Convert DEBUG_JTAG_IO to LOG_DEBUG_IO
[openocd.git] / src / jtag / drivers / ulink.c
1 /***************************************************************************
2 * Copyright (C) 2011-2013 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, see <http://www.gnu.org/licenses/>. *
17 ***************************************************************************/
18
19 #ifdef HAVE_CONFIG_H
20 #include "config.h"
21 #endif
22
23 #include <math.h>
24 #include <jtag/interface.h>
25 #include <jtag/commands.h>
26 #include <target/image.h>
27 #include <libusb.h>
28 #include "OpenULINK/include/msgtypes.h"
29
30 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
31 * yet) or with OpenULINK firmware. */
32 #define ULINK_VID 0xC251
33
34 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
35 * yet) or with OpenULINK firmware. */
36 #define ULINK_PID 0x2710
37
38 /** Address of EZ-USB CPU Control & Status register. This register can be
39 * written by issuing a Control EP0 vendor request. */
40 #define CPUCS_REG 0x7F92
41
42 /** USB Control EP0 bRequest: "Firmware Load". */
43 #define REQUEST_FIRMWARE_LOAD 0xA0
44
45 /** Value to write into CPUCS to put EZ-USB into reset. */
46 #define CPU_RESET 0x01
47
48 /** Value to write into CPUCS to put EZ-USB out of reset. */
49 #define CPU_START 0x00
50
51 /** Base address of firmware in EZ-USB code space. */
52 #define FIRMWARE_ADDR 0x0000
53
54 /** USB interface number */
55 #define USB_INTERFACE 0
56
57 /** libusb timeout in ms */
58 #define USB_TIMEOUT 5000
59
60 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
61 #define ULINK_RENUMERATION_DELAY 1500000
62
63 /** Default location of OpenULINK firmware image. */
64 #define ULINK_FIRMWARE_FILE PKGDATADIR "/OpenULINK/ulink_firmware.hex"
65
66 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
67 #define SECTION_BUFFERSIZE 8192
68
69 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
70 #define SPLIT_SCAN_THRESHOLD 10
71
72 /** ULINK hardware type */
73 enum ulink_type {
74 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
75 * Full JTAG support, no SWD support. */
76 ULINK_1,
77
78 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
79 ULINK_2,
80
81 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
82 ULINK_PRO,
83
84 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
85 ULINK_ME
86 };
87
88 enum ulink_payload_direction {
89 PAYLOAD_DIRECTION_OUT,
90 PAYLOAD_DIRECTION_IN
91 };
92
93 enum ulink_delay_type {
94 DELAY_CLOCK_TCK,
95 DELAY_CLOCK_TMS,
96 DELAY_SCAN_IN,
97 DELAY_SCAN_OUT,
98 DELAY_SCAN_IO
99 };
100
101 /**
102 * OpenULINK command (OpenULINK command queue element).
103 *
104 * For the OUT direction payload, things are quite easy: Payload is stored
105 * in a rather small array (up to 63 bytes), the payload is always allocated
106 * by the function generating the command and freed by ulink_clear_queue().
107 *
108 * For the IN direction payload, things get a little bit more complicated:
109 * The maximum IN payload size for a single command is 64 bytes. Assume that
110 * a single OpenOCD command needs to scan 256 bytes. This results in the
111 * generation of four OpenULINK commands. The function generating these
112 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
113 * pointer shall point to the corresponding offset where IN data shall be
114 * placed, while #payload_in_start shall point to the first element of the 256
115 * byte array.
116 * - first command: #payload_in_start + 0
117 * - second command: #payload_in_start + 64
118 * - third command: #payload_in_start + 128
119 * - fourth command: #payload_in_start + 192
120 *
121 * The last command sets #needs_postprocessing to true.
122 */
123 struct ulink_cmd {
124 uint8_t id; /**< ULINK command ID */
125
126 uint8_t *payload_out; /**< OUT direction payload data */
127 uint8_t payload_out_size; /**< OUT direction payload size for this command */
128
129 uint8_t *payload_in_start; /**< Pointer to first element of IN payload array */
130 uint8_t *payload_in; /**< Pointer where IN payload shall be stored */
131 uint8_t payload_in_size; /**< IN direction payload size for this command */
132
133 /** Indicates if this command needs post-processing */
134 bool needs_postprocessing;
135
136 /** Indicates if ulink_clear_queue() should free payload_in_start */
137 bool free_payload_in_start;
138
139 /** Pointer to corresponding OpenOCD command for post-processing */
140 struct jtag_command *cmd_origin;
141
142 struct ulink_cmd *next; /**< Pointer to next command (linked list) */
143 };
144
145 /** Describes one driver instance */
146 struct ulink {
147 struct libusb_context *libusb_ctx;
148 struct libusb_device_handle *usb_device_handle;
149 enum ulink_type type;
150
151 int delay_scan_in; /**< Delay value for SCAN_IN commands */
152 int delay_scan_out; /**< Delay value for SCAN_OUT commands */
153 int delay_scan_io; /**< Delay value for SCAN_IO commands */
154 int delay_clock_tck; /**< Delay value for CLOCK_TMS commands */
155 int delay_clock_tms; /**< Delay value for CLOCK_TCK commands */
156
157 int commands_in_queue; /**< Number of commands in queue */
158 struct ulink_cmd *queue_start; /**< Pointer to first command in queue */
159 struct ulink_cmd *queue_end; /**< Pointer to last command in queue */
160 };
161
162 /**************************** Function Prototypes *****************************/
163
164 /* USB helper functions */
165 int ulink_usb_open(struct ulink **device);
166 int ulink_usb_close(struct ulink **device);
167
168 /* ULINK MCU (Cypress EZ-USB) specific functions */
169 int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit);
170 int ulink_load_firmware_and_renumerate(struct ulink **device, const char *filename,
171 uint32_t delay);
172 int ulink_load_firmware(struct ulink *device, const char *filename);
173 int ulink_write_firmware_section(struct ulink *device,
174 struct image *firmware_image, int section_index);
175
176 /* Generic helper functions */
177 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
178
179 /* OpenULINK command generation helper functions */
180 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
181 enum ulink_payload_direction direction);
182
183 /* OpenULINK command queue helper functions */
184 int ulink_get_queue_size(struct ulink *device,
185 enum ulink_payload_direction direction);
186 void ulink_clear_queue(struct ulink *device);
187 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
188 int ulink_execute_queued_commands(struct ulink *device, int timeout);
189
190 static void ulink_print_queue(struct ulink *device);
191
192 int ulink_append_scan_cmd(struct ulink *device,
193 enum scan_type scan_type,
194 int scan_size_bits,
195 uint8_t *tdi,
196 uint8_t *tdo_start,
197 uint8_t *tdo,
198 uint8_t tms_count_start,
199 uint8_t tms_sequence_start,
200 uint8_t tms_count_end,
201 uint8_t tms_sequence_end,
202 struct jtag_command *origin,
203 bool postprocess);
204 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
205 uint8_t sequence);
206 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
207 int ulink_append_get_signals_cmd(struct ulink *device);
208 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
209 uint8_t high);
210 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
211 int ulink_append_configure_tck_cmd(struct ulink *device,
212 int delay_scan_in,
213 int delay_scan_out,
214 int delay_scan_io,
215 int delay_tck,
216 int delay_tms);
217 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
218 int ulink_append_test_cmd(struct ulink *device);
219
220 /* OpenULINK TCK frequency helper functions */
221 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
222
223 /* Interface between OpenULINK and OpenOCD */
224 static void ulink_set_end_state(tap_state_t endstate);
225 int ulink_queue_statemove(struct ulink *device);
226
227 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
228 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
229 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
230 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
231 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
232 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
233 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
234
235 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
236 int ulink_post_process_queue(struct ulink *device);
237
238 /* JTAG driver functions (registered in struct jtag_interface) */
239 static int ulink_execute_queue(void);
240 static int ulink_khz(int khz, int *jtag_speed);
241 static int ulink_speed(int speed);
242 static int ulink_speed_div(int speed, int *khz);
243 static int ulink_init(void);
244 static int ulink_quit(void);
245
246 /****************************** Global Variables ******************************/
247
248 struct ulink *ulink_handle;
249
250 /**************************** USB helper functions ****************************/
251
252 /**
253 * Opens the ULINK device and claims its USB interface.
