git.gag.com Git - fw/openocd/blob - src/jtag/arm-jtag-ew.c

   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 /* 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 *cmd_ctx);
  63 static int armjtagew_init(void);
  64 static int armjtagew_quit(void);
  65
  66 /* Queue command functions */
  67 static void armjtagew_end_state(tap_state_t state);
  68 static void armjtagew_state_move(void);
  69 static void armjtagew_path_move(int num_states, tap_state_t *path);
  70 static void armjtagew_runtest(int num_cycles);
  71 static void armjtagew_scan(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command);
  72 static void armjtagew_reset(int trst, int srst);
  73 //static void armjtagew_simple_command(uint8_t command);
  74 static int armjtagew_get_status(void);
  75
  76 /* tap buffer functions */
  77 static void armjtagew_tap_init(void);
  78 static int armjtagew_tap_execute(void);
  79 static void armjtagew_tap_ensure_space(int scans, int bits);
  80 static void armjtagew_tap_append_step(int tms, int tdi);
  81 static void armjtagew_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command);
  82
  83 /* ARM-JTAG-EW lowlevel functions */
  84 struct armjtagew {
  85         struct usb_dev_handle* usb_handle;
  86 };
  87
  88 static struct armjtagew *armjtagew_usb_open(void);
  89 static void armjtagew_usb_close(struct armjtagew *armjtagew);
  90 static int armjtagew_usb_message(struct armjtagew *armjtagew, int out_length, int in_length);
  91 static int armjtagew_usb_write(struct armjtagew *armjtagew, int out_length);
  92 static int armjtagew_usb_read(struct armjtagew *armjtagew, int exp_in_length);
  93
  94 /* helper functions */
  95 static int armjtagew_get_version_info(void);
  96
  97 #ifdef _DEBUG_USB_COMMS_
  98 static void armjtagew_debug_buffer(uint8_t *buffer, int length);
  99 #endif
 100
 101 static struct armjtagew* armjtagew_handle;
 102
 103
 104
 105 /***************************************************************************/
 106 /* External interface implementation */
 107
 108 struct jtag_interface armjtagew_interface =
 109 {
 110         .name = "arm-jtag-ew",
 111         .execute_queue = armjtagew_execute_queue,
 112         .speed = armjtagew_speed,
 113         .khz = armjtagew_khz,
 114         .register_commands = armjtagew_register_commands,
 115         .init = armjtagew_init,
 116         .quit = armjtagew_quit
 117 };
 118
 119
 120 static int armjtagew_execute_queue(void)
 121 {
 122         struct jtag_command *cmd = jtag_command_queue;
 123         int scan_size;
 124         enum scan_type type;
 125         uint8_t *buffer;
 126
 127         while (cmd != NULL)
 128         {
 129                 switch (cmd->type)
 130                 {
 131                         case JTAG_RUNTEST:
 132                                 DEBUG_JTAG_IO("runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
 133                                         cmd->cmd.runtest->end_state);
 134
 135                                 armjtagew_end_state(cmd->cmd.runtest->end_state);
 136                                 armjtagew_runtest(cmd->cmd.runtest->num_cycles);
 137                                 break;
 138
 139                         case JTAG_STATEMOVE:
 140                                 DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 141
 142                                 armjtagew_end_state(cmd->cmd.statemove->end_state);
 143                                 armjtagew_state_move();
 144                                 break;
 145
 146                         case JTAG_PATHMOVE:
 147                                 DEBUG_JTAG_IO("pathmove: %i states, end in %i", \
 148                                         cmd->cmd.pathmove->num_states, \
 149                                         cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 150
 151                                 armjtagew_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
 152                                 break;
 153
 154                         case JTAG_SCAN:
 155                                 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
 156
 157                                 armjtagew_end_state(cmd->cmd.scan->end_state);
 158
 159                                 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 160                                 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 161
 162 #ifdef _DEBUG_USB_COMMS_
 163                                 armjtagew_debug_buffer(buffer, (scan_size + 7) / 8);
 164 #endif
 165                                 type = jtag_scan_type(cmd->cmd.scan);
 166                                 armjtagew_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
 167                                 break;
 168
 169                         case JTAG_RESET:
