82663392c68e1819d238d0fc7a1fd26570bc0706
[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 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 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 "usb_common.h"
30 #include "OpenULINK/include/msgtypes.h"
31
32 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
33 * yet) or with OpenULINK firmware. */
34 #define ULINK_VID 0xC251
35
36 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
37 * yet) or with OpenULINK firmware. */
38 #define ULINK_PID 0x2710
39
40 /** Address of EZ-USB CPU Control & Status register. This register can be
41 * written by issuing a Control EP0 vendor request. */
42 #define CPUCS_REG 0x7F92
43
44 /** USB Control EP0 bRequest: "Firmware Load". */
45 #define REQUEST_FIRMWARE_LOAD 0xA0
46
47 /** Value to write into CPUCS to put EZ-USB into reset. */
48 #define CPU_RESET 0x01
49
50 /** Value to write into CPUCS to put EZ-USB out of reset. */
51 #define CPU_START 0x00
52
53 /** Base address of firmware in EZ-USB code space. */
54 #define FIRMWARE_ADDR 0x0000
55
56 /** USB interface number */
57 #define USB_INTERFACE 0
58
59 /** libusb timeout in ms */
60 #define USB_TIMEOUT 5000
61
62 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
63 #define ULINK_RENUMERATION_DELAY 1500000
64
65 /** Default location of OpenULINK firmware image. */
66 #define ULINK_FIRMWARE_FILE PKGLIBDIR "/OpenULINK/ulink_firmware.hex"
67
68 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
69 #define SECTION_BUFFERSIZE 8192
70
71 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
72 #define SPLIT_SCAN_THRESHOLD 10
73
74 /** ULINK hardware type */
75 enum ulink_type {
76 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
77 * Full JTAG support, no SWD support. */
78 ULINK_1,
79
80 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
81 ULINK_2,
82
83 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
84 ULINK_PRO,
85
86 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
87 ULINK_ME
88 };
89
90 enum ulink_payload_direction {
91 PAYLOAD_DIRECTION_OUT,
92 PAYLOAD_DIRECTION_IN
93 };
94
95 enum ulink_delay_type {
96 DELAY_CLOCK_TCK,
97 DELAY_CLOCK_TMS,
98 DELAY_SCAN_IN,
99 DELAY_SCAN_OUT,
100 DELAY_SCAN_IO
101 };
102
103 /**
104 * OpenULINK command (OpenULINK command queue element).
105 *
106 * For the OUT direction payload, things are quite easy: Payload is stored
107 * in a rather small array (up to 63 bytes), the payload is always allocated
108 * by the function generating the command and freed by ulink_clear_queue().
109 *
110 * For the IN direction payload, things get a little bit more complicated:
111 * The maximum IN payload size for a single command is 64 bytes. Assume that
112 * a single OpenOCD command needs to scan 256 bytes. This results in the
113 * generation of four OpenULINK commands. The function generating these
114 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
115 * pointer shall point to the corresponding offset where IN data shall be
116 * placed, while #payload_in_start shall point to the first element of the 256
117 * byte array.
118 * - first command: #payload_in_start + 0
119 * - second command: #payload_in_start + 64
120 * - third command: #payload_in_start + 128
121 * - fourth command: #payload_in_start + 192
122 *
123 * The last command sets #needs_postprocessing to true.
124 */
125 struct ulink_cmd {
126 uint8_t id; /* /< ULINK command ID */
127
128 uint8_t *payload_out; /* /< OUT direction payload data */
129 uint8_t payload_out_size; /* /< OUT direction payload size for this command */
130
131 uint8_t *payload_in_start; /* /< Pointer to first element of IN payload array */
132 uint8_t *payload_in; /* /< Pointer where IN payload shall be stored */
133 uint8_t payload_in_size;/* /< IN direction payload size for this command */
134
135 /** Indicates if this command needs post-processing */
136 bool needs_postprocessing;
137
138 /** Indicates if ulink_clear_queue() should free payload_in_start */
139 bool free_payload_in_start;
140
141 /** Pointer to corresponding OpenOCD command for post-processing */
142 struct jtag_command *cmd_origin;
143
144 struct ulink_cmd *next; /* /< Pointer to next command (linked list) */
145 };
146
147 /** Describes one driver instance */
148 struct ulink {
149 struct usb_dev_handle *usb_handle;
150 enum ulink_type type;
151
152 int delay_scan_in; /* /< Delay value for SCAN_IN commands */
153 int delay_scan_out; /* /< Delay value for SCAN_OUT commands */
154 int delay_scan_io; /* /< Delay value for SCAN_IO commands */
155 int delay_clock_tck; /* /< Delay value for CLOCK_TMS commands */
156 int delay_clock_tms; /* /< Delay value for CLOCK_TCK commands */
157
158 int commands_in_queue; /* /< Number of commands in queue */
159 struct ulink_cmd *queue_start; /* /< Pointer to first command in queue */
160 struct ulink_cmd *queue_end; /* /< Pointer to last command in queue */
161 };
162
163 /**************************** Function Prototypes *****************************/
164
165 /* USB helper functions */
166 int ulink_usb_open(struct ulink **device);
167 int ulink_usb_close(struct ulink **device);
168
169 /* ULINK MCU (Cypress EZ-USB) specific functions */
170 int ulink_cpu_reset(struct ulink *device, char reset_bit);
171 int ulink_load_firmware_and_renumerate(struct ulink **device, char *filename,
172 uint32_t delay);
173 int ulink_load_firmware(struct ulink *device, char *filename);
174 int ulink_write_firmware_section(struct ulink *device,
175 struct image *firmware_image, int section_index);
176
177 /* Generic helper functions */
178 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
179
180 /* OpenULINK command generation helper functions */
181 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
182 enum ulink_payload_direction direction);
183
184 /* OpenULINK command queue helper functions */
185 int ulink_get_queue_size(struct ulink *device,
186 enum ulink_payload_direction direction);
187 void ulink_clear_queue(struct ulink *device);
188 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
189 int ulink_execute_queued_commands(struct ulink *device, int timeout);
190
191 #ifdef _DEBUG_JTAG_IO_
192 const char *ulink_cmd_id_string(uint8_t id);
193 void ulink_print_command(struct ulink_cmd *ulink_cmd);
194 void ulink_print_queue(struct ulink *device);
195 #endif
196
197 int ulink_append_scan_cmd(struct ulink *device,
198 enum scan_type scan_type,
199 int scan_size_bits,
200 uint8_t *tdi,
201 uint8_t *tdo_start,
202 uint8_t *tdo,
203 uint8_t tms_count_start,
204 uint8_t tms_sequence_start,
205 uint8_t tms_count_end,
206 uint8_t tms_sequence_end,
207 struct jtag_command *origin,
208 bool postprocess);
209 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
210 uint8_t sequence);
211 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
212 int ulink_append_get_signals_cmd(struct ulink *device);
213 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
214 uint8_t high);
215 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
216 int ulink_append_configure_tck_cmd(struct ulink *device,
217 int delay_scan_in,
218 int delay_scan_out,
219 int delay_scan_io,
220 int delay_tck,
221 int delay_tms);
222 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
223 int ulink_append_test_cmd(struct ulink *device);
224
225 /* OpenULINK TCK frequency helper functions */
226 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
227 int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f);
228
229 /* Interface between OpenULINK and OpenOCD */
230 static void ulink_set_end_state(tap_state_t endstate);
231 int ulink_queue_statemove(struct ulink *device);
232
233 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
234 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
235 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
236 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
237 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
238 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
239 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
240
241 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
242 int ulink_post_process_queue(struct ulink *device);
243
244 /* JTAG driver functions (registered in struct jtag_interface) */
245 static int ulink_execute_queue(void);
246 static int ulink_khz(int khz, int *jtag_speed);
247 static int ulink_speed(int speed);
248 static int ulink_speed_div(int speed, int *khz);
249 static int ulink_init(void);
250 static int ulink_quit(void);
251
252 /****************************** Global Variables ******************************/
253
254 struct ulink *ulink_handle;
255
256 /**************************** USB helper functions ****************************/
257
258 /**
259 * Opens the ULINK device and claims its USB interface.
260 *
261 * @param device pointer to struct ulink identifying ULINK driver instance.