254 *
255 * Currently, only the original ULINK is supported
256 *
257 * @param device pointer to struct ulink identifying ULINK driver instance.
258 * @return on success: ERROR_OK
259 * @return on failure: ERROR_FAIL
260 */
261 int ulink_usb_open(struct ulink **device)
262 {
263 ssize_t num_devices, i;
264 bool found;
265 libusb_device **usb_devices;
266 struct libusb_device_descriptor usb_desc;
267 struct libusb_device_handle *usb_device_handle;
268
269 num_devices = libusb_get_device_list((*device)->libusb_ctx, &usb_devices);
270
271 if (num_devices <= 0)
272 return ERROR_FAIL;
273
274 found = false;
275 for (i = 0; i < num_devices; i++) {
276 if (libusb_get_device_descriptor(usb_devices[i], &usb_desc) != 0)
277 continue;
278 else if (usb_desc.idVendor == ULINK_VID && usb_desc.idProduct == ULINK_PID) {
279 found = true;
280 break;
281 }
282 }
283
284 if (!found)
285 return ERROR_FAIL;
286
287 if (libusb_open(usb_devices[i], &usb_device_handle) != 0)
288 return ERROR_FAIL;
289 libusb_free_device_list(usb_devices, 1);
290
291 if (libusb_claim_interface(usb_device_handle, 0) != 0)
292 return ERROR_FAIL;
293
294 (*device)->usb_device_handle = usb_device_handle;
295 (*device)->type = ULINK_1;
296
297 return ERROR_OK;
298 }
299
300 /**
301 * Releases the ULINK interface and closes the USB device handle.
302 *
303 * @param device pointer to struct ulink identifying ULINK driver instance.
304 * @return on success: ERROR_OK
305 * @return on failure: ERROR_FAIL
306 */
307 int ulink_usb_close(struct ulink **device)
308 {
309 if (libusb_release_interface((*device)->usb_device_handle, 0) != 0)
310 return ERROR_FAIL;
311
312 libusb_close((*device)->usb_device_handle);
313
314 (*device)->usb_device_handle = NULL;
315
316 return ERROR_OK;
317 }
318
319 /******************* ULINK CPU (EZ-USB) specific functions ********************/
320
321 /**
322 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
323 * or out of reset.
324 *
325 * @param device pointer to struct ulink identifying ULINK driver instance.
326 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
327 * @return on success: ERROR_OK
328 * @return on failure: ERROR_FAIL
329 */
330 int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit)
331 {
332 int ret;
333
334 ret = libusb_control_transfer(device->usb_device_handle,
335 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
336 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
337
338 /* usb_control_msg() returns the number of bytes transferred during the
339 * DATA stage of the control transfer - must be exactly 1 in this case! */
340 if (ret != 1)
341 return ERROR_FAIL;
342 return ERROR_OK;
343 }
344
345 /**
346 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
347 * the firmware image, resumes the microcontroller and re-enumerates
348 * USB devices.
349 *
350 * @param device pointer to struct ulink identifying ULINK driver instance.
351 * The usb_handle member will be modified during re-enumeration.
352 * @param filename path to the Intel HEX file containing the firmware image.
353 * @param delay the delay to wait for the device to re-enumerate.
354 * @return on success: ERROR_OK
355 * @return on failure: ERROR_FAIL
356 */
357 int ulink_load_firmware_and_renumerate(struct ulink **device,
358 const char *filename, uint32_t delay)
359 {
360 int ret;
361
362 /* Basic process: After downloading the firmware, the ULINK will disconnect
363 * itself and re-connect after a short amount of time so we have to close
364 * the handle and re-enumerate USB devices */
365
366 ret = ulink_load_firmware(*device, filename);
367 if (ret != ERROR_OK)
368 return ret;
369
370 ret = ulink_usb_close(device);
371 if (ret != ERROR_OK)
372 return ret;
373
374 usleep(delay);
375
376 ret = ulink_usb_open(device);
377 if (ret != ERROR_OK)
378 return ret;
379
380 return ERROR_OK;
381 }
382
383 /**
384 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
385 * over the USB bus.
386 *
387 * @param device pointer to struct ulink identifying ULINK driver instance.
388 * @param filename an absolute or relative path to the Intel HEX file
389 * containing the firmware image.
390 * @return on success: ERROR_OK
391 * @return on failure: ERROR_FAIL
392 */
393 int ulink_load_firmware(struct ulink *device, const char *filename)
394 {
395 struct image ulink_firmware_image;
396 int ret, i;
397
398 ret = ulink_cpu_reset(device, CPU_RESET);
399 if (ret != ERROR_OK) {
400 LOG_ERROR("Could not halt ULINK CPU");
401 return ret;
402 }
403
404 ulink_firmware_image.base_address = 0;
405 ulink_firmware_image.base_address_set = 0;
406
407 ret = image_open(&ulink_firmware_image, filename, "ihex");
408 if (ret != ERROR_OK) {
409 LOG_ERROR("Could not load firmware image");
410 return ret;
411 }
412
413 /* Download all sections in the image to ULINK */
414 for (i = 0; i < ulink_firmware_image.num_sections; i++) {
415 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
416 if (ret != ERROR_OK)
417 return ret;
418 }
419
420 image_close(&ulink_firmware_image);
421
422 ret = ulink_cpu_reset(device, CPU_START);
423 if (ret != ERROR_OK) {
424 LOG_ERROR("Could not restart ULINK CPU");
425 return ret;
426 }
427
428 return ERROR_OK;
429 }
430
431 /**
432 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
433 * over the USB bus.