 170                                 DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 171
 172                                 armjtagew_tap_execute();
 173
 174                                 if (cmd->cmd.reset->trst == 1)
 175                                 {
 176                                         tap_set_state(TAP_RESET);
 177                                 }
 178                                 armjtagew_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 179                                 break;
 180
 181                         case JTAG_SLEEP:
 182                                 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
 183                                 armjtagew_tap_execute();
 184                                 jtag_sleep(cmd->cmd.sleep->us);
 185                                 break;
 186
 187                         default:
 188                                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 189                                 exit(-1);
 190                 }
 191                 cmd = cmd->next;
 192         }
 193
 194         return armjtagew_tap_execute();
 195 }
 196
 197
 198 /* Sets speed in kHz. */
 199 static int armjtagew_speed(int speed)
 200 {
 201     int result;
 202     int speed_real;
 203
 204
 205     usb_out_buffer[0] = CMD_SET_TCK_FREQUENCY;
 206         buf_set_u32(usb_out_buffer + 1, 0, 32, speed);
 207
 208     result = armjtagew_usb_message(armjtagew_handle, 4, 4);
 209
 210     if (result < 0)
 211     {
 212         LOG_ERROR("ARM-JTAG-EW setting speed failed (%d)", result);
 213         return ERROR_JTAG_DEVICE_ERROR;
 214     }
 215
 216         usb_out_buffer[0] = CMD_GET_TCK_FREQUENCY;
 217     result = armjtagew_usb_message(armjtagew_handle, 1, 4);
 218         speed_real = (int)buf_get_u32(usb_in_buffer,0,32);
 219         if (result < 0)
 220         {
 221         LOG_ERROR("ARM-JTAG-EW getting speed failed (%d)", result);
 222         return ERROR_JTAG_DEVICE_ERROR;
 223         }
 224         else
 225         {
 226         LOG_INFO("Requested speed %dkHz, emulator reported %dkHz.", speed, speed_real);
 227         }
 228
 229     return ERROR_OK;
 230 }
 231
 232
 233 static int armjtagew_khz(int khz, int *jtag_speed)
 234 {
 235         *jtag_speed = khz;
 236
 237         return ERROR_OK;
 238 }
 239
 240 static int armjtagew_init(void)
 241 {
 242         int check_cnt;
 243
 244         armjtagew_handle = armjtagew_usb_open();
 245
 246         if (armjtagew_handle == 0)
 247         {
 248                 LOG_ERROR("Cannot find ARM-JTAG-EW Interface! Please check connection and permissions.");
 249                 return ERROR_JTAG_INIT_FAILED;
 250         }
 251
 252         check_cnt = 0;
 253         while (check_cnt < 3)
 254         {
 255                 if (armjtagew_get_version_info() == ERROR_OK)
 256                 {
 257                         /* attempt to get status */
 258                         armjtagew_get_status();
 259                         break;
 260                 }
 261
 262                 check_cnt++;
 263         }
 264
 265         if (check_cnt == 3)
 266         {
 267                 LOG_INFO("ARM-JTAG-EW initial read failed, don't worry");
 268         }
 269
 270         LOG_INFO("ARM-JTAG-EW JTAG Interface ready");
 271
 272         armjtagew_reset(0, 0);
 273         armjtagew_tap_init();
 274
 275         return ERROR_OK;
 276 }
 277
 278 static int armjtagew_quit(void)
 279 {
 280         armjtagew_usb_close(armjtagew_handle);
 281         return ERROR_OK;
 282 }
 283
 284 /***************************************************************************/
 285 /* Queue command implementations */
 286
 287 static void armjtagew_end_state(tap_state_t state)
 288 {
 289         if (tap_is_state_stable(state))
 290         {
 291                 tap_set_end_state(state);
 292         }
 293         else
 294         {
 295                 LOG_ERROR("BUG: %i is not a valid end state", state);
 296                 exit(-1);
 297         }
 298 }
 299
 300 /* Goes to the end state. */
 301 static void armjtagew_state_move(void)
 302 {
 303         int i;
 304         int tms = 0;
 305         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 306         int tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 307
 308         for (i = 0; i < tms_count; i++)
 309         {
 310                 tms = (tms_scan >> i) & 1;
 311                 armjtagew_tap_append_step(tms, 0);
 312         }
 313
 314         tap_set_state(tap_get_end_state());
 315 }
 316
 317 static void armjtagew_path_move(int num_states, tap_state_t *path)
 318 {
 319         int i;
 320
 321         for (i = 0; i < num_states; i++)
 322         {
 323                 /*
 324                  * TODO: The ARM-JTAG-EW hardware delays TDI with 3 TCK cycles when in RTCK mode.
