X-Git-Url: https://review.openocd.org/gitweb?p=openocd.git;a=blobdiff_plain;f=src%2Fjtag%2Fjlink.c;h=dbbddb868a2fe83be82ff2850b4a89ea2baf2490;hp=9b5a6954a3564614fcbb1ad781f3cc9c2fdcc09f;hb=2861877b32a7a2f4022a1c3d9b66c9b4879878ac;hpb=4f0bd8e8e1fe0a7f8eda31e16d6415daa599583a diff --git a/src/jtag/jlink.c b/src/jtag/jlink.c index 9b5a6954a3..dbbddb868a 100644 --- a/src/jtag/jlink.c +++ b/src/jtag/jlink.c @@ -25,26 +25,11 @@ #include "config.h" #endif -#include "replacements.h" - -#include "jtag.h" +#include "interface.h" +#include "commands.h" #include -#include -#include "log.h" - -/* enable this to debug communication - */ -#if 0 -#define _DEBUG_USB_COMMS_ -#endif - -#ifdef _DEBUG_JTAG_IO_ -#define DEBUG_JTAG_IO(expr ...) LOG_DEBUG(expr) -#else -#define DEBUG_JTAG_IO(expr ...) -#endif #define VID 0x1366 #define PID 0x0101 @@ -52,26 +37,47 @@ #define JLINK_WRITE_ENDPOINT 0x02 #define JLINK_READ_ENDPOINT 0x81 +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 -#define JLINK_IN_BUFFER_SIZE 8192 -#define JLINK_OUT_BUFFER_SIZE 8192 +// See Section 1.3.2 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 +#define JLINK_OUT_BUFFER_SIZE 2*2048 + 4 #define JLINK_EMU_RESULT_BUFFER_SIZE 64 /* Global USB buffers */ -static u8 usb_in_buffer[JLINK_IN_BUFFER_SIZE]; -static u8 usb_out_buffer[JLINK_OUT_BUFFER_SIZE]; -static u8 usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE]; +static uint8_t usb_in_buffer[JLINK_IN_BUFFER_SIZE]; +static uint8_t usb_out_buffer[JLINK_OUT_BUFFER_SIZE]; +static uint8_t usb_emu_result_buffer[JLINK_EMU_RESULT_BUFFER_SIZE]; /* Constants for JLink command */ -#define EMU_CMD_VERSION 0x01 -#define EMU_CMD_SET_SPEED 0x05 -#define EMU_CMD_GET_STATE 0x07 -#define EMU_CMD_HW_JTAG3 0xcf -#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_VERSION 0x01 +#define EMU_CMD_SET_SPEED 0x05 +#define EMU_CMD_GET_STATE 0x07 +#define EMU_CMD_HW_CLOCK 0xc8 +#define EMU_CMD_HW_TMS0 0xc9 +#define EMU_CMD_HW_TMS1 0xca +#define EMU_CMD_HW_JTAG2 0xce +#define EMU_CMD_HW_JTAG3 0xcf +#define EMU_CMD_GET_MAX_MEM_BLOCK 0xd4 +#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_HW_VERSION 0xf0 + +/* bits return from EMU_CMD_GET_CAPS */ +#define EMU_CAP_GET_HW_VERSION 1 +#define EMU_CAP_GET_MAX_BLOCK_SIZE 11 /* max speed 12MHz v5.0 jlink */ #define JLINK_MAX_SPEED 12000 @@ -81,21 +87,18 @@ static int jlink_execute_queue(void); static int jlink_speed(int speed); static int jlink_speed_div(int speed, int* khz); static int jlink_khz(int khz, int *jtag_speed); -static int jlink_register_commands(struct command_context_s *cmd_ctx); +static int jlink_register_commands(struct command_context *cmd_ctx); static int jlink_init(void); static int jlink_quit(void); -/* CLI command handler functions */ -static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc); - /* 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(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command); +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(u8 command); +static void jlink_simple_command(uint8_t command); static int jlink_get_status(void); /* J-Link tap buffer functions */ @@ -103,34 +106,35 @@ 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, u8 *buffer, scan_command_t *command); +static void jlink_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command); /* Jlink lowlevel functions */ -typedef struct jlink_jtag -{ +struct jlink { struct usb_dev_handle* usb_handle; -} jlink_jtag_t; +}; -static jlink_jtag_t *jlink_usb_open(void); -static void jlink_usb_close(jlink_jtag_t *jlink_jtag); -static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length); -static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length); -static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size); -static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag); +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_write(struct