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

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