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   1 /***************************************************************************
   2  *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
   3  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   4  *                                                                         *
   5  *   Copyright (C) 2008 by Spencer Oliver                                  *
   6  *   spen@spen-soft.co.uk                                                  *
   7  *                                                                         *
   8  *   This program is free software; you can redistribute it and/or modify  *
   9  *   it under the terms of the GNU General Public License as published by  *
  10  *   the Free Software Foundation; either version 2 of the License, or     *
  11  *   (at your option) any later version.                                   *
  12  *                                                                         *
  13  *   This program is distributed in the hope that it will be useful,       *
  14  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  15  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  16  *   GNU General Public License for more details.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program; if not, write to the                         *
  20  *   Free Software Foundation, Inc.,                                       *
  21  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  22  ***************************************************************************/
  23
  24 #ifdef HAVE_CONFIG_H
  25 #include "config.h"
  26 #endif
  27
  28 #include <jtag/interface.h>
  29 #include <jtag/commands.h>
  30 #include "usb_common.h"
  31
  32 /* See Segger's public documentation:
  33  *      Reference manual for J-Link USB Protocol
  34  *      Document RM08001-R6 Date: June 16, 2009
  35  *      (Or newer, with some SWD information).
  36
  37 http://www.segger.com/cms/admin/uploads/productDocs/RM08001_JLinkUSBProtocol.pdf
  38  */
  39
  40 /*
  41  * The default pid of the segger is 0x0101
  42  * But when you change the USB Address it will also
  43  *
  44  * pid = ( usb_address > 0x4) ? 0x0101 : (0x101 + usb_address)
  45  */
  46 #define VID 0x1366, 0x1366, 0x1366, 0x1366
  47 #define PID 0x0101, 0x0102, 0x0103, 0x0104
  48
  49 #define JLINK_WRITE_ENDPOINT    0x02
  50 #define JLINK_READ_ENDPOINT             0x81
  51
  52 static unsigned int jlink_write_ep = JLINK_WRITE_ENDPOINT;
  53 static unsigned int jlink_read_ep = JLINK_READ_ENDPOINT;
  54 static unsigned int jlink_hw_jtag_version = 2;
  55
  56 #define JLINK_USB_TIMEOUT               1000
  57
  58 // See Section 1.3.2 of the Segger JLink USB protocol manual
  59 /* 2048 is the max value we can use here */
  60 //#define JLINK_TAP_BUFFER_SIZE 2048
  61 #define JLINK_TAP_BUFFER_SIZE 256
  62 //#define JLINK_TAP_BUFFER_SIZE 384
  63
  64 #define JLINK_IN_BUFFER_SIZE                    2048
  65 #define JLINK_OUT_BUFFER_SIZE                   2*2048 + 4
  66 #define JLINK_EMU_RESULT_BUFFER_SIZE    64
  67
  68 /* Global USB buffers */
  69 static uint8_t usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  70 static uint8_t usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  71 static uint8_t usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
  72
  73 /* Constants for JLink command */
  74 #define EMU_CMD_VERSION                 0x01
  75 #define EMU_CMD_SET_SPEED               0x05
  76 #define EMU_CMD_GET_STATE               0x07
  77 #define EMU_CMD_HW_CLOCK                0xc8
  78 #define EMU_CMD_HW_TMS0                 0xc9
  79 #define EMU_CMD_HW_TMS1                 0xca
  80 #define EMU_CMD_HW_JTAG2                0xce
  81 #define EMU_CMD_HW_JTAG3                0xcf
  82 #define EMU_CMD_GET_MAX_MEM_BLOCK       0xd4
  83 #define EMU_CMD_HW_RESET0               0xdc
  84 #define EMU_CMD_HW_RESET1               0xdd
  85 #define EMU_CMD_HW_TRST0                0xde
  86 #define EMU_CMD_HW_TRST1                0xdf
  87 #define EMU_CMD_GET_CAPS                0xe8
  88 #define EMU_CMD_GET_HW_VERSION  0xf0
  89
  90 /* bits return from EMU_CMD_GET_CAPS */
  91 #define EMU_CAP_GET_HW_VERSION          1
  92 #define EMU_CAP_GET_MAX_BLOCK_SIZE      11
  93
  94 /* max speed 12MHz v5.0 jlink */
  95 #define JLINK_MAX_SPEED 12000
  96
  97 /* Queue command functions */
  98 static void jlink_end_state(tap_state_t state);
  99 static void jlink_state_move(void);
 100 static void jlink_path_move(int num_states, tap_state_t *path);
 101 static void jlink_runtest(int num_cycles);
 102 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
 103                 int scan_size, struct scan_command *command);
 104 static void jlink_reset(int trst, int srst);
 105 static void jlink_simple_command(uint8_t command);
 106 static int jlink_get_status(void);
 107
 108 /* J-Link tap buffer functions */
 109 static void jlink_tap_init(void);
 110 static int jlink_tap_execute(void);
 111 static void jlink_tap_ensure_space(int scans, int bits);
 112 static void jlink_tap_append_step(int tms, int tdi);
 113 static void jlink_tap_append_scan(int length, uint8_t *buffer,
 114                 struct scan_command *command);
 115
 116 /* Jlink lowlevel functions */
 117 struct jlink {
 118         struct usb_dev_handle* usb_handle;
 119 };
 120
 121 static struct jlink *jlink_usb_open(void);
 122 static void jlink_usb_close(struct jlink *jlink);
 123 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length);
 124 static int jlink_usb_write(struct jlink *jlink, int out_length);
 125 static int jlink_usb_read(struct jlink *jlink, int expected_size);
 126 static int jlink_usb_read_emu_result(struct jlink *jlink);
