Remove FSF address from GPL notices
[openocd.git] / src / jtag / drivers / osbdm.c
1 /***************************************************************************
2 * Copyright (C) 2012 by Jan Dakinevich *
3 * jan.dakinevich@gmail.com *
4 * *
5 * This program is free software; you can redistribute it and/or modify *
6 * it under the terms of the GNU General Public License as published by *
7 * the Free Software Foundation; either version 2 of the License, or *
8 * (at your option) any later version. *
9 * *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13 * GNU General Public License for more details. *
14 * *
15 * You should have received a copy of the GNU General Public License *
16 * along with this program. If not, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
18 #ifdef HAVE_CONFIG_H
19 # include "config.h"
20 #endif
21
22 #include <helper/log.h>
23 #include <helper/binarybuffer.h>
24 #include <helper/command.h>
25 #include <jtag/interface.h>
26 #include "libusb_common.h"
27
28 struct sequence {
29 int len;
30 void *tms;
31 void *tdo;
32 const void *tdi;
33 struct sequence *next;
34 };
35
36 struct queue {
37 struct sequence *head;
38 struct sequence *tail;
39 };
40
41 static struct sequence *queue_add_tail(struct queue *queue, int len)
42 {
43 if (len <= 0) {
44 LOG_ERROR("BUG: sequences with zero length are not allowed");
45 return NULL;
46 }
47
48 struct sequence *next;
49 next = malloc(sizeof(*next));
50 if (next) {
51 next->tms = calloc(1, DIV_ROUND_UP(len, 8));
52 if (next->tms) {
53 next->len = len;
54 next->tdo = NULL;
55 next->tdi = NULL;
56 next->next = NULL;
57
58 if (!queue->head) {
59 /* Queue is empty at the moment */
60 queue->head = next;
61 } else {
62 /* Queue already contains at least one sequence */
63 queue->tail->next = next;
64 }
65
66 queue->tail = next;
67 } else {
68 free(next);
69 next = NULL;
70 }
71 }
72
73 if (!next)
74 LOG_ERROR("Not enough memory");
75
76 return next;
77 }
78
79 static void queue_drop_head(struct queue *queue)
80 {
81 struct sequence *head = queue->head->next; /* New head */
82 free(queue->head->tms);
83 free(queue->head);
84 queue->head = head;
85 }
86
87 static void queue_free(struct queue *queue)
88 {
89 if (queue) {
90 while (queue->head)
91 queue_drop_head(queue);
92
93 free(queue);
94 }
95 }
96
97 static struct queue *queue_alloc(void)
98 {
99 struct queue *queue = malloc(sizeof(*queue));
100 if (queue)
101 queue->head = NULL;
102 else
103 LOG_ERROR("Not enough memory");
104
105 return queue;
106 }
107
108 /* Size of usb communication buffer */
109 #define OSBDM_USB_BUFSIZE 64
110 /* Timeout for USB transfer, ms */
111 #define OSBDM_USB_TIMEOUT 1000
112 /* Write end point */
113 #define OSBDM_USB_EP_WRITE 0x01
114 /* Read end point */
115 #define OSBDM_USB_EP_READ 0x82
116
117 /* Initialize OSBDM device */
118 #define OSBDM_CMD_INIT 0x11
119 /* Execute special, not-BDM command. But only this
