4de1a77035dfb6bef35e9db5c8d01e81ba0fe1b0
[openocd.git] / src / jtag / drivers / ulink.c
1 /***************************************************************************
2 * Copyright (C) 2011 by Martin Schmoelzer *
3 * <martin.schmoelzer@student.tuwien.ac.at> *
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, write to the *
17 * Free Software Foundation, Inc., *
18 * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19 ***************************************************************************/
20
21 #ifdef HAVE_CONFIG_H
22 #include "config.h"
23 #endif
24
25 #include <math.h>
26 #include <jtag/interface.h>
27 #include <jtag/commands.h>
28 #include <target/image.h>
29 #include <helper/types.h>
30 #include "usb_common.h"
31 #include "OpenULINK/include/msgtypes.h"
32
33 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
34 * yet) or with OpenULINK firmware. */
35 #define ULINK_VID 0xC251
36
37 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
38 * yet) or with OpenULINK firmware. */
39 #define ULINK_PID 0x2710
40
41 /** Address of EZ-USB CPU Control & Status register. This register can be
42 * written by issuing a Control EP0 vendor request. */
43 #define CPUCS_REG 0x7F92
44
45 /** USB Control EP0 bRequest: "Firmware Load". */
46 #define REQUEST_FIRMWARE_LOAD 0xA0
47
48 /** Value to write into CPUCS to put EZ-USB into reset. */
49 #define CPU_RESET 0x01
50
51 /** Value to write into CPUCS to put EZ-USB out of reset. */
52 #define CPU_START 0x00
53
54 /** Base address of firmware in EZ-USB code space. */
55 #define FIRMWARE_ADDR 0x0000
56
57 /** USB interface number */
58 #define USB_INTERFACE 0
59
60 /** libusb timeout in ms */
61 #define USB_TIMEOUT 5000
62
63 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
64 #define ULINK_RENUMERATION_DELAY 1500000
65
66 /** Default location of OpenULINK firmware image. */
67 #define ULINK_FIRMWARE_FILE PKGLIBDIR "/OpenULINK/ulink_firmware.hex"
68
69 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
70 #define SECTION_BUFFERSIZE 8192
71
72 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
73 #define SPLIT_SCAN_THRESHOLD 10
74
75 /** ULINK hardware type */
76 enum ulink_type {
77 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
78 * Full JTAG support, no SWD support. */
79 ULINK_1,
80
81 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
82 ULINK_2,
83
84 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
85 ULINK_PRO,
86
87 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
88 ULINK_ME
89 };
90
91 enum ulink_payload_direction {
92 PAYLOAD_DIRECTION_OUT,
93 PAYLOAD_DIRECTION_IN
94 };
95
96 enum ulink_delay_type {
97 DELAY_CLOCK_TCK,
98 DELAY_CLOCK_TMS,
99 DELAY_SCAN_IN,
100 DELAY_SCAN_OUT,
101 DELAY_SCAN_IO
102 };
103
104 /**
105 * OpenULINK command (OpenULINK command queue element).
106 *
107 * For the OUT direction payload, things are quite easy: Payload is stored
108 * in a rather small array (up to 63 bytes), the payload is always allocated
109 * by the function generating the command and freed by ulink_clear_queue().
110 *
111 * For the IN direction payload, things get a little bit more complicated:
112 * The maximum IN payload size for a single command is 64 bytes. Assume that
113 * a single OpenOCD command needs to scan 256 bytes. This results in the
114 * generation of four OpenULINK commands. The function generating these
115 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
116 * pointer shall point to the corresponding offset where IN data shall be
117 * placed, while #payload_in_start shall point to the first element of the 256
118 * byte array.
119 * - first command: #payload_in_start + 0
120 * - second command: #payload_in_start + 64
121 * - third command: #payload_in_start + 128
122 * - fourth command: #payload_in_start + 192
123 *
124 * The last command sets #needs_postprocessing to true.
125 */
126 struct ulink_cmd {
127 uint8_t id; /* /< ULINK command ID */
128
129 uint8_t *payload_out; /* /< OUT direction payload data */
130 uint8_t payload_out_size; /* /< OUT direction payload size for this command */
131
132 uint8_t *payload_in_start; /* /< Pointer to first element of IN payload array */
133 uint8_t *payload_in; /* /< Pointer where IN payload shall be stored */
134 uint8_t payload_in_size;/* /< IN direction payload size for this command */
135
136 /** Indicates if this command needs post-processing */
137 bool needs_postprocessing;
138
139 /** Indicates if ulink_clear_queue() should free payload_in_start */
140 bool free_payload_in_start;
141
142 /** Pointer to corresponding OpenOCD command for post-processing */
143 struct jtag_command *cmd_origin;
144
145 struct ulink_cmd *next; /* /< Pointer to next command (linked list) */
146 };
147
148 /** Describes one driver instance */
149 struct ulink {
150 struct usb_dev_handle *usb_handle;
151 enum ulink_type type;
152
153 int delay_scan_in; /* /< Delay value for SCAN_IN commands */
154 int delay_scan_out; /* /< Delay value for SCAN_OUT commands */
155 int delay_scan_io; /* /< Delay value for SCAN_IO commands */
156 int delay_clock_tck; /* /< Delay value for CLOCK_TMS commands */
157 int delay_clock_tms; /* /< Delay value for CLOCK_TCK commands */
158
159 int commands_in_queue; /* /< Number of commands in queue */
160 struct ulink_cmd *queue_start; /* /< Pointer to first command in queue */
161 struct ulink_cmd *queue_end; /* /< Pointer to last command in queue */
162 };
163
164 /**************************** Function Prototypes *****************************/
165
166 /* USB helper functions */
167 int ulink_usb_open(struct ulink **device);
168 int ulink_usb_close(struct ulink **device);
169
170 /* ULINK MCU (Cypress EZ-USB) specific functions */
171 int ulink_cpu_reset(struct ulink *device, char reset_bit);
172 int ulink_load_firmware_and_renumerate(struct ulink **device, char *filename,
173 uint32_t delay);
174 int ulink_load_firmware(struct ulink *device, char *filename);
175 int ulink_write_firmware_section(struct ulink *device,
176 struct image *firmware_image, int section_index);
177
178 /* Generic helper functions */
179 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
180
181 /* OpenULINK command generation helper functions */
182 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
183 enum ulink_payload_direction direction);
184
185 /* OpenULINK command queue helper functions */
186 int ulink_get_queue_size(struct ulink *device,
187 enum ulink_payload_direction direction);
188 void ulink_clear_queue(struct ulink *device);
189 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
190 int ulink_execute_queued_commands(struct ulink *device, int timeout);
191
192 #ifdef _DEBUG_JTAG_IO_
193 const char *ulink_cmd_id_string(uint8_t id);
194 void ulink_print_command(struct ulink_cmd *ulink_cmd);
195 void ulink_print_queue(struct ulink *device);
196 #endif
197
198 int ulink_append_scan_cmd(struct ulink *device,
199 enum scan_type scan_type,
200 int scan_size_bits,
201 uint8_t *tdi,
202 uint8_t *tdo_start,
203 uint8_t *tdo,
204 uint8_t tms_count_start,
205 uint8_t tms_sequence_start,
206 uint8_t tms_count_end,
207 uint8_t tms_sequence_end,
208 struct jtag_command *origin,
209 bool postprocess);
210 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
211 uint8_t sequence);
212 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
213 int ulink_append_get_signals_cmd(struct ulink *device);
214 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
215 uint8_t high);
216 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
217 int ulink_append_configure_tck_cmd(struct ulink *device,
218 int delay_scan_in,
219 int delay_scan_out,
220 int delay_scan_io,
221 int delay_tck,
222 int delay_tms);
223 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
224 int ulink_append_test_cmd(struct ulink *device);
225
226 /* OpenULINK TCK frequency helper functions */
227 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
228 int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f);
229
230 /* Interface between OpenULINK and OpenOCD */
231 static void ulink_set_end_state(tap_state_t endstate);
232 int ulink_queue_statemove(struct ulink *device);
233
234 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
235 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
236 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
237 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
238 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
239 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
240 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
241
242 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
243 int ulink_post_process_queue(struct ulink *device);
244
245 /* JTAG driver functions (registered in struct jtag_interface) */
246 static int ulink_execute_queue(void);
247 static int ulink_khz(int khz, int *jtag_speed);
248 static int ulink_speed(int speed);
249 static int ulink_speed_div(int speed, int *khz);
250 static int ulink_init(void);
251 static int ulink_quit(void);
252
253 /****************************** Global Variables ******************************/
254
255 struct ulink *ulink_handle;
256
257 /**************************** USB helper functions ****************************/
258
259 /**
260 * Opens the ULINK device and claims its USB interface.
