--- /dev/null
+// SPDX-License-Identifier: GPL-2.0-or-later
+/***************************************************************************
+ File : angie.c *
+ Contents : OpenOCD driver code for NanoXplore USB-JTAG ANGIE *
+ adapter hardware. *
+ Based on openULINK driver code by: Martin Schmoelzer. *
+ Copyright 2023, Ahmed Errached BOUDJELIDA, NanoXplore SAS. *
+ <aboudjelida@nanoxplore.com> *
+ <ahmederrachedbjld@gmail.com> *
+ ***************************************************************************/
+
+#ifdef HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include "helper/system.h"
+#include <jtag/interface.h>
+#include <jtag/commands.h>
+#include <target/image.h>
+#include <libusb.h>
+#include "libusb_helper.h"
+#include "angie/include/msgtypes.h"
+
+/** USB Vendor ID of ANGIE device in unconfigured state (no firmware loaded
+ * yet) or with its firmware. */
+#define ANGIE_VID 0x584e
+
+/** USB Product ID of ANGIE device in unconfigured state (no firmware loaded
+ * yet) or with its firmware. */
+#define ANGIE_PID 0x424e
+#define ANGIE_PID_2 0x4a55
+
+/** Address of EZ-USB ANGIE CPU Control & Status register. This register can be
+ * written by issuing a Control EP0 vendor request. */
+#define CPUCS_REG 0xE600
+
+/** USB Control EP0 bRequest: "Firmware Load". */
+#define REQUEST_FIRMWARE_LOAD 0xA0
+
+/** Value to write into CPUCS to put EZ-USB ANGIE into reset. */
+#define CPU_RESET 0x01
+
+/** Value to write into CPUCS to put EZ-USB ANGIE out of reset. */
+#define CPU_START 0x00
+
+/** Base address of firmware in EZ-USB ANGIE code space. */
+#define FIRMWARE_ADDR 0x0000
+
+/** USB interface number */
+#define USB_INTERFACE 0
+
+/** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
+#define ANGIE_RENUMERATION_DELAY_US 1500000
+
+/** Default location of ANGIE firmware image. */
+#define ANGIE_FIRMWARE_FILE PKGDATADIR "/angie/angie_firmware.bin"
+
+/** Default location of ANGIE firmware image. */
+#define ANGIE_BITSTREAM_FILE PKGDATADIR "/angie/angie_bitstream.bit"
+
+/** Maximum size of a single firmware section. Entire EZ-USB ANGIE code space = 16kB */
+#define SECTION_BUFFERSIZE 16384
+
+/** Tuning of OpenOCD SCAN commands split into multiple ANGIE commands. */
+#define SPLIT_SCAN_THRESHOLD 10
+
+/** ANGIE hardware type */
+enum angie_type {
+ ANGIE,
+};
+
+enum angie_payload_direction {
+ PAYLOAD_DIRECTION_OUT,
+ PAYLOAD_DIRECTION_IN
+};
+
+enum angie_delay_type {
+ DELAY_CLOCK_TCK,
+ DELAY_CLOCK_TMS,
+ DELAY_SCAN_IN,
+ DELAY_SCAN_OUT,
+ DELAY_SCAN_IO
+};
+
+/**
+ * ANGIE command (ANGIE command queue element).
+ *
+ * For the OUT direction payload, things are quite easy: Payload is stored
+ * in a rather small array (up to 63 bytes), the payload is always allocated
+ * by the function generating the command and freed by angie_clear_queue().
+ *
+ * For the IN direction payload, things get a little bit more complicated:
+ * The maximum IN payload size for a single command is 64 bytes. Assume that
+ * a single OpenOCD command needs to scan 256 bytes. This results in the
+ * generation of four ANGIE commands. The function generating these
+ * commands shall allocate an uint8_t[256] array. Each command's #payload_in
+ * pointer shall point to the corresponding offset where IN data shall be
+ * placed, while #payload_in_start shall point to the first element of the 256
+ * byte array.
+ * - first command: #payload_in_start + 0
+ * - second command: #payload_in_start + 64
+ * - third command: #payload_in_start + 128
+ * - fourth command: #payload_in_start + 192
+ *
+ * The last command sets #needs_postprocessing to true.
+ */
+struct angie_cmd {
+ uint8_t id; /**< ANGIE command ID */
+
+ uint8_t *payload_out; /**< Pointer where OUT payload shall be stored */
+ uint8_t payload_out_size; /**< OUT direction payload size for this command */
+
+ uint8_t *payload_in_start; /**< Pointer to first element of IN payload array */
+ uint8_t *payload_in; /**< Pointer where IN payload shall be stored */
+ uint8_t payload_in_size; /**< IN direction payload size for this command */
+
+ /** Indicates if this command needs post-processing */
+ bool needs_postprocessing;
+
+ /** Indicates if angie_clear_queue() should free payload_in_start */
+ bool free_payload_in_start;
+
+ /** Pointer to corresponding OpenOCD command for post-processing */
+ struct jtag_command *cmd_origin;
+
+ struct angie_cmd *next; /**< Pointer to next command (linked list) */
+};
+
+/** Describes one driver instance */
+struct angie {
+ struct libusb_context *libusb_ctx;
+ struct libusb_device_handle *usb_device_handle;
+ enum angie_type type;
+
+ unsigned int ep_in; /**< IN endpoint number */
+ unsigned int ep_out; /**< OUT endpoint number */
+
+ /* delay value for "SLOW_CLOCK commands" in [0:255] range in units of 4 us;
+ -1 means no need for delay */
+ int delay_scan_in; /**< Delay value for SCAN_IN commands */
+ int delay_scan_out; /**< Delay value for SCAN_OUT commands */
+ int delay_scan_io; /**< Delay value for SCAN_IO commands */
+ int delay_clock_tck; /**< Delay value for CLOCK_TMS commands */
+ int delay_clock_tms; /**< Delay value for CLOCK_TCK commands */
+
+ int commands_in_queue; /**< Number of commands in queue */
+ struct angie_cmd *queue_start; /**< Pointer to first command in queue */
+ struct angie_cmd *queue_end; /**< Pointer to last command in queue */
+};
+
+/**************************** Function Prototypes *****************************/
+
+/* USB helper functions */
+static int angie_usb_open(struct angie *device);
+static int angie_usb_close(struct angie *device);
+
+/* ANGIE MCU (Cypress EZ-USB) specific functions */
+static int angie_cpu_reset(struct angie *device, char reset_bit);
+static int angie_load_firmware_and_renumerate(struct angie *device, const char *filename,
+ uint32_t delay_us);
+static int angie_load_firmware(struct angie *device, const char *filename);
+static int angie_load_bitstream(struct angie *device, const char *filename);
+
+static int angie_write_firmware_section(struct angie *device,
+ struct image *firmware_image, int section_index);
+
+/* Generic helper functions */
+static void angie_dump_signal_states(uint8_t input_signals, uint8_t output_signals);
+
+/* ANGIE command generation helper functions */
+static int angie_allocate_payload(struct angie_cmd *angie_cmd, int size,
+ enum angie_payload_direction direction);
+
+/* ANGIE command queue helper functions */
+static int angie_get_queue_size(struct angie *device,
+ enum angie_payload_direction direction);
+static void angie_clear_queue(struct angie *device);
+static int angie_append_queue(struct angie *device, struct angie_cmd *angie_cmd);
+static int angie_execute_queued_commands(struct angie *device, int timeout_ms);
+
+static void angie_dump_queue(struct angie *device);
+
+static int angie_append_scan_cmd(struct angie *device,
+ enum scan_type scan_type,
+ int scan_size_bits,
+ uint8_t *tdi,
+ uint8_t *tdo_start,
+ uint8_t *tdo,
+ uint8_t tms_count_start,
+ uint8_t tms_sequence_start,
+ uint8_t tms_count_end,
+ uint8_t tms_sequence_end,
+ struct jtag_command *origin,
+ bool postprocess);
+static int angie_append_clock_tms_cmd(struct angie *device, uint8_t count,
+ uint8_t sequence);
+static int angie_append_clock_tck_cmd(struct angie *device, uint16_t count);
+static int angie_append_get_signals_cmd(struct angie *device);
+static int angie_append_set_signals_cmd(struct angie *device, uint8_t low,
+ uint8_t high);
+static int angie_append_sleep_cmd(struct angie *device, uint32_t us);
+static int angie_append_configure_tck_cmd(struct angie *device,
+ int delay_scan_in,
+ int delay_scan_out,
+ int delay_scan_io,
+ int delay_tck,
+ int delay_tms);
+static int angie_append_test_cmd(struct angie *device);
+
+/* ANGIE TCK frequency helper functions */