jlink *jlink, int out_length); +static int jlink_usb_read(struct jlink *jlink, int expected_size); +static int jlink_usb_read_emu_result(struct jlink *jlink); /* helper functions */ static int jlink_get_version_info(void); #ifdef _DEBUG_USB_COMMS_ -static void jlink_debug_buffer(u8 *buffer, int length); +static void jlink_debug_buffer(uint8_t *buffer, int length); #endif -static jlink_jtag_t* jlink_jtag_handle; +static enum tap_state jlink_last_state = TAP_RESET; + +static struct jlink* jlink_handle; /***************************************************************************/ /* External interface implementation */ -jtag_interface_t jlink_interface = +struct jtag_interface jlink_interface = { .name = "jlink", .execute_queue = jlink_execute_queue, @@ -142,95 +146,96 @@ jtag_interface_t jlink_interface = .quit = jlink_quit }; -static int jlink_execute_queue(void) +static void jlink_execute_runtest(struct jtag_command *cmd) { - jtag_command_t *cmd = jtag_command_queue; - int scan_size; - enum scan_type type; - u8 *buffer; - - while (cmd != NULL) - { - switch (cmd->type) - { - case JTAG_END_STATE: - DEBUG_JTAG_IO("end_state: %i", cmd->cmd.end_state->end_state); + DEBUG_JTAG_IO("runtest %i cycles, end in %i", + cmd->cmd.runtest->num_cycles, + cmd->cmd.runtest->end_state); - if (cmd->cmd.end_state->end_state != TAP_INVALID) - { - jlink_end_state(cmd->cmd.end_state->end_state); - } - break; + jlink_end_state(cmd->cmd.runtest->end_state); - case JTAG_RUNTEST: - DEBUG_JTAG_IO( "runtest %i cycles, end in %i", cmd->cmd.runtest->num_cycles, \ - cmd->cmd.runtest->end_state); + jlink_runtest(cmd->cmd.runtest->num_cycles); +} - if (cmd->cmd.runtest->end_state != TAP_INVALID) - { - jlink_end_state(cmd->cmd.runtest->end_state); - } - jlink_runtest(cmd->cmd.runtest->num_cycles); - break; +static void jlink_execute_statemove(struct jtag_command *cmd) +{ + DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state); - case JTAG_STATEMOVE: - DEBUG_JTAG_IO("statemove end in %i", cmd->cmd.statemove->end_state); + jlink_end_state(cmd->cmd.statemove->end_state); + jlink_state_move(); +} - if (cmd->cmd.statemove->end_state != TAP_INVALID) - { - jlink_end_state(cmd->cmd.statemove->end_state); - } - jlink_state_move(); - break; +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]); - case JTAG_PATHMOVE: - 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); +} - jlink_path_move(cmd->cmd.pathmove->num_states, cmd->cmd.pathmove->path); - break; +static void jlink_execute_scan(struct jtag_command *cmd) +{ + int scan_size; + enum scan_type type; + uint8_t *buffer; - case JTAG_SCAN: - DEBUG_JTAG_IO("scan end in %i", cmd->cmd.scan->end_state); + DEBUG_JTAG_IO("scan end in %s", tap_state_name(cmd->cmd.scan->end_state)); - if (cmd->cmd.scan->end_state != TAP_INVALID) - { - jlink_end_state(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); + scan_size = jtag_build_buffer(cmd->cmd.scan, &buffer); + DEBUG_JTAG_IO("scan input, length = %d", scan_size); #ifdef _DEBUG_USB_COMMS_ - jlink_debug_buffer(buffer, (scan_size + 7) / 8); + jlink_debug_buffer(buffer, (scan_size + 7) / 8); #endif - type = jtag_scan_type(cmd->cmd.scan); - jlink_scan(cmd->cmd.scan->ir_scan, type, buffer, scan_size, cmd->cmd.scan); - break; + type = jtag_scan_type(cmd->cmd.scan); + jlink_scan(cmd->cmd.scan->ir_scan, + type, buffer, scan_size, cmd->cmd.scan); +} - case JTAG_RESET: - DEBUG_JTAG_IO("reset trst: %i srst %i", cmd->cmd.reset->trst, cmd->cmd.reset->srst); +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_tap_execute(); + jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst); + jlink_tap_execute(); +} - if (cmd->cmd.reset->trst == 1) - { - tap_set_state(TAP_RESET); - } - jlink_reset(cmd->cmd.reset->trst, cmd->cmd.reset->srst); - break; +static void jlink_execute_sleep(struct jtag_command *cmd) +{ + DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us); + jlink_tap_execute(); + jtag_sleep(cmd->cmd.sleep->us); +} - case JTAG_SLEEP: - DEBUG_JTAG_IO("sleep %i", cmd->cmd.sleep->us); - jlink_tap_execute(); - jtag_sleep(cmd->cmd.sleep->us); - break; +static void jlink_execute_command(struct jtag_command *cmd) +{ + switch (cmd->type) + { + case JTAG_RUNTEST: jlink_execute_runtest(cmd); break; + case JTAG_STATEMOVE: 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); + } +} - 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; } @@ -242,31 +247,26 @@ static int jlink_speed(int speed) { int result; - if (speed <= JLINK_MAX_SPEED) + if (speed > JLINK_MAX_SPEED) { - /* check for RTCK setting */ - if (speed == 0) - speed = -1; + LOG_INFO("Ignoring speed request: %dkHz exceeds %dkHz maximum", + speed, JLINK_MAX_SPEED); + return ERROR_OK; + } - usb_out_buffer[0] = EMU_CMD_SET_SPEED; - usb_out_buffer[1] = (speed >> 0) & 0xff; - usb_out_buffer[2] = (speed >> 8) & 0xff; + /* check for RTCK setting */ + if (speed == 0) + speed = -1; - result = jlink_usb_write(jlink_jtag_handle, 3); + usb_out_buffer[0] = EMU_CMD_SET_SPEED; + usb_out_buffer[1] = (speed >> 0) & 0xff; + usb_out_buffer[2] = (speed >> 8) & 0xff; - if (result == 3) - { - return ERROR_OK; - } - else - { - LOG_ERROR("J-Link setting speed failed (%d)", result); - return ERROR_JTAG_DEVICE_ERROR; - } - } - else + result = jlink_usb_write(jlink_handle, 3); + if (result != 3) { - LOG_INFO("Requested speed %dkHz exceeds maximum of %dkHz, ignored", speed, JLINK_MAX_SPEED); + LOG_ERROR("J-Link setting speed failed (%d)", result); + return ERROR_JTAG_DEVICE_ERROR; } return ERROR_OK; @@ -286,54 +286,61 @@ static int jlink_khz(int khz, int *jtag_speed) return ERROR_OK; } -static int jlink_register_commands(struct command_context_s *cmd_ctx) -{ - register_command(cmd_ctx, NULL, "jlink_info", jlink_handle_jlink_info_command, COMMAND_EXEC, - "query jlink info"); - return ERROR_OK; -} - static int jlink_init(void) { - int check_cnt; + int i; - jlink_jtag_handle = jlink_usb_open(); + jlink_handle = jlink_usb_open(); - if (jlink_jtag_handle == 0) + if (jlink_handle == 0) { LOG_ERROR("Cannot find jlink Interface! Please check connection and permissions."); return ERROR_JTAG_INIT_FAILED; } - check_cnt = 0; - while (check_cnt < 3) - { - if (jlink_get_version_info() == ERROR_OK) - { - /* attempt to get status */ - jlink_get_status(); - break; - } + /* + * The next three instructions were added after discovering a problem while using an oscilloscope. For the V8 + * SAM-ICE dongle (and likely other j-link device variants), the reset line to the target microprocessor was found to + * cycle only intermittently during emulator startup (even after encountering the downstream reset instruction later + * in the code). This was found to create two issues: 1) In general it is a bad practice to not reset a CPU to a known + * state when starting an emulator and 2) something critical happens inside the dongle when it does the first read + * following a new USB session. Keeping the processor in reset during the first read collecting version information + * seems to prevent errant "J-Link command EMU_CMD_VERSION failed" issues. + */ - check_cnt++; - } + LOG_INFO("J-Link initialization started / target CPU reset initiated"); + jlink_simple_command(EMU_CMD_HW_TRST0); + jlink_simple_command(EMU_CMD_HW_RESET0); + usleep(1000); - if (check_cnt == 3) + jlink_hw_jtag_version = 2; + + if (jlink_get_version_info() == ERROR_OK) { - LOG_INFO("J-Link initial read failed, don't worry"); + /* attempt to get status */ + jlink_get_status(); } LOG_INFO("J-Link JTAG Interface ready"); jlink_reset(0, 0); + jtag_sleep(3000); jlink_tap_init(); + jlink_speed(jtag_get_speed()); + + /* 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(); return ERROR_OK; } static int