Change return value on error.
[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 {
78 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
79 * Full JTAG support, no SWD support. */
80 ULINK_1,
81
82 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
83 ULINK_2,
84
85 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
86 ULINK_PRO,
87
88 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
89 ULINK_ME
90 };
91
92 enum ulink_payload_direction
93 {
94 PAYLOAD_DIRECTION_OUT,
95 PAYLOAD_DIRECTION_IN
96 };
97
98 enum ulink_delay_type
99 {
100 DELAY_CLOCK_TCK,
101 DELAY_CLOCK_TMS,
102 DELAY_SCAN_IN,
103 DELAY_SCAN_OUT,
104 DELAY_SCAN_IO
105 };
106
107 /**
108 * OpenULINK command (OpenULINK command queue element).
109 *
110 * For the OUT direction payload, things are quite easy: Payload is stored
111 * in a rather small array (up to 63 bytes), the payload is always allocated
112 * by the function generating the command and freed by ulink_clear_queue().
113 *
114 * For the IN direction payload, things get a little bit more complicated:
115 * The maximum IN payload size for a single command is 64 bytes. Assume that
116 * a single OpenOCD command needs to scan 256 bytes. This results in the
117 * generation of four OpenULINK commands. The function generating these
118 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
119 * pointer shall point to the corresponding offset where IN data shall be
120 * placed, while #payload_in_start shall point to the first element of the 256
121 * byte array.
122 * - first command: #payload_in_start + 0
123 * - second command: #payload_in_start + 64
124 * - third command: #payload_in_start + 128
125 * - fourth command: #payload_in_start + 192
126 *
127 * The last command sets #needs_postprocessing to true.
128 */
129 struct ulink_cmd {
130 uint8_t id; ///< ULINK command ID
131
132 uint8_t *payload_out; ///< OUT direction payload data
133 uint8_t payload_out_size; ///< OUT direction payload size for this command
134
135 uint8_t *payload_in_start; ///< Pointer to first element of IN payload array
136 uint8_t *payload_in; ///< Pointer where IN payload shall be stored
137 uint8_t payload_in_size; ///< IN direction payload size for this command
138
139 /** Indicates if this command needs post-processing */
140 bool needs_postprocessing;
141
142 /** Indicates if ulink_clear_queue() should free payload_in_start */
143 bool free_payload_in_start;
144
145 /** Pointer to corresponding OpenOCD command for post-processing */
146 struct jtag_command *cmd_origin;
147
148 struct ulink_cmd *next; ///< Pointer to next command (linked list)
149 };
150
151 /** Describes one driver instance */
152 struct ulink
153 {
154 struct usb_dev_handle *usb_handle;
155 enum ulink_type type;
156
157 int delay_scan_in; ///< Delay value for SCAN_IN commands
158 int delay_scan_out; ///< Delay value for SCAN_OUT commands
159 int delay_scan_io; ///< Delay value for SCAN_IO commands
160 int delay_clock_tck; ///< Delay value for CLOCK_TMS commands
161 int delay_clock_tms; ///< Delay value for CLOCK_TCK commands
162
163 int commands_in_queue; ///< Number of commands in queue
164 struct ulink_cmd *queue_start; ///< Pointer to first command in queue
165 struct ulink_cmd *queue_end; ///< Pointer to last command in queue
166 };
167
168 /**************************** Function Prototypes *****************************/
169
170 /* USB helper functions */
171 int ulink_usb_open(struct ulink **device);
172 int ulink_usb_close(struct ulink **device);
173
174 /* ULINK MCU (Cypress EZ-USB) specific functions */
175 int ulink_cpu_reset(struct ulink *device, char reset_bit);
176 int ulink_load_firmware_and_renumerate(struct ulink **device, char *filename,
177 uint32_t delay);
178 int ulink_load_firmware(struct ulink *device, char *filename);
179 int ulink_write_firmware_section(struct ulink *device,
180 struct image *firmware_image, int section_index);
181
182 /* Generic helper functions */
183 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
184
185 /* OpenULINK command generation helper functions */
186 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
187 enum ulink_payload_direction direction);
188
189 /* OpenULINK command queue helper functions */
190 int ulink_get_queue_size(struct ulink *device,
191 enum ulink_payload_direction direction);
192 void ulink_clear_queue(struct ulink *device);
193 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
194 int ulink_execute_queued_commands(struct ulink *device, int timeout);
195
196 #ifdef _DEBUG_JTAG_IO_
197 const char * ulink_cmd_id_string(uint8_t id);
198 void ulink_print_command(struct ulink_cmd *ulink_cmd);
199 void ulink_print_queue(struct ulink *device);
200 #endif
201
202 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
203 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
204 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
205 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess);
206 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
207 uint8_t sequence);
208 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
209 int ulink_append_get_signals_cmd(struct ulink *device);
210 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
211 uint8_t high);
212 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
213 int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
214 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms);
215 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
216 int ulink_append_test_cmd(struct ulink *device);
217
218 /* OpenULINK TCK frequency helper functions */
219 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
220 int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f);
221
222 /* Interface between OpenULINK and OpenOCD */
223 static void ulink_set_end_state(tap_state_t endstate);
224 int ulink_queue_statemove(struct ulink *device);
225
226 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
227 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
228 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
229 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
230 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
231 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
232 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
233
234 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
235 int ulink_post_process_queue(struct ulink *device);
236
237 /* JTAG driver functions (registered in struct jtag_interface) */
238 static int ulink_execute_queue(void);
239 static int ulink_khz(int khz, int *jtag_speed);
240 static int ulink_speed(int speed);
241 static int ulink_speed_div(int speed, int *khz);
242 static int ulink_init(void);
243 static int ulink_quit(void);
244
245 /****************************** Global Variables ******************************/
246
247 struct ulink *ulink_handle;
248
249 /**************************** USB helper functions ****************************/
250
251 /**
252 * Opens the ULINK device and claims its USB interface.
253 *
254 * @param device pointer to struct ulink identifying ULINK driver instance.
255 * @return on success: ERROR_OK
256 * @return on failure: ERROR_FAIL
257 */
258 int ulink_usb_open(struct ulink **device)
259 {
260 int ret;
261 struct usb_dev_handle *usb_handle;
262
263 /* Currently, only original ULINK is supported */
264 uint16_t vids[] = { ULINK_VID, 0 };
265 uint16_t pids[] = { ULINK_PID, 0 };
266
267 ret = jtag_usb_open(vids, pids, &usb_handle);
268
269 if (ret != ERROR_OK) {
270 return ret;
271 }
272
273 ret = usb_claim_interface(usb_handle, 0);
274
275 if (ret != 0) {
276 return ret;
277 }
278
279 (*device)->usb_handle = usb_handle;
280 (*device)->type = ULINK_1;
281
282 return ERROR_OK;
283 }
284
285 /**
286 * Releases the ULINK interface and closes the USB device handle.
287 *
288 * @param device pointer to struct ulink identifying ULINK driver instance.
289 * @return on success: ERROR_OK
290 * @return on failure: ERROR_FAIL
291 */
292 int ulink_usb_close(struct ulink **device)
293 {
294 if (usb_release_interface((*device)->usb_handle, 0) != 0) {
295 return ERROR_FAIL;
296 }
297
298 if (usb_close((*device)->usb_handle) != 0) {
299 return ERROR_FAIL;
300 }
301
302 (*device)->usb_handle = NULL;
303
304 return ERROR_OK;
305 }
306
307 /******************* ULINK CPU (EZ-USB) specific functions ********************/
308
309 /**
310 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
311 * or out of reset.
312 *
313 * @param device pointer to struct ulink identifying ULINK driver instance.
314 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
315 * @return on success: ERROR_OK
316 * @return on failure: ERROR_FAIL
317 */
318 int ulink_cpu_reset(struct ulink *device, char reset_bit)
319 {
320 int ret;
321
322 ret = usb_control_msg(device->usb_handle,
323 (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
324 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
325
326 /* usb_control_msg() returns the number of bytes transferred during the
327 * DATA stage of the control transfer - must be exactly 1 in this case! */
328 if (ret != 1) {
329 return ERROR_FAIL;
330 }
331 return ERROR_OK;
332 }
333
334 /**
335 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
336 * the firmware image, resumes the microcontroller and re-enumerates
337 * USB devices.