 127
 128 /* helper functions */
 129 static int jlink_get_version_info(void);
 130
 131 #ifdef _DEBUG_USB_COMMS_
 132 static void jlink_debug_buffer(uint8_t *buffer, int length);
 133 #endif
 134
 135 static enum tap_state jlink_last_state = TAP_RESET;
 136
 137 static struct jlink* jlink_handle;
 138
 139 /* pid could be specified at runtime */
 140 static uint16_t vids[] = { VID, 0 };
 141 static uint16_t pids[] = { PID, 0 };
 142
 143 /***************************************************************************/
 144 /* External interface implementation */
 145
 146 static void jlink_execute_runtest(struct jtag_command *cmd)
 147 {
 148         DEBUG_JTAG_IO("runtest %i cycles, end in %i",
 149                         cmd->cmd.runtest->num_cycles,
 150                         cmd->cmd.runtest->end_state);
 151
 152         jlink_end_state(cmd->cmd.runtest->end_state);
 153
 154         jlink_runtest(cmd->cmd.runtest->num_cycles);
 155 }
 156
 157 static void jlink_execute_statemove(struct jtag_command *cmd)
 158 {
 159         DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 160
 161         jlink_end_state(cmd->cmd.statemove->end_state);
 162         jlink_state_move();
 163 }
 164
 165 static void jlink_execute_pathmove(struct jtag_command *cmd)
 166 {
 167         DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 168                 cmd->cmd.pathmove->num_states,
 169                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 170
 171         jlink_path_move(cmd->cmd.pathmove->num_states,
 172                         cmd->cmd.pathmove->path);
 173 }
 174
 175 static void jlink_execute_scan(struct jtag_command *cmd)
 176 {
 177         int scan_size;
 178         enum scan_type type;
 179         uint8_t *buffer;
 180
 181         DEBUG_JTAG_IO("scan end in %s", tap_state_name(cmd->cmd.scan->end_state));
 182
 183         jlink_end_state(cmd->cmd.scan->end_state);
 184
 185         scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 186         DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 187
 188 #ifdef _DEBUG_USB_COMMS_
 189         jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 190 #endif
 191         type = jtag_scan_type(cmd->cmd.scan);
 192         jlink_scan(cmd->cmd.scan->ir_scan,
 193                         type, buffer, scan_size, cmd->cmd.scan);
 194 }
 195
 196 static void jlink_execute_reset(struct jtag_command *cmd)
 197 {
 198         DEBUG_JTAG_IO("reset trst: %i srst %i",
 199                         cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 200
 201         jlink_tap_execute();
 202         jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 203         jlink_tap_execute();
 204 }
 205
 206 static void jlink_execute_sleep(struct jtag_command *cmd)
 207 {
 208         DEBUG_JTAG_IO("sleep %" PRIi32 "", cmd->cmd.sleep->us);
 209         jlink_tap_execute();
 210         jtag_sleep(cmd->cmd.sleep->us);
 211 }
 212
 213 static void jlink_execute_command(struct jtag_command *cmd)
 214 {
 215         switch (cmd->type)
 216         {
 217         case JTAG_RUNTEST:   jlink_execute_runtest(cmd); break;
 218         case JTAG_TLR_RESET: jlink_execute_statemove(cmd); break;
 219         case JTAG_PATHMOVE:  jlink_execute_pathmove(cmd); break;
 220         case JTAG_SCAN:      jlink_execute_scan(cmd); break;
 221         case JTAG_RESET:     jlink_execute_reset(cmd); break;
 222         case JTAG_SLEEP:     jlink_execute_sleep(cmd); break;
 223         default:
 224                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 225                 exit(-1);
 226         }
 227 }
 228
 229 static int jlink_execute_queue(void)
 230 {
 231         struct jtag_command *cmd = jtag_command_queue;
 232
 233         while (cmd != NULL)
 234         {
 235                 jlink_execute_command(cmd);
 236                 cmd = cmd->next;
 237         }
 238
 239         return jlink_tap_execute();
 240 }
 241
 242 /* Sets speed in kHz. */
 243 static int jlink_speed(int speed)
 244 {
 245         int result;
 246
 247         if (speed > JLINK_MAX_SPEED)
 248         {
 249                 LOG_INFO("reduce speed request: %dkHz to %dkHz maximum",
 250                                 speed, JLINK_MAX_SPEED);
 251                 speed = JLINK_MAX_SPEED;
 252         }
 253
 254         /* check for RTCK setting */
 255         if (speed == 0)
 256                 speed = -1;
 257
 258         usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 259         usb_out_buffer[1] = (speed >> 0) & 0xff;
 260         usb_out_buffer[2] = (speed >> 8) & 0xff;
 261
 262         result = jlink_usb_write(jlink_handle, 3);
 263         if (result != 3)
 264         {
 265                 LOG_ERROR("J-Link setting speed failed (%d)", result);
 266                 return ERROR_JTAG_DEVICE_ERROR;
 267         }
 268
 269         return ERROR_OK;
 270 }
 271
 272 static int jlink_speed_div(int speed, int* khz)
 273 {
 274         *khz = speed;
 275
 276         return ERROR_OK;
 277 }
 278
 279 static int jlink_khz(int khz, int *jtag_speed)
 280 {
 281         *jtag_speed = khz;
 282
 283         return ERROR_OK;
 284 }
 285
 286 static int jlink_init(void)
 287 {
 288         int i;
 289
 290         jlink_handle = jlink_usb_open();
 291
 292         if (jlink_handle == 0)
 293         {
 294                 LOG_ERROR("Cannot find jlink Interface! Please check "
 295                                 "connection and permissions.");
 296                 return ERROR_JTAG_INIT_FAILED;
 297         }
 298
 299         /*
 300          * The next three instructions were added after discovering a problem
 301          * while using an oscilloscope.
