[openocd.git] / src / jtag / drivers / jlink.c

/***************************************************************************
 *   Copyright (C) 2007 by Juergen Stuber <juergen@jstuber.net>            *
 *   based on Dominic Rath's and Benedikt Sauter's usbprog.c               *
 *                                                                         *
 *   Copyright (C) 2008 by Spencer Oliver                                  *
 *   spen@spen-soft.co.uk                                                  *
 *                                                                         *
 *   Copyright (C) 2011 by Jean-Christophe PLAGNIOL-VIILARD                *
 *   plagnioj@jcrosoft.com                                                 *
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 *   This program is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
 *   GNU General Public License for more details.                          *
 *                                                                         *
 *   You should have received a copy of the GNU General Public License     *
 *   along with this program; if not, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.           *
 ***************************************************************************/

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <jtag/interface.h>
#include <jtag/swd.h>
#include <jtag/commands.h>
#include "libusb_common.h"

/* See Segger's public documentation:
 * Reference manual for J-Link USB Protocol
 * Document RM08001-R6 Date: June 16, 2009
 * (Or newer, with some SWD information).
 * http://www.segger.com/cms/admin/uploads/productDocs/RM08001_JLinkUSBProtocol.pdf
 */

/*
 * The default pid of the segger is 0x0101
 * But when you change the USB Address it will also
 *
 * pid = ( usb_address > 0x4) ? 0x0101 : (0x101 + usb_address)
 */

#define JLINK_OB_PID  0x0105

#define JLINK_WRITE_ENDPOINT    0x02
#define JLINK_READ_ENDPOINT             0x81

#define JLINK_OB_WRITE_ENDPOINT 0x06
#define JLINK_OB_READ_ENDPOINT  0x85

static unsigned int jlink_write_ep = JLINK_WRITE_ENDPOINT;
static unsigned int jlink_read_ep = JLINK_READ_ENDPOINT;
static unsigned int jlink_hw_jtag_version = 2;

#define JLINK_USB_TIMEOUT 1000

/* See Section 3.3.2 of the Segger JLink USB protocol manual */
/* 2048 is the max value we can use here */
#define JLINK_TAP_BUFFER_SIZE 2048
/*#define JLINK_TAP_BUFFER_SIZE 256*/
/*#define JLINK_TAP_BUFFER_SIZE 384*/

#define JLINK_IN_BUFFER_SIZE                    (2048 + 1)
#define JLINK_OUT_BUFFER_SIZE                   (2*2048 + 4)

/* Global USB buffers */
static uint8_t usb_in_buffer[JLINK_IN_BUFFER_SIZE];
static uint8_t usb_out_buffer[JLINK_OUT_BUFFER_SIZE];

/* Constants for JLink command */
#define EMU_CMD_VERSION                 0x01
#define EMU_CMD_RESET_TRST              0x02
#define EMU_CMD_RESET_TARGET    0x03
#define EMU_CMD_SET_SPEED               0x05
#define EMU_CMD_GET_STATE               0x07
#define EMU_CMD_SET_KS_POWER    0x08
#define EMU_CMD_GET_SPEEDS              0xc0
#define EMU_CMD_GET_HW_INFO             0xc1
#define EMU_CMD_GET_COUNTERS    0xc2
#define EMU_CMD_SELECT_IF               0xc7
#define EMU_CMD_HW_CLOCK                0xc8
#define EMU_CMD_HW_TMS0                 0xc9
#define EMU_CMD_HW_TMS1                 0xca
#define EMU_CMD_HW_DATA0                0xcb
#define EMU_CMD_HW_DATA1                0xcc
#define EMU_CMD_HW_JTAG                 0xcd
#define EMU_CMD_HW_JTAG2                0xce
#define EMU_CMD_HW_JTAG3                0xcf
#define EMU_CMD_HW_RELEASE_RESET_STOP_EX 0xd0
#define EMU_CMD_HW_RELEASE_RESET_STOP_TIMED 0xd1
#define EMU_CMD_GET_MAX_MEM_BLOCK       0xd4
#define EMU_CMD_HW_JTAG_WRITE           0xd5
#define EMU_CMD_HW_JTAG_GET_RESULT      0xd6
#define EMU_CMD_HW_RESET0               0xdc
#define EMU_CMD_HW_RESET1               0xdd
#define EMU_CMD_HW_TRST0                0xde
#define EMU_CMD_HW_TRST1                0xdf
#define EMU_CMD_GET_CAPS                0xe8
#define EMU_CMD_GET_CPU_CAPS    0xe9
#define EMU_CMD_EXEC_CPU_CMD    0xea
#define EMU_CMD_GET_CAPS_EX             0xed
#define EMU_CMD_GET_HW_VERSION  0xf0
#define EMU_CMD_WRITE_DCC               0xf1
#define EMU_CMD_READ_CONFIG             0xf2
#define EMU_CMD_WRITE_CONFIG            0xf3
#define EMU_CMD_WRITE_MEM                       0xf4
#define EMU_CMD_READ_MEM                        0xf5
#define EMU_CMD_MEASURE_RTCK_REACT      0xf6
#define EMU_CMD_WRITE_MEM_ARM79         0xf7
#define EMU_CMD_READ_MEM_ARM79          0xf8

/* bits return from EMU_CMD_GET_CAPS */
#define EMU_CAP_RESERVED_1              0
#define EMU_CAP_GET_HW_VERSION          1
#define EMU_CAP_WRITE_DCC               2
#define EMU_CAP_ADAPTIVE_CLOCKING       3
#define EMU_CAP_READ_CONFIG             4
#define EMU_CAP_WRITE_CONFIG            5
#define EMU_CAP_TRACE                   6
#define EMU_CAP_WRITE_MEM               7
#define EMU_CAP_READ_MEM                8
#define EMU_CAP_SPEED_INFO              9
#define EMU_CAP_EXEC_CODE               10
#define EMU_CAP_GET_MAX_BLOCK_SIZE      11
#define EMU_CAP_GET_HW_INFO             12
#define EMU_CAP_SET_KS_POWER            13
#define EMU_CAP_RESET_STOP_TIMED        14
#define EMU_CAP_RESERVED_2              15
#define EMU_CAP_MEASURE_RTCK_REACT      16
#define EMU_CAP_SELECT_IF               17
#define EMU_CAP_RW_MEM_ARM79            18
#define EMU_CAP_GET_COUNTERS            19
#define EMU_CAP_READ_DCC                20
#define EMU_CAP_GET_CPU_CAPS            21
#define EMU_CAP_EXEC_CPU_CMD            22
#define EMU_CAP_SWO                     23
#define EMU_CAP_WRITE_DCC_EX            24
#define EMU_CAP_UPDATE_FIRMWARE_EX      25
#define EMU_CAP_FILE_IO                 26
#define EMU_CAP_REGISTER                27
#define EMU_CAP_INDICATORS              28
#define EMU_CAP_TEST_NET_SPEED          29
#define EMU_CAP_RAWTRACE                30
#define EMU_CAP_RESERVED_3              31

static const char * const jlink_cap_str[] = {
        "Always 1.",
        "Supports command EMU_CMD_GET_HARDWARE_VERSION",
        "Supports command EMU_CMD_WRITE_DCC",
        "Supports adaptive clocking",
        "Supports command EMU_CMD_READ_CONFIG",
        "Supports command EMU_CMD_WRITE_CONFIG",
        "Supports trace commands",
        "Supports command EMU_CMD_WRITE_MEM",
        "Supports command EMU_CMD_READ_MEM",
        "Supports command EMU_CMD_GET_SPEED",
        "Supports command EMU_CMD_CODE_...",
        "Supports command EMU_CMD_GET_MAX_BLOCK_SIZE",
        "Supports command EMU_CMD_GET_HW_INFO",
        "Supports command EMU_CMD_SET_KS_POWER",
        "Supports command EMU_CMD_HW_RELEASE_RESET_STOP_TIMED",
        "Reserved",
        "Supports command EMU_CMD_MEASURE_RTCK_REACT",
        "Supports command EMU_CMD_HW_SELECT_IF",
        "Supports command EMU_CMD_READ/WRITE_MEM_ARM79",
        "Supports command EMU_CMD_GET_COUNTERS",
        "Supports command EMU_CMD_READ_DCC",
        "Supports command EMU_CMD_GET_CPU_CAPS",
        "Supports command EMU_CMD_EXEC_CPU_CMD",
        "Supports command EMU_CMD_SWO",
        "Supports command EMU_CMD_WRITE_DCC_EX",
        "Supports command EMU_CMD_UPDATE_FIRMWARE_EX",
        "Supports command EMU_CMD_FILE_IO",
        "Supports command EMU_CMD_REGISTER",
        "Supports command EMU_CMD_INDICATORS",
        "Supports command EMU_CMD_TEST_NET_SPEED",
        "Supports command EMU_CMD_RAWTRACE",
        "Reserved",
};

