1 // SPDX-License-Identifier: GPL-2.0-or-later
2 /***************************************************************************
4 Contents : OpenOCD driver code for NanoXplore USB-JTAG ANGIE *
6 Based on openULINK driver code by: Martin Schmoelzer. *
7 Copyright 2023, Ahmed Errached BOUDJELIDA, NanoXplore SAS. *
8 <aboudjelida@nanoxplore.com> *
9 <ahmederrachedbjld@gmail.com> *
10 ***************************************************************************/
19 #include "helper/system.h"
20 #include <helper/types.h>
21 #include <jtag/interface.h>
22 #include <jtag/commands.h>
23 #include <target/image.h>
25 #include "libusb_helper.h"
26 #include "angie/include/msgtypes.h"
28 /** USB Vendor ID of ANGIE device in unconfigured state (no firmware loaded
29 * yet) or with its firmware. */
30 #define ANGIE_VID 0x584e
32 /** USB Product ID of ANGIE device in unconfigured state (no firmware loaded
33 * yet) or with its firmware. */
34 #define ANGIE_PID 0x424e
35 #define ANGIE_PID_2 0x4255
36 #define ANGIE_PID_3 0x4355
37 #define ANGIE_PID_4 0x4a55
39 /** Address of EZ-USB ANGIE CPU Control & Status register. This register can be
40 * written by issuing a Control EP0 vendor request. */
41 #define CPUCS_REG 0xE600
43 /** USB Control EP0 bRequest: "Firmware Load". */
44 #define REQUEST_FIRMWARE_LOAD 0xA0
46 /** Value to write into CPUCS to put EZ-USB ANGIE into reset. */
47 #define CPU_RESET 0x01
49 /** Value to write into CPUCS to put EZ-USB ANGIE out of reset. */
50 #define CPU_START 0x00
52 /** Base address of firmware in EZ-USB ANGIE code space. */
53 #define FIRMWARE_ADDR 0x0000
55 /** USB interface number */
56 #define USB_INTERFACE 0
58 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
59 #define ANGIE_RENUMERATION_DELAY_US 1500000
61 /** Default location of ANGIE firmware image. */
62 #define ANGIE_FIRMWARE_FILE PKGDATADIR "/angie/angie_firmware.bin"
64 /** Default location of ANGIE firmware image. */
65 #define ANGIE_BITSTREAM_FILE PKGDATADIR "/angie/angie_bitstream.bit"
67 /** Maximum size of a single firmware section. Entire EZ-USB ANGIE code space = 16kB */
68 #define SECTION_BUFFERSIZE 16384
70 /** Tuning of OpenOCD SCAN commands split into multiple ANGIE commands. */
71 #define SPLIT_SCAN_THRESHOLD 10
73 /** ANGIE hardware type */
78 enum angie_payload_direction
{
79 PAYLOAD_DIRECTION_OUT
,
83 enum angie_delay_type
{
92 * ANGIE command (ANGIE command queue element).
94 * For the OUT direction payload, things are quite easy: Payload is stored
95 * in a rather small array (up to 63 bytes), the payload is always allocated
96 * by the function generating the command and freed by angie_clear_queue().
98 * For the IN direction payload, things get a little bit more complicated:
99 * The maximum IN payload size for a single command is 64 bytes. Assume that
100 * a single OpenOCD command needs to scan 256 bytes. This results in the
101 * generation of four ANGIE commands. The function generating these
102 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
103 * pointer shall point to the corresponding offset where IN data shall be
104 * placed, while #payload_in_start shall point to the first element of the 256
106 * - first command: #payload_in_start + 0
107 * - second command: #payload_in_start + 64
108 * - third command: #payload_in_start + 128
109 * - fourth command: #payload_in_start + 192
111 * The last command sets #needs_postprocessing to true.
114 uint8_t id
; /**< ANGIE command ID */
116 uint8_t *payload_out
; /**< Pointer where OUT payload shall be stored */
117 uint8_t payload_out_size
; /**< OUT direction payload size for this command */
119 uint8_t *payload_in_start
; /**< Pointer to first element of IN payload array */
120 uint8_t *payload_in
; /**< Pointer where IN payload shall be stored */
121 uint8_t payload_in_size
; /**< IN direction payload size for this command */
123 /** Indicates if this command needs post-processing */
124 bool needs_postprocessing
;
126 /** Indicates if angie_clear_queue() should free payload_in_start */
127 bool free_payload_in_start
;
129 /** Pointer to corresponding OpenOCD command for post-processing */
130 struct jtag_command
*cmd_origin
;
132 struct angie_cmd
*next
; /**< Pointer to next command (linked list) */
135 /** Describes one driver instance */
137 struct libusb_context
*libusb_ctx
;
138 struct libusb_device_handle
*usb_device_handle
;
139 enum angie_type type
;
141 unsigned int ep_in
; /**< IN endpoint number */
142 unsigned int ep_out
; /**< OUT endpoint number */
144 /* delay value for "SLOW_CLOCK commands" in [0:255] range in units of 4 us;
145 -1 means no need for delay */
146 int delay_scan_in
; /**< Delay value for SCAN_IN commands */
147 int delay_scan_out
; /**< Delay value for SCAN_OUT commands */
148 int delay_scan_io
; /**< Delay value for SCAN_IO commands */
149 int delay_clock_tck
; /**< Delay value for CLOCK_TMS commands */
150 int delay_clock_tms
; /**< Delay value for CLOCK_TCK commands */
152 int commands_in_queue
; /**< Number of commands in queue */
153 struct angie_cmd
*queue_start
; /**< Pointer to first command in queue */
154 struct angie_cmd
*queue_end
; /**< Pointer to last command in queue */
157 /**************************** Function Prototypes *****************************/
159 /* USB helper functions */
160 static int angie_usb_open(struct angie
*device
);
161 static int angie_usb_close(struct angie
*device
);
163 /* ANGIE MCU (Cypress EZ-USB) specific functions */
164 static int angie_cpu_reset(struct angie
*device
, char reset_bit
);
165 static int angie_load_firmware_and_renumerate(struct angie
*device
, const char *filename
,
167 static int angie_load_firmware(struct angie
*device
, const char *filename
);
168 static int angie_load_bitstream(struct angie
*device
, const char *filename
);
170 static int angie_write_firmware_section(struct angie
*device
,
171 struct image
*firmware_image
, int section_index
);
173 /* Generic helper functions */
174 static void angie_dump_signal_states(uint8_t input_signals
, uint8_t output_signals
);
176 /* ANGIE command generation helper functions */
177 static int angie_allocate_payload(struct angie_cmd
*angie_cmd
, int size
,
178 enum angie_payload_direction direction
);
180 /* ANGIE command queue helper functions */
181 static int angie_get_queue_size(struct angie
*device
,
182 enum angie_payload_direction direction
);
183 static void angie_clear_queue(struct angie
*device
);
184 static int angie_append_queue(struct angie
*device
, struct angie_cmd
*angie_cmd
);
185 static int angie_execute_queued_commands(struct angie
*device
, int timeout_ms
);
187 static void angie_dump_queue(struct angie
*device
);
189 static int angie_append_scan_cmd(struct angie
*device
,
190 enum scan_type scan_type
,
195 uint8_t tms_count_start
,
196 uint8_t tms_sequence_start
,
197 uint8_t tms_count_end
,
198 uint8_t tms_sequence_end
,
199 struct jtag_command
*origin
,
201 static int angie_append_clock_tms_cmd(struct angie
*device
, uint8_t count
,
203 static int angie_append_clock_tck_cmd(struct angie
*device
, uint16_t count
);
204 static int angie_append_get_signals_cmd(struct angie
*device
);
205 static int angie_append_set_signals_cmd(struct angie
*device
, uint8_t low
,
207 static int angie_append_sleep_cmd(struct angie
*device
, uint32_t us
);
208 static int angie_append_configure_tck_cmd(struct angie
*device
,
214 static int angie_append_test_cmd(struct angie
*device
);
216 /* ANGIE TCK frequency helper functions */
217 static int angie_calculate_delay(enum angie_delay_type type
, long f
, int *delay
);
219 /* Interface between ANGIE and OpenOCD */
220 static void angie_set_end_state(tap_state_t endstate
);
221 static int angie_queue_statemove(struct angie
*device
);
223 static int angie_queue_scan(struct angie
*device
, struct jtag_command
*cmd
);
224 static int angie_queue_tlr_reset(struct angie
*device
, struct jtag_command
*cmd
);
225 static int angie_queue_runtest(struct angie
*device
, struct jtag_command
*cmd
);
226 static int angie_queue_pathmove(struct angie
*device
, struct jtag_command
*cmd
);
227 static int angie_queue_sleep(struct angie
*device
, struct jtag_command
*cmd
);
228 static int angie_queue_stableclocks(struct angie
*device
, struct jtag_command
*cmd
);
230 static int angie_post_process_scan(struct angie_cmd
*angie_cmd
);
231 static int angie_post_process_queue(struct angie
*device
);
233 /* adapter driver functions */
234 static int angie_execute_queue(void);
235 static int angie_khz(int khz
, int *jtag_speed
);
236 static int angie_speed(int speed
);
237 static int angie_speed_div(int speed
, int *khz
);
238 static int angie_init(void);
239 static int angie_quit(void);
240 static int angie_reset(int trst
, int srst
);
242 /****************************** Global Variables ******************************/
244 static struct angie
*angie_handle
;
246 /**************************** USB helper functions ****************************/
249 * Opens the ANGIE device
251 * @param device pointer to struct angie identifying ANGIE driver instance.