 302          * For the V8 SAM-ICE dongle (and likely other j-link device variants),
 303          * the reset line to the target microprocessor was found to cycle only
 304          * intermittently during emulator startup (even after encountering the
 305          * downstream reset instruction later in the code).
 306          * This was found to create two issues:
 307          * 1) In general it is a bad practice to not reset a CPU to a known
 308          * state when starting an emulator and
 309          * 2) something critical happens inside the dongle when it does the
 310          * first read following a new USB session.
 311          * Keeping the processor in reset during the first read collecting
 312          * version information seems to prevent errant
 313          * "J-Link command EMU_CMD_VERSION failed" issues.
 314          */
 315
 316         LOG_INFO("J-Link initialization started / target CPU reset initiated");
 317         jlink_simple_command(EMU_CMD_HW_TRST0);
 318         jlink_simple_command(EMU_CMD_HW_RESET0);
 319         usleep(1000);
 320
 321         jlink_hw_jtag_version = 2;
 322
 323         if (jlink_get_version_info() == ERROR_OK)
 324         {
 325                 /* attempt to get status */
 326                 jlink_get_status();
 327         }
 328
 329         LOG_INFO("J-Link JTAG Interface ready");
 330
 331         jlink_reset(0, 0);
 332         jtag_sleep(3000);
 333         jlink_tap_init();
 334         int jtag_speed_var;
 335         int retval = jtag_get_speed(&jtag_speed_var);
 336         if (retval != ERROR_OK)
 337                 return retval;
 338         jlink_speed(jtag_speed_var);
 339
 340         /* v5/6 jlink seems to have an issue if the first tap move
 341          * is not divisible by 8, so we send a TLR on first power up */
 342         for (i = 0; i < 8; i++) {
 343                 jlink_tap_append_step(1, 0);
 344         }
 345         jlink_tap_execute();
 346
 347         return ERROR_OK;
 348 }
 349
 350 static int jlink_quit(void)
 351 {
 352         jlink_usb_close(jlink_handle);
 353         return ERROR_OK;
 354 }
 355
 356 /***************************************************************************/
 357 /* Queue command implementations */
 358
 359 static void jlink_end_state(tap_state_t state)
 360 {
 361         if (tap_is_state_stable(state))
 362         {
 363                 tap_set_end_state(state);
 364         }
 365         else
 366         {
 367                 LOG_ERROR("BUG: %i is not a valid end state", state);
 368                 exit(-1);
 369         }
 370 }
 371
 372 /* Goes to the end state. */
 373 static void jlink_state_move(void)
 374 {
 375         int i;
 376         int tms = 0;
 377         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 378         uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 379
 380         for (i = 0; i < tms_scan_bits; i++)
 381         {
 382                 tms = (tms_scan >> i) & 1;
 383                 jlink_tap_append_step(tms, 0);
 384         }
 385
 386         tap_set_state(tap_get_end_state());
 387 }
 388
 389 static void jlink_path_move(int num_states, tap_state_t *path)
 390 {
 391         int i;
 392
 393         for (i = 0; i < num_states; i++)
 394         {
 395                 if (path[i] == tap_state_transition(tap_get_state(), false))
 396                 {
 397                         jlink_tap_append_step(0, 0);
 398                 }
 399                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 400                 {
 401                         jlink_tap_append_step(1, 0);
 402                 }
 403                 else
 404                 {
 405                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
 406                                         tap_state_name(tap_get_state()), tap_state_name(path[i]));
 407                         exit(-1);
 408                 }
 409
 410                 tap_set_state(path[i]);
 411         }
 412
 413         tap_set_end_state(tap_get_state());
 414 }
 415
 416 static void jlink_runtest(int num_cycles)
 417 {
 418         int i;
 419
 420         tap_state_t saved_end_state = tap_get_end_state();
 421
 422         jlink_tap_ensure_space(1,num_cycles + 16);
 423
 424         /* only do a state_move when we're not already in IDLE */
 425         if (tap_get_state() != TAP_IDLE)
 426         {
 427                 jlink_end_state(TAP_IDLE);