/* max speed 12MHz v5.0 jlink */
#define JLINK_MAX_SPEED 12000

/* J-Link hardware versions */
#define JLINK_HW_TYPE_JLINK                             0
#define JLINK_HW_TYPE_JTRACE                    1
#define JLINK_HW_TYPE_FLASHER                   2
#define JLINK_HW_TYPE_JLINK_PRO                 3
#define JLINK_HW_TYPE_JLINK_LITE_ADI    5
#define JLINK_HW_TYPE_MAX                               6

static const char * const jlink_hw_type_str[] = {
        "J-Link",
        "J-Trace",
        "Flasher",
        "J-Link Pro",
        "Unknown",
        "J-Link Lite-ADI",
};

#define JLINK_TIF_JTAG          0
#define JLINK_TIF_SWD           1
#define JLINK_SWD_DIR_IN        0
#define JLINK_SWD_DIR_OUT       1

/* Queue command functions */
static void jlink_end_state(tap_state_t state);
static void jlink_state_move(void);
static void jlink_path_move(int num_states, tap_state_t *path);
static void jlink_runtest(int num_cycles);
static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
                int scan_size, struct scan_command *command);
static void jlink_reset(int trst, int srst);
static void jlink_simple_command(uint8_t command);
static int jlink_get_status(void);
static int jlink_swd_run_queue(struct adiv5_dap *dap);
static void jlink_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data);
static int jlink_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq);

/* J-Link tap buffer functions */
static void jlink_tap_init(void);
static int jlink_tap_execute(void);
static void jlink_tap_ensure_space(int scans, int bits);
static void jlink_tap_append_step(int tms, int tdi);
static void jlink_tap_append_scan(int length, uint8_t *buffer,
                struct scan_command *command);

/* Jlink lowlevel functions */
struct jlink {
        struct jtag_libusb_device_handle *usb_handle;
};

static struct jlink *jlink_usb_open(void);
static void jlink_usb_close(struct jlink *jlink);
static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length);
static int jlink_usb_io(struct jlink *jlink, int out_length, int in_length);
static int jlink_usb_write(struct jlink *jlink, int out_length);
static int jlink_usb_read(struct jlink *jlink, int expected_size);

/* helper functions */
static int jlink_get_version_info(void);

#ifdef _DEBUG_USB_COMMS_
static void jlink_debug_buffer(uint8_t *buffer, int length);
#else
static inline void jlink_debug_buffer(uint8_t *buffer, int length)
{
}
#endif

static enum tap_state jlink_last_state = TAP_RESET;

static struct jlink *jlink_handle;

/* pid could be specified at runtime */
static uint16_t vids[] = { 0x1366, 0x1366, 0x1366, 0x1366, 0x1366, 0 };
static uint16_t pids[] = { 0x0101, 0x0102, 0x0103, 0x0104, 0x0105, 0 };

static uint32_t jlink_caps;
static uint32_t jlink_hw_type;

static int queued_retval;
static bool swd_mode;

/* 256 byte non-volatile memory */
struct jlink_config {
        uint8_t usb_address;
        /* 0ffset 0x01 to 0x03 */
        uint8_t reserved_1[3];
        uint32_t kickstart_power_on_jtag_pin_19;
        /* 0ffset 0x08 to 0x1f */
        uint8_t reserved_2[24];
        /* IP only for J-Link Pro */
        uint8_t ip_address[4];
        uint8_t subnet_mask[4];
        /* 0ffset 0x28 to 0x2f */
        uint8_t reserved_3[8];
        uint8_t mac_address[6];
        /* 0ffset 0x36 to 0xff */
        uint8_t reserved_4[202];
} __attribute__ ((packed));
struct jlink_config jlink_cfg;

/***************************************************************************/
/* External interface implementation */

static void jlink_execute_runtest(struct jtag_command *cmd)
{
        DEBUG_JTAG_IO("runtest %i cycles, end in %i",
                        cmd->cmd.runtest->num_cycles,
                        cmd->cmd.runtest->end_state);

        jlink_end_state(cmd->cmd.runtest->end_state);

        jlink_runtest(cmd->cmd.runtest->num_cycles);
}

static void jlink_execute_statemove(struct jtag_command *cmd)
{
        DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state);

        jlink_end_state(cmd->cmd.statemove->end_state);
        jlink_state_move();
}

static void jlink_execute_pathmove(struct jtag_command *cmd)
{
        DEBUG_JTAG_IO("pathmove: %i states, end in %i",
                cmd->cmd.pathmove->num_states,
                cmd->cmd.pathmove->path[cmd->cmd.pathmove->num_states - 1]);

        jlink_path_move(cmd->cmd.pathmove->num_states,
                        cmd->cmd.pathmove->path);
}

static void jlink_execute_scan(struct jtag_command *cmd)
{
        int scan_size;
        enum scan_type type;
        uint8_t *buffer;

        DEBUG_JTAG_IO("scan end in %s", tap_state_name(cmd->cmd.scan->end_state));

        jlink_end_state(cmd->cmd.scan->end_state);

        scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer);
        DEBUG_JTAG_IO("scan input, length = %d", scan_size);

        jlink_debug_buffer(buffer, (scan_size + 7) / 8);
        type = jtag_scan_type(cmd->cmd.scan);
        jlink_scan(cmd->cmd.scan->ir_scan,
                        type, buffer, scan_size, cmd->cmd.scan);
}

static void jlink_execute_reset(struct jtag_command *cmd)
{
        DEBUG_JTAG_IO("reset trst: %i srst %i",
                        cmd->cmd.reset->trst, cmd->cmd.reset->srst);

        jlink_tap_execute();
        jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst);
        jlink_tap_execute();
}

static void jlink_execute_sleep(struct jtag_command *cmd)
{
        DEBUG_JTAG_IO("sleep %" PRIi32 "", cmd->cmd.sleep->us);
        jlink_tap_execute();
        jtag_sleep(cmd->cmd.sleep->us);
}

static void jlink_execute_command(struct jtag_command *cmd)
{
        switch (cmd->type) {
                case JTAG_RUNTEST:
                        jlink_execute_runtest(cmd);
                        break;
                case JTAG_TLR_RESET:
                        jlink_execute_statemove(cmd);
                        break;
                case JTAG_PATHMOVE:
                        jlink_execute_pathmove(cmd);
                        break;
                case JTAG_SCAN:
                        jlink_execute_scan(cmd);
                        break;
                case JTAG_RESET:
                        jlink_execute_reset(cmd);
                        break;
                case JTAG_SLEEP:
                        jlink_execute_sleep(cmd);
                        break;
                default:
                        LOG_ERROR("BUG: unknown JTAG command type encountered");
                        exit(-1);
        }
}

static int jlink_execute_queue(void)
{
        struct jtag_command *cmd = jtag_command_queue;

        while (cmd != NULL) {
                jlink_execute_command(cmd);
                cmd = cmd->next;
        }

        return jlink_tap_execute();
}

/* Sets speed in kHz. */
static int jlink_speed(int speed)
{
        int result;

        if (speed > JLINK_MAX_SPEED) {
                LOG_INFO("reduce speed request: %dkHz to %dkHz maximum",
                                speed, JLINK_MAX_SPEED);
                speed = JLINK_MAX_SPEED;
        }