434 *
435 * @param device pointer to struct ulink identifying ULINK driver instance.
436 * @param firmware_image pointer to the firmware image that contains the section
437 * which should be sent to the ULINK's EZ-USB microcontroller.
438 * @param section_index index of the section within the firmware image.
439 * @return on success: ERROR_OK
440 * @return on failure: ERROR_FAIL
441 */
442 int ulink_write_firmware_section(struct ulink *device,
443 struct image *firmware_image, int section_index)
444 {
445 uint16_t addr, size, bytes_remaining, chunk_size;
446 uint8_t data[SECTION_BUFFERSIZE];
447 uint8_t *data_ptr = data;
448 size_t size_read;
449 int ret;
450
451 size = (uint16_t)firmware_image->sections[section_index].size;
452 addr = (uint16_t)firmware_image->sections[section_index].base_address;
453
454 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
455 size);
456
457 /* Copy section contents to local buffer */
458 ret = image_read_section(firmware_image, section_index, 0, size, data,
459 &size_read);
460
461 if ((ret != ERROR_OK) || (size_read != size)) {
462 /* Propagating the return code would return '0' (misleadingly indicating
463 * successful execution of the function) if only the size check fails. */
464 return ERROR_FAIL;
465 }
466
467 bytes_remaining = size;
468
469 /* Send section data in chunks of up to 64 bytes to ULINK */
470 while (bytes_remaining > 0) {
471 if (bytes_remaining > 64)
472 chunk_size = 64;
473 else
474 chunk_size = bytes_remaining;
475
476 ret = libusb_control_transfer(device->usb_device_handle,
477 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
478 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (unsigned char *)data_ptr,
479 chunk_size, USB_TIMEOUT);
480
481 if (ret != (int)chunk_size) {
482 /* Abort if libusb sent less data than requested */
483 return ERROR_FAIL;
484 }
485
486 bytes_remaining -= chunk_size;
487 addr += chunk_size;
488 data_ptr += chunk_size;
489 }
490
491 return ERROR_OK;
492 }
493
494 /************************** Generic helper functions **************************/
495
496 /**
497 * Print state of interesting signals via LOG_INFO().
498 *
499 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
500 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
501 */
502 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
503 {
504 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
505 " SRST: %i",
506 (output_signals & SIGNAL_TDI ? 1 : 0),
507 (input_signals & SIGNAL_TDO ? 1 : 0),
508 (output_signals & SIGNAL_TMS ? 1 : 0),
509 (output_signals & SIGNAL_TCK ? 1 : 0),
510 (output_signals & SIGNAL_TRST ? 0 : 1), /* Inverted by hardware */
511 (output_signals & SIGNAL_RESET ? 0 : 1)); /* Inverted by hardware */
512 }
513
514 /**************** OpenULINK command generation helper functions ***************/
515
516 /**
517 * Allocate and initialize space in memory for OpenULINK command payload.
518 *
519 * @param ulink_cmd pointer to command whose payload should be allocated.
520 * @param size the amount of memory to allocate (bytes).
521 * @param direction which payload to allocate.
522 * @return on success: ERROR_OK
523 * @return on failure: ERROR_FAIL
524 */
525 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
526 enum ulink_payload_direction direction)
527 {
528 uint8_t *payload;
529
530 payload = calloc(size, sizeof(uint8_t));
531
532 if (payload == NULL) {
533 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
534 return ERROR_FAIL;
535 }
536
537 switch (direction) {
538 case PAYLOAD_DIRECTION_OUT:
539 if (ulink_cmd->payload_out != NULL) {
540 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
541 free(payload);
542 return ERROR_FAIL;
543 } else {
544 ulink_cmd->payload_out = payload;
545 ulink_cmd->payload_out_size = size;
546 }
547 break;
548 case PAYLOAD_DIRECTION_IN:
549 if (ulink_cmd->payload_in_start != NULL) {
550 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
551 free(payload);
552 return ERROR_FAIL;
553 } else {
554 ulink_cmd->payload_in_start = payload;
555 ulink_cmd->payload_in = payload;
556 ulink_cmd->payload_in_size = size;
557
558 /* By default, free payload_in_start in ulink_clear_queue(). Commands
559 * that do not want this behavior (e. g. split scans) must turn it off
560 * separately! */
561 ulink_cmd->free_payload_in_start = true;
562 }
563 break;
564 }
565
566 return ERROR_OK;
567 }
568
569 /****************** OpenULINK command queue helper functions ******************/
570
571 /**
572 * Get the current number of bytes in the queue, including command IDs.
573 *
574 * @param device pointer to struct ulink identifying ULINK driver instance.
575 * @param direction the transfer direction for which to get byte count.
576 * @return the number of bytes currently stored in the queue for the specified
577 * direction.
578 */
579 int ulink_get_queue_size(struct ulink *device,
580 enum ulink_payload_direction direction)
581 {
582 struct ulink_cmd *current = device->queue_start;
583 int sum = 0;
584
585 while (current != NULL) {
586 switch (direction) {
587 case PAYLOAD_DIRECTION_OUT:
588 sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
589 break;
590 case PAYLOAD_DIRECTION_IN:
591 sum += current->payload_in_size;
592 break;
593 }
594
595 current = current->next;
596 }
597
598 return sum;
599 }
600
601 /**
602 * Clear the OpenULINK command queue.
603 *
604 * @param device pointer to struct ulink identifying ULINK driver instance.
605 * @return on success: ERROR_OK
606 * @return on failure: ERROR_FAIL
607 */
608 void ulink_clear_queue(struct ulink *device)
609 {
610 struct ulink_cmd *current = device->queue_start;
611 struct ulink_cmd *next = NULL;
612
613 while (current != NULL) {
614 /* Save pointer to next element */
615 next = current->next;
616
617 /* Free payloads: OUT payload can be freed immediately */
618 free(current->payload_out);
619 current->payload_out = NULL;
620
621 /* IN payload MUST be freed ONLY if no other commands use the
622 * payload_in_start buffer */
623 if (current->free_payload_in_start == true) {
624 free(current->payload_in_start);
625 current->payload_in_start = NULL;
626 current->payload_in = NULL;
627 }
628
629 /* Free queue element */
630 free(current);
631
632 /* Proceed with next element */
633 current = next;
634 }
635
636 device->commands_in_queue = 0;
637 device->queue_start = NULL;
638 device->queue_end = NULL;
639 }
640
641 /**
642 * Add a command to the OpenULINK command queue.
643 *
644 * @param device pointer to struct ulink identifying ULINK driver instance.
645 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
646 * command queue.