 325                  * Either handle that here, or update the documentation with examples
 326                  * how to fix that in the configuration files.
 327                  */
 328                 if (path[i] == tap_state_transition(tap_get_state(), false))
 329                 {
 330                         armjtagew_tap_append_step(0, 0);
 331                 }
 332                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 333                 {
 334                         armjtagew_tap_append_step(1, 0);
 335                 }
 336                 else
 337                 {
 338                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_name(tap_get_state()), tap_state_name(path[i]));
 339                         exit(-1);
 340                 }
 341
 342                 tap_set_state(path[i]);
 343         }
 344
 345         tap_set_end_state(tap_get_state());
 346 }
 347
 348 static void armjtagew_runtest(int num_cycles)
 349 {
 350         int i;
 351
 352         tap_state_t saved_end_state = tap_get_end_state();
 353
 354         /* only do a state_move when we're not already in IDLE */
 355         if (tap_get_state() != TAP_IDLE)
 356         {
 357                 armjtagew_end_state(TAP_IDLE);
 358                 armjtagew_state_move();
 359         }
 360
 361         /* execute num_cycles */
 362         for (i = 0; i < num_cycles; i++)
 363         {
 364                 armjtagew_tap_append_step(0, 0);
 365         }
 366
 367         /* finish in end_state */
 368         armjtagew_end_state(saved_end_state);
 369         if (tap_get_state() != tap_get_end_state())
 370         {
 371                 armjtagew_state_move();
 372         }
 373 }
 374
 375 static void armjtagew_scan(bool ir_scan, enum scan_type type, uint8_t *buffer, int scan_size, struct scan_command *command)
 376 {
 377         tap_state_t saved_end_state;
 378
 379         armjtagew_tap_ensure_space(1, scan_size + 8);
 380
 381         saved_end_state = tap_get_end_state();
 382
 383         /* Move to appropriate scan state */
 384         armjtagew_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 385
 386         armjtagew_state_move();
 387         armjtagew_end_state(saved_end_state);
 388
 389         /* Scan */
 390         armjtagew_tap_append_scan(scan_size, buffer, command);
 391
 392         /* We are in Exit1, go to Pause */
 393         armjtagew_tap_append_step(0, 0);
 394
 395         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 396
 397         if (tap_get_state() != tap_get_end_state())
 398         {
 399                 armjtagew_state_move();
 400         }
 401 }
 402
 403 static void armjtagew_reset(int trst, int srst)
 404 {
 405         const uint8_t trst_mask = (1u << 5);
 406         const uint8_t srst_mask = (1u << 6);
 407         uint8_t val = 0;
 408         uint8_t outp_en = 0;
 409         uint8_t change_mask = 0;
 410         int result;
 411
 412         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 413
 414         if (srst == 0)
 415         {
 416                 val |= srst_mask;
 417                 outp_en &= ~srst_mask;          /* tristate */
 418                 change_mask |= srst_mask;
 419         }
 420         else if (srst == 1)
 421         {
 422                 val &= ~srst_mask;
 423                 outp_en |= srst_mask;
 424                 change_mask |= srst_mask;
 425         }
 426
 427         if (trst == 0)