262 * @return on success: ERROR_OK
263 * @return on failure: ERROR_FAIL
264 */
265 int ulink_usb_open(struct ulink **device)
266 {
267 int ret;
268 struct usb_dev_handle *usb_handle;
269
270 /* Currently, only original ULINK is supported */
271 uint16_t vids[] = { ULINK_VID, 0 };
272 uint16_t pids[] = { ULINK_PID, 0 };
273
274 ret = jtag_usb_open(vids, pids, &usb_handle);
275
276 if (ret != ERROR_OK)
277 return ret;
278
279 ret = usb_claim_interface(usb_handle, 0);
280
281 if (ret != 0)
282 return ret;
283
284 (*device)->usb_handle = usb_handle;
285 (*device)->type = ULINK_1;
286
287 return ERROR_OK;
288 }
289
290 /**
291 * Releases the ULINK interface and closes the USB device handle.
292 *
293 * @param device pointer to struct ulink identifying ULINK driver instance.
294 * @return on success: ERROR_OK
295 * @return on failure: ERROR_FAIL
296 */
297 int ulink_usb_close(struct ulink **device)
298 {
299 if (usb_release_interface((*device)->usb_handle, 0) != 0)
300 return ERROR_FAIL;
301
302 if (usb_close((*device)->usb_handle) != 0)
303 return ERROR_FAIL;
304
305 (*device)->usb_handle = NULL;
306
307 return ERROR_OK;
308 }
309
310 /******************* ULINK CPU (EZ-USB) specific functions ********************/
311
312 /**
313 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
314 * or out of reset.
315 *
316 * @param device pointer to struct ulink identifying ULINK driver instance.
317 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
318 * @return on success: ERROR_OK
319 * @return on failure: ERROR_FAIL
320 */
321 int ulink_cpu_reset(struct ulink *device, char reset_bit)
322 {
323 int ret;
324
325 ret = usb_control_msg(device->usb_handle,
326 (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
327 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
328
329 /* usb_control_msg() returns the number of bytes transferred during the
330 * DATA stage of the control transfer - must be exactly 1 in this case! */
331 if (ret != 1)
332 return ERROR_FAIL;
333 return ERROR_OK;
334 }
335
336 /**
337 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
338 * the firmware image, resumes the microcontroller and re-enumerates
339 * USB devices.
340 *
341 * @param device pointer to struct ulink identifying ULINK driver instance.
342 * The usb_handle member will be modified during re-enumeration.
343 * @param filename path to the Intel HEX file containing the firmware image.
344 * @param delay the delay to wait for the device to re-enumerate.
345 * @return on success: ERROR_OK
346 * @return on failure: ERROR_FAIL
347 */
348 int ulink_load_firmware_and_renumerate(struct ulink **device,
349 char *filename, uint32_t delay)
350 {
351 int ret;
352
353 /* Basic process: After downloading the firmware, the ULINK will disconnect
354 * itself and re-connect after a short amount of time so we have to close
355 * the handle and re-enumerate USB devices */
356
357 ret = ulink_load_firmware(*device, filename);
358 if (ret != ERROR_OK)
359 return ret;
360
361 ret = ulink_usb_close(device);
362 if (ret != ERROR_OK)
363 return ret;
364
365 usleep(delay);
366
367 ret = ulink_usb_open(device);
368 if (ret != ERROR_OK)
369 return ret;
370
371 return ERROR_OK;
372 }
373
374 /**
375 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
376 * over the USB bus.
377 *
378 * @param device pointer to struct ulink identifying ULINK driver instance.
379 * @param filename an absolute or relative path to the Intel HEX file
380 * containing the firmware image.
381 * @return on success: ERROR_OK
382 * @return on failure: ERROR_FAIL
383 */
384 int ulink_load_firmware(struct ulink *device, char *filename)
385 {
386 struct image ulink_firmware_image;
387 int ret, i;
388
389 ret = ulink_cpu_reset(device, CPU_RESET);
390 if (ret != ERROR_OK) {
391 LOG_ERROR("Could not halt ULINK CPU");
392 return ret;
393 }
394
395 ulink_firmware_image.base_address = 0;
396 ulink_firmware_image.base_address_set = 0;
397
398 ret = image_open(&ulink_firmware_image, filename, "ihex");
399 if (ret != ERROR_OK) {
400 LOG_ERROR("Could not load firmware image");
401 return ret;
402 }
403
404 /* Download all sections in the image to ULINK */
405 for (i = 0; i < ulink_firmware_image.num_sections; i++) {
406 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
407 if (ret != ERROR_OK)
408 return ret;
409 }
410
411 image_close(&ulink_firmware_image);
412
413 ret = ulink_cpu_reset(device, CPU_START);
414 if (ret != ERROR_OK) {
415 LOG_ERROR("Could not restart ULINK CPU");
416 return ret;
417 }
418
419 return ERROR_OK;
420 }
421
422 /**
423 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
424 * over the USB bus.
425 *
426 * @param device pointer to struct ulink identifying ULINK driver instance.
427 * @param firmware_image pointer to the firmware image that contains the section
428 * which should be sent to the ULINK's EZ-USB microcontroller.
429 * @param section_index index of the section within the firmware image.
430 * @return on success: ERROR_OK
431 * @return on failure: ERROR_FAIL
432 */
433 int ulink_write_firmware_section(struct ulink *device,
434 struct image *firmware_image, int section_index)
435 {
436 uint16_t addr, size, bytes_remaining, chunk_size;
437 uint8_t data[SECTION_BUFFERSIZE];
438 uint8_t *data_ptr = data;
439 size_t size_read;
440 int ret;
441
442 size = (uint16_t)firmware_image->sections[section_index].size;
443 addr = (uint16_t)firmware_image->sections[section_index].base_address;
444
445 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
446 size);
447
448 if (data == NULL)
449 return ERROR_FAIL;
450
451 /* Copy section contents to local buffer */
452 ret = image_read_section(firmware_image, section_index, 0, size, data,
453 &size_read);
454
455 if ((ret != ERROR_OK) || (size_read != size)) {
456 /* Propagating the return code would return '0' (misleadingly indicating
457 * successful execution of the function) if only the size check fails. */
458 return ERROR_FAIL;
459 }
460
461 bytes_remaining = size;
462
463 /* Send section data in chunks of up to 64 bytes to ULINK */
464 while (bytes_remaining > 0) {
465 if (bytes_remaining > 64)
466 chunk_size = 64;
467 else
468 chunk_size = bytes_remaining;
469
470 ret = usb_control_msg(device->usb_handle,
471 (USB_ENDPOINT_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE),
472 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (char *)data_ptr,
473 chunk_size, USB_TIMEOUT);
474
475 if (ret != (int)chunk_size) {
476 /* Abort if libusb sent less data than requested */
477 return ERROR_FAIL;
478 }
479
480 bytes_remaining -= chunk_size;
481 addr += chunk_size;
482 data_ptr += chunk_size;
483 }
484
485 return ERROR_OK;
486 }
487
488 /************************** Generic helper functions **************************/
489
490 /**
491 * Print state of interesting signals via LOG_INFO().
492 *
493 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
494 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
495 */
496 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
497 {
498 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
499 " SRST: %i",
500 (output_signals & SIGNAL_TDI ? 1 : 0),
501 (input_signals & SIGNAL_TDO ? 1 : 0),
502 (output_signals & SIGNAL_TMS ? 1 : 0),
503 (output_signals & SIGNAL_TCK ? 1 : 0),
504 (output_signals & SIGNAL_TRST ? 0 : 1),/* TRST and RESET are inverted */
505 (output_signals & SIGNAL_RESET ? 0 : 1)); /* by hardware */
506 }
507
508 /**************** OpenULINK command generation helper functions ***************/
509
510 /**
511 * Allocate and initialize space in memory for OpenULINK command payload.
512 *
513 * @param ulink_cmd pointer to command whose payload should be allocated.
514 * @param size the amount of memory to allocate (bytes).
515 * @param direction which payload to allocate.
516 * @return on success: ERROR_OK
517 * @return on failure: ERROR_FAIL
518 */
519 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
520 enum ulink_payload_direction direction)
521 {
522 uint8_t *payload;
523
524 payload = calloc(size, sizeof(uint8_t));
525
526 if (payload == NULL) {
527 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
528 return ERROR_FAIL;
529 }
530
531 switch (direction) {
532 case PAYLOAD_DIRECTION_OUT:
533 if (ulink_cmd->payload_out != NULL) {
534 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
535 free(payload);
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 free(payload);
546 return ERROR_FAIL;
547 } else {
548 ulink_cmd->payload_in_start = payload;
549 ulink_cmd->payload_in = payload;
550 ulink_cmd->payload_in_size = size;
551
552 /* By default, free payload_in_start in ulink_clear_queue(). Commands
553 * that do not want this behavior (e. g. split scans) must turn it off
554 * separately! */
555 ulink_cmd->free_payload_in_start = true;
556 }
557 break;
558 }
559
560 return ERROR_OK;
561 }
562
563 /****************** OpenULINK command queue helper functions ******************/
564
565 /**
566 * Get the current number of bytes in the queue, including command IDs.
