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   1 /***************************************************************************
   2  *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
   3  *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
   4  *                                                                         *
   5  *   Copyright (C) 2008 by Spencer Oliver                                  *
   6  *   spen@spen-soft.co.uk                                                  *
   7  *                                                                         *
   8  *   This program is free software; you can redistribute it and/or modify  *
   9  *   it under the terms of the GNU General Public License as published by  *
  10  *   the Free Software Foundation; either version 2 of the License, or     *
  11  *   (at your option) any later version.                                   *
  12  *                                                                         *
  13  *   This program is distributed in the hope that it will be useful,       *
  14  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  15  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  16  *   GNU General Public License for more details.                          *
  17  *                                                                         *
  18  *   You should have received a copy of the GNU General Public License     *
  19  *   along with this program; if not, write to the                         *
  20  *   Free Software Foundation, Inc.,                                       *
  21  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  22  ***************************************************************************/
  23
  24 #ifdef HAVE_CONFIG_H
  25 #include "config.h"
  26 #endif
  27
  28 #include <jtag/interface.h>
  29 #include <jtag/commands.h>
  30 #include "usb_common.h"
  31
  32 /* See Segger's public documentation:
  33  *      Reference manual for J-Link USB Protocol
  34  *      Document RM08001-R6 Date: June 16, 2009
  35  *      (Or newer, with some SWD information).
  36
  37 http://www.segger.com/cms/admin/uploads/productDocs/RM08001_JLinkUSBProtocol.pdf
  38  */
  39
  40 #define VID 0x1366
  41 #define PID 0x0101
  42
  43 #define JLINK_WRITE_ENDPOINT    0x02
  44 #define JLINK_READ_ENDPOINT             0x81
  45
  46 static unsigned int jlink_write_ep = JLINK_WRITE_ENDPOINT;
  47 static unsigned int jlink_read_ep = JLINK_READ_ENDPOINT;
  48 static unsigned int jlink_hw_jtag_version = 2;
  49
  50 #define JLINK_USB_TIMEOUT               1000
  51
  52 // See Section 1.3.2 of the Segger JLink USB protocol manual
  53 /* 2048 is the max value we can use here */
  54 //#define JLINK_TAP_BUFFER_SIZE 2048
  55 #define JLINK_TAP_BUFFER_SIZE 256
  56 //#define JLINK_TAP_BUFFER_SIZE 384
  57
  58 #define JLINK_IN_BUFFER_SIZE                    2048
  59 #define JLINK_OUT_BUFFER_SIZE                   2*2048 + 4
  60 #define JLINK_EMU_RESULT_BUFFER_SIZE    64
  61
  62 /* Global USB buffers */
  63 static uint8_t usb_in_buffer[JLINK_IN_BUFFER_SIZE];
  64 static uint8_t usb_out_buffer[JLINK_OUT_BUFFER_SIZE];
  65 static uint8_t usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE];
  66
  67 /* Constants for JLink command */
  68 #define EMU_CMD_VERSION                 0x01
  69 #define EMU_CMD_SET_SPEED               0x05
  70 #define EMU_CMD_GET_STATE               0x07
  71 #define EMU_CMD_HW_CLOCK                0xc8
  72 #define EMU_CMD_HW_TMS0                 0xc9
  73 #define EMU_CMD_HW_TMS1                 0xca
  74 #define EMU_CMD_HW_JTAG2                0xce
  75 #define EMU_CMD_HW_JTAG3                0xcf
  76 #define EMU_CMD_GET_MAX_MEM_BLOCK       0xd4
  77 #define EMU_CMD_HW_RESET0               0xdc
  78 #define EMU_CMD_HW_RESET1               0xdd
  79 #define EMU_CMD_HW_TRST0                0xde
  80 #define EMU_CMD_HW_TRST1                0xdf
  81 #define EMU_CMD_GET_CAPS                0xe8
  82 #define EMU_CMD_GET_HW_VERSION  0xf0
  83
  84 /* bits return from EMU_CMD_GET_CAPS */
  85 #define EMU_CAP_GET_HW_VERSION          1
  86 #define EMU_CAP_GET_MAX_BLOCK_SIZE      11
  87
  88 /* max speed 12MHz v5.0 jlink */
  89 #define JLINK_MAX_SPEED 12000
  90
  91 /* Queue command functions */
  92 static void jlink_end_state(tap_state_t state);
  93 static void jlink_state_move(void);
  94 static void jlink_path_move(int num_states, tap_state_t *path);
  95 static void jlink_runtest(int num_cycles);
  96 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
  97                 int scan_size, struct scan_command *command);
  98 static void jlink_reset(int trst, int srst);
  99 static void jlink_simple_command(uint8_t command);
 100 static int jlink_get_status(void);
 101
 102 /* J-Link tap buffer functions */
 103 static void jlink_tap_init(void);
 104 static int jlink_tap_execute(void);
 105 static void jlink_tap_ensure_space(int scans, int bits);
 106 static void jlink_tap_append_step(int tms, int tdi);