252 * @return on success: ERROR_OK
253 * @return on failure: ERROR_FAIL
255 static int angie_usb_open(struct angie
*device
)
257 struct libusb_device_handle
*usb_device_handle
;
258 const uint16_t vids
[] = {ANGIE_VID
, ANGIE_VID
, ANGIE_VID
, ANGIE_VID
, 0};
259 const uint16_t pids
[] = {ANGIE_PID
, ANGIE_PID_2
, ANGIE_PID_3
, ANGIE_PID_4
, 0};
261 int ret
= jtag_libusb_open(vids
, pids
, NULL
, &usb_device_handle
, NULL
);
266 device
->usb_device_handle
= usb_device_handle
;
267 device
->type
= ANGIE
;
273 * Releases the ANGIE interface and closes the USB device handle.
275 * @param device pointer to struct angie identifying ANGIE driver instance.
276 * @return on success: ERROR_OK
277 * @return on failure: ERROR_FAIL
279 static int angie_usb_close(struct angie
*device
)
281 if (device
->usb_device_handle
) {
282 if (libusb_release_interface(device
->usb_device_handle
, 0) != 0)
285 jtag_libusb_close(device
->usb_device_handle
);
286 device
->usb_device_handle
= NULL
;
291 /******************* ANGIE CPU (EZ-USB) specific functions ********************/
294 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
297 * @param device pointer to struct angie identifying ANGIE driver instance.
298 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
299 * @return on success: ERROR_OK
300 * @return on failure: ERROR_FAIL
302 static int angie_cpu_reset(struct angie
*device
, char reset_bit
)
304 return jtag_libusb_control_transfer(device
->usb_device_handle
,
305 (LIBUSB_ENDPOINT_OUT
| LIBUSB_REQUEST_TYPE_VENDOR
| LIBUSB_RECIPIENT_DEVICE
),
306 REQUEST_FIRMWARE_LOAD
, CPUCS_REG
, 0, &reset_bit
, 1, LIBUSB_TIMEOUT_MS
, NULL
);
310 * Puts the ANGIE's EZ-USB microcontroller into reset state, downloads
311 * the firmware image, resumes the microcontroller and re-enumerates
314 * @param device pointer to struct angie identifying ANGIE driver instance.
315 * The usb_handle member will be modified during re-enumeration.
316 * @param filename path to the Intel HEX file containing the firmware image.
317 * @param delay_us the delay to wait for the device to re-enumerate.
318 * @return on success: ERROR_OK
319 * @return on failure: ERROR_FAIL
321 static int angie_load_firmware_and_renumerate(struct angie
*device
,
322 const char *filename
, uint32_t delay_us
)
326 /* Basic process: After downloading the firmware, the ANGIE will disconnect
327 * itself and re-connect after a short amount of time so we have to close
328 * the handle and re-enumerate USB devices */
330 ret
= angie_load_firmware(device
, filename
);
334 ret
= angie_usb_close(device
);
340 return angie_usb_open(device
);
344 * Downloads a firmware image to the ANGIE's EZ-USB microcontroller
347 * @param device pointer to struct angie identifying ANGIE driver instance.
348 * @param filename an absolute or relative path to the Intel HEX file
349 * containing the firmware image.
350 * @return on success: ERROR_OK
351 * @return on failure: ERROR_FAIL
353 static int angie_load_firmware(struct angie
*device
, const char *filename
)
355 struct image angie_firmware_image
;
358 ret
= angie_cpu_reset(device
, CPU_RESET
);
359 if (ret
!= ERROR_OK
) {
360 LOG_ERROR("Could not halt ANGIE CPU");
364 angie_firmware_image
.base_address
= 0;
365 angie_firmware_image
.base_address_set
= false;
367 ret
= image_open(&angie_firmware_image
, filename
, "bin");
368 if (ret
!= ERROR_OK
) {
369 LOG_ERROR("Could not load firmware image");
373 /* Download all sections in the image to ANGIE */
374 for (unsigned int i
= 0; i
< angie_firmware_image
.num_sections
; i
++) {
375 ret
= angie_write_firmware_section(device
, &angie_firmware_image
, i
);
380 image_close(&angie_firmware_image
);
382 ret
= angie_cpu_reset(device
, CPU_START
);
383 if (ret
!= ERROR_OK
) {
384 LOG_ERROR("Could not restart ANGIE CPU");
392 * Downloads a bitstream file to the ANGIE's FPGA through the EZ-USB microcontroller
395 * @param device pointer to struct angie identifying ANGIE driver instance.
396 * @param filename an absolute or relative path to the Xilinx .bit file
397 * containing the bitstream data.
398 * @return on success: ERROR_OK
399 * @return on failure: ERROR_FAIL
401 static int angie_load_bitstream(struct angie
*device
, const char *filename
)
403 int ret
, transferred
;
404 const char *bitstream_file_path
= filename
;
405 FILE *bitstream_file
= NULL
;
406 char *bitstream_data
= NULL
;
407 size_t bitstream_size
= 0;
410 /* Open the bitstream file */
411 bitstream_file
= fopen(bitstream_file_path
, "rb");
412 if (!bitstream_file
) {
413 LOG_ERROR("Failed to open bitstream file: %s\n", bitstream_file_path
);
417 /* Get the size of the bitstream file */
418 fseek(bitstream_file
, 0, SEEK_END
);
419 bitstream_size
= ftell(bitstream_file
);
420 fseek(bitstream_file
, 0, SEEK_SET
);
422 /* Allocate memory for the bitstream data */
423 bitstream_data
= malloc(bitstream_size
);
424 if (!bitstream_data
) {
425 LOG_ERROR("Failed to allocate memory for bitstream data.");
426 fclose(bitstream_file
);
430 /* Read the bitstream data from the file */
431 if (fread(bitstream_data
, 1, bitstream_size
, bitstream_file
) != bitstream_size
) {
432 LOG_ERROR("Failed to read bitstream data.");
433 free(bitstream_data
);
434 fclose(bitstream_file
);
438 h_u32_to_be(gpifcnt
, bitstream_size
);
441 ret
= jtag_libusb_control_transfer(device
->usb_device_handle
,
442 0x00, 0xB0, 0, 0, (char *)gpifcnt
, 4, LIBUSB_TIMEOUT_MS
, &transferred
);
443 if (ret
!= ERROR_OK
) {
444 LOG_ERROR("Failed opencfg");
445 /* Abort if libusb sent less data than requested */
449 /* Send the bitstream data to the microcontroller */
450 int actual_length
= 0;
451 ret
= jtag_libusb_bulk_write(device
->usb_device_handle
, 0x02, bitstream_data
, bitstream_size
, 1000, &actual_length
);
452 if (ret
!= ERROR_OK
) {
453 LOG_ERROR("Failed to send bitstream data: %s", libusb_strerror(ret
));
454 free(bitstream_data
);
455 fclose(bitstream_file
);
459 LOG_INFO("Bitstream sent successfully.");
462 free(bitstream_data
);
463 fclose(bitstream_file
);
467 ret
= jtag_libusb_control_transfer(device
->usb_device_handle
,
468 0x00, 0xB1, 0, 0, NULL
, 0, LIBUSB_TIMEOUT_MS
, &transferred
);
469 if (ret
!= ERROR_OK
) {
470 LOG_INFO("error cfgclose");
471 /* Abort if libusb sent less data than requested */
478 * Send one contiguous firmware section to the ANGIE's EZ-USB microcontroller
481 * @param device pointer to struct angie identifying ANGIE driver instance.
482 * @param firmware_image pointer to the firmware image that contains the section
483 * which should be sent to the ANGIE's EZ-USB microcontroller.
484 * @param section_index index of the section within the firmware image.