+static int angie_calculate_delay(enum angie_delay_type type, long f, int *delay);
+
+/* Interface between ANGIE and OpenOCD */
+static void angie_set_end_state(tap_state_t endstate);
+static int angie_queue_statemove(struct angie *device);
+
+static int angie_queue_scan(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_tlr_reset(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_runtest(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_pathmove(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_sleep(struct angie *device, struct jtag_command *cmd);
+static int angie_queue_stableclocks(struct angie *device, struct jtag_command *cmd);
+
+static int angie_post_process_scan(struct angie_cmd *angie_cmd);
+static int angie_post_process_queue(struct angie *device);
+
+/* adapter driver functions */
+static int angie_execute_queue(void);
+static int angie_khz(int khz, int *jtag_speed);
+static int angie_speed(int speed);
+static int angie_speed_div(int speed, int *khz);
+static int angie_init(void);
+static int angie_quit(void);
+static int angie_reset(int trst, int srst);
+
+/****************************** Global Variables ******************************/
+
+static struct angie *angie_handle;
+
+/**************************** USB helper functions ****************************/
+
+/**
+ * Opens the ANGIE device
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_usb_open(struct angie *device)
+{
+ struct libusb_device_handle *usb_device_handle;
+ const uint16_t vids[] = {ANGIE_VID, ANGIE_VID, 0};
+ const uint16_t pids[] = {ANGIE_PID, ANGIE_PID_2, 0};
+
+ int ret = jtag_libusb_open(vids, pids, &usb_device_handle, NULL);
+
+ if (ret != ERROR_OK)
+ return ret;
+
+ device->usb_device_handle = usb_device_handle;
+ device->type = ANGIE;
+
+ return ERROR_OK;
+}
+
+/**
+ * Releases the ANGIE interface and closes the USB device handle.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_usb_close(struct angie *device)
+{
+ if (device->usb_device_handle) {
+ if (libusb_release_interface(device->usb_device_handle, 0) != 0)
+ return ERROR_FAIL;
+
+ jtag_libusb_close(device->usb_device_handle);
+ device->usb_device_handle = NULL;
+ }
+ return ERROR_OK;
+}
+
+/******************* ANGIE CPU (EZ-USB) specific functions ********************/
+
+/**
+ * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
+ * or out of reset.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_cpu_reset(struct angie *device, char reset_bit)
+{
+ return jtag_libusb_control_transfer(device->usb_device_handle,
+ (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
+ REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, LIBUSB_TIMEOUT_MS, NULL);
+}
+
+/**
+ * Puts the ANGIE's EZ-USB microcontroller into reset state, downloads
+ * the firmware image, resumes the microcontroller and re-enumerates
+ * USB devices.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * The usb_handle member will be modified during re-enumeration.
+ * @param filename path to the Intel HEX file containing the firmware image.
+ * @param delay_us the delay to wait for the device to re-enumerate.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_load_firmware_and_renumerate(struct angie *device,
+ const char *filename, uint32_t delay_us)
+{
+ int ret;
+
+ /* Basic process: After downloading the firmware, the ANGIE will disconnect
+ * itself and re-connect after a short amount of time so we have to close
+ * the handle and re-enumerate USB devices */
+
+ ret = angie_load_firmware(device, filename);
+ if (ret != ERROR_OK)
+ return ret;
+
+ ret = angie_usb_close(device);
+ if (ret != ERROR_OK)
+ return ret;
+
+ usleep(delay_us);
+
+ return angie_usb_open(device);
+}
+
+/**
+ * Downloads a firmware image to the ANGIE's EZ-USB microcontroller
+ * over the USB bus.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param filename an absolute or relative path to the Intel HEX file
+ * containing the firmware image.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_load_firmware(struct angie *device, const char *filename)
+{
+ struct image angie_firmware_image;
+ int ret;
+
+ ret = angie_cpu_reset(device, CPU_RESET);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not halt ANGIE CPU");
+ return ret;
+ }
+
+ angie_firmware_image.base_address = 0;
+ angie_firmware_image.base_address_set = false;
+
+ ret = image_open(&angie_firmware_image, filename, "bin");
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not load firmware image");
+ return ret;
+ }
+
+ /* Download all sections in the image to ANGIE */
+ for (unsigned int i = 0; i < angie_firmware_image.num_sections; i++) {
+ ret = angie_write_firmware_section(device, &angie_firmware_image, i);
+ if (ret != ERROR_OK)
+ return ret;
+ }
+
+ image_close(&angie_firmware_image);
+
+ ret = angie_cpu_reset(device, CPU_START);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not restart ANGIE CPU");
+ return ret;
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Downloads a bitstream file to the ANGIE's FPGA through the EZ-USB microcontroller
+ * over the USB bus.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param filename an absolute or relative path to the Xilinx .bit file
+ * containing the bitstream data.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_load_bitstream(struct angie *device, const char *filename)
+{
+ int ret, transferred;
+ const char *bitstream_file_path = filename;
+ FILE *bitstream_file = NULL;
+ char *bitstream_data = NULL;
+ size_t bitstream_size = 0;
+
+ /* CFGopen */
+ ret = jtag_libusb_control_transfer(device->usb_device_handle,
+ 0x00, 0xB0, 0, 0, NULL, 0, LIBUSB_TIMEOUT_MS, &transferred);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Failed opencfg");
+ /* Abort if libusb sent less data than requested */
+ return ERROR_FAIL;
+ }
+
+ /* Open the bitstream file */
+ bitstream_file = fopen(bitstream_file_path, "rb");
+ if (!bitstream_file) {
+ LOG_ERROR("Failed to open bitstream file: %s\n", bitstream_file_path);
+ return ERROR_FAIL;
+ }
+
+ /* Get the size of the bitstream file */
+ fseek(bitstream_file, 0, SEEK_END);
+ bitstream_size = ftell(bitstream_file);
+ fseek(bitstream_file, 0, SEEK_SET);
+
+ /* Allocate memory for the bitstream data */
+ bitstream_data = malloc(bitstream_size);
+ if (!bitstream_data) {
+ LOG_ERROR("Failed to allocate memory for bitstream data.");
+ fclose(bitstream_file);
+ return ERROR_FAIL;
+ }
+
+ /* Read the bitstream data from the file */
+ if (fread(bitstream_data, 1, bitstream_size, bitstream_file) != bitstream_size) {
+ LOG_ERROR("Failed to read bitstream data.");
+ free(bitstream_data);
+ fclose(bitstream_file);
+ return ERROR_FAIL;
+ }
+
+ /* Send the bitstream data to the microcontroller */
+ int actual_length = 0;
+ ret = jtag_libusb_bulk_write(device->usb_device_handle, 0x02, bitstream_data, bitstream_size, 1000, &actual_length);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Failed to send bitstream data: %s", libusb_strerror(ret));
+ free(bitstream_data);
+ fclose(bitstream_file);
+ return ERROR_FAIL;
+ }
+
+ LOG_INFO("Bitstream sent successfully.");
+
+ /* Clean up */
+ free(bitstream_data);
+ fclose(bitstream_file);
+
+ /* CFGclose */
+ transferred = 0;
+ ret = jtag_libusb_control_transfer(device->usb_device_handle,
+ 0x00, 0xB1, 0, 0, NULL, 0, LIBUSB_TIMEOUT_MS, &transferred);
+ if (ret != ERROR_OK) {
+ LOG_INFO("error cfgclose");
+ /* Abort if libusb sent less data than requested */
+ return ERROR_FAIL;
+ }
+ return ERROR_OK;
+}
+
+/**
+ * Send one contiguous firmware section to the ANGIE's EZ-USB microcontroller
+ * over the USB bus.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param firmware_image pointer to the firmware image that contains the section
+ * which should be sent to the ANGIE's EZ-USB microcontroller.