 107 static void jlink_tap_append_scan(int length, uint8_t *buffer,
 108                 struct scan_command *command);
 109
 110 /* Jlink lowlevel functions */
 111 struct jlink {
 112         struct usb_dev_handle* usb_handle;
 113 };
 114
 115 static struct jlink *jlink_usb_open(void);
 116 static void jlink_usb_close(struct jlink *jlink);
 117 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length);
 118 static int jlink_usb_write(struct jlink *jlink, int out_length);
 119 static int jlink_usb_read(struct jlink *jlink, int expected_size);
 120 static int jlink_usb_read_emu_result(struct jlink *jlink);
 121
 122 /* helper functions */
 123 static int jlink_get_version_info(void);
 124
 125 #ifdef _DEBUG_USB_COMMS_
 126 static void jlink_debug_buffer(uint8_t *buffer, int length);
 127 #endif
 128
 129 static enum tap_state jlink_last_state = TAP_RESET;
 130
 131 static struct jlink* jlink_handle;
 132
 133 /***************************************************************************/
 134 /* External interface implementation */
 135
 136 static void jlink_execute_runtest(struct jtag_command *cmd)
 137 {
 138         DEBUG_JTAG_IO("runtest %i cycles, end in %i",
 139                         cmd->cmd.runtest->num_cycles,
 140                         cmd->cmd.runtest->end_state);
 141
 142         jlink_end_state(cmd->cmd.runtest->end_state);
 143
 144         jlink_runtest(cmd->cmd.runtest->num_cycles);
 145 }
 146
 147 static void jlink_execute_statemove(struct jtag_command *cmd)
 148 {
 149         DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);
 150
 151         jlink_end_state(cmd->cmd.statemove->end_state);
 152         jlink_state_move();
 153 }
 154
 155 static void jlink_execute_pathmove(struct jtag_command *cmd)
 156 {
 157         DEBUG_JTAG_IO("pathmove: %i states, end in %i",
 158                 cmd->cmd.pathmove->num_states,
 159                 cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);
 160
 161         jlink_path_move(cmd->cmd.pathmove->num_states,
 162                         cmd->cmd.pathmove->path);
 163 }
 164
 165 static void jlink_execute_scan(struct jtag_command *cmd)
 166 {
 167         int scan_size;
 168         enum scan_type type;
 169         uint8_t *buffer;
 170
 171         DEBUG_JTAG_IO("scan end in %s", tap_state_name(cmd->cmd.scan->end_state));
 172
 173         jlink_end_state(cmd->cmd.scan->end_state);
 174
 175         scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
 176         DEBUG_JTAG_IO("scan input, length = %d", scan_size);
 177
 178 #ifdef _DEBUG_USB_COMMS_
 179         jlink_debug_buffer(buffer, (scan_size + 7) / 8);
 180 #endif
 181         type = jtag_scan_type(cmd->cmd.scan);
 182         jlink_scan(cmd->cmd.scan->ir_scan,
 183                         type, buffer, scan_size, cmd->cmd.scan);
 184 }
 185
 186 static void jlink_execute_reset(struct jtag_command *cmd)
 187 {
 188         DEBUG_JTAG_IO("reset trst: %i srst %i",
 189                         cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 190
 191         jlink_tap_execute();
 192         jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
 193         jlink_tap_execute();
 194 }
 195
 196 static void jlink_execute_sleep(struct jtag_command *cmd)
 197 {
 198         DEBUG_JTAG_IO("sleep %" PRIi32 "", cmd->cmd.sleep->us);
 199         jlink_tap_execute();
 200         jtag_sleep(cmd->cmd.sleep->us);
 201 }
 202
 203 static void jlink_execute_command(struct jtag_command *cmd)
 204 {
 205         switch (cmd->type)
 206         {
 207         case JTAG_RUNTEST:   jlink_execute_runtest(cmd); break;
 208         case JTAG_TLR_RESET: jlink_execute_statemove(cmd); break;
 209         case JTAG_PATHMOVE:  jlink_execute_pathmove(cmd); break;
 210         case JTAG_SCAN:      jlink_execute_scan(cmd); break;
 211         case JTAG_RESET:     jlink_execute_reset(cmd); break;
 212         case JTAG_SLEEP:     jlink_execute_sleep(cmd); break;
 213         default:
 214                 LOG_ERROR("BUG: unknown JTAG command type encountered");
 215                 exit(-1);
 216         }
 217 }
 218
 219 static int jlink_execute_queue(void)
 220 {
 221         struct jtag_command *cmd = jtag_command_queue;
 222
 223         while (cmd != NULL)
 224         {
 225                 jlink_execute_command(cmd);
 226                 cmd = cmd->next;
 227         }
 228
 229         return jlink_tap_execute();
 230 }
 231
 232 /* Sets speed in kHz. */
 233 static int jlink_speed(int speed)
 234 {
 235         int result;
 236
 237         if (speed > JLINK_MAX_SPEED)
 238         {
 239                 LOG_INFO("Ignoring speed request: %dkHz exceeds %dkHz maximum",
 240                                 speed, JLINK_MAX_SPEED);
 241                 return ERROR_OK;
 242         }
 243
 244         /* check for RTCK setting */
 245         if (speed == 0)
 246                 speed = -1;
 247
 248         usb_out_buffer[0] = EMU_CMD_SET_SPEED;
 249         usb_out_buffer[1] = (speed >> 0) & 0xff;
 250         usb_out_buffer[2] = (speed >> 8) & 0xff;
 251