485 * @return on success: ERROR_OK
486 * @return on failure: ERROR_FAIL
488 static int angie_write_firmware_section(struct angie
*device
,
489 struct image
*firmware_image
, int section_index
)
491 int addr
, bytes_remaining
, chunk_size
;
492 uint8_t data
[SECTION_BUFFERSIZE
];
493 uint8_t *data_ptr
= data
;
496 int ret
, transferred
;
498 size
= (uint16_t)firmware_image
->sections
[section_index
].size
;
499 addr
= (uint16_t)firmware_image
->sections
[section_index
].base_address
;
501 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04" PRIx16
")", section_index
, addr
,
504 /* Copy section contents to local buffer */
505 ret
= image_read_section(firmware_image
, section_index
, 0, size
, data
,
510 if (size_read
!= size
)
513 bytes_remaining
= size
;
515 /* Send section data in chunks of up to 64 bytes to ANGIE */
516 while (bytes_remaining
> 0) {
517 if (bytes_remaining
> 64)
520 chunk_size
= bytes_remaining
;
522 ret
= jtag_libusb_control_transfer(device
->usb_device_handle
,
523 (LIBUSB_ENDPOINT_OUT
| LIBUSB_REQUEST_TYPE_VENDOR
| LIBUSB_RECIPIENT_DEVICE
),
524 REQUEST_FIRMWARE_LOAD
, addr
, FIRMWARE_ADDR
, (char *)data_ptr
,
525 chunk_size
, LIBUSB_TIMEOUT_MS
, &transferred
);
530 if (transferred
!= chunk_size
) {
531 /* Abort if libusb sent less data than requested */
535 bytes_remaining
-= chunk_size
;
537 data_ptr
+= chunk_size
;
543 /************************** Generic helper functions **************************/
546 * Print state of interesting signals via LOG_INFO().
548 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
549 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
551 static void angie_dump_signal_states(uint8_t input_signals
, uint8_t output_signals
)
553 LOG_INFO("ANGIE signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i "
555 (output_signals
& SIGNAL_TDI
? 1 : 0),
556 (input_signals
& SIGNAL_TDO
? 1 : 0),
557 (output_signals
& SIGNAL_TMS
? 1 : 0),
558 (output_signals
& SIGNAL_TCK
? 1 : 0),
559 (output_signals
& SIGNAL_TRST
? 1 : 0),
560 (output_signals
& SIGNAL_SRST
? 1 : 0));
563 /**************** ANGIE command generation helper functions ***************/
566 * Allocate and initialize space in memory for ANGIE command payload.
568 * @param angie_cmd pointer to command whose payload should be allocated.
569 * @param size the amount of memory to allocate (bytes).
570 * @param direction which payload to allocate.
571 * @return on success: ERROR_OK
572 * @return on failure: ERROR_FAIL
574 static int angie_allocate_payload(struct angie_cmd
*angie_cmd
, int size
,
575 enum angie_payload_direction direction
)
579 payload
= calloc(size
, sizeof(uint8_t));
582 LOG_ERROR("Could not allocate ANGIE command payload: out of memory");
587 case PAYLOAD_DIRECTION_OUT
:
588 if (angie_cmd
->payload_out
) {
589 LOG_ERROR("BUG: Duplicate payload allocation for ANGIE command");
593 angie_cmd
->payload_out
= payload
;
594 angie_cmd
->payload_out_size
= size
;
596 case PAYLOAD_DIRECTION_IN
:
597 if (angie_cmd
->payload_in_start
) {
598 LOG_ERROR("BUG: Duplicate payload allocation for ANGIE command");
603 angie_cmd
->payload_in_start
= payload
;
604 angie_cmd
->payload_in
= payload
;
605 angie_cmd
->payload_in_size
= size
;
607 /* By default, free payload_in_start in angie_clear_queue(). Commands
608 * that do not want this behavior (e. g. split scans) must turn it off
610 angie_cmd
->free_payload_in_start
= true;
618 /****************** ANGIE command queue helper functions ******************/
621 * Get the current number of bytes in the queue, including command IDs.
623 * @param device pointer to struct angie identifying ANGIE driver instance.
624 * @param direction the transfer direction for which to get byte count.
625 * @return the number of bytes currently stored in the queue for the specified
628 static int angie_get_queue_size(struct angie
*device
,
629 enum angie_payload_direction direction
)
631 struct angie_cmd
*current
= device
->queue_start
;
636 case PAYLOAD_DIRECTION_OUT
:
637 sum
+= current
->payload_out_size
+ 1; /* + 1 byte for Command ID */
639 case PAYLOAD_DIRECTION_IN
:
640 sum
+= current
->payload_in_size
;
644 current
= current
->next
;
651 * Clear the ANGIE command queue.
653 * @param device pointer to struct angie identifying ANGIE driver instance.
655 static void angie_clear_queue(struct angie
*device
)
657 struct angie_cmd
*current
= device
->queue_start
;
658 struct angie_cmd
*next
= NULL
;
661 /* Save pointer to next element */
662 next
= current
->next
;
664 /* Free payloads: OUT payload can be freed immediately */
665 free(current
->payload_out
);
666 current
->payload_out
= NULL
;
668 /* IN payload MUST be freed ONLY if no other commands use the
669 * payload_in_start buffer */
670 if (current
->free_payload_in_start
) {
671 free(current
->payload_in_start
);
672 current
->payload_in_start
= NULL
;
673 current
->payload_in
= NULL
;
676 /* Free queue element */
679 /* Proceed with next element */
683 device
->commands_in_queue
= 0;
684 device
->queue_start
= NULL
;
685 device
->queue_end
= NULL
;
689 * Add a command to the ANGIE command queue.
691 * @param device pointer to struct angie identifying ANGIE driver instance.
692 * @param angie_cmd pointer to command that shall be appended to the ANGIE
694 * @return on success: ERROR_OK
695 * @return on failure: ERROR_FAIL
697 static int angie_append_queue(struct angie
*device
, struct angie_cmd
*angie_cmd
)
699 int newsize_out
, newsize_in
;
702 newsize_out
= angie_get_queue_size(device
, PAYLOAD_DIRECTION_OUT
) + 1
703 + angie_cmd
->payload_out_size
;
705 newsize_in
= angie_get_queue_size(device
, PAYLOAD_DIRECTION_IN
)
706 + angie_cmd
->payload_in_size
;
708 /* Check if the current command can be appended to the queue */
709 if (newsize_out
> 64 || newsize_in
> 64) {
710 /* New command does not fit. Execute all commands in queue before starting
711 * new queue with the current command as first entry. */
712 ret
= angie_execute_queued_commands(device
, LIBUSB_TIMEOUT_MS
);
715 ret
= angie_post_process_queue(device
);
718 angie_clear_queue(device
);
721 if (!device
->queue_start
) {
722 /* Queue was empty */
723 device
->commands_in_queue
= 1;
725 device
->queue_start
= angie_cmd
;
726 device
->queue_end
= angie_cmd
;
728 /* There are already commands in the queue */
729 device
->commands_in_queue
++;
731 device
->queue_end
->next
= angie_cmd
;
732 device
->queue_end
= angie_cmd
;
736 angie_clear_queue(device
);
742 * Sends all queued ANGIE commands to the ANGIE for execution.
744 * @param device pointer to struct angie identifying ANGIE driver instance.
746 * @return on success: ERROR_OK
747 * @return on failure: ERROR_FAIL
749 static int angie_execute_queued_commands(struct angie
*device
, int timeout_ms
)
751 struct angie_cmd
*current
;
752 int ret
, i
, index_out
, index_in
, count_out
, count_in
, transferred
;
755 if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO
))
756 angie_dump_queue(device
);
762 for (current
= device
->queue_start
; current
; current
= current
->next
) {
763 /* Add command to packet */
764 buffer
[index_out
] = current
->id
;
768 for (i
= 0; i
< current
->payload_out_size
; i
++)
769 buffer
[index_out
+ i
] = current
->payload_out
[i
];
770 index_out
+= current
->payload_out_size
;
771 count_in
+= current
->payload_in_size
;
772 count_out
+= current
->payload_out_size
;
775 /* Send packet to ANGIE */
776 ret
= jtag_libusb_bulk_write(device
->usb_device_handle
, device
->ep_out
,
777 (char *)buffer
, count_out
, timeout_ms
, &transferred
);
780 if (transferred
!= count_out
)
783 /* Wait for response if commands contain IN payload data */
785 ret
= jtag_libusb_bulk_write(device
->usb_device_handle
, device
->ep_in
,
786 (char *)buffer
, count_in
, timeout_ms
, &transferred
);
789 if (transferred
!= count_in
)
792 /* Write back IN payload data */
794 for (current
= device
->queue_start
; current
; current
= current
->next
) {
795 for (i
= 0; i
< current
->payload_in_size
; i
++) {
796 current
->payload_in
[i
] = buffer
[index_in
];
805 * Convert an ANGIE command ID (\a id) to a human-readable string.