+ * @param section_index index of the section within the firmware image.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_write_firmware_section(struct angie *device,
+ struct image *firmware_image, int section_index)
+{
+ int addr, bytes_remaining, chunk_size;
+ uint8_t data[SECTION_BUFFERSIZE];
+ uint8_t *data_ptr = data;
+ uint16_t size;
+ size_t size_read;
+ int ret, transferred;
+
+ size = (uint16_t)firmware_image->sections[section_index].size;
+ addr = (uint16_t)firmware_image->sections[section_index].base_address;
+
+ LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04" PRIx16 ")", section_index, addr,
+ size);
+
+ /* Copy section contents to local buffer */
+ ret = image_read_section(firmware_image, section_index, 0, size, data,
+ &size_read);
+
+ if (ret != ERROR_OK)
+ return ret;
+ if (size_read != size)
+ return ERROR_FAIL;
+
+ bytes_remaining = size;
+
+ /* Send section data in chunks of up to 64 bytes to ANGIE */
+ while (bytes_remaining > 0) {
+ if (bytes_remaining > 64)
+ chunk_size = 64;
+ else
+ chunk_size = bytes_remaining;
+
+ ret = jtag_libusb_control_transfer(device->usb_device_handle,
+ (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
+ REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (char *)data_ptr,
+ chunk_size, LIBUSB_TIMEOUT_MS, &transferred);
+
+ if (ret != ERROR_OK)
+ return ret;
+
+ if (transferred != chunk_size) {
+ /* Abort if libusb sent less data than requested */
+ return ERROR_FAIL;
+ }
+
+ bytes_remaining -= chunk_size;
+ addr += chunk_size;
+ data_ptr += chunk_size;
+ }
+
+ return ERROR_OK;
+}
+
+/************************** Generic helper functions **************************/
+
+/**
+ * Print state of interesting signals via LOG_INFO().
+ *
+ * @param input_signals input signal states as returned by CMD_GET_SIGNALS
+ * @param output_signals output signal states as returned by CMD_GET_SIGNALS
+ */
+static void angie_dump_signal_states(uint8_t input_signals, uint8_t output_signals)
+{
+ LOG_INFO("ANGIE signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i "
+ "SRST: %i",
+ (output_signals & SIGNAL_TDI ? 1 : 0),
+ (input_signals & SIGNAL_TDO ? 1 : 0),
+ (output_signals & SIGNAL_TMS ? 1 : 0),
+ (output_signals & SIGNAL_TCK ? 1 : 0),
+ (output_signals & SIGNAL_TRST ? 1 : 0),
+ (output_signals & SIGNAL_SRST ? 1 : 0));
+}
+
+/**************** ANGIE command generation helper functions ***************/
+
+/**
+ * Allocate and initialize space in memory for ANGIE command payload.
+ *
+ * @param angie_cmd pointer to command whose payload should be allocated.
+ * @param size the amount of memory to allocate (bytes).
+ * @param direction which payload to allocate.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_allocate_payload(struct angie_cmd *angie_cmd, int size,
+ enum angie_payload_direction direction)
+{
+ uint8_t *payload;
+
+ payload = calloc(size, sizeof(uint8_t));
+
+ if (!payload) {
+ LOG_ERROR("Could not allocate ANGIE command payload: out of memory");
+ return ERROR_FAIL;
+ }
+
+ switch (direction) {
+ case PAYLOAD_DIRECTION_OUT:
+ if (angie_cmd->payload_out) {
+ LOG_ERROR("BUG: Duplicate payload allocation for ANGIE command");
+ free(payload);
+ return ERROR_FAIL;
+ }
+ angie_cmd->payload_out = payload;
+ angie_cmd->payload_out_size = size;
+ break;
+ case PAYLOAD_DIRECTION_IN:
+ if (angie_cmd->payload_in_start) {
+ LOG_ERROR("BUG: Duplicate payload allocation for ANGIE command");
+ free(payload);
+ return ERROR_FAIL;
+ }
+
+ angie_cmd->payload_in_start = payload;
+ angie_cmd->payload_in = payload;
+ angie_cmd->payload_in_size = size;
+
+ /* By default, free payload_in_start in angie_clear_queue(). Commands
+ * that do not want this behavior (e. g. split scans) must turn it off
+ * separately! */
+ angie_cmd->free_payload_in_start = true;
+
+ break;
+ }
+
+ return ERROR_OK;
+}
+
+/****************** ANGIE command queue helper functions ******************/
+
+/**
+ * Get the current number of bytes in the queue, including command IDs.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param direction the transfer direction for which to get byte count.
+ * @return the number of bytes currently stored in the queue for the specified
+ * direction.
+ */
+static int angie_get_queue_size(struct angie *device,
+ enum angie_payload_direction direction)
+{
+ struct angie_cmd *current = device->queue_start;
+ int sum = 0;
+
+ while (current) {
+ switch (direction) {
+ case PAYLOAD_DIRECTION_OUT:
+ sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
+ break;
+ case PAYLOAD_DIRECTION_IN:
+ sum += current->payload_in_size;
+ break;
+ }
+
+ current = current->next;
+ }
+
+ return sum;
+}
+
+/**
+ * Clear the ANGIE command queue.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ */
+static void angie_clear_queue(struct angie *device)
+{
+ struct angie_cmd *current = device->queue_start;
+ struct angie_cmd *next = NULL;
+
+ while (current) {
+ /* Save pointer to next element */
+ next = current->next;
+
+ /* Free payloads: OUT payload can be freed immediately */
+ free(current->payload_out);
+ current->payload_out = NULL;
+
+ /* IN payload MUST be freed ONLY if no other commands use the
+ * payload_in_start buffer */
+ if (current->free_payload_in_start) {
+ free(current->payload_in_start);
+ current->payload_in_start = NULL;
+ current->payload_in = NULL;
+ }
+
+ /* Free queue element */
+ free(current);
+
+ /* Proceed with next element */
+ current = next;
+ }
+
+ device->commands_in_queue = 0;
+ device->queue_start = NULL;
+ device->queue_end = NULL;
+}
+
+/**
+ * Add a command to the ANGIE command queue.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param angie_cmd pointer to command that shall be appended to the ANGIE
+ * command queue.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_queue(struct angie *device, struct angie_cmd *angie_cmd)
+{
+ int newsize_out, newsize_in;
+ int ret = ERROR_OK;
+
+ newsize_out = angie_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
+ + angie_cmd->payload_out_size;
+
+ newsize_in = angie_get_queue_size(device, PAYLOAD_DIRECTION_IN)
+ + angie_cmd->payload_in_size;
+
+ /* Check if the current command can be appended to the queue */
+ if (newsize_out > 64 || newsize_in > 64) {
+ /* New command does not fit. Execute all commands in queue before starting
+ * new queue with the current command as first entry. */
+ ret = angie_execute_queued_commands(device, LIBUSB_TIMEOUT_MS);
+
+ if (ret == ERROR_OK)
+ ret = angie_post_process_queue(device);
+
+ if (ret == ERROR_OK)
+ angie_clear_queue(device);
+ }
+
+ if (!device->queue_start) {
+ /* Queue was empty */
+ device->commands_in_queue = 1;
+
+ device->queue_start = angie_cmd;
+ device->queue_end = angie_cmd;
+ } else {
+ /* There are already commands in the queue */
+ device->commands_in_queue++;
+
+ device->queue_end->next = angie_cmd;
+ device->queue_end = angie_cmd;
+ }
+
+ if (ret != ERROR_OK)
+ angie_clear_queue(device);
+
+ return ret;
+}
+
+/**
+ * Sends all queued ANGIE commands to the ANGIE for execution.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param timeout_ms
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_execute_queued_commands(struct angie *device, int timeout_ms)
+{
+ struct angie_cmd *current;
+ int ret, i, index_out, index_in, count_out, count_in, transferred;
+ uint8_t buffer[64];
+
+ if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO))
+ angie_dump_queue(device);
+
+ index_out = 0;
+ count_out = 0;
+ count_in = 0;
+
+ for (current = device->queue_start; current; current = current->next) {
+ /* Add command to packet */
+ buffer[index_out] = current->id;
+ index_out++;
+ count_out++;
+
+ for (i = 0; i < current->payload_out_size; i++)
+ buffer[index_out + i] = current->payload_out[i];
+ index_out += current->payload_out_size;
+ count_in += current->payload_in_size;
+ count_out += current->payload_out_size;
+ }
+
+ /* Send packet to ANGIE */
+ ret = jtag_libusb_bulk_write(device->usb_device_handle, device->ep_out,
+ (char *)buffer, count_out, timeout_ms, &transferred);
+ if (ret != ERROR_OK)
+ return ret;
+ if (transferred != count_out)
+ return ERROR_FAIL;
+
+ /* Wait for response if commands contain IN payload data */
+ if (count_in > 0) {
+ ret = jtag_libusb_bulk_write(device->usb_device_handle, device->ep_in,
+ (char *)buffer, count_in, timeout_ms, &transferred);
+ if (ret != ERROR_OK)
+ return ret;
+ if (transferred != count_in)
+ return ERROR_FAIL;
+
+ /* Write back IN payload data */
+ index_in = 0;
+ for (current = device->queue_start; current; current = current->next) {
+ for (i = 0; i < current->payload_in_size; i++) {
+ current->payload_in[i] = buffer[index_in];
+ index_in++;
+ }
+ }
+ }
+ return ERROR_OK;
+}
+
+/**
+ * Convert an ANGIE command ID (\a id) to a human-readable string.
