n", result);
507 return ERROR_JTAG_DEVICE_ERROR;
511 memcpy(sn, usb_in_buffer + 4, 15);
513 memcpy(auxinfo, usb_in_buffer + 4+15, 256);
516 LOG_INFO("ARM-JTAG-EW firmware version %d.%d, hardware revision %c, SN=%s, Additional info: %s", \
517 usb_in_buffer[1], usb_in_buffer[0], \
518 isgraph(usb_in_buffer[2]) ? usb_in_buffer[2] : 'X', \
523 static int armjtagew_handle_armjtagew_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
525 if (armjtagew_get_version_info() == ERROR_OK)
527 /* attempt to get status */
528 armjtagew_get_status();
534 /***************************************************************************/
535 /* ARM-JTAG-EW tap functions */
537 /* 2048 is the max value we can use here */
538 #define ARMJTAGEW_TAP_BUFFER_SIZE 2048
540 static int tap_length;
541 static uint8_t tms_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
542 static uint8_t tdi_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
543 static uint8_t tdo_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
545 struct pending_scan_result {
546 int first; /* First bit position in tdo_buffer to read */
547 int length; /* Number of bits to read */
548 scan_command_t *command; /* Corresponding scan command */
552 #define MAX_PENDING_SCAN_RESULTS 256
554 static int pending_scan_results_length;
555 static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
559 static void armjtagew_tap_init(void)
562 pending_scan_results_length = 0;
565 static void armjtagew_tap_ensure_space(int scans, int bits)
567 int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
568 int available_bits = ARMJTAGEW_TAP_BUFFER_SIZE * 8 - tap_length;
570 if (scans > available_scans || bits > available_bits)
572 armjtagew_tap_execute();
576 static void armjtagew_tap_append_step(int tms, int tdi)
579 int index = tap_length / 8;
581 if (index < ARMJTAGEW_TAP_BUFFER_SIZE)
583 int bit_index = tap_length % 8;
584 uint8_t bit = 1 << bit_index;
588 tms_buffer[index] |= bit;
592 tms_buffer[index] &= ~bit;
597 tdi_buffer[index] |= bit;
601 tdi_buffer[index] &= ~bit;
608 LOG_ERROR("armjtagew_tap_append_step, overflow");
612 void armjtagew_tap_append_scan(int length, uint8_t *buffer, scan_command_t *command)
614 struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
617 pending_scan_result->first = tap_length;
618 pending_scan_result->length = length;
619 pending_scan_result->command = command;
620 pending_scan_result->buffer = buffer;
622 for (i = 0; i < length; i++)
624 armjtagew_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
626 pending_scan_results_length++;
629 /* Pad and send a tap sequence to the device, and receive the answer.
630 * For the purpose of padding we assume that we are in idle or pause state. */
631 static int armjtagew_tap_execute(void)
641 /* Pad last byte so that tap_length is divisible by 8 */
642 while (tap_length % 8 != 0)
644 /* More of the last TMS value keeps us in the same state,
645 * analogous to free-running JTAG interfaces. */
646 armjtagew_tap_append_step(last_tms, 0);
649 byte_length = tap_length / 8;
651 usb_out_buffer[0] = CMD_TAP_SHIFT;
652 buf_set_u32(usb_out_buffer + 1, 0, 16, byte_length);
655 for (i = 0; i < byte_length; i++)
657 usb_out_buffer[tms_offset + i] = flip_u32(tms_buffer[i],8);
660 tdi_offset = tms_offset + byte_length;
661 for (i = 0; i < byte_length; i++)
663 usb_out_buffer[tdi_offset + i] = flip_u32(tdi_buffer[i],8);
666 result = armjtagew_usb_message(armjtagew_handle, 3 + 2 * byte_length, byte_length + 4);
672 stat = (int)buf_get_u32(usb_in_buffer + byte_length, 0, 32);
674 LOG_ERROR("armjtagew_tap_execute, emulator returned error code %d for a CMD_TAP_SHIFT command", stat);
675 return ERROR_JTAG_QUEUE_FAILED;
678 for (i = 0; i < byte_length; i++)