120 * command is used for JTAG operation */
121 #define OSBDM_CMD_SPECIAL 0x27
122 /* Execute JTAG swap (tms/tdi -> tdo) */
123 #define OSBDM_CMD_SPECIAL_SWAP 0x05
124 /* Reset control */
125 #define OSBDM_CMD_SPECIAL_SRST 0x01
126 /* Maximum bit-length in one swap */
127 #define OSBDM_SWAP_MAX (((OSBDM_USB_BUFSIZE - 6) / 5) * 16)
128
129 /* Lists of valid VID/PID pairs
130 */
131 static const uint16_t osbdm_vid[] = { 0x15a2, 0x15a2, 0x15a2, 0 };
132 static const uint16_t osbdm_pid[] = { 0x0042, 0x0058, 0x005e, 0 };
133
134 struct osbdm {
135 struct jtag_libusb_device_handle *devh; /* USB handle */
136 uint8_t buffer[OSBDM_USB_BUFSIZE]; /* Data to send and receive */
137 int count; /* Count data to send and to read */
138 };
139
140 /* osbdm instance
141 */
142 static struct osbdm osbdm_context;
143
144 static int osbdm_send_and_recv(struct osbdm *osbdm)
145 {
146 /* Send request */
147 int count = jtag_libusb_bulk_write(osbdm->devh, OSBDM_USB_EP_WRITE,
148 (char *)osbdm->buffer, osbdm->count, OSBDM_USB_TIMEOUT);
149
150 if (count != osbdm->count) {
151 LOG_ERROR("OSBDM communication error: can't write");
152 return ERROR_FAIL;
153 }
154
155 /* Save command code for next checking */
156 uint8_t cmd_saved = osbdm->buffer[0];
157
158 /* Reading answer */
159 osbdm->count = jtag_libusb_bulk_read(osbdm->devh, OSBDM_USB_EP_READ,
160 (char *)osbdm->buffer, OSBDM_USB_BUFSIZE, OSBDM_USB_TIMEOUT);
161
162 /* Now perform basic checks for data sent by BDM device
163 */
164
165 if (osbdm->count < 0) {
166 LOG_ERROR("OSBDM communication error: can't read");
167 return ERROR_FAIL;
168 }
169
170 if (osbdm->count < 2) {
171 LOG_ERROR("OSBDM communication error: reply too small");
172 return ERROR_FAIL;
173 }
174
175 if (osbdm->count != osbdm->buffer[1]) {
176 LOG_ERROR("OSBDM communication error: reply size mismatch");
177 return ERROR_FAIL;
178 }
179
180 if (cmd_saved != osbdm->buffer[0]) {
181 LOG_ERROR("OSBDM communication error: reply command mismatch");
182 return ERROR_FAIL;
183 }
184
185 return ERROR_OK;
186 }
187
188 static int osbdm_srst(struct osbdm *osbdm, int srst)
189 {
190 osbdm->count = 0;
191 (void)memset(osbdm->buffer, 0, OSBDM_USB_BUFSIZE);
192
193 /* Composing request
194 */
195 osbdm->buffer[osbdm->count++] = OSBDM_CMD_SPECIAL; /* Command */
196 osbdm->buffer[osbdm->count++] = OSBDM_CMD_SPECIAL_SRST; /* Subcommand */
197 /* Length in bytes - not used */
198 osbdm->buffer[osbdm->count++] = 0;
199 osbdm->buffer[osbdm->count++] = 0;
200 /* SRST state */
201 osbdm->buffer[osbdm->count++] = (srst ? 0 : 0x08);
202
203 /* Sending data
204 */
205 if (osbdm_send_and_recv(osbdm) != ERROR_OK)
206 return ERROR_FAIL;
207
208 return ERROR_OK;
209 }
210
211 static int osbdm_swap(struct osbdm *osbdm, void *tms, void *tdi,
212 void *tdo, int length)
213 {
214 if (length > OSBDM_SWAP_MAX) {
215 LOG_ERROR("BUG: bit sequence too long");
216 return ERROR_FAIL;
217 }
218
219 if (length <= 0) {