567 *
568 * @param device pointer to struct ulink identifying ULINK driver instance.
569 * @param direction the transfer direction for which to get byte count.
570 * @return the number of bytes currently stored in the queue for the specified
571 * direction.
572 */
573 int ulink_get_queue_size(struct ulink *device,
574 enum ulink_payload_direction direction)
575 {
576 struct ulink_cmd *current = device->queue_start;
577 int sum = 0;
578
579 while (current != NULL) {
580 switch (direction) {
581 case PAYLOAD_DIRECTION_OUT:
582 sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
583 break;
584 case PAYLOAD_DIRECTION_IN:
585 sum += current->payload_in_size;
586 break;
587 }
588
589 current = current->next;
590 }
591
592 return sum;
593 }
594
595 /**
596 * Clear the OpenULINK command queue.
597 *
598 * @param device pointer to struct ulink identifying ULINK driver instance.
599 * @return on success: ERROR_OK
600 * @return on failure: ERROR_FAIL
601 */
602 void ulink_clear_queue(struct ulink *device)
603 {
604 struct ulink_cmd *current = device->queue_start;
605 struct ulink_cmd *next = NULL;
606
607 while (current != NULL) {
608 /* Save pointer to next element */
609 next = current->next;
610
611 /* Free payloads: OUT payload can be freed immediately */
612 free(current->payload_out);
613 current->payload_out = NULL;
614
615 /* IN payload MUST be freed ONLY if no other commands use the
616 * payload_in_start buffer */
617 if (current->free_payload_in_start == true) {
618 free(current->payload_in_start);
619 current->payload_in_start = NULL;
620 current->payload_in = NULL;
621 }
622
623 /* Free queue element */
624 free(current);
625
626 /* Proceed with next element */
627 current = next;
628 }
629
630 device->commands_in_queue = 0;
631 device->queue_start = NULL;
632 device->queue_end = NULL;
633 }
634
635 /**
636 * Add a command to the OpenULINK command queue.
637 *
638 * @param device pointer to struct ulink identifying ULINK driver instance.
639 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
640 * command queue.
641 * @return on success: ERROR_OK
642 * @return on failure: ERROR_FAIL
643 */
644 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
645 {
646 int newsize_out, newsize_in;
647 int ret;
648
649 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
650 + ulink_cmd->payload_out_size;
651
652 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
653 + ulink_cmd->payload_in_size;
654
655 /* Check if the current command can be appended to the queue */
656 if ((newsize_out > 64) || (newsize_in > 64)) {
657 /* New command does not fit. Execute all commands in queue before starting
658 * new queue with the current command as first entry. */
659 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
660 if (ret != ERROR_OK)
661 return ret;
662
663 ret = ulink_post_process_queue(device);
664 if (ret != ERROR_OK)
665 return ret;
666
667 ulink_clear_queue(device);
668 }
669
670 if (device->queue_start == NULL) {
671 /* Queue was empty */
672 device->commands_in_queue = 1;
673
674 device->queue_start = ulink_cmd;
675 device->queue_end = ulink_cmd;
676 } else {
677 /* There are already commands in the queue */
678 device->commands_in_queue++;
679
680 device->queue_end->next = ulink_cmd;
681 device->queue_end = ulink_cmd;
682 }
683
684 return ERROR_OK;
685 }
686
687 /**
688 * Sends all queued OpenULINK commands to the ULINK for execution.
689 *
690 * @param device pointer to struct ulink identifying ULINK driver instance.
691 * @return on success: ERROR_OK
692 * @return on failure: ERROR_FAIL
693 */
694 int ulink_execute_queued_commands(struct ulink *device, int timeout)
695 {
696 struct ulink_cmd *current;
697 int ret, i, index_out, index_in, count_out, count_in;
698 uint8_t buffer[64];
699
700 #ifdef _DEBUG_JTAG_IO_
701 ulink_print_queue(device);
702 #endif
703
704 index_out = 0;
705 count_out = 0;
706 count_in = 0;
707
708 for (current = device->queue_start; current; current = current->next) {
709 /* Add command to packet */
710 buffer[index_out] = current->id;
711 index_out++;
712 count_out++;
713
714 for (i = 0; i < current->payload_out_size; i++)
715 buffer[index_out + i] = current->payload_out[i];
716 index_out += current->payload_out_size;
717 count_in += current->payload_in_size;
718 count_out += current->payload_out_size;
719 }
720
721 /* Send packet to ULINK */
722 ret = usb_bulk_write(device->usb_handle, (2 | USB_ENDPOINT_OUT),
723 (char *)buffer, count_out, timeout);
724 if (ret < 0)
725 return ERROR_FAIL;
726 if (ret != count_out)
727 return ERROR_FAIL;
728
729 /* Wait for response if commands contain IN payload data */
730 if (count_in > 0) {
731 ret = usb_bulk_read(device->usb_handle, (2 | USB_ENDPOINT_IN),
732 (char *)buffer, 64, timeout);
733 if (ret < 0)
734 return ERROR_FAIL;
735 if (ret != count_in)
736 return ERROR_FAIL;
737
738 /* Write back IN payload data */
739 index_in = 0;
740 for (current = device->queue_start; current; current = current->next) {
741 for (i = 0; i < current->payload_in_size; i++) {
742 current->payload_in[i] = buffer[index_in];
743 index_in++;
744 }
745 }
746 }
747
748 return ERROR_OK;
749 }
750
751 #ifdef _DEBUG_JTAG_IO_
752
753 /**
754 * Convert an OpenULINK command ID (\a id) to a human-readable string.
755 *
756 * @param id the OpenULINK command ID.
757 * @return the corresponding human-readable string.
758 */
759 const char *ulink_cmd_id_string(uint8_t id)
760 {
761 switch (id) {
762 case CMD_SCAN_IN:
763 return "CMD_SCAN_IN";
764 break;
765 case CMD_SLOW_SCAN_IN:
766 return "CMD_SLOW_SCAN_IN";
767 break;
768 case CMD_SCAN_OUT:
769 return "CMD_SCAN_OUT";
770 break;
771 case CMD_SLOW_SCAN_OUT:
772 return "CMD_SLOW_SCAN_OUT";
773 break;
774 case CMD_SCAN_IO:
775 return "CMD_SCAN_IO";
776 break;
777 case CMD_SLOW_SCAN_IO:
778 return "CMD_SLOW_SCAN_IO";
779 break;
780 case CMD_CLOCK_TMS:
781 return "CMD_CLOCK_TMS";
782 break;
783 case CMD_SLOW_CLOCK_TMS:
784 return "CMD_SLOW_CLOCK_TMS";
785 break;
786 case CMD_CLOCK_TCK:
787 return "CMD_CLOCK_TCK";
788 break;
789 case CMD_SLOW_CLOCK_TCK:
790 return "CMD_SLOW_CLOCK_TCK";
791 break;
792 case CMD_SLEEP_US:
793 return "CMD_SLEEP_US";
794 break;
795 case CMD_SLEEP_MS:
796 return "CMD_SLEEP_MS";
797 break;
798 case CMD_GET_SIGNALS:
799 return "CMD_GET_SIGNALS";
800 break;
801 case CMD_SET_SIGNALS:
802 return "CMD_SET_SIGNALS";
803 break;
804 case CMD_CONFIGURE_TCK_FREQ:
805 return "CMD_CONFIGURE_TCK_FREQ";
806 break;
807 case CMD_SET_LEDS:
808 return "CMD_SET_LEDS";
809 break;
810 case CMD_TEST:
811 return "CMD_TEST";
812 break;
813 default:
814 return "CMD_UNKNOWN";
815 break;
816 }
817 }
818
819 /**
820 * Print one OpenULINK command to stdout.
821 *
822 * @param ulink_cmd pointer to OpenULINK command.
823 */
824 void ulink_print_command(struct ulink_cmd *ulink_cmd)
825 {
826 int i;
827
828 printf(" %-22s | OUT size = %i, bytes = 0x",
829 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
830
831 for (i = 0; i < ulink_cmd->payload_out_size; i++)
832 printf("%02X ", ulink_cmd->payload_out[i]);
833 printf("\n | IN size = %i\n",
834 ulink_cmd->payload_in_size);
835 }
836
837 /**
838 * Print the OpenULINK command queue to stdout.
839 *
840 * @param device pointer to struct ulink identifying ULINK driver instance.