261 *
262 * @param device pointer to struct ulink identifying ULINK driver instance.
263 * @return on success: ERROR_OK
264 * @return on failure: ERROR_FAIL
265 */
266 int ulink_usb_open(struct ulink **device)
267 {
268 int ret;
269 struct usb_dev_handle *usb_handle;
270
271 /* Currently, only original ULINK is supported */
272 uint16_t vids[] = { ULINK_VID, 0 };
273 uint16_t pids[] = { ULINK_PID, 0 };
274
275 ret = jtag_usb_open(vids, pids, &usb_handle);
276
277 if (ret != ERROR_OK)
278 return ret;
279
280 ret = usb_claim_interface(usb_handle, 0);
281
282 if (ret != 0)
283 return ret;
284
285 (*device)->usb_handle = usb_handle;
286 (*device)->type = ULINK_1;
287
288 return ERROR_OK;
289 }
290
291 /**
292 * Releases the ULINK interface and closes the USB device handle.
293 *
294 * @param device pointer to struct ulink identifying ULINK driver instance.
295 * @return on success: ERROR_OK
296 * @return on failure: ERROR_FAIL
297 */
298 int ulink_usb_close(struct ulink **device)
299 {
300 if (usb_release_interface((*device)->usb_handle, 0) != 0)
301 return ERROR_FAIL;
302
303 if (usb_close((*device)->usb_handle) != 0)
304 return ERROR_FAIL;
305
306 (*device)->usb_handle = NULL;
307
308 return ERROR_OK;
309 }
310
311 /******************* ULINK CPU (EZ-USB) specific functions ********************/
312
313 /**
314 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
315 * or out of reset.
316 *
317 * @param device pointer to struct ulink identifying ULINK driver instance.
318 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
319 * @return on success: ERROR_OK
320 * @return on failure: ERROR_FAIL
321 */
322 int ulink_cpu_reset(struct ulink *device, char reset_bit)
323 {
324 int ret;
325
326 ret = usb_control_msg(device->usb_handle,
327 (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
328 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
329
330 /* usb_control_msg() returns the number of bytes transferred during the
331 * DATA stage of the control transfer - must be exactly 1 in this case! */
332 if (ret != 1)
333 return ERROR_FAIL;
334 return ERROR_OK;
335 }
336
337 /**
338 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
339 * the firmware image, resumes the microcontroller and re-enumerates
340 * USB devices.
341 *
342 * @param device pointer to struct ulink identifying ULINK driver instance.
343 * The usb_handle member will be modified during re-enumeration.
344 * @param filename path to the Intel HEX file containing the firmware image.
345 * @param delay the delay to wait for the device to re-enumerate.
346 * @return on success: ERROR_OK
347 * @return on failure: ERROR_FAIL
348 */
349 int ulink_load_firmware_and_renumerate(struct ulink **device,
350 char *filename, uint32_t delay)
351 {
352 int ret;
353
354 /* Basic process: After downloading the firmware, the ULINK will disconnect
355 * itself and re-connect after a short amount of time so we have to close
356 * the handle and re-enumerate USB devices */
357
358 ret = ulink_load_firmware(*device, filename);
359 if (ret != ERROR_OK)
360 return ret;
361
362 ret = ulink_usb_close(device);
363 if (ret != ERROR_OK)
364 return ret;
365
366 usleep(delay);
367
368 ret = ulink_usb_open(device);
369 if (ret != ERROR_OK)
370 return ret;
371
372 return ERROR_OK;
373 }
374
375 /**
376 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
377 * over the USB bus.
378 *
379 * @param device pointer to struct ulink identifying ULINK driver instance.
380 * @param filename an absolute or relative path to the Intel HEX file
381 * containing the firmware image.
382 * @return on success: ERROR_OK
383 * @return on failure: ERROR_FAIL
384 */
385 int ulink_load_firmware(struct ulink *device, char *filename)
386 {
387 struct image ulink_firmware_image;
388 int ret, i;
389
390 ret = ulink_cpu_reset(device, CPU_RESET);
391 if (ret != ERROR_OK) {
392 LOG_ERROR("Could not halt ULINK CPU");
393 return ret;
394 }
395
396 ulink_firmware_image.base_address = 0;
397 ulink_firmware_image.base_address_set = 0;
398
399 ret = image_open(&ulink_firmware_image, filename, "ihex");
400 if (ret != ERROR_OK) {
401 LOG_ERROR("Could not load firmware image");
402 return ret;
403 }
404
405 /* Download all sections in the image to ULINK */
406 for (i = 0; i < ulink_firmware_image.num_sections; i++) {
407 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
408 if (ret != ERROR_OK)
409 return ret;
410 }
411
412 image_close(&ulink_firmware_image);
413
414 ret = ulink_cpu_reset(device, CPU_START);
415 if (ret != ERROR_OK) {
416 LOG_ERROR("Could not restart ULINK CPU");
417 return ret;
418 }
419
420 return ERROR_OK;
421 }
422
423 /**
424 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
425 * over the USB bus.
426 *
427 * @param device pointer to struct ulink identifying ULINK driver instance.
428 * @param firmware_image pointer to the firmware image that contains the section
429 * which should be sent to the ULINK's EZ-USB microcontroller.
430 * @param section_index index of the section within the firmware image.
431 * @return on success: ERROR_OK
432 * @return on failure: ERROR_FAIL
433 */
434 int ulink_write_firmware_section(struct ulink *device,
435 struct image *firmware_image, int section_index)
436 {
437 uint16_t addr, size, bytes_remaining, chunk_size;
438 uint8_t data[SECTION_BUFFERSIZE];
439 uint8_t *data_ptr = data;
440 size_t size_read;
441 int ret;
442
443 size = (uint16_t)firmware_image->sections[section_index].size;
444 addr = (uint16_t)firmware_image->sections[section_index].base_address;
445
446 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
447 size);
448
449 if (data == NULL)
450 return ERROR_FAIL;
451
452 /* Copy section contents to local buffer */
453 ret = image_read_section(firmware_image, section_index, 0, size, data,
454 &size_read);
455
456 if ((ret != ERROR_OK) || (size_read != size)) {
457 /* Propagating the return code would return '0' (misleadingly indicating
458 * successful execution of the function) if only the size check fails. */
459 return ERROR_FAIL;
460 }
461
462 bytes_remaining = size;
463
464 /* Send section data in chunks of up to 64 bytes to ULINK */
465 while (bytes_remaining > 0) {
466 if (bytes_remaining > 64)
467 chunk_size = 64;
468 else
469 chunk_size = bytes_remaining;
470
471 ret = usb_control_msg(device->usb_handle,
472 (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
473 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (char *)data_ptr,
474 chunk_size, USB_TIMEOUT);
475
476 if (ret != (int)chunk_size) {
477 /* Abort if libusb sent less data than requested */
478 return ERROR_FAIL;
479 }
480
481 bytes_remaining -= chunk_size;
482 addr += chunk_size;
483 data_ptr += chunk_size;
484 }
485
486 return ERROR_OK;
487 }
488
489 /************************** Generic helper functions **************************/
490
491 /**
492 * Print state of interesting signals via LOG_INFO().
493 *
494 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
495 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
496 */
497 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
498 {
499 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
500 " SRST: %i",
501 (output_signals & SIGNAL_TDI ? 1 : 0),
502 (input_signals & SIGNAL_TDO ? 1 : 0),
503 (output_signals & SIGNAL_TMS ? 1 : 0),
504 (output_signals & SIGNAL_TCK ? 1 : 0),
505 (output_signals & SIGNAL_TRST ? 0 : 1),/* TRST and RESET are inverted */
506 (output_signals & SIGNAL_RESET ? 0 : 1)); /* by hardware */
507 }
508
509 /**************** OpenULINK command generation helper functions ***************/
510
511 /**
512 * Allocate and initialize space in memory for OpenULINK command payload.
513 *
514 * @param ulink_cmd pointer to command whose payload should be allocated.
515 * @param size the amount of memory to allocate (bytes).
516 * @param direction which payload to allocate.