680 tdo_buffer[i] = flip_u32(usb_in_buffer[i],8);
683 for (i = 0; i < pending_scan_results_length; i++)
685 struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
686 uint8_t *buffer = pending_scan_result->buffer;
687 int length = pending_scan_result->length;
688 int first = pending_scan_result->first;
689 scan_command_t *command = pending_scan_result->command;
692 buf_set_buf(tdo_buffer, first, buffer, 0, length);
694 DEBUG_JTAG_IO("pending scan result, length = %d", length);
696 #ifdef _DEBUG_USB_COMMS_
697 armjtagew_debug_buffer(buffer, byte_length);
700 if (jtag_read_buffer(buffer, command) != ERROR_OK)
702 armjtagew_tap_init();
703 return ERROR_JTAG_QUEUE_FAILED;
706 if (pending_scan_result->buffer != NULL)
708 free(pending_scan_result->buffer);
714 LOG_ERROR("armjtagew_tap_execute, wrong result %d, expected %d", result, byte_length);
715 return ERROR_JTAG_QUEUE_FAILED;
718 armjtagew_tap_init();
724 /*****************************************************************************/
725 /* JLink USB low-level functions */
727 static struct armjtagew* armjtagew_usb_open()
729 struct usb_bus *busses;
731 struct usb_device *dev;
733 struct armjtagew *result;
735 result = (struct armjtagew*) malloc(sizeof(struct armjtagew));
741 busses = usb_get_busses();
743 /* find armjtagew device in usb bus */
745 for (bus = busses; bus; bus = bus->next)
747 for (dev = bus->devices; dev; dev = dev->next)
749 if ((dev->descriptor.idVendor == USB_VID) && (dev->descriptor.idProduct == USB_PID))
751 result->usb_handle = usb_open(dev);
754 /* usb_set_configuration required under win32 */
755 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
757 usb_claim_interface(result->usb_handle, 0);
761 * This makes problems under Mac OS X. And is not needed
762 * under Windows. Hopefully this will not break a linux build
764 usb_set_altinterface(result->usb_handle, 0);
775 static void armjtagew_usb_close(struct armjtagew *armjtagew)
777 usb_close(armjtagew->usb_handle);
781 /* Send a message and receive the reply. */
782 static int armjtagew_usb_message(struct armjtagew *armjtagew, int out_length, int in_length)
786 result = armjtagew_usb_write(armjtagew, out_length);
787 if (result == out_length)
789 result = armjtagew_usb_read(armjtagew, in_length);
790 if (result != in_length)
792 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
798 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
804 /* Write data from out_buffer to USB. */
805 static int armjtagew_usb_write(struct armjtagew *armjtagew, int out_length)
809 if (out_length > ARMJTAGEW_OUT_BUFFER_SIZE)
811 LOG_ERROR("armjtagew_write illegal out_length=%d (max=%d)", out_length, ARMJTAGEW_OUT_BUFFER_SIZE);
815 result = usb_bulk_write(armjtagew->usb_handle, ARMJTAGEW_EPT_BULK_OUT, \
816 (char*)usb_out_buffer, out_length, ARMJTAGEW_USB_TIMEOUT);
818 DEBUG_JTAG_IO("armjtagew_usb_write, out_length = %d, result = %d", out_length, result);
820 #ifdef _DEBUG_USB_COMMS_
821 armjtagew_debug_buffer(usb_out_buffer, out_length);
826 /* Read data from USB into in_buffer. */
827 static int armjtagew_usb_read(struct armjtagew *armjtagew, int exp_in_length)
829 int result = usb_bulk_read(armjtagew->usb_handle, ARMJTAGEW_EPT_BULK_IN, \
830 (char*)usb_in_buffer, exp_in_length, ARMJTAGEW_USB_TIMEOUT);
832 DEBUG_JTAG_IO("armjtagew_usb_read, result = %d", result);
834 #ifdef _DEBUG_USB_COMMS_
835 armjtagew_debug_buffer(usb_in_buffer, result);
841 #ifdef _DEBUG_USB_COMMS_
842 #define BYTES_PER_LINE 16
844 static void armjtagew_debug_buffer(uint8_t *buffer, int length)
851 for (i = 0; i < length; i += BYTES_PER_LINE)
853 snprintf(line, 5, "%04x", i);
854 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
856 snprintf(s, 4, " %02x", buffer[j]);
859 LOG_DEBUG("%s", line);