220 LOG_ERROR("BUG: bit sequence equal or less than 0");
221 return ERROR_FAIL;
222 }
223
224 int swap_count = DIV_ROUND_UP(length, 16);
225
226 /* cleanup */
227 osbdm->count = 0;
228 (void)memset(osbdm->buffer, 0, OSBDM_USB_BUFSIZE);
229
230 /* Composing request
231 */
232
233 osbdm->buffer[osbdm->count++] = OSBDM_CMD_SPECIAL; /* Command */
234 osbdm->buffer[osbdm->count++] = OSBDM_CMD_SPECIAL_SWAP; /* Subcommand */
235 /* Length in bytes - not used */
236 osbdm->buffer[osbdm->count++] = 0;
237 osbdm->buffer[osbdm->count++] = 0;
238 /* Swap count */
239 osbdm->buffer[osbdm->count++] = 0;
240 osbdm->buffer[osbdm->count++] = (uint8_t)swap_count;
241
242 for (int bit_idx = 0; bit_idx < length; ) {
243 /* Bit count in swap */
244 int bit_count = length - bit_idx;
245 if (bit_count > 16)
246 bit_count = 16;
247
248 osbdm->buffer[osbdm->count++] = (uint8_t)bit_count;
249
250 /* Copying TMS and TDI data to output buffer */
251 uint32_t tms_data = buf_get_u32(tms, bit_idx, bit_count);
252 uint32_t tdi_data = buf_get_u32(tdi, bit_idx, bit_count);
253 osbdm->buffer[osbdm->count++] = (uint8_t)(tdi_data >> 8);
254 osbdm->buffer[osbdm->count++] = (uint8_t)tdi_data;
255 osbdm->buffer[osbdm->count++] = (uint8_t)(tms_data >> 8);
256 osbdm->buffer[osbdm->count++] = (uint8_t)tms_data;
257
258 /* Next bit offset */
259 bit_idx += bit_count;
260 }
261
262 assert(osbdm->count <= OSBDM_USB_BUFSIZE);
263
264 /* Sending data
265 */
266 if (osbdm_send_and_recv(osbdm) != ERROR_OK)
267 return ERROR_FAIL;
268
269 /* Extra check
270 */
271 if (((osbdm->buffer[2] << 8) | osbdm->buffer[3]) != 2 * swap_count) {
272 LOG_ERROR("OSBDM communication error: invalid swap command reply");
273 return ERROR_FAIL;
274 }
275
276 /* Copy TDO responce
277 */
278 uint8_t *buffer = osbdm->buffer + 4;
279 for (int bit_idx = 0; bit_idx < length; ) {
280 int bit_count = length - bit_idx;
281 if (bit_count > 16)
282 bit_count = 16;
283
284 /* Prepare data */
285 uint32_t tdo_data = 0;
286 tdo_data |= (*buffer++) << 8;
287 tdo_data |= (*buffer++);
288 tdo_data >>= (16 - bit_count);
289
290 /* Copy TDO to return */
291 buf_set_u32(tdo, bit_idx, bit_count, tdo_data);
292
293 bit_idx += bit_count;
294 }
295
296 return ERROR_OK;
297 }
298
299 static int osbdm_flush(struct osbdm *osbdm, struct queue* queue)
300 {
301 uint8_t tms[DIV_ROUND_UP(OSBDM_SWAP_MAX, 8)];
302 uint8_t tdi[DIV_ROUND_UP(OSBDM_SWAP_MAX, 8)];
303 uint8_t tdo[DIV_ROUND_UP(OSBDM_SWAP_MAX, 8)];
304
305 int seq_back_len = 0;
306
307 while (queue->head) {
308 (void)memset(tms, 0, sizeof(tms));
309 (void)memset(tdi, 0, sizeof(tdi));
310 (void)memset(tdo, 0, sizeof(tdo));
311
312 int seq_len;
313 int swap_len;
314 struct sequence *seq;
315
316 /* Copy from queue to tms/tdi streams
317 */
318 seq = queue->head;
319 seq_len = seq_back_len;
320 swap_len = 0;
321
322 while (seq && swap_len != OSBDM_SWAP_MAX) {
323 /* Count bit for copy at this iteration.