807 * @param id the ANGIE command ID.
808 * @return the corresponding human-readable string.
810 static const char *angie_cmd_id_string(uint8_t id
)
814 return "CMD_SCAN_IN";
815 case CMD_SLOW_SCAN_IN
:
816 return "CMD_SLOW_SCAN_IN";
818 return "CMD_SCAN_OUT";
819 case CMD_SLOW_SCAN_OUT
:
820 return "CMD_SLOW_SCAN_OUT";
822 return "CMD_SCAN_IO";
823 case CMD_SLOW_SCAN_IO
:
824 return "CMD_SLOW_SCAN_IO";
826 return "CMD_CLOCK_TMS";
827 case CMD_SLOW_CLOCK_TMS
:
828 return "CMD_SLOW_CLOCK_TMS";
830 return "CMD_CLOCK_TCK";
831 case CMD_SLOW_CLOCK_TCK
:
832 return "CMD_SLOW_CLOCK_TCK";
834 return "CMD_SLEEP_US";
836 return "CMD_SLEEP_MS";
837 case CMD_GET_SIGNALS
:
838 return "CMD_GET_SIGNALS";
839 case CMD_SET_SIGNALS
:
840 return "CMD_SET_SIGNALS";
841 case CMD_CONFIGURE_TCK_FREQ
:
842 return "CMD_CONFIGURE_TCK_FREQ";
844 return "CMD_SET_LEDS";
848 return "CMD_UNKNOWN";
853 * Print one ANGIE command to stdout.
855 * @param angie_cmd pointer to ANGIE command.
857 static void angie_dump_command(struct angie_cmd
*angie_cmd
)
860 for (int i
= 0; i
< angie_cmd
->payload_out_size
; i
++)
861 sprintf(hex
+ 3 * i
, "%02" PRIX8
" ", angie_cmd
->payload_out
[i
]);
863 hex
[3 * angie_cmd
->payload_out_size
- 1] = 0;
864 LOG_DEBUG_IO(" %-22s | OUT size = %" PRIi8
", bytes = %s",
865 angie_cmd_id_string(angie_cmd
->id
), angie_cmd
->payload_out_size
, hex
);
867 LOG_DEBUG_IO("\n | IN size = %" PRIi8
"\n", angie_cmd
->payload_in_size
);
871 * Print the ANGIE command queue to stdout.
873 * @param device pointer to struct angie identifying ANGIE driver instance.
875 static void angie_dump_queue(struct angie
*device
)
877 struct angie_cmd
*current
;
879 LOG_DEBUG_IO("ANGIE command queue:\n");
881 for (current
= device
->queue_start
; current
; current
= current
->next
)
882 angie_dump_command(current
);
888 * Creates and appends a JTAG scan command to the ANGIE command queue.
889 * A JTAG scan consists of three steps:
890 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
891 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
892 * - Move to the desired end state.
894 * @param device pointer to struct angie identifying ANGIE driver instance.
895 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
896 * @param scan_size_bits number of bits to shift into the JTAG chain.
897 * @param tdi pointer to array containing TDI data.
898 * @param tdo_start pointer to first element of array where TDO data shall be
899 * stored. See #angie_cmd for details.
900 * @param tdo pointer to array where TDO data shall be stored
901 * @param tms_count_start number of TMS state transitions to perform BEFORE
902 * shifting data into the JTAG chain.
903 * @param tms_sequence_start sequence of TMS state transitions that will be
904 * performed BEFORE shifting data into the JTAG chain.
905 * @param tms_count_end number of TMS state transitions to perform AFTER
906 * shifting data into the JTAG chain.
907 * @param tms_sequence_end sequence of TMS state transitions that will be
908 * performed AFTER shifting data into the JTAG chain.
909 * @param origin pointer to OpenOCD command that generated this scan command.
910 * @param postprocess whether this command needs to be post-processed after
912 * @return on success: ERROR_OK
913 * @return on failure: ERROR_FAIL
915 static int angie_append_scan_cmd(struct angie
*device
, enum scan_type scan_type
,
916 int scan_size_bits
, uint8_t *tdi
, uint8_t *tdo_start
, uint8_t *tdo
,
917 uint8_t tms_count_start
, uint8_t tms_sequence_start
, uint8_t tms_count_end
,
918 uint8_t tms_sequence_end
, struct jtag_command
*origin
, bool postprocess
)
920 struct angie_cmd
*cmd
= calloc(1, sizeof(struct angie_cmd
));
921 int ret
, i
, scan_size_bytes
;
922 uint8_t bits_last_byte
;
927 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
928 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
929 if (scan_size_bits
> (58 * 8)) {
930 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO ANGIE command with too"
936 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
938 bits_last_byte
= scan_size_bits
% 8;
939 if (bits_last_byte
== 0)
942 /* Allocate out_payload depending on scan type */
945 if (device
->delay_scan_in
< 0)
946 cmd
->id
= CMD_SCAN_IN
;
948 cmd
->id
= CMD_SLOW_SCAN_IN
;
949 ret
= angie_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_IN
);
952 if (device
->delay_scan_out
< 0)
953 cmd
->id
= CMD_SCAN_OUT
;
955 cmd
->id
= CMD_SLOW_SCAN_OUT
;
956 ret
= angie_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
959 if (device
->delay_scan_io
< 0)
960 cmd
->id
= CMD_SCAN_IO
;
962 cmd
->id
= CMD_SLOW_SCAN_IO
;
963 ret
= angie_allocate_payload(cmd
, scan_size_bytes
+ 5, PAYLOAD_DIRECTION_OUT
);
966 LOG_ERROR("BUG: 'append scan cmd' encountered an unknown scan type");
971 if (ret
!= ERROR_OK
) {
976 /* Build payload_out that is common to all scan types */
977 cmd
->payload_out
[0] = scan_size_bytes
& 0xFF;
978 cmd
->payload_out
[1] = bits_last_byte
& 0xFF;
979 cmd
->payload_out
[2] = ((tms_count_start
& 0x0F) << 4) | (tms_count_end
& 0x0F);
980 cmd
->payload_out
[3] = tms_sequence_start
;
981 cmd
->payload_out
[4] = tms_sequence_end
;
983 /* Setup payload_out for types with OUT transfer */
984 if (scan_type
== SCAN_OUT
|| scan_type
== SCAN_IO
) {
985 for (i
= 0; i
< scan_size_bytes
; i
++)
986 cmd
->payload_out
[i
+ 5] = tdi
[i
];
989 /* Setup payload_in pointers for types with IN transfer */
990 if (scan_type
== SCAN_IN
|| scan_type
== SCAN_IO
) {
991 cmd
->payload_in_start
= tdo_start
;
992 cmd
->payload_in
= tdo
;
993 cmd
->payload_in_size
= scan_size_bytes
;
996 cmd
->needs_postprocessing
= postprocess
;
997 cmd
->cmd_origin
= origin
;
999 /* For scan commands, we free payload_in_start only when the command is
1000 * the last in a series of split commands or a stand-alone command */
1001 cmd
->free_payload_in_start
= postprocess
;
1003 return angie_append_queue(device
, cmd
);
1007 * Perform TAP state transitions
1009 * @param device pointer to struct angie identifying ANGIE driver instance.
1010 * @param count defines the number of TCK clock cycles generated (up to 8).
1011 * @param sequence defines the TMS pin levels for each state transition. The
1012 * Least-Significant Bit is read first.
1013 * @return on success: ERROR_OK
1014 * @return on failure: ERROR_FAIL
1016 static int angie_append_clock_tms_cmd(struct angie
*device
, uint8_t count
,
1019 struct angie_cmd
*cmd
= calloc(1, sizeof(struct angie_cmd
));
1023 LOG_ERROR("Out of memory");
1027 if (device
->delay_clock_tms
< 0)
1028 cmd
->id
= CMD_CLOCK_TMS
;
1030 cmd
->id
= CMD_SLOW_CLOCK_TMS
;
1032 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1033 ret
= angie_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1034 if (ret
!= ERROR_OK
) {
1039 cmd
->payload_out
[0] = count
;
1040 cmd
->payload_out
[1] = sequence
;
1042 return angie_append_queue(device
, cmd
);
1046 * Generate a defined amount of TCK clock cycles
1048 * All other JTAG signals are left unchanged.
1050 * @param device pointer to struct angie identifying ANGIE driver instance.
1051 * @param count the number of TCK clock cycles to generate.
