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