517 * @return on success: ERROR_OK
518 * @return on failure: ERROR_FAIL
519 */
520 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
521 enum ulink_payload_direction direction)
522 {
523 uint8_t *payload;
524
525 payload = calloc(size, sizeof(uint8_t));
526
527 if (payload == NULL) {
528 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
529 return ERROR_FAIL;
530 }
531
532 switch (direction) {
533 case PAYLOAD_DIRECTION_OUT:
534 if (ulink_cmd->payload_out != NULL) {
535 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
536 return ERROR_FAIL;
537 } else {
538 ulink_cmd->payload_out = payload;
539 ulink_cmd->payload_out_size = size;
540 }
541 break;
542 case PAYLOAD_DIRECTION_IN:
543 if (ulink_cmd->payload_in_start != NULL) {
544 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
545 return ERROR_FAIL;
546 } else {
547 ulink_cmd->payload_in_start = payload;
548 ulink_cmd->payload_in = payload;
549 ulink_cmd->payload_in_size = size;
550
551 /* By default, free payload_in_start in ulink_clear_queue(). Commands
552 * that do not want this behavior (e. g. split scans) must turn it off
553 * separately! */
554 ulink_cmd->free_payload_in_start = true;
555 }
556 break;
557 }
558
559 return ERROR_OK;
560 }
561
562 /****************** OpenULINK command queue helper functions ******************/
563
564 /**
565 * Get the current number of bytes in the queue, including command IDs.
566 *
567 * @param device pointer to struct ulink identifying ULINK driver instance.
568 * @param direction the transfer direction for which to get byte count.
569 * @return the number of bytes currently stored in the queue for the specified
570 * direction.
571 */
572 int ulink_get_queue_size(struct ulink *device,
573 enum ulink_payload_direction direction)
574 {
575 struct ulink_cmd *current = device->queue_start;
576 int sum = 0;
577
578 while (current != NULL) {
579 switch (direction) {
580 case PAYLOAD_DIRECTION_OUT:
581 sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
582 break;
583 case PAYLOAD_DIRECTION_IN:
584 sum += current->payload_in_size;
585 break;
586 }
587
588 current = current->next;
589 }
590
591 return sum;
592 }
593
594 /**
595 * Clear the OpenULINK command queue.
596 *
597 * @param device pointer to struct ulink identifying ULINK driver instance.
598 * @return on success: ERROR_OK
599 * @return on failure: ERROR_FAIL
600 */
601 void ulink_clear_queue(struct ulink *device)
602 {
603 struct ulink_cmd *current = device->queue_start;
604 struct ulink_cmd *next = NULL;
605
606 while (current != NULL) {
607 /* Save pointer to next element */
608 next = current->next;
609
610 /* Free payloads: OUT payload can be freed immediately */
611 free(current->payload_out);
612 current->payload_out = NULL;
613
614 /* IN payload MUST be freed ONLY if no other commands use the
615 * payload_in_start buffer */
616 if (current->free_payload_in_start == true) {
617 free(current->payload_in_start);
618 current->payload_in_start = NULL;
619 current->payload_in = NULL;
620 }
621
622 /* Free queue element */
623 free(current);
624
625 /* Proceed with next element */
626 current = next;
627 }
628
629 device->commands_in_queue = 0;
630 device->queue_start = NULL;
631 device->queue_end = NULL;
632 }
633
634 /**
635 * Add a command to the OpenULINK command queue.
636 *
637 * @param device pointer to struct ulink identifying ULINK driver instance.
638 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
639 * command queue.
640 * @return on success: ERROR_OK
641 * @return on failure: ERROR_FAIL
642 */
643 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
644 {
645 int newsize_out, newsize_in;
646 int ret;
647
648 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
649 + ulink_cmd->payload_out_size;
650
651 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
652 + ulink_cmd->payload_in_size;
653
654 /* Check if the current command can be appended to the queue */
655 if ((newsize_out > 64) || (newsize_in > 64)) {
656 /* New command does not fit. Execute all commands in queue before starting
657 * new queue with the current command as first entry. */
658 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
659 if (ret != ERROR_OK)
660 return ret;
661
662 ret = ulink_post_process_queue(device);
663 if (ret != ERROR_OK)
664 return ret;
665
666 ulink_clear_queue(device);
667 }
668
669 if (device->queue_start == NULL) {
670 /* Queue was empty */
671 device->commands_in_queue = 1;
672
673 device->queue_start = ulink_cmd;
674 device->queue_end = ulink_cmd;
675 } else {
676 /* There are already commands in the queue */
677 device->commands_in_queue++;
678
679 device->queue_end->next = ulink_cmd;
680 device->queue_end = ulink_cmd;
681 }
682
683 return ERROR_OK;
684 }
685
686 /**
687 * Sends all queued OpenULINK commands to the ULINK for execution.
688 *
689 * @param device pointer to struct ulink identifying ULINK driver instance.
690 * @return on success: ERROR_OK
691 * @return on failure: ERROR_FAIL
692 */
693 int ulink_execute_queued_commands(struct ulink *device, int timeout)
694 {
695 struct ulink_cmd *current;
696 int ret, i, index_out, index_in, count_out, count_in;
697 uint8_t buffer[64];
698
699 #ifdef _DEBUG_JTAG_IO_
700 ulink_print_queue(device);
701 #endif
702
703 index_out = 0;
704 count_out = 0;
705 count_in = 0;
706
707 for (current = device->queue_start; current; current = current->next) {
708 /* Add command to packet */
709 buffer[index_out] = current->id;
710 index_out++;
711 count_out++;
712
713 for (i = 0; i < current->payload_out_size; i++)
714 buffer[index_out + i] = current->payload_out[i];
715 index_out += current->payload_out_size;
716 count_in += current->payload_in_size;
717 count_out += current->payload_out_size;
718 }
719
720 /* Send packet to ULINK */
721 ret = usb_bulk_write(device->usb_handle, (2 | USB_ENDPOINT_OUT),
722 (char *)buffer, count_out, timeout);
723 if (ret < 0)
724 return ERROR_FAIL;
725 if (ret != count_out)
726 return ERROR_FAIL;
727
728 /* Wait for response if commands contain IN payload data */
729 if (count_in > 0) {
730 ret = usb_bulk_read(device->usb_handle, (2 | USB_ENDPOINT_IN),
731 (char *)buffer, 64, timeout);
732 if (ret < 0)
733 return ERROR_FAIL;
734 if (ret != count_in)
735 return ERROR_FAIL;
736
737 /* Write back IN payload data */
738 index_in = 0;
739 for (current = device->queue_start; current; current = current->next) {
740 for (i = 0; i < current->payload_in_size; i++) {
741 current->payload_in[i] = buffer[index_in];
742 index_in++;
743 }
744 }
745 }
746
747 return ERROR_OK;
748 }
749
750 #ifdef _DEBUG_JTAG_IO_
751
752 /**
753 * Convert an OpenULINK command ID (\a id) to a human-readable string.
754 *
755 * @param id the OpenULINK command ID.
756 * @return the corresponding human-readable string.
757 */
758 const char *ulink_cmd_id_string(uint8_t id)
759 {
760 switch (id) {
761 case CMD_SCAN_IN:
762 return "CMD_SCAN_IN";
763 break;
764 case CMD_SLOW_SCAN_IN:
765 return "CMD_SLOW_SCAN_IN";
766 break;
767 case CMD_SCAN_OUT:
768 return "CMD_SCAN_OUT";
769 break;
770 case CMD_SLOW_SCAN_OUT:
771 return "CMD_SLOW_SCAN_OUT";
772 break;
773 case CMD_SCAN_IO:
774 return "CMD_SCAN_IO";
775 break;
776 case CMD_SLOW_SCAN_IO:
777 return "CMD_SLOW_SCAN_IO";
778 break;
779 case CMD_CLOCK_TMS:
780 return "CMD_CLOCK_TMS";
781 break;
782 case CMD_SLOW_CLOCK_TMS:
783 return "CMD_SLOW_CLOCK_TMS";
784 break;
785 case CMD_CLOCK_TCK:
786 return "CMD_CLOCK_TCK";
787 break;
788 case CMD_SLOW_CLOCK_TCK:
789 return "CMD_SLOW_CLOCK_TCK";
790 break;
791 case CMD_SLEEP_US:
792 return "CMD_SLEEP_US";
793 break;
794 case CMD_SLEEP_MS:
795 return "CMD_SLEEP_MS";
796 break;
797 case CMD_GET_SIGNALS:
798 return "CMD_GET_SIGNALS";
799 break;
800 case CMD_SET_SIGNALS:
801 return "CMD_SET_SIGNALS";
802 break;
803 case CMD_CONFIGURE_TCK_FREQ:
804 return "CMD_CONFIGURE_TCK_FREQ";
805 break;
806 case CMD_SET_LEDS:
807 return "CMD_SET_LEDS";
808 break;
809 case CMD_TEST:
810 return "CMD_TEST";
811 break;
812 default:
813 return "CMD_UNKNOWN";
814 break;
815 }
816 }
817
818 /**
819 * Print one OpenULINK command to stdout.
820 *
821 * @param ulink_cmd pointer to OpenULINK command.
