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