1 /***************************************************************************
2 * Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net> *
3 * based on Dominic Rath's and Benedikt Sauter's usbprog.c *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program; if not, write to the *
17 * Free Software Foundation, Inc., *
18 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19 ***************************************************************************/
25 #include "replacements.h"
34 /* enable this to debug communication
37 #define _DEBUG_USB_COMMS_
40 #ifdef _DEBUG_JTAG_IO_
41 #define DEBUG_JTAG_IO(expr ...) LOG_DEBUG(expr)
43 #define DEBUG_JTAG_IO(expr ...)
49 #define JLINK_WRITE_ENDPOINT 0x02
50 #define JLINK_READ_ENDPOINT 0x81
52 #define JLINK_USB_TIMEOUT 100
54 #define JLINK_IN_BUFFER_SIZE 2064
55 #define JLINK_OUT_BUFFER_SIZE 2064
57 /* Global USB buffers */
58 static u8 usb_in_buffer[JLINK_IN_BUFFER_SIZE];
59 static u8 usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
61 /* Constants for JLink command */
63 /* The JLINK_TAP_SEQUENCE_COMMAND is obsolete
64 * and we should use EMU_CMD_HW_JTAG instead */
65 #define JLINK_TAP_SEQUENCE_COMMAND 0xcd
67 #define EMU_CMD_VERSION 0x01
68 #define EMU_CMD_SET_SPEED 0x05
69 #define EMU_CMD_GET_STATE 0x07
70 #define EMU_CMD_HW_JTAG 0xcf
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
76 /* max speed 12MHz v5.0 jlink */
77 #define JLINK_MAX_SPEED 12000
79 /* External interface functions */
80 int jlink_execute_queue(void);
81 int jlink_speed(int speed);
82 int jlink_khz(int khz, int *jtag_speed);
83 int jlink_register_commands(struct command_context_s *cmd_ctx);
87 /* CLI command handler functions */
88 int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc);
90 /* Queue command functions */
91 void jlink_end_state(enum tap_state state);
92 void jlink_state_move(void);
93 void jlink_path_move(int num_states, enum tap_state *path);
94 void jlink_runtest(int num_cycles);
95 void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command);
96 void jlink_reset(int trst, int srst);
97 void jlink_simple_command(u8 command);
98 int jlink_get_status(void);
100 /* J-Link tap buffer functions */
101 void jlink_tap_init();
102 int jlink_tap_execute();
103 void jlink_tap_ensure_space(int scans, int bits);
104 void jlink_tap_append_step(int tms, int tdi);
105 void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command);
107 /* Jlink lowlevel functions */
108 typedef struct jlink_jtag
110 struct usb_dev_handle* usb_handle;
113 jlink_jtag_t *jlink_usb_open(void);
114 void jlink_usb_close(jlink_jtag_t *jlink_jtag);
115 int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length);
116 int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length);
117 int jlink_usb_read(jlink_jtag_t *jlink_jtag);
119 /* helper functions */
120 int jlink_get_version_info(void);
122 #ifdef _DEBUG_USB_COMMS_
123 void jlink_debug_buffer(u8 *buffer, int length);
126 jlink_jtag_t* jlink_jtag_handle;
128 /***************************************************************************/
129 /* External interface implementation */
131 jtag_interface_t jlink_interface =
134 .execute_queue = jlink_execute_queue,
135 .speed = jlink_speed,
137 .register_commands = jlink_register_commands,
142 int jlink_execute_queue(void)
144 jtag_command_t *cmd = jtag_command_queue;
154 DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state);
156 if (cmd->cmd.end_state->end_state != -1)
158 jlink_end_state(cmd->cmd.end_state->end_state);
163 DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \
164 cmd->cmd.runtest->end_state);
166 if (cmd->cmd.runtest->end_state != -1)
168 jlink_end_state(cmd->cmd.runtest->end_state);
170 jlink_runtest(cmd->cmd.runtest->num_cycles);
174 DEBUG_JTAG_IO("statemove end in %i",
175 cmd->cmd.statemove->end_state);