jlink_quit(void) { - jlink_usb_close(jlink_jtag_handle); + jlink_usb_close(jlink_handle); return ERROR_OK; } @@ -358,9 +365,10 @@ static void jlink_state_move(void) { int i; int tms = 0; - u8 tms_scan = tap_get_tms_path(tap_get_state(), tap_get_end_state()); + 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 < 7; i++) + for (i = 0; i < tms_scan_bits; i++) { tms = (tms_scan >> i) & 1; jlink_tap_append_step(tms, 0); @@ -401,11 +409,14 @@ static void jlink_runtest(int num_cycles) 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 */ @@ -422,11 +433,11 @@ static void jlink_runtest(int num_cycles) } } -static void jlink_scan(int ir_scan, enum scan_type type, u8 *buffer, int scan_size, scan_command_t *command) +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 + 8); + jlink_tap_ensure_space(1, scan_size + 16); saved_end_state = tap_get_end_state(); @@ -462,29 +473,30 @@ static void jlink_reset(int trst, int srst) { jlink_simple_command(EMU_CMD_HW_RESET1); } - else if (srst == 1) + if (srst == 1) { jlink_simple_command(EMU_CMD_HW_RESET0); } - if (trst == 0) + if (trst == 1) { - jlink_simple_command(EMU_CMD_HW_TRST1); + jlink_simple_command(EMU_CMD_HW_TRST0); } - else if (trst == 1) + + if (trst == 0) { - jlink_simple_command(EMU_CMD_HW_TRST0); + jlink_simple_command(EMU_CMD_HW_TRST1); } } -static void jlink_simple_command(u8 command) +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_jtag_handle, 1); + result = jlink_usb_write(jlink_handle, 1); if (result != 1) { @@ -497,56 +509,112 @@ static int jlink_get_status(void) int result; jlink_simple_command(EMU_CMD_GET_STATE); - result = jlink_usb_read(jlink_jtag_handle, 8); - if (result == 8) - { - 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\n", \ - 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\n"); - } - } - else + result = jlink_usb_read(jlink_handle, 8); + if (result != 8) { LOG_ERROR("J-Link command EMU_CMD_GET_STATE failed (%d)\n", 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\n", \ + 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\n"); + return ERROR_OK; } static int jlink_get_version_info(void) { int result; - int len = 0; + int len; + uint32_t jlink_caps, jlink_max_size; /* query hardware version */ jlink_simple_command(EMU_CMD_VERSION); - result = jlink_usb_read(jlink_jtag_handle, 2); - if (result == 2) + result = jlink_usb_read(jlink_handle, 2); + if (2 != result) + { + LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", 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)\n", result); + return ERROR_JTAG_DEVICE_ERROR; + } + + usb_in_buffer[result] = 0; + LOG_INFO("%s", (char *)usb_in_buffer); + + /* query hardware capabilities */ + jlink_simple_command(EMU_CMD_GET_CAPS); + + result = jlink_usb_read(jlink_handle, 4); + if (4 != result) { - len = buf_get_u32(usb_in_buffer, 0, 16); - result = jlink_usb_read(jlink_jtag_handle, len); + LOG_ERROR("J-Link command EMU_CMD_GET_CAPS failed (%d)\n", result); + return ERROR_JTAG_DEVICE_ERROR; + } - if (result == len) + jlink_caps = buf_get_u32(usb_in_buffer, 0, 32); + LOG_INFO("JLink 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) { - usb_in_buffer[result] = 0; - LOG_INFO("%s", (char *)usb_in_buffer); - return ERROR_OK; + LOG_ERROR("J-Link command EMU_CMD_GET_HW_VERSION failed (%d)\n", 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; + if (major_revision >= 5) + jlink_hw_jtag_version = 3; + + LOG_INFO("JLink hw version %i", (int)jlink_hw_version); + } + + 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)\n", result); + return ERROR_JTAG_DEVICE_ERROR; + } + + jlink_max_size = buf_get_u32(usb_in_buffer, 0, 32); + LOG_INFO("JLink max mem block %i", (int)jlink_max_size); } - LOG_ERROR("J-Link command EMU_CMD_VERSION failed (%d)\n", result); - return ERROR_JTAG_DEVICE_ERROR; + return ERROR_OK; } -static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, char *cmd, char **args, int argc) +COMMAND_HANDLER(jlink_handle_jlink_info_command) { if (jlink_get_version_info() == ERROR_OK) { @@ -557,31 +625,62 @@ static int jlink_handle_jlink_info_command(struct command_context_s *cmd_ctx, ch return ERROR_OK; } +COMMAND_HANDLER(jlink_handle_jlink_hw_jtag_command) +{ + switch (CMD_ARGC) { + case 0: + command_print(CMD_CTX, "jlink 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; +} + +static int jlink_register_commands(struct command_context *cmd_ctx) +{ + + register_command(cmd_ctx, NULL, "jlink_info", + &jlink_handle_jlink_info_command, COMMAND_EXEC, + "query jlink info"); + register_command(cmd_ctx, NULL, "jlink_hw_jtag", + &jlink_handle_jlink_hw_jtag_command, COMMAND_EXEC, + "set/get jlink hw jtag command version [2 | 3]"); + return ERROR_OK; +} + /***************************************************************************/ /* J-Link tap functions */ -/* 2048 is the max value we can use here */ -#define JLINK_TAP_BUFFER_SIZE 2048 -static int tap_length; -static u8 tms_buffer[JLINK_TAP_BUFFER_SIZE]; -static u8 tdi_buffer[JLINK_TAP_BUFFER_SIZE]; -static u8 tdo_buffer[JLINK_TAP_BUFFER_SIZE]; +static unsigned tap_length = 0; +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]; -typedef struct -{ +struct pending_scan_result { int first; /* First bit position in tdo_buffer to read */ int length; /* Number of bits to read */ - scan_command_t *command; /* Corresponding scan command */ - u8 *buffer; -} pending_scan_result_t; + struct scan_command *command; /* Corresponding scan command */ + uint8_t *buffer; +}; #define MAX_PENDING_SCAN_RESULTS 256 static int pending_scan_results_length; -static pending_scan_result_t pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS]; - -static int last_tms; +static struct pending_scan_result pending_scan_results_buffer[MAX_PENDING_SCAN_RESULTS]; static void jlink_tap_init(void) { @@ -592,7 +691,7 @@ static void jlink_tap_init(void) 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; + int available_bits = JLINK_TAP_BUFFER_SIZE * 8 - tap_length - 32; if (scans > available_scans || bits > available_bits) { @@ -602,43 +701,41 @@ static void jlink_tap_ensure_space(int scans, int bits) static void jlink_tap_append_step(int tms, int tdi) { - last_tms = tms; int index = tap_length / 8; - if (index < JLINK_TAP_BUFFER_SIZE) + if (index >= JLINK_TAP_BUFFER_SIZE) { - int bit_index = tap_length % 8; - u8 bit = 1 << bit_index; - - if (tms) - { - tms_buffer[index] |= bit; - } - else - { - tms_buffer[index] &= ~bit; - } + LOG_ERROR("jlink_tap_append_step: overflow"); + *(uint32_t *)0xFFFFFFFF = 0; + exit(-1); + } - if (tdi) - { - tdi_buffer[index] |= bit; - } - else - { - tdi_buffer[index] &= ~bit; - } + int bit_index = tap_length % 8; + uint8_t bit = 1 << bit_index; - tap_length++; - } - else + // we do not pad TMS, so be sure to initialize all bits + if (0 == bit_index) { - LOG_ERROR("jlink_tap_append_step, overflow"); + tms_buffer[index] = tdi_buffer[index] = 0; } + + if (tms) + tms_buffer[index] |= bit; + else + tms_buffer[index] &= ~bit; + + if (tdi) + tdi_buffer[index] |= bit; + else + tdi_buffer[index] &= ~bit; + + tap_length++; } -static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *command) +static void jlink_tap_append_scan(int length, uint8_t *buffer, struct scan_command *command) { - pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[pending_scan_results_length]; + struct pending_scan_result *pending_scan_result = + &pending_scan_results_buffer[pending_scan_results_length]; int i; pending_scan_result->first = tap_length; @@ -648,7 +745,9 @@ static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *comman for (i = 0; i < length; i++) { - jlink_tap_append_step((i < length-1 ? 