338 *
339 * @param device pointer to struct ulink identifying ULINK driver instance.
340 * The usb_handle member will be modified during re-enumeration.
341 * @param filename path to the Intel HEX file containing the firmware image.
342 * @param delay the delay to wait for the device to re-enumerate.
343 * @return on success: ERROR_OK
344 * @return on failure: ERROR_FAIL
345 */
346 int ulink_load_firmware_and_renumerate(struct ulink **device,
347 char *filename, uint32_t delay)
348 {
349 int ret;
350
351 /* Basic process: After downloading the firmware, the ULINK will disconnect
352 * itself and re-connect after a short amount of time so we have to close
353 * the handle and re-enumerate USB devices */
354
355 ret = ulink_load_firmware(*device, filename);
356 if (ret != ERROR_OK) {
357 return ret;
358 }
359
360 ret = ulink_usb_close(device);
361 if (ret != ERROR_OK) {
362 return ret;
363 }
364
365 usleep(delay);
366
367 ret = ulink_usb_open(device);
368 if (ret != ERROR_OK) {
369 return ret;
370 }
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
413 image_close(&ulink_firmware_image);
414
415 ret = ulink_cpu_reset(device, CPU_START);
416 if (ret != ERROR_OK) {
417 LOG_ERROR("Could not restart ULINK CPU");
418 return ret;
419 }
420
421 return ERROR_OK;
422 }
423
424 /**
425 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
426 * over the USB bus.
427 *
428 * @param device pointer to struct ulink identifying ULINK driver instance.
429 * @param firmware_image pointer to the firmware image that contains the section
430 * which should be sent to the ULINK's EZ-USB microcontroller.
431 * @param section_index index of the section within the firmware image.
432 * @return on success: ERROR_OK
433 * @return on failure: ERROR_FAIL
434 */
435 int ulink_write_firmware_section(struct ulink *device,
436 struct image *firmware_image, int section_index)
437 {
438 uint16_t addr, size, bytes_remaining, chunk_size;
439 uint8_t data[SECTION_BUFFERSIZE];
440 uint8_t *data_ptr = data;
441 size_t size_read;
442 int ret;
443
444 size = (uint16_t)firmware_image->sections[section_index].size;
445 addr = (uint16_t)firmware_image->sections[section_index].base_address;
446
447 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
448 size);
449
450 if (data == NULL) {
451 return ERROR_FAIL;
452 }
453
454 /* Copy section contents to local buffer */
455 ret = image_read_section(firmware_image, section_index, 0, size, data,
456 &size_read);
457
458 if ((ret != ERROR_OK) || (size_read != size)) {
459 /* Propagating the return code would return '0' (misleadingly indicating
460 * successful execution of the function) if only the size check fails. */
461 return ERROR_FAIL;
462 }
463
464 bytes_remaining = size;
465
466 /* Send section data in chunks of up to 64 bytes to ULINK */
467 while (bytes_remaining > 0) {
468 if (bytes_remaining > 64) {
469 chunk_size = 64;
470 }
471 else {
472 chunk_size = bytes_remaining;
473 }
474
475 ret = usb_control_msg(device->usb_handle,
476 (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
477 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (char *)data_ptr,
478 chunk_size, USB_TIMEOUT);
479
480 if (ret != (int)chunk_size) {
481 /* Abort if libusb sent less data than requested */
482 return ERROR_FAIL;
483 }
484
485 bytes_remaining -= chunk_size;
486 addr += chunk_size;
487 data_ptr += chunk_size;
488 }
489
490 return ERROR_OK;
491 }
492
493 /************************** Generic helper functions **************************/
494
495 /**
496 * Print state of interesting signals via LOG_INFO().
497 *
498 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
499 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
500 */
501 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
502 {
503 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
504 " SRST: %i",
505 (output_signals & SIGNAL_TDI ? 1 : 0),
506 (input_signals & SIGNAL_TDO ? 1 : 0),
507 (output_signals & SIGNAL_TMS ? 1 : 0),
508 (output_signals & SIGNAL_TCK ? 1 : 0),
509 (output_signals & SIGNAL_TRST ? 0 : 1), // TRST and RESET are inverted
510 (output_signals & SIGNAL_RESET ? 0 : 1)); // by hardware
511 }
512
513 /**************** OpenULINK command generation helper functions ***************/
514
515 /**
516 * Allocate and initialize space in memory for OpenULINK command payload.
517 *
518 * @param ulink_cmd pointer to command whose payload should be allocated.
519 * @param size the amount of memory to allocate (bytes).
520 * @param direction which payload to allocate.
521 * @return on success: ERROR_OK
522 * @return on failure: ERROR_FAIL
523 */
524 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
525 enum ulink_payload_direction direction)
526 {
527 uint8_t *payload;
528
529 payload = calloc(size, sizeof(uint8_t));
530
531 if (payload == NULL) {
532 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
533 return ERROR_FAIL;
534 }
535
536 switch (direction) {
537 case PAYLOAD_DIRECTION_OUT:
538 if (ulink_cmd->payload_out != NULL) {
539 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
540 return ERROR_FAIL;
541 }
542 else {
543 ulink_cmd->payload_out = payload;
544 ulink_cmd->payload_out_size = size;
545 }
546 break;
547 case PAYLOAD_DIRECTION_IN:
548 if (ulink_cmd->payload_in_start != NULL) {
549 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
550 return ERROR_FAIL;
551 }
552 else {
553 ulink_cmd->payload_in_start = payload;
554 ulink_cmd->payload_in = payload;
555 ulink_cmd->payload_in_size = size;
556
557 /* By default, free payload_in_start in ulink_clear_queue(). Commands
558 * that do not want this behavior (e. g. split scans) must turn it off
559 * separately! */
560 ulink_cmd->free_payload_in_start = true;
561 }
562 break;
563 }
564
565 return ERROR_OK;
566 }
567
568 /****************** OpenULINK command queue helper functions ******************/
569
570 /**
571 * Get the current number of bytes in the queue, including command IDs.
572 *
573 * @param device pointer to struct ulink identifying ULINK driver instance.
574 * @param direction the transfer direction for which to get byte count.
575 * @return the number of bytes currently stored in the queue for the specified
576 * direction.
577 */
578 int ulink_get_queue_size(struct ulink *device,
579 enum ulink_payload_direction direction)
580 {
581 struct ulink_cmd *current = device->queue_start;
582 int sum = 0;
583
584 while (current != NULL) {
585 switch (direction) {
586 case PAYLOAD_DIRECTION_OUT:
587 sum += current->payload_out_size + 1; // + 1 byte for Command ID
588 break;
589 case PAYLOAD_DIRECTION_IN:
590 sum += current->payload_in_size;
591 break;
592 }
593
594 current = current->next;
595 }
596
597 return sum;
598 }
599
600 /**
601 * Clear the OpenULINK command queue.
602 *
603 * @param device pointer to struct ulink identifying ULINK driver instance.
604 * @return on success: ERROR_OK
605 * @return on failure: ERROR_FAIL
606 */
607 void ulink_clear_queue(struct ulink *device)
608 {
609 struct ulink_cmd *current = device->queue_start;
610 struct ulink_cmd *next = NULL;
611
612 while (current != NULL) {
613 /* Save pointer to next element */
614 next = current->next;
615
616 /* Free payloads: OUT payload can be freed immediately */
617 free(current->payload_out);
618 current->payload_out = NULL;
619
620 /* IN payload MUST be freed ONLY if no other commands use the
621 * payload_in_start buffer */
622 if (current->free_payload_in_start == true) {
623 free(current->payload_in_start);
624 current->payload_in_start = NULL;
625 current->payload_in = NULL;
626 }
627
628 /* Free queue element */
629 free(current);
630
631 /* Proceed with next element */
632 current = next;
633 }
634
635 device->commands_in_queue = 0;
636 device->queue_start = NULL;
637 device->queue_end = NULL;
638 }
639
640 /**
641 * Add a command to the OpenULINK command queue.
642 *
643 * @param device pointer to struct ulink identifying ULINK driver instance.
644 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
645 * command queue.