177 if (cmd->cmd.statemove->end_state != -1)
179 jlink_end_state(cmd->cmd.statemove->end_state);
185 DEBUG_JTAG_IO("pathmove: %i states, end in %i",
186 cmd->cmd.pathmove->num_states,
187 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
189 jlink_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path);
193 DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state);
195 if (cmd->cmd.scan->end_state != -1)
197 jlink_end_state(cmd->cmd.scan->end_state);
200 scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
201 DEBUG_JTAG_IO("scan input, length = %d", scan_size);
203 #ifdef _DEBUG_USB_COMMS_
204 jlink_debug_buffer(buffer, (scan_size + 7) / 8);
206 type = jtag_scan_type(cmd->cmd.scan);
207 jlink_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan);
211 DEBUG_JTAG_IO("reset trst: %i srst %i",
212 cmd->cmd.reset->trst,
213 cmd->cmd.reset->srst);
217 if (cmd->cmd.reset->trst == 1)
221 jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
225 DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us);
227 jtag_sleep(cmd->cmd.sleep->us);
231 LOG_ERROR("BUG: unknown JTAG command type encountered");
237 return jlink_tap_execute();
240 /* Sets speed in kHz. */
241 int jlink_speed(int speed)
245 if (speed <= JLINK_MAX_SPEED)
247 /* check for RTCK setting */
251 usb_out_buffer[0] = EMU_CMD_SET_SPEED;
252 usb_out_buffer[1] = (speed >> 0) & 0xff;
253 usb_out_buffer[2] = (speed >> 8) & 0xff;
255 result = jlink_usb_write(jlink_jtag_handle, 3);
263 LOG_ERROR("J-Link setting speed failed (%d)", result);
264 return ERROR_JTAG_DEVICE_ERROR;
269 LOG_INFO("Requested speed %dkHz exceeds maximum of %dkHz, ignored", speed, JLINK_MAX_SPEED);
275 int jlink_khz(int khz, int *jtag_speed)
282 int jlink_register_commands(struct command_context_s *cmd_ctx)
284 register_command(cmd_ctx, NULL, "jlink_info", jlink_handle_jlink_info_command, COMMAND_EXEC,
293 jlink_jtag_handle = jlink_usb_open();
295 if (jlink_jtag_handle == 0)
297 LOG_ERROR("Can't find USB JTAG Interface! Please check connection and permissions.");
298 return ERROR_JTAG_INIT_FAILED;
302 while (check_cnt < 3)
304 if (jlink_get_version_info() == ERROR_OK)
306 /* attempt to get status */
316 LOG_INFO("J-Link initial read failed, don't worry");
319 LOG_INFO("J-Link JTAG Interface ready");
329 jlink_usb_close(jlink_jtag_handle);
333 /***************************************************************************/
334 /* Queue command implementations */
336 void jlink_end_state(enum tap_state state)
338 if (tap_move_map[state] != -1)
344 LOG_ERROR("BUG: %i is not a valid end state", state);
349 /* Goes to the end state. */
350 void jlink_state_move(void)
354 u8 tms_scan = TAP_MOVE(cur_state, end_state);
356 for (i = 0; i < 7; i++)
358 tms = (tms_scan >> i) & 1;
359 jlink_tap_append_step(tms, 0);
362 cur_state = end_state;
365 void jlink_path_move(int num_states, enum tap_state *path)
369 for (i = 0; i < num_states; i++)
371 if (path[i] == tap_transitions[cur_state].low)
373 jlink_tap_append_step(0, 0);
375 else if (path[i] == tap_transitions[cur_state].high)
377 jlink_tap_append_step(1, 0);
381 LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition", tap_state_strings[cur_state], tap_state_strings[path[i]]);
388 end_state = cur_state;
391 void jlink_runtest(int num_cycles)
395 enum tap_state saved_end_state = end_state;
397 /* only do a state_move when we're not already in RTI */
398 if (cur_state != TAP_RTI)
400 jlink_end_state(TAP_RTI);
404 /* execute num_cycles */
405 for (i = 0; i < num_cycles; i++)
407 jlink_tap_append_step(0, 0);
410 /* finish in end_state */
411 jlink_end_state(saved_end_state);
412 if (cur_state != end_state)
418 void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command)
420 enum tap_state saved_end_state;
422 jlink_tap_ensure_space(1, scan_size + 8);
424 saved_end_state = end_state;