0 : 1), (buffer[i/8] >> (i%8)) & 1); + 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++; } @@ -658,132 +757,190 @@ static void jlink_tap_append_scan(int length, u8 *buffer, scan_command_t *comman static int jlink_tap_execute(void) { int byte_length; - int tms_offset; - int tdi_offset; int i; int result; - if (tap_length > 0) - { - /* Pad last byte so that tap_length is divisible by 8 */ - while (tap_length % 8 != 0) - { - /* More of the last TMS value keeps us in the same state, - * analogous to free-running JTAG interfaces. */ - jlink_tap_append_step(last_tms, 0); - } + if (!tap_length) + return ERROR_OK; - byte_length = tap_length / 8; + /* 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); + } - 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; + // number of full bytes (plus one if some would be left over) + byte_length = DIV_ROUND_UP(tap_length, 8); - tms_offset = 4; - for (i = 0; i < byte_length; i++) - { - usb_out_buffer[tms_offset + i] = tms_buffer[i]; - } + 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); - tdi_offset = tms_offset + byte_length; - for (i = 0; i < byte_length; i++) - { - usb_out_buffer[tdi_offset + i] = tdi_buffer[i]; - } + jlink_last_state = jtag_debug_state_machine(tms_buffer, tdi_buffer, + tap_length, jlink_last_state); - result = jlink_usb_message(jlink_jtag_handle, 4 + 2 * byte_length, byte_length); + result = jlink_usb_message(jlink_handle, 4 + 2 * byte_length, byte_length); + if (result != byte_length) + { + LOG_ERROR("jlink_tap_execute, wrong result %d (expected %d)", result, byte_length); + jlink_tap_init(); + return ERROR_JTAG_QUEUE_FAILED; + } - if (result == byte_length) - { - for (i = 0; i < byte_length; i++) - { - tdo_buffer[i] = usb_in_buffer[i]; - } + memcpy(tdo_buffer, usb_in_buffer, byte_length); - for (i = 0; i < pending_scan_results_length; i++) - { - pending_scan_result_t *pending_scan_result = &pending_scan_results_buffer[i]; - u8 *buffer = pending_scan_result->buffer; - int length = pending_scan_result->length; - int first = pending_scan_result->first; - scan_command_t *command = pending_scan_result->command; + 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); + /* Copy to buffer */ + buf_set_buf(tdo_buffer, first, buffer, 0, length); - DEBUG_JTAG_IO("pending scan result, length = %d", length); + DEBUG_JTAG_IO("pending scan result, length = %d", length); #ifdef _DEBUG_USB_COMMS_ - jlink_debug_buffer(buffer, byte_length); + jlink_debug_buffer(buffer, DIV_ROUND_UP(length, 8)); #endif - 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); - } - } - } - else + if (jtag_read_buffer(buffer, command) != ERROR_OK) { - LOG_ERROR("jlink_tap_execute, wrong result %d, expected %d", result, byte_length); + jlink_tap_init(); return ERROR_JTAG_QUEUE_FAILED; } - jlink_tap_init(); + if (pending_scan_result->buffer != NULL) + { + free(pending_scan_result->buffer); + } } + jlink_tap_init(); return ERROR_OK; } -/*****************************************************************************/ -/* JLink USB low-level functions */ - -static jlink_jtag_t* jlink_usb_open() +static struct usb_device* find_jlink_device(void) { struct usb_bus *busses; struct usb_bus *bus; struct usb_device *dev; - jlink_jtag_t *result; - - result = (jlink_jtag_t*) malloc(sizeof(jlink_jtag_t)); - - usb_init(); usb_find_busses(); usb_find_devices(); busses = usb_get_busses(); - /* find jlink_jtag device in usb bus */ + /* find jlink device in usb bus */ for (bus = busses; bus; bus = bus->next) { for (dev = bus->devices; dev; dev = dev->next) { - if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID)) - { - result->usb_handle = usb_open(dev); + if ((dev->descriptor.idVendor == VID) && (dev->descriptor.idProduct == PID)) { + return dev; + } + } + } + + return NULL; +} + +/*****************************************************************************/ +/* JLink USB low-level functions */ + +static struct jlink* jlink_usb_open() +{ + struct usb_device *dev; + + struct jlink *result; - /* usb_set_configuration required under win32 */ - usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue); - usb_claim_interface(result->usb_handle, 0); + result = (struct jlink*) malloc(sizeof(struct jlink)); + + usb_init(); + + if ((dev = find_jlink_device()) == NULL) { + free(result); + return NULL; + } + + result->usb_handle = usb_open(dev); + + if (result->usb_handle) + { + + /* 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 + + usb_reset(result->usb_handle); + +#if IS_DARWIN == 0 + + int timeout = 5; + + /* reopen jlink after usb_reset + * on win32 this may take a second or two to re-enumerate */ + while ((dev = find_jlink_device()) == NULL) + { + usleep(1000); + timeout--; + if (!timeout) { + break; + } + } + + if (dev == NULL) + { + free(result); + return NULL; + } + + result->usb_handle = usb_open(dev); +#endif + +#endif + + if (result->usb_handle) + { + /* usb_set_configuration required under win32 */ + usb_set_configuration(result->usb_handle, dev->config[0].bConfigurationValue); + usb_claim_interface(result->usb_handle, 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); + /* + * 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 - return result; + struct usb_interface *iface = dev->config->interface; + struct usb_interface_descriptor *desc = iface->altsetting; + for (int i = 0; i < desc->bNumEndpoints; i++) + { + uint8_t epnum = desc->endpoint[i].bEndpointAddress; + bool is_input = epnum & 0x80; + LOG_DEBUG("usb ep %s %02x", is_input ? "in" : "out", epnum); + if (is_input) + jlink_read_ep = epnum; + else + jlink_write_ep = epnum; } + + return result; } } @@ -791,134 +948,124 @@ static jlink_jtag_t* jlink_usb_open() return NULL; } -static void jlink_usb_close(jlink_jtag_t *jlink_jtag) +static void jlink_usb_close(struct jlink *jlink) { - usb_close(jlink_jtag->usb_handle); - free(jlink_jtag); + usb_close(jlink->usb_handle); + free(jlink); } /* Send a message and receive the reply. */ -static int jlink_usb_message(jlink_jtag_t *jlink_jtag, int out_length, int in_length) +static int jlink_usb_message(struct jlink *jlink, int out_length, int in_length) { int result; - int result2; - result = jlink_usb_write(jlink_jtag, out_length); - if (result == out_length) + 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) && (result != (in_length + 1))) + { + LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", + in_length, result); + return ERROR_JTAG_DEVICE_ERROR; + } + + if (jlink_hw_jtag_version < 3) + return result; + + int result2 = ERROR_OK; + if (result == in_length) { - result = jlink_usb_read(jlink_jtag, in_length); - if (result == in_length || result == in_length+1) + /* Must read the result from the EMU too */ + result2 = jlink_usb_read_emu_result(jlink); + if (1 != result2) { - if (result == in_length) + LOG_ERROR("jlink_usb_read_emu_result retried requested = 1, result=%d, in_length=%i", result2,in_length); + /* Try again once, should only happen if (in_length%64 == 0) */ + result2 = jlink_usb_read_emu_result(jlink); + if (1 != result2) { - /* Must read the result from the EMU too */ - result2 = jlink_usb_read_emu_result(jlink_jtag); - if (1 == result2) - { - /* Check the result itself */ - if (0 == usb_emu_result_buffer[0]) - { - return result; - } - else - { - LOG_ERROR("jlink_usb_read_emu_result (requested=0, result=%d)", usb_emu_result_buffer[0]); - return -1; - } - } - else - { - LOG_ERROR("jlink_usb_read_emu_result len (requested=1, result=%d)", result2); - return -1; - } + LOG_ERROR("jlink_usb_read_emu_result failed " + "(requested = 1, result=%d)", result2); + return ERROR_JTAG_DEVICE_ERROR; } - else - { - /* Check the result itself */ - if (0 == usb_in_buffer[result-1]) - { - return result-1; - } - else - { - LOG_ERROR("jlink_usb_read_emu_result (requested=0, result=%d)", usb_in_buffer[result]); - return -1; - } - } - } - else - { - LOG_ERROR("usb_bulk_read