647 * @return on success: ERROR_OK
648 * @return on failure: ERROR_FAIL
649 */
650 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
651 {
652 int newsize_out, newsize_in;
653 int ret;
654
655 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
656 + ulink_cmd->payload_out_size;
657
658 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
659 + ulink_cmd->payload_in_size;
660
661 /* Check if the current command can be appended to the queue */
662 if ((newsize_out > 64) || (newsize_in > 64)) {
663 /* New command does not fit. Execute all commands in queue before starting
664 * new queue with the current command as first entry. */
665 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
666 if (ret != ERROR_OK)
667 return ret;
668
669 ret = ulink_post_process_queue(device);
670 if (ret != ERROR_OK)
671 return ret;
672
673 ulink_clear_queue(device);
674 }
675
676 if (device->queue_start == NULL) {
677 /* Queue was empty */
678 device->commands_in_queue = 1;
679
680 device->queue_start = ulink_cmd;
681 device->queue_end = ulink_cmd;
682 } else {
683 /* There are already commands in the queue */
684 device->commands_in_queue++;
685
686 device->queue_end->next = ulink_cmd;
687 device->queue_end = ulink_cmd;
688 }
689
690 return ERROR_OK;
691 }
692
693 /**
694 * Sends all queued OpenULINK commands to the ULINK for execution.
695 *
696 * @param device pointer to struct ulink identifying ULINK driver instance.
697 * @return on success: ERROR_OK
698 * @return on failure: ERROR_FAIL
699 */
700 int ulink_execute_queued_commands(struct ulink *device, int timeout)
701 {
702 struct ulink_cmd *current;
703 int ret, i, index_out, index_in, count_out, count_in, transferred;
704 uint8_t buffer[64];
705
706 if (LOG_LEVEL_IS(LOG_LVL_DEBUG_IO))
707 ulink_print_queue(device);
708
709 index_out = 0;
710 count_out = 0;
711 count_in = 0;
712
713 for (current = device->queue_start; current; current = current->next) {
714 /* Add command to packet */
715 buffer[index_out] = current->id;
716 index_out++;
717 count_out++;
718
719 for (i = 0; i < current->payload_out_size; i++)
720 buffer[index_out + i] = current->payload_out[i];
721 index_out += current->payload_out_size;
722 count_in += current->payload_in_size;
723 count_out += current->payload_out_size;
724 }
725
726 /* Send packet to ULINK */
727 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_OUT),
728 (unsigned char *)buffer, count_out, &transferred, timeout);
729 if (ret != 0)
730 return ERROR_FAIL;
731 if (transferred != count_out)
732 return ERROR_FAIL;
733
734 /* Wait for response if commands contain IN payload data */
735 if (count_in > 0) {
736 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
737 (unsigned char *)buffer, 64, &transferred, timeout);
738 if (ret != 0)
739 return ERROR_FAIL;
740 if (transferred != count_in)
741 return ERROR_FAIL;
742
743 /* Write back IN payload data */
744 index_in = 0;
745 for (current = device->queue_start; current; current = current->next) {
746 for (i = 0; i < current->payload_in_size; i++) {
747 current->payload_in[i] = buffer[index_in];
748 index_in++;
749 }
750 }
751 }
752
753 return ERROR_OK;
754 }
755
756 /**
757 * Convert an OpenULINK command ID (\a id) to a human-readable string.
758 *
759 * @param id the OpenULINK command ID.
760 * @return the corresponding human-readable string.
761 */
762 static const char *ulink_cmd_id_string(uint8_t id)
763 {
764 switch (id) {
765 case CMD_SCAN_IN:
766 return "CMD_SCAN_IN";
767 break;
768 case CMD_SLOW_SCAN_IN:
769 return "CMD_SLOW_SCAN_IN";
770 break;
771 case CMD_SCAN_OUT:
772 return "CMD_SCAN_OUT";
773 break;
774 case CMD_SLOW_SCAN_OUT:
775 return "CMD_SLOW_SCAN_OUT";
776 break;
777 case CMD_SCAN_IO:
778 return "CMD_SCAN_IO";
779 break;
780 case CMD_SLOW_SCAN_IO:
781 return "CMD_SLOW_SCAN_IO";
782 break;
783 case CMD_CLOCK_TMS:
784 return "CMD_CLOCK_TMS";
785 break;
786 case CMD_SLOW_CLOCK_TMS:
787 return "CMD_SLOW_CLOCK_TMS";
788 break;
789 case CMD_CLOCK_TCK:
790 return "CMD_CLOCK_TCK";
791 break;
792 case CMD_SLOW_CLOCK_TCK:
793 return "CMD_SLOW_CLOCK_TCK";
794 break;
795 case CMD_SLEEP_US:
796 return "CMD_SLEEP_US";
797 break;
798 case CMD_SLEEP_MS:
799 return "CMD_SLEEP_MS";
800 break;
801 case CMD_GET_SIGNALS:
802 return "CMD_GET_SIGNALS";
803 break;
804 case CMD_SET_SIGNALS:
805 return "CMD_SET_SIGNALS";
806 break;
807 case CMD_CONFIGURE_TCK_FREQ:
808 return "CMD_CONFIGURE_TCK_FREQ";
809 break;
810 case CMD_SET_LEDS:
811 return "CMD_SET_LEDS";
812 break;
813 case CMD_TEST:
814 return "CMD_TEST";
815 break;
816 default:
817 return "CMD_UNKNOWN";
818 break;
819 }
820 }
821
822 /**
823 * Print one OpenULINK command to stdout.
824 *
825 * @param ulink_cmd pointer to OpenULINK command.
826 */
827 static void ulink_print_command(struct ulink_cmd *ulink_cmd)
828 {
829 int i;
830
831 printf(" %-22s | OUT size = %i, bytes = 0x",
832 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
833
834 for (i = 0; i < ulink_cmd->payload_out_size; i++)
835 printf("%02X ", ulink_cmd->payload_out[i]);
836 printf("\n | IN size = %i\n",
837 ulink_cmd->payload_in_size);
838 }
839
840 /**
841 * Print the OpenULINK command queue to stdout.
842 *
843 * @param device pointer to struct ulink identifying ULINK driver instance.
844 */
845 static void ulink_print_queue(struct ulink *device)
846 {
847 struct ulink_cmd *current;
848
849 printf("OpenULINK command queue:\n");
850
851 for (current = device->queue_start; current; current = current->next)
852 ulink_print_command(current);
853 }
854
855 /**
856 * Perform JTAG scan
857 *
858 * Creates and appends a JTAG scan command to the OpenULINK command queue.
859 * A JTAG scan consists of three steps:
860 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
861 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
862 * - Move to the desired end state.
863 *
864 * @param device pointer to struct ulink identifying ULINK driver instance.
865 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
866 * @param scan_size_bits number of bits to shift into the JTAG chain.
867 * @param tdi pointer to array containing TDI data.
868 * @param tdo_start pointer to first element of array where TDO data shall be
869 * stored. See #ulink_cmd for details.