+ *
+ * @param id the ANGIE command ID.
+ * @return the corresponding human-readable string.
+ */
+static const char *angie_cmd_id_string(uint8_t id)
+{
+ switch (id) {
+ case CMD_SCAN_IN:
+ return "CMD_SCAN_IN";
+ case CMD_SLOW_SCAN_IN:
+ return "CMD_SLOW_SCAN_IN";
+ case CMD_SCAN_OUT:
+ return "CMD_SCAN_OUT";
+ case CMD_SLOW_SCAN_OUT:
+ return "CMD_SLOW_SCAN_OUT";
+ case CMD_SCAN_IO:
+ return "CMD_SCAN_IO";
+ case CMD_SLOW_SCAN_IO:
+ return "CMD_SLOW_SCAN_IO";
+ case CMD_CLOCK_TMS:
+ return "CMD_CLOCK_TMS";
+ case CMD_SLOW_CLOCK_TMS:
+ return "CMD_SLOW_CLOCK_TMS";
+ case CMD_CLOCK_TCK:
+ return "CMD_CLOCK_TCK";
+ case CMD_SLOW_CLOCK_TCK:
+ return "CMD_SLOW_CLOCK_TCK";
+ case CMD_SLEEP_US:
+ return "CMD_SLEEP_US";
+ case CMD_SLEEP_MS:
+ return "CMD_SLEEP_MS";
+ case CMD_GET_SIGNALS:
+ return "CMD_GET_SIGNALS";
+ case CMD_SET_SIGNALS:
+ return "CMD_SET_SIGNALS";
+ case CMD_CONFIGURE_TCK_FREQ:
+ return "CMD_CONFIGURE_TCK_FREQ";
+ case CMD_SET_LEDS:
+ return "CMD_SET_LEDS";
+ case CMD_TEST:
+ return "CMD_TEST";
+ default:
+ return "CMD_UNKNOWN";
+ }
+}
+
+/**
+ * Print one ANGIE command to stdout.
+ *
+ * @param angie_cmd pointer to ANGIE command.
+ */
+static void angie_dump_command(struct angie_cmd *angie_cmd)
+{
+ char hex[64 * 3];
+ for (int i = 0; i < angie_cmd->payload_out_size; i++)
+ sprintf(hex + 3 * i, "%02" PRIX8 " ", angie_cmd->payload_out[i]);
+
+ hex[3 * angie_cmd->payload_out_size - 1] = 0;
+ LOG_DEBUG_IO(" %-22s | OUT size = %" PRIi8 ", bytes = %s",
+ angie_cmd_id_string(angie_cmd->id), angie_cmd->payload_out_size, hex);
+
+ LOG_DEBUG_IO("\n | IN size = %" PRIi8 "\n", angie_cmd->payload_in_size);
+}
+
+/**
+ * Print the ANGIE command queue to stdout.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ */
+static void angie_dump_queue(struct angie *device)
+{
+ struct angie_cmd *current;
+
+ LOG_DEBUG_IO("ANGIE command queue:\n");
+
+ for (current = device->queue_start; current; current = current->next)
+ angie_dump_command(current);
+}
+
+/**
+ * Perform JTAG scan
+ *
+ * Creates and appends a JTAG scan command to the ANGIE command queue.
+ * A JTAG scan consists of three steps:
+ * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
+ * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
+ * - Move to the desired end state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
+ * @param scan_size_bits number of bits to shift into the JTAG chain.
+ * @param tdi pointer to array containing TDI data.
+ * @param tdo_start pointer to first element of array where TDO data shall be
+ * stored. See #angie_cmd for details.
+ * @param tdo pointer to array where TDO data shall be stored
+ * @param tms_count_start number of TMS state transitions to perform BEFORE
+ * shifting data into the JTAG chain.
+ * @param tms_sequence_start sequence of TMS state transitions that will be
+ * performed BEFORE shifting data into the JTAG chain.
+ * @param tms_count_end number of TMS state transitions to perform AFTER
+ * shifting data into the JTAG chain.
+ * @param tms_sequence_end sequence of TMS state transitions that will be
+ * performed AFTER shifting data into the JTAG chain.
+ * @param origin pointer to OpenOCD command that generated this scan command.
+ * @param postprocess whether this command needs to be post-processed after
+ * execution.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_scan_cmd(struct angie *device, enum scan_type scan_type,
+ int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
+ uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
+ uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
+{
+ struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+ int ret, i, scan_size_bytes;
+ uint8_t bits_last_byte;
+
+ if (!cmd)
+ return ERROR_FAIL;
+
+ /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
+ * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
+ if (scan_size_bits > (58 * 8)) {
+ LOG_ERROR("BUG: Tried to create CMD_SCAN_IO ANGIE command with too"
+ " large payload");
+ free(cmd);
+ return ERROR_FAIL;
+ }
+
+ scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
+
+ bits_last_byte = scan_size_bits % 8;
+ if (bits_last_byte == 0)
+ bits_last_byte = 8;
+
+ /* Allocate out_payload depending on scan type */
+ switch (scan_type) {
+ case SCAN_IN:
+ if (device->delay_scan_in < 0)
+ cmd->id = CMD_SCAN_IN;
+ else
+ cmd->id = CMD_SLOW_SCAN_IN;
+ ret = angie_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_IN);
+ break;
+ case SCAN_OUT:
+ if (device->delay_scan_out < 0)
+ cmd->id = CMD_SCAN_OUT;
+ else
+ cmd->id = CMD_SLOW_SCAN_OUT;
+ ret = angie_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
+ break;
+ case SCAN_IO:
+ if (device->delay_scan_io < 0)
+ cmd->id = CMD_SCAN_IO;
+ else
+ cmd->id = CMD_SLOW_SCAN_IO;
+ ret = angie_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
+ break;
+ default:
+ LOG_ERROR("BUG: 'append scan cmd' encountered an unknown scan type");
+ ret = ERROR_FAIL;
+ break;
+ }
+
+ if (ret != ERROR_OK) {
+ free(cmd);
+ return ret;
+ }
+
+ /* Build payload_out that is common to all scan types */
+ cmd->payload_out[0] = scan_size_bytes & 0xFF;
+ cmd->payload_out[1] = bits_last_byte & 0xFF;
+ cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
+ cmd->payload_out[3] = tms_sequence_start;
+ cmd->payload_out[4] = tms_sequence_end;
+
+ /* Setup payload_out for types with OUT transfer */
+ if (scan_type == SCAN_OUT || scan_type == SCAN_IO) {
+ for (i = 0; i < scan_size_bytes; i++)
+ cmd->payload_out[i + 5] = tdi[i];
+ }
+
+ /* Setup payload_in pointers for types with IN transfer */
+ if (scan_type == SCAN_IN || scan_type == SCAN_IO) {
+ cmd->payload_in_start = tdo_start;
+ cmd->payload_in = tdo;
+ cmd->payload_in_size = scan_size_bytes;
+ }
+
+ cmd->needs_postprocessing = postprocess;
+ cmd->cmd_origin = origin;
+
+ /* For scan commands, we free payload_in_start only when the command is
+ * the last in a series of split commands or a stand-alone command */
+ cmd->free_payload_in_start = postprocess;
+
+ return angie_append_queue(device, cmd);
+}
+
+/**
+ * Perform TAP state transitions
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param count defines the number of TCK clock cycles generated (up to 8).