841 */
842 void ulink_print_queue(struct ulink *device)
843 {
844 struct ulink_cmd *current;
845
846 printf("OpenULINK command queue:\n");
847
848 for (current = device->queue_start; current; current = current->next)
849 ulink_print_command(current);
850 }
851
852 #endif /* _DEBUG_JTAG_IO_ */
853
854 /**
855 * Perform JTAG scan
856 *
857 * Creates and appends a JTAG scan command to the OpenULINK command queue.
858 * A JTAG scan consists of three steps:
859 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
860 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
861 * - Move to the desired end state.
862 *
863 * @param device pointer to struct ulink identifying ULINK driver instance.
864 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
865 * @param scan_size_bits number of bits to shift into the JTAG chain.
866 * @param tdi pointer to array containing TDI data.
867 * @param tdo_start pointer to first element of array where TDO data shall be
868 * stored. See #ulink_cmd for details.
869 * @param tdo pointer to array where TDO data shall be stored
870 * @param tms_count_start number of TMS state transitions to perform BEFORE
871 * shifting data into the JTAG chain.
872 * @param tms_sequence_start sequence of TMS state transitions that will be
873 * performed BEFORE shifting data into the JTAG chain.
874 * @param tms_count_end number of TMS state transitions to perform AFTER
875 * shifting data into the JTAG chain.
876 * @param tms_sequence_end sequence of TMS state transitions that will be
877 * performed AFTER shifting data into the JTAG chain.
878 * @param origin pointer to OpenOCD command that generated this scan command.
879 * @param postprocess whether this command needs to be post-processed after
880 * execution.
881 * @return on success: ERROR_OK
882 * @return on failure: ERROR_FAIL
883 */
884 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
885 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
886 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
887 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
888 {
889 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
890 int ret, i, scan_size_bytes;
891 uint8_t bits_last_byte;
892
893 if (cmd == NULL)
894 return ERROR_FAIL;
895
896 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
897 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
898 if (scan_size_bits > (58 * 8)) {
899 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
900 " large payload");
901 free(cmd);
902 return ERROR_FAIL;
903 }
904
905 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
906
907 bits_last_byte = scan_size_bits % 8;
908 if (bits_last_byte == 0)
909 bits_last_byte = 8;
910
911 /* Allocate out_payload depending on scan type */
912 switch (scan_type) {
913 case SCAN_IN:
914 if (device->delay_scan_in < 0)
915 cmd->id = CMD_SCAN_IN;
916 else
917 cmd->id = CMD_SLOW_SCAN_IN;
918 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
919 break;
920 case SCAN_OUT:
921 if (device->delay_scan_out < 0)
922 cmd->id = CMD_SCAN_OUT;
923 else
924 cmd->id = CMD_SLOW_SCAN_OUT;
925 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
926 break;
927 case SCAN_IO:
928 if (device->delay_scan_io < 0)
929 cmd->id = CMD_SCAN_IO;
930 else
931 cmd->id = CMD_SLOW_SCAN_IO;
932 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
933 break;
934 default:
935 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
936 ret = ERROR_FAIL;
937 break;
938 }
939
940 if (ret != ERROR_OK) {
941 free(cmd);
942 return ret;
943 }
944
945 /* Build payload_out that is common to all scan types */
946 cmd->payload_out[0] = scan_size_bytes & 0xFF;
947 cmd->payload_out[1] = bits_last_byte & 0xFF;
948 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
949 cmd->payload_out[3] = tms_sequence_start;
950 cmd->payload_out[4] = tms_sequence_end;
951
952 /* Setup payload_out for types with OUT transfer */
953 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
954 for (i = 0; i < scan_size_bytes; i++)
955 cmd->payload_out[i + 5] = tdi[i];
956 }
957
958 /* Setup payload_in pointers for types with IN transfer */
959 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
960 cmd->payload_in_start = tdo_start;
961 cmd->payload_in = tdo;
962 cmd->payload_in_size = scan_size_bytes;
963 }
964
965 cmd->needs_postprocessing = postprocess;
966 cmd->cmd_origin = origin;
967
968 /* For scan commands, we free payload_in_start only when the command is
969 * the last in a series of split commands or a stand-alone command */
970 cmd->free_payload_in_start = postprocess;
971
972 return ulink_append_queue(device, cmd);
973 }
974
975 /**
976 * Perform TAP state transitions
977 *
978 * @param device pointer to struct ulink identifying ULINK driver instance.
979 * @param count defines the number of TCK clock cycles generated (up to 8).
980 * @param sequence defines the TMS pin levels for each state transition. The
981 * Least-Significant Bit is read first.
982 * @return on success: ERROR_OK
983 * @return on failure: ERROR_FAIL
984 */
985 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
986 uint8_t sequence)
987 {
988 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
989 int ret;
990
991 if (cmd == NULL)
992 return ERROR_FAIL;
993
994 if (device->delay_clock_tms < 0)
995 cmd->id = CMD_CLOCK_TMS;
996 else
997 cmd->id = CMD_SLOW_CLOCK_TMS;
998
999 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1000 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1001 if (ret != ERROR_OK) {
1002 free(cmd);
1003 return ret;
1004 }
1005
1006 cmd->payload_out[0] = count;
1007 cmd->payload_out[1] = sequence;
1008
1009 return ulink_append_queue(device, cmd);
1010 }
1011
1012 /**
1013 * Generate a defined amount of TCK clock cycles
1014 *
1015 * All other JTAG signals are left unchanged.
1016 *
1017 * @param device pointer to struct ulink identifying ULINK driver instance.
1018 * @param count the number of TCK clock cycles to generate.
1019 * @return on success: ERROR_OK
1020 * @return on failure: ERROR_FAIL
1021 */
1022 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1023 {
1024 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1025 int ret;
1026
1027 if (cmd == NULL)
1028 return ERROR_FAIL;
1029
1030 if (device->delay_clock_tck < 0)
1031 cmd->id = CMD_CLOCK_TCK;
1032 else
1033 cmd->id = CMD_SLOW_CLOCK_TCK;
1034
1035 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1036 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1037 if (ret != ERROR_OK) {
1038 free(cmd);
1039 return ret;
1040 }
1041
1042 cmd->payload_out[0] = count & 0xff;
1043 cmd->payload_out[1] = (count >> 8) & 0xff;
1044
1045 return ulink_append_queue(device, cmd);
1046 }
1047
1048 /**
1049 * Read JTAG signals.
1050 *
1051 * @param device pointer to struct ulink identifying ULINK driver instance.
1052 * @return on success: ERROR_OK
1053 * @return on failure: ERROR_FAIL
1054 */
1055 int ulink_append_get_signals_cmd(struct ulink *device)
1056 {
1057 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1058 int ret;
1059
1060 if (cmd == NULL)
1061 return ERROR_FAIL;
1062
1063 cmd->id = CMD_GET_SIGNALS;
1064 cmd->needs_postprocessing = true;
1065
1066 /* CMD_GET_SIGNALS has two IN payload bytes */
1067 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1068
1069 if (ret != ERROR_OK) {
1070 free(cmd);
1071 return ret;
1072 }
1073
1074 return ulink_append_queue(device, cmd);
1075 }
1076
1077 /**
1078 * Arbitrarily set JTAG output signals.
1079 *
1080 * @param device pointer to struct ulink identifying ULINK driver instance.
1081 * @param low defines which signals will be de-asserted. Each bit corresponds
1082 * to a JTAG signal:
1083 * - SIGNAL_TDI
1084 * - SIGNAL_TMS
1085 * - SIGNAL_TCK
1086 * - SIGNAL_TRST
1087 * - SIGNAL_BRKIN
1088 * - SIGNAL_RESET
1089 * - SIGNAL_OCDSE
1090 * @param high defines which signals will be asserted.
1091 * @return on success: ERROR_OK
1092 * @return on failure: ERROR_FAIL
1093 */
1094 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1095 uint8_t high)
1096 {
1097 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1098 int ret;
1099
1100 if (cmd == NULL)
1101 return ERROR_FAIL;
1102
1103 cmd->id = CMD_SET_SIGNALS;
1104
1105 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1106 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1107
1108 if (ret != ERROR_OK) {
1109 free(cmd);
1110 return ret;
1111 }
1112
1113 cmd->payload_out[0] = low;
1114 cmd->payload_out[1] = high;
1115
1116 return ulink_append_queue(device, cmd);
1117 }
1118
1119 /**
1120 * Sleep for a pre-defined number of microseconds
1121 *
1122 * @param device pointer to struct ulink identifying ULINK driver instance.
1123 * @param us the number microseconds to sleep.