        /* check for RTCK setting */
        if (speed == 0)
                speed = -1;

        usb_out_buffer[0] = EMU_CMD_SET_SPEED;
        usb_out_buffer[1] = (speed >> 0) & 0xff;
        usb_out_buffer[2] = (speed >> 8) & 0xff;

        result = jlink_usb_write(jlink_handle, 3);
        if (result != 3) {
                LOG_ERROR("J-Link setting speed failed (%d)", result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        return ERROR_OK;
}

static int jlink_speed_div(int speed, int *khz)
{
        *khz = speed;

        return ERROR_OK;
}

static int jlink_khz(int khz, int *jtag_speed)
{
        *jtag_speed = khz;

        return ERROR_OK;
}

/*
 * select transport interface
 *
 * @param       iface [0..31] currently: 0=JTAG, 1=SWD
 * @returns     ERROR_OK or ERROR_ code
 *
 * @pre jlink_handle must be opened
 * @pre function may be called only for devices, that have
 *              EMU_CAP_SELECT_IF capability enabled
 */
static int jlink_select_interface(int iface)
{
        /* According to Segger's document RM08001-R7 Date: October 8, 2010,
         * http://www.segger.com/admin/uploads/productDocs/RM08001_JLinkUSBProtocol.pdf
         * section 5.5.3 EMU_CMD_SELECT_IF
         * > SubCmd 1..31 to select interface (0..31)
         *
         * The table below states:
         *  0 TIF_JTAG
         *  1 TIF_SWD
         *
         * This obviosly means that to select TIF_JTAG one should write SubCmd = 1.
         *
         * In fact, JTAG interface operates when SubCmd=0
         *
         * It looks like a typo in documentation, because interfaces 0..31 could not
         * be selected by 1..31 range command.
         */
        assert(iface >= 0 && iface < 32);
        int result;

        /* get available interfaces */
        usb_out_buffer[0] = EMU_CMD_SELECT_IF;
        usb_out_buffer[1] = 0xff;

        result = jlink_usb_io(jlink_handle, 2, 4);
        if (result != ERROR_OK) {
                LOG_ERROR("J-Link query interface failed (%d)", result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        uint32_t iface_mask = buf_get_u32(usb_in_buffer, 0, 32);

        if (!(iface_mask & (1<<iface))) {
                LOG_ERROR("J-Link requesting to select unsupported interface (%" PRIx32 ")", iface_mask);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        /* Select interface */
        usb_out_buffer[0] = EMU_CMD_SELECT_IF;
        usb_out_buffer[1] = iface;

        result = jlink_usb_io(jlink_handle, 2, 4);
        if (result != ERROR_OK) {
                LOG_ERROR("J-Link interface select failed (%d)", result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        return ERROR_OK;
}

static int jlink_init(void)
{
        int i;

        jlink_handle = jlink_usb_open();

        if (jlink_handle == 0) {
                LOG_ERROR("Cannot find jlink Interface! Please check "
                                "connection and permissions.");
                return ERROR_JTAG_INIT_FAILED;
        }

        jlink_hw_jtag_version = 2;

        if (jlink_get_version_info() == ERROR_OK) {
                /* attempt to get status */
                jlink_get_status();
        }

        /*
         * Some versions of Segger's software do not select JTAG interface by default.
         *
         * Segger recommends to select interface necessarily as a part of init process,
         * in case any previous session leaves improper interface selected.
         */
        int retval;
        if (jlink_caps & (1<<EMU_CAP_SELECT_IF))
                retval = jlink_select_interface(swd_mode ? JLINK_TIF_SWD : JLINK_TIF_JTAG);
        else
                retval = swd_mode ? ERROR_JTAG_DEVICE_ERROR : ERROR_OK;

        if (retval != ERROR_OK) {
                LOG_ERROR("Selected transport mode is not supported.");
                return ERROR_JTAG_INIT_FAILED;
        }

        LOG_INFO("J-Link JTAG Interface ready");

        jlink_reset(0, 0);
        jtag_sleep(3000);
        jlink_tap_init();

        jlink_speed(jtag_get_speed_khz());

        if (!swd_mode) {
                /* v5/6 jlink seems to have an issue if the first tap move
                 * is not divisible by 8, so we send a TLR on first power up */
                for (i = 0; i < 8; i++)
                        jlink_tap_append_step(1, 0);
                jlink_tap_execute();
        }

        if (swd_mode)
                jlink_swd_switch_seq(NULL, JTAG_TO_SWD);
        else
                jlink_swd_switch_seq(NULL, SWD_TO_JTAG);
        jlink_swd_run_queue(NULL);

        return ERROR_OK;
}

static int jlink_quit(void)
{
        jlink_usb_close(jlink_handle);
        return ERROR_OK;
}

/***************************************************************************/
/* Queue command implementations */

static void jlink_end_state(tap_state_t state)
{
        if (tap_is_state_stable(state))
                tap_set_end_state(state);
        else {
                LOG_ERROR("BUG: %i is not a valid end state", state);
                exit(-1);
        }
}

/* Goes to the end state. */
static void jlink_state_move(void)
{
        int i;
        int tms = 0;
        uint8_t tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state());
        uint8_t tms_scan_bits = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());

        for (i = 0; i < tms_scan_bits; i++) {
                tms = (tms_scan >> i) & 1;
                jlink_tap_append_step(tms, 0);
        }

        tap_set_state(tap_get_end_state());
}

static void jlink_path_move(int num_states, tap_state_t *path)
{
        int i;

        for (i = 0; i < num_states; i++) {
                if (path[i] == tap_state_transition(tap_get_state(), false))
                        jlink_tap_append_step(0, 0);
                else if (path[i] == tap_state_transition(tap_get_state(), true))
                        jlink_tap_append_step(1, 0);
                else {
                        LOG_ERROR("BUG: %s -> %s isn't a valid TAP transition",
                                        tap_state_name(tap_get_state()), tap_state_name(path[i]));
                        exit(-1);
                }

                tap_set_state(path[i]);
        }

        tap_set_end_state(tap_get_state());
}

static void jlink_runtest(int num_cycles)
{
        int i;

        tap_state_t saved_end_state = tap_get_end_state();

        jlink_tap_ensure_space(1, num_cycles + 16);

        /* only do a state_move when we're not already in IDLE */
        if (tap_get_state() != TAP_IDLE) {
                jlink_end_state(TAP_IDLE);
                jlink_state_move();
                /* num_cycles--; */
        }

        /* execute num_cycles */
        for (i = 0; i < num_cycles; i++)
                jlink_tap_append_step(0, 0);

        /* finish in end_state */
        jlink_end_state(saved_end_state);
        if (tap_get_state() != tap_get_end_state())
                jlink_state_move();
}

static void jlink_scan(bool ir_scan, enum scan_type type, uint8_t *buffer,
                int scan_size, struct scan_command *command)
{
        tap_state_t saved_end_state;

        jlink_tap_ensure_space(1, scan_size + 16);

        saved_end_state = tap_get_end_state();

        /* Move to appropriate scan state */
        jlink_end_state(ir_scan ? TAP_IRSHIFT : TAP_DRSHIFT);

        /* Only move if we're not already there */
        if (tap_get_state() != tap_get_end_state())
                jlink_state_move();

        jlink_end_state(saved_end_state);

        /* Scan */
        jlink_tap_append_scan(scan_size, buffer, command);

        /* We are in Exit1, go to Pause */
        jlink_tap_append_step(0, 0);

        tap_set_state(ir_scan ? TAP_IRPAUSE : TAP_DRPAUSE);

        if (tap_get_state() != tap_get_end_state())
                jlink_state_move();
}

static void jlink_reset(int trst, int srst)
{
        LOG_DEBUG("trst: %i, srst: %i", trst, srst);

