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