822 */
823 void ulink_print_command(struct ulink_cmd *ulink_cmd)
824 {
825 int i;
826
827 printf(" %-22s | OUT size = %i, bytes = 0x",
828 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
829
830 for (i = 0; i < ulink_cmd->payload_out_size; i++)
831 printf("%02X ", ulink_cmd->payload_out[i]);
832 printf("\n | IN size = %i\n",
833 ulink_cmd->payload_in_size);
834 }
835
836 /**
837 * Print the OpenULINK command queue to stdout.
838 *
839 * @param device pointer to struct ulink identifying ULINK driver instance.
840 */
841 void ulink_print_queue(struct ulink *device)
842 {
843 struct ulink_cmd *current;
844
845 printf("OpenULINK command queue:\n");
846
847 for (current = device->queue_start; current; current = current->next)
848 ulink_print_command(current);
849 }
850
851 #endif /* _DEBUG_JTAG_IO_ */
852
853 /**
854 * Perform JTAG scan
855 *
856 * Creates and appends a JTAG scan command to the OpenULINK command queue.
857 * A JTAG scan consists of three steps:
858 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
859 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
860 * - Move to the desired end state.
861 *
862 * @param device pointer to struct ulink identifying ULINK driver instance.
863 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
864 * @param scan_size_bits number of bits to shift into the JTAG chain.
865 * @param tdi pointer to array containing TDI data.
866 * @param tdo_start pointer to first element of array where TDO data shall be
867 * stored. See #ulink_cmd for details.
868 * @param tdo pointer to array where TDO data shall be stored
869 * @param tms_count_start number of TMS state transitions to perform BEFORE
870 * shifting data into the JTAG chain.
871 * @param tms_sequence_start sequence of TMS state transitions that will be
872 * performed BEFORE shifting data into the JTAG chain.
873 * @param tms_count_end number of TMS state transitions to perform AFTER
874 * shifting data into the JTAG chain.
875 * @param tms_sequence_end sequence of TMS state transitions that will be
876 * performed AFTER shifting data into the JTAG chain.
877 * @param origin pointer to OpenOCD command that generated this scan command.
878 * @param postprocess whether this command needs to be post-processed after
879 * execution.
880 * @return on success: ERROR_OK
881 * @return on failure: ERROR_FAIL
882 */
883 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
884 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
885 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
886 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
887 {
888 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
889 int ret, i, scan_size_bytes;
890 uint8_t bits_last_byte;
891
892 if (cmd == NULL)
893 return ERROR_FAIL;
894
895 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
896 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
897 if (scan_size_bits > (58 * 8)) {
898 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
899 " large payload");
900 return ERROR_FAIL;
901 }
902
903 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
904
905 bits_last_byte = scan_size_bits % 8;
906 if (bits_last_byte == 0)
907 bits_last_byte = 8;
908
909 /* Allocate out_payload depending on scan type */
910 switch (scan_type) {
911 case SCAN_IN:
912 if (device->delay_scan_in < 0)
913 cmd->id = CMD_SCAN_IN;
914 else
915 cmd->id = CMD_SLOW_SCAN_IN;
916 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
917 break;
918 case SCAN_OUT:
919 if (device->delay_scan_out < 0)
920 cmd->id = CMD_SCAN_OUT;
921 else
922 cmd->id = CMD_SLOW_SCAN_OUT;
923 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
924 break;
925 case SCAN_IO:
926 if (device->delay_scan_io < 0)
927 cmd->id = CMD_SCAN_IO;
928 else
929 cmd->id = CMD_SLOW_SCAN_IO;
930 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
931 break;
932 default:
933 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
934 ret = ERROR_FAIL;
935 break;
936 }
937
938 if (ret != ERROR_OK)
939 return ret;
940
941 /* Build payload_out that is common to all scan types */
942 cmd->payload_out[0] = scan_size_bytes & 0xFF;
943 cmd->payload_out[1] = bits_last_byte & 0xFF;
944 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
945 cmd->payload_out[3] = tms_sequence_start;
946 cmd->payload_out[4] = tms_sequence_end;
947
948 /* Setup payload_out for types with OUT transfer */
949 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
950 for (i = 0; i < scan_size_bytes; i++)
951 cmd->payload_out[i + 5] = tdi[i];
952 }
953
954 /* Setup payload_in pointers for types with IN transfer */
955 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
956 cmd->payload_in_start = tdo_start;
957 cmd->payload_in = tdo;
958 cmd->payload_in_size = scan_size_bytes;
959 }
960
961 cmd->needs_postprocessing = postprocess;
962 cmd->cmd_origin = origin;
963
964 /* For scan commands, we free payload_in_start only when the command is
965 * the last in a series of split commands or a stand-alone command */
966 cmd->free_payload_in_start = postprocess;
967
968 return ulink_append_queue(device, cmd);
969 }
970
971 /**
972 * Perform TAP state transitions
973 *
974 * @param device pointer to struct ulink identifying ULINK driver instance.
975 * @param count defines the number of TCK clock cycles generated (up to 8).
976 * @param sequence defines the TMS pin levels for each state transition. The
977 * Least-Significant Bit is read first.
978 * @return on success: ERROR_OK
979 * @return on failure: ERROR_FAIL
980 */
981 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
982 uint8_t sequence)
983 {
984 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
985 int ret;
986
987 if (cmd == NULL)
988 return ERROR_FAIL;
989
990 if (device->delay_clock_tms < 0)
991 cmd->id = CMD_CLOCK_TMS;
992 else
993 cmd->id = CMD_SLOW_CLOCK_TMS;
994
995 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
996 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
997 if (ret != ERROR_OK)
998 return ret;
999
1000 cmd->payload_out[0] = count;
1001 cmd->payload_out[1] = sequence;
1002
1003 return ulink_append_queue(device, cmd);
1004 }
1005
1006 /**
1007 * Generate a defined amount of TCK clock cycles
1008 *
1009 * All other JTAG signals are left unchanged.
1010 *
1011 * @param device pointer to struct ulink identifying ULINK driver instance.
1012 * @param count the number of TCK clock cycles to generate.
1013 * @return on success: ERROR_OK
1014 * @return on failure: ERROR_FAIL
1015 */
1016 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1017 {
1018 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1019 int ret;
1020
1021 if (cmd == NULL)
1022 return ERROR_FAIL;
1023
1024 if (device->delay_clock_tck < 0)
1025 cmd->id = CMD_CLOCK_TCK;
1026 else
1027 cmd->id = CMD_SLOW_CLOCK_TCK;
1028
1029 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1030 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1031 if (ret != ERROR_OK)
1032 return ret;
1033
1034 cmd->payload_out[0] = count & 0xff;
1035 cmd->payload_out[1] = (count >> 8) & 0xff;
1036
1037 return ulink_append_queue(device, cmd);
1038 }
1039
1040 /**
1041 * Read JTAG signals.
1042 *
1043 * @param device pointer to struct ulink identifying ULINK driver instance.
1044 * @return on success: ERROR_OK
1045 * @return on failure: ERROR_FAIL
1046 */
1047 int ulink_append_get_signals_cmd(struct ulink *device)
1048 {
1049 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1050 int ret;
1051
1052 if (cmd == NULL)
1053 return ERROR_FAIL;
1054
1055 cmd->id = CMD_GET_SIGNALS;
1056 cmd->needs_postprocessing = true;
1057
1058 /* CMD_GET_SIGNALS has two IN payload bytes */
1059 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1060
1061 if (ret != ERROR_OK)
1062 return ret;
1063
1064 return ulink_append_queue(device, cmd);
1065 }
1066
1067 /**
1068 * Arbitrarily set JTAG output signals.
1069 *
1070 * @param device pointer to struct ulink identifying ULINK driver instance.
1071 * @param low defines which signals will be de-asserted. Each bit corresponds
1072 * to a JTAG signal:
1073 * - SIGNAL_TDI
1074 * - SIGNAL_TMS
1075 * - SIGNAL_TCK
1076 * - SIGNAL_TRST
1077 * - SIGNAL_BRKIN
1078 * - SIGNAL_RESET
1079 * - SIGNAL_OCDSE
1080 * @param high defines which signals will be asserted.
1081 * @return on success: ERROR_OK
1082 * @return on failure: ERROR_FAIL
1083 */
1084 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1085 uint8_t high)
1086 {
1087 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1088 int ret;
1089
1090 if (cmd == NULL)
1091 return ERROR_FAIL;
1092
1093 cmd->id = CMD_SET_SIGNALS;
1094
1095 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1096 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1097
1098 if (ret != ERROR_OK)
1099 return ret;
1100
1101 cmd->payload_out[0] = low;
1102 cmd->payload_out[1] = high;
1103
1104 return ulink_append_queue(device, cmd);
1105 }
1106
1107 /**
1108 * Sleep for a pre-defined number of microseconds
1109 *
1110 * @param device pointer to struct ulink identifying ULINK driver instance.