1052 * @return on success: ERROR_OK
1053 * @return on failure: ERROR_FAIL
1055 static int angie_append_clock_tck_cmd(struct angie
*device
, uint16_t count
)
1057 struct angie_cmd
*cmd
= calloc(1, sizeof(struct angie_cmd
));
1061 LOG_ERROR("Out of memory");
1065 if (device
->delay_clock_tck
< 0)
1066 cmd
->id
= CMD_CLOCK_TCK
;
1068 cmd
->id
= CMD_SLOW_CLOCK_TCK
;
1070 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1071 ret
= angie_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1072 if (ret
!= ERROR_OK
) {
1077 cmd
->payload_out
[0] = count
& 0xff;
1078 cmd
->payload_out
[1] = (count
>> 8) & 0xff;
1080 return angie_append_queue(device
, cmd
);
1084 * Read JTAG signals.
1086 * @param device pointer to struct angie identifying ANGIE driver instance.
1087 * @return on success: ERROR_OK
1088 * @return on failure: ERROR_FAIL
1090 static int angie_append_get_signals_cmd(struct angie
*device
)
1092 struct angie_cmd
*cmd
= calloc(1, sizeof(struct angie_cmd
));
1096 LOG_ERROR("Out of memory");
1100 cmd
->id
= CMD_GET_SIGNALS
;
1101 cmd
->needs_postprocessing
= true;
1103 /* CMD_GET_SIGNALS has two IN payload bytes */
1104 ret
= angie_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_IN
);
1106 if (ret
!= ERROR_OK
) {
1111 return angie_append_queue(device
, cmd
);
1115 * Arbitrarily set JTAG output signals.
1117 * @param device pointer to struct angie identifying ANGIE driver instance.
1118 * @param low defines which signals will be de-asserted. Each bit corresponds
1127 * @param high defines which signals will be asserted.
1128 * @return on success: ERROR_OK
1129 * @return on failure: ERROR_FAIL
1131 static int angie_append_set_signals_cmd(struct angie
*device
, uint8_t low
,
1134 struct angie_cmd
*cmd
= calloc(1, sizeof(struct angie_cmd
));
1138 LOG_ERROR("Out of memory");
1142 cmd
->id
= CMD_SET_SIGNALS
;
1144 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1145 ret
= angie_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1147 if (ret
!= ERROR_OK
) {
1152 cmd
->payload_out
[0] = low
;
1153 cmd
->payload_out
[1] = high
;
1155 return angie_append_queue(device
, cmd
);
1159 * Sleep for a pre-defined number of microseconds
1161 * @param device pointer to struct angie identifying ANGIE driver instance.
1162 * @param us the number microseconds to sleep.
1163 * @return on success: ERROR_OK
1164 * @return on failure: ERROR_FAIL
1166 static int angie_append_sleep_cmd(struct angie
*device
, uint32_t us
)
1168 struct angie_cmd
*cmd
= calloc(1, sizeof(struct angie_cmd
));
1172 LOG_ERROR("Out of memory");
1176 cmd
->id
= CMD_SLEEP_US
;
1178 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1179 ret
= angie_allocate_payload(cmd
, 2, PAYLOAD_DIRECTION_OUT
);
1181 if (ret
!= ERROR_OK
) {
1186 cmd
->payload_out
[0] = us
& 0x00ff;
1187 cmd
->payload_out
[1] = (us
>> 8) & 0x00ff;
1189 return angie_append_queue(device
, cmd
);
1193 * Set TCK delay counters
1195 * @param device pointer to struct angie identifying ANGIE driver instance.
1196 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1197 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1198 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1199 * @param delay_tck delay count top value in jtag_clock_tck() function.
1200 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1201 * @return on success: ERROR_OK
1202 * @return on failure: ERROR_FAIL
1204 static int angie_append_configure_tck_cmd(struct angie
*device
, int delay_scan_in
,
1205 int delay_scan_out
, int delay_scan_io
, int delay_tck
, int delay_tms
)
1207 struct angie_cmd
*cmd
= calloc(1, sizeof(struct angie_cmd
));
1211 LOG_ERROR("Out of memory");
1215 cmd
->id
= CMD_CONFIGURE_TCK_FREQ
;
1217 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1218 * IN payload bytes */
1219 ret
= angie_allocate_payload(cmd
, 5, PAYLOAD_DIRECTION_OUT
);
1220 if (ret
!= ERROR_OK
) {
1225 if (delay_scan_in
< 0)
1226 cmd
->payload_out
[0] = 0;
1228 cmd
->payload_out
[0] = (uint8_t)delay_scan_in
;
1230 if (delay_scan_out
< 0)
1231 cmd
->payload_out
[1] = 0;
1233 cmd
->payload_out
[1] = (uint8_t)delay_scan_out
;
1235 if (delay_scan_io
< 0)
1236 cmd
->payload_out
[2] = 0;
1238 cmd
->payload_out
[2] = (uint8_t)delay_scan_io
;
1241 cmd
->payload_out
[3] = 0;
1243 cmd
->payload_out
[3] = (uint8_t)delay_tck
;
1246 cmd
->payload_out
[4] = 0;
1248 cmd
->payload_out
[4] = (uint8_t)delay_tms
;
1250 return angie_append_queue(device
, cmd
);
1254 * Test command. Used to check if the ANGIE device is ready to accept new
1257 * @param device pointer to struct angie identifying ANGIE driver instance.
1258 * @return on success: ERROR_OK
1259 * @return on failure: ERROR_FAIL
1261 static int angie_append_test_cmd(struct angie
*device
)
1263 struct angie_cmd
*cmd
= calloc(1, sizeof(struct angie_cmd
));
1267 LOG_ERROR("Out of memory");
1273 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1274 ret
= angie_allocate_payload(cmd
, 1, PAYLOAD_DIRECTION_OUT
);
1275 if (ret
!= ERROR_OK
) {
1280 cmd
->payload_out
[0] = 0xAA;
1282 return angie_append_queue(device
, cmd
);
1285 /****************** ANGIE TCK frequency helper functions ******************/
1288 * Calculate delay values for a given TCK frequency.
1290 * The ANGIE firmware uses five different speed values for different
1291 * commands. These speed values are calculated in these functions.
1293 * The five different commands which support variable TCK frequency are
1294 * implemented twice in the firmware:
1295 * 1. Maximum possible frequency without any artificial delay
1296 * 2. Variable frequency with artificial linear delay loop
1298 * To set the ANGIE to maximum frequency, it is only necessary to use the
1299 * corresponding command IDs. To set the ANGIE to a lower frequency, the
1300 * delay loop top values have to be calculated first. Then, a
1301 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ANGIE device.
1303 * The delay values are described by linear equations:
1305 * (t = period, k = constant, x = delay value, d = constant)
1307 * Thus, the delay can be calculated as in the following equation:
1310 * The constants in these equations have been determined and validated by
1311 * measuring the frequency resulting from different delay values.
1313 * @param type for which command to calculate the delay value.
1314 * @param f TCK frequency for which to calculate the delay value in Hz.
1315 * @param delay where to store resulting delay value.
1316 * @return on success: ERROR_OK
1317 * @return on failure: ERROR_FAIL
1319 static int angie_calculate_delay(enum angie_delay_type type
, long f
, int *delay
)
1321 float t_us
, x
, x_ceil
;
1323 /* Calculate period of requested TCK frequency */
1324 t_us
= 1000000.0 / f
;
1327 case DELAY_CLOCK_TCK
:
1328 x
= (t_us
- 6.0) / 4;
1330 case DELAY_CLOCK_TMS
:
1331 x
= (t_us
- 8.5) / 4;
1334 x
= (t_us
- 8.8308) / 4;
1336 case DELAY_SCAN_OUT
:
1337 x
= (t_us
- 10.527) / 4;
1340 x
= (t_us
- 13.132) / 4;
1347 /* Check if the delay value is negative. This happens when a frequency is
1348 * requested that is too high for the delay loop implementation. In this
1349 * case, set delay value to zero. */
1353 /* We need to convert the exact delay value to an integer. Therefore, we
1354 * round the exact value UP to ensure that the resulting frequency is NOT
1355 * higher than the requested frequency. */
1358 /* Check if the value is within limits */
1362 *delay
= (int)x_ceil
;
1368 * Calculate frequency for a given delay value.
1370 * Similar to the #angie_calculate_delay function, this function calculates the
1371 * TCK frequency for a given delay value by using linear equations of the form:
1373 * (t = period, k = constant, x = delay value, d = constant)
1375 * @param type for which command to calculate the delay value.
1376 * @param delay value for which to calculate the resulting TCK frequency.