1124 * @return on success: ERROR_OK
1125 * @return on failure: ERROR_FAIL
1126 */
1127 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1128 {
1129 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1130 int ret;
1131
1132 if (cmd == NULL)
1133 return ERROR_FAIL;
1134
1135 cmd->id = CMD_SLEEP_US;
1136
1137 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1138 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1139
1140 if (ret != ERROR_OK) {
1141 free(cmd);
1142 return ret;
1143 }
1144
1145 cmd->payload_out[0] = us & 0x00ff;
1146 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1147
1148 return ulink_append_queue(device, cmd);
1149 }
1150
1151 /**
1152 * Set TCK delay counters
1153 *
1154 * @param device pointer to struct ulink identifying ULINK driver instance.
1155 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1156 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1157 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1158 * @param delay_tck delay count top value in jtag_clock_tck() function.
1159 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1160 * @return on success: ERROR_OK
1161 * @return on failure: ERROR_FAIL
1162 */
1163 int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1164 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1165 {
1166 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1167 int ret;
1168
1169 if (cmd == NULL)
1170 return ERROR_FAIL;
1171
1172 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1173
1174 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1175 * IN payload bytes */
1176 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1177 if (ret != ERROR_OK) {
1178 free(cmd);
1179 return ret;
1180 }
1181
1182 if (delay_scan_in < 0)
1183 cmd->payload_out[0] = 0;
1184 else
1185 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1186
1187 if (delay_scan_out < 0)
1188 cmd->payload_out[1] = 0;
1189 else
1190 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1191
1192 if (delay_scan_io < 0)
1193 cmd->payload_out[2] = 0;
1194 else
1195 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1196
1197 if (delay_tck < 0)
1198 cmd->payload_out[3] = 0;
1199 else
1200 cmd->payload_out[3] = (uint8_t)delay_tck;
1201
1202 if (delay_tms < 0)
1203 cmd->payload_out[4] = 0;
1204 else
1205 cmd->payload_out[4] = (uint8_t)delay_tms;
1206
1207 return ulink_append_queue(device, cmd);
1208 }
1209
1210 /**
1211 * Turn on/off ULINK LEDs.
1212 *
1213 * @param device pointer to struct ulink identifying ULINK driver instance.
1214 * @param led_state which LED(s) to turn on or off. The following bits
1215 * influence the LEDS:
1216 * - Bit 0: Turn COM LED on
1217 * - Bit 1: Turn RUN LED on
1218 * - Bit 2: Turn COM LED off
1219 * - Bit 3: Turn RUN LED off
1220 * If both the on-bit and the off-bit for the same LED is set, the LED is
1221 * turned off.
1222 * @return on success: ERROR_OK
1223 * @return on failure: ERROR_FAIL
1224 */
1225 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1226 {
1227 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1228 int ret;
1229
1230 if (cmd == NULL)
1231 return ERROR_FAIL;
1232
1233 cmd->id = CMD_SET_LEDS;
1234
1235 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1236 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1237 if (ret != ERROR_OK) {
1238 free(cmd);
1239 return ret;
1240 }
1241
1242 cmd->payload_out[0] = led_state;
1243
1244 return ulink_append_queue(device, cmd);
1245 }
1246
1247 /**
1248 * Test command. Used to check if the ULINK device is ready to accept new
1249 * commands.
1250 *
1251 * @param device pointer to struct ulink identifying ULINK driver instance.
1252 * @return on success: ERROR_OK
1253 * @return on failure: ERROR_FAIL
1254 */
1255 int ulink_append_test_cmd(struct ulink *device)
1256 {
1257 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1258 int ret;
1259
1260 if (cmd == NULL)
1261 return ERROR_FAIL;
1262
1263 cmd->id = CMD_TEST;
1264
1265 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1266 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1267 if (ret != ERROR_OK) {
1268 free(cmd);
1269 return ret;
1270 }
1271
1272 cmd->payload_out[0] = 0xAA;
1273
1274 return ulink_append_queue(device, cmd);
1275 }
1276
1277 /****************** OpenULINK TCK frequency helper functions ******************/
1278
1279 /**
1280 * Calculate delay values for a given TCK frequency.
1281 *
1282 * The OpenULINK firmware uses five different speed values for different
1283 * commands. These speed values are calculated in these functions.
1284 *
1285 * The five different commands which support variable TCK frequency are
1286 * implemented twice in the firmware:
1287 * 1. Maximum possible frequency without any artificial delay
1288 * 2. Variable frequency with artificial linear delay loop
1289 *
1290 * To set the ULINK to maximum frequency, it is only neccessary to use the
1291 * corresponding command IDs. To set the ULINK to a lower frequency, the
1292 * delay loop top values have to be calculated first. Then, a
1293 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1294 *
1295 * The delay values are described by linear equations:
1296 * t = k * x + d
1297 * (t = period, k = constant, x = delay value, d = constant)
1298 *
1299 * Thus, the delay can be calculated as in the following equation:
1300 * x = (t - d) / k
1301 *
1302 * The constants in these equations have been determined and validated by
1303 * measuring the frequency resulting from different delay values.
1304 *
1305 * @param type for which command to calculate the delay value.
1306 * @param f TCK frequency for which to calculate the delay value in Hz.
1307 * @param delay where to store resulting delay value.
1308 * @return on success: ERROR_OK
1309 * @return on failure: ERROR_FAIL
1310 */
1311 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1312 {
1313 float t, x, x_ceil;
1314
1315 /* Calculate period of requested TCK frequency */
1316 t = 1.0 / (float)(f);
1317
1318 switch (type) {
1319 case DELAY_CLOCK_TCK:
1320 x = (t - (float)(6E-6)) / (float)(4E-6);
1321 break;
1322 case DELAY_CLOCK_TMS:
1323 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1324 break;
1325 case DELAY_SCAN_IN:
1326 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1327 break;
1328 case DELAY_SCAN_OUT:
1329 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1330 break;
1331 case DELAY_SCAN_IO:
1332 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1333 break;
1334 default:
1335 return ERROR_FAIL;
1336 break;
1337 }
1338
1339 /* Check if the delay value is negative. This happens when a frequency is
1340 * requested that is too high for the delay loop implementation. In this
1341 * case, set delay value to zero. */
1342 if (x < 0)
1343 x = 0;
1344
1345 /* We need to convert the exact delay value to an integer. Therefore, we
1346 * round the exact value UP to ensure that the resulting frequency is NOT
1347 * higher than the requested frequency. */
1348 x_ceil = ceilf(x);
1349
1350 /* Check if the value is within limits */
1351 if (x_ceil > 255)
1352 return ERROR_FAIL;
1353
1354 *delay = (int)x_ceil;
1355
1356 return ERROR_OK;
1357 }
1358
1359 /**
1360 * Calculate frequency for a given delay value.
1361 *
1362 * Similar to the #ulink_calculate_delay function, this function calculates the
1363 * TCK frequency for a given delay value by using linear equations of the form:
1364 * t = k * x + d
1365 * (t = period, k = constant, x = delay value, d = constant)
1366 *
1367 * @param type for which command to calculate the delay value.
1368 * @param delay delay value for which to calculate the resulting TCK frequency.
1369 * @param f where to store the resulting TCK frequency.
1370 * @return on success: ERROR_OK
1371 * @return on failure: ERROR_FAIL
1372 */
1373 int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f)
1374 {
1375 float t, f_float, f_rounded;
1376
1377 if (delay > 255)
1378 return ERROR_FAIL;
1379
1380 switch (type) {
1381 case DELAY_CLOCK_TCK:
1382 if (delay < 0)
1383 t = (float)(2.666E-6);
1384 else
1385 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1386 break;
1387 case DELAY_CLOCK_TMS:
1388 if (delay < 0)
1389 t = (float)(5.666E-6);
1390 else
1391 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1392 break;
1393 case DELAY_SCAN_IN:
1394 if (delay < 0)
1395 t = (float)(5.5E-6);
1396 else
1397 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1398 break;
1399 case DELAY_SCAN_OUT:
1400 if (delay < 0)
1401 t = (float)(7.0E-6);
1402 else
1403 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1404 break;
1405 case DELAY_SCAN_IO:
1406 if (delay < 0)
1407 t = (float)(9.926E-6);
1408 else
1409 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1410 break;
1411 default:
1412 return ERROR_FAIL;
1413 break;
1414 }
1415
1416 f_float = 1.0 / t;
1417 f_rounded = roundf(f_float);
1418 *f = (long)f_rounded;
1419
1420 return ERROR_OK;
1421 }
1422
1423 /******************* Interface between OpenULINK and OpenOCD ******************/
1424
1425 /**
1426 * Sets the end state follower (see interface.h) if \a endstate is a stable
1427 * state.
1428 *
1429 * @param endstate the state the end state follower should be set to.