870 * @param tdo pointer to array where TDO data shall be stored
871 * @param tms_count_start number of TMS state transitions to perform BEFORE
872 * shifting data into the JTAG chain.
873 * @param tms_sequence_start sequence of TMS state transitions that will be
874 * performed BEFORE shifting data into the JTAG chain.
875 * @param tms_count_end number of TMS state transitions to perform AFTER
876 * shifting data into the JTAG chain.
877 * @param tms_sequence_end sequence of TMS state transitions that will be
878 * performed AFTER shifting data into the JTAG chain.
879 * @param origin pointer to OpenOCD command that generated this scan command.
880 * @param postprocess whether this command needs to be post-processed after
881 * execution.
882 * @return on success: ERROR_OK
883 * @return on failure: ERROR_FAIL
884 */
885 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
886 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
887 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
888 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
889 {
890 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
891 int ret, i, scan_size_bytes;
892 uint8_t bits_last_byte;
893
894 if (cmd == NULL)
895 return ERROR_FAIL;
896
897 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
898 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
899 if (scan_size_bits > (58 * 8)) {
900 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
901 " large payload");
902 free(cmd);
903 return ERROR_FAIL;
904 }
905
906 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
907
908 bits_last_byte = scan_size_bits % 8;
909 if (bits_last_byte == 0)
910 bits_last_byte = 8;
911
912 /* Allocate out_payload depending on scan type */
913 switch (scan_type) {
914 case SCAN_IN:
915 if (device->delay_scan_in < 0)
916 cmd->id = CMD_SCAN_IN;
917 else
918 cmd->id = CMD_SLOW_SCAN_IN;
919 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
920 break;
921 case SCAN_OUT:
922 if (device->delay_scan_out < 0)
923 cmd->id = CMD_SCAN_OUT;
924 else
925 cmd->id = CMD_SLOW_SCAN_OUT;
926 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
927 break;
928 case SCAN_IO:
929 if (device->delay_scan_io < 0)
930 cmd->id = CMD_SCAN_IO;
931 else
932 cmd->id = CMD_SLOW_SCAN_IO;
933 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
934 break;
935 default:
936 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
937 ret = ERROR_FAIL;
938 break;
939 }
940
941 if (ret != ERROR_OK) {
942 free(cmd);
943 return ret;
944 }
945
946 /* Build payload_out that is common to all scan types */
947 cmd->payload_out[0] = scan_size_bytes & 0xFF;
948 cmd->payload_out[1] = bits_last_byte & 0xFF;
949 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
950 cmd->payload_out[3] = tms_sequence_start;
951 cmd->payload_out[4] = tms_sequence_end;
952
953 /* Setup payload_out for types with OUT transfer */
954 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
955 for (i = 0; i < scan_size_bytes; i++)
956 cmd->payload_out[i + 5] = tdi[i];
957 }
958
959 /* Setup payload_in pointers for types with IN transfer */
960 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
961 cmd->payload_in_start = tdo_start;
962 cmd->payload_in = tdo;
963 cmd->payload_in_size = scan_size_bytes;
964 }
965
966 cmd->needs_postprocessing = postprocess;
967 cmd->cmd_origin = origin;
968
969 /* For scan commands, we free payload_in_start only when the command is
970 * the last in a series of split commands or a stand-alone command */
971 cmd->free_payload_in_start = postprocess;
972
973 return ulink_append_queue(device, cmd);
974 }
975
976 /**
977 * Perform TAP state transitions
978 *
979 * @param device pointer to struct ulink identifying ULINK driver instance.
980 * @param count defines the number of TCK clock cycles generated (up to 8).
981 * @param sequence defines the TMS pin levels for each state transition. The
982 * Least-Significant Bit is read first.
983 * @return on success: ERROR_OK
984 * @return on failure: ERROR_FAIL
985 */
986 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
987 uint8_t sequence)
988 {
989 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
990 int ret;
991
992 if (cmd == NULL)
993 return ERROR_FAIL;
994
995 if (device->delay_clock_tms < 0)
996 cmd->id = CMD_CLOCK_TMS;
997 else
998 cmd->id = CMD_SLOW_CLOCK_TMS;
999
1000 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1001 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1002 if (ret != ERROR_OK) {
1003 free(cmd);
1004 return ret;
1005 }
1006
1007 cmd->payload_out[0] = count;
1008 cmd->payload_out[1] = sequence;
1009
1010 return ulink_append_queue(device, cmd);
1011 }
1012
1013 /**
1014 * Generate a defined amount of TCK clock cycles
1015 *
1016 * All other JTAG signals are left unchanged.
1017 *
1018 * @param device pointer to struct ulink identifying ULINK driver instance.
1019 * @param count the number of TCK clock cycles to generate.
1020 * @return on success: ERROR_OK
1021 * @return on failure: ERROR_FAIL
1022 */
1023 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1024 {
1025 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1026 int ret;
1027
1028 if (cmd == NULL)
1029 return ERROR_FAIL;
1030
1031 if (device->delay_clock_tck < 0)
1032 cmd->id = CMD_CLOCK_TCK;
1033 else
1034 cmd->id = CMD_SLOW_CLOCK_TCK;
1035
1036 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1037 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1038 if (ret != ERROR_OK) {
1039 free(cmd);
1040 return ret;
1041 }
1042
1043 cmd->payload_out[0] = count & 0xff;
1044 cmd->payload_out[1] = (count >> 8) & 0xff;
1045
1046 return ulink_append_queue(device, cmd);
1047 }
1048
1049 /**
1050 * Read JTAG signals.
1051 *
1052 * @param device pointer to struct ulink identifying ULINK driver instance.
1053 * @return on success: ERROR_OK
1054 * @return on failure: ERROR_FAIL
1055 */
1056 int ulink_append_get_signals_cmd(struct ulink *device)
1057 {
1058 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1059 int ret;
1060
1061 if (cmd == NULL)
1062 return ERROR_FAIL;
1063
1064 cmd->id = CMD_GET_SIGNALS;
1065 cmd->needs_postprocessing = true;
1066
1067 /* CMD_GET_SIGNALS has two IN payload bytes */
1068 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1069
1070 if (ret != ERROR_OK) {
1071 free(cmd);
1072 return ret;
1073 }
1074
1075 return ulink_append_queue(device, cmd);
1076 }
1077
1078 /**
1079 * Arbitrarily set JTAG output signals.
1080 *
1081 * @param device pointer to struct ulink identifying ULINK driver instance.
1082 * @param low defines which signals will be de-asserted. Each bit corresponds
1083 * to a JTAG signal:
1084 * - SIGNAL_TDI
1085 * - SIGNAL_TMS
1086 * - SIGNAL_TCK
1087 * - SIGNAL_TRST
1088 * - SIGNAL_BRKIN
1089 * - SIGNAL_RESET
1090 * - SIGNAL_OCDSE
1091 * @param high defines which signals will be asserted.