1111 * @param us the number microseconds to sleep.
1112 * @return on success: ERROR_OK
1113 * @return on failure: ERROR_FAIL
1114 */
1115 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1116 {
1117 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1118 int ret;
1119
1120 if (cmd == NULL)
1121 return ERROR_FAIL;
1122
1123 cmd->id = CMD_SLEEP_US;
1124
1125 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1126 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1127
1128 if (ret != ERROR_OK)
1129 return ret;
1130
1131 cmd->payload_out[0] = us & 0x00ff;
1132 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1133
1134 return ulink_append_queue(device, cmd);
1135 }
1136
1137 /**
1138 * Set TCK delay counters
1139 *
1140 * @param device pointer to struct ulink identifying ULINK driver instance.
1141 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1142 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1143 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1144 * @param delay_tck delay count top value in jtag_clock_tck() function.
1145 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1146 * @return on success: ERROR_OK
1147 * @return on failure: ERROR_FAIL
1148 */
1149 int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1150 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1151 {
1152 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1153 int ret;
1154
1155 if (cmd == NULL)
1156 return ERROR_FAIL;
1157
1158 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1159
1160 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1161 * IN payload bytes */
1162 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1163 if (ret != ERROR_OK)
1164 return ret;
1165
1166 if (delay_scan_in < 0)
1167 cmd->payload_out[0] = 0;
1168 else
1169 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1170
1171 if (delay_scan_out < 0)
1172 cmd->payload_out[1] = 0;
1173 else
1174 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1175
1176 if (delay_scan_io < 0)
1177 cmd->payload_out[2] = 0;
1178 else
1179 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1180
1181 if (delay_tck < 0)
1182 cmd->payload_out[3] = 0;
1183 else
1184 cmd->payload_out[3] = (uint8_t)delay_tck;
1185
1186 if (delay_tms < 0)
1187 cmd->payload_out[4] = 0;
1188 else
1189 cmd->payload_out[4] = (uint8_t)delay_tms;
1190
1191 return ulink_append_queue(device, cmd);
1192 }
1193
1194 /**
1195 * Turn on/off ULINK LEDs.
1196 *
1197 * @param device pointer to struct ulink identifying ULINK driver instance.
1198 * @param led_state which LED(s) to turn on or off. The following bits
1199 * influence the LEDS:
1200 * - Bit 0: Turn COM LED on
1201 * - Bit 1: Turn RUN LED on
1202 * - Bit 2: Turn COM LED off
1203 * - Bit 3: Turn RUN LED off
1204 * If both the on-bit and the off-bit for the same LED is set, the LED is
1205 * turned off.
1206 * @return on success: ERROR_OK
1207 * @return on failure: ERROR_FAIL
1208 */
1209 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1210 {
1211 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1212 int ret;
1213
1214 if (cmd == NULL)
1215 return ERROR_FAIL;
1216
1217 cmd->id = CMD_SET_LEDS;
1218
1219 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1220 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1221 if (ret != ERROR_OK)
1222 return ret;
1223
1224 cmd->payload_out[0] = led_state;
1225
1226 return ulink_append_queue(device, cmd);
1227 }
1228
1229 /**
1230 * Test command. Used to check if the ULINK device is ready to accept new
1231 * commands.
1232 *
1233 * @param device pointer to struct ulink identifying ULINK driver instance.
1234 * @return on success: ERROR_OK
1235 * @return on failure: ERROR_FAIL
1236 */
1237 int ulink_append_test_cmd(struct ulink *device)
1238 {
1239 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1240 int ret;
1241
1242 if (cmd == NULL)
1243 return ERROR_FAIL;
1244
1245 cmd->id = CMD_TEST;
1246
1247 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1248 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1249 if (ret != ERROR_OK)
1250 return ret;
1251
1252 cmd->payload_out[0] = 0xAA;
1253
1254 return ulink_append_queue(device, cmd);
1255 }
1256
1257 /****************** OpenULINK TCK frequency helper functions ******************/
1258
1259 /**
1260 * Calculate delay values for a given TCK frequency.
1261 *
1262 * The OpenULINK firmware uses five different speed values for different
1263 * commands. These speed values are calculated in these functions.
1264 *
1265 * The five different commands which support variable TCK frequency are
1266 * implemented twice in the firmware:
1267 * 1. Maximum possible frequency without any artificial delay
1268 * 2. Variable frequency with artificial linear delay loop
1269 *
1270 * To set the ULINK to maximum frequency, it is only neccessary to use the
1271 * corresponding command IDs. To set the ULINK to a lower frequency, the
1272 * delay loop top values have to be calculated first. Then, a
1273 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1274 *
1275 * The delay values are described by linear equations:
1276 * t = k * x + d
1277 * (t = period, k = constant, x = delay value, d = constant)
1278 *
1279 * Thus, the delay can be calculated as in the following equation:
1280 * x = (t - d) / k
1281 *
1282 * The constants in these equations have been determined and validated by
1283 * measuring the frequency resulting from different delay values.
1284 *
1285 * @param type for which command to calculate the delay value.
1286 * @param f TCK frequency for which to calculate the delay value in Hz.
1287 * @param delay where to store resulting delay value.
1288 * @return on success: ERROR_OK
1289 * @return on failure: ERROR_FAIL
1290 */
1291 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1292 {
1293 float t, x, x_ceil;
1294
1295 /* Calculate period of requested TCK frequency */
1296 t = 1.0 / (float)(f);
1297
1298 switch (type) {
1299 case DELAY_CLOCK_TCK:
1300 x = (t - (float)(6E-6)) / (float)(4E-6);
1301 break;
1302 case DELAY_CLOCK_TMS:
1303 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1304 break;
1305 case DELAY_SCAN_IN:
1306 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1307 break;
1308 case DELAY_SCAN_OUT:
1309 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1310 break;
1311 case DELAY_SCAN_IO:
1312 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1313 break;
1314 default:
1315 return ERROR_FAIL;
1316 break;
1317 }
1318
1319 /* Check if the delay value is negative. This happens when a frequency is
1320 * requested that is too high for the delay loop implementation. In this
1321 * case, set delay value to zero. */
1322 if (x < 0)
1323 x = 0;
1324
1325 /* We need to convert the exact delay value to an integer. Therefore, we
1326 * round the exact value UP to ensure that the resulting frequency is NOT
1327 * higher than the requested frequency. */
1328 x_ceil = ceilf(x);
1329
1330 /* Check if the value is within limits */
1331 if (x_ceil > 255)
1332 return ERROR_FAIL;
1333
1334 *delay = (int)x_ceil;
1335
1336 return ERROR_OK;
1337 }
1338
1339 /**
1340 * Calculate frequency for a given delay value.
1341 *
1342 * Similar to the #ulink_calculate_delay function, this function calculates the
1343 * TCK frequency for a given delay value by using linear equations of the form:
1344 * t = k * x + d
1345 * (t = period, k = constant, x = delay value, d = constant)
1346 *
1347 * @param type for which command to calculate the delay value.
1348 * @param delay delay value for which to calculate the resulting TCK frequency.
1349 * @param f where to store the resulting TCK frequency.
1350 * @return on success: ERROR_OK
1351 * @return on failure: ERROR_FAIL
1352 */
1353 int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f)
1354 {
1355 float t, f_float, f_rounded;
1356
1357 if (delay > 255)
1358 return ERROR_FAIL;
1359
1360 switch (type) {
1361 case DELAY_CLOCK_TCK:
1362 if (delay < 0)
1363 t = (float)(2.666E-6);
1364 else
1365 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1366 break;
1367 case DELAY_CLOCK_TMS:
1368 if (delay < 0)
1369 t = (float)(5.666E-6);
1370 else
1371 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1372 break;
1373 case DELAY_SCAN_IN:
1374 if (delay < 0)
1375 t = (float)(5.5E-6);
1376 else
1377 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1378 break;
1379 case DELAY_SCAN_OUT:
1380 if (delay < 0)
1381 t = (float)(7.0E-6);
1382 else
1383 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1384 break;
1385 case DELAY_SCAN_IO:
1386 if (delay < 0)
1387 t = (float)(9.926E-6);
1388 else
1389 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1390 break;
1391 default:
1392 return ERROR_FAIL;
1393 break;
1394 }
1395
1396 f_float = 1.0 / t;
1397 f_rounded = roundf(f_float);
1398 *f = (long)f_rounded;
1399
1400 return ERROR_OK;
1401 }
1402
1403 /******************* Interface between OpenULINK and OpenOCD ******************/
1404
1405 /**
1406 * Sets the end state follower (see interface.h) if \a endstate is a stable
1407 * state.