1430 */
1431 static void ulink_set_end_state(tap_state_t endstate)
1432 {
1433 if (tap_is_state_stable(endstate))
1434 tap_set_end_state(endstate);
1435 else {
1436 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1437 exit(EXIT_FAILURE);
1438 }
1439 }
1440
1441 /**
1442 * Move from the current TAP state to the current TAP end state.
1443 *
1444 * @param device pointer to struct ulink identifying ULINK driver instance.
1445 * @return on success: ERROR_OK
1446 * @return on failure: ERROR_FAIL
1447 */
1448 int ulink_queue_statemove(struct ulink *device)
1449 {
1450 uint8_t tms_sequence, tms_count;
1451 int ret;
1452
1453 if (tap_get_state() == tap_get_end_state()) {
1454 /* Do nothing if we are already there */
1455 return ERROR_OK;
1456 }
1457
1458 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1459 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1460
1461 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1462
1463 if (ret == ERROR_OK)
1464 tap_set_state(tap_get_end_state());
1465
1466 return ret;
1467 }
1468
1469 /**
1470 * Perform a scan operation on a JTAG register.
1471 *
1472 * @param device pointer to struct ulink identifying ULINK driver instance.
1473 * @param cmd pointer to the command that shall be executed.
1474 * @return on success: ERROR_OK
1475 * @return on failure: ERROR_FAIL
1476 */
1477 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1478 {
1479 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1480 uint32_t scans_max_payload, bytecount;
1481 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1482 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1483
1484 uint8_t first_tms_count, first_tms_sequence;
1485 uint8_t last_tms_count, last_tms_sequence;
1486
1487 uint8_t tms_count_pause, tms_sequence_pause;
1488 uint8_t tms_count_resume, tms_sequence_resume;
1489
1490 uint8_t tms_count_start, tms_sequence_start;
1491 uint8_t tms_count_end, tms_sequence_end;
1492
1493 enum scan_type type;
1494 int ret;
1495
1496 /* Determine scan size */
1497 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1498 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1499
1500 /* Determine scan type (IN/OUT/IO) */
1501 type = jtag_scan_type(cmd->cmd.scan);
1502
1503 /* Determine number of scan commands with maximum payload */
1504 scans_max_payload = scan_size_bytes / 58;
1505
1506 /* Determine size of last shift command */
1507 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1508
1509 /* Allocate TDO buffer if required */
1510 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1511 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1512
1513 if (tdo_buffer_start == NULL)
1514 return ERROR_FAIL;
1515
1516 tdo_buffer = tdo_buffer_start;
1517 }
1518
1519 /* Fill TDI buffer if required */
1520 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1521 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1522 tdi_buffer = tdi_buffer_start;
1523 }
1524
1525 /* Get TAP state transitions */
1526 if (cmd->cmd.scan->ir_scan) {
1527 ulink_set_end_state(TAP_IRSHIFT);
1528 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1529 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1530
1531 tap_set_state(TAP_IRSHIFT);
1532 tap_set_end_state(cmd->cmd.scan->end_state);
1533 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1534 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1535
1536 /* TAP state transitions for split scans */
1537 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1538 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1539 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1540 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1541 } else {
1542 ulink_set_end_state(TAP_DRSHIFT);
1543 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1544 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1545
1546 tap_set_state(TAP_DRSHIFT);
1547 tap_set_end_state(cmd->cmd.scan->end_state);
1548 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1549 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1550
1551 /* TAP state transitions for split scans */
1552 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1553 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1554 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1555 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1556 }
1557
1558 /* Generate scan commands */
1559 bytecount = scan_size_bytes;
1560 while (bytecount > 0) {
1561 if (bytecount == scan_size_bytes) {
1562 /* This is the first scan */
1563 tms_count_start = first_tms_count;
1564 tms_sequence_start = first_tms_sequence;
1565 } else {
1566 /* Resume from previous scan */
1567 tms_count_start = tms_count_resume;
1568 tms_sequence_start = tms_sequence_resume;
1569 }
1570
1571 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1572 tms_count_end = tms_count_pause;
1573 tms_sequence_end = tms_sequence_pause;
1574
1575 ret = ulink_append_scan_cmd(device,
1576 type,
1577 58 * 8,
1578 tdi_buffer,
1579 tdo_buffer_start,
1580 tdo_buffer,
1581 tms_count_start,
1582 tms_sequence_start,
1583 tms_count_end,
1584 tms_sequence_end,
1585 cmd,
1586 false);
1587
1588 bytecount -= 58;
1589
1590 /* Update TDI and TDO buffer pointers */
1591 if (tdi_buffer_start != NULL)
1592 tdi_buffer += 58;
1593 if (tdo_buffer_start != NULL)
1594 tdo_buffer += 58;
1595 } else if (bytecount == 58) { /* Full scan, no further scans */
1596 tms_count_end = last_tms_count;
1597 tms_sequence_end = last_tms_sequence;
1598
1599 ret = ulink_append_scan_cmd(device,
1600 type,
1601 58 * 8,
1602 tdi_buffer,
1603 tdo_buffer_start,
1604 tdo_buffer,
1605 tms_count_start,
1606 tms_sequence_start,
1607 tms_count_end,
1608 tms_sequence_end,
1609 cmd,
1610 true);
1611
1612 bytecount = 0;
1613 } else {/* Scan with less than maximum payload, no further scans */
1614 tms_count_end = last_tms_count;
1615 tms_sequence_end = last_tms_sequence;
1616
1617 ret = ulink_append_scan_cmd(device,
1618 type,
1619 bits_last_scan,
1620 tdi_buffer,
1621 tdo_buffer_start,
1622 tdo_buffer,
1623 tms_count_start,
1624 tms_sequence_start,
1625 tms_count_end,
1626 tms_sequence_end,
1627 cmd,
1628 true);
1629
1630 bytecount = 0;
1631 }
1632
1633 if (ret != ERROR_OK) {
1634 free(tdi_buffer_start);
1635 return ret;
1636 }
1637 }
1638
1639 free(tdi_buffer_start);
1640
1641 /* Set current state to the end state requested by the command */
1642 tap_set_state(cmd->cmd.scan->end_state);
1643
1644 return ERROR_OK;
1645 }
1646
1647 /**
1648 * Move the TAP into the Test Logic Reset state.
1649 *
1650 * @param device pointer to struct ulink identifying ULINK driver instance.
1651 * @param cmd pointer to the command that shall be executed.
1652 * @return on success: ERROR_OK
1653 * @return on failure: ERROR_FAIL
1654 */
1655 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1656 {
1657 int ret;
1658
1659 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1660
1661 if (ret == ERROR_OK)
1662 tap_set_state(TAP_RESET);
1663
1664 return ret;
1665 }
1666
1667 /**
1668 * Run Test.
1669 *
1670 * Generate TCK clock cycles while remaining
1671 * in the Run-Test/Idle state.
1672 *
1673 * @param device pointer to struct ulink identifying ULINK driver instance.
1674 * @param cmd pointer to the command that shall be executed.
1675 * @return on success: ERROR_OK
1676 * @return on failure: ERROR_FAIL
1677 */
1678 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1679 {
1680 int ret;
1681
1682 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1683 if (tap_get_state() != TAP_IDLE) {
1684 ulink_set_end_state(TAP_IDLE);
1685 ulink_queue_statemove(device);
1686 }
1687
1688 /* Generate the clock cycles */
1689 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1690 if (ret != ERROR_OK)
1691 return ret;
1692
1693 /* Move to end state specified in command */
1694 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1695 tap_set_end_state(cmd->cmd.runtest->end_state);
1696 ulink_queue_statemove(device);
1697 }
1698
1699 return ERROR_OK;
1700 }
1701
1702 /**
1703 * Execute a JTAG_RESET command
1704 *
1705 * @param cmd pointer to the command that shall be executed.
1706 * @return on success: ERROR_OK
1707 * @return on failure: ERROR_FAIL
1708 */
1709 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1710 {
1711 uint8_t low = 0, high = 0;
1712
1713 if (cmd->cmd.reset->trst) {
1714 tap_set_state(TAP_RESET);
1715 high |= SIGNAL_TRST;
1716 } else
1717 low |= SIGNAL_TRST;
1718
1719 if (cmd->cmd.reset->srst)
1720 high |= SIGNAL_RESET;
1721 else
1722 low |= SIGNAL_RESET;
1723
1724 return ulink_append_set_signals_cmd(device, low, high);
1725 }
1726
1727 /**
1728 * Move to one TAP state or several states in succession.
1729 *
1730 * @param device pointer to struct ulink identifying ULINK driver instance.
1731 * @param cmd pointer to the command that shall be executed.