324 * len should fit into remaining space
325 * in tms/tdo bitstreams
326 */
327 int len = seq->len - seq_len;
328 if (len > OSBDM_SWAP_MAX - swap_len)
329 len = OSBDM_SWAP_MAX - swap_len;
330
331 /* Set tms data */
332 buf_set_buf(seq->tms, seq_len, tms, swap_len, len);
333
334 /* Set tdi data if they exists */
335 if (seq->tdi)
336 buf_set_buf(seq->tdi, seq_len, tdi, swap_len, len);
337
338 swap_len += len;
339 seq_len += len;
340 if (seq_len == seq->len) {
341 seq = seq->next; /* Move to next sequence */
342 seq_len = 0;
343 }
344 }
345
346 if (osbdm_swap(osbdm, tms, tdi, tdo, swap_len))
347 return ERROR_FAIL;
348
349 /* Copy from tdo stream to queue
350 */
351
352 for (int swap_back_len = 0; swap_back_len < swap_len; ) {
353 int len = queue->head->len - seq_back_len;
354 if (len > swap_len - swap_back_len)
355 len = swap_len - swap_back_len;
356
357 if (queue->head->tdo)
358 buf_set_buf(tdo, swap_back_len, queue->head->tdo, seq_back_len, len);
359
360 swap_back_len += len;
361 seq_back_len += len;
362 if (seq_back_len == queue->head->len) {
363 queue_drop_head(queue);
364 seq_back_len = 0;
365 }
366 }
367 }
368
369 return ERROR_OK;
370 }
371
372 /* Basic operation for opening USB device */
373 static int osbdm_open(struct osbdm *osbdm)
374 {
375 (void)memset(osbdm, 0, sizeof(*osbdm));
376 if (jtag_libusb_open(osbdm_vid, osbdm_pid, NULL, &osbdm->devh) != ERROR_OK)
377 return ERROR_FAIL;
378
379 if (jtag_libusb_claim_interface(osbdm->devh, 0) != ERROR_OK)
380 return ERROR_FAIL;
381
382 return ERROR_OK;
383 }
384
385 static int osbdm_quit(void)
386 {
387 jtag_libusb_close(osbdm_context.devh);
388 return ERROR_OK;
389 }
390
391 static int osbdm_add_pathmove(
392 struct queue *queue,
393 tap_state_t *path,
394 int num_states)
395 {
396 assert(num_states <= 32);
397
398 struct sequence *next = queue_add_tail(queue, num_states);
399 if (!next) {
400 LOG_ERROR("BUG: can't allocate bit sequence");
401 return ERROR_FAIL;
402 }
403
404 uint32_t tms = 0;
405 for (int i = 0; i < num_states; i++) {
406 if (tap_state_transition(tap_get_state(), 1) == path[i]) {
407 tms |= (1 << i);
408 } else if (tap_state_transition(tap_get_state(), 0) == path[i]) {
409 tms &= ~(1 << i); /* This line not so needed */
410 } else {
411 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
412 tap_state_name(tap_get_state()),
413 tap_state_name(path[i]));
414 return ERROR_FAIL;
415 }
416
417 tap_set_state(path[i]);
418 }
419
420 buf_set_u32(next->tms, 0, num_states, tms);
421 tap_set_end_state(tap_get_state());
422
423 return ERROR_OK;
424 }
425
426 static int osbdm_add_statemove(
427 struct queue *queue,
428 tap_state_t new_state,
429 int skip_first)
430 {
431 int len = 0;
432 int tms = 0;
433
434 tap_set_end_state(new_state);
435 if (tap_get_end_state() == TAP_RESET) {
436 /* Ignore current state */
437 tms = 0xff;
438 len = 5;
439 } else if (tap_get_state() != tap_get_end_state()) {
440 tms = tap_get_tms_path(tap_get_state(), new_state);
441 len = tap_get_tms_path_len(tap_get_state(), new_state);