 428                 jlink_state_move();
 429 //              num_cycles--;
 430         }
 431
 432         /* execute num_cycles */
 433         for (i = 0; i < num_cycles; i++)
 434         {
 435                 jlink_tap_append_step(0, 0);
 436         }
 437
 438         /* finish in end_state */
 439         jlink_end_state(saved_end_state);
 440         if (tap_get_state() != tap_get_end_state())
 441         {
 442                 jlink_state_move();
 443         }
 444 }
 445
 446 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
 447                 int scan_size, struct scan_command *command)
 448 {
 449         tap_state_t saved_end_state;
 450
 451         jlink_tap_ensure_space(1, scan_size + 16);
 452
 453         saved_end_state = tap_get_end_state();
 454
 455         /* Move to appropriate scan state */
 456         jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 457
 458         /* Only move if we're not already there */
 459         if (tap_get_state() != tap_get_end_state())
 460                 jlink_state_move();
 461
 462         jlink_end_state(saved_end_state);
 463
 464         /* Scan */
 465         jlink_tap_append_scan(scan_size, buffer, command);
 466
 467         /* We are in Exit1, go to Pause */
 468         jlink_tap_append_step(0, 0);
 469
 470         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 471
 472         if (tap_get_state() != tap_get_end_state())
 473         {
 474                 jlink_state_move();
 475         }
 476 }
 477
 478 static void jlink_reset(int trst, int srst)
 479 {
 480         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 481
 482         /* Signals are active low */
 483         if (srst == 0)
 484         {
 485                 jlink_simple_command(EMU_CMD_HW_RESET1);
 486         }
 487         if (srst == 1)
 488         {
 489                 jlink_simple_command(EMU_CMD_HW_RESET0);
 490         }
 491
 492         if (trst == 1)
 493         {
 494                 jlink_simple_command(EMU_CMD_HW_TRST0);
 495         }
 496
 497         if (trst == 0)
 498         {
 499                 jlink_simple_command(EMU_CMD_HW_TRST1);
 500         }
 501 }
 502
 503 static void jlink_simple_command(uint8_t command)
 504 {
 505         int result;
 506
 507         DEBUG_JTAG_IO("0x%02x", command);
 508
 509         usb_out_buffer[0] = command;
 510         result = jlink_usb_write(jlink_handle, 1);
 511
 512         if (result != 1)
 513         {
 514                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 515         }
 516 }
 517
 518 static int jlink_get_status(void)
 519 {
 520         int result;
 521
 522         jlink_simple_command(EMU_CMD_GET_STATE);
 523
 524         result = jlink_usb_read(jlink_handle, 8);
 525         if (result != 8)
 526         {
 527                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)", result);
 528                 return ERROR_JTAG_DEVICE_ERROR;
 529         }
 530
 531         int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 532         LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d", \
 533                 vref / 1000, vref % 1000, \
 534                 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 535                 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 536
 537         if (vref < 1500)
 538                 LOG_ERROR("Vref too low. Check Target Power");
 539
 540         return ERROR_OK;
 541 }
 542
 543 static int jlink_get_version_info(void)
 544 {
 545         int result;
 546         int len;
 547         uint32_t jlink_caps, jlink_max_size;
 548
 549         /* query hardware version */
 550         jlink_simple_command(EMU_CMD_VERSION);
 551
 552         result = jlink_usb_read(jlink_handle, 2);
 553         if (2 != result)
 554         {
 555                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
 556                 return ERROR_JTAG_DEVICE_ERROR;
 557         }
 558
 559         len = buf_get_u32(usb_in_buffer, 0, 16);
 560         if (len > JLINK_IN_BUFFER_SIZE)
 561         {
 562                 LOG_ERROR("J-Link command EMU_CMD_VERSION impossible return length 0x%0x", len);
 563                 len = JLINK_IN_BUFFER_SIZE;
 564         }
 565
 566         result = jlink_usb_read(jlink_handle, len);
 567         if (result != len)
 568         {
 569                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
 570                 return ERROR_JTAG_DEVICE_ERROR;
 571         }