 252         result = jlink_usb_write(jlink_handle, 3);
 253         if (result != 3)
 254         {
 255                 LOG_ERROR("J-Link setting speed failed (%d)", result);
 256                 return ERROR_JTAG_DEVICE_ERROR;
 257         }
 258
 259         return ERROR_OK;
 260 }
 261
 262 static int jlink_speed_div(int speed, int* khz)
 263 {
 264         *khz = speed;
 265
 266         return ERROR_OK;
 267 }
 268
 269 static int jlink_khz(int khz, int *jtag_speed)
 270 {
 271         *jtag_speed = khz;
 272
 273         return ERROR_OK;
 274 }
 275
 276 static int jlink_init(void)
 277 {
 278         int i;
 279
 280         jlink_handle = jlink_usb_open();
 281
 282         if (jlink_handle == 0)
 283         {
 284                 LOG_ERROR("Cannot find jlink Interface! Please check "
 285                                 "connection and permissions.");
 286                 return ERROR_JTAG_INIT_FAILED;
 287         }
 288
 289         /*
 290          * The next three instructions were added after discovering a problem
 291          * while using an oscilloscope.
 292          * For the V8 SAM-ICE dongle (and likely other j-link device variants),
 293          * the reset line to the target microprocessor was found to cycle only
 294          * intermittently during emulator startup (even after encountering the
 295          * downstream reset instruction later in the code).
 296          * This was found to create two issues:
 297          * 1) In general it is a bad practice to not reset a CPU to a known
 298          * state when starting an emulator and
 299          * 2) something critical happens inside the dongle when it does the
 300          * first read following a new USB session.
 301          * Keeping the processor in reset during the first read collecting
 302          * version information seems to prevent errant
 303          * "J-Link command EMU_CMD_VERSION failed" issues.
 304          */
 305
 306         LOG_INFO("J-Link initialization started / target CPU reset initiated");
 307         jlink_simple_command(EMU_CMD_HW_TRST0);
 308         jlink_simple_command(EMU_CMD_HW_RESET0);
 309         usleep(1000);
 310
 311         jlink_hw_jtag_version = 2;
 312
 313         if (jlink_get_version_info() == ERROR_OK)
 314         {
 315                 /* attempt to get status */
 316                 jlink_get_status();
 317         }
 318
 319         LOG_INFO("J-Link JTAG Interface ready");
 320
 321         jlink_reset(0, 0);
 322         jtag_sleep(3000);
 323         jlink_tap_init();
 324         jlink_speed(jtag_get_speed());
 325
 326         /* v5/6 jlink seems to have an issue if the first tap move
 327          * is not divisible by 8, so we send a TLR on first power up */
 328         for (i = 0; i < 8; i++) {
 329                 jlink_tap_append_step(1, 0);
 330         }
 331         jlink_tap_execute();
 332
 333         return ERROR_OK;
 334 }
 335
 336 static int jlink_quit(void)
 337 {
 338         jlink_usb_close(jlink_handle);
 339         return ERROR_OK;
 340 }
 341
 342 /***************************************************************************/
 343 /* Queue command implementations */
 344
 345 static void jlink_end_state(tap_state_t state)
 346 {
 347         if (tap_is_state_stable(state))
 348         {
 349                 tap_set_end_state(state);
 350         }
 351         else
 352         {
 353                 LOG_ERROR("BUG: %i is not a valid end state", state);
 354                 exit(-1);
 355         }
 356 }
 357
 358 /* Goes to the end state. */
 359 static void jlink_state_move(void)
 360 {
 361         int i;
 362         int tms = 0;
 363         uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
 364         uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
 365
 366         for (i = 0; i < tms_scan_bits; i++)
 367         {
 368                 tms = (tms_scan >> i) & 1;
 369                 jlink_tap_append_step(tms, 0);
 370         }
 371
 372         tap_set_state(tap_get_end_state());
 373 }
 374
 375 static void jlink_path_move(int num_states, tap_state_t *path)
 376 {
 377         int i;
 378
 379         for (i = 0; i < num_states; i++)
 380         {
 381                 if (path[i] == tap_state_transition(tap_get_state(), false))
 382                 {
 383                         jlink_tap_append_step(0, 0);
 384                 }
 385                 else if (path[i] == tap_state_transition(tap_get_state(), true))
 386                 {
 387                         jlink_tap_append_step(1, 0);
 388                 }
 389                 else
 390                 {
 391                         LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
 392                                         tap_state_name(tap_get_state()), tap_state_name(path[i]));
 393                         exit(-1);
 394                 }
 395
 396                 tap_set_state(path[i]);
 397         }
 398
 399         tap_set_end_state(tap_get_state());
 400 }
 401
 402 static void jlink_runtest(int num_cycles)