 428         {
 429                 val |= trst_mask;
 430                 outp_en &= ~trst_mask;          /* tristate */
 431                 change_mask |= trst_mask;
 432         }
 433         else if (trst == 1)
 434         {
 435                 val &= ~trst_mask;
 436                 outp_en |= trst_mask;
 437                 change_mask |= trst_mask;
 438         }
 439
 440         usb_out_buffer[0] = CMD_SET_TAPHW_STATE;
 441         usb_out_buffer[1] = val;
 442         usb_out_buffer[2] = outp_en;
 443         usb_out_buffer[3] = change_mask;
 444         result = armjtagew_usb_write(armjtagew_handle, 4);
 445         if (result != 4)
 446         {
 447                 LOG_ERROR("ARM-JTAG-EW TRST/SRST pin set failed failed (%d)", result);
 448         }
 449 }
 450
 451
 452 static int armjtagew_get_status(void)
 453 {
 454         int result;
 455
 456         usb_out_buffer[0] = CMD_GET_TAPHW_STATE;
 457         result = armjtagew_usb_message(armjtagew_handle, 1, 12);
 458
 459         if (result == 0)
 460         {
 461                 unsigned int u_tg = buf_get_u32(usb_in_buffer, 0, 16);
 462                 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",
 463                          (int)(buf_get_u32(usb_in_buffer + 0, 0, 16)),
 464                          (int)(buf_get_u32(usb_in_buffer + 2, 0, 16)),
 465                          (int)(buf_get_u32(usb_in_buffer + 4, 0, 16)),
 466                          (int)(buf_get_u32(usb_in_buffer + 6, 0, 16)),
 467                          usb_in_buffer[9],
 468                          usb_in_buffer[11] ? "OVERCURRENT" : "OK",
 469                          usb_in_buffer[10] ? "enabled" : "disabled");
 470
 471                 if (u_tg < 1500)
 472                 {
 473                         LOG_ERROR("Vref too low. Check Target Power\n");
 474                 }
 475         }
 476         else
 477         {
 478                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_TAPHW_STATE failed (%d)\n", result);
 479         }
 480
 481         return ERROR_OK;
 482 }
 483
 484 static int armjtagew_get_version_info(void)
 485 {
 486         int result;
 487         char sn[16];
 488         char auxinfo[257];
 489
 490         /* query hardware version */
 491         usb_out_buffer[0] = CMD_GET_VERSION;
 492         result = armjtagew_usb_message(armjtagew_handle, 1, 4 + 15 + 256);
 493
 494         if (result != 0)
 495         {
 496                 LOG_ERROR("ARM-JTAG-EW command CMD_GET_VERSION failed (%d)\n", result);
 497                 return ERROR_JTAG_DEVICE_ERROR;
 498         }
 499
 500
 501         memcpy(sn, usb_in_buffer + 4, 15);
 502         sn[15] = '\0';
 503         memcpy(auxinfo, usb_in_buffer + 4+15, 256);
 504         auxinfo[256] = '\0';
 505
 506         LOG_INFO("ARM-JTAG-EW firmware version %d.%d, hardware revision %c, SN=%s, Additional info: %s", \
 507                         usb_in_buffer[1], usb_in_buffer[0], \
 508                         isgraph(usb_in_buffer[2]) ? usb_in_buffer[2] : 'X', \
 509                         sn, auxinfo);
 510         return ERROR_OK;
 511 }
 512
 513 COMMAND_HANDLER(armjtagew_handle_armjtagew_info_command)
 514 {
 515         if (armjtagew_get_version_info() == ERROR_OK)
 516         {
 517                 /* attempt to get status */
 518                 armjtagew_get_status();
 519         }
 520
 521         return ERROR_OK;
 522 }
 523