        /* Signals are active low */
        if (srst == 0)
                jlink_simple_command(EMU_CMD_HW_RESET1);

        if (srst == 1)
                jlink_simple_command(EMU_CMD_HW_RESET0);

        if (trst == 1)
                jlink_simple_command(EMU_CMD_HW_TRST0);

        if (trst == 0)
                jlink_simple_command(EMU_CMD_HW_TRST1);
}

static void jlink_simple_command(uint8_t command)
{
        int result;

        DEBUG_JTAG_IO("0x%02x", command);

        usb_out_buffer[0] = command;
        result = jlink_usb_write(jlink_handle, 1);

        if (result != 1)
                LOG_ERROR("J-Link command 0x%02x failed (%d)", command, result);
}

static int jlink_get_status(void)
{
        int result;

        jlink_simple_command(EMU_CMD_GET_STATE);

        result = jlink_usb_read(jlink_handle, 8);
        if (result != 8) {
                LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)", result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        int vref = usb_in_buffer[0] + (usb_in_buffer[1] << 8);
        LOG_INFO("Vref = %d.%d TCK = %d TDI = %d TDO = %d TMS = %d SRST = %d TRST = %d", \
                vref / 1000, vref % 1000, \
                usb_in_buffer[2], usb_in_buffer[3], usb_in_buffer[4], \
                usb_in_buffer[5], usb_in_buffer[6], usb_in_buffer[7]);

        if (vref < 1500)
                LOG_ERROR("Vref too low. Check Target Power");

        return ERROR_OK;
}

#define jlink_dump_printf(context, expr ...) \
        do { \
                if (context) \
                        command_print(context, expr); \
                        else \
                        LOG_INFO(expr); \
        } while (0);

static void jlink_caps_dump(struct command_context *ctx)
{
        int i;

        jlink_dump_printf(ctx, "J-Link Capabilities");

        for (i = 1; i < 31; i++)
                if (jlink_caps & (1 << i))
                        jlink_dump_printf(ctx, "%s", jlink_cap_str[i]);
}

static void jlink_config_usb_address_dump(struct command_context *ctx, struct jlink_config *cfg)
{
        if (!cfg)
                return;

        jlink_dump_printf(ctx, "USB-Address: 0x%x", cfg->usb_address);
}

static void jlink_config_kickstart_dump(struct command_context *ctx, struct jlink_config *cfg)
{
        if (!cfg)
                return;

        jlink_dump_printf(ctx, "Kickstart power on JTAG-pin 19: 0x%" PRIx32,
                cfg->kickstart_power_on_jtag_pin_19);
}

static void jlink_config_mac_address_dump(struct command_context *ctx, struct jlink_config *cfg)
{
        if (!cfg)
                return;

        jlink_dump_printf(ctx, "MAC Address: %.02x:%.02x:%.02x:%.02x:%.02x:%.02x",
                cfg->mac_address[5], cfg->mac_address[4],
                cfg->mac_address[3], cfg->mac_address[2],
                cfg->mac_address[1], cfg->mac_address[0]);
}

static void jlink_config_ip_dump(struct command_context *ctx, struct jlink_config *cfg)
{
        if (!cfg)
                return;

        jlink_dump_printf(ctx, "IP Address: %d.%d.%d.%d",
                cfg->ip_address[3], cfg->ip_address[2],
                cfg->ip_address[1], cfg->ip_address[0]);
        jlink_dump_printf(ctx, "Subnet Mask: %d.%d.%d.%d",
                cfg->subnet_mask[3], cfg->subnet_mask[2],
                cfg->subnet_mask[1], cfg->subnet_mask[0]);
}

static void jlink_config_dump(struct command_context *ctx, struct jlink_config *cfg)
{
        if (!cfg)
                return;

        jlink_dump_printf(ctx, "J-Link configuration");
        jlink_config_usb_address_dump(ctx, cfg);
        jlink_config_kickstart_dump(ctx, cfg);

        if (jlink_hw_type == JLINK_HW_TYPE_JLINK_PRO) {
                jlink_config_ip_dump(ctx, cfg);
                jlink_config_mac_address_dump(ctx, cfg);
        }
}

static int jlink_get_config(struct jlink_config *cfg)
{
        int result;
        int size = sizeof(struct jlink_config);

        usb_out_buffer[0] = EMU_CMD_READ_CONFIG;
        result = jlink_usb_io(jlink_handle, 1, size);

        if (result != ERROR_OK) {
                LOG_ERROR("jlink_usb_read failed (requested=%d, result=%d)", size, result);
                return ERROR_FAIL;
        }

        memcpy(cfg, usb_in_buffer, size);
        return ERROR_OK;
}

static int jlink_set_config(struct jlink_config *cfg)
{
        int result;
        int size = sizeof(struct jlink_config);

        jlink_simple_command(EMU_CMD_WRITE_CONFIG);

        memcpy(usb_out_buffer, cfg, size);

        result = jlink_usb_write(jlink_handle, size);
        if (result != size) {
                LOG_ERROR("jlink_usb_write failed (requested=%d, result=%d)", 256, result);
                return ERROR_FAIL;
        }

        return ERROR_OK;
}

/*
 * List of unsupported version string markers.
 *
 * The firmware versions does not correspond directly with
 * "Software and documentation pack for Windows", it may be
 * distinguished by the "compile" date in the information string.
 *
 * For example, version string is:
 *   "J-Link ARM V8 compiled May  3 2012 18:36:22"
 * Marker sould be:
 *   "May  3 2012"
 *
 * The list must be terminated by NULL string.
 */
static const char * const unsupported_versions[] = {
        "Jan 31 2011",
        "JAN 31 2011",
        NULL                    /* End of list */
};

static void jlink_check_supported(const char *str)
{
        const char * const *p = unsupported_versions;
        while (*p) {
                if (NULL != strstr(str, *p)) {
                        LOG_WARNING(
                        "Unsupported J-Link firmware version.\n"
                        "       Please check http://www.segger.com/j-link-older-versions.html for updates");
                        return;
                }
                p++;
        }
}

static int jlink_get_version_info(void)
{
        int result;
        int len;
        uint32_t jlink_max_size;

        /* query hardware version */
        jlink_simple_command(EMU_CMD_VERSION);

        result = jlink_usb_read(jlink_handle, 2);
        if (2 != result) {
                LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        len = buf_get_u32(usb_in_buffer, 0, 16);
        if (len > JLINK_IN_BUFFER_SIZE) {
                LOG_ERROR("J-Link command EMU_CMD_VERSION impossible return length 0x%0x", len);
                len = JLINK_IN_BUFFER_SIZE;
        }

        result = jlink_usb_read(jlink_handle, len);
        if (result != len) {
                LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)", result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        usb_in_buffer[result] = 0;
        LOG_INFO("%s", (char *)usb_in_buffer);
        jlink_check_supported((char *)usb_in_buffer);

        /* query hardware capabilities */
        jlink_simple_command(EMU_CMD_GET_CAPS);

        result = jlink_usb_read(jlink_handle, 4);
        if (4 != result) {
                LOG_ERROR("J-Link command EMU_CMD_GET_CAPS failed (%d)", result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        jlink_caps = buf_get_u32(usb_in_buffer, 0, 32);
        LOG_INFO("J-Link caps 0x%x", (unsigned)jlink_caps);

        if (jlink_caps & (1 << EMU_CAP_GET_HW_VERSION)) {
                /* query hardware version */
                jlink_simple_command(EMU_CMD_GET_HW_VERSION);

                result = jlink_usb_read(jlink_handle, 4);
                if (4 != result) {
                        LOG_ERROR("J-Link command EMU_CMD_GET_HW_VERSION failed (%d)", result);
                        return ERROR_JTAG_DEVICE_ERROR;
                }

                uint32_t jlink_hw_version = buf_get_u32(usb_in_buffer, 0, 32);
                uint32_t major_revision = (jlink_hw_version / 10000) % 100;
                jlink_hw_type = (jlink_hw_version / 1000000) % 100;
                if (major_revision >= 5)
                        jlink_hw_jtag_version = 3;