646 * @return on success: ERROR_OK
647 * @return on failure: ERROR_FAIL
648 */
649 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
650 {
651 int newsize_out, newsize_in;
652 int ret;
653
654 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
655 + ulink_cmd->payload_out_size;
656
657 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
658 + ulink_cmd->payload_in_size;
659
660 /* Check if the current command can be appended to the queue */
661 if ((newsize_out > 64) || (newsize_in > 64)) {
662 /* New command does not fit. Execute all commands in queue before starting
663 * new queue with the current command as first entry. */
664 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
665 if (ret != ERROR_OK) {
666 return ret;
667 }
668
669 ret = ulink_post_process_queue(device);
670 if (ret != ERROR_OK) {
671 return ret;
672 }
673
674 ulink_clear_queue(device);
675 }
676
677 if (device->queue_start == NULL) {
678 /* Queue was empty */
679 device->commands_in_queue = 1;
680
681 device->queue_start = ulink_cmd;
682 device->queue_end = ulink_cmd;
683 }
684 else {
685 /* There are already commands in the queue */
686 device->commands_in_queue++;
687
688 device->queue_end->next = ulink_cmd;
689 device->queue_end = ulink_cmd;
690 }
691
692 return ERROR_OK;
693 }
694
695 /**
696 * Sends all queued OpenULINK commands to the ULINK for execution.
697 *
698 * @param device pointer to struct ulink identifying ULINK driver instance.
699 * @return on success: ERROR_OK
700 * @return on failure: ERROR_FAIL
701 */
702 int ulink_execute_queued_commands(struct ulink *device, int timeout)
703 {
704 struct ulink_cmd *current;
705 int ret, i, index_out, index_in, count_out, count_in;
706 uint8_t buffer[64];
707
708 #ifdef _DEBUG_JTAG_IO_
709 ulink_print_queue(device);
710 #endif
711
712 index_out = 0;
713 count_out = 0;
714 count_in = 0;
715
716 for (current = device->queue_start; current; current = current->next) {
717 /* Add command to packet */
718 buffer[index_out] = current->id;
719 index_out++;
720 count_out++;
721
722 for (i = 0; i < current->payload_out_size; i++) {
723 buffer[index_out + i] = current->payload_out[i];
724 }
725 index_out += current->payload_out_size;
726 count_in += current->payload_in_size;
727 count_out += current->payload_out_size;
728 }
729
730 /* Send packet to ULINK */
731 ret = usb_bulk_write(device->usb_handle, (2 | USB_ENDPOINT_OUT),
732 (char *)buffer, count_out, timeout);
733 if (ret < 0) {
734 return ERROR_FAIL;
735 }
736 if (ret != count_out) {
737 return ERROR_FAIL;
738 }
739
740 /* Wait for response if commands contain IN payload data */
741 if (count_in > 0) {
742 ret = usb_bulk_read(device->usb_handle, (2 | USB_ENDPOINT_IN),
743 (char *)buffer, 64, timeout);
744 if (ret < 0) {
745 return ERROR_FAIL;
746 }
747 if (ret != count_in) {
748 return ERROR_FAIL;
749 }
750
751 /* Write back IN payload data */
752 index_in = 0;
753 for (current = device->queue_start; current; current = current->next) {
754 for (i = 0; i < current->payload_in_size; i++) {
755 current->payload_in[i] = buffer[index_in];
756 index_in++;
757 }
758 }
759 }
760
761 return ERROR_OK;
762 }
763
764 #ifdef _DEBUG_JTAG_IO_
765
766 /**
767 * Convert an OpenULINK command ID (\a id) to a human-readable string.
768 *
769 * @param id the OpenULINK command ID.
770 * @return the corresponding human-readable string.
771 */
772 const char * ulink_cmd_id_string(uint8_t id)
773 {
774 switch (id) {
775 case CMD_SCAN_IN:
776 return "CMD_SCAN_IN";
777 break;
778 case CMD_SLOW_SCAN_IN:
779 return "CMD_SLOW_SCAN_IN";
780 break;
781 case CMD_SCAN_OUT:
782 return "CMD_SCAN_OUT";
783 break;
784 case CMD_SLOW_SCAN_OUT:
785 return "CMD_SLOW_SCAN_OUT";
786 break;
787 case CMD_SCAN_IO:
788 return "CMD_SCAN_IO";
789 break;
790 case CMD_SLOW_SCAN_IO:
791 return "CMD_SLOW_SCAN_IO";
792 break;
793 case CMD_CLOCK_TMS:
794 return "CMD_CLOCK_TMS";
795 break;
796 case CMD_SLOW_CLOCK_TMS:
797 return "CMD_SLOW_CLOCK_TMS";
798 break;
799 case CMD_CLOCK_TCK:
800 return "CMD_CLOCK_TCK";
801 break;
802 case CMD_SLOW_CLOCK_TCK:
803 return "CMD_SLOW_CLOCK_TCK";
804 break;
805 case CMD_SLEEP_US:
806 return "CMD_SLEEP_US";
807 break;
808 case CMD_SLEEP_MS:
809 return "CMD_SLEEP_MS";
810 break;
811 case CMD_GET_SIGNALS:
812 return "CMD_GET_SIGNALS";
813 break;
814 case CMD_SET_SIGNALS:
815 return "CMD_SET_SIGNALS";
816 break;
817 case CMD_CONFIGURE_TCK_FREQ:
818 return "CMD_CONFIGURE_TCK_FREQ";
819 break;
820 case CMD_SET_LEDS:
821 return "CMD_SET_LEDS";
822 break;
823 case CMD_TEST:
824 return "CMD_TEST";
825 break;
826 default:
827 return "CMD_UNKNOWN";
828 break;
829 }
830 }
831
832 /**
833 * Print one OpenULINK command to stdout.
834 *
835 * @param ulink_cmd pointer to OpenULINK command.
836 */
837 void ulink_print_command(struct ulink_cmd *ulink_cmd)
838 {
839 int i;
840
841 printf(" %-22s | OUT size = %i, bytes = 0x",
842 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
843
844 for (i = 0; i < ulink_cmd->payload_out_size; i++) {
845 printf("%02X ", ulink_cmd->payload_out[i]);
846 }
847 printf("\n | IN size = %i\n",
848 ulink_cmd->payload_in_size);
849 }
850
851 /**
852 * Print the OpenULINK command queue to stdout.
853 *
854 * @param device pointer to struct ulink identifying ULINK driver instance.
855 */
856 void ulink_print_queue(struct ulink *device)
857 {
858 struct ulink_cmd *current;
859
860 printf("OpenULINK command queue:\n");
861
862 for (current = device->queue_start; current; current = current->next) {
863 ulink_print_command(current);
864 }
865 }
866
867 #endif /* _DEBUG_JTAG_IO_ */
868
869 /**
870 * Perform JTAG scan
871 *
872 * Creates and appends a JTAG scan command to the OpenULINK command queue.
873 * A JTAG scan consists of three steps:
874 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
875 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
876 * - Move to the desired end state.
877 *
878 * @param device pointer to struct ulink identifying ULINK driver instance.
879 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
880 * @param scan_size_bits number of bits to shift into the JTAG chain.
881 * @param tdi pointer to array containing TDI data.
882 * @param tdo_start pointer to first element of array where TDO data shall be
883 * stored. See #ulink_cmd for details.
884 * @param tdo pointer to array where TDO data shall be stored
885 * @param tms_count_start number of TMS state transitions to perform BEFORE
886 * shifting data into the JTAG chain.
887 * @param tms_sequence_start sequence of TMS state transitions that will be
888 * performed BEFORE shifting data into the JTAG chain.
889 * @param tms_count_end number of TMS state transitions to perform AFTER
890 * shifting data into the JTAG chain.
891 * @param tms_sequence_end sequence of TMS state transitions that will be
892 * performed AFTER shifting data into the JTAG chain.
893 * @param origin pointer to OpenOCD command that generated this scan command.
894 * @param postprocess whether this command needs to be post-processed after
895 * execution.