+ * @param sequence defines the TMS pin levels for each state transition. The
+ * Least-Significant Bit is read first.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_clock_tms_cmd(struct angie *device, uint8_t count,
+ uint8_t sequence)
+{
+ struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+ int ret;
+
+ if (!cmd) {
+ LOG_ERROR("Out of memory");
+ return ERROR_FAIL;
+ }
+
+ if (device->delay_clock_tms < 0)
+ cmd->id = CMD_CLOCK_TMS;
+ else
+ cmd->id = CMD_SLOW_CLOCK_TMS;
+
+ /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
+ ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+ if (ret != ERROR_OK) {
+ free(cmd);
+ return ret;
+ }
+
+ cmd->payload_out[0] = count;
+ cmd->payload_out[1] = sequence;
+
+ return angie_append_queue(device, cmd);
+}
+
+/**
+ * Generate a defined amount of TCK clock cycles
+ *
+ * All other JTAG signals are left unchanged.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param count the number of TCK clock cycles to generate.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_clock_tck_cmd(struct angie *device, uint16_t count)
+{
+ struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+ int ret;
+
+ if (!cmd) {
+ LOG_ERROR("Out of memory");
+ return ERROR_FAIL;
+ }
+
+ if (device->delay_clock_tck < 0)
+ cmd->id = CMD_CLOCK_TCK;
+ else
+ cmd->id = CMD_SLOW_CLOCK_TCK;
+
+ /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
+ ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+ if (ret != ERROR_OK) {
+ free(cmd);
+ return ret;
+ }
+
+ cmd->payload_out[0] = count & 0xff;
+ cmd->payload_out[1] = (count >> 8) & 0xff;
+
+ return angie_append_queue(device, cmd);
+}
+
+/**
+ * Read JTAG signals.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_get_signals_cmd(struct angie *device)
+{
+ struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+ int ret;
+
+ if (!cmd) {
+ LOG_ERROR("Out of memory");
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_GET_SIGNALS;
+ cmd->needs_postprocessing = true;
+
+ /* CMD_GET_SIGNALS has two IN payload bytes */
+ ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
+
+ if (ret != ERROR_OK) {
+ free(cmd);
+ return ret;
+ }
+
+ return angie_append_queue(device, cmd);
+}
+
+/**
+ * Arbitrarily set JTAG output signals.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param low defines which signals will be de-asserted. Each bit corresponds
+ * to a JTAG signal:
+ * - SIGNAL_TDI
+ * - SIGNAL_TMS
+ * - SIGNAL_TCK
+ * - SIGNAL_TRST
+ * - SIGNAL_BRKIN
+ * - SIGNAL_RESET
+ * - SIGNAL_OCDSE
+ * @param high defines which signals will be asserted.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_set_signals_cmd(struct angie *device, uint8_t low,
+ uint8_t high)
+{
+ struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+ int ret;
+
+ if (!cmd) {
+ LOG_ERROR("Out of memory");
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_SET_SIGNALS;
+
+ /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
+ ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+
+ if (ret != ERROR_OK) {
+ free(cmd);
+ return ret;
+ }
+
+ cmd->payload_out[0] = low;
+ cmd->payload_out[1] = high;
+
+ return angie_append_queue(device, cmd);
+}
+
+/**
+ * Sleep for a pre-defined number of microseconds
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param us the number microseconds to sleep.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_sleep_cmd(struct angie *device, uint32_t us)
+{
+ struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+ int ret;
+
+ if (!cmd) {
+ LOG_ERROR("Out of memory");
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_SLEEP_US;
+
+ /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
+ ret = angie_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
+
+ if (ret != ERROR_OK) {
+ free(cmd);
+ return ret;
+ }
+
+ cmd->payload_out[0] = us & 0x00ff;
+ cmd->payload_out[1] = (us >> 8) & 0x00ff;
+
+ return angie_append_queue(device, cmd);
+}
+
+/**
+ * Set TCK delay counters
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
+ * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
+ * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
+ * @param delay_tck delay count top value in jtag_clock_tck() function.
+ * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_configure_tck_cmd(struct angie *device, int delay_scan_in,
+ int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
+{
+ struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+ int ret;
+
+ if (!cmd) {
+ LOG_ERROR("Out of memory");
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_CONFIGURE_TCK_FREQ;
+
+ /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
+ * IN payload bytes */
+ ret = angie_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
+ if (ret != ERROR_OK) {
+ free(cmd);
+ return ret;
+ }
+
+ if (delay_scan_in < 0)
+ cmd->payload_out[0] = 0;
+ else
+ cmd->payload_out[0] = (uint8_t)delay_scan_in;
+
+ if (delay_scan_out < 0)
+ cmd->payload_out[1] = 0;
+ else
+ cmd->payload_out[1] = (uint8_t)delay_scan_out;
+
+ if (delay_scan_io < 0)
+ cmd->payload_out[2] = 0;
+ else
+ cmd->payload_out[2] = (uint8_t)delay_scan_io;
+
+ if (delay_tck < 0)
+ cmd->payload_out[3] = 0;
+ else
+ cmd->payload_out[3] = (uint8_t)delay_tck;
+
+ if (delay_tms < 0)
+ cmd->payload_out[4] = 0;
+ else
+ cmd->payload_out[4] = (uint8_t)delay_tms;
+
+ return angie_append_queue(device, cmd);
+}
+
+/**
+ * Test command. Used to check if the ANGIE device is ready to accept new
+ * commands.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_append_test_cmd(struct angie *device)
+{
+ struct angie_cmd *cmd = calloc(1, sizeof(struct angie_cmd));
+ int ret;
+
+ if (!cmd) {
+ LOG_ERROR("Out of memory");
+ return ERROR_FAIL;
+ }
+
+ cmd->id = CMD_TEST;
+
+ /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
+ ret = angie_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
+ if (ret != ERROR_OK) {
+ free(cmd);
+ return ret;
+ }
+
+ cmd->payload_out[0] = 0xAA;
+
+ return angie_append_queue(device, cmd);
+}
+
+/****************** ANGIE TCK frequency helper functions ******************/
+
+/**
+ * Calculate delay values for a given TCK frequency.
+ *
+ * The ANGIE firmware uses five different speed values for different
+ * commands. These speed values are calculated in these functions.
+ *
+ * The five different commands which support variable TCK frequency are
+ * implemented twice in the firmware:
+ * 1. Maximum possible frequency without any artificial delay
+ * 2. Variable frequency with artificial linear delay loop
+ *
+ * To set the ANGIE to maximum frequency, it is only necessary to use the
+ * corresponding command IDs. To set the ANGIE to a lower frequency, the
+ * delay loop top values have to be calculated first. Then, a
+ * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ANGIE device.
+ *
+ * The delay values are described by linear equations:
+ * t = k * x + d
+ * (t = period, k = constant, x = delay value, d = constant)
+ *
+ * Thus, the delay can be calculated as in the following equation:
+ * x = (t - d) / k
+ *
+ * The constants in these equations have been determined and validated by
+ * measuring the frequency resulting from different delay values.
+ *
+ * @param type for which command to calculate the delay value.
+ * @param f TCK frequency for which to calculate the delay value in Hz.
+ * @param delay where to store resulting delay value.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_calculate_delay(enum angie_delay_type type, long f, int *delay)
+{
+ float t_us, x, x_ceil;
+
+ /* Calculate period of requested TCK frequency */
+ t_us = 1000000.0 / f;
+
+ switch (type) {
+ case DELAY_CLOCK_TCK:
+ x = (t_us - 6.0) / 4;
+ break;
+ case DELAY_CLOCK_TMS:
+ x = (t_us - 8.5) / 4;
+ break;
+ case DELAY_SCAN_IN:
+ x = (t_us - 8.8308) / 4;
+ break;
+ case DELAY_SCAN_OUT:
+ x = (t_us - 10.527) / 4;
+ break;
+ case DELAY_SCAN_IO:
+ x = (t_us - 13.132) / 4;
+ break;
+ default:
+ return ERROR_FAIL;
+ break;
+ }
+
+ /* Check if the delay value is negative. This happens when a frequency is
+ * requested that is too high for the delay loop implementation. In this
+ * case, set delay value to zero. */
+ if (x < 0)
+ x = 0;
+
+ /* We need to convert the exact delay value to an integer. Therefore, we
+ * round the exact value UP to ensure that the resulting frequency is NOT
+ * higher than the requested frequency. */
+ x_ceil = ceilf(x);
+
+ /* Check if the value is within limits */
+ if (x_ceil > 255)
+ return ERROR_FAIL;
+
+ *delay = (int)x_ceil;
+
+ return ERROR_OK;
+}
+
+/**
+ * Calculate frequency for a given delay value.
+ *
+ * Similar to the #angie_calculate_delay function, this function calculates the
+ * TCK frequency for a given delay value by using linear equations of the form:
+ * t = k * x + d
+ * (t = period, k = constant, x = delay value, d = constant)
+ *
+ * @param type for which command to calculate the delay value.
+ * @param delay value for which to calculate the resulting TCK frequency.