                LOG_INFO("J-Link hw version %i", (int)jlink_hw_version);

                if (jlink_hw_type >= JLINK_HW_TYPE_MAX)
                        LOG_INFO("J-Link hw type unknown 0x%" PRIx32, jlink_hw_type);
                else
                        LOG_INFO("J-Link hw type %s", jlink_hw_type_str[jlink_hw_type]);
        }

        if (jlink_caps & (1 << EMU_CAP_GET_MAX_BLOCK_SIZE)) {
                /* query hardware maximum memory block */
                jlink_simple_command(EMU_CMD_GET_MAX_MEM_BLOCK);

                result = jlink_usb_read(jlink_handle, 4);
                if (4 != result) {
                        LOG_ERROR("J-Link command EMU_CMD_GET_MAX_MEM_BLOCK failed (%d)", result);
                        return ERROR_JTAG_DEVICE_ERROR;
                }

                jlink_max_size = buf_get_u32(usb_in_buffer, 0, 32);
                LOG_INFO("J-Link max mem block %i", (int)jlink_max_size);
        }

        if (jlink_caps & (1 << EMU_CAP_READ_CONFIG)) {
                if (jlink_get_config(&jlink_cfg) != ERROR_OK)
                        return ERROR_JTAG_DEVICE_ERROR;

                jlink_config_dump(NULL, &jlink_cfg);
        }

        return ERROR_OK;
}

COMMAND_HANDLER(jlink_pid_command)
{
        if (CMD_ARGC != 1) {
                LOG_ERROR("Need exactly one argument to jlink_pid");
                return ERROR_FAIL;
        }

        pids[0] = strtoul(CMD_ARGV[0], NULL, 16);
        pids[1] = 0;
        vids[1] = 0;

        return ERROR_OK;
}

COMMAND_HANDLER(jlink_handle_jlink_info_command)
{
        if (jlink_get_version_info() == ERROR_OK) {
                /* attempt to get status */
                jlink_get_status();
        }

        return ERROR_OK;
}

COMMAND_HANDLER(jlink_handle_jlink_caps_command)
{
        jlink_caps_dump(CMD_CTX);

        return ERROR_OK;
}

COMMAND_HANDLER(jlink_handle_jlink_hw_jtag_command)
{
        switch (CMD_ARGC) {
                case 0:
                        command_print(CMD_CTX, "J-Link hw jtag  %i", jlink_hw_jtag_version);
                        break;
                case 1: {
                        int request_version = atoi(CMD_ARGV[0]);
                        switch (request_version) {
                                case 2:
                                case 3:
                                        jlink_hw_jtag_version = request_version;
                                        break;
                                default:
                                        return ERROR_COMMAND_SYNTAX_ERROR;
                        }
                        break;
                }
                default:
                        return ERROR_COMMAND_SYNTAX_ERROR;
        }

        return ERROR_OK;
}

COMMAND_HANDLER(jlink_handle_jlink_kickstart_command)
{
        uint32_t kickstart;

        if (CMD_ARGC < 1) {
                jlink_config_kickstart_dump(CMD_CTX, &jlink_cfg);
                return ERROR_OK;
        }

        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], kickstart);

        jlink_cfg.kickstart_power_on_jtag_pin_19 = kickstart;
        return ERROR_OK;
}

COMMAND_HANDLER(jlink_handle_jlink_mac_address_command)
{
        uint8_t addr[6];
        int i;
        char *e;
        const char *str;

        if (CMD_ARGC < 1) {
                jlink_config_mac_address_dump(CMD_CTX, &jlink_cfg);
                return ERROR_OK;
        }

        str = CMD_ARGV[0];

        if ((strlen(str) != 17) || (str[2] != ':' || str[5] != ':' || str[8] != ':' ||
                str[11] != ':' || str[14] != ':')) {
                command_print(CMD_CTX, "ethaddr miss format ff:ff:ff:ff:ff:ff");
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        for (i = 5; i >= 0; i--) {
                addr[i] = strtoul(str, &e, 16);
                str = e + 1;
        }

        if (!(addr[0] | addr[1] | addr[2] | addr[3] | addr[4] | addr[5])) {
                command_print(CMD_CTX, "invalid it's zero mac_address");
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        if (!(0x01 & addr[0])) {
                command_print(CMD_CTX, "invalid it's a multicat mac_address");
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        memcpy(jlink_cfg.mac_address, addr, sizeof(addr));

        return ERROR_OK;
}

static int string_to_ip(const char *s, uint8_t *ip, int *pos)
{
        uint8_t lip[4];
        char *e;
        const char *s_save = s;
        int i;

        if (!s)
                return -EINVAL;

        for (i = 0; i < 4; i++) {
                lip[i] = strtoul(s, &e, 10);

                if (*e != '.' && i != 3)
                        return -EINVAL;

                s = e + 1;
        }

        *pos = e - s_save;

        memcpy(ip, lip, sizeof(lip));
        return ERROR_OK;
}

static void cpy_ip(uint8_t *dst, uint8_t *src)
{
        int i, j;

        for (i = 0, j = 3; i < 4; i++, j--)
                dst[i] = src[j];
}

COMMAND_HANDLER(jlink_handle_jlink_ip_command)
{
        uint32_t ip_address;
        uint32_t subnet_mask = 0;
        int i, len;
        int ret;
        uint8_t subnet_bits = 24;

        if (CMD_ARGC < 1) {
                jlink_config_ip_dump(CMD_CTX, &jlink_cfg);
                return ERROR_OK;
        }

        ret = string_to_ip(CMD_ARGV[0], (uint8_t *)&ip_address, &i);
        if (ret != ERROR_OK)
                return ret;

        len = strlen(CMD_ARGV[0]);

        /* check for this format A.B.C.D/E */

        if (i < len) {
                if (CMD_ARGV[0][i] != '/')
                        return ERROR_COMMAND_SYNTAX_ERROR;

                COMMAND_PARSE_NUMBER(u8, CMD_ARGV[0] + i + 1, subnet_bits);
        } else {
                if (CMD_ARGC > 1) {
                        ret = string_to_ip(CMD_ARGV[1], (uint8_t *)&subnet_mask, &i);
                        if (ret != ERROR_OK)
                                return ret;
                }
        }

        if (!subnet_mask)
                subnet_mask = (uint32_t)(subnet_bits < 32 ?
                                ((1ULL << subnet_bits) - 1) : 0xffffffff);

        cpy_ip(jlink_cfg.ip_address, (uint8_t *)&ip_address);
        cpy_ip(jlink_cfg.subnet_mask, (uint8_t *)&subnet_mask);

        return ERROR_OK;
}

COMMAND_HANDLER(jlink_handle_jlink_reset_command)
{
        memset(&jlink_cfg, 0xff, sizeof(jlink_cfg));
        return ERROR_OK;
}

COMMAND_HANDLER(jlink_handle_jlink_save_command)
{
        if (!(jlink_caps & (1 << EMU_CAP_WRITE_CONFIG))) {
                command_print(CMD_CTX, "J-Link write emulator configuration not supported");
                return ERROR_OK;
        }

        command_print(CMD_CTX, "The J-Link need to be unpluged and repluged ta have the config effective");
        return jlink_set_config(&jlink_cfg);
}

COMMAND_HANDLER(jlink_handle_jlink_usb_address_command)
{
        uint32_t address;

        if (CMD_ARGC < 1) {
                jlink_config_usb_address_dump(CMD_CTX, &jlink_cfg);
                return ERROR_OK;
        }