1377 * @return the resulting TCK frequency
1379 static long angie_calculate_frequency(enum angie_delay_type type
, int delay
)
1381 float t_us
, f_float
;
1387 case DELAY_CLOCK_TCK
:
1391 t_us
= (4.0 * delay
) + 6.0;
1393 case DELAY_CLOCK_TMS
:
1397 t_us
= (4.0 * delay
) + 8.5;
1403 t_us
= (4.0 * delay
) + 8.8308;
1405 case DELAY_SCAN_OUT
:
1409 t_us
= (4.0 * delay
) + 10.527;
1415 t_us
= (4.0 * delay
) + 13.132;
1421 f_float
= 1000000.0 / t_us
;
1422 return roundf(f_float
);
1425 /******************* Interface between ANGIE and OpenOCD ******************/
1428 * Sets the end state follower (see interface.h) if \a endstate is a stable
1431 * @param endstate the state the end state follower should be set to.
1433 static void angie_set_end_state(tap_state_t endstate
)
1435 if (tap_is_state_stable(endstate
))
1436 tap_set_end_state(endstate
);
1438 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate
));
1442 * Move from the current TAP state to the current TAP end state.
1444 * @param device pointer to struct angie identifying ANGIE driver instance.
1445 * @return on success: ERROR_OK
1446 * @return on failure: ERROR_FAIL
1448 static int angie_queue_statemove(struct angie
*device
)
1450 uint8_t tms_sequence
, tms_count
;
1453 if (tap_get_state() == tap_get_end_state()) {
1454 /* Do nothing if we are already there */
1458 tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1459 tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1461 ret
= angie_append_clock_tms_cmd(device
, tms_count
, tms_sequence
);
1463 if (ret
== ERROR_OK
)
1464 tap_set_state(tap_get_end_state());
1470 * Perform a scan operation on a JTAG register.
1472 * @param device pointer to struct angie identifying ANGIE driver instance.
1473 * @param cmd pointer to the command that shall be executed.
1474 * @return on success: ERROR_OK
1475 * @return on failure: ERROR_FAIL
1477 static int angie_queue_scan(struct angie
*device
, struct jtag_command
*cmd
)
1479 uint32_t scan_size_bits
, scan_size_bytes
, bits_last_scan
;
1480 uint32_t scans_max_payload
, bytecount
;
1481 uint8_t *tdi_buffer_start
= NULL
, *tdi_buffer
= NULL
;
1482 uint8_t *tdo_buffer_start
= NULL
, *tdo_buffer
= NULL
;
1484 uint8_t first_tms_count
, first_tms_sequence
;
1485 uint8_t last_tms_count
, last_tms_sequence
;
1487 uint8_t tms_count_pause
, tms_sequence_pause
;
1488 uint8_t tms_count_resume
, tms_sequence_resume
;
1490 uint8_t tms_count_start
, tms_sequence_start
;
1491 uint8_t tms_count_end
, tms_sequence_end
;
1493 enum scan_type type
;
1496 /* Determine scan size */
1497 scan_size_bits
= jtag_scan_size(cmd
->cmd
.scan
);
1498 scan_size_bytes
= DIV_ROUND_UP(scan_size_bits
, 8);
1500 /* Determine scan type (IN/OUT/IO) */
1501 type
= jtag_scan_type(cmd
->cmd
.scan
);
1503 /* Determine number of scan commands with maximum payload */
1504 scans_max_payload
= scan_size_bytes
/ 58;
1506 /* Determine size of last shift command */
1507 bits_last_scan
= scan_size_bits
- (scans_max_payload
* 58 * 8);
1509 /* Allocate TDO buffer if required */
1510 if (type
== SCAN_IN
|| type
== SCAN_IO
) {
1511 tdo_buffer_start
= calloc(sizeof(uint8_t), scan_size_bytes
);
1513 if (!tdo_buffer_start
)
1516 tdo_buffer
= tdo_buffer_start
;
1519 /* Fill TDI buffer if required */
1520 if (type
== SCAN_OUT
|| type
== SCAN_IO
) {
1521 jtag_build_buffer(cmd
->cmd
.scan
, &tdi_buffer_start
);
1522 tdi_buffer
= tdi_buffer_start
;
1525 /* Get TAP state transitions */
1526 if (cmd
->cmd
.scan
->ir_scan
) {
1527 angie_set_end_state(TAP_IRSHIFT
);
1528 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1529 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1531 tap_set_state(TAP_IRSHIFT
);
1532 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1533 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1534 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1536 /* TAP state transitions for split scans */
1537 tms_count_pause
= tap_get_tms_path_len(TAP_IRSHIFT
, TAP_IRPAUSE
);
1538 tms_sequence_pause
= tap_get_tms_path(TAP_IRSHIFT
, TAP_IRPAUSE
);
1539 tms_count_resume
= tap_get_tms_path_len(TAP_IRPAUSE
, TAP_IRSHIFT
);
1540 tms_sequence_resume
= tap_get_tms_path(TAP_IRPAUSE
, TAP_IRSHIFT
);
1542 angie_set_end_state(TAP_DRSHIFT
);
1543 first_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1544 first_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1546 tap_set_state(TAP_DRSHIFT
);
1547 tap_set_end_state(cmd
->cmd
.scan
->end_state
);
1548 last_tms_count
= tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1549 last_tms_sequence
= tap_get_tms_path(tap_get_state(), tap_get_end_state());
1551 /* TAP state transitions for split scans */
1552 tms_count_pause
= tap_get_tms_path_len(TAP_DRSHIFT
, TAP_DRPAUSE
);
1553 tms_sequence_pause
= tap_get_tms_path(TAP_DRSHIFT
, TAP_DRPAUSE
);
1554 tms_count_resume
= tap_get_tms_path_len(TAP_DRPAUSE
, TAP_DRSHIFT
);
1555 tms_sequence_resume
= tap_get_tms_path(TAP_DRPAUSE
, TAP_DRSHIFT
);
1558 /* Generate scan commands */
1559 bytecount
= scan_size_bytes
;
1560 while (bytecount
> 0) {
1561 if (bytecount
== scan_size_bytes
) {
1562 /* This is the first scan */
1563 tms_count_start
= first_tms_count
;
1564 tms_sequence_start
= first_tms_sequence
;
1566 /* Resume from previous scan */
1567 tms_count_start
= tms_count_resume
;
1568 tms_sequence_start
= tms_sequence_resume
;
1571 if (bytecount
> 58) { /* Full scan, at least one scan will follow */
1572 tms_count_end
= tms_count_pause
;
1573 tms_sequence_end
= tms_sequence_pause
;
1575 ret
= angie_append_scan_cmd(device
,
1590 /* Update TDI and TDO buffer pointers */
1591 if (tdi_buffer_start
)
1593 if (tdo_buffer_start
)
1595 } else if (bytecount
== 58) { /* Full scan, no further scans */
1596 tms_count_end
= last_tms_count
;
1597 tms_sequence_end
= last_tms_sequence
;
1599 ret
= angie_append_scan_cmd(device
,
1613 } else {/* Scan with less than maximum payload, no further scans */
1614 tms_count_end
= last_tms_count
;
1615 tms_sequence_end
= last_tms_sequence
;
1617 ret
= angie_append_scan_cmd(device
,
1633 if (ret
!= ERROR_OK
) {
1634 free(tdi_buffer_start
);
1635 free(tdo_buffer_start
);
1640 free(tdi_buffer_start
);
1642 /* Set current state to the end state requested by the command */
1643 tap_set_state(cmd
->cmd
.scan
->end_state
);
1649 * Move the TAP into the Test Logic Reset state.
1651 * @param device pointer to struct angie identifying ANGIE driver instance.
1652 * @param cmd pointer to the command that shall be executed.
1653 * @return on success: ERROR_OK
1654 * @return on failure: ERROR_FAIL
1656 static int angie_queue_tlr_reset(struct angie
*device
, struct jtag_command
*cmd
)
1658 int ret
= angie_append_clock_tms_cmd(device
, 5, 0xff);
1660 if (ret
== ERROR_OK
)
1661 tap_set_state(TAP_RESET
);
1669 * Generate TCK clock cycles while remaining
1670 * in the Run-Test/Idle state.
1672 * @param device pointer to struct angie identifying ANGIE driver instance.
1673 * @param cmd pointer to the command that shall be executed.
1674 * @return on success: ERROR_OK
1675 * @return on failure: ERROR_FAIL
1677 static int angie_queue_runtest(struct angie
*device
, struct jtag_command
*cmd
)
1681 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1682 if (tap_get_state() != TAP_IDLE
) {
1683 angie_set_end_state(TAP_IDLE
);
1684 angie_queue_statemove(device
);
1687 /* Generate the clock cycles */
1688 ret
= angie_append_clock_tck_cmd(device
, cmd
->cmd
.runtest
->num_cycles
);
1689 if (ret
!= ERROR_OK
)
1692 /* Move to end state specified in command */
1693 if (cmd
->cmd
.runtest
->end_state
!= tap_get_state()) {
1694 tap_set_end_state(cmd
->cmd
.runtest
->end_state
);
1695 angie_queue_statemove(device
);
1702 * Execute a JTAG_RESET command
1705 * @param trst indicate if trst signal is activated.