+ * @return the resulting TCK frequency
+ */
+static long angie_calculate_frequency(enum angie_delay_type type, int delay)
+{
+ float t_us, f_float;
+
+ if (delay > 255)
+ return 0;
+
+ switch (type) {
+ case DELAY_CLOCK_TCK:
+ if (delay < 0)
+ t_us = 2.666;
+ else
+ t_us = (4.0 * delay) + 6.0;
+ break;
+ case DELAY_CLOCK_TMS:
+ if (delay < 0)
+ t_us = 5.666;
+ else
+ t_us = (4.0 * delay) + 8.5;
+ break;
+ case DELAY_SCAN_IN:
+ if (delay < 0)
+ t_us = 5.5;
+ else
+ t_us = (4.0 * delay) + 8.8308;
+ break;
+ case DELAY_SCAN_OUT:
+ if (delay < 0)
+ t_us = 7.0;
+ else
+ t_us = (4.0 * delay) + 10.527;
+ break;
+ case DELAY_SCAN_IO:
+ if (delay < 0)
+ t_us = 9.926;
+ else
+ t_us = (4.0 * delay) + 13.132;
+ break;
+ default:
+ return 0;
+ }
+
+ f_float = 1000000.0 / t_us;
+ return roundf(f_float);
+}
+
+/******************* Interface between ANGIE and OpenOCD ******************/
+
+/**
+ * Sets the end state follower (see interface.h) if \a endstate is a stable
+ * state.
+ *
+ * @param endstate the state the end state follower should be set to.
+ */
+static void angie_set_end_state(tap_state_t endstate)
+{
+ if (tap_is_state_stable(endstate))
+ tap_set_end_state(endstate);
+ else
+ LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
+}
+
+/**
+ * Move from the current TAP state to the current TAP end state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_statemove(struct angie *device)
+{
+ uint8_t tms_sequence, tms_count;
+ int ret;
+
+ if (tap_get_state() == tap_get_end_state()) {
+ /* Do nothing if we are already there */
+ return ERROR_OK;
+ }
+
+ tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+ tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+
+ ret = angie_append_clock_tms_cmd(device, tms_count, tms_sequence);
+
+ if (ret == ERROR_OK)
+ tap_set_state(tap_get_end_state());
+
+ return ret;
+}
+
+/**
+ * Perform a scan operation on a JTAG register.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_scan(struct angie *device, struct jtag_command *cmd)
+{
+ uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
+ uint32_t scans_max_payload, bytecount;
+ uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
+ uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
+
+ uint8_t first_tms_count, first_tms_sequence;
+ uint8_t last_tms_count, last_tms_sequence;
+
+ uint8_t tms_count_pause, tms_sequence_pause;
+ uint8_t tms_count_resume, tms_sequence_resume;
+
+ uint8_t tms_count_start, tms_sequence_start;
+ uint8_t tms_count_end, tms_sequence_end;
+
+ enum scan_type type;
+ int ret;
+
+ /* Determine scan size */
+ scan_size_bits = jtag_scan_size(cmd->cmd.scan);
+ scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
+
+ /* Determine scan type (IN/OUT/IO) */
+ type = jtag_scan_type(cmd->cmd.scan);
+
+ /* Determine number of scan commands with maximum payload */
+ scans_max_payload = scan_size_bytes / 58;
+
+ /* Determine size of last shift command */
+ bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
+
+ /* Allocate TDO buffer if required */
+ if (type == SCAN_IN || type == SCAN_IO) {
+ tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
+
+ if (!tdo_buffer_start)
+ return ERROR_FAIL;
+
+ tdo_buffer = tdo_buffer_start;
+ }
+
+ /* Fill TDI buffer if required */
+ if (type == SCAN_OUT || type == SCAN_IO) {
+ jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
+ tdi_buffer = tdi_buffer_start;
+ }
+
+ /* Get TAP state transitions */
+ if (cmd->cmd.scan->ir_scan) {
+ angie_set_end_state(TAP_IRSHIFT);
+ first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+ first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+ tap_set_state(TAP_IRSHIFT);
+ tap_set_end_state(cmd->cmd.scan->end_state);
+ last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+ last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+ /* TAP state transitions for split scans */
+ tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
+ tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
+ tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
+ tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
+ } else {
+ angie_set_end_state(TAP_DRSHIFT);
+ first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+ first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+ tap_set_state(TAP_DRSHIFT);
+ tap_set_end_state(cmd->cmd.scan->end_state);
+ last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
+ last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
+
+ /* TAP state transitions for split scans */
+ tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
+ tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
+ tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
+ tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
+ }
+
+ /* Generate scan commands */
+ bytecount = scan_size_bytes;
+ while (bytecount > 0) {
+ if (bytecount == scan_size_bytes) {
+ /* This is the first scan */
+ tms_count_start = first_tms_count;
+ tms_sequence_start = first_tms_sequence;
+ } else {
+ /* Resume from previous scan */
+ tms_count_start = tms_count_resume;
+ tms_sequence_start = tms_sequence_resume;
+ }
+
+ if (bytecount > 58) { /* Full scan, at least one scan will follow */
+ tms_count_end = tms_count_pause;
+ tms_sequence_end = tms_sequence_pause;
+
+ ret = angie_append_scan_cmd(device,
+ type,
+ 58 * 8,
+ tdi_buffer,
+ tdo_buffer_start,
+ tdo_buffer,
+ tms_count_start,
+ tms_sequence_start,
+ tms_count_end,
+ tms_sequence_end,
+ cmd,
+ false);
+
+ bytecount -= 58;
+
+ /* Update TDI and TDO buffer pointers */
+ if (tdi_buffer_start)
+ tdi_buffer += 58;
+ if (tdo_buffer_start)
+ tdo_buffer += 58;
+ } else if (bytecount == 58) { /* Full scan, no further scans */
+ tms_count_end = last_tms_count;
+ tms_sequence_end = last_tms_sequence;
+
+ ret = angie_append_scan_cmd(device,
+ type,
+ 58 * 8,
+ tdi_buffer,
+ tdo_buffer_start,
+ tdo_buffer,
+ tms_count_start,
+ tms_sequence_start,
+ tms_count_end,
+ tms_sequence_end,
+ cmd,
+ true);
+
+ bytecount = 0;
+ } else {/* Scan with less than maximum payload, no further scans */
+ tms_count_end = last_tms_count;
+ tms_sequence_end = last_tms_sequence;
+
+ ret = angie_append_scan_cmd(device,
+ type,
+ bits_last_scan,
+ tdi_buffer,
+ tdo_buffer_start,
+ tdo_buffer,
+ tms_count_start,
+ tms_sequence_start,
+ tms_count_end,
+ tms_sequence_end,
+ cmd,
+ true);
+
+ bytecount = 0;
+ }
+
+ if (ret != ERROR_OK) {
+ free(tdi_buffer_start);
+ free(tdo_buffer_start);
+ return ret;
+ }
+ }
+
+ free(tdi_buffer_start);
+
+ /* Set current state to the end state requested by the command */
+ tap_set_state(cmd->cmd.scan->end_state);
+
+ return ERROR_OK;
+}
+
+/**
+ * Move the TAP into the Test Logic Reset state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_tlr_reset(struct angie *device, struct jtag_command *cmd)
+{
+ int ret = angie_append_clock_tms_cmd(device, 5, 0xff);
+
+ if (ret == ERROR_OK)
+ tap_set_state(TAP_RESET);
+
+ return ret;
+}
+
+/**
+ * Run Test.
+ *
+ * Generate TCK clock cycles while remaining
+ * in the Run-Test/Idle state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_runtest(struct angie *device, struct jtag_command *cmd)
+{
+ int ret;
+
+ /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
+ if (tap_get_state() != TAP_IDLE) {
+ angie_set_end_state(TAP_IDLE);
+ angie_queue_statemove(device);
+ }
+
+ /* Generate the clock cycles */
+ ret = angie_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
+ if (ret != ERROR_OK)
+ return ret;
+
+ /* Move to end state specified in command */
+ if (cmd->cmd.runtest->end_state != tap_get_state()) {
+ tap_set_end_state(cmd->cmd.runtest->end_state);
+ angie_queue_statemove(device);
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Execute a JTAG_RESET command
+ *
+ * @param device
+ * @param trst indicate if trst signal is activated.