 403 {
 404         int i;
 405
 406         tap_state_t saved_end_state = tap_get_end_state();
 407
 408         jlink_tap_ensure_space(1,num_cycles + 16);
 409
 410         /* only do a state_move when we're not already in IDLE */
 411         if (tap_get_state() != TAP_IDLE)
 412         {
 413                 jlink_end_state(TAP_IDLE);
 414                 jlink_state_move();
 415 //              num_cycles--;
 416         }
 417
 418         /* execute num_cycles */
 419         for (i = 0; i < num_cycles; i++)
 420         {
 421                 jlink_tap_append_step(0, 0);
 422         }
 423
 424         /* finish in end_state */
 425         jlink_end_state(saved_end_state);
 426         if (tap_get_state() != tap_get_end_state())
 427         {
 428                 jlink_state_move();
 429         }
 430 }
 431
 432 static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
 433                 int scan_size, struct scan_command *command)
 434 {
 435         tap_state_t saved_end_state;
 436
 437         jlink_tap_ensure_space(1, scan_size + 16);
 438
 439         saved_end_state = tap_get_end_state();
 440
 441         /* Move to appropriate scan state */
 442         jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);
 443
 444         /* Only move if we're not already there */
 445         if (tap_get_state() != tap_get_end_state())
 446                 jlink_state_move();
 447
 448         jlink_end_state(saved_end_state);
 449
 450         /* Scan */
 451         jlink_tap_append_scan(scan_size, buffer, command);
 452
 453         /* We are in Exit1, go to Pause */
 454         jlink_tap_append_step(0, 0);
 455
 456         tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);
 457
 458         if (tap_get_state() != tap_get_end_state())
 459         {
 460                 jlink_state_move();
 461         }
 462 }
 463
 464 static void jlink_reset(int trst, int srst)
 465 {
 466         LOG_DEBUG("trst: %i, srst: %i", trst, srst);
 467
 468         /* Signals are active low */
 469         if (srst == 0)
 470         {
 471                 jlink_simple_command(EMU_CMD_HW_RESET1);
 472         }
 473         if (srst == 1)
 474         {
 475                 jlink_simple_command(EMU_CMD_HW_RESET0);
 476         }
 477
 478         if (trst == 1)
 479         {
 480                 jlink_simple_command(EMU_CMD_HW_TRST0);
 481         }
 482
 483         if (trst == 0)
 484         {
 485                 jlink_simple_command(EMU_CMD_HW_TRST1);
 486         }
 487 }
 488
 489 static void jlink_simple_command(uint8_t command)
 490 {
 491         int result;
 492
 493         DEBUG_JTAG_IO("0x%02x", command);
 494
 495         usb_out_buffer[0] = command;
 496         result = jlink_usb_write(jlink_handle, 1);
 497
 498         if (result != 1)
 499         {
 500                 LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
 501         }
 502 }
 503
 504 static int jlink_get_status(void)
 505 {
 506         int result;
 507
 508         jlink_simple_command(EMU_CMD_GET_STATE);
 509
 510         result = jlink_usb_read(jlink_handle, 8);
 511         if (result != 8)
 512         {
 513                 LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", result);
 514                 return ERROR_JTAG_DEVICE_ERROR;
 515         }
 516
 517         int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
 518         LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d", \
 519                 vref / 1000, vref % 1000, \
 520                 usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
 521                 usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);
 522
 523         if (vref < 1500)
 524                 LOG_ERROR("Vref too low. Check Target Power");
 525
 526         return ERROR_OK;
 527 }
 528
 529 static int jlink_get_version_info(void)
 530 {
 531         int result;
 532         int len;
 533         uint32_t jlink_caps, jlink_max_size;
 534
 535         /* query hardware version */
 536         jlink_simple_command(EMU_CMD_VERSION);
 537
 538         result = jlink_usb_read(jlink_handle, 2);
 539         if (2 != result)
 540         {
 541                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
 542                 return ERROR_JTAG_DEVICE_ERROR;
 543         }
 544
 545         len = buf_get_u32(usb_in_buffer, 0, 16);
 546         if (len > JLINK_IN_BUFFER_SIZE)
 547         {
 548                 LOG_ERROR("J-Link command EMU_CMD_VERSION impossible return length 0x%0x", len);
 549                 len = JLINK_IN_BUFFER_SIZE;
 550         }
 551
 552         result = jlink_usb_read(jlink_handle, len);
 553         if (result != len)
 554         {
 555                 LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
 556                 return ERROR_JTAG_DEVICE_ERROR;
 557         }
 558
 559         usb_in_buffer[result] = 0;
 560         LOG_INFO("%s", (char *)usb_in_buffer);
 561
 562         /* query hardware capabilities */
 563         jlink_simple_command(EMU_CMD_GET_CAPS);