1706 * @param srst indicate if srst signal is activated.
1707 * @return on success: ERROR_OK
1708 * @return on failure: ERROR_FAIL
1710 static int angie_reset(int trst
, int srst
)
1712 struct angie
*device
= angie_handle
;
1713 uint8_t low
= 0, high
= 0;
1716 tap_set_state(TAP_RESET
);
1719 high
|= SIGNAL_TRST
;
1725 high
|= SIGNAL_SRST
;
1727 int ret
= angie_append_set_signals_cmd(device
, low
, high
);
1728 if (ret
== ERROR_OK
)
1729 angie_clear_queue(device
);
1731 ret
= angie_execute_queued_commands(device
, LIBUSB_TIMEOUT_MS
);
1732 if (ret
== ERROR_OK
)
1733 angie_clear_queue(device
);
1739 * Move to one TAP state or several states in succession.
1741 * @param device pointer to struct angie identifying ANGIE driver instance.
1742 * @param cmd pointer to the command that shall be executed.
1743 * @return on success: ERROR_OK
1744 * @return on failure: ERROR_FAIL
1746 static int angie_queue_pathmove(struct angie
*device
, struct jtag_command
*cmd
)
1748 int ret
, i
, num_states
, batch_size
, state_count
;
1750 uint8_t tms_sequence
;
1752 num_states
= cmd
->cmd
.pathmove
->num_states
;
1753 path
= cmd
->cmd
.pathmove
->path
;
1756 while (num_states
> 0) {
1759 /* Determine batch size */
1760 if (num_states
>= 8)
1763 batch_size
= num_states
;
1765 for (i
= 0; i
< batch_size
; i
++) {
1766 if (tap_state_transition(tap_get_state(), false) == path
[state_count
]) {
1767 /* Append '0' transition: clear bit 'i' in tms_sequence */
1768 buf_set_u32(&tms_sequence
, i
, 1, 0x0);
1769 } else if (tap_state_transition(tap_get_state(), true)
1770 == path
[state_count
]) {
1771 /* Append '1' transition: set bit 'i' in tms_sequence */
1772 buf_set_u32(&tms_sequence
, i
, 1, 0x1);
1774 /* Invalid state transition */
1775 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1776 tap_state_name(tap_get_state()),
1777 tap_state_name(path
[state_count
]));
1781 tap_set_state(path
[state_count
]);
1786 /* Append CLOCK_TMS command to ANGIE command queue */
1787 LOG_INFO("pathmove batch: count = %i, sequence = 0x%" PRIx8
"", batch_size
, tms_sequence
);
1788 ret
= angie_append_clock_tms_cmd(angie_handle
, batch_size
, tms_sequence
);
1789 if (ret
!= ERROR_OK
)
1797 * Sleep for a specific amount of time.
1799 * @param device pointer to struct angie identifying ANGIE driver instance.
1800 * @param cmd pointer to the command that shall be executed.
1801 * @return on success: ERROR_OK
1802 * @return on failure: ERROR_FAIL
1804 static int angie_queue_sleep(struct angie
*device
, struct jtag_command
*cmd
)
1806 /* IMPORTANT! Due to the time offset in command execution introduced by
1807 * command queueing, this needs to be implemented in the ANGIE device */
1808 return angie_append_sleep_cmd(device
, cmd
->cmd
.sleep
->us
);
1812 * Generate TCK cycles while remaining in a stable state.
1814 * @param device pointer to struct angie identifying ANGIE driver instance.
1815 * @param cmd pointer to the command that shall be executed.
1817 static int angie_queue_stableclocks(struct angie
*device
, struct jtag_command
*cmd
)
1820 unsigned int num_cycles
;
1822 if (!tap_is_state_stable(tap_get_state())) {
1823 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1827 num_cycles
= cmd
->cmd
.stableclocks
->num_cycles
;
1829 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1830 if (tap_get_state() == TAP_RESET
)
1831 ret
= angie_append_set_signals_cmd(device
, 0, SIGNAL_TMS
);
1833 ret
= angie_append_set_signals_cmd(device
, SIGNAL_TMS
, 0);
1835 if (ret
!= ERROR_OK
)
1838 while (num_cycles
> 0) {
1839 if (num_cycles
> 0xFFFF) {
1840 /* ANGIE CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1841 ret
= angie_append_clock_tck_cmd(device
, 0xFFFF);
1842 num_cycles
-= 0xFFFF;
1844 ret
= angie_append_clock_tck_cmd(device
, num_cycles
);
1848 if (ret
!= ERROR_OK
)
1856 * Post-process JTAG_SCAN command
1858 * @param angie_cmd pointer to ANGIE command that shall be processed.
1859 * @return on success: ERROR_OK
1860 * @return on failure: ERROR_FAIL
1862 static int angie_post_process_scan(struct angie_cmd
*angie_cmd
)
1864 struct jtag_command
*cmd
= angie_cmd
->cmd_origin
;
1867 switch (jtag_scan_type(cmd
->cmd
.scan
)) {
1870 ret
= jtag_read_buffer(angie_cmd
->payload_in_start
, cmd
->cmd
.scan
);
1873 /* Nothing to do for OUT scans */
1877 LOG_ERROR("BUG: angie post process scan encountered an unknown JTAG scan type");
1886 * Perform post-processing of commands after ANGIE queue has been executed.
1888 * @param device pointer to struct angie identifying ANGIE driver instance.
1889 * @return on success: ERROR_OK
1890 * @return on failure: ERROR_FAIL
1892 static int angie_post_process_queue(struct angie
*device
)
1894 struct angie_cmd
*current
;
1895 struct jtag_command
*openocd_cmd
;
1898 current
= device
->queue_start
;
1901 openocd_cmd
= current
->cmd_origin
;
1903 /* Check if a corresponding OpenOCD command is stored for this
1905 if (current
->needs_postprocessing
&& openocd_cmd
) {
1906 switch (openocd_cmd
->type
) {
1908 ret
= angie_post_process_scan(current
);
1910 case JTAG_TLR_RESET
:
1914 case JTAG_STABLECLOCKS
:
1915 /* Nothing to do for these commands */
1920 LOG_ERROR("BUG: angie post process queue encountered unknown JTAG "
1925 if (ret
!= ERROR_OK
)
1929 current
= current
->next
;
1935 /**************************** JTAG driver functions ***************************/
1938 * Executes the JTAG Command Queue.
1940 * This is done in three stages: First, all OpenOCD commands are processed into
1941 * queued ANGIE commands. Next, the ANGIE command queue is sent to the
1942 * ANGIE device and data received from the ANGIE device is cached. Finally,
1943 * the post-processing function writes back data to the corresponding OpenOCD
1946 * @return on success: ERROR_OK
1947 * @return on failure: ERROR_FAIL
1949 static int angie_execute_queue(void)
1951 struct jtag_command
*cmd
= jtag_command_queue
;
1955 switch (cmd
->type
) {
1957 ret
= angie_queue_scan(angie_handle
, cmd
);
1959 case JTAG_TLR_RESET
:
1960 ret
= angie_queue_tlr_reset(angie_handle
, cmd
);
1963 ret
= angie_queue_runtest(angie_handle
, cmd
);
1966 ret
= angie_queue_pathmove(angie_handle
, cmd
);
1969 ret
= angie_queue_sleep(angie_handle
, cmd
);
1971 case JTAG_STABLECLOCKS
:
1972 ret
= angie_queue_stableclocks(angie_handle
, cmd
);
1976 LOG_ERROR("BUG: encountered unknown JTAG command type");
1980 if (ret
!= ERROR_OK
)
1986 if (angie_handle
->commands_in_queue
> 0) {
1987 ret
= angie_execute_queued_commands(angie_handle
, LIBUSB_TIMEOUT_MS
);
1988 if (ret
!= ERROR_OK
)
1991 ret
= angie_post_process_queue(angie_handle
);
1992 if (ret
!= ERROR_OK
)
1995 angie_clear_queue(angie_handle
);
2002 * Set the TCK frequency of the ANGIE adapter.
2004 * @param khz desired JTAG TCK frequency.
2005 * @param jtag_speed where to store corresponding adapter-specific speed value.