1408 *
1409 * @param endstate the state the end state follower should be set to.
1410 */
1411 static void ulink_set_end_state(tap_state_t endstate)
1412 {
1413 if (tap_is_state_stable(endstate))
1414 tap_set_end_state(endstate);
1415 else {
1416 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1417 exit(EXIT_FAILURE);
1418 }
1419 }
1420
1421 /**
1422 * Move from the current TAP state to the current TAP end state.
1423 *
1424 * @param device pointer to struct ulink identifying ULINK driver instance.
1425 * @return on success: ERROR_OK
1426 * @return on failure: ERROR_FAIL
1427 */
1428 int ulink_queue_statemove(struct ulink *device)
1429 {
1430 uint8_t tms_sequence, tms_count;
1431 int ret;
1432
1433 if (tap_get_state() == tap_get_end_state()) {
1434 /* Do nothing if we are already there */
1435 return ERROR_OK;
1436 }
1437
1438 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1439 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1440
1441 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1442
1443 if (ret == ERROR_OK)
1444 tap_set_state(tap_get_end_state());
1445
1446 return ret;
1447 }
1448
1449 /**
1450 * Perform a scan operation on a JTAG register.
1451 *
1452 * @param device pointer to struct ulink identifying ULINK driver instance.
1453 * @param cmd pointer to the command that shall be executed.
1454 * @return on success: ERROR_OK
1455 * @return on failure: ERROR_FAIL
1456 */
1457 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1458 {
1459 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1460 uint32_t scans_max_payload, bytecount;
1461 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1462 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1463
1464 uint8_t first_tms_count, first_tms_sequence;
1465 uint8_t last_tms_count, last_tms_sequence;
1466
1467 uint8_t tms_count_pause, tms_sequence_pause;
1468 uint8_t tms_count_resume, tms_sequence_resume;
1469
1470 uint8_t tms_count_start, tms_sequence_start;
1471 uint8_t tms_count_end, tms_sequence_end;
1472
1473 enum scan_type type;
1474 int ret;
1475
1476 /* Determine scan size */
1477 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1478 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1479
1480 /* Determine scan type (IN/OUT/IO) */
1481 type = jtag_scan_type(cmd->cmd.scan);
1482
1483 /* Determine number of scan commands with maximum payload */
1484 scans_max_payload = scan_size_bytes / 58;
1485
1486 /* Determine size of last shift command */
1487 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1488
1489 /* Allocate TDO buffer if required */
1490 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1491 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1492
1493 if (tdo_buffer_start == NULL)
1494 return ERROR_FAIL;
1495
1496 tdo_buffer = tdo_buffer_start;
1497 }
1498
1499 /* Fill TDI buffer if required */
1500 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1501 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1502 tdi_buffer = tdi_buffer_start;
1503 }
1504
1505 /* Get TAP state transitions */
1506 if (cmd->cmd.scan->ir_scan) {
1507 ulink_set_end_state(TAP_IRSHIFT);
1508 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1509 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1510
1511 tap_set_state(TAP_IRSHIFT);
1512 tap_set_end_state(cmd->cmd.scan->end_state);
1513 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1514 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1515
1516 /* TAP state transitions for split scans */
1517 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1518 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1519 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1520 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1521 } else {
1522 ulink_set_end_state(TAP_DRSHIFT);
1523 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1524 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1525
1526 tap_set_state(TAP_DRSHIFT);
1527 tap_set_end_state(cmd->cmd.scan->end_state);
1528 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1529 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1530
1531 /* TAP state transitions for split scans */
1532 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1533 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1534 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1535 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1536 }
1537
1538 /* Generate scan commands */
1539 bytecount = scan_size_bytes;
1540 while (bytecount > 0) {
1541 if (bytecount == scan_size_bytes) {
1542 /* This is the first scan */
1543 tms_count_start = first_tms_count;
1544 tms_sequence_start = first_tms_sequence;
1545 } else {
1546 /* Resume from previous scan */
1547 tms_count_start = tms_count_resume;
1548 tms_sequence_start = tms_sequence_resume;
1549 }
1550
1551 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1552 tms_count_end = tms_count_pause;
1553 tms_sequence_end = tms_sequence_pause;
1554
1555 ret = ulink_append_scan_cmd(device,
1556 type,
1557 58 * 8,
1558 tdi_buffer,
1559 tdo_buffer_start,
1560 tdo_buffer,
1561 tms_count_start,
1562 tms_sequence_start,
1563 tms_count_end,
1564 tms_sequence_end,
1565 cmd,
1566 false);
1567
1568 bytecount -= 58;
1569
1570 /* Update TDI and TDO buffer pointers */
1571 if (tdi_buffer_start != NULL)
1572 tdi_buffer += 58;
1573 if (tdo_buffer_start != NULL)
1574 tdo_buffer += 58;
1575 } else if (bytecount == 58) { /* Full scan, no further scans */
1576 tms_count_end = last_tms_count;
1577 tms_sequence_end = last_tms_sequence;
1578
1579 ret = ulink_append_scan_cmd(device,
1580 type,
1581 58 * 8,
1582 tdi_buffer,
1583 tdo_buffer_start,
1584 tdo_buffer,
1585 tms_count_start,
1586 tms_sequence_start,
1587 tms_count_end,
1588 tms_sequence_end,
1589 cmd,
1590 true);
1591
1592 bytecount = 0;
1593 } else {/* Scan with less than maximum payload, no further scans */
1594 tms_count_end = last_tms_count;
1595 tms_sequence_end = last_tms_sequence;
1596
1597 ret = ulink_append_scan_cmd(device,
1598 type,
1599 bits_last_scan,
1600 tdi_buffer,
1601 tdo_buffer_start,
1602 tdo_buffer,
1603 tms_count_start,
1604 tms_sequence_start,
1605 tms_count_end,
1606 tms_sequence_end,
1607 cmd,
1608 true);
1609
1610 bytecount = 0;
1611 }
1612
1613 if (ret != ERROR_OK) {
1614 free(tdi_buffer_start);
1615 return ret;
1616 }
1617 }
1618
1619 free(tdi_buffer_start);
1620
1621 /* Set current state to the end state requested by the command */
1622 tap_set_state(cmd->cmd.scan->end_state);
1623
1624 return ERROR_OK;
1625 }
1626
1627 /**
1628 * Move the TAP into the Test Logic Reset state.
1629 *
1630 * @param device pointer to struct ulink identifying ULINK driver instance.
1631 * @param cmd pointer to the command that shall be executed.
1632 * @return on success: ERROR_OK
1633 * @return on failure: ERROR_FAIL
1634 */
1635 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1636 {
1637 int ret;
1638
1639 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1640
1641 if (ret == ERROR_OK)
1642 tap_set_state(TAP_RESET);
1643
1644 return ret;
1645 }
1646
1647 /**
1648 * Run Test.
1649 *
1650 * Generate TCK clock cycles while remaining
1651 * in the Run-Test/Idle state.
1652 *
1653 * @param device pointer to struct ulink identifying ULINK driver instance.
1654 * @param cmd pointer to the command that shall be executed.
1655 * @return on success: ERROR_OK
1656 * @return on failure: ERROR_FAIL
1657 */
1658 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1659 {
1660 int ret;
1661
1662 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1663 if (tap_get_state() != TAP_IDLE) {
1664 ulink_set_end_state(TAP_IDLE);
1665 ulink_queue_statemove(device);
1666 }
1667
1668 /* Generate the clock cycles */
1669 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1670 if (ret != ERROR_OK)
1671 return ret;
1672
1673 /* Move to end state specified in command */
1674 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1675 tap_set_end_state(cmd->cmd.runtest->end_state);
1676 ulink_queue_statemove(device);
1677 }
1678
1679 return ERROR_OK;
1680 }
1681
1682 /**
1683 * Execute a JTAG_RESET command
1684 *
1685 * @param cmd pointer to the command that shall be executed.
1686 * @return on success: ERROR_OK
1687 * @return on failure: ERROR_FAIL
1688 */
1689 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1690 {
1691 uint8_t low = 0, high = 0;
1692
1693 if (cmd->cmd.reset->trst) {
1694 tap_set_state(TAP_RESET);
1695 high |= SIGNAL_TRST;
1696 } else
1697 low |= SIGNAL_TRST;
1698
1699 if (cmd->cmd.reset->srst)
1700 high |= SIGNAL_RESET;
1701 else
1702 low |= SIGNAL_RESET;
1703
1704 return ulink_append_set_signals_cmd(device, low, high);
1705 }
1706
1707 /**
1708 * Move to one TAP state or several states in succession.