 564
 565         result = jlink_usb_read(jlink_handle, 4);
 566         if (4 != result)
 567         {
 568                 LOG_ERROR("J-Link command EMU_CMD_GET_CAPS failed (%d)", result);
 569                 return ERROR_JTAG_DEVICE_ERROR;
 570         }
 571
 572         jlink_caps = buf_get_u32(usb_in_buffer, 0, 32);
 573         LOG_INFO("JLink caps 0x%x", (unsigned)jlink_caps);
 574
 575         if (jlink_caps & (1 << EMU_CAP_GET_HW_VERSION))
 576         {
 577                 /* query hardware version */
 578                 jlink_simple_command(EMU_CMD_GET_HW_VERSION);
 579
 580                 result = jlink_usb_read(jlink_handle, 4);
 581                 if (4 != result)
 582                 {
 583                         LOG_ERROR("J-Link command EMU_CMD_GET_HW_VERSION failed (%d)", result);
 584                         return ERROR_JTAG_DEVICE_ERROR;
 585                 }
 586
 587                 uint32_t jlink_hw_version = buf_get_u32(usb_in_buffer, 0, 32);
 588                 uint32_t major_revision = (jlink_hw_version / 10000) % 100;
 589                 if (major_revision >= 5)
 590                         jlink_hw_jtag_version = 3;
 591
 592                 LOG_INFO("JLink hw version %i", (int)jlink_hw_version);
 593         }
 594
 595         if (jlink_caps & (1 << EMU_CAP_GET_MAX_BLOCK_SIZE))
 596         {
 597                 /* query hardware maximum memory block */
 598                 jlink_simple_command(EMU_CMD_GET_MAX_MEM_BLOCK);
 599
 600                 result = jlink_usb_read(jlink_handle, 4);
 601                 if (4 != result)
 602                 {
 603                         LOG_ERROR("J-Link command EMU_CMD_GET_MAX_MEM_BLOCK failed (%d)", result);
 604                         return ERROR_JTAG_DEVICE_ERROR;
 605                 }
 606
 607                 jlink_max_size = buf_get_u32(usb_in_buffer, 0, 32);
 608                 LOG_INFO("JLink max mem block %i", (int)jlink_max_size);
 609         }
 610
 611         return ERROR_OK;
 612 }
 613
 614 COMMAND_HANDLER(jlink_handle_jlink_info_command)
 615 {
 616         if (jlink_get_version_info() == ERROR_OK)
 617         {
 618                 /* attempt to get status */
 619                 jlink_get_status();
 620         }
 621
 622         return ERROR_OK;
 623 }
 624
 625 COMMAND_HANDLER(jlink_handle_jlink_hw_jtag_command)
 626 {
 627         switch (CMD_ARGC) {
 628         case 0:
 629                 command_print(CMD_CTX, "jlink hw jtag  %i", jlink_hw_jtag_version);
 630                 break;
 631         case 1: {
 632                 int request_version = atoi(CMD_ARGV[0]);
 633                 switch (request_version) {
 634                 case 2: case 3:
 635                         jlink_hw_jtag_version = request_version;
 636                         break;
 637                 default:
 638                         return ERROR_COMMAND_SYNTAX_ERROR;
 639                 }
 640                 break;
 641         }
 642         default:
 643                 return ERROR_COMMAND_SYNTAX_ERROR;
 644         }
 645
 646         return ERROR_OK;
 647 }
 648
 649 static const struct command_registration jlink_command_handlers[] = {
 650         {
 651                 .name = "jlink_info",
 652                 .handler = &jlink_handle_jlink_info_command,
 653                 .mode = COMMAND_EXEC,
 654                 .help = "show jlink info",
 655         },
 656         {
 657                 .name = "jlink_hw_jtag",
 658                 .handler = &jlink_handle_jlink_hw_jtag_command,
 659                 .mode = COMMAND_EXEC,
 660                 .help = "access J-Link HW JTAG command version",
 661                 .usage = "[2|3]",
 662         },
 663         COMMAND_REGISTRATION_DONE
 664 };
 665
 666 struct jtag_interface jlink_interface = {
 667         .name = "jlink",
 668         .commands = jlink_command_handlers,
 669
 670         .execute_queue = jlink_execute_queue,
 671         .speed = jlink_speed,
 672         .speed_div = jlink_speed_div,
 673         .khz = jlink_khz,
 674         .init = jlink_init,
 675         .quit = jlink_quit,
 676 };
 677
 678 /***************************************************************************/
 679 /* J-Link tap functions */
 680
 681
 682 static unsigned tap_length = 0;
 683 static uint8_t tms_buffer[JLINK_TAP_BUFFER_SIZE];
 684 static uint8_t tdi_buffer[JLINK_TAP_BUFFER_SIZE];
 685 static uint8_t tdo_buffer[JLINK_TAP_BUFFER_SIZE];
 686
 687 struct pending_scan_result {
 688         int first;      /* First bit position in tdo_buffer to read */
 689         int length; /* Number of bits to read */
 690         struct scan_command *command; /* Corresponding scan command */
 691         uint8_t *buffer;
 692 };
 693
 694 #define MAX_PENDING_SCAN_RESULTS 256
 695
 696 static int pending_scan_results_length;
 697 static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];
 698
 699 static void jlink_tap_init(void)
 700 {
 701         tap_length = 0;
 702         pending_scan_results_length = 0;