1092 * @return on success: ERROR_OK
1093 * @return on failure: ERROR_FAIL
1094 */
1095 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1096 uint8_t high)
1097 {
1098 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1099 int ret;
1100
1101 if (cmd == NULL)
1102 return ERROR_FAIL;
1103
1104 cmd->id = CMD_SET_SIGNALS;
1105
1106 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1107 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1108
1109 if (ret != ERROR_OK) {
1110 free(cmd);
1111 return ret;
1112 }
1113
1114 cmd->payload_out[0] = low;
1115 cmd->payload_out[1] = high;
1116
1117 return ulink_append_queue(device, cmd);
1118 }
1119
1120 /**
1121 * Sleep for a pre-defined number of microseconds
1122 *
1123 * @param device pointer to struct ulink identifying ULINK driver instance.
1124 * @param us the number microseconds to sleep.
1125 * @return on success: ERROR_OK
1126 * @return on failure: ERROR_FAIL
1127 */
1128 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1129 {
1130 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1131 int ret;
1132
1133 if (cmd == NULL)
1134 return ERROR_FAIL;
1135
1136 cmd->id = CMD_SLEEP_US;
1137
1138 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1139 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1140
1141 if (ret != ERROR_OK) {
1142 free(cmd);
1143 return ret;
1144 }
1145
1146 cmd->payload_out[0] = us & 0x00ff;
1147 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1148
1149 return ulink_append_queue(device, cmd);
1150 }
1151
1152 /**
1153 * Set TCK delay counters
1154 *
1155 * @param device pointer to struct ulink identifying ULINK driver instance.
1156 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1157 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1158 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1159 * @param delay_tck delay count top value in jtag_clock_tck() function.
1160 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1161 * @return on success: ERROR_OK
1162 * @return on failure: ERROR_FAIL
1163 */
1164 int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1165 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1166 {
1167 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1168 int ret;
1169
1170 if (cmd == NULL)
1171 return ERROR_FAIL;
1172
1173 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1174
1175 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1176 * IN payload bytes */
1177 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1178 if (ret != ERROR_OK) {
1179 free(cmd);
1180 return ret;
1181 }
1182
1183 if (delay_scan_in < 0)
1184 cmd->payload_out[0] = 0;
1185 else
1186 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1187
1188 if (delay_scan_out < 0)
1189 cmd->payload_out[1] = 0;
1190 else
1191 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1192
1193 if (delay_scan_io < 0)
1194 cmd->payload_out[2] = 0;
1195 else
1196 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1197
1198 if (delay_tck < 0)
1199 cmd->payload_out[3] = 0;
1200 else
1201 cmd->payload_out[3] = (uint8_t)delay_tck;
1202
1203 if (delay_tms < 0)
1204 cmd->payload_out[4] = 0;
1205 else
1206 cmd->payload_out[4] = (uint8_t)delay_tms;
1207
1208 return ulink_append_queue(device, cmd);
1209 }
1210
1211 /**
1212 * Turn on/off ULINK LEDs.
1213 *
1214 * @param device pointer to struct ulink identifying ULINK driver instance.
1215 * @param led_state which LED(s) to turn on or off. The following bits
1216 * influence the LEDS:
1217 * - Bit 0: Turn COM LED on
1218 * - Bit 1: Turn RUN LED on
1219 * - Bit 2: Turn COM LED off
1220 * - Bit 3: Turn RUN LED off
1221 * If both the on-bit and the off-bit for the same LED is set, the LED is
1222 * turned off.
1223 * @return on success: ERROR_OK
1224 * @return on failure: ERROR_FAIL
1225 */
1226 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1227 {
1228 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1229 int ret;
1230
1231 if (cmd == NULL)
1232 return ERROR_FAIL;
1233
1234 cmd->id = CMD_SET_LEDS;
1235
1236 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1237 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1238 if (ret != ERROR_OK) {
1239 free(cmd);
1240 return ret;
1241 }
1242
1243 cmd->payload_out[0] = led_state;
1244
1245 return ulink_append_queue(device, cmd);
1246 }
1247
1248 /**
1249 * Test command. Used to check if the ULINK device is ready to accept new
1250 * commands.
1251 *
1252 * @param device pointer to struct ulink identifying ULINK driver instance.
1253 * @return on success: ERROR_OK
1254 * @return on failure: ERROR_FAIL
1255 */
1256 int ulink_append_test_cmd(struct ulink *device)
1257 {
1258 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1259 int ret;
1260
1261 if (cmd == NULL)
1262 return ERROR_FAIL;
1263
1264 cmd->id = CMD_TEST;
1265
1266 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1267 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1268 if (ret != ERROR_OK) {
1269 free(cmd);
1270 return ret;
1271 }
1272
1273 cmd->payload_out[0] = 0xAA;
1274
1275 return ulink_append_queue(device, cmd);
1276 }
1277
1278 /****************** OpenULINK TCK frequency helper functions ******************/
1279
1280 /**
1281 * Calculate delay values for a given TCK frequency.
1282 *
1283 * The OpenULINK firmware uses five different speed values for different
1284 * commands. These speed values are calculated in these functions.
1285 *
1286 * The five different commands which support variable TCK frequency are
1287 * implemented twice in the firmware:
1288 * 1. Maximum possible frequency without any artificial delay
1289 * 2. Variable frequency with artificial linear delay loop
1290 *
1291 * To set the ULINK to maximum frequency, it is only neccessary to use the
1292 * corresponding command IDs. To set the ULINK to a lower frequency, the
1293 * delay loop top values have to be calculated first. Then, a
1294 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1295 *
1296 * The delay values are described by linear equations:
1297 * t = k * x + d
1298 * (t = period, k = constant, x = delay value, d = constant)
1299 *
1300 * Thus, the delay can be calculated as in the following equation:
1301 * x = (t - d) / k
1302 *
1303 * The constants in these equations have been determined and validated by
1304 * measuring the frequency resulting from different delay values.
1305 *
1306 * @param type for which command to calculate the delay value.
1307 * @param f TCK frequency for which to calculate the delay value in Hz.
1308 * @param delay where to store resulting delay value.
1309 * @return on success: ERROR_OK
1310 * @return on failure: ERROR_FAIL
1311 */
1312 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1313 {
1314 float t, x, x_ceil;
1315
1316 /* Calculate period of requested TCK frequency */
1317 t = 1.0 / (float)(f);
1318
1319 switch (type) {
1320 case DELAY_CLOCK_TCK:
1321 x = (t - (float)(6E-6)) / (float)(4E-6);
1322 break;
1323 case DELAY_CLOCK_TMS:
1324 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1325 break;
1326 case DELAY_SCAN_IN:
1327 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1328 break;
1329 case DELAY_SCAN_OUT:
1330 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1331 break;
1332 case DELAY_SCAN_IO:
1333 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1334 break;
1335 default:
1336 return ERROR_FAIL;
1337 break;
1338 }
1339
1340 /* Check if the delay value is negative. This happens when a frequency is
1341 * requested that is too high for the delay loop implementation. In this
1342 * case, set delay value to zero. */
1343 if (x < 0)
1344 x = 0;
1345
1346 /* We need to convert the exact delay value to an integer. Therefore, we
1347 * round the exact value UP to ensure that the resulting frequency is NOT
1348 * higher than the requested frequency. */
1349 x_ceil = ceilf(x);
1350
1351 /* Check if the value is within limits */
1352 if (x_ceil > 255)
1353 return ERROR_FAIL;
1354
1355 *delay = (int)x_ceil;
1356
1357 return ERROR_OK;
1358 }
1359
1360 /**
1361 * Calculate frequency for a given delay value.