896 * @return on success: ERROR_OK
897 * @return on failure: ERROR_FAIL
898 */
899 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
900 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
901 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
902 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
903 {
904 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
905 int ret, i, scan_size_bytes;
906 uint8_t bits_last_byte;
907
908 if (cmd == NULL) {
909 return ERROR_FAIL;
910 }
911
912 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
913 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
914 if (scan_size_bits > (58 * 8)) {
915 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
916 " large payload");
917 return ERROR_FAIL;
918 }
919
920 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
921
922 bits_last_byte = scan_size_bits % 8;
923 if (bits_last_byte == 0) {
924 bits_last_byte = 8;
925 }
926
927 /* Allocate out_payload depending on scan type */
928 switch (scan_type) {
929 case SCAN_IN:
930 if (device->delay_scan_in < 0) {
931 cmd->id = CMD_SCAN_IN;
932 }
933 else {
934 cmd->id = CMD_SLOW_SCAN_IN;
935 }
936 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
937 break;
938 case SCAN_OUT:
939 if (device->delay_scan_out < 0) {
940 cmd->id = CMD_SCAN_OUT;
941 }
942 else {
943 cmd->id = CMD_SLOW_SCAN_OUT;
944 }
945 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
946 break;
947 case SCAN_IO:
948 if (device->delay_scan_io < 0) {
949 cmd->id = CMD_SCAN_IO;
950 }
951 else {
952 cmd->id = CMD_SLOW_SCAN_IO;
953 }
954 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
955 break;
956 default:
957 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
958 ret = ERROR_FAIL;
959 break;
960 }
961
962 if (ret != ERROR_OK) {
963 return ret;
964 }
965
966 /* Build payload_out that is common to all scan types */
967 cmd->payload_out[0] = scan_size_bytes & 0xFF;
968 cmd->payload_out[1] = bits_last_byte & 0xFF;
969 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
970 cmd->payload_out[3] = tms_sequence_start;
971 cmd->payload_out[4] = tms_sequence_end;
972
973 /* Setup payload_out for types with OUT transfer */
974 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
975 for (i = 0; i < scan_size_bytes; i++) {
976 cmd->payload_out[i + 5] = tdi[i];
977 }
978 }
979
980 /* Setup payload_in pointers for types with IN transfer */
981 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
982 cmd->payload_in_start = tdo_start;
983 cmd->payload_in = tdo;
984 cmd->payload_in_size = scan_size_bytes;
985 }
986
987 cmd->needs_postprocessing = postprocess;
988 cmd->cmd_origin = origin;
989
990 /* For scan commands, we free payload_in_start only when the command is
991 * the last in a series of split commands or a stand-alone command */
992 cmd->free_payload_in_start = postprocess;
993
994 return ulink_append_queue(device, cmd);
995 }
996
997 /**
998 * Perform TAP state transitions
999 *
1000 * @param device pointer to struct ulink identifying ULINK driver instance.
1001 * @param count defines the number of TCK clock cycles generated (up to 8).
1002 * @param sequence defines the TMS pin levels for each state transition. The
1003 * Least-Significant Bit is read first.
1004 * @return on success: ERROR_OK
1005 * @return on failure: ERROR_FAIL
1006 */
1007 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
1008 uint8_t sequence)
1009 {
1010 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1011 int ret;
1012
1013 if (cmd == NULL) {
1014 return ERROR_FAIL;
1015 }
1016
1017 if (device->delay_clock_tms < 0) {
1018 cmd->id = CMD_CLOCK_TMS;
1019 }
1020 else {
1021 cmd->id = CMD_SLOW_CLOCK_TMS;
1022 }
1023
1024 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1025 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1026 if (ret != ERROR_OK) {
1027 return ret;
1028 }
1029
1030 cmd->payload_out[0] = count;
1031 cmd->payload_out[1] = sequence;
1032
1033 return ulink_append_queue(device, cmd);
1034 }
1035
1036 /**
1037 * Generate a defined amount of TCK clock cycles
1038 *
1039 * All other JTAG signals are left unchanged.
1040 *
1041 * @param device pointer to struct ulink identifying ULINK driver instance.
1042 * @param count the number of TCK clock cycles to generate.
1043 * @return on success: ERROR_OK
1044 * @return on failure: ERROR_FAIL
1045 */
1046 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1047 {
1048 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1049 int ret;
1050
1051 if (cmd == NULL) {
1052 return ERROR_FAIL;
1053 }
1054
1055 if (device->delay_clock_tck < 0) {
1056 cmd->id = CMD_CLOCK_TCK;
1057 }
1058 else {
1059 cmd->id = CMD_SLOW_CLOCK_TCK;
1060 }
1061
1062 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1063 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1064 if (ret != ERROR_OK) {
1065 return ret;
1066 }
1067
1068 cmd->payload_out[0] = count & 0xff;
1069 cmd->payload_out[1] = (count >> 8) & 0xff;
1070
1071 return ulink_append_queue(device, cmd);
1072 }
1073
1074 /**
1075 * Read JTAG signals.
1076 *
1077 * @param device pointer to struct ulink identifying ULINK driver instance.
1078 * @return on success: ERROR_OK
1079 * @return on failure: ERROR_FAIL
1080 */
1081 int ulink_append_get_signals_cmd(struct ulink *device)
1082 {
1083 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1084 int ret;
1085
1086 if (cmd == NULL) {
1087 return ERROR_FAIL;
1088 }
1089
1090 cmd->id = CMD_GET_SIGNALS;
1091 cmd->needs_postprocessing = true;
1092
1093 /* CMD_GET_SIGNALS has two IN payload bytes */
1094 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1095
1096 if (ret != ERROR_OK) {
1097 return ret;
1098 }
1099
1100 return ulink_append_queue(device, cmd);
1101 }
1102
1103 /**
1104 * Arbitrarily set JTAG output signals.
1105 *
1106 * @param device pointer to struct ulink identifying ULINK driver instance.
1107 * @param low defines which signals will be de-asserted. Each bit corresponds
1108 * to a JTAG signal:
1109 * - SIGNAL_TDI
1110 * - SIGNAL_TMS
1111 * - SIGNAL_TCK
1112 * - SIGNAL_TRST
1113 * - SIGNAL_BRKIN
1114 * - SIGNAL_RESET
1115 * - SIGNAL_OCDSE
1116 * @param high defines which signals will be asserted.
1117 * @return on success: ERROR_OK
1118 * @return on failure: ERROR_FAIL
1119 */
1120 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1121 uint8_t high)
1122 {
1123 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1124 int ret;
1125
1126 if (cmd == NULL) {
1127 return ERROR_FAIL;
1128 }
1129
1130 cmd->id = CMD_SET_SIGNALS;
1131
1132 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1133 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1134
1135 if (ret != ERROR_OK) {
1136 return ret;
1137 }
1138
1139 cmd->payload_out[0] = low;
1140 cmd->payload_out[1] = high;
1141
1142 return ulink_append_queue(device, cmd);
1143 }
1144
1145 /**
1146 * Sleep for a pre-defined number of microseconds
1147 *
1148 * @param device pointer to struct ulink identifying ULINK driver instance.
1149 * @param us the number microseconds to sleep.
1150 * @return on success: ERROR_OK
1151 * @return on failure: ERROR_FAIL
1152 */
1153 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1154 {
1155 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1156 int ret;
1157
1158 if (cmd == NULL) {
1159 return ERROR_FAIL;
1160 }
1161
1162 cmd->id = CMD_SLEEP_US;
1163
1164 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1165 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1166
1167 if (ret != ERROR_OK) {
1168 return ret;
1169 }
1170
1171 cmd->payload_out[0] = us & 0x00ff;
1172 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1173
1174 return ulink_append_queue(device, cmd);
1175 }
1176
1177 /**
1178 * Set TCK delay counters
1179 *
1180 * @param device pointer to struct ulink identifying ULINK driver instance.
1181 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1182 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1183 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1184 * @param delay_tck delay count top value in jtag_clock_tck() function.
1185 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1186 * @return on success: ERROR_OK
1187 * @return on failure: ERROR_FAIL
1188 */
1189 int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1190 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1191 {
1192 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1193 int ret;
1194
1195 if (cmd == NULL) {
1196 return ERROR_FAIL;
1197 }
1198
1199 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1200
1201 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1202 * IN payload bytes */
1203 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1204 if (ret != ERROR_OK) {
1205 return ret;
1206 }
1207
1208 if (delay_scan_in < 0) {
1209 cmd->payload_out[0] = 0;
1210 }
1211 else {
1212 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1213 }
1214
1215 if (delay_scan_out < 0) {
1216 cmd->payload_out[1] = 0;
1217 }
1218 else {
1219 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1220 }
1221
1222 if (delay_scan_io < 0) {
1223 cmd->payload_out[2] = 0;
1224 }
1225 else {
1226 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1227 }
1228
1229 if (delay_tck < 0) {
1230 cmd->payload_out[3] = 0;
1231 }
1232 else {
1233 cmd->payload_out[3] = (uint8_t)delay_tck;
1234 }
1235
1236 if (delay_tms < 0) {
1237 cmd->payload_out[4] = 0;
1238 }
1239 else {
1240 cmd->payload_out[4] = (uint8_t)delay_tms;
1241 }
1242
1243 return ulink_append_queue(device, cmd);
1244 }
1245
1246 /**
1247 * Turn on/off ULINK LEDs.