 524 static int armjtagew_register_commands(struct command_context *cmd_ctx)
 525 {
 526         register_command(cmd_ctx, NULL, "armjtagew_info",
 527                         &armjtagew_handle_armjtagew_info_command, COMMAND_EXEC,
 528                         "query armjtagew info");
 529         return ERROR_OK;
 530 }
 531
 532 /***************************************************************************/
 533 /* ARM-JTAG-EW tap functions */
 534
 535 /* 2048 is the max value we can use here */
 536 #define ARMJTAGEW_TAP_BUFFER_SIZE 2048
 537
 538 static int tap_length;
 539 static uint8_t tms_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 540 static uint8_t tdi_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 541 static uint8_t tdo_buffer[ARMJTAGEW_TAP_BUFFER_SIZE];
 542
 543 struct pending_scan_result {
 544         int first;      /* First bit position in tdo_buffer to read */
 545         int length; /* Number of bits to read */
 546         struct scan_command *command; /* Corresponding scan command */
 547         uint8_t *buffer;
 548 };
 549
 550 #define MAX_PENDING_SCAN_RESULTS 256
 551
 552 static int pending_scan_results_length;
 553 static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 554
 555 static int last_tms;
 556
 557 static void armjtagew_tap_init(void)
 558 {
 559         tap_length = 0;
 560         pending_scan_results_length = 0;
 561 }
 562
 563 static void armjtagew_tap_ensure_space(int scans, int bits)
 564 {
 565         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 566         int available_bits = ARMJTAGEW_TAP_BUFFER_SIZE * 8 - tap_length;
 567
 568         if (scans > available_scans || bits > available_bits)
 569         {
 570                 armjtagew_tap_execute();
 571         }
 572 }
 573
 574 static void armjtagew_tap_append_step(int tms, int tdi)
 575 {
 576         last_tms = tms;
 577         int index = tap_length / 8;
 578
 579         if (index < ARMJTAGEW_TAP_BUFFER_SIZE)
 580         {
 581                 int bit_index = tap_length % 8;
 582                 uint8_t bit = 1 << bit_index;
 583
 584                 if (tms)
 585                 {
 586                         tms_buffer[index] |= bit;
 587                 }
 588                 else
 589                 {
 590                         tms_buffer[index] &= ~bit;
 591                 }
 592
 593                 if (tdi)
 594                 {
 595                         tdi_buffer[index] |= bit;
 596                 }
 597                 else
 598                 {
 599                         tdi_buffer[index] &= ~bit;
 600                 }
 601
 602                 tap_length++;
 603         }
 604         else
 605         {
 606                 LOG_ERROR("armjtagew_tap_append_step, overflow");
 607         }
 608 }
 609
 610 void armjtagew_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command)
 611 {
 612         struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
 613         int i;
 614
 615         pending_scan_result->first = tap_length;
 616         pending_scan_result->length = length;
 617         pending_scan_result->command = command;
 618         pending_scan_result->buffer = buffer;
 619
 620         for (i = 0; i < length; i++)
 621         {
 622                 armjtagew_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
 623         }
 624         pending_scan_results_length++;
 625 }
 626
 627 /* Pad and send a tap sequence to the device, and receive the answer.