 572
 573         usb_in_buffer[result] = 0;
 574         LOG_INFO("%s", (char *)usb_in_buffer);
 575
 576         /* query hardware capabilities */
 577         jlink_simple_command(EMU_CMD_GET_CAPS);
 578
 579         result = jlink_usb_read(jlink_handle, 4);
 580         if (4 != result)
 581         {
 582                 LOG_ERROR("J-Link command EMU_CMD_GET_CAPS failed (%d)", result);
 583                 return ERROR_JTAG_DEVICE_ERROR;
 584         }
 585
 586         jlink_caps = buf_get_u32(usb_in_buffer, 0, 32);
 587         LOG_INFO("J-Link caps 0x%x", (unsigned)jlink_caps);
 588
 589         if (jlink_caps & (1 << EMU_CAP_GET_HW_VERSION))
 590         {
 591                 /* query hardware version */
 592                 jlink_simple_command(EMU_CMD_GET_HW_VERSION);
 593
 594                 result = jlink_usb_read(jlink_handle, 4);
 595                 if (4 != result)
 596                 {
 597                         LOG_ERROR("J-Link command EMU_CMD_GET_HW_VERSION failed (%d)", result);
 598                         return ERROR_JTAG_DEVICE_ERROR;
 599                 }
 600
 601                 uint32_t jlink_hw_version = buf_get_u32(usb_in_buffer, 0, 32);
 602                 uint32_t major_revision = (jlink_hw_version / 10000) % 100;
 603                 if (major_revision >= 5)
 604                         jlink_hw_jtag_version = 3;
 605
 606                 LOG_INFO("J-Link hw version %i", (int)jlink_hw_version);
 607         }
 608
 609         if (jlink_caps & (1 << EMU_CAP_GET_MAX_BLOCK_SIZE))
 610         {
 611                 /* query hardware maximum memory block */
 612                 jlink_simple_command(EMU_CMD_GET_MAX_MEM_BLOCK);
 613
 614                 result = jlink_usb_read(jlink_handle, 4);
 615                 if (4 != result)
 616                 {
 617                         LOG_ERROR("J-Link command EMU_CMD_GET_MAX_MEM_BLOCK failed (%d)", result);
 618                         return ERROR_JTAG_DEVICE_ERROR;
 619                 }
 620
 621                 jlink_max_size = buf_get_u32(usb_in_buffer, 0, 32);
 622                 LOG_INFO("J-Link max mem block %i", (int)jlink_max_size);
 623         }
 624
 625         return ERROR_OK;
 626 }
 627
 628 COMMAND_HANDLER(jlink_pid_command)
 629 {
 630         if (CMD_ARGC != 1)
 631         {
 632                 LOG_ERROR("Need exactly one argument to jlink_pid");
 633                 return ERROR_FAIL;
 634         }
 635
 636         pids[0] = strtoul(CMD_ARGV[0], NULL, 16);
 637         pids[1] = 0;
 638         vids[1] = 0;
 639
 640         return ERROR_OK;
 641 }
 642
 643 COMMAND_HANDLER(jlink_handle_jlink_info_command)
 644 {
 645         if (jlink_get_version_info() == ERROR_OK)
 646         {
 647                 /* attempt to get status */
 648                 jlink_get_status();
 649         }
 650
 651         return ERROR_OK;
 652 }
 653
 654 COMMAND_HANDLER(jlink_handle_jlink_hw_jtag_command)
 655 {
 656         switch (CMD_ARGC) {
 657         case 0:
 658                 command_print(CMD_CTX, "J-Link hw jtag  %i", jlink_hw_jtag_version);
 659                 break;
 660         case 1: {
 661                 int request_version = atoi(CMD_ARGV[0]);
 662                 switch (request_version) {
 663                 case 2: case 3:
 664                         jlink_hw_jtag_version = request_version;
 665                         break;
 666                 default:
 667                         return ERROR_COMMAND_SYNTAX_ERROR;
 668                 }
 669                 break;
 670         }
 671         default:
 672                 return ERROR_COMMAND_SYNTAX_ERROR;
 673         }
 674
 675         return ERROR_OK;
 676 }
 677
 678 static const struct command_registration jlink_subcommand_handlers[] = {
 679         {
 680                 .name = "info",
 681                 .handler = &jlink_handle_jlink_info_command,
 682                 .mode = COMMAND_EXEC,
 683                 .help = "show jlink info",
 684         },
 685         {
 686                 .name = "hw_jtag",
 687                 .handler = &jlink_handle_jlink_hw_jtag_command,
 688                 .mode = COMMAND_EXEC,
 689                 .help = "access J-Link HW JTAG command version",
 690                 .usage = "[2|3]",
 691         },
 692         {
 693                 .name = "pid",
 694                 .handler = &jlink_pid_command,
 695                 .mode = COMMAND_CONFIG,
