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63 /* The JLINK_TAP_SEQUENCE_COMMAND is obsolete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
]);
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