426 /* Move to appropriate scan state */
427 jlink_end_state(ir_scan ? TAP_SI : TAP_SD);
430 jlink_end_state(saved_end_state);
433 jlink_tap_append_scan(scan_size, buffer, command);
435 /* We are in Exit1, go to Pause */
436 jlink_tap_append_step(0, 0);
438 cur_state = ir_scan ? TAP_PI : TAP_PD;
440 if (cur_state != end_state)
446 void jlink_reset(int trst, int srst)
448 LOG_DEBUG("trst: %i, srst: %i", trst, srst);
450 /* Signals are active low */
453 jlink_simple_command(EMU_CMD_HW_TRST1);
457 jlink_simple_command(EMU_CMD_HW_TRST0);
462 jlink_simple_command(EMU_CMD_HW_RESET1);
466 jlink_simple_command(EMU_CMD_HW_RESET0);
470 void jlink_simple_command(u8 command)
474 DEBUG_JTAG_IO("0x%02x", command);
476 usb_out_buffer[0] = command;
477 result = jlink_usb_write(jlink_jtag_handle, 1);
481 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
485 int jlink_get_status(void)
489 jlink_simple_command(EMU_CMD_GET_STATE);
490 result = jlink_usb_read(jlink_jtag_handle);
494 int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
495 LOG_INFO("Vref = %d.%d TCK=%d TDI=%d TDO=%d TMS=%d SRST=%d TRST=%d\n", \
496 vref / 1000, vref % 1000, \
497 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
498 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
502 LOG_ERROR("Vref too low. Eventually the target isn't powered or disconnected?\n");
507 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
513 int jlink_get_version_info(void)
518 /* query hardware version */
519 jlink_simple_command(EMU_CMD_VERSION);
520 result = jlink_usb_read(jlink_jtag_handle);
524 len = buf_get_u32(usb_in_buffer, 0, 16);
525 result = jlink_usb_read(jlink_jtag_handle);
529 usb_in_buffer[result] = 0;
530 LOG_INFO(usb_in_buffer);
535 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result);
536 return ERROR_JTAG_DEVICE_ERROR;
539 int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc)
541 if (jlink_get_version_info() == ERROR_OK)
543 /* attempt to get status */
550 /***************************************************************************/
551 /* J-Link tap functions */
553 /* We use the maximal value observed */
554 #define JLINK_TAP_BUFFER_SIZE 390
556 static int tap_length;
557 static u8 tms_buffer[JLINK_TAP_BUFFER_SIZE];
558 static u8 tdi_buffer[JLINK_TAP_BUFFER_SIZE];
559 static u8 tdo_buffer[JLINK_TAP_BUFFER_SIZE];
563 int first; /* First bit position in tdo_buffer to read */
564 int length; /* Number of bits to read */
565 scan_command_t *command; /* Corresponding scan command */
567 } pending_scan_result_t;
569 #define MAX_PENDING_SCAN_RESULTS 16
571 static int pending_scan_results_length;
572 static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
576 void jlink_tap_init()
579 pending_scan_results_length = 0;
582 void jlink_tap_ensure_space(int scans, int bits)
584 int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
585 int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length;
587 if (scans > available_scans || bits > available_bits)
593 void jlink_tap_append_step(int tms, int tdi)
596 int index = tap_length / 8;
598 if (index < JLINK_TAP_BUFFER_SIZE)
600 int bit_index = tap_length % 8;
601 u8 bit = 1 << bit_index;
605 tms_buffer[index] |= bit;
609 tms_buffer[index] &= ~bit;
614 tdi_buffer[index] |= bit;
618 tdi_buffer[index] &= ~bit;
625 LOG_ERROR("jlink_tap_append_step, overflow");
629 void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command)
631 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length];
634 pending_scan_result->first = tap_length;
635 pending_scan_result->length = length;
636 pending_scan_result->command = command;
637 pending_scan_result->buffer = buffer;
639 for (i = 0; i < length; i++)
641 jlink_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1);
643 pending_scan_results_length++;
646 /* Pad and send a tap sequence to the device, and receive the answer.