1732 * @return on success: ERROR_OK
1733 * @return on failure: ERROR_FAIL
1734 */
1735 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1736 {
1737 int ret, i, num_states, batch_size, state_count;
1738 tap_state_t *path;
1739 uint8_t tms_sequence;
1740
1741 num_states = cmd->cmd.pathmove->num_states;
1742 path = cmd->cmd.pathmove->path;
1743 state_count = 0;
1744
1745 while (num_states > 0) {
1746 tms_sequence = 0;
1747
1748 /* Determine batch size */
1749 if (num_states >= 8)
1750 batch_size = 8;
1751 else
1752 batch_size = num_states;
1753
1754 for (i = 0; i < batch_size; i++) {
1755 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1756 /* Append '0' transition: clear bit 'i' in tms_sequence */
1757 buf_set_u32(&tms_sequence, i, 1, 0x0);
1758 } else if (tap_state_transition(tap_get_state(), true)
1759 == path[state_count]) {
1760 /* Append '1' transition: set bit 'i' in tms_sequence */
1761 buf_set_u32(&tms_sequence, i, 1, 0x1);
1762 } else {
1763 /* Invalid state transition */
1764 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1765 tap_state_name(tap_get_state()),
1766 tap_state_name(path[state_count]));
1767 return ERROR_FAIL;
1768 }
1769
1770 tap_set_state(path[state_count]);
1771 state_count++;
1772 num_states--;
1773 }
1774
1775 /* Append CLOCK_TMS command to OpenULINK command queue */
1776 LOG_INFO(
1777 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1778 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1779 if (ret != ERROR_OK)
1780 return ret;
1781 }
1782
1783 return ERROR_OK;
1784 }
1785
1786 /**
1787 * Sleep for a specific amount of time.
1788 *
1789 * @param device pointer to struct ulink identifying ULINK driver instance.
1790 * @param cmd pointer to the command that shall be executed.
1791 * @return on success: ERROR_OK
1792 * @return on failure: ERROR_FAIL
1793 */
1794 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1795 {
1796 /* IMPORTANT! Due to the time offset in command execution introduced by
1797 * command queueing, this needs to be implemented in the ULINK device */
1798 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1799 }
1800
1801 /**
1802 * Generate TCK cycles while remaining in a stable state.
1803 *
1804 * @param device pointer to struct ulink identifying ULINK driver instance.
1805 * @param cmd pointer to the command that shall be executed.
1806 */
1807 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1808 {
1809 int ret;
1810 unsigned num_cycles;
1811
1812 if (!tap_is_state_stable(tap_get_state())) {
1813 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1814 return ERROR_FAIL;
1815 }
1816
1817 num_cycles = cmd->cmd.stableclocks->num_cycles;
1818
1819 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1820 if (tap_get_state() == TAP_RESET)
1821 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1822 else
1823 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1824
1825 if (ret != ERROR_OK)
1826 return ret;
1827
1828 while (num_cycles > 0) {
1829 if (num_cycles > 0xFFFF) {
1830 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1831 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1832 num_cycles -= 0xFFFF;
1833 } else {
1834 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1835 num_cycles = 0;
1836 }
1837
1838 if (ret != ERROR_OK)
1839 return ret;
1840 }
1841
1842 return ERROR_OK;
1843 }
1844
1845 /**
1846 * Post-process JTAG_SCAN command
1847 *
1848 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1849 * @return on success: ERROR_OK
1850 * @return on failure: ERROR_FAIL
1851 */
1852 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1853 {
1854 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1855 int ret;
1856
1857 switch (jtag_scan_type(cmd->cmd.scan)) {
1858 case SCAN_IN:
1859 case SCAN_IO:
1860 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1861 break;
1862 case SCAN_OUT:
1863 /* Nothing to do for OUT scans */
1864 ret = ERROR_OK;
1865 break;
1866 default:
1867 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1868 " JTAG scan type");
1869 ret = ERROR_FAIL;
1870 break;
1871 }
1872
1873 return ret;
1874 }
1875
1876 /**
1877 * Perform post-processing of commands after OpenULINK queue has been executed.
1878 *
1879 * @param device pointer to struct ulink identifying ULINK driver instance.
1880 * @return on success: ERROR_OK
1881 * @return on failure: ERROR_FAIL
1882 */
1883 int ulink_post_process_queue(struct ulink *device)
1884 {
1885 struct ulink_cmd *current;
1886 struct jtag_command *openocd_cmd;
1887 int ret;
1888
1889 current = device->queue_start;
1890
1891 while (current != NULL) {
1892 openocd_cmd = current->cmd_origin;
1893
1894 /* Check if a corresponding OpenOCD command is stored for this
1895 * OpenULINK command */
1896 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1897 switch (openocd_cmd->type) {
1898 case JTAG_SCAN:
1899 ret = ulink_post_process_scan(current);
1900 break;
1901 case JTAG_TLR_RESET:
1902 case JTAG_RUNTEST:
1903 case JTAG_RESET:
1904 case JTAG_PATHMOVE:
1905 case JTAG_SLEEP:
1906 case JTAG_STABLECLOCKS:
1907 /* Nothing to do for these commands */
1908 ret = ERROR_OK;
1909 break;
1910 default:
1911 ret = ERROR_FAIL;
1912 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1913 "command type");
1914 break;
1915 }
1916
1917 if (ret != ERROR_OK)
1918 return ret;
1919 }
1920
1921 current = current->next;
1922 }
1923
1924 return ERROR_OK;
1925 }
1926
1927 /**************************** JTAG driver functions ***************************/
1928
1929 /**
1930 * Executes the JTAG Command Queue.
1931 *
1932 * This is done in three stages: First, all OpenOCD commands are processed into
1933 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1934 * ULINK device and data received from the ULINK device is cached. Finally,
1935 * the post-processing function writes back data to the corresponding OpenOCD
1936 * commands.
1937 *
1938 * @return on success: ERROR_OK
1939 * @return on failure: ERROR_FAIL
1940 */
1941 static int ulink_execute_queue(void)
1942 {
1943 struct jtag_command *cmd = jtag_command_queue;
1944 int ret;
1945
1946 while (cmd) {
1947 switch (cmd->type) {
1948 case JTAG_SCAN:
1949 ret = ulink_queue_scan(ulink_handle, cmd);
1950 break;
1951 case JTAG_TLR_RESET:
1952 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1953 break;
1954 case JTAG_RUNTEST:
1955 ret = ulink_queue_runtest(ulink_handle, cmd);
1956 break;
1957 case JTAG_RESET:
1958 ret = ulink_queue_reset(ulink_handle, cmd);
1959 break;
1960 case JTAG_PATHMOVE:
1961 ret = ulink_queue_pathmove(ulink_handle, cmd);
1962 break;
1963 case JTAG_SLEEP:
1964 ret = ulink_queue_sleep(ulink_handle, cmd);
1965 break;
1966 case JTAG_STABLECLOCKS:
1967 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1968 break;
1969 default:
1970 ret = ERROR_FAIL;
1971 LOG_ERROR("BUG: encountered unknown JTAG command type");
1972 break;
1973 }
1974
1975 if (ret != ERROR_OK)
1976 return ret;
1977
1978 cmd = cmd->next;
1979 }
1980
1981 if (ulink_handle->commands_in_queue > 0) {
1982 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1983 if (ret != ERROR_OK)
1984 return ret;
1985
1986 ret = ulink_post_process_queue(ulink_handle);
1987 if (ret != ERROR_OK)
1988 return ret;
1989
1990 ulink_clear_queue(ulink_handle);
1991 }
1992
1993 return ERROR_OK;
1994 }
1995
1996 /**
1997 * Set the TCK frequency of the ULINK adapter.
1998 *
1999 * @param khz desired JTAG TCK frequency.
2000 * @param jtag_speed where to store corresponding adapter-specific speed value.