1248 *
1249 * @param device pointer to struct ulink identifying ULINK driver instance.
1250 * @param led_state which LED(s) to turn on or off. The following bits
1251 * influence the LEDS:
1252 * - Bit 0: Turn COM LED on
1253 * - Bit 1: Turn RUN LED on
1254 * - Bit 2: Turn COM LED off
1255 * - Bit 3: Turn RUN LED off
1256 * If both the on-bit and the off-bit for the same LED is set, the LED is
1257 * turned off.
1258 * @return on success: ERROR_OK
1259 * @return on failure: ERROR_FAIL
1260 */
1261 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1262 {
1263 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1264 int ret;
1265
1266 if (cmd == NULL) {
1267 return ERROR_FAIL;
1268 }
1269
1270 cmd->id = CMD_SET_LEDS;
1271
1272 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1273 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1274 if (ret != ERROR_OK) {
1275 return ret;
1276 }
1277
1278 cmd->payload_out[0] = led_state;
1279
1280 return ulink_append_queue(device, cmd);
1281 }
1282
1283 /**
1284 * Test command. Used to check if the ULINK device is ready to accept new
1285 * commands.
1286 *
1287 * @param device pointer to struct ulink identifying ULINK driver instance.
1288 * @return on success: ERROR_OK
1289 * @return on failure: ERROR_FAIL
1290 */
1291 int ulink_append_test_cmd(struct ulink *device)
1292 {
1293 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1294 int ret;
1295
1296 if (cmd == NULL) {
1297 return ERROR_FAIL;
1298 }
1299
1300 cmd->id = CMD_TEST;
1301
1302 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1303 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1304 if (ret != ERROR_OK) {
1305 return ret;
1306 }
1307
1308 cmd->payload_out[0] = 0xAA;
1309
1310 return ulink_append_queue(device, cmd);
1311 }
1312
1313 /****************** OpenULINK TCK frequency helper functions ******************/
1314
1315 /**
1316 * Calculate delay values for a given TCK frequency.
1317 *
1318 * The OpenULINK firmware uses five different speed values for different
1319 * commands. These speed values are calculated in these functions.
1320 *
1321 * The five different commands which support variable TCK frequency are
1322 * implemented twice in the firmware:
1323 * 1. Maximum possible frequency without any artificial delay
1324 * 2. Variable frequency with artificial linear delay loop
1325 *
1326 * To set the ULINK to maximum frequency, it is only neccessary to use the
1327 * corresponding command IDs. To set the ULINK to a lower frequency, the
1328 * delay loop top values have to be calculated first. Then, a
1329 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1330 *
1331 * The delay values are described by linear equations:
1332 * t = k * x + d
1333 * (t = period, k = constant, x = delay value, d = constant)
1334 *
1335 * Thus, the delay can be calculated as in the following equation:
1336 * x = (t - d) / k
1337 *
1338 * The constants in these equations have been determined and validated by
1339 * measuring the frequency resulting from different delay values.
1340 *
1341 * @param type for which command to calculate the delay value.
1342 * @param f TCK frequency for which to calculate the delay value in Hz.
1343 * @param delay where to store resulting delay value.
1344 * @return on success: ERROR_OK
1345 * @return on failure: ERROR_FAIL
1346 */
1347 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1348 {
1349 float t, x, x_ceil;
1350
1351 /* Calculate period of requested TCK frequency */
1352 t = 1.0 / (float)(f);
1353
1354 switch (type) {
1355 case DELAY_CLOCK_TCK:
1356 x = (t - (float)(6E-6)) / (float)(4E-6);
1357 break;
1358 case DELAY_CLOCK_TMS:
1359 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1360 break;
1361 case DELAY_SCAN_IN:
1362 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1363 break;
1364 case DELAY_SCAN_OUT:
1365 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1366 break;
1367 case DELAY_SCAN_IO:
1368 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1369 break;
1370 default:
1371 return ERROR_FAIL;
1372 break;
1373 }
1374
1375 /* Check if the delay value is negative. This happens when a frequency is
1376 * requested that is too high for the delay loop implementation. In this
1377 * case, set delay value to zero. */
1378 if (x < 0) {
1379 x = 0;
1380 }
1381
1382 /* We need to convert the exact delay value to an integer. Therefore, we
1383 * round the exact value UP to ensure that the resulting frequency is NOT
1384 * higher than the requested frequency. */
1385 x_ceil = ceilf(x);
1386
1387 /* Check if the value is within limits */
1388 if (x_ceil > 255) {
1389 return ERROR_FAIL;
1390 }
1391
1392 *delay = (int)x_ceil;
1393
1394 return ERROR_OK;
1395 }
1396
1397 /**
1398 * Calculate frequency for a given delay value.
1399 *
1400 * Similar to the #ulink_calculate_delay function, this function calculates the
1401 * TCK frequency for a given delay value by using linear equations of the form:
1402 * t = k * x + d
1403 * (t = period, k = constant, x = delay value, d = constant)
1404 *
1405 * @param type for which command to calculate the delay value.
1406 * @param delay delay value for which to calculate the resulting TCK frequency.
1407 * @param f where to store the resulting TCK frequency.
1408 * @return on success: ERROR_OK
1409 * @return on failure: ERROR_FAIL
1410 */
1411 int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f)
1412 {
1413 float t, f_float, f_rounded;
1414
1415 if (delay > 255) {
1416 return ERROR_FAIL;
1417 }
1418
1419 switch (type) {
1420 case DELAY_CLOCK_TCK:
1421 if (delay < 0) {
1422 t = (float)(2.666E-6);
1423 }
1424 else {
1425 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1426 }
1427 break;
1428 case DELAY_CLOCK_TMS:
1429 if (delay < 0) {
1430 t = (float)(5.666E-6);
1431 }
1432 else {
1433 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1434 }
1435 break;
1436 case DELAY_SCAN_IN:
1437 if (delay < 0) {
1438 t = (float)(5.5E-6);
1439 }
1440 else {
1441 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1442 }
1443 break;
1444 case DELAY_SCAN_OUT:
1445 if (delay < 0) {
1446 t = (float)(7.0E-6);
1447 }
1448 else {
1449 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1450 }
1451 break;
1452 case DELAY_SCAN_IO:
1453 if (delay < 0) {
1454 t = (float)(9.926E-6);
1455 }
1456 else {
1457 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1458 }
1459 break;
1460 default:
1461 return ERROR_FAIL;
1462 break;
1463 }
1464
1465 f_float = 1.0 / t;
1466 f_rounded = roundf(f_float);
1467 *f = (long)f_rounded;
1468
1469 return ERROR_OK;
1470 }
1471
1472 /******************* Interface between OpenULINK and OpenOCD ******************/
1473
1474 /**
1475 * Sets the end state follower (see interface.h) if \a endstate is a stable
1476 * state.
1477 *
1478 * @param endstate the state the end state follower should be set to.
1479 */
1480 static void ulink_set_end_state(tap_state_t endstate)
1481 {
1482 if (tap_is_state_stable(endstate)) {
1483 tap_set_end_state(endstate);
1484 }
1485 else {
1486 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1487 exit( EXIT_FAILURE);
1488 }
1489 }
1490
1491 /**
1492 * Move from the current TAP state to the current TAP end state.
1493 *
1494 * @param device pointer to struct ulink identifying ULINK driver instance.
1495 * @return on success: ERROR_OK
1496 * @return on failure: ERROR_FAIL
1497 */
1498 int ulink_queue_statemove(struct ulink *device)
1499 {
1500 uint8_t tms_sequence, tms_count;
1501 int ret;
1502
1503 if (tap_get_state() == tap_get_end_state()) {
1504 /* Do nothing if we are already there */
1505 return ERROR_OK;
1506 }
1507
1508 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1509 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1510
1511 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1512
1513 if (ret == ERROR_OK) {
1514 tap_set_state(tap_get_end_state());
1515 }
1516
1517 return ret;
1518 }
1519
1520 /**
1521 * Perform a scan operation on a JTAG register.