 703 }
 704
 705 static void jlink_tap_ensure_space(int scans, int bits)
 706 {
 707         int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
 708         int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length - 32;
 709
 710         if (scans > available_scans || bits > available_bits)
 711         {
 712                 jlink_tap_execute();
 713         }
 714 }
 715
 716 static void jlink_tap_append_step(int tms, int tdi)
 717 {
 718         int index_var = tap_length / 8;
 719
 720         if (index_var >= JLINK_TAP_BUFFER_SIZE)
 721         {
 722                 LOG_ERROR("jlink_tap_append_step: overflow");
 723                 *(uint32_t *)0xFFFFFFFF = 0;
 724                 exit(-1);
 725         }
 726
 727         int bit_index = tap_length % 8;
 728         uint8_t bit = 1 << bit_index;
 729
 730         // we do not pad TMS, so be sure to initialize all bits
 731         if (0 == bit_index)
 732         {
 733                 tms_buffer[index_var] = tdi_buffer[index_var] = 0;
 734         }
 735
 736         if (tms)
 737                 tms_buffer[index_var] |= bit;
 738         else
 739                 tms_buffer[index_var] &= ~bit;
 740
 741         if (tdi)
 742                 tdi_buffer[index_var] |= bit;
 743         else
 744                 tdi_buffer[index_var] &= ~bit;
 745
 746         tap_length++;
 747 }
 748
 749 static void jlink_tap_append_scan(int length, uint8_t *buffer,
 750                 struct scan_command *command)
 751 {
 752         struct pending_scan_result *pending_scan_result =
 753                 &pending_scan_results_buffer[pending_scan_results_length];
 754         int i;
 755
 756         pending_scan_result->first = tap_length;
 757         pending_scan_result->length = length;
 758         pending_scan_result->command = command;
 759         pending_scan_result->buffer = buffer;
 760
 761         for (i = 0; i < length; i++)
 762         {
 763                 int tms = (i < (length - 1)) ? 0 : 1;
 764                 int tdi = (buffer[i / 8] & (1 << (i % 8))) != 0;
 765                 jlink_tap_append_step(tms, tdi);
 766         }
 767         pending_scan_results_length++;
 768 }
 769
 770 /* Pad and send a tap sequence to the device, and receive the answer.
 771  * For the purpose of padding we assume that we are in idle or pause state. */
 772 static int jlink_tap_execute(void)
 773 {
 774         int byte_length;
 775         int i;
 776         int result;
 777
 778         if (!tap_length)
 779                 return ERROR_OK;
 780
 781         /* JLink returns an extra NULL in packet when size of incoming
 782          * message is a multiple of 64, creates problems with USB comms.
 783          * WARNING: This will interfere with tap state counting. */
 784         while ((DIV_ROUND_UP(tap_length, 8) % 64) == 0)
 785         {
 786                 jlink_tap_append_step((tap_get_state() == TAP_RESET) ? 1 : 0, 0);
 787         }
 788
 789         // number of full bytes (plus one if some would be left over)
 790         byte_length = DIV_ROUND_UP(tap_length, 8);
 791
 792         bool use_jtag3 = jlink_hw_jtag_version >= 3;
 793         usb_out_buffer[0] = use_jtag3 ? EMU_CMD_HW_JTAG3 : EMU_CMD_HW_JTAG2;
 794         usb_out_buffer[1] = 0;
 795         usb_out_buffer[2] = (tap_length >> 0) & 0xff;
 796         usb_out_buffer[3] = (tap_length >> 8) & 0xff;
 797         memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
 798         memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);
 799
 800         jlink_last_state = jtag_debug_state_machine(tms_buffer, tdi_buffer,
 801                         tap_length, jlink_last_state);
 802
 803         result = jlink_usb_message(jlink_handle, 4 + 2 * byte_length, byte_length);
 804         if (result != byte_length)
 805         {
 806                 LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)",
 807                                 result, byte_length);
 808                 jlink_tap_init();
 809                 return ERROR_JTAG_QUEUE_FAILED;
 810         }
 811
 812         memcpy(tdo_buffer, usb_in_buffer, byte_length);
 813
 814         for (i = 0; i < pending_scan_results_length; i++)
 815         {
 816                 struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
 817                 uint8_t *buffer = pending_scan_result->buffer;
 818                 int length = pending_scan_result->length;
 819                 int first = pending_scan_result->first;
 820                 struct scan_command *command = pending_scan_result->command;
 821
 822                 /* Copy to buffer */
 823                 buf_set_buf(tdo_buffer, first, buffer, 0, length);
 824
 825                 DEBUG_JTAG_IO("pending scan result, length = %d", length);
 826
 827 #ifdef _DEBUG_USB_COMMS_
 828                 jlink_debug_buffer(buffer, DIV_ROUND_UP(length, 8));
 829 #endif
 830
 831                 if (jtag_read_buffer(buffer, command) != ERROR_OK)
 832                 {
 833                         jlink_tap_init();