2001 * @return on success: ERROR_OK
2002 * @return on failure: ERROR_FAIL
2003 */
2004 static int ulink_khz(int khz, int *jtag_speed)
2005 {
2006 int ret;
2007
2008 if (khz == 0) {
2009 LOG_ERROR("RCLK not supported");
2010 return ERROR_FAIL;
2011 }
2012
2013 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2014 * setting can be done independently from all other commands. */
2015 if (khz >= 375)
2016 ulink_handle->delay_clock_tck = -1;
2017 else {
2018 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
2019 &ulink_handle->delay_clock_tck);
2020 if (ret != ERROR_OK)
2021 return ret;
2022 }
2023
2024 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2025 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2026 * commands, all SCAN commands MUST also use the variable frequency
2027 * implementation! */
2028 if (khz >= 176) {
2029 ulink_handle->delay_clock_tms = -1;
2030 ulink_handle->delay_scan_in = -1;
2031 ulink_handle->delay_scan_out = -1;
2032 ulink_handle->delay_scan_io = -1;
2033 } else {
2034 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2035 &ulink_handle->delay_clock_tms);
2036 if (ret != ERROR_OK)
2037 return ret;
2038
2039 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2040 &ulink_handle->delay_scan_in);
2041 if (ret != ERROR_OK)
2042 return ret;
2043
2044 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2045 &ulink_handle->delay_scan_out);
2046 if (ret != ERROR_OK)
2047 return ret;
2048
2049 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2050 &ulink_handle->delay_scan_io);
2051 if (ret != ERROR_OK)
2052 return ret;
2053 }
2054
2055 #ifdef _DEBUG_JTAG_IO_
2056 long f_tck, f_tms, f_scan_in, f_scan_out, f_scan_io;
2057
2058 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck,
2059 &f_tck);
2060 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms,
2061 &f_tms);
2062 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in,
2063 &f_scan_in);
2064 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out,
2065 &f_scan_out);
2066 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io,
2067 &f_scan_io);
2068
2069 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2070 ulink_handle->delay_clock_tck, f_tck);
2071 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2072 ulink_handle->delay_clock_tms, f_tms);
2073 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2074 ulink_handle->delay_scan_in, f_scan_in);
2075 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2076 ulink_handle->delay_scan_out, f_scan_out);
2077 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2078 ulink_handle->delay_scan_io, f_scan_io);
2079 #endif
2080
2081 /* Configure the ULINK device with the new delay values */
2082 ret = ulink_append_configure_tck_cmd(ulink_handle,
2083 ulink_handle->delay_scan_in,
2084 ulink_handle->delay_scan_out,
2085 ulink_handle->delay_scan_io,
2086 ulink_handle->delay_clock_tck,
2087 ulink_handle->delay_clock_tms);
2088
2089 if (ret != ERROR_OK)
2090 return ret;
2091
2092 *jtag_speed = khz;
2093
2094 return ERROR_OK;
2095 }
2096
2097 /**
2098 * Set the TCK frequency of the ULINK adapter.
2099 *
2100 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2101 * there are five different speed settings. To simplify things, the
2102 * adapter-specific speed setting value is identical to the TCK frequency in
2103 * khz.
2104 *
2105 * @param speed desired adapter-specific speed value.
2106 * @return on success: ERROR_OK
2107 * @return on failure: ERROR_FAIL
2108 */
2109 static int ulink_speed(int speed)
2110 {
2111 int dummy;
2112
2113 return ulink_khz(speed, &dummy);
2114 }
2115
2116 /**
2117 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2118 *
2119 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2120 * there are five different speed settings. To simplify things, the
2121 * adapter-specific speed setting value is identical to the TCK frequency in
2122 * khz.
2123 *
2124 * @param speed adapter-specific speed value.
2125 * @param khz where to store corresponding TCK frequency in kHz.
2126 * @return on success: ERROR_OK
2127 * @return on failure: ERROR_FAIL
2128 */
2129 static int ulink_speed_div(int speed, int *khz)
2130 {
2131 *khz = speed;
2132
2133 return ERROR_OK;
2134 }
2135
2136 /**
2137 * Initiates the firmware download to the ULINK adapter and prepares
2138 * the USB handle.
2139 *
2140 * @return on success: ERROR_OK
2141 * @return on failure: ERROR_FAIL
2142 */
2143 static int ulink_init(void)
2144 {
2145 int ret;
2146 char str_manufacturer[20];
2147 bool download_firmware = false;
2148 uint8_t *dummy;
2149 uint8_t input_signals, output_signals;
2150
2151 ulink_handle = calloc(1, sizeof(struct ulink));
2152 if (ulink_handle == NULL)
2153 return ERROR_FAIL;
2154
2155 usb_init();
2156
2157 ret = ulink_usb_open(&ulink_handle);
2158 if (ret != ERROR_OK) {
2159 LOG_ERROR("Could not open ULINK device");
2160 free(ulink_handle);
2161 ulink_handle = NULL;
2162 return ret;
2163 }
2164
2165 /* Get String Descriptor to determine if firmware needs to be loaded */
2166 ret = usb_get_string_simple(ulink_handle->usb_handle, 1, str_manufacturer, 20);
2167 if (ret < 0) {
2168 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2169 download_firmware = true;
2170 } else {
2171 /* We got a String Descriptor, check if it is the correct one */
2172 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2173 download_firmware = true;
2174 }
2175
2176 if (download_firmware == true) {
2177 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2178 " ULINK device.");
2179 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2180 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2181 if (ret != ERROR_OK) {
2182 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2183 free(ulink_handle);
2184 ulink_handle = NULL;
2185 return ret;
2186 }
2187 } else
2188 LOG_INFO("ULINK device is already running OpenULINK firmware");
2189
2190 /* Initialize OpenULINK command queue */
2191 ulink_clear_queue(ulink_handle);
2192
2193 /* Issue one test command with short timeout */
2194 ret = ulink_append_test_cmd(ulink_handle);
2195 if (ret != ERROR_OK)
2196 return ret;
2197
2198 ret = ulink_execute_queued_commands(ulink_handle, 200);
2199 if (ret != ERROR_OK) {
2200 /* Sending test command failed. The ULINK device may be forever waiting for
2201 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2202 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2203 dummy = calloc(64, sizeof(uint8_t));
2204
2205 ret = usb_bulk_read(ulink_handle->usb_handle, (2 | USB_ENDPOINT_IN),
2206 (char *)dummy, 64, 200);
2207
2208 free(dummy);
2209
2210 if (ret < 0) {
2211 /* Bulk IN transfer failed -> unrecoverable error condition */
2212 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2213 "the USB port and re-connect, then re-run OpenOCD");
2214 free(ulink_handle);
2215 ulink_handle = NULL;
2216 return ERROR_FAIL;
2217 }
2218 #ifdef _DEBUG_USB_COMMS_
2219 else {
2220 /* Successfully received Bulk IN packet -> continue */
2221 LOG_INFO("Recovered from lost Bulk IN packet");
2222 }
2223 #endif
2224 }
2225 ulink_clear_queue(ulink_handle);
2226
2227 ulink_append_get_signals_cmd(ulink_handle);
2228 ulink_execute_queued_commands(ulink_handle, 200);
2229
2230 /* Post-process the single CMD_GET_SIGNALS command */
2231 input_signals = ulink_handle->queue_start->payload_in[0];
2232 output_signals = ulink_handle->queue_start->payload_in[1];
2233
2234 ulink_print_signal_states(input_signals, output_signals);
2235
2236 ulink_clear_queue(ulink_handle);
2237
2238 return ERROR_OK;
2239 }
2240
2241 /**
2242 * Closes the USB handle for the ULINK device.
2243 *
2244 * @return on success: ERROR_OK
2245 * @return on failure: ERROR_FAIL
2246 */
2247 static int ulink_quit(void)
2248 {
2249 int ret;
2250
2251 ret = ulink_usb_close(&ulink_handle);
2252 free(ulink_handle);
2253
2254 return ret;
2255 }
2256
2257 /**
2258 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2259 */
2260 COMMAND_HANDLER(ulink_download_firmware_handler)
2261 {
2262 int ret;
2263
2264 if (CMD_ARGC != 1)
2265 return ERROR_COMMAND_SYNTAX_ERROR;
2266
2267
2268 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2269
2270 /* Download firmware image in CMD_ARGV[0] */
2271 ret = ulink_load_firmware_and_renumerate(&ulink_handle, (char *)CMD_ARGV[0],
2272 ULINK_RENUMERATION_DELAY);
2273
2274 return ret;
2275 }
2276
2277 /*************************** Command Registration **************************/
2278
2279 static const struct command_registration ulink_command_handlers[] = {
2280 {
2281 .name = "ulink_download_firmware",
2282 .handler = &ulink_download_firmware_handler,
2283 .mode = COMMAND_EXEC,
2284 .help = "download firmware image to ULINK device",
2285 .usage = "path/to/ulink_firmware.hex",
2286 },
2287 COMMAND_REGISTRATION_DONE,
2288 };
2289
2290 struct jtag_interface ulink_interface = {
2291 .name = "ulink",
2292
2293 .commands = ulink_command_handlers,
2294 .transports = jtag_only,
2295
2296 .execute_queue = ulink_execute_queue,
2297 .khz = ulink_khz,
2298 .speed = ulink_speed,
2299 .speed_div = ulink_speed_div,
2300
2301 .init = ulink_init,
2302 .quit = ulink_quit
2303 };