1522 *
1523 * @param device pointer to struct ulink identifying ULINK driver instance.
1524 * @param cmd pointer to the command that shall be executed.
1525 * @return on success: ERROR_OK
1526 * @return on failure: ERROR_FAIL
1527 */
1528 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1529 {
1530 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1531 uint32_t scans_max_payload, bytecount;
1532 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1533 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1534
1535 uint8_t first_tms_count, first_tms_sequence;
1536 uint8_t last_tms_count, last_tms_sequence;
1537
1538 uint8_t tms_count_pause, tms_sequence_pause;
1539 uint8_t tms_count_resume, tms_sequence_resume;
1540
1541 uint8_t tms_count_start, tms_sequence_start;
1542 uint8_t tms_count_end, tms_sequence_end;
1543
1544 enum scan_type type;
1545 int ret;
1546
1547 /* Determine scan size */
1548 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1549 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1550
1551 /* Determine scan type (IN/OUT/IO) */
1552 type = jtag_scan_type(cmd->cmd.scan);
1553
1554 /* Determine number of scan commands with maximum payload */
1555 scans_max_payload = scan_size_bytes / 58;
1556
1557 /* Determine size of last shift command */
1558 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1559
1560 /* Allocate TDO buffer if required */
1561 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1562 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1563
1564 if (tdo_buffer_start == NULL) {
1565 return ERROR_FAIL;
1566 }
1567
1568 tdo_buffer = tdo_buffer_start;
1569 }
1570
1571 /* Fill TDI buffer if required */
1572 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1573 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1574 tdi_buffer = tdi_buffer_start;
1575 }
1576
1577 /* Get TAP state transitions */
1578 if (cmd->cmd.scan->ir_scan) {
1579 ulink_set_end_state(TAP_IRSHIFT);
1580 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1581 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1582
1583 tap_set_state(TAP_IRSHIFT);
1584 tap_set_end_state(cmd->cmd.scan->end_state);
1585 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1586 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1587
1588 /* TAP state transitions for split scans */
1589 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1590 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1591 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1592 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1593 }
1594 else {
1595 ulink_set_end_state(TAP_DRSHIFT);
1596 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1597 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1598
1599 tap_set_state(TAP_DRSHIFT);
1600 tap_set_end_state(cmd->cmd.scan->end_state);
1601 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1602 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1603
1604 /* TAP state transitions for split scans */
1605 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1606 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1607 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1608 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1609 }
1610
1611 /* Generate scan commands */
1612 bytecount = scan_size_bytes;
1613 while (bytecount > 0) {
1614 if (bytecount == scan_size_bytes) {
1615 /* This is the first scan */
1616 tms_count_start = first_tms_count;
1617 tms_sequence_start = first_tms_sequence;
1618 }
1619 else {
1620 /* Resume from previous scan */
1621 tms_count_start = tms_count_resume;
1622 tms_sequence_start = tms_sequence_resume;
1623 }
1624
1625 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1626 tms_count_end = tms_count_pause;
1627 tms_sequence_end = tms_sequence_pause;
1628
1629 ret = ulink_append_scan_cmd(device, type, 58 * 8, tdi_buffer,
1630 tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
1631 tms_count_end, tms_sequence_end, cmd, false);
1632
1633 bytecount -= 58;
1634
1635 /* Update TDI and TDO buffer pointers */
1636 if (tdi_buffer_start != NULL) {
1637 tdi_buffer += 58;
1638 }
1639 if (tdo_buffer_start != NULL) {
1640 tdo_buffer += 58;
1641 }
1642 }
1643 else if (bytecount == 58) { /* Full scan, no further scans */
1644 tms_count_end = last_tms_count;
1645 tms_sequence_end = last_tms_sequence;
1646
1647 ret = ulink_append_scan_cmd(device, type, 58 * 8, tdi_buffer,
1648 tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
1649 tms_count_end, tms_sequence_end, cmd, true);
1650
1651 bytecount = 0;
1652 }
1653 else { /* Scan with less than maximum payload, no further scans */
1654 tms_count_end = last_tms_count;
1655 tms_sequence_end = last_tms_sequence;
1656
1657 ret = ulink_append_scan_cmd(device, type, bits_last_scan, tdi_buffer,
1658 tdo_buffer_start, tdo_buffer, tms_count_start, tms_sequence_start,
1659 tms_count_end, tms_sequence_end, cmd, true);
1660
1661 bytecount = 0;
1662 }
1663
1664 if (ret != ERROR_OK) {
1665 free(tdi_buffer_start);
1666 return ret;
1667 }
1668 }
1669
1670 free(tdi_buffer_start);
1671
1672 /* Set current state to the end state requested by the command */
1673 tap_set_state(cmd->cmd.scan->end_state);
1674
1675 return ERROR_OK;
1676 }
1677
1678 /**
1679 * Move the TAP into the Test Logic Reset state.
1680 *
1681 * @param device pointer to struct ulink identifying ULINK driver instance.
1682 * @param cmd pointer to the command that shall be executed.
1683 * @return on success: ERROR_OK
1684 * @return on failure: ERROR_FAIL
1685 */
1686 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1687 {
1688 int ret;
1689
1690 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1691
1692 if (ret == ERROR_OK) {
1693 tap_set_state(TAP_RESET);
1694 }
1695
1696 return ret;
1697 }
1698
1699 /**
1700 * Run Test.
1701 *
1702 * Generate TCK clock cycles while remaining
1703 * in the Run-Test/Idle state.
1704 *
1705 * @param device pointer to struct ulink identifying ULINK driver instance.
1706 * @param cmd pointer to the command that shall be executed.
1707 * @return on success: ERROR_OK
1708 * @return on failure: ERROR_FAIL
1709 */
1710 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1711 {
1712 int ret;
1713
1714 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1715 if (tap_get_state() != TAP_IDLE) {
1716 ulink_set_end_state(TAP_IDLE);
1717 ulink_queue_statemove(device);
1718 }
1719
1720 /* Generate the clock cycles */
1721 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1722 if (ret != ERROR_OK) {
1723 return ret;
1724 }
1725
1726 /* Move to end state specified in command */
1727 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1728 tap_set_end_state(cmd->cmd.runtest->end_state);
1729 ulink_queue_statemove(device);
1730 }
1731
1732 return ERROR_OK;
1733 }
1734
1735 /**
1736 * Execute a JTAG_RESET command
1737 *
1738 * @param cmd pointer to the command that shall be executed.
1739 * @return on success: ERROR_OK
1740 * @return on failure: ERROR_FAIL
1741 */
1742 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1743 {
1744 uint8_t low = 0, high = 0;
1745
1746 if (cmd->cmd.reset->trst) {
1747 tap_set_state(TAP_RESET);
1748 high |= SIGNAL_TRST;
1749 }
1750 else {
1751 low |= SIGNAL_TRST;
1752 }
1753
1754 if (cmd->cmd.reset->srst) {
1755 high |= SIGNAL_RESET;
1756 }
1757 else {
1758 low |= SIGNAL_RESET;
1759 }
1760
1761 return ulink_append_set_signals_cmd(device, low, high);
1762 }
1763
1764 /**
1765 * Move to one TAP state or several states in succession.
1766 *
1767 * @param device pointer to struct ulink identifying ULINK driver instance.
1768 * @param cmd pointer to the command that shall be executed.
1769 * @return on success: ERROR_OK
1770 * @return on failure: ERROR_FAIL
1771 */
1772 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1773 {
1774 int ret, i, num_states, batch_size, state_count;
1775 tap_state_t *path;
1776 uint8_t tms_sequence;
1777
1778 num_states = cmd->cmd.pathmove->num_states;
1779 path = cmd->cmd.pathmove->path;
1780 state_count = 0;
1781
1782 while (num_states > 0) {
1783 tms_sequence = 0;
1784
1785 /* Determine batch size */
1786 if (num_states >= 8) {
1787 batch_size = 8;
1788 }
1789 else {
1790 batch_size = num_states;
1791 }
1792
1793 for (i = 0; i < batch_size; i++) {
1794 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1795 /* Append '0' transition: clear bit 'i' in tms_sequence */
1796 buf_set_u32(&tms_sequence, i, 1, 0x0);
1797 }
1798 else if (tap_state_transition(tap_get_state(), true)
1799 == path[state_count]) {
1800 /* Append '1' transition: set bit 'i' in tms_sequence */
1801 buf_set_u32(&tms_sequence, i, 1, 0x1);
1802 }
1803 else {
1804 /* Invalid state transition */
1805 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1806 tap_state_name(tap_get_state()),
1807 tap_state_name(path[state_count]));
1808 return ERROR_FAIL;
1809 }
1810
1811 tap_set_state(path[state_count]);
1812 state_count++;
1813 num_states--;
1814 }
1815
1816 /* Append CLOCK_TMS command to OpenULINK command queue */
1817 LOG_INFO(
1818 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1819 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1820 if (ret != ERROR_OK) {
1821 return ret;
1822 }
1823 }
1824
1825 return ERROR_OK;
1826 }
1827
1828 /**
1829 * Sleep for a specific amount of time.