+ * @param srst indicate if srst signal is activated.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_reset(int trst, int srst)
+{
+ struct angie *device = angie_handle;
+ uint8_t low = 0, high = 0;
+
+ if (trst) {
+ tap_set_state(TAP_RESET);
+ low |= SIGNAL_TRST;
+ } else {
+ high |= SIGNAL_TRST;
+ }
+
+ if (srst)
+ low |= SIGNAL_SRST;
+ else
+ high |= SIGNAL_SRST;
+
+ int ret = angie_append_set_signals_cmd(device, low, high);
+
+ ret = angie_execute_queued_commands(device, LIBUSB_TIMEOUT_MS);
+ if (ret == ERROR_OK)
+ angie_clear_queue(device);
+
+ return ret;
+}
+
+/**
+ * Move to one TAP state or several states in succession.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_pathmove(struct angie *device, struct jtag_command *cmd)
+{
+ int ret, i, num_states, batch_size, state_count;
+ tap_state_t *path;
+ uint8_t tms_sequence;
+
+ num_states = cmd->cmd.pathmove->num_states;
+ path = cmd->cmd.pathmove->path;
+ state_count = 0;
+
+ while (num_states > 0) {
+ tms_sequence = 0;
+
+ /* Determine batch size */
+ if (num_states >= 8)
+ batch_size = 8;
+ else
+ batch_size = num_states;
+
+ for (i = 0; i < batch_size; i++) {
+ if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
+ /* Append '0' transition: clear bit 'i' in tms_sequence */
+ buf_set_u32(&tms_sequence, i, 1, 0x0);
+ } else if (tap_state_transition(tap_get_state(), true)
+ == path[state_count]) {
+ /* Append '1' transition: set bit 'i' in tms_sequence */
+ buf_set_u32(&tms_sequence, i, 1, 0x1);
+ } else {
+ /* Invalid state transition */
+ LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
+ tap_state_name(tap_get_state()),
+ tap_state_name(path[state_count]));
+ return ERROR_FAIL;
+ }
+
+ tap_set_state(path[state_count]);
+ state_count++;
+ num_states--;
+ }
+
+ /* Append CLOCK_TMS command to ANGIE command queue */
+ LOG_INFO("pathmove batch: count = %i, sequence = 0x%" PRIx8 "", batch_size, tms_sequence);
+ ret = angie_append_clock_tms_cmd(angie_handle, batch_size, tms_sequence);
+ if (ret != ERROR_OK)
+ return ret;
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Sleep for a specific amount of time.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_queue_sleep(struct angie *device, struct jtag_command *cmd)
+{
+ /* IMPORTANT! Due to the time offset in command execution introduced by
+ * command queueing, this needs to be implemented in the ANGIE device */
+ return angie_append_sleep_cmd(device, cmd->cmd.sleep->us);
+}
+
+/**
+ * Generate TCK cycles while remaining in a stable state.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @param cmd pointer to the command that shall be executed.
+ */
+static int angie_queue_stableclocks(struct angie *device, struct jtag_command *cmd)
+{
+ int ret;
+ unsigned int num_cycles;
+
+ if (!tap_is_state_stable(tap_get_state())) {
+ LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
+ return ERROR_FAIL;
+ }
+
+ num_cycles = cmd->cmd.stableclocks->num_cycles;
+
+ /* TMS stays either high (Test Logic Reset state) or low (all other states) */
+ if (tap_get_state() == TAP_RESET)
+ ret = angie_append_set_signals_cmd(device, 0, SIGNAL_TMS);
+ else
+ ret = angie_append_set_signals_cmd(device, SIGNAL_TMS, 0);
+
+ if (ret != ERROR_OK)
+ return ret;
+
+ while (num_cycles > 0) {
+ if (num_cycles > 0xFFFF) {
+ /* ANGIE CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
+ ret = angie_append_clock_tck_cmd(device, 0xFFFF);
+ num_cycles -= 0xFFFF;
+ } else {
+ ret = angie_append_clock_tck_cmd(device, num_cycles);
+ num_cycles = 0;
+ }
+
+ if (ret != ERROR_OK)
+ return ret;
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Post-process JTAG_SCAN command
+ *
+ * @param angie_cmd pointer to ANGIE command that shall be processed.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_post_process_scan(struct angie_cmd *angie_cmd)
+{
+ struct jtag_command *cmd = angie_cmd->cmd_origin;
+ int ret;
+
+ switch (jtag_scan_type(cmd->cmd.scan)) {
+ case SCAN_IN:
+ case SCAN_IO:
+ ret = jtag_read_buffer(angie_cmd->payload_in_start, cmd->cmd.scan);
+ break;
+ case SCAN_OUT:
+ /* Nothing to do for OUT scans */
+ ret = ERROR_OK;
+ break;
+ default:
+ LOG_ERROR("BUG: angie post process scan encountered an unknown JTAG scan type");
+ ret = ERROR_FAIL;
+ break;
+ }
+
+ return ret;
+}
+
+/**
+ * Perform post-processing of commands after ANGIE queue has been executed.
+ *
+ * @param device pointer to struct angie identifying ANGIE driver instance.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_post_process_queue(struct angie *device)
+{
+ struct angie_cmd *current;
+ struct jtag_command *openocd_cmd;
+ int ret;
+
+ current = device->queue_start;
+
+ while (current) {
+ openocd_cmd = current->cmd_origin;
+
+ /* Check if a corresponding OpenOCD command is stored for this
+ * ANGIE command */
+ if (current->needs_postprocessing && openocd_cmd) {
+ switch (openocd_cmd->type) {
+ case JTAG_SCAN:
+ ret = angie_post_process_scan(current);
+ break;
+ case JTAG_TLR_RESET:
+ case JTAG_RUNTEST:
+ case JTAG_PATHMOVE:
+ case JTAG_SLEEP:
+ case JTAG_STABLECLOCKS:
+ /* Nothing to do for these commands */
+ ret = ERROR_OK;
+ break;
+ default:
+ ret = ERROR_FAIL;
+ LOG_ERROR("BUG: angie post process queue encountered unknown JTAG "
+ "command type");
+ break;
+ }
+
+ if (ret != ERROR_OK)
+ return ret;
+ }
+
+ current = current->next;
+ }
+
+ return ERROR_OK;
+}
+
+/**************************** JTAG driver functions ***************************/
+
+/**
+ * Executes the JTAG Command Queue.
+ *
+ * This is done in three stages: First, all OpenOCD commands are processed into
+ * queued ANGIE commands. Next, the ANGIE command queue is sent to the
+ * ANGIE device and data received from the ANGIE device is cached. Finally,
+ * the post-processing function writes back data to the corresponding OpenOCD
+ * commands.
+ *
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_execute_queue(void)
+{
+ struct jtag_command *cmd = jtag_command_queue;
+ int ret;
+
+ while (cmd) {
+ switch (cmd->type) {
+ case JTAG_SCAN:
+ ret = angie_queue_scan(angie_handle, cmd);
+ break;
+ case JTAG_TLR_RESET:
+ ret = angie_queue_tlr_reset(angie_handle, cmd);
+ break;
+ case JTAG_RUNTEST:
+ ret = angie_queue_runtest(angie_handle, cmd);
+ break;
+ case JTAG_PATHMOVE:
+ ret = angie_queue_pathmove(angie_handle, cmd);
+ break;
+ case JTAG_SLEEP:
+ ret = angie_queue_sleep(angie_handle, cmd);
+ break;
+ case JTAG_STABLECLOCKS:
+ ret = angie_queue_stableclocks(angie_handle, cmd);
+ break;
+ default:
+ ret = ERROR_FAIL;
+ LOG_ERROR("BUG: encountered unknown JTAG command type");
+ break;
+ }
+
+ if (ret != ERROR_OK)
+ return ret;
+
+ cmd = cmd->next;
+ }
+
+ if (angie_handle->commands_in_queue > 0) {
+ ret = angie_execute_queued_commands(angie_handle, LIBUSB_TIMEOUT_MS);
+ if (ret != ERROR_OK)
+ return ret;
+
+ ret = angie_post_process_queue(angie_handle);
+ if (ret != ERROR_OK)
+ return ret;
+
+ angie_clear_queue(angie_handle);
+ }
+
+ return ERROR_OK;
+}
+
+/**
+ * Set the TCK frequency of the ANGIE adapter.
+ *
+ * @param khz desired JTAG TCK frequency.