1709 *
1710 * @param device pointer to struct ulink identifying ULINK driver instance.
1711 * @param cmd pointer to the command that shall be executed.
1712 * @return on success: ERROR_OK
1713 * @return on failure: ERROR_FAIL
1714 */
1715 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1716 {
1717 int ret, i, num_states, batch_size, state_count;
1718 tap_state_t *path;
1719 uint8_t tms_sequence;
1720
1721 num_states = cmd->cmd.pathmove->num_states;
1722 path = cmd->cmd.pathmove->path;
1723 state_count = 0;
1724
1725 while (num_states > 0) {
1726 tms_sequence = 0;
1727
1728 /* Determine batch size */
1729 if (num_states >= 8)
1730 batch_size = 8;
1731 else
1732 batch_size = num_states;
1733
1734 for (i = 0; i < batch_size; i++) {
1735 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1736 /* Append '0' transition: clear bit 'i' in tms_sequence */
1737 buf_set_u32(&tms_sequence, i, 1, 0x0);
1738 } else if (tap_state_transition(tap_get_state(), true)
1739 == path[state_count]) {
1740 /* Append '1' transition: set bit 'i' in tms_sequence */
1741 buf_set_u32(&tms_sequence, i, 1, 0x1);
1742 } else {
1743 /* Invalid state transition */
1744 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1745 tap_state_name(tap_get_state()),
1746 tap_state_name(path[state_count]));
1747 return ERROR_FAIL;
1748 }
1749
1750 tap_set_state(path[state_count]);
1751 state_count++;
1752 num_states--;
1753 }
1754
1755 /* Append CLOCK_TMS command to OpenULINK command queue */
1756 LOG_INFO(
1757 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1758 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1759 if (ret != ERROR_OK)
1760 return ret;
1761 }
1762
1763 return ERROR_OK;
1764 }
1765
1766 /**
1767 * Sleep for a specific amount of time.
1768 *
1769 * @param device pointer to struct ulink identifying ULINK driver instance.
1770 * @param cmd pointer to the command that shall be executed.
1771 * @return on success: ERROR_OK
1772 * @return on failure: ERROR_FAIL
1773 */
1774 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1775 {
1776 /* IMPORTANT! Due to the time offset in command execution introduced by
1777 * command queueing, this needs to be implemented in the ULINK device */
1778 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1779 }
1780
1781 /**
1782 * Generate TCK cycles while remaining in a stable state.
1783 *
1784 * @param device pointer to struct ulink identifying ULINK driver instance.
1785 * @param cmd pointer to the command that shall be executed.
1786 */
1787 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1788 {
1789 int ret;
1790 unsigned num_cycles;
1791
1792 if (!tap_is_state_stable(tap_get_state())) {
1793 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1794 return ERROR_FAIL;
1795 }
1796
1797 num_cycles = cmd->cmd.stableclocks->num_cycles;
1798
1799 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1800 if (tap_get_state() == TAP_RESET)
1801 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1802 else
1803 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1804
1805 if (ret != ERROR_OK)
1806 return ret;
1807
1808 while (num_cycles > 0) {
1809 if (num_cycles > 0xFFFF) {
1810 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1811 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1812 num_cycles -= 0xFFFF;
1813 } else {
1814 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1815 num_cycles = 0;
1816 }
1817
1818 if (ret != ERROR_OK)
1819 return ret;
1820 }
1821
1822 return ERROR_OK;
1823 }
1824
1825 /**
1826 * Post-process JTAG_SCAN command
1827 *
1828 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1829 * @return on success: ERROR_OK
1830 * @return on failure: ERROR_FAIL
1831 */
1832 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1833 {
1834 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1835 int ret;
1836
1837 switch (jtag_scan_type(cmd->cmd.scan)) {
1838 case SCAN_IN:
1839 case SCAN_IO:
1840 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1841 break;
1842 case SCAN_OUT:
1843 /* Nothing to do for OUT scans */
1844 ret = ERROR_OK;
1845 break;
1846 default:
1847 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1848 " JTAG scan type");
1849 ret = ERROR_FAIL;
1850 break;
1851 }
1852
1853 return ret;
1854 }
1855
1856 /**
1857 * Perform post-processing of commands after OpenULINK queue has been executed.
1858 *
1859 * @param device pointer to struct ulink identifying ULINK driver instance.
1860 * @return on success: ERROR_OK
1861 * @return on failure: ERROR_FAIL
1862 */
1863 int ulink_post_process_queue(struct ulink *device)
1864 {
1865 struct ulink_cmd *current;
1866 struct jtag_command *openocd_cmd;
1867 int ret;
1868
1869 current = device->queue_start;
1870
1871 while (current != NULL) {
1872 openocd_cmd = current->cmd_origin;
1873
1874 /* Check if a corresponding OpenOCD command is stored for this
1875 * OpenULINK command */
1876 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1877 switch (openocd_cmd->type) {
1878 case JTAG_SCAN:
1879 ret = ulink_post_process_scan(current);
1880 break;
1881 case JTAG_TLR_RESET:
1882 case JTAG_RUNTEST:
1883 case JTAG_RESET:
1884 case JTAG_PATHMOVE:
1885 case JTAG_SLEEP:
1886 case JTAG_STABLECLOCKS:
1887 /* Nothing to do for these commands */
1888 ret = ERROR_OK;
1889 break;
1890 default:
1891 ret = ERROR_FAIL;
1892 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1893 "command type");
1894 break;
1895 }
1896
1897 if (ret != ERROR_OK)
1898 return ret;
1899 }
1900
1901 current = current->next;
1902 }
1903
1904 return ERROR_OK;
1905 }
1906
1907 /**************************** JTAG driver functions ***************************/
1908
1909 /**
1910 * Executes the JTAG Command Queue.
1911 *
1912 * This is done in three stages: First, all OpenOCD commands are processed into
1913 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1914 * ULINK device and data received from the ULINK device is cached. Finally,
1915 * the post-processing function writes back data to the corresponding OpenOCD
1916 * commands.
1917 *
1918 * @return on success: ERROR_OK
1919 * @return on failure: ERROR_FAIL
1920 */
1921 static int ulink_execute_queue(void)
1922 {
1923 struct jtag_command *cmd = jtag_command_queue;
1924 int ret;
1925
1926 while (cmd) {
1927 switch (cmd->type) {
1928 case JTAG_SCAN:
1929 ret = ulink_queue_scan(ulink_handle, cmd);
1930 break;
1931 case JTAG_TLR_RESET:
1932 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1933 break;
1934 case JTAG_RUNTEST:
1935 ret = ulink_queue_runtest(ulink_handle, cmd);
1936 break;
1937 case JTAG_RESET:
1938 ret = ulink_queue_reset(ulink_handle, cmd);
1939 break;
1940 case JTAG_PATHMOVE:
1941 ret = ulink_queue_pathmove(ulink_handle, cmd);
1942 break;
1943 case JTAG_SLEEP:
1944 ret = ulink_queue_sleep(ulink_handle, cmd);
1945 break;
1946 case JTAG_STABLECLOCKS:
1947 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1948 break;
1949 default:
1950 ret = ERROR_FAIL;
1951 LOG_ERROR("BUG: encountered unknown JTAG command type");
1952 break;
1953 }
1954
1955 if (ret != ERROR_OK)
1956 return ret;
1957
1958 cmd = cmd->next;
1959 }
1960
1961 if (ulink_handle->commands_in_queue > 0) {
1962 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1963 if (ret != ERROR_OK)
1964 return ret;
1965
1966 ret = ulink_post_process_queue(ulink_handle);
1967 if (ret != ERROR_OK)
1968 return ret;
1969
1970 ulink_clear_queue(ulink_handle);
1971 }
1972
1973 return ERROR_OK;
1974 }
1975
1976 /**
1977 * Set the TCK frequency of the ULINK adapter.
1978 *
1979 * @param khz desired JTAG TCK frequency.
1980 * @param jtag_speed where to store corresponding adapter-specific speed value.