 696                 .help = "set the pid of the interface we want to use",
 697         },
 698         COMMAND_REGISTRATION_DONE
 699 };
 700
 701 static const struct command_registration jlink_command_handlers[] = {
 702         {
 703                 .name = "jlink",
 704                 .mode = COMMAND_ANY,
 705                 .help = "perform jlink management",
 706                 .chain = jlink_subcommand_handlers,
 707         },
 708         COMMAND_REGISTRATION_DONE
 709 };
 710
 711 struct jtag_interface jlink_interface = {
 712         .name = "jlink",
 713         .commands = jlink_command_handlers,
 714
 715         .execute_queue = jlink_execute_queue,
 716         .speed = jlink_speed,
 717         .speed_div = jlink_speed_div,
 718         .khz = jlink_khz,
 719         .init = jlink_init,
 720         .quit = jlink_quit,
 721 };
 722
 723 /***************************************************************************/
 724 /* J-Link tap functions */
 725
 726
 727 static unsigned tap_length = 0;
 728 static uint8_t tms_buffer[JLINK_TAP_BUFFER_SIZE];
 729 static uint8_t tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 730 static uint8_t tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 731
 732 struct pending_scan_result {
 733         int first;      /* First bit position in tdo_buffer to read */
 734         int length; /* Number of bits to read */
 735         struct scan_command *command; /* Corresponding scan command */
 736         uint8_t *buffer;
 737 };
 738
 739 #define MAX_PENDING_SCAN_RESULTS 256
 740
 741 static int pending_scan_results_length;
 742 static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 743
 744 static void jlink_tap_init(void)
 745 {
 746         tap_length = 0;
 747         pending_scan_results_length = 0;
 748 }
 749
 750 static void jlink_tap_ensure_space(int scans, int bits)
 751 {
 752         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 753         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length - 32;
 754
 755         if (scans > available_scans || bits > available_bits)
 756         {
 757                 jlink_tap_execute();
 758         }
 759 }
 760
 761 static void jlink_tap_append_step(int tms, int tdi)
 762 {
 763         int index_var = tap_length / 8;
 764
 765         if (index_var >= JLINK_TAP_BUFFER_SIZE)
 766         {
 767                 LOG_ERROR("jlink_tap_append_step: overflow");
 768                 *(uint32_t *)0xFFFFFFFF = 0;
 769                 exit(-1);
 770         }
 771
 772         int bit_index = tap_length % 8;
 773         uint8_t bit = 1 << bit_index;
 774
 775         // we do not pad TMS, so be sure to initialize all bits
 776         if (0 == bit_index)
 777         {
 778                 tms_buffer[index_var] = tdi_buffer[index_var] = 0;
 779         }
 780
 781         if (tms)
 782                 tms_buffer[index_var] |= bit;
 783         else
 784                 tms_buffer[index_var] &= ~bit;
 785
 786         if (tdi)
 787                 tdi_buffer[index_var] |= bit;
 788         else
 789                 tdi_buffer[index_var] &= ~bit;
 790
 791         tap_length++;
 792 }
 793
 794 static void jlink_tap_append_scan(int length, uint8_t *buffer,
 795                 struct scan_command *command)
 796 {
 797         struct pending_scan_result *pending_scan_result =
 798                 &pending_scan_results_buffer[pending_scan_results_length];
 799         int i;
 800
 801         pending_scan_result->first = tap_length;
 802         pending_scan_result->length = length;
 803         pending_scan_result->command = command;
 804         pending_scan_result->buffer = buffer;
 805
 806         for (i = 0; i < length; i++)
 807         {
 808                 int tms = (i < (length - 1)) ? 0 : 1;
 809                 int tdi = (buffer[i / 8] & (1 << (i % 8))) != 0;
 810                 jlink_tap_append_step(tms, tdi);
 811         }
 812         pending_scan_results_length++;
 813 }
 814
 815 /* Pad and send a tap sequence to the device, and receive the answer.
 816  * For the purpose of padding we assume that we are in idle or pause state. */
 817 static int jlink_tap_execute(void)
 818 {
 819         int byte_length;
 820         int i;
 821         int result;
 822
 823         if (!tap_length)
 824                 return ERROR_OK;
 825
 826         /* JLink returns an extra NULL in packet when size of incoming
 827          * message is a multiple of 64, creates problems with USB comms.