 834                         return ERROR_JTAG_QUEUE_FAILED;
 835                 }
 836
 837                 if (pending_scan_result->buffer != NULL)
 838                 {
 839                         free(pending_scan_result->buffer);
 840                 }
 841         }
 842
 843         jlink_tap_init();
 844         return ERROR_OK;
 845 }
 846
 847 /*****************************************************************************/
 848 /* JLink USB low-level functions */
 849
 850 static struct jlink* jlink_usb_open()
 851 {
 852         usb_init();
 853
 854         const uint16_t vids[] = { VID, 0 };
 855         const uint16_t pids[] = { PID, 0 };
 856         struct usb_dev_handle *dev;
 857         if (jtag_usb_open(vids, pids, &dev) != ERROR_OK)
 858                 return NULL;
 859
 860         /* BE ***VERY CAREFUL*** ABOUT MAKING CHANGES IN THIS
 861          * AREA!!!!!!!!!!!  The behavior of libusb is not completely
 862          * consistent across Windows, Linux, and Mac OS X platforms.
 863          * The actions taken in the following compiler conditionals may
 864          * not agree with published documentation for libusb, but were
 865          * found to be necessary through trials and tribulations.  Even
 866          * little tweaks can break one or more platforms, so if you do
 867          * make changes test them carefully on all platforms before
 868          * committing them!
 869          */
 870
 871 #if IS_WIN32 == 0
 872
 873         usb_reset(dev);
 874
 875 #if IS_DARWIN == 0
 876
 877         int timeout = 5;
 878         /* reopen jlink after usb_reset
 879          * on win32 this may take a second or two to re-enumerate */
 880         int retval;
 881         while ((retval = jtag_usb_open(vids, pids, &dev)) != ERROR_OK)
 882         {
 883                 usleep(1000);
 884                 timeout--;
 885                 if (!timeout) {
 886                         break;
 887                 }
 888         }
 889         if (ERROR_OK != retval)
 890                 return NULL;
 891 #endif
 892
 893 #endif
 894
 895         /* usb_set_configuration required under win32 */
 896         struct usb_device *udev = usb_device(dev);
 897         usb_set_configuration(dev, udev->config[0].bConfigurationValue);
 898         usb_claim_interface(dev, 0);
 899
 900 #if 0
 901         /*
 902          * This makes problems under Mac OS X. And is not needed
 903          * under Windows. Hopefully this will not break a linux build
 904          */
 905         usb_set_altinterface(result->usb_handle, 0);
 906 #endif
 907         struct usb_interface *iface = udev->config->interface;
 908         struct usb_interface_descriptor *desc = iface->altsetting;
 909         for (int i = 0; i < desc->bNumEndpoints; i++)
 910         {
 911                 uint8_t epnum = desc->endpoint[i].bEndpointAddress;
 912                 bool is_input = epnum & 0x80;
 913                 LOG_DEBUG("usb ep %s %02x", is_input ? "in" : "out", epnum);
 914                 if (is_input)
 915                         jlink_read_ep = epnum;
 916                 else
 917                         jlink_write_ep = epnum;
 918         }
 919
 920         struct jlink *result = malloc(sizeof(struct jlink));
 921         result->usb_handle = dev;
 922         return result;
 923 }
 924
 925 static void jlink_usb_close(struct jlink *jlink)
 926 {
 927         usb_close(jlink->usb_handle);
 928         free(jlink);
 929 }
 930
 931 /* Send a message and receive the reply. */
 932 static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length)
 933 {
 934         int result;
 935
 936         result = jlink_usb_write(jlink, out_length);
 937         if (result != out_length)
 938         {
 939                 LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
 940                                 out_length, result);
 941                 return ERROR_JTAG_DEVICE_ERROR;
 942         }
 943
 944         result = jlink_usb_read(jlink, in_length);
 945         if ((result != in_length) && (result != (in_length + 1)))
 946         {
 947                 LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
 948                                 in_length, result);
 949                 return ERROR_JTAG_DEVICE_ERROR;
 950         }
 951
 952         if (jlink_hw_jtag_version < 3)
 953                 return result;
 954
 955         int result2 = ERROR_OK;
 956         if (result == in_length)
 957         {
 958                 /* Must read the result from the EMU too */
 959                 result2 = jlink_usb_read_emu_result(jlink);
 960                 if (1 != result2)
 961                 {
 962                         LOG_ERROR("jlink_usb_read_emu_result retried requested = 1, "
 963                                         "result=%d, in_length=%i", result2, in_length);
 964                         /* Try again once, should only happen if (in_length%64 == 0) */
 965                         result2 = jlink_usb_read_emu_result(jlink);