        COMMAND_PARSE_NUMBER(u32, CMD_ARGV[0], address);

        if (address > 0x3 && address != 0xff) {
                command_print(CMD_CTX, "USB Address must be between 0x00 and 0x03 or 0xff");
                return ERROR_COMMAND_SYNTAX_ERROR;
        }

        jlink_cfg.usb_address = address;
        return ERROR_OK;
}

COMMAND_HANDLER(jlink_handle_jlink_config_command)
{
        struct jlink_config cfg;
        int ret = ERROR_OK;

        if (CMD_ARGC == 0) {
                if (!(jlink_caps & (1 << EMU_CAP_READ_CONFIG))) {
                        command_print(CMD_CTX, "J-Link read emulator configuration not supported");
                        goto exit;
                }

                ret = jlink_get_config(&cfg);

                if (ret != ERROR_OK)
                        command_print(CMD_CTX, "J-Link read emulator configuration failled");
                else
                        jlink_config_dump(CMD_CTX, &jlink_cfg);
        }

exit:
        return ret;
}

static const struct command_registration jlink_config_subcommand_handlers[] = {
        {
                .name = "kickstart",
                .handler = &jlink_handle_jlink_kickstart_command,
                .mode = COMMAND_EXEC,
                .help = "set Kickstart power on JTAG-pin 19.",
                .usage = "[val]",
        },
        {
                .name = "mac_address",
                .handler = &jlink_handle_jlink_mac_address_command,
                .mode = COMMAND_EXEC,
                .help = "set the MAC Address",
                .usage = "[ff:ff:ff:ff:ff:ff]",
        },
        {
                .name = "ip",
                .handler = &jlink_handle_jlink_ip_command,
                .mode = COMMAND_EXEC,
                .help = "set the ip address of the J-Link Pro, "
                        "where A.B.C.D is the ip, "
                        "E the bit of the subnet mask, "
                        "F.G.H.I the subnet mask",
                .usage = "[A.B.C.D[/E] [F.G.H.I]]",
        },
        {
                .name = "reset",
                .handler = &jlink_handle_jlink_reset_command,
                .mode = COMMAND_EXEC,
                .help = "reset the current config",
        },
        {
                .name = "save",
                .handler = &jlink_handle_jlink_save_command,
                .mode = COMMAND_EXEC,
                .help = "save the current config",
        },
        {
                .name = "usb_address",
                .handler = &jlink_handle_jlink_usb_address_command,
                .mode = COMMAND_EXEC,
                .help = "set the USB-Address, "
                        "This will change the product id",
                .usage = "[0x00 to 0x03 or 0xff]",
        },
        COMMAND_REGISTRATION_DONE
};

static const struct command_registration jlink_subcommand_handlers[] = {
        {
                .name = "caps",
                .handler = &jlink_handle_jlink_caps_command,
                .mode = COMMAND_EXEC,
                .help = "show jlink capabilities",
        },
        {
                .name = "info",
                .handler = &jlink_handle_jlink_info_command,
                .mode = COMMAND_EXEC,
                .help = "show jlink info",
        },
        {
                .name = "hw_jtag",
                .handler = &jlink_handle_jlink_hw_jtag_command,
                .mode = COMMAND_EXEC,
                .help = "access J-Link HW JTAG command version",
                .usage = "[2|3]",
        },
        {
                .name = "config",
                .handler = &jlink_handle_jlink_config_command,
                .mode = COMMAND_EXEC,
                .help = "access J-Link configuration, "
                        "if no argument this will dump the config",
                .chain = jlink_config_subcommand_handlers,
        },
        {
                .name = "pid",
                .handler = &jlink_pid_command,
                .mode = COMMAND_CONFIG,
                .help = "set the pid of the interface we want to use",
        },
        COMMAND_REGISTRATION_DONE
};

static const struct command_registration jlink_command_handlers[] = {
        {
                .name = "jlink",
                .mode = COMMAND_ANY,
                .help = "perform jlink management",
                .chain = jlink_subcommand_handlers,
        },
        COMMAND_REGISTRATION_DONE
};

static int jlink_swd_init(void)
{
        LOG_INFO("JLink SWD mode enabled");
        swd_mode = true;

        return ERROR_OK;
}

static void jlink_swd_write_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t value)
{
        assert(!(cmd & SWD_CMD_RnW));
        jlink_swd_queue_cmd(dap, cmd, NULL, value);
}

static void jlink_swd_read_reg(struct adiv5_dap *dap, uint8_t cmd, uint32_t *value)
{
        assert(cmd & SWD_CMD_RnW);
        jlink_swd_queue_cmd(dap, cmd, value, 0);
}

static int_least32_t jlink_swd_frequency(struct adiv5_dap *dap, int_least32_t hz)
{
        if (hz > 0)
                jlink_speed(hz / 1000);

        return hz;
}

static const struct swd_driver jlink_swd = {
        .init = jlink_swd_init,
        .frequency = jlink_swd_frequency,
        .switch_seq = jlink_swd_switch_seq,
        .read_reg = jlink_swd_read_reg,
        .write_reg = jlink_swd_write_reg,
        .run = jlink_swd_run_queue,
};

static const char * const jlink_transports[] = { "jtag", "swd", NULL };

struct jtag_interface jlink_interface = {
        .name = "jlink",
        .commands = jlink_command_handlers,
        .transports = jlink_transports,
        .swd = &jlink_swd,

        .execute_queue = jlink_execute_queue,
        .speed = jlink_speed,
        .speed_div = jlink_speed_div,
        .khz = jlink_khz,
        .init = jlink_init,
        .quit = jlink_quit,
};

/***************************************************************************/
/* J-Link tap functions */


static unsigned tap_length;
/* In SWD mode use tms buffer for direction control */
static uint8_t tms_buffer[JLINK_TAP_BUFFER_SIZE];
static uint8_t tdi_buffer[JLINK_TAP_BUFFER_SIZE];
static uint8_t tdo_buffer[JLINK_TAP_BUFFER_SIZE];

struct pending_scan_result {
        int first;      /* First bit position in tdo_buffer to read */
        int length; /* Number of bits to read */
        struct scan_command *command; /* Corresponding scan command */
        void *buffer;
};

#define MAX_PENDING_SCAN_RESULTS 256

static int pending_scan_results_length;
static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS];

static void jlink_tap_init(void)
{
        tap_length = 0;
        pending_scan_results_length = 0;
}

static void jlink_tap_ensure_space(int scans, int bits)
{
        int available_scans = MAX_PENDING_SCAN_RESULTS - pending_scan_results_length;
        int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length - 32;

        if (scans > available_scans || bits > available_bits)
                jlink_tap_execute();
}

static void jlink_tap_append_step(int tms, int tdi)
{
        int index_var = tap_length / 8;

        assert(index_var < JLINK_TAP_BUFFER_SIZE);

        int bit_index = tap_length % 8;
        uint8_t bit = 1 << bit_index;

        /* we do not pad TMS, so be sure to initialize all bits */
        if (0 == bit_index)
                tms_buffer[index_var] = tdi_buffer[index_var] = 0;

        if (tms)
                tms_buffer[index_var] |= bit;
        else
                tms_buffer[index_var] &= ~bit;

        if (tdi)
                tdi_buffer[index_var] |= bit;
        else
                tdi_buffer[index_var] &= ~bit;

        tap_length++;
}

static void jlink_tap_append_scan(int length, uint8_t *buffer,
                struct scan_command *command)
{
        struct pending_scan_result *pending_scan_result =
                &pending_scan_results_buffer[pending_scan_results_length];
        int i;

        pending_scan_result->first = tap_length;
        pending_scan_result->length = length;
        pending_scan_result->command = command;
        pending_scan_result->buffer = buffer;

        for (i = 0; i < length; i++) {
                int tms = (i < (length - 1)) ? 0 : 1;
                int tdi = (buffer[i / 8] & (1 << (i % 8))) != 0;
                jlink_tap_append_step(tms, tdi);
        }
        pending_scan_results_length++;
}

/* Pad and send a tap sequence to the device, and receive the answer.
 * For the purpose of padding we assume that we are in idle or pause state. */
static int jlink_tap_execute(void)
{
        int byte_length;
        int i;
        int result;

        if (!tap_length)
                return ERROR_OK;

        /* JLink returns an extra NULL in packet when size of incoming
         * message is a multiple of 64, creates problems with USB comms.
         * WARNING: This will interfere with tap state counting. */
        while ((DIV_ROUND_UP(tap_length, 8) % 64) == 0)
                jlink_tap_append_step((tap_get_state() == TAP_RESET) ? 1 : 0, 0);