1830 *
1831 * @param device pointer to struct ulink identifying ULINK driver instance.
1832 * @param cmd pointer to the command that shall be executed.
1833 * @return on success: ERROR_OK
1834 * @return on failure: ERROR_FAIL
1835 */
1836 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1837 {
1838 /* IMPORTANT! Due to the time offset in command execution introduced by
1839 * command queueing, this needs to be implemented in the ULINK device */
1840 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1841 }
1842
1843 /**
1844 * Generate TCK cycles while remaining in a stable state.
1845 *
1846 * @param device pointer to struct ulink identifying ULINK driver instance.
1847 * @param cmd pointer to the command that shall be executed.
1848 */
1849 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1850 {
1851 int ret;
1852 unsigned num_cycles;
1853
1854 if (!tap_is_state_stable(tap_get_state())) {
1855 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1856 return ERROR_FAIL;
1857 }
1858
1859 num_cycles = cmd->cmd.stableclocks->num_cycles;
1860
1861 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1862 if (tap_get_state() == TAP_RESET) {
1863 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1864 }
1865 else {
1866 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1867 }
1868
1869 if (ret != ERROR_OK) {
1870 return ret;
1871 }
1872
1873 while (num_cycles > 0) {
1874 if (num_cycles > 0xFFFF) {
1875 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1876 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1877 num_cycles -= 0xFFFF;
1878 }
1879 else {
1880 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1881 num_cycles = 0;
1882 }
1883
1884 if (ret != ERROR_OK) {
1885 return ret;
1886 }
1887 }
1888
1889 return ERROR_OK;
1890 }
1891
1892 /**
1893 * Post-process JTAG_SCAN command
1894 *
1895 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1896 * @return on success: ERROR_OK
1897 * @return on failure: ERROR_FAIL
1898 */
1899 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1900 {
1901 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1902 int ret;
1903
1904 switch (jtag_scan_type(cmd->cmd.scan)) {
1905 case SCAN_IN:
1906 case SCAN_IO:
1907 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1908 break;
1909 case SCAN_OUT:
1910 /* Nothing to do for OUT scans */
1911 ret = ERROR_OK;
1912 break;
1913 default:
1914 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1915 " JTAG scan type");
1916 ret = ERROR_FAIL;
1917 break;
1918 }
1919
1920 return ret;
1921 }
1922
1923 /**
1924 * Perform post-processing of commands after OpenULINK queue has been executed.
1925 *
1926 * @param device pointer to struct ulink identifying ULINK driver instance.
1927 * @return on success: ERROR_OK
1928 * @return on failure: ERROR_FAIL
1929 */
1930 int ulink_post_process_queue(struct ulink *device)
1931 {
1932 struct ulink_cmd *current;
1933 struct jtag_command *openocd_cmd;
1934 int ret;
1935
1936 current = device->queue_start;
1937
1938 while (current != NULL) {
1939 openocd_cmd = current->cmd_origin;
1940
1941 /* Check if a corresponding OpenOCD command is stored for this
1942 * OpenULINK command */
1943 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1944 switch (openocd_cmd->type) {
1945 case JTAG_SCAN:
1946 ret = ulink_post_process_scan(current);
1947 break;
1948 case JTAG_TLR_RESET:
1949 case JTAG_RUNTEST:
1950 case JTAG_RESET:
1951 case JTAG_PATHMOVE:
1952 case JTAG_SLEEP:
1953 case JTAG_STABLECLOCKS:
1954 /* Nothing to do for these commands */
1955 ret = ERROR_OK;
1956 break;
1957 default:
1958 ret = ERROR_FAIL;
1959 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1960 "command type");
1961 break;
1962 }
1963
1964 if (ret != ERROR_OK) {
1965 return ret;
1966 }
1967 }
1968
1969 current = current->next;
1970 }
1971
1972 return ERROR_OK;
1973 }
1974
1975 /**************************** JTAG driver functions ***************************/
1976
1977 /**
1978 * Executes the JTAG Command Queue.
1979 *
1980 * This is done in three stages: First, all OpenOCD commands are processed into
1981 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1982 * ULINK device and data received from the ULINK device is cached. Finally,
1983 * the post-processing function writes back data to the corresponding OpenOCD
1984 * commands.
1985 *
1986 * @return on success: ERROR_OK
1987 * @return on failure: ERROR_FAIL
1988 */
1989 static int ulink_execute_queue(void)
1990 {
1991 struct jtag_command *cmd = jtag_command_queue;
1992 int ret;
1993
1994 while (cmd) {
1995 switch (cmd->type) {
1996 case JTAG_SCAN:
1997 ret = ulink_queue_scan(ulink_handle, cmd);
1998 break;
1999 case JTAG_TLR_RESET:
2000 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
2001 break;
2002 case JTAG_RUNTEST:
2003 ret = ulink_queue_runtest(ulink_handle, cmd);
2004 break;
2005 case JTAG_RESET:
2006 ret = ulink_queue_reset(ulink_handle, cmd);
2007 break;
2008 case JTAG_PATHMOVE:
2009 ret = ulink_queue_pathmove(ulink_handle, cmd);
2010 break;
2011 case JTAG_SLEEP:
2012 ret = ulink_queue_sleep(ulink_handle, cmd);
2013 break;
2014 case JTAG_STABLECLOCKS:
2015 ret = ulink_queue_stableclocks(ulink_handle, cmd);
2016 break;
2017 default:
2018 ret = ERROR_FAIL;
2019 LOG_ERROR("BUG: encountered unknown JTAG command type");
2020 break;
2021 }
2022
2023 if (ret != ERROR_OK) {
2024 return ret;
2025 }
2026
2027 cmd = cmd->next;
2028 }
2029
2030 if (ulink_handle->commands_in_queue > 0) {
2031 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
2032 if (ret != ERROR_OK) {
2033 return ret;
2034 }
2035
2036 ret = ulink_post_process_queue(ulink_handle);
2037 if (ret != ERROR_OK) {
2038 return ret;
2039 }
2040
2041 ulink_clear_queue(ulink_handle);
2042 }
2043
2044 return ERROR_OK;
2045 }
2046
2047 /**
2048 * Set the TCK frequency of the ULINK adapter.
2049 *
2050 * @param khz desired JTAG TCK frequency.
2051 * @param jtag_speed where to store corresponding adapter-specific speed value.