1981 * @return on success: ERROR_OK
1982 * @return on failure: ERROR_FAIL
1983 */
1984 static int ulink_khz(int khz, int *jtag_speed)
1985 {
1986 int ret;
1987
1988 if (khz == 0) {
1989 LOG_ERROR("RCLK not supported");
1990 return ERROR_FAIL;
1991 }
1992
1993 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
1994 * setting can be done independently from all other commands. */
1995 if (khz >= 375)
1996 ulink_handle->delay_clock_tck = -1;
1997 else {
1998 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
1999 &ulink_handle->delay_clock_tck);
2000 if (ret != ERROR_OK)
2001 return ret;
2002 }
2003
2004 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2005 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2006 * commands, all SCAN commands MUST also use the variable frequency
2007 * implementation! */
2008 if (khz >= 176) {
2009 ulink_handle->delay_clock_tms = -1;
2010 ulink_handle->delay_scan_in = -1;
2011 ulink_handle->delay_scan_out = -1;
2012 ulink_handle->delay_scan_io = -1;
2013 } else {
2014 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2015 &ulink_handle->delay_clock_tms);
2016 if (ret != ERROR_OK)
2017 return ret;
2018
2019 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2020 &ulink_handle->delay_scan_in);
2021 if (ret != ERROR_OK)
2022 return ret;
2023
2024 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2025 &ulink_handle->delay_scan_out);
2026 if (ret != ERROR_OK)
2027 return ret;
2028
2029 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2030 &ulink_handle->delay_scan_io);
2031 if (ret != ERROR_OK)
2032 return ret;
2033 }
2034
2035 #ifdef _DEBUG_JTAG_IO_
2036 long f_tck, f_tms, f_scan_in, f_scan_out, f_scan_io;
2037
2038 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck,
2039 &f_tck);
2040 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms,
2041 &f_tms);
2042 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in,
2043 &f_scan_in);
2044 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out,
2045 &f_scan_out);
2046 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io,
2047 &f_scan_io);
2048
2049 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2050 ulink_handle->delay_clock_tck, f_tck);
2051 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2052 ulink_handle->delay_clock_tms, f_tms);
2053 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2054 ulink_handle->delay_scan_in, f_scan_in);
2055 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2056 ulink_handle->delay_scan_out, f_scan_out);
2057 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2058 ulink_handle->delay_scan_io, f_scan_io);
2059 #endif
2060
2061 /* Configure the ULINK device with the new delay values */
2062 ret = ulink_append_configure_tck_cmd(ulink_handle,
2063 ulink_handle->delay_scan_in,
2064 ulink_handle->delay_scan_out,
2065 ulink_handle->delay_scan_io,
2066 ulink_handle->delay_clock_tck,
2067 ulink_handle->delay_clock_tms);
2068
2069 if (ret != ERROR_OK)
2070 return ret;
2071
2072 *jtag_speed = khz;
2073
2074 return ERROR_OK;
2075 }
2076
2077 /**
2078 * Set the TCK frequency of the ULINK adapter.
2079 *
2080 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2081 * there are five different speed settings. To simplify things, the
2082 * adapter-specific speed setting value is identical to the TCK frequency in
2083 * khz.
2084 *
2085 * @param speed desired adapter-specific speed value.
2086 * @return on success: ERROR_OK
2087 * @return on failure: ERROR_FAIL
2088 */
2089 static int ulink_speed(int speed)
2090 {
2091 int dummy;
2092
2093 return ulink_khz(speed, &dummy);
2094 }
2095
2096 /**
2097 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2098 *
2099 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2100 * there are five different speed settings. To simplify things, the
2101 * adapter-specific speed setting value is identical to the TCK frequency in
2102 * khz.
2103 *
2104 * @param speed adapter-specific speed value.
2105 * @param khz where to store corresponding TCK frequency in kHz.
2106 * @return on success: ERROR_OK
2107 * @return on failure: ERROR_FAIL
2108 */
2109 static int ulink_speed_div(int speed, int *khz)
2110 {
2111 *khz = speed;
2112
2113 return ERROR_OK;
2114 }
2115
2116 /**
2117 * Initiates the firmware download to the ULINK adapter and prepares
2118 * the USB handle.
2119 *
2120 * @return on success: ERROR_OK
2121 * @return on failure: ERROR_FAIL
2122 */
2123 static int ulink_init(void)
2124 {
2125 int ret;
2126 char str_manufacturer[20];
2127 bool download_firmware = false;
2128 uint8_t *dummy;
2129 uint8_t input_signals, output_signals;
2130
2131 ulink_handle = calloc(1, sizeof(struct ulink));
2132 if (ulink_handle == NULL)
2133 return ERROR_FAIL;
2134
2135 usb_init();
2136
2137 ret = ulink_usb_open(&ulink_handle);
2138 if (ret != ERROR_OK) {
2139 LOG_ERROR("Could not open ULINK device");
2140 return ret;
2141 }
2142
2143 /* Get String Descriptor to determine if firmware needs to be loaded */
2144 ret = usb_get_string_simple(ulink_handle->usb_handle, 1, str_manufacturer, 20);
2145 if (ret < 0) {
2146 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2147 download_firmware = true;
2148 } else {
2149 /* We got a String Descriptor, check if it is the correct one */
2150 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2151 download_firmware = true;
2152 }
2153
2154 if (download_firmware == true) {
2155 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2156 " ULINK device.");
2157 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2158 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2159 if (ret != ERROR_OK) {
2160 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2161 return ret;
2162 }
2163 } else
2164 LOG_INFO("ULINK device is already running OpenULINK firmware");
2165
2166 /* Initialize OpenULINK command queue */
2167 ulink_clear_queue(ulink_handle);
2168
2169 /* Issue one test command with short timeout */
2170 ret = ulink_append_test_cmd(ulink_handle);
2171 if (ret != ERROR_OK)
2172 return ret;
2173
2174 ret = ulink_execute_queued_commands(ulink_handle, 200);
2175 if (ret != ERROR_OK) {
2176 /* Sending test command failed. The ULINK device may be forever waiting for
2177 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2178 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2179 dummy = calloc(64, sizeof(uint8_t));
2180
2181 ret = usb_bulk_read(ulink_handle->usb_handle, (2 | USB_ENDPOINT_IN),
2182 (char *)dummy, 64, 200);
2183
2184 free(dummy);
2185
2186 if (ret < 0) {
2187 /* Bulk IN transfer failed -> unrecoverable error condition */
2188 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2189 "the USB port and re-connect, then re-run OpenOCD");
2190 return ERROR_FAIL;
2191 }
2192 #ifdef _DEBUG_USB_COMMS_
2193 else {
2194 /* Successfully received Bulk IN packet -> continue */
2195 LOG_INFO("Recovered from lost Bulk IN packet");
2196 }
2197 #endif
2198 }
2199 ulink_clear_queue(ulink_handle);
2200
2201 ulink_append_get_signals_cmd(ulink_handle);
2202 ulink_execute_queued_commands(ulink_handle, 200);
2203
2204 /* Post-process the single CMD_GET_SIGNALS command */
2205 input_signals = ulink_handle->queue_start->payload_in[0];
2206 output_signals = ulink_handle->queue_start->payload_in[1];
2207
2208 ulink_print_signal_states(input_signals, output_signals);
2209
2210 ulink_clear_queue(ulink_handle);
2211
2212 return ERROR_OK;
2213 }
2214
2215 /**
2216 * Closes the USB handle for the ULINK device.
2217 *
2218 * @return on success: ERROR_OK
2219 * @return on failure: ERROR_FAIL
2220 */
2221 static int ulink_quit(void)
2222 {
2223 int ret;
2224
2225 ret = ulink_usb_close(&ulink_handle);
2226 free(ulink_handle);
2227
2228 return ret;
2229 }
2230
2231 /**
2232 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2233 */
2234 COMMAND_HANDLER(ulink_download_firmware_handler)
2235 {
2236 int ret;
2237
2238 if (CMD_ARGC != 1)
2239 return ERROR_COMMAND_SYNTAX_ERROR;
2240
2241
2242 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2243
2244 /* Download firmware image in CMD_ARGV[0] */
2245 ret = ulink_load_firmware_and_renumerate(&ulink_handle, (char *)CMD_ARGV[0],
2246 ULINK_RENUMERATION_DELAY);
2247
2248 return ret;
2249 }
2250
2251 /*************************** Command Registration **************************/
2252
2253 static const struct command_registration ulink_command_handlers[] = {
2254 {
2255 .name = "ulink_download_firmware",
2256 .handler = &ulink_download_firmware_handler,
2257 .mode = COMMAND_EXEC,
2258 .help = "download firmware image to ULINK device",
2259 .usage = "path/to/ulink_firmware.hex",
2260 },
2261 COMMAND_REGISTRATION_DONE,
2262 };
2263
2264 struct jtag_interface ulink_interface = {
2265 .name = "ulink",
2266
2267 .commands = ulink_command_handlers,
2268 .transports = jtag_only,
2269
2270 .execute_queue = ulink_execute_queue,
2271 .khz = ulink_khz,
2272 .speed = ulink_speed,
2273 .speed_div = ulink_speed_div,
2274
2275 .init = ulink_init,
2276 .quit = ulink_quit
2277 };