        /* number of full bytes (plus one if some would be left over) */
        byte_length = DIV_ROUND_UP(tap_length, 8);

        bool use_jtag3 = jlink_hw_jtag_version >= 3;
        usb_out_buffer[0] = use_jtag3 ? EMU_CMD_HW_JTAG3 : EMU_CMD_HW_JTAG2;
        usb_out_buffer[1] = 0;
        usb_out_buffer[2] = (tap_length >> 0) & 0xff;
        usb_out_buffer[3] = (tap_length >> 8) & 0xff;
        memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
        memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);

        jlink_last_state = jtag_debug_state_machine(tms_buffer, tdi_buffer,
                        tap_length, jlink_last_state);

        result = jlink_usb_message(jlink_handle, 4 + 2 * byte_length,
                        use_jtag3 ? byte_length + 1 : byte_length);
        if (result != ERROR_OK) {
                LOG_ERROR("jlink_tap_execute failed USB io (%d)", result);
                jlink_tap_init();
                return ERROR_JTAG_QUEUE_FAILED;
        }

        result = use_jtag3 ? usb_in_buffer[byte_length] : 0;
        if (result != 0) {
                LOG_ERROR("jlink_tap_execute failed, result %d (%s)", result,
                          result == 1 ? "adaptive clocking timeout" : "unknown");
                jlink_tap_init();
                return ERROR_JTAG_QUEUE_FAILED;
        }

        memcpy(tdo_buffer, usb_in_buffer, byte_length);

        for (i = 0; i < pending_scan_results_length; i++) {
                struct pending_scan_result *pending_scan_result = &pending_scan_results_buffer[i];
                uint8_t *buffer = pending_scan_result->buffer;
                int length = pending_scan_result->length;
                int first = pending_scan_result->first;
                struct scan_command *command = pending_scan_result->command;

                /* Copy to buffer */
                buf_set_buf(tdo_buffer, first, buffer, 0, length);

                DEBUG_JTAG_IO("pending scan result, length = %d", length);

                jlink_debug_buffer(buffer, DIV_ROUND_UP(length, 8));

                if (jtag_read_buffer(buffer, command) != ERROR_OK) {
                        jlink_tap_init();
                        return ERROR_JTAG_QUEUE_FAILED;
                }

                if (pending_scan_result->buffer != NULL)
                        free(pending_scan_result->buffer);
        }

        jlink_tap_init();
        return ERROR_OK;
}

static void fill_buffer(uint8_t *buf, uint32_t val, uint32_t len)
{
        unsigned int tap_pos = tap_length;

        while (len > 32) {
                buf_set_u32(buf, tap_pos, 32, val);
                len -= 32;
                tap_pos += 32;
        }
        if (len)
                buf_set_u32(buf, tap_pos, len, val);
}

static void jlink_queue_data_out(const uint8_t *data, uint32_t len)
{
        const uint32_t dir_out = 0xffffffff;

        if (data)
                bit_copy(tdi_buffer, tap_length, data, 0, len);
        else
                fill_buffer(tdi_buffer, 0, len);
        fill_buffer(tms_buffer, dir_out, len);
        tap_length += len;
}

static void jlink_queue_data_in(uint32_t len)
{
        const uint32_t dir_in = 0;

        fill_buffer(tms_buffer, dir_in, len);
        tap_length += len;
}

static int jlink_swd_switch_seq(struct adiv5_dap *dap, enum swd_special_seq seq)
{
        const uint8_t *s;
        unsigned int s_len;

        switch (seq) {
        case LINE_RESET:
                LOG_DEBUG("SWD line reset");
                s = swd_seq_line_reset;
                s_len = swd_seq_line_reset_len;
                break;
        case JTAG_TO_SWD:
                LOG_DEBUG("JTAG-to-SWD");
                s = swd_seq_jtag_to_swd;
                s_len = swd_seq_jtag_to_swd_len;
                break;
        case SWD_TO_JTAG:
                LOG_DEBUG("SWD-to-JTAG");
                s = swd_seq_swd_to_jtag;
                s_len = swd_seq_swd_to_jtag_len;
                break;
        default:
                LOG_ERROR("Sequence %d not supported", seq);
                return ERROR_FAIL;
        }

        jlink_queue_data_out(s, s_len);

        return ERROR_OK;
}

static int jlink_swd_run_queue(struct adiv5_dap *dap)
{
        LOG_DEBUG("Executing %d queued transactions", pending_scan_results_length);
        int retval;

        if (queued_retval != ERROR_OK) {
                LOG_DEBUG("Skipping due to previous errors: %d", queued_retval);
                goto skip;
        }

        /* A transaction must be followed by another transaction or at least 8 idle cycles to
         * ensure that data is clocked through the AP. */
        jlink_queue_data_out(NULL, 8);

        size_t byte_length = DIV_ROUND_UP(tap_length, 8);

        /* There's a comment in jlink_tap_execute saying JLink returns
         * an extra NULL in packet when size of incoming message is a
         * multiple of 64. Someone should verify if that's still the
         * case with the current jlink firmware */

        usb_out_buffer[0] = EMU_CMD_HW_JTAG3;
        usb_out_buffer[1] = 0;
        usb_out_buffer[2] = (tap_length >> 0) & 0xff;
        usb_out_buffer[3] = (tap_length >> 8) & 0xff;
        memcpy(usb_out_buffer + 4, tms_buffer, byte_length);
        memcpy(usb_out_buffer + 4 + byte_length, tdi_buffer, byte_length);

        retval = jlink_usb_message(jlink_handle, 4 + 2 * byte_length,
                                   byte_length + 1);
        if (retval != ERROR_OK) {
                LOG_ERROR("jlink_swd_run_queue failed USB io (%d)", retval);
                goto skip;
        }

        retval = usb_in_buffer[byte_length];
        if (retval) {
                LOG_ERROR("jlink_swd_run_queue failed, result %d", retval);
                goto skip;
        }

        for (int i = 0; i < pending_scan_results_length; i++) {
                int ack = buf_get_u32(usb_in_buffer, pending_scan_results_buffer[i].first, 3);

                if (ack != SWD_ACK_OK) {
                        LOG_ERROR("SWD ack not OK: %d %s", ack,
                                  ack == SWD_ACK_WAIT ? "WAIT" : ack == SWD_ACK_FAULT ? "FAULT" : "JUNK");
                        queued_retval = ack;
                        goto skip;
                } else if (pending_scan_results_buffer[i].length) {
                        uint32_t data = buf_get_u32(usb_in_buffer, 3 + pending_scan_results_buffer[i].first, 32);
                        int parity = buf_get_u32(usb_in_buffer, 3 + 32 + pending_scan_results_buffer[i].first, 1);

                        if (parity != parity_u32(data)) {
                                LOG_ERROR("SWD Read data parity mismatch");
                                queued_retval = ERROR_FAIL;
                                goto skip;
                        }

                        if (pending_scan_results_buffer[i].buffer)
                                *(uint32_t *)pending_scan_results_buffer[i].buffer = data;
                }
        }

skip:
        jlink_tap_init();
        retval = queued_retval;
        queued_retval = ERROR_OK;

        return retval;
}

static void jlink_swd_queue_cmd(struct adiv5_dap *dap, uint8_t cmd, uint32_t *dst, uint32_t data)
{
        uint8_t data_parity_trn[DIV_ROUND_UP(32 + 1, 8)];
        if (tap_length + 46 + 8 + dap->memaccess_tck >= sizeof(tdi_buffer) * 8 ||
            pending_scan_results_length == MAX_PENDING_SCAN_RESULTS) {
                /* Not enough room in the queue. Run the queue. */
                queued_retval = jlink_swd_run_queue(dap);
        }

        if (queued_retval != ERROR_OK)
                return;

        cmd |= SWD_CMD_START | SWD_CMD_PARK;

        jlink_queue_data_out(&cmd, 8);

        pending_scan_results_buffer[pending_scan_results_length].first = tap_length;

        if (cmd & SWD_CMD_RnW) {
                /* Queue a read transaction */
                pending_scan_results_buffer[pending_scan_results_length].length = 32;
                pending_scan_results_buffer[pending_scan_results_length].buffer = dst;

                jlink_queue_data_in(1 + 3 + 32 + 1 + 1);
        } else {
                /* Queue a write transaction */
                pending_scan_results_buffer[pending_scan_results_length].length = 0;
                jlink_queue_data_in(1 + 3 + 1);

                buf_set_u32(data_parity_trn, 0, 32, data);
                buf_set_u32(data_parity_trn, 32, 1, parity_u32(data));

                jlink_queue_data_out(data_parity_trn, 32 + 1);
        }

        pending_scan_results_length++;