442 }
443
444 if (len && skip_first) {
445 len--;
446 tms >>= 1;
447 }
448
449 if (len) {
450 struct sequence *next = queue_add_tail(queue, len);
451 if (!next) {
452 LOG_ERROR("BUG: can't allocate bit sequence");
453 return ERROR_FAIL;
454 }
455 buf_set_u32(next->tms, 0, len, tms);
456 }
457
458 tap_set_state(tap_get_end_state());
459 return ERROR_OK;
460 }
461
462 static int osbdm_add_stableclocks(
463 struct queue *queue,
464 int count)
465 {
466 if (!tap_is_state_stable(tap_get_state())) {
467 LOG_ERROR("BUG: current state (%s) is not stable",
468 tap_state_name(tap_get_state()));
469 return ERROR_FAIL;
470 }
471
472 struct sequence *next = queue_add_tail(queue, count);
473 if (!next) {
474 LOG_ERROR("BUG: can't allocate bit sequence");
475 return ERROR_FAIL;
476 }
477
478 if (tap_get_state() == TAP_RESET)
479 (void)memset(next->tms, 0xff, DIV_ROUND_UP(count, 8));
480
481 return ERROR_OK;
482 }
483
484 static int osbdm_add_tms(
485 struct queue *queue,
486 const uint8_t *tms,
487 int num_bits)
488 {
489 struct sequence *next = queue_add_tail(queue, num_bits);
490 if (!next) {
491 LOG_ERROR("BUG: can't allocate bit sequence");
492 return ERROR_FAIL;
493 }
494 buf_set_buf(tms, 0, next->tms, 0, num_bits);
495
496 return ERROR_OK;
497 }
498
499 static int osbdm_add_scan(
500 struct queue *queue,
501 struct scan_field *fields,
502 int num_fields,
503 tap_state_t end_state,
504 bool ir_scan)
505 {
506 /* Move to desired shift state */
507 if (ir_scan) {
508 if (tap_get_state() != TAP_IRSHIFT) {
509 if (osbdm_add_statemove(queue, TAP_IRSHIFT, 0) != ERROR_OK)
510 return ERROR_FAIL;
511 }
512 } else {
513 if (tap_get_state() != TAP_DRSHIFT) {
514 if (osbdm_add_statemove(queue, TAP_DRSHIFT, 0) != ERROR_OK)
515 return ERROR_FAIL;
516 }
517 }
518
519 /* Add scan */
520 tap_set_end_state(end_state);
521 for (int idx = 0; idx < num_fields; idx++) {
522 struct sequence *next = queue_add_tail(queue, fields[idx].num_bits);
523 if (!next) {
524 LOG_ERROR("Can't allocate bit sequence");
525 return ERROR_FAIL;
526 }
527
528 (void)memset(next->tms, 0, DIV_ROUND_UP(fields[idx].num_bits, 8));
529 next->tdi = fields[idx].out_value;
530 next->tdo = fields[idx].in_value;
531 }
532
533 /* Move to end state
534 */
535 if (tap_get_state() != tap_get_end_state()) {
536 /* Exit from IRSHIFT/DRSHIFT */
537 buf_set_u32(queue->tail->tms, queue->tail->len - 1, 1, 1);
538
539 /* Move with skip_first flag */
540 if (osbdm_add_statemove(queue, tap_get_end_state(), 1) != ERROR_OK)
541 return ERROR_FAIL;
542 }
543
544 return ERROR_OK;
545 }
546
547 static int osbdm_add_runtest(
548 struct queue *queue,
549 int num_cycles,
550 tap_state_t end_state)
551 {
552 if (osbdm_add_statemove(queue, TAP_IDLE, 0) != ERROR_OK)
553 return ERROR_FAIL;
554
555 if (osbdm_add_stableclocks(queue, num_cycles) != ERROR_OK)
556 return ERROR_FAIL;
557
558 if (osbdm_add_statemove(queue, end_state, 0) != ERROR_OK)
559 return ERROR_FAIL;
560
561 return ERROR_OK;
562 }
563