2052 * @return on success: ERROR_OK
2053 * @return on failure: ERROR_FAIL
2054 */
2055 static int ulink_khz(int khz, int *jtag_speed)
2056 {
2057 int ret;
2058
2059 if (khz == 0) {
2060 LOG_ERROR("RCLK not supported");
2061 return ERROR_FAIL;
2062 }
2063
2064 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2065 * setting can be done independently from all other commands. */
2066 if (khz >= 375) {
2067 ulink_handle->delay_clock_tck = -1;
2068 }
2069 else {
2070 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
2071 &ulink_handle->delay_clock_tck);
2072 if (ret != ERROR_OK) {
2073 return ret;
2074 }
2075 }
2076
2077 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2078 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2079 * commands, all SCAN commands MUST also use the variable frequency
2080 * implementation! */
2081 if (khz >= 176) {
2082 ulink_handle->delay_clock_tms = -1;
2083 ulink_handle->delay_scan_in = -1;
2084 ulink_handle->delay_scan_out = -1;
2085 ulink_handle->delay_scan_io = -1;
2086 }
2087 else {
2088 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2089 &ulink_handle->delay_clock_tms);
2090 if (ret != ERROR_OK) {
2091 return ret;
2092 }
2093
2094 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2095 &ulink_handle->delay_scan_in);
2096 if (ret != ERROR_OK) {
2097 return ret;
2098 }
2099
2100 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2101 &ulink_handle->delay_scan_out);
2102 if (ret != ERROR_OK) {
2103 return ret;
2104 }
2105
2106 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2107 &ulink_handle->delay_scan_io);
2108 if (ret != ERROR_OK) {
2109 return ret;
2110 }
2111 }
2112
2113 #ifdef _DEBUG_JTAG_IO_
2114 long f_tck, f_tms, f_scan_in, f_scan_out, f_scan_io;
2115
2116 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck,
2117 &f_tck);
2118 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms,
2119 &f_tms);
2120 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in,
2121 &f_scan_in);
2122 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out,
2123 &f_scan_out);
2124 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io,
2125 &f_scan_io);
2126
2127 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2128 ulink_handle->delay_clock_tck, f_tck);
2129 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2130 ulink_handle->delay_clock_tms, f_tms);
2131 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2132 ulink_handle->delay_scan_in, f_scan_in);
2133 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2134 ulink_handle->delay_scan_out, f_scan_out);
2135 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2136 ulink_handle->delay_scan_io, f_scan_io);
2137 #endif
2138
2139 /* Configure the ULINK device with the new delay values */
2140 ret = ulink_append_configure_tck_cmd(ulink_handle,
2141 ulink_handle->delay_scan_in,
2142 ulink_handle->delay_scan_out,
2143 ulink_handle->delay_scan_io,
2144 ulink_handle->delay_clock_tck,
2145 ulink_handle->delay_clock_tms);
2146
2147 if (ret != ERROR_OK) {
2148 return ret;
2149 }
2150
2151 *jtag_speed = khz;
2152
2153 return ERROR_OK;
2154 }
2155
2156 /**
2157 * Set the TCK frequency of the ULINK adapter.
2158 *
2159 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2160 * there are five different speed settings. To simplify things, the
2161 * adapter-specific speed setting value is identical to the TCK frequency in
2162 * khz.
2163 *
2164 * @param speed desired adapter-specific speed value.
2165 * @return on success: ERROR_OK
2166 * @return on failure: ERROR_FAIL
2167 */
2168 static int ulink_speed(int speed)
2169 {
2170 int dummy;
2171
2172 return ulink_khz(speed, &dummy);
2173 }
2174
2175 /**
2176 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2177 *
2178 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2179 * there are five different speed settings. To simplify things, the
2180 * adapter-specific speed setting value is identical to the TCK frequency in
2181 * khz.
2182 *
2183 * @param speed adapter-specific speed value.
2184 * @param khz where to store corresponding TCK frequency in kHz.
2185 * @return on success: ERROR_OK
2186 * @return on failure: ERROR_FAIL
2187 */
2188 static int ulink_speed_div(int speed, int *khz)
2189 {
2190 *khz = speed;
2191
2192 return ERROR_OK;
2193 }
2194
2195 /**
2196 * Initiates the firmware download to the ULINK adapter and prepares
2197 * the USB handle.
2198 *
2199 * @return on success: ERROR_OK
2200 * @return on failure: ERROR_FAIL
2201 */
2202 static int ulink_init(void)
2203 {
2204 int ret;
2205 char str_manufacturer[20];
2206 bool download_firmware = false;
2207 uint8_t *dummy;
2208 uint8_t input_signals, output_signals;
2209
2210 ulink_handle = calloc(1, sizeof(struct ulink));
2211 if (ulink_handle == NULL) {
2212 return ERROR_FAIL;
2213 }
2214
2215 usb_init();
2216
2217 ret = ulink_usb_open(&ulink_handle);
2218 if (ret != ERROR_OK) {
2219 LOG_ERROR("Could not open ULINK device");
2220 return ret;
2221 }
2222
2223 /* Get String Descriptor to determine if firmware needs to be loaded */
2224 ret = usb_get_string_simple(ulink_handle->usb_handle, 1, str_manufacturer, 20);
2225 if (ret < 0) {
2226 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2227 download_firmware = true;
2228 }
2229 else {
2230 /* We got a String Descriptor, check if it is the correct one */
2231 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0) {
2232 download_firmware = true;
2233 }
2234 }
2235
2236 if (download_firmware == true) {
2237 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2238 " ULINK device.");
2239 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2240 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2241 if (ret != ERROR_OK) {
2242 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2243 return ret;
2244 }
2245 }
2246 else {
2247 LOG_INFO("ULINK device is already running OpenULINK firmware");
2248 }
2249
2250 /* Initialize OpenULINK command queue */
2251 ulink_clear_queue(ulink_handle);
2252
2253 /* Issue one test command with short timeout */
2254 ret = ulink_append_test_cmd(ulink_handle);
2255 if (ret != ERROR_OK) {
2256 return ret;
2257 }
2258
2259 ret = ulink_execute_queued_commands(ulink_handle, 200);
2260 if (ret != ERROR_OK) {
2261 /* Sending test command failed. The ULINK device may be forever waiting for
2262 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2263 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2264 dummy = calloc(64, sizeof(uint8_t));
2265
2266 ret = usb_bulk_read(ulink_handle->usb_handle, (2 | USB_ENDPOINT_IN),
2267 (char *)dummy, 64, 200);
2268
2269 free(dummy);
2270
2271 if (ret < 0) {
2272 /* Bulk IN transfer failed -> unrecoverable error condition */
2273 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2274 "the USB port and re-connect, then re-run OpenOCD");
2275 return ERROR_FAIL;
2276 }
2277 #ifdef _DEBUG_USB_COMMS_
2278 else {
2279 /* Successfully received Bulk IN packet -> continue */
2280 LOG_INFO("Recovered from lost Bulk IN packet");
2281 }
2282 #endif
2283 }
2284 ulink_clear_queue(ulink_handle);
2285
2286 ulink_append_get_signals_cmd(ulink_handle);
2287 ulink_execute_queued_commands(ulink_handle, 200);
2288
2289 /* Post-process the single CMD_GET_SIGNALS command */
2290 input_signals = ulink_handle->queue_start->payload_in[0];
2291 output_signals = ulink_handle->queue_start->payload_in[1];
2292
2293 ulink_print_signal_states(input_signals, output_signals);
2294
2295 ulink_clear_queue(ulink_handle);
2296
2297 return ERROR_OK;
2298 }
2299
2300 /**
2301 * Closes the USB handle for the ULINK device.
2302 *
2303 * @return on success: ERROR_OK
2304 * @return on failure: ERROR_FAIL
2305 */
2306 static int ulink_quit(void)
2307 {
2308 int ret;
2309
2310 ret = ulink_usb_close(&ulink_handle);
2311 free(ulink_handle);
2312
2313 return ret;
2314 }
2315
2316 /**
2317 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2318 */
2319 COMMAND_HANDLER(ulink_download_firmware_handler)
2320 {
2321 int ret;
2322
2323 if (CMD_ARGC != 1)
2324 return ERROR_COMMAND_SYNTAX_ERROR;
2325
2326
2327 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2328
2329 /* Download firmware image in CMD_ARGV[0] */
2330 ret = ulink_load_firmware_and_renumerate(&ulink_handle, (char *)CMD_ARGV[0],
2331 ULINK_RENUMERATION_DELAY);
2332
2333 return ret;
2334 }
2335
2336 /*************************** Command Registration **************************/
2337
2338 static const struct command_registration ulink_command_handlers[] = {
2339 {
2340 .name = "ulink_download_firmware",
2341 .handler = &ulink_download_firmware_handler,
2342 .mode = COMMAND_EXEC,
2343 .help = "download firmware image to ULINK device",
2344 .usage = "path/to/ulink_firmware.hex",
2345 },
2346 COMMAND_REGISTRATION_DONE,
2347 };
2348
2349 struct jtag_interface ulink_interface = {
2350 .name = "ulink",
2351
2352 .commands = ulink_command_handlers,
2353 .transports = jtag_only,
2354
2355 .execute_queue = ulink_execute_queue,
2356 .khz = ulink_khz,
2357 .speed = ulink_speed,
2358 .speed_div = ulink_speed_div,
2359
2360 .init = ulink_init,
2361 .quit = ulink_quit
2362 };