 966                         if (1 != result2)
 967                         {
 968                                 LOG_ERROR("jlink_usb_read_emu_result failed "
 969                                         "(requested = 1, result=%d)", result2);
 970                                 return ERROR_JTAG_DEVICE_ERROR;
 971                         }
 972                 }
 973
 974                 /* Check the result itself */
 975                 result2 = usb_emu_result_buffer[0];
 976         }
 977         else
 978         {
 979                 /* Save the result, then remove it from return value */
 980                 result2 = usb_in_buffer[result--];
 981         }
 982
 983         if (result2)
 984         {
 985                 LOG_ERROR("jlink_usb_message failed with result=%d)", result2);
 986                 return ERROR_JTAG_DEVICE_ERROR;
 987         }
 988
 989         return result;
 990 }
 991
 992 /* calls the given usb_bulk_* function, allowing for the data to
 993  * trickle in with some timeouts  */
 994 static int usb_bulk_with_retries(
 995                 int (*f)(usb_dev_handle *, int, char *, int, int),
 996                 usb_dev_handle *dev, int ep,
 997                 char *bytes, int size, int timeout)
 998 {
 999         int tries = 3, count = 0;
1000
1001         while (tries && (count < size))
1002         {
1003                 int result = f(dev, ep, bytes + count, size - count, timeout);
1004                 if (result > 0)
1005                         count += result;
1006                 else if ((-ETIMEDOUT != result) || !--tries)
1007                         return result;
1008         }
1009         return count;
1010 }
1011
1012 static int wrap_usb_bulk_write(usb_dev_handle *dev, int ep,
1013                                char *buff, int size, int timeout)
1014 {
1015         /* usb_bulk_write() takes const char *buff */
1016         return usb_bulk_write(dev, ep, buff, size, timeout);
1017 }
1018
1019 static inline int usb_bulk_write_ex(usb_dev_handle *dev, int ep,
1020                 char *bytes, int size, int timeout)
1021 {
1022         return usb_bulk_with_retries(&wrap_usb_bulk_write,
1023                         dev, ep, bytes, size, timeout);
1024 }
1025
1026 static inline int usb_bulk_read_ex(usb_dev_handle *dev, int ep,
1027                 char *bytes, int size, int timeout)
1028 {
1029         return usb_bulk_with_retries(&usb_bulk_read,
1030                         dev, ep, bytes, size, timeout);
1031 }
1032
1033 /* Write data from out_buffer to USB. */
1034 static int jlink_usb_write(struct jlink *jlink, int out_length)
1035 {
1036         int result;
1037
1038         if (out_length > JLINK_OUT_BUFFER_SIZE)
1039         {
1040                 LOG_ERROR("jlink_write illegal out_length=%d (max=%d)",
1041                                 out_length, JLINK_OUT_BUFFER_SIZE);
1042                 return -1;
1043         }
1044
1045         result = usb_bulk_write_ex(jlink->usb_handle, jlink_write_ep,
1046                 (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);
1047
1048         DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d",
1049                         out_length, result);
1050
1051 #ifdef _DEBUG_USB_COMMS_
1052         jlink_debug_buffer(usb_out_buffer, out_length);
1053 #endif
1054         return result;
1055 }
1056
1057 /* Read data from USB into in_buffer. */
1058 static int jlink_usb_read(struct jlink *jlink, int expected_size)
1059 {
1060         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1061                 (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);
1062
1063         DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);
1064
1065 #ifdef _DEBUG_USB_COMMS_
1066         jlink_debug_buffer(usb_in_buffer, result);
1067 #endif
1068         return result;
1069 }
1070
1071 /* Read the result from the previous EMU cmd into result_buffer. */
1072 static int jlink_usb_read_emu_result(struct jlink *jlink)
1073 {
1074         int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
1075                 (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */,
1076                 JLINK_USB_TIMEOUT);
1077
1078         DEBUG_JTAG_IO("jlink_usb_read_result, result = %d", result);
1079
1080 #ifdef _DEBUG_USB_COMMS_
1081         jlink_debug_buffer(usb_emu_result_buffer, result);
1082 #endif
1083         return result;
1084 }
1085
1086 #ifdef _DEBUG_USB_COMMS_
1087 #define BYTES_PER_LINE  16
1088
1089 static void jlink_debug_buffer(uint8_t *buffer, int length)
1090 {
1091         char line[81];
1092         char s[4];
1093         int i;
1094         int j;
1095
1096         for (i = 0; i < length; i += BYTES_PER_LINE)
1097         {
1098                 snprintf(line, 5, "%04x", i);
1099                 for (j = i; j < i + BYTES_PER_LINE && j < length; j++)
1100                 {
1101                         snprintf(s, 4, " %02x", buffer[j]);
1102                         strcat(line, s);
1103                 }
1104                 LOG_DEBUG("%s", line);
1105         }
1106 }
1107 #endif