2006 * @return on success: ERROR_OK
2007 * @return on failure: ERROR_FAIL
2009 static int angie_khz(int khz
, int *jtag_speed
)
2014 LOG_ERROR("RCLK not supported");
2018 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2019 * setting can be done independently from all other commands. */
2021 angie_handle
->delay_clock_tck
= -1;
2023 ret
= angie_calculate_delay(DELAY_CLOCK_TCK
, khz
* 1000,
2024 &angie_handle
->delay_clock_tck
);
2025 if (ret
!= ERROR_OK
)
2029 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2030 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2031 * commands, all SCAN commands MUST also use the variable frequency
2032 * implementation! */
2034 angie_handle
->delay_clock_tms
= -1;
2035 angie_handle
->delay_scan_in
= -1;
2036 angie_handle
->delay_scan_out
= -1;
2037 angie_handle
->delay_scan_io
= -1;
2039 ret
= angie_calculate_delay(DELAY_CLOCK_TMS
, khz
* 1000,
2040 &angie_handle
->delay_clock_tms
);
2041 if (ret
!= ERROR_OK
)
2044 ret
= angie_calculate_delay(DELAY_SCAN_IN
, khz
* 1000,
2045 &angie_handle
->delay_scan_in
);
2046 if (ret
!= ERROR_OK
)
2049 ret
= angie_calculate_delay(DELAY_SCAN_OUT
, khz
* 1000,
2050 &angie_handle
->delay_scan_out
);
2051 if (ret
!= ERROR_OK
)
2054 ret
= angie_calculate_delay(DELAY_SCAN_IO
, khz
* 1000,
2055 &angie_handle
->delay_scan_io
);
2056 if (ret
!= ERROR_OK
)
2060 LOG_DEBUG_IO("ANGIE TCK setup: delay_tck = %i (%li Hz),",
2061 angie_handle
->delay_clock_tck
,
2062 angie_calculate_frequency(DELAY_CLOCK_TCK
, angie_handle
->delay_clock_tck
));
2063 LOG_DEBUG_IO(" delay_tms = %i (%li Hz),",
2064 angie_handle
->delay_clock_tms
,
2065 angie_calculate_frequency(DELAY_CLOCK_TMS
, angie_handle
->delay_clock_tms
));
2066 LOG_DEBUG_IO(" delay_scan_in = %i (%li Hz),",
2067 angie_handle
->delay_scan_in
,
2068 angie_calculate_frequency(DELAY_SCAN_IN
, angie_handle
->delay_scan_in
));
2069 LOG_DEBUG_IO(" delay_scan_out = %i (%li Hz),",
2070 angie_handle
->delay_scan_out
,
2071 angie_calculate_frequency(DELAY_SCAN_OUT
, angie_handle
->delay_scan_out
));
2072 LOG_DEBUG_IO(" delay_scan_io = %i (%li Hz),",
2073 angie_handle
->delay_scan_io
,
2074 angie_calculate_frequency(DELAY_SCAN_IO
, angie_handle
->delay_scan_io
));
2076 /* Configure the ANGIE device with the new delay values */
2077 ret
= angie_append_configure_tck_cmd(angie_handle
,
2078 angie_handle
->delay_scan_in
,
2079 angie_handle
->delay_scan_out
,
2080 angie_handle
->delay_scan_io
,
2081 angie_handle
->delay_clock_tck
,
2082 angie_handle
->delay_clock_tms
);
2084 if (ret
!= ERROR_OK
)
2093 * Set the TCK frequency of the ANGIE adapter.
2095 * Because of the way the TCK frequency is set up in the ANGIE firmware,
2096 * there are five different speed settings. To simplify things, the
2097 * adapter-specific speed setting value is identical to the TCK frequency in
2100 * @param speed desired adapter-specific speed value.
2101 * @return on success: ERROR_OK
2102 * @return on failure: ERROR_FAIL
2104 static int angie_speed(int speed
)
2108 return angie_khz(speed
, &dummy
);
2112 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2114 * Because of the way the TCK frequency is set up in the ANGIE firmware,
2115 * there are five different speed settings. To simplify things, the
2116 * adapter-specific speed setting value is identical to the TCK frequency in
2119 * @param speed adapter-specific speed value.
2120 * @param khz where to store corresponding TCK frequency in kHz.
2121 * @return on success: ERROR_OK
2122 * @return on failure: ERROR_FAIL
2124 static int angie_speed_div(int speed
, int *khz
)
2132 * Initiates the firmware download to the ANGIE adapter and prepares
2135 * @return on success: ERROR_OK
2136 * @return on failure: ERROR_FAIL
2138 static int angie_init(void)
2140 int ret
, transferred
;
2141 char str_manufacturer
[20];
2142 bool download_firmware
= false;
2144 uint8_t input_signals
, output_signals
;
2146 angie_handle
= calloc(1, sizeof(struct angie
));
2148 if (!angie_handle
) {
2149 LOG_ERROR("Out of memory");
2153 ret
= angie_usb_open(angie_handle
);
2154 if (ret
!= ERROR_OK
) {
2155 LOG_ERROR("Could not open ANGIE device");
2157 angie_handle
= NULL
;
2161 /* Get String Descriptor to determine if firmware needs to be loaded */
2162 ret
= libusb_get_string_descriptor_ascii(angie_handle
->usb_device_handle
, 1, (unsigned char *)str_manufacturer
, 20);
2164 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2165 download_firmware
= true;
2167 /* We got a String Descriptor, check if it is the correct one */
2168 if (strncmp(str_manufacturer
, "NanoXplore, SAS.", 16) != 0)
2169 download_firmware
= true;
2172 if (download_firmware
) {
2173 LOG_INFO("Loading ANGIE firmware. This is reversible by power-cycling ANGIE device.");
2175 if (libusb_claim_interface(angie_handle
->usb_device_handle
, 0) != ERROR_OK
)
2176 LOG_ERROR("Could not claim interface");
2178 ret
= angie_load_firmware_and_renumerate(angie_handle
,
2179 ANGIE_FIRMWARE_FILE
, ANGIE_RENUMERATION_DELAY_US
);
2180 if (ret
!= ERROR_OK
) {
2181 LOG_ERROR("Could not download firmware and re-numerate ANGIE");
2185 ret
= angie_load_bitstream(angie_handle
, ANGIE_BITSTREAM_FILE
);
2186 if (ret
!= ERROR_OK
) {
2187 LOG_ERROR("Could not download bitstream");
2192 LOG_INFO("ANGIE device is already running ANGIE firmware");
2195 /* Get ANGIE USB IN/OUT endpoints and claim the interface */
2196 ret
= jtag_libusb_choose_interface(angie_handle
->usb_device_handle
,
2197 &angie_handle
->ep_in
, &angie_handle
->ep_out
, -1, -1, -1, -1);
2198 if (ret
!= ERROR_OK
) {
2203 /* Initialize ANGIE command queue */
2204 angie_clear_queue(angie_handle
);
2206 /* Issue one test command with short timeout */
2207 ret
= angie_append_test_cmd(angie_handle
);
2208 if (ret
!= ERROR_OK
) {
2213 ret
= angie_execute_queued_commands(angie_handle
, 200);
2214 if (ret
!= ERROR_OK
) {
2215 /* Sending test command failed. The ANGIE device may be forever waiting for
2216 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2217 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2219 ret
= jtag_libusb_bulk_write(angie_handle
->usb_device_handle
, angie_handle
->ep_in
,
2220 dummy
, 64, 200, &transferred
);
2222 if (ret
!= ERROR_OK
|| transferred
== 0) {
2223 /* Bulk IN transfer failed -> unrecoverable error condition */
2224 LOG_ERROR("Cannot communicate with ANGIE device. Disconnect ANGIE from "
2225 "the USB port and re-connect, then re-run OpenOCD");
2229 /* Successfully received Bulk IN packet -> continue */
2230 LOG_INFO("Recovered from lost Bulk IN packet");
2233 angie_clear_queue(angie_handle
);
2235 ret
= angie_append_get_signals_cmd(angie_handle
);
2236 if (ret
!= ERROR_OK
) {
2241 ret
= angie_execute_queued_commands(angie_handle
, 200);
2242 if (ret
!= ERROR_OK
) {
2247 /* Post-process the single CMD_GET_SIGNALS command */
2248 input_signals
= angie_handle
->queue_start
->payload_in
[0];
2249 output_signals
= angie_handle
->queue_start
->payload_in
[1];
2250 angie_dump_signal_states(input_signals
, output_signals
);
2252 angie_clear_queue(angie_handle
);
2258 * Closes the USB handle for the ANGIE device.
2260 * @return on success: ERROR_OK
2261 * @return on failure: ERROR_FAIL
2263 static int angie_quit(void)
2265 int ret
= angie_usb_close(angie_handle
);
2267 angie_handle
= NULL
;
2272 static struct jtag_interface angie_interface
= {
2273 .execute_queue
= angie_execute_queue
,
2276 struct adapter_driver angie_adapter_driver
= {
2278 .transports
= jtag_only
,
2282 .reset
= angie_reset
,
2283 .speed
= angie_speed
,
2285 .speed_div
= angie_speed_div
,
2287 .jtag_ops
= &angie_interface
,
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