647 * For the purpose of padding we assume that we are in idle or pause state. */
648 int jlink_tap_execute()
658 /* Pad last byte so that tap_length is divisible by 8 */
659 while (tap_length % 8 != 0)
661 /* More of the last TMS value keeps us in the same state,
662 * analogous to free-running JTAG interfaces. */
663 jlink_tap_append_step(last_tms, 0);
666 byte_length = tap_length / 8;
668 usb_out_buffer[0] = JLINK_TAP_SEQUENCE_COMMAND;
669 usb_out_buffer[1] = (tap_length >> 0) & 0xff;
670 usb_out_buffer[2] = (tap_length >> 8) & 0xff;
673 for (i = 0; i < byte_length; i++)
675 usb_out_buffer[tms_offset + i] = tms_buffer[i];
678 tdi_offset = tms_offset + byte_length;
679 for (i = 0; i < byte_length; i++)
681 usb_out_buffer[tdi_offset + i] = tdi_buffer[i];
684 result = jlink_usb_message(jlink_jtag_handle, 3 + 2 * byte_length, byte_length);
686 if (result == byte_length)
688 for (i = 0; i < byte_length; i++)
690 tdo_buffer[i] = usb_in_buffer[i];
693 for (i = 0; i < pending_scan_results_length; i++)
695 pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i];
696 u8 *buffer = pending_scan_result->buffer;
697 int length = pending_scan_result->length;
698 int first = pending_scan_result->first;
699 scan_command_t *command = pending_scan_result->command;
702 buf_set_buf(tdo_buffer, first, buffer, 0, length);
704 DEBUG_JTAG_IO("pending scan result, length = %d", length);
706 #ifdef _DEBUG_USB_COMMS_
707 jlink_debug_buffer(buffer, byte_length);
710 if (jtag_read_buffer(buffer, command) != ERROR_OK)
713 return ERROR_JTAG_QUEUE_FAILED;
716 if (pending_scan_result->buffer != NULL)
718 free(pending_scan_result->buffer);
724 LOG_ERROR("jlink_tap_execute, wrong result %d, expected %d", result, byte_length);
725 return ERROR_JTAG_QUEUE_FAILED;
734 /*****************************************************************************/
735 /* JLink USB low-level functions */
737 jlink_jtag_t* jlink_usb_open()
739 struct usb_bus *busses;
741 struct usb_device *dev;
743 jlink_jtag_t *result;
745 result = (jlink_jtag_t*) malloc(sizeof(jlink_jtag_t));
751 busses = usb_get_busses();
753 /* find jlink_jtag device in usb bus */
755 for (bus = busses; bus; bus = bus->next)
757 for (dev = bus->devices; dev; dev = dev->next)
759 if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID))
761 result->usb_handle = usb_open(dev);
763 /* usb_set_configuration required under win32 */
764 usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue);
765 usb_claim_interface(result->usb_handle, 0);
766 usb_set_altinterface(result->usb_handle, 0);
776 void jlink_usb_close(jlink_jtag_t *jlink_jtag)
778 usb_close(jlink_jtag->usb_handle);
782 /* Send a message and receive the reply. */
783 int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length)
787 result = jlink_usb_write(jlink_jtag, out_length);
788 if (result == out_length)
790 result = jlink_usb_read(jlink_jtag);
791 if (result == in_length)
797 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result);
803 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result);
808 /* Write data from out_buffer to USB. */
809 int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length)
813 if (out_length > JLINK_OUT_BUFFER_SIZE)
815 LOG_ERROR("jlink_jtag_write illegal out_length=%d (max=%d)", out_length, JLINK_OUT_BUFFER_SIZE);
819 result = usb_bulk_write(jlink_jtag->usb_handle, JLINK_WRITE_ENDPOINT, \
820 usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
822 DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d", out_length, result);
824 #ifdef _DEBUG_USB_COMMS_
825 jlink_debug_buffer(usb_out_buffer, out_length);
830 /* Read data from USB into in_buffer. */
831 int jlink_usb_read(jlink_jtag_t *jlink_jtag)
833 int result = usb_bulk_read(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT, \
834 usb_in_buffer, JLINK_IN_BUFFER_SIZE, JLINK_USB_TIMEOUT);
836 DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
838 #ifdef _DEBUG_USB_COMMS_
839 jlink_debug_buffer(usb_in_buffer, result);
844 #ifdef _DEBUG_USB_COMMS_
845 #define BYTES_PER_LINE 16
847 void jlink_debug_buffer(u8 *buffer, int length)
854 for (i = 0; i < length; i += BYTES_PER_LINE)
856 snprintf(line, 5, "%04x", i);
857 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
859 snprintf(s, 4, " %02x", buffer[j]);