failed (requested=%d, result=%d)", in_length, result); - return -1; } + + /* Check the result itself */ + result2 = usb_emu_result_buffer[0]; } else { - LOG_ERROR("usb_bulk_write failed (requested=%d, result=%d)", out_length, result); - return -1; + /* Save the result, then remove it from return value */ + result2 = usb_in_buffer[result--]; } -} - -static int usb_bulk_write_ex(usb_dev_handle *dev, int ep, char *bytes, int size, - int timeout) { - - int rc = 0, tries = 3, this_size; - - while (tries && size) { - - this_size = usb_bulk_write (dev, ep, bytes, size, timeout); - - if (this_size > 0) { - - size -= this_size; - rc += this_size; - bytes += this_size; - } else - tries --; + if (result2) + { + LOG_ERROR("jlink_usb_message failed with result=%d)", result2); + return ERROR_JTAG_DEVICE_ERROR; } - return rc; - - + return result; } -static int usb_bulk_read_ex(usb_dev_handle *dev, int ep, char *bytes, int size, - int timeout) { - - int rc = 0, tries = 3, this_size; - - while (tries && size) { - - this_size = usb_bulk_read (dev, ep, bytes, size, timeout); - - if (this_size > 0) { - - size -= this_size; - rc += this_size; - bytes += this_size; +/* calls the given usb_bulk_* function, allowing for the data to trickle in with some timeouts */ +static int usb_bulk_with_retries( + int (*f)(usb_dev_handle *, int, char *, int, int), + usb_dev_handle *dev, int ep, + char *bytes, int size, int timeout) +{ + int tries = 3, count = 0; - } else - tries --; + 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; +} - return rc; +static int wrap_usb_bulk_write(usb_dev_handle *dev, int ep, + char *buff, int size, int timeout) +{ + /* usb_bulk_write() takes const char *buff */ + return usb_bulk_write(dev, ep, buff, size, timeout); +} +static inline int usb_bulk_write_ex(usb_dev_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(usb_dev_handle *dev, int ep, + char *bytes, int size, int timeout) +{ + return usb_bulk_with_retries(&usb_bulk_read, + dev, ep, bytes, size, timeout); +} /* Write data from out_buffer to USB. */ -static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length) +static int jlink_usb_write(struct jlink *jlink, int out_length) { int result; if (out_length > JLINK_OUT_BUFFER_SIZE) { - LOG_ERROR("jlink_jtag_write illegal out_length=%d (max=%d)", 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_jtag->usb_handle, JLINK_WRITE_ENDPOINT, + 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); @@ -930,9 +1077,9 @@ static int jlink_usb_write(jlink_jtag_t *jlink_jtag, int out_length) } /* Read data from USB into in_buffer. */ -static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size) +static int jlink_usb_read(struct jlink *jlink, int expected_size) { - int result = usb_bulk_read_ex(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT, + 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); @@ -944,9 +1091,9 @@ static int jlink_usb_read(jlink_jtag_t *jlink_jtag, int expected_size) } /* Read the result from the previous EMU cmd into result_buffer. */ -static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag) +static int jlink_usb_read_emu_result(struct jlink *jlink) { - int result = usb_bulk_read_ex(jlink_jtag->usb_handle, JLINK_READ_ENDPOINT, + int result = usb_bulk_read_ex(jlink->usb_handle, jlink_read_ep, (char *)usb_emu_result_buffer, 1 /* JLINK_EMU_RESULT_BUFFER_SIZE */, JLINK_USB_TIMEOUT); @@ -961,7 +1108,7 @@ static int jlink_usb_read_emu_result(jlink_jtag_t *jlink_jtag) #ifdef _DEBUG_USB_COMMS_ #define BYTES_PER_LINE 16 -static void jlink_debug_buffer(u8 *buffer, int length) +static void jlink_debug_buffer(uint8_t *buffer, int length) { char line[81]; char s[4]; @@ -976,7 +1123,8 @@ static void jlink_debug_buffer(u8 *buffer, int length) snprintf(s, 4, " %02x", buffer[j]); strcat(line, s); } - LOG_DEBUG(line); + LOG_DEBUG("%s", line); } } #endif +