 628  * For the purpose of padding we assume that we are in idle or pause state. */
 629 static int armjtagew_tap_execute(void)
 630 {
 631         int byte_length;
 632         int tms_offset;
 633         int tdi_offset;
 634         int i;
 635         int result;
 636
 637         if (tap_length > 0)
 638         {
 639                 /* Pad last byte so that tap_length is divisible by 8 */
 640                 while (tap_length % 8 != 0)
 641                 {
 642                         /* More of the last TMS value keeps us in the same state,
 643                          * analogous to free-running JTAG interfaces. */
 644                         armjtagew_tap_append_step(last_tms, 0);
 645                 }
 646
 647                 byte_length = tap_length / 8;
 648
 649                 usb_out_buffer[0] = CMD_TAP_SHIFT;
 650                 buf_set_u32(usb_out_buffer + 1, 0, 16, byte_length);
 651
 652                 tms_offset = 3;
 653                 for (i = 0; i < byte_length; i++)
 654                 {
 655                         usb_out_buffer[tms_offset + i] = flip_u32(tms_buffer[i],8);
 656                 }
 657
 658                 tdi_offset = tms_offset + byte_length;
 659                 for (i = 0; i < byte_length; i++)
 660                 {
 661                         usb_out_buffer[tdi_offset + i] = flip_u32(tdi_buffer[i],8);
 662                 }
 663
 664                 result = armjtagew_usb_message(armjtagew_handle, 3 + 2 * byte_length, byte_length + 4);
 665
 666                 if (result == 0)
 667                 {
 668                         int stat;
 669
 670                         stat = (int)buf_get_u32(usb_in_buffer + byte_length, 0, 32);
 671                         if (stat) {
 672                                 LOG_ERROR("armjtagew_tap_execute, emulator returned error code %d for a CMD_TAP_SHIFT command", stat);
 673                                 return ERROR_JTAG_QUEUE_FAILED;
 674                         }
 675
 676                         for (i = 0; i < byte_length; i++)
 677                         {
 678                                 tdo_buffer[i] = flip_u32(usb_in_buffer[i],8);
 679                         }
 680
 681                         for (i = 0; i < pending_scan_results_length; i++)
 682                         {
 683                                 struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
 684                                 uint8_t *buffer = pending_scan_result->buffer;
 685                                 int length = pending_scan_result->length;
 686                                 int first = pending_scan_result->first;
 687                                 struct scan_command *command = pending_scan_result->command;
 688
 689                                 /* Copy to buffer */
 690                                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 691
 692                                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 693
 694 #ifdef _DEBUG_USB_COMMS_
 695                                 armjtagew_debug_buffer(buffer, byte_length);
 696 #endif
 697
 698                                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 699                                 {
 700                                         armjtagew_tap_init();
 701                                         return ERROR_JTAG_QUEUE_FAILED;
 702                                 }
 703
 704                                 if (pending_scan_result->buffer != NULL)
 705                                 {
 706                                         free(pending_scan_result->buffer);
 707                                 }
 708                         }
 709                 }
 710                 else
 711                 {
 712                         LOG_ERROR("armjtagew_tap_execute, wrong result %d, expected %d", result, byte_length);
 713                         return ERROR_JTAG_QUEUE_FAILED;
 714                 }
 715
 716                 armjtagew_tap_init();
 717         }
 718
 719         return ERROR_OK;
 720 }
 721
 722 /*****************************************************************************/
 723 /* JLink USB low-level functions */
 724
 725 static struct armjtagew* armjtagew_usb_open()
 726 {
 727         struct usb_bus *busses;
 728         struct usb_bus *bus;
 729         struct usb_device *dev;
 730
 731         struct armjtagew *result;
 732