1362 *
1363 * Similar to the #ulink_calculate_delay function, this function calculates the
1364 * TCK frequency for a given delay value by using linear equations of the form:
1365 * t = k * x + d
1366 * (t = period, k = constant, x = delay value, d = constant)
1367 *
1368 * @param type for which command to calculate the delay value.
1369 * @param delay delay value for which to calculate the resulting TCK frequency.
1370 * @return the resulting TCK frequency
1371 */
1372 static long ulink_calculate_frequency(enum ulink_delay_type type, int delay)
1373 {
1374 float t, f_float;
1375
1376 if (delay > 255)
1377 return 0;
1378
1379 switch (type) {
1380 case DELAY_CLOCK_TCK:
1381 if (delay < 0)
1382 t = (float)(2.666E-6);
1383 else
1384 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1385 break;
1386 case DELAY_CLOCK_TMS:
1387 if (delay < 0)
1388 t = (float)(5.666E-6);
1389 else
1390 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1391 break;
1392 case DELAY_SCAN_IN:
1393 if (delay < 0)
1394 t = (float)(5.5E-6);
1395 else
1396 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1397 break;
1398 case DELAY_SCAN_OUT:
1399 if (delay < 0)
1400 t = (float)(7.0E-6);
1401 else
1402 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1403 break;
1404 case DELAY_SCAN_IO:
1405 if (delay < 0)
1406 t = (float)(9.926E-6);
1407 else
1408 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1409 break;
1410 default:
1411 return 0;
1412 }
1413
1414 f_float = 1.0 / t;
1415 return roundf(f_float);
1416 }
1417
1418 /******************* Interface between OpenULINK and OpenOCD ******************/
1419
1420 /**
1421 * Sets the end state follower (see interface.h) if \a endstate is a stable
1422 * state.
1423 *
1424 * @param endstate the state the end state follower should be set to.
1425 */
1426 static void ulink_set_end_state(tap_state_t endstate)
1427 {
1428 if (tap_is_state_stable(endstate))
1429 tap_set_end_state(endstate);
1430 else {
1431 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1432 exit(EXIT_FAILURE);
1433 }
1434 }
1435
1436 /**
1437 * Move from the current TAP state to the current TAP end state.
1438 *
1439 * @param device pointer to struct ulink identifying ULINK driver instance.
1440 * @return on success: ERROR_OK
1441 * @return on failure: ERROR_FAIL
1442 */
1443 int ulink_queue_statemove(struct ulink *device)
1444 {
1445 uint8_t tms_sequence, tms_count;
1446 int ret;
1447
1448 if (tap_get_state() == tap_get_end_state()) {
1449 /* Do nothing if we are already there */
1450 return ERROR_OK;
1451 }
1452
1453 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1454 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1455
1456 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1457
1458 if (ret == ERROR_OK)
1459 tap_set_state(tap_get_end_state());
1460
1461 return ret;
1462 }
1463
1464 /**
1465 * Perform a scan operation on a JTAG register.
1466 *
1467 * @param device pointer to struct ulink identifying ULINK driver instance.
1468 * @param cmd pointer to the command that shall be executed.
1469 * @return on success: ERROR_OK
1470 * @return on failure: ERROR_FAIL
1471 */
1472 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1473 {
1474 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1475 uint32_t scans_max_payload, bytecount;
1476 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1477 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1478
1479 uint8_t first_tms_count, first_tms_sequence;
1480 uint8_t last_tms_count, last_tms_sequence;
1481
1482 uint8_t tms_count_pause, tms_sequence_pause;
1483 uint8_t tms_count_resume, tms_sequence_resume;
1484
1485 uint8_t tms_count_start, tms_sequence_start;
1486 uint8_t tms_count_end, tms_sequence_end;
1487
1488 enum scan_type type;
1489 int ret;
1490
1491 /* Determine scan size */
1492 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1493 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1494
1495 /* Determine scan type (IN/OUT/IO) */
1496 type = jtag_scan_type(cmd->cmd.scan);
1497
1498 /* Determine number of scan commands with maximum payload */
1499 scans_max_payload = scan_size_bytes / 58;
1500
1501 /* Determine size of last shift command */
1502 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1503
1504 /* Allocate TDO buffer if required */
1505 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1506 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1507
1508 if (tdo_buffer_start == NULL)
1509 return ERROR_FAIL;
1510
1511 tdo_buffer = tdo_buffer_start;
1512 }
1513
1514 /* Fill TDI buffer if required */
1515 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1516 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1517 tdi_buffer = tdi_buffer_start;
1518 }
1519
1520 /* Get TAP state transitions */
1521 if (cmd->cmd.scan->ir_scan) {
1522 ulink_set_end_state(TAP_IRSHIFT);
1523 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1524 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1525
1526 tap_set_state(TAP_IRSHIFT);
1527 tap_set_end_state(cmd->cmd.scan->end_state);
1528 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1529 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1530
1531 /* TAP state transitions for split scans */
1532 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1533 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1534 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1535 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1536 } else {
1537 ulink_set_end_state(TAP_DRSHIFT);
1538 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1539 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1540
1541 tap_set_state(TAP_DRSHIFT);
1542 tap_set_end_state(cmd->cmd.scan->end_state);
1543 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1544 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1545
1546 /* TAP state transitions for split scans */
1547 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1548 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1549 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1550 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1551 }
1552
1553 /* Generate scan commands */
1554 bytecount = scan_size_bytes;
1555 while (bytecount > 0) {
1556 if (bytecount == scan_size_bytes) {
1557 /* This is the first scan */
1558 tms_count_start = first_tms_count;
1559 tms_sequence_start = first_tms_sequence;
1560 } else {
1561 /* Resume from previous scan */
1562 tms_count_start = tms_count_resume;
1563 tms_sequence_start = tms_sequence_resume;
1564 }
1565
1566 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1567 tms_count_end = tms_count_pause;
1568 tms_sequence_end = tms_sequence_pause;
1569
1570 ret = ulink_append_scan_cmd(device,
1571 type,
1572 58 * 8,
1573 tdi_buffer,
1574 tdo_buffer_start,
1575 tdo_buffer,
1576 tms_count_start,
1577 tms_sequence_start,
1578 tms_count_end,
1579 tms_sequence_end,
1580 cmd,
1581 false);
1582
1583 bytecount -= 58;
1584
1585 /* Update TDI and TDO buffer pointers */
1586 if (tdi_buffer_start != NULL)
1587 tdi_buffer += 58;
1588 if (tdo_buffer_start != NULL)
1589 tdo_buffer += 58;
1590 } else if (bytecount == 58) { /* Full scan, no further scans */
1591 tms_count_end = last_tms_count;
1592 tms_sequence_end = last_tms_sequence;
1593
1594 ret = ulink_append_scan_cmd(device,
1595 type,
1596 58 * 8,
1597 tdi_buffer,
1598 tdo_buffer_start,
1599 tdo_buffer,
1600 tms_count_start,
1601 tms_sequence_start,
1602 tms_count_end,
1603 tms_sequence_end,
1604 cmd,
1605 true);
1606
1607 bytecount = 0;
1608 } else {/* Scan with less than maximum payload, no further scans */
1609 tms_count_end = last_tms_count;
1610 tms_sequence_end = last_tms_sequence;
1611
1612 ret = ulink_append_scan_cmd(device,
1613 type,
1614 bits_last_scan,
1615 tdi_buffer,
1616 tdo_buffer_start,
1617 tdo_buffer,
1618 tms_count_start,
1619 tms_sequence_start,
1620 tms_count_end,
1621 tms_sequence_end,
1622 cmd,
1623 true);
1624
1625 bytecount = 0;
1626 }
1627
1628 if (ret != ERROR_OK) {
1629 free(tdi_buffer_start);
1630 return ret;
1631 }
1632 }
1633
1634 free(tdi_buffer_start);
1635
1636 /* Set current state to the end state requested by the command */
1637 tap_set_state(cmd->cmd.scan->end_state);
1638
1639 return ERROR_OK;
1640 }
1641
1642 /**
1643 * Move the TAP into the Test Logic Reset state.