564 static int osbdm_execute_command(
565 struct osbdm *osbdm,
566 struct queue *queue,
567 struct jtag_command *cmd)
568 {
569 int retval = ERROR_OK;
570
571 switch (cmd->type) {
572 case JTAG_RESET:
573 if (cmd->cmd.reset->trst) {
574 LOG_ERROR("BUG: nTRST signal is not supported");
575 retval = ERROR_FAIL;
576 } else {
577 retval = osbdm_flush(osbdm, queue);
578 if (retval == ERROR_OK)
579 retval = osbdm_srst(osbdm, cmd->cmd.reset->srst);
580 }
581 break;
582
583 case JTAG_PATHMOVE:
584 retval = osbdm_add_pathmove(
585 queue,
586 cmd->cmd.pathmove->path,
587 cmd->cmd.pathmove->num_states);
588 break;
589
590 case JTAG_TLR_RESET:
591 retval = osbdm_add_statemove(
592 queue,
593 cmd->cmd.statemove->end_state,
594 0);
595 break;
596
597 case JTAG_STABLECLOCKS:
598 retval = osbdm_add_stableclocks(
599 queue,
600 cmd->cmd.stableclocks->num_cycles);
601 break;
602
603 case JTAG_TMS:
604 retval = osbdm_add_tms(
605 queue,
606 cmd->cmd.tms->bits,
607 cmd->cmd.tms->num_bits);
608 break;
609
610 case JTAG_SCAN:
611 retval = osbdm_add_scan(
612 queue,
613 cmd->cmd.scan->fields,
614 cmd->cmd.scan->num_fields,
615 cmd->cmd.scan->end_state,
616 cmd->cmd.scan->ir_scan);
617 break;
618
619 case JTAG_SLEEP:
620 retval = osbdm_flush(osbdm, queue);
621 if (retval == ERROR_OK)
622 jtag_sleep(cmd->cmd.sleep->us);
623 break;
624
625 case JTAG_RUNTEST:
626 retval = osbdm_add_runtest(
627 queue,
628 cmd->cmd.runtest->num_cycles,
629 cmd->cmd.runtest->end_state);
630 break;
631
632 default:
633 LOG_ERROR("BUG: unknown JTAG command type encountered");
634 retval = ERROR_FAIL;
635 break;
636 }
637
638 return retval;
639 }
640
641 static int osbdm_execute_queue(void)
642 {
643 int retval = ERROR_OK;
644
645 struct queue *queue = queue_alloc();
646 if (!queue) {
647 LOG_ERROR("BUG: can't allocate bit queue");
648 retval = ERROR_FAIL;
649 } else {
650 struct jtag_command *cmd = jtag_command_queue;
651
652 while (retval == ERROR_OK && cmd) {
653 retval = osbdm_execute_command(&osbdm_context, queue, cmd);
654 cmd = cmd->next;
655 }
656
657 if (retval == ERROR_OK)
658 retval = osbdm_flush(&osbdm_context, queue);
659
660 queue_free(queue);
661 }
662
663 if (retval != ERROR_OK) {
664 LOG_ERROR("FATAL: can't execute jtag command");
665 exit(-1);
666 }
667
668 return retval;
669 }
670
671 static int osbdm_init(void)
672 {
673 /* Open device */
674 if (osbdm_open(&osbdm_context) != ERROR_OK) {
675 LOG_ERROR("Can't open OSBDM device");
676 return ERROR_FAIL;
677 } else {
678 /* Device successfully opened */
679 LOG_DEBUG("OSBDM init");
680 }
681
682 /* Perform initialize command */
683 osbdm_context.count = 0;
684 osbdm_context.buffer[osbdm_context.count++] = OSBDM_CMD_INIT;
685 if (osbdm_send_and_recv(&osbdm_context) != ERROR_OK)
686 return ERROR_FAIL;
687
688 return ERROR_OK;
689 }
690
691 struct jtag_interface osbdm_interface = {
692 .name = "osbdm",
693
694 .transports = jtag_only,
695 .execute_queue = osbdm_execute_queue,
696
697 .init = osbdm_init,
698 .quit = osbdm_quit
699 };