        /* Insert idle cycles after AP accesses to avoid WAIT */
        if (cmd & SWD_CMD_APnDP)
                jlink_queue_data_out(NULL, dap->memaccess_tck);
}

/*****************************************************************************/
/* JLink USB low-level functions */

static struct jlink *jlink_usb_open()
{
        struct jtag_libusb_device_handle *devh;
        if (jtag_libusb_open(vids, pids, NULL, &devh) != ERROR_OK)
                return NULL;

        /* BE ***VERY CAREFUL*** ABOUT MAKING CHANGES IN THIS
         * AREA!!!!!!!!!!!  The behavior of libusb is not completely
         * consistent across Windows, Linux, and Mac OS X platforms.
         * The actions taken in the following compiler conditionals may
         * not agree with published documentation for libusb, but were
         * found to be necessary through trials and tribulations.  Even
         * little tweaks can break one or more platforms, so if you do
         * make changes test them carefully on all platforms before
         * committing them!
         */

#if IS_WIN32 == 0

        jtag_libusb_reset_device(devh);

#if IS_DARWIN == 0

        int timeout = 5;
        /* reopen jlink after usb_reset
         * on win32 this may take a second or two to re-enumerate */
        int retval;
        while ((retval = jtag_libusb_open(vids, pids, NULL, &devh)) != ERROR_OK) {
                usleep(1000);
                timeout--;
                if (!timeout)
                        break;
        }
        if (ERROR_OK != retval)
                return NULL;
#endif

#endif

        /* usb_set_configuration required under win32 */
        struct jtag_libusb_device *udev = jtag_libusb_get_device(devh);
        jtag_libusb_set_configuration(devh, 0);
        jtag_libusb_claim_interface(devh, 0);

#if 0
        /*
         * This makes problems under Mac OS X. And is not needed
         * under Windows. Hopefully this will not break a linux build
         */
        usb_set_altinterface(result->usb_handle, 0);
#endif

        /* Use the OB endpoints if the JLink we matched is a Jlink-OB adapter */
        uint16_t matched_pid;
        if (jtag_libusb_get_pid(udev, &matched_pid) == ERROR_OK) {
                if (matched_pid == JLINK_OB_PID) {
                        jlink_read_ep = JLINK_OB_WRITE_ENDPOINT;
                        jlink_write_ep = JLINK_OB_READ_ENDPOINT;
                }
        }

        jtag_libusb_get_endpoints(udev, &jlink_read_ep, &jlink_write_ep);

        struct jlink *result = malloc(sizeof(struct jlink));
        result->usb_handle = devh;
        return result;
}

static void jlink_usb_close(struct jlink *jlink)
{
        jtag_libusb_close(jlink->usb_handle);
        free(jlink);
}

/* Send a message and receive the reply. */
static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length)
{
        int result;

        result = jlink_usb_write(jlink, out_length);
        if (result != out_length) {
                LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
                                out_length, result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        result = jlink_usb_read(jlink, in_length);
        if (result != in_length) {
                LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
                                in_length, result);
                return ERROR_JTAG_DEVICE_ERROR;
        }
        return ERROR_OK;
}

/* calls the given usb_bulk_* function, allowing for the data to
 * trickle in with some timeouts  */
static int usb_bulk_with_retries(
                int (*f)(jtag_libusb_device_handle *, int, char *, int, int),
                jtag_libusb_device_handle *dev, int ep,
                char *bytes, int size, int timeout)
{
        int tries = 3, count = 0;

        while (tries && (count < size)) {
                int result = f(dev, ep, bytes + count, size - count, timeout);
                if (result > 0)
                        count += result;
                else if ((-ETIMEDOUT != result) || !--tries)
                        return result;
        }
        return count;
}

static int wrap_usb_bulk_write(jtag_libusb_device_handle *dev, int ep,
                char *buff, int size, int timeout)
{
        /* usb_bulk_write() takes const char *buff */
        return jtag_libusb_bulk_write(dev, ep, buff, size, timeout);
}

static inline int usb_bulk_write_ex(jtag_libusb_device_handle *dev, int ep,
                char *bytes, int size, int timeout)
{
        return usb_bulk_with_retries(&wrap_usb_bulk_write,
                        dev, ep, bytes, size, timeout);
}

static inline int usb_bulk_read_ex(jtag_libusb_device_handle *dev, int ep,
                char *bytes, int size, int timeout)
{
        return usb_bulk_with_retries(&jtag_libusb_bulk_read,
                        dev, ep, bytes, size, timeout);
}

/* Write data from out_buffer to USB. */
static int jlink_usb_write(struct jlink *jlink, int out_length)
{
        int result;

        if (out_length > JLINK_OUT_BUFFER_SIZE) {
                LOG_ERROR("jlink_write illegal out_length=%d (max=%d)",
                                out_length, JLINK_OUT_BUFFER_SIZE);
                return -1;
        }

        result = usb_bulk_write_ex(jlink->usb_handle, jlink_write_ep,
                (char *)usb_out_buffer, out_length, JLINK_USB_TIMEOUT);

        DEBUG_JTAG_IO("jlink_usb_write, out_length = %d, result = %d",
                        out_length, result);

        jlink_debug_buffer(usb_out_buffer, out_length);
        return result;
}

/* Read data from USB into in_buffer. */
static int jlink_usb_read(struct jlink *jlink, int expected_size)
{
        int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
                (char *)usb_in_buffer, expected_size, JLINK_USB_TIMEOUT);

        DEBUG_JTAG_IO("jlink_usb_read, result = %d", result);

        jlink_debug_buffer(usb_in_buffer, result);
        return result;
}

/*
 * Send a message and receive the reply - simple messages.
 *
 * @param jlink pointer to driver data
 * @param out_length data length in @c usb_out_buffer
 * @param in_length data length to be read to @c usb_in_buffer
 */
static int jlink_usb_io(struct jlink *jlink, int out_length, int in_length)
{
        int result;

        result = jlink_usb_write(jlink, out_length);
        if (result != out_length) {
                LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)",
                                out_length, result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        result = jlink_usb_read(jlink, in_length);
        if (result != in_length) {
                LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)",
                                in_length, result);
                return ERROR_JTAG_DEVICE_ERROR;
        }

        /*
         * Section 4.2.4 IN-transaction:
         * read dummy 0-byte packet if transaction size is
         * multiple of 64 bytes but not max. size of 0x8000
         */
        if ((in_length % 64) == 0 && in_length != 0x8000) {
                char dummy_buffer;
                result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep,
                        &dummy_buffer, 1, JLINK_USB_TIMEOUT);
                if (result != 0) {
                        LOG_ERROR("dummy byte read failed");
                        return ERROR_JTAG_DEVICE_ERROR;
                }
        }
        return ERROR_OK;
}

#ifdef _DEBUG_USB_COMMS_
#define BYTES_PER_LINE  16

static void jlink_debug_buffer(uint8_t *buffer, int length)
{
        char line[81];
        char s[4];
        int i;
        int j;

        for (i = 0; i < length; i += BYTES_PER_LINE) {
                snprintf(line, 5, "%04x", i);
                for (j = i; j < i + BYTES_PER_LINE && j < length; j++) {
                        snprintf(s, 4, " %02x", buffer[j]);
                        strcat(line, s);
                }
                LOG_DEBUG("%s", line);
        }
}
#endif