1644 *
1645 * @param device pointer to struct ulink identifying ULINK driver instance.
1646 * @param cmd pointer to the command that shall be executed.
1647 * @return on success: ERROR_OK
1648 * @return on failure: ERROR_FAIL
1649 */
1650 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1651 {
1652 int ret;
1653
1654 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1655
1656 if (ret == ERROR_OK)
1657 tap_set_state(TAP_RESET);
1658
1659 return ret;
1660 }
1661
1662 /**
1663 * Run Test.
1664 *
1665 * Generate TCK clock cycles while remaining
1666 * in the Run-Test/Idle state.
1667 *
1668 * @param device pointer to struct ulink identifying ULINK driver instance.
1669 * @param cmd pointer to the command that shall be executed.
1670 * @return on success: ERROR_OK
1671 * @return on failure: ERROR_FAIL
1672 */
1673 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1674 {
1675 int ret;
1676
1677 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1678 if (tap_get_state() != TAP_IDLE) {
1679 ulink_set_end_state(TAP_IDLE);
1680 ulink_queue_statemove(device);
1681 }
1682
1683 /* Generate the clock cycles */
1684 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1685 if (ret != ERROR_OK)
1686 return ret;
1687
1688 /* Move to end state specified in command */
1689 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1690 tap_set_end_state(cmd->cmd.runtest->end_state);
1691 ulink_queue_statemove(device);
1692 }
1693
1694 return ERROR_OK;
1695 }
1696
1697 /**
1698 * Execute a JTAG_RESET command
1699 *
1700 * @param cmd pointer to the command that shall be executed.
1701 * @return on success: ERROR_OK
1702 * @return on failure: ERROR_FAIL
1703 */
1704 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1705 {
1706 uint8_t low = 0, high = 0;
1707
1708 if (cmd->cmd.reset->trst) {
1709 tap_set_state(TAP_RESET);
1710 high |= SIGNAL_TRST;
1711 } else
1712 low |= SIGNAL_TRST;
1713
1714 if (cmd->cmd.reset->srst)
1715 high |= SIGNAL_RESET;
1716 else
1717 low |= SIGNAL_RESET;
1718
1719 return ulink_append_set_signals_cmd(device, low, high);
1720 }
1721
1722 /**
1723 * Move to one TAP state or several states in succession.
1724 *
1725 * @param device pointer to struct ulink identifying ULINK driver instance.
1726 * @param cmd pointer to the command that shall be executed.
1727 * @return on success: ERROR_OK
1728 * @return on failure: ERROR_FAIL
1729 */
1730 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1731 {
1732 int ret, i, num_states, batch_size, state_count;
1733 tap_state_t *path;
1734 uint8_t tms_sequence;
1735
1736 num_states = cmd->cmd.pathmove->num_states;
1737 path = cmd->cmd.pathmove->path;
1738 state_count = 0;
1739
1740 while (num_states > 0) {
1741 tms_sequence = 0;
1742
1743 /* Determine batch size */
1744 if (num_states >= 8)
1745 batch_size = 8;
1746 else
1747 batch_size = num_states;
1748
1749 for (i = 0; i < batch_size; i++) {
1750 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1751 /* Append '0' transition: clear bit 'i' in tms_sequence */
1752 buf_set_u32(&tms_sequence, i, 1, 0x0);
1753 } else if (tap_state_transition(tap_get_state(), true)
1754 == path[state_count]) {
1755 /* Append '1' transition: set bit 'i' in tms_sequence */
1756 buf_set_u32(&tms_sequence, i, 1, 0x1);
1757 } else {
1758 /* Invalid state transition */
1759 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1760 tap_state_name(tap_get_state()),
1761 tap_state_name(path[state_count]));
1762 return ERROR_FAIL;
1763 }
1764
1765 tap_set_state(path[state_count]);
1766 state_count++;
1767 num_states--;
1768 }
1769
1770 /* Append CLOCK_TMS command to OpenULINK command queue */
1771 LOG_INFO(
1772 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1773 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1774 if (ret != ERROR_OK)
1775 return ret;
1776 }
1777
1778 return ERROR_OK;
1779 }
1780
1781 /**
1782 * Sleep for a specific amount of time.
1783 *
1784 * @param device pointer to struct ulink identifying ULINK driver instance.
1785 * @param cmd pointer to the command that shall be executed.
1786 * @return on success: ERROR_OK
1787 * @return on failure: ERROR_FAIL
1788 */
1789 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1790 {
1791 /* IMPORTANT! Due to the time offset in command execution introduced by
1792 * command queueing, this needs to be implemented in the ULINK device */
1793 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1794 }
1795
1796 /**
1797 * Generate TCK cycles while remaining in a stable state.
1798 *
1799 * @param device pointer to struct ulink identifying ULINK driver instance.
1800 * @param cmd pointer to the command that shall be executed.
1801 */
1802 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1803 {
1804 int ret;
1805 unsigned num_cycles;
1806
1807 if (