 733         result = (struct armjtagew*) malloc(sizeof(struct armjtagew));
 734
 735         usb_init();
 736         usb_find_busses();
 737         usb_find_devices();
 738
 739         busses = usb_get_busses();
 740
 741         /* find armjtagew device in usb bus */
 742
 743         for (bus = busses; bus; bus = bus->next)
 744         {
 745                 for (dev = bus->devices; dev; dev = dev->next)
 746                 {
 747                         if ((dev->descriptor.idVendor == USB_VID) && (dev->descriptor.idProduct == USB_PID))
 748                         {
 749                                 result->usb_handle = usb_open(dev);
 750
 751 #if 0
 752                                 /* usb_set_configuration required under win32 */
 753                                 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
 754 #endif
 755                                 usb_claim_interface(result->usb_handle, 0);
 756
 757 #if 0
 758                                 /*
 759                                  * This makes problems under Mac OS X. And is not needed
 760                                  * under Windows. Hopefully this will not break a linux build
 761                                  */
 762                                 usb_set_altinterface(result->usb_handle, 0);
 763 #endif
 764                                 return result;
 765                         }
 766                 }
 767         }
 768
 769         free(result);
 770         return NULL;
 771 }
 772
 773 static void armjtagew_usb_close(struct armjtagew *armjtagew)
 774 {
 775         usb_close(armjtagew->usb_handle);
 776         free(armjtagew);
 777 }
 778
 779 /* Send a message and receive the reply. */
 780 static int armjtagew_usb_message(struct armjtagew *armjtagew, int out_length, int in_length)
 781 {
 782         int result;
 783
 784         result = armjtagew_usb_write(armjtagew, out_length);
 785         if (result == out_length)
 786         {
 787                 result = armjtagew_usb_read(armjtagew, in_length);
 788                 if (result != in_length)
 789                 {
 790                         LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
 791                         return -1;
 792                 }
 793         }
 794         else
 795         {
 796                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
 797                 return -1;
 798         }
 799         return 0;
 800 }
 801
 802 /* Write data from out_buffer to USB. */
 803 static int armjtagew_usb_write(struct armjtagew *armjtagew, int out_length)
 804 {
 805         int result;
 806
 807         if (out_length > ARMJTAGEW_OUT_BUFFER_SIZE)
 808         {
 809                 LOG_ERROR("armjtagew_write illegal out_length=%d (max=%d)", out_length, ARMJTAGEW_OUT_BUFFER_SIZE);
 810                 return -1;
 811         }
 812
 813         result = usb_bulk_write(armjtagew->usb_handle, ARMJTAGEW_EPT_BULK_OUT, \
 814                 (char*)usb_out_buffer, out_length, ARMJTAGEW_USB_TIMEOUT);
 815
 816         DEBUG_JTAG_IO("armjtagew_usb_write, out_length = %d, result = %d", out_length, result);
 817
 818 #ifdef _DEBUG_USB_COMMS_
 819         armjtagew_debug_buffer(usb_out_buffer, out_length);
 820 #endif
 821         return result;
 822 }
 823
 824 /* Read data from USB into in_buffer. */
 825 static int armjtagew_usb_read(struct armjtagew *armjtagew, int exp_in_length)
 826 {
 827         int result = usb_bulk_read(armjtagew->usb_handle, ARMJTAGEW_EPT_BULK_IN, \
 828                 (char*)usb_in_buffer, exp_in_length, ARMJTAGEW_USB_TIMEOUT);
 829
 830         DEBUG_JTAG_IO("armjtagew_usb_read, result = %d", result);
 831
 832 #ifdef _DEBUG_USB_COMMS_
 833         armjtagew_debug_buffer(usb_in_buffer, result);
 834 #endif
 835         return result;
 836 }
 837
 838
 839 #ifdef _DEBUG_USB_COMMS_
 840 #define BYTES_PER_LINE  16
 841
 842 static void armjtagew_debug_buffer(uint8_t *buffer, int length)
 843 {
 844         char line[81];
 845         char s[4];
 846         int i;
 847         int j;
 848
 849         for (i = 0; i < length; i += BYTES_PER_LINE)
 850         {
 851                 snprintf(line, 5, "%04x", i);
 852                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
 853                 {
 854                         snprintf(s, 4, " %02x", buffer[j]);
 855                         strcat(line, s);
 856                 }
 857                 LOG_DEBUG("%s", line);
 858         }
 859 }
 860 #endif
 861