+ * @param jtag_speed where to store corresponding adapter-specific speed value.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_khz(int khz, int *jtag_speed)
+{
+ int ret;
+
+ if (khz == 0) {
+ LOG_ERROR("RCLK not supported");
+ return ERROR_FAIL;
+ }
+
+ /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
+ * setting can be done independently from all other commands. */
+ if (khz >= 375) {
+ angie_handle->delay_clock_tck = -1;
+ } else {
+ ret = angie_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
+ &angie_handle->delay_clock_tck);
+ if (ret != ERROR_OK)
+ return ret;
+ }
+
+ /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
+ * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
+ * commands, all SCAN commands MUST also use the variable frequency
+ * implementation! */
+ if (khz >= 176) {
+ angie_handle->delay_clock_tms = -1;
+ angie_handle->delay_scan_in = -1;
+ angie_handle->delay_scan_out = -1;
+ angie_handle->delay_scan_io = -1;
+ } else {
+ ret = angie_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
+ &angie_handle->delay_clock_tms);
+ if (ret != ERROR_OK)
+ return ret;
+
+ ret = angie_calculate_delay(DELAY_SCAN_IN, khz * 1000,
+ &angie_handle->delay_scan_in);
+ if (ret != ERROR_OK)
+ return ret;
+
+ ret = angie_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
+ &angie_handle->delay_scan_out);
+ if (ret != ERROR_OK)
+ return ret;
+
+ ret = angie_calculate_delay(DELAY_SCAN_IO, khz * 1000,
+ &angie_handle->delay_scan_io);
+ if (ret != ERROR_OK)
+ return ret;
+ }
+
+ LOG_DEBUG_IO("ANGIE TCK setup: delay_tck = %i (%li Hz),",
+ angie_handle->delay_clock_tck,
+ angie_calculate_frequency(DELAY_CLOCK_TCK, angie_handle->delay_clock_tck));
+ LOG_DEBUG_IO(" delay_tms = %i (%li Hz),",
+ angie_handle->delay_clock_tms,
+ angie_calculate_frequency(DELAY_CLOCK_TMS, angie_handle->delay_clock_tms));
+ LOG_DEBUG_IO(" delay_scan_in = %i (%li Hz),",
+ angie_handle->delay_scan_in,
+ angie_calculate_frequency(DELAY_SCAN_IN, angie_handle->delay_scan_in));
+ LOG_DEBUG_IO(" delay_scan_out = %i (%li Hz),",
+ angie_handle->delay_scan_out,
+ angie_calculate_frequency(DELAY_SCAN_OUT, angie_handle->delay_scan_out));
+ LOG_DEBUG_IO(" delay_scan_io = %i (%li Hz),",
+ angie_handle->delay_scan_io,
+ angie_calculate_frequency(DELAY_SCAN_IO, angie_handle->delay_scan_io));
+
+ /* Configure the ANGIE device with the new delay values */
+ ret = angie_append_configure_tck_cmd(angie_handle,
+ angie_handle->delay_scan_in,
+ angie_handle->delay_scan_out,
+ angie_handle->delay_scan_io,
+ angie_handle->delay_clock_tck,
+ angie_handle->delay_clock_tms);
+
+ if (ret != ERROR_OK)
+ return ret;
+
+ *jtag_speed = khz;
+
+ return ERROR_OK;
+}
+
+/**
+ * Set the TCK frequency of the ANGIE adapter.
+ *
+ * Because of the way the TCK frequency is set up in the ANGIE firmware,
+ * there are five different speed settings. To simplify things, the
+ * adapter-specific speed setting value is identical to the TCK frequency in
+ * khz.
+ *
+ * @param speed desired adapter-specific speed value.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_speed(int speed)
+{
+ int dummy;
+
+ return angie_khz(speed, &dummy);
+}
+
+/**
+ * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
+ *
+ * Because of the way the TCK frequency is set up in the ANGIE firmware,
+ * there are five different speed settings. To simplify things, the
+ * adapter-specific speed setting value is identical to the TCK frequency in
+ * khz.
+ *
+ * @param speed adapter-specific speed value.
+ * @param khz where to store corresponding TCK frequency in kHz.
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_speed_div(int speed, int *khz)
+{
+ *khz = speed;
+
+ return ERROR_OK;
+}
+
+/**
+ * Initiates the firmware download to the ANGIE adapter and prepares
+ * the USB handle.
+ *
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_init(void)
+{
+ int ret, transferred;
+ char str_manufacturer[20];
+ bool download_firmware = false;
+ char dummy[64];
+ uint8_t input_signals, output_signals;
+
+ angie_handle = calloc(1, sizeof(struct angie));
+
+ if (!angie_handle) {
+ LOG_ERROR("Out of memory");
+ return ERROR_FAIL;
+ }
+
+ ret = angie_usb_open(angie_handle);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not open ANGIE device");
+ free(angie_handle);
+ angie_handle = NULL;
+ return ret;
+ }
+
+ /* Get String Descriptor to determine if firmware needs to be loaded */
+ ret = libusb_get_string_descriptor_ascii(angie_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
+ if (ret < 0) {
+ /* Could not get descriptor -> Unconfigured or original Keil firmware */
+ download_firmware = true;
+ } else {
+ /* We got a String Descriptor, check if it is the correct one */
+ if (strncmp(str_manufacturer, "NanoXplore, SAS.", 16) != 0)
+ download_firmware = true;
+ }
+
+ if (download_firmware) {
+ LOG_INFO("Loading ANGIE firmware. This is reversible by power-cycling ANGIE device.");
+
+ if (libusb_claim_interface(angie_handle->usb_device_handle, 0) != ERROR_OK)
+ LOG_ERROR("Could not claim interface");
+
+ ret = angie_load_firmware_and_renumerate(angie_handle,
+ ANGIE_FIRMWARE_FILE, ANGIE_RENUMERATION_DELAY_US);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not download firmware and re-numerate ANGIE");
+ angie_quit();
+ return ret;
+ }
+ ret = angie_load_bitstream(angie_handle, ANGIE_BITSTREAM_FILE);
+ if (ret != ERROR_OK) {
+ LOG_ERROR("Could not download bitstream");
+ angie_quit();
+ return ret;
+ }
+ } else {
+ LOG_INFO("ANGIE device is already running ANGIE firmware");
+ }
+
+ /* Get ANGIE USB IN/OUT endpoints and claim the interface */
+ ret = jtag_libusb_choose_interface(angie_handle->usb_device_handle,
+ &angie_handle->ep_in, &angie_handle->ep_out, -1, -1, -1, -1);
+ if (ret != ERROR_OK) {
+ angie_quit();
+ return ret;
+ }
+
+ /* Initialize ANGIE command queue */
+ angie_clear_queue(angie_handle);
+
+ /* Issue one test command with short timeout */
+ ret = angie_append_test_cmd(angie_handle);
+ if (ret != ERROR_OK) {
+ angie_quit();
+ return ret;
+ }
+
+ ret = angie_execute_queued_commands(angie_handle, 200);
+ if (ret != ERROR_OK) {
+ /* Sending test command failed. The ANGIE device may be forever waiting for
+ * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
+ * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
+
+ ret = jtag_libusb_bulk_write(angie_handle->usb_device_handle, angie_handle->ep_in,
+ dummy, 64, 200, &transferred);
+
+ if (ret != ERROR_OK || transferred == 0) {
+ /* Bulk IN transfer failed -> unrecoverable error condition */
+ LOG_ERROR("Cannot communicate with ANGIE device. Disconnect ANGIE from "
+ "the USB port and re-connect, then re-run OpenOCD");
+ angie_quit();
+ return ERROR_FAIL;
+ }
+ /* Successfully received Bulk IN packet -> continue */
+ LOG_INFO("Recovered from lost Bulk IN packet");
+ }
+
+ angie_clear_queue(angie_handle);
+
+ ret = angie_append_get_signals_cmd(angie_handle);
+ if (ret != ERROR_OK) {
+ angie_quit();
+ return ret;
+ }
+
+ ret = angie_execute_queued_commands(angie_handle, 200);
+ if (ret != ERROR_OK) {
+ angie_quit();
+ return ret;
+ }
+
+ /* Post-process the single CMD_GET_SIGNALS command */
+ input_signals = angie_handle->queue_start->payload_in[0];
+ output_signals = angie_handle->queue_start->payload_in[1];
+ angie_dump_signal_states(input_signals, output_signals);
+
+ angie_clear_queue(angie_handle);
+
+ return ERROR_OK;
+}
+
+/**
+ * Closes the USB handle for the ANGIE device.
+ *
+ * @return on success: ERROR_OK
+ * @return on failure: ERROR_FAIL
+ */
+static int angie_quit(void)
+{
+ int ret = angie_usb_close(angie_handle);
+ free(angie_handle);
+ angie_handle = NULL;
+
+ return ret;
+}
+
+static struct jtag_interface angie_interface = {
+ .execute_queue = angie_execute_queue,
+};
+
+struct adapter_driver angie_adapter_driver = {
+ .name = "angie",
+ .transports = jtag_only,
+
+ .init = angie_init,
+ .quit = angie_quit,
+ .reset = angie_reset,
+ .speed = angie_speed,
+ .khz = angie_khz,
+ .speed_div = angie_speed_div,
+
+ .jtag_ops = &angie_interface,
+};
Code Review / openocd.git / commitdiff