 828          * WARNING: This will interfere with tap state counting. */
 829         while ((DIV_ROUND_UP(tap_length, 8) % 64) == 0)
 830         {
 831                 jlink_tap_append_step((tap_get_state() == TAP_RESET) ? 1 : 0, 0);
 832         }
 833
 834         // number of full bytes (plus one if some would be left over)
 835         byte_length = DIV_ROUND_UP(tap_length, 8);
 836
 837         bool use_jtag3 = jlink_hw_jtag_version >= 3;
 838         usb_out_buffer[0] = use_jtag3 ? EMU_CMD_HW_JTAG3 : EMU_CMD_HW_JTAG2;
 839         usb_out_buffer[1] = 0;
 840         usb_out_buffer[2] = (tap_length >> 0) & 0xff;
 841         usb_out_buffer[3] = (tap_length >> 8) & 0xff;
 842         memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
 843         memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);
 844
 845         jlink_last_state = jtag_debug_state_machine(tms_buffer, tdi_buffer,
 846                         tap_length, jlink_last_state);
 847
 848         result = jlink_usb_message(jlink_handle, 4 + 2 * byte_length, byte_length);
 849         if (result != byte_length)
 850         {
 851                 LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)",
 852                                 result, byte_length);
 853                 jlink_tap_init();
 854                 return ERROR_JTAG_QUEUE_FAILED;
 855         }
 856
 857         memcpy(tdo_buffer, usb_in_buffer, byte_length);
 858
 859         for (i = 0; i < pending_scan_results_length; i++)
 860         {
 861                 struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
 862                 uint8_t *buffer = pending_scan_result->buffer;
 863                 int length = pending_scan_result->length;
 864                 int first = pending_scan_result->first;
 865                 struct scan_command *command = pending_scan_result->command;
 866
 867                 /* Copy to buffer */
 868                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 869
 870                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 871
 872 #ifdef _DEBUG_USB_COMMS_
 873                 jlink_debug_buffer(buffer, DIV_ROUND_UP(length, 8));
 874 #endif
 875
 876                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 877                 {
 878                         jlink_tap_init();
 879                         return ERROR_JTAG_QUEUE_FAILED;
 880                 }
 881
 882                 if (pending_scan_result->buffer != NULL)
 883                 {
 884                         free(pending_scan_result->buffer);
 885                 }
 886         }
 887
 888         jlink_tap_init();
 889         return ERROR_OK;
 890 }
 891
 892 /*****************************************************************************/
 893 /* JLink USB low-level functions */
 894
 895 static struct jlink* jlink_usb_open()
 896 {
 897         usb_init();
 898
 899         struct usb_dev_handle *dev;
 900         if (jtag_usb_open(vids, pids, &dev) != ERROR_OK)
 901                 return NULL;
 902
 903         /* BE ***VERY CAREFUL*** ABOUT MAKING CHANGES IN THIS
 904          * AREA!!!!!!!!!!!  The behavior of libusb is not completely
 905          * consistent across Windows, Linux, and Mac OS X platforms.
 906          * The actions taken in the following compiler conditionals may
 907          * not agree with published documentation for libusb, but were
 908          * found to be necessary through trials and tribulations.  Even
 909          * little tweaks can break one or more platforms, so if you do
 910          * make changes test them carefully on all platforms before
 911          * committing them!
 912          */
 913
 914 #if IS_WIN32 == 0
 915
 916         usb_reset(dev);
 917
 918 #if IS_DARWIN == 0
 919
 920         int timeout = 5;
 921         /* reopen jlink after usb_reset
 922          * on win32 this may take a second or two to re-enumerate */
 923         int retval;
 924         while ((retval = jtag_usb_open(vids, pids, &dev)) != ERROR_OK)
 925         {
 926                 usleep(1000);
 927                 timeout--;
 928                 if (!timeout) {
 929                         break;
 930                 }
 931         }
 932         if (ERROR_OK != retval)
 933                 return NULL;
 934 #endif
 935
 936 #endif
 937
 938         /* usb_set_configuration required under win32 */
 939         struct usb_device *udev = usb_device(dev);
 940         usb_set_configuration(dev, udev->config[0].bConfigurationValue);
 941         usb_claim_interface(dev, 0);
 942
 943 #if 0
 944         /*
 945          * This makes problems under Mac OS X. And is not needed
 946          * under Windows. Hopefully this will not break a linux build
 947          */
 948         usb_set_altinterface(result->usb_handle, 0);
 949 #endif
 950         struct usb_interface *iface = udev->config->interface;
 951         struct usb_interface_descriptor *desc = iface->altsetting;
 952         for (int i = 0; i < desc->bNumEndpoints; i++)
 953         {
 954                 uint8_t epnum = desc->endpoint[i].bEndpointAddress;
 955                 bool is_input = epnum & 0x80;
 956                 LOG_DEBUG("usb ep %s %02x", is_input ? "in" : "out", epnum);
 957                 if (is_input)
 958                         jlink_read_ep = epnum;
 959                 else
 960                         jlink_write_ep = epnum;
 961         }
 962
 963         struct jlink *result = malloc(sizeof(struct jlink));
 964         result->usb_handle = dev;
 965         return result;
 966 }
 967
 968 static void jlink_usb_close(struct jlink *jlink)
 969 {
 970         usb_close(jlink->usb_handle);
 971         free(jlink);
 972 }
 973
 974 /* Send a message and receive the reply. */
 975 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length)
 976 {
 977         int result;
 978
 979         result = jlink_usb_write(jlink, out_length);
 980         if (result != out_length)
 981         {
 982                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
 983                                 out_length, result);
 984                 return ERROR_JTAG_DEVICE_ERROR;
 985         }
 986
 987         result = jlink_usb_read(jlink, in_length);
 988         if ((result != in_length) && (result != (in_length + 1)))
 989         {
 990                 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
 991                                 in_length, result);
 992                 return ERROR_JTAG_DEVICE_ERROR;
 993         }
 994
 995         if (jlink_hw_jtag_version < 3)
 996                 return result;
 997
 998         int result2 = ERROR_OK;
 999         if (result == in_length)
1000         {
1001                 /* Must read the result from the EMU too */
1002                 result2 = jlink_usb_read_emu_result(jlink);
1003                 if (1 != result2)
1004                 {
1005                         LOG_ERROR("jlink_usb_read_emu_result retried requested = 1, "
1006                                         "result=%d, in_length=%i", result2, in_length);
1007                         /* Try again once, should only happen if (in_length%64 == 0) */
1008                         result2 = jlink_usb_read_emu_result(jlink);
1009                         if (1 != result2)
1010                         {
1011                                 LOG_ERROR("jlink_usb_read_emu_result failed "
1012                                         "(requested = 1, result=%d)", result2);
1013                                 return ERROR_JTAG_DEVICE_ERROR;
1014                         }
1015                 }
1016
1017                 /* Check the result itself */
1018                 result2 = usb_emu_result_buffer[0];
1019         }
1020         else
1021         {
1022                 /* Save the result, then remove it from return value */
1023                 result2 = usb_in_buffer[result--];
1024         }
1025
1026         if (result2)
1027         {
1028                 LOG_ERROR("jlink_usb_message failed with result=%d)", result2);
1029                 return ERROR_JTAG_DEVICE_ERROR;
1030         }
1031
1032         return result;
1033 }
1034
1035 /* calls the given usb_bulk_* function, allowing for the data to
1036  * trickle in with some timeouts  */
1037 static int usb_bulk_with_retries(
1038                 int (*f)(usb_dev_handle *, int, char *, int, int),
1039                 usb_dev_handle *dev, int ep,
1040                 char *bytes, int size, int timeout)
1041 {
1042         int tries = 3, count = 0;
1043
1044         while (tries && (count < size))
1045         {
1046                 int result = f(dev, ep, bytes + count, size - count, timeout);
1047                 if (result > 0)
1048                         count += result;
1049                 else if ((-ETIMEDOUT != result) || !--tries)
1050                         return result;
1051         }
1052         return count;
1053 }
1054
1055 static int wrap_usb_bulk_write(usb_dev_handle *dev, int ep,
1056                                char *buff, int size, int timeout)
1057 {
1058         /* usb_bulk_write() takes const char *buff */
1059         return usb_bulk_write(dev, ep, buff, size, timeout);
1060 }
1061
1062 static inline int usb_bulk_write_ex(usb_dev_handle *dev, int ep,
1063                 char *bytes, int size, int timeout)
1064 {
1065         return usb_bulk_with_retries(&wrap_usb_bulk_write,
1066                         dev, ep, bytes, size, timeout);
1067 }
1068
1069 static inline int usb_bulk_read_ex(usb_dev_handle *dev, int ep,
1070                 char *bytes, int size, int timeout)
1071 {
1072         return usb_bulk_with_retries(&usb_bulk_read,
1073                         dev, ep, bytes, size, timeout);
1074 }
1075
1076 /* Write data from out_buffer to USB. */
1077 static int jlink_usb_write(struct jlink *jlink, int out_length)
1078 {
1079         int result;
1080
1081         if (out_length > JLINK_OUT_BUFFER_SIZE)
1082         {
1083                 LOG_ERROR("jlink_write illegal out_length=%d (max=%d)",
1084                                 out_length, JLINK_OUT_BUFFER_SIZE);
1085                 return -1;
1086         }
1087
1088         result = usb_bulk_write_ex(jlink->usb_handle, jlink_write_ep,
1089                 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
1090
1091         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d",
1092                         out_length, result);
1093
1094 #ifdef _DEBUG_USB_COMMS_
1095         jlink_debug_buffer(usb_out_buffer, out_length);
1096 #endif
1097         return result;
1098 }
1099
1100 /* Read data from USB into in_buffer. */
1101 static int jlink_usb_read(struct jlink *jlink, int expected_size)
1102 {
1103         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1104                 (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);
1105
1106         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
1107
1108 #ifdef _DEBUG_USB_COMMS_
1109         jlink_debug_buffer(usb_in_buffer, result);
1110 #endif
1111         return result;
1112 }
1113
1114 /* Read the result from the previous EMU cmd into result_buffer. */
1115 static int jlink_usb_read_emu_result(struct jlink *jlink)
1116 {
1117         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1118                 (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */,
1119                 JLINK_USB_TIMEOUT);
1120
1121         DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
1122
1123 #ifdef _DEBUG_USB_COMMS_
1124         jlink_debug_buffer(usb_emu_result_buffer, result);
1125 #endif
1126         return result;
1127 }
1128
1129 #ifdef _DEBUG_USB_COMMS_
1130 #define BYTES_PER_LINE  16
1131
1132 static void jlink_debug_buffer(uint8_t *buffer, int length)
1133 {
1134         char line[81];
1135         char s[4];
1136         int i;
1137         int j;
1138
1139         for (i = 0; i < length; i += BYTES_PER_LINE)
1140         {
1141                 snprintf(line, 5, "%04x", i);
1142                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
1143                 {
1144                         snprintf(s, 4, " %02x", buffer[j]);
1145                         strcat(line, s);
1146                 }
1147                 LOG_DEBUG("%s", line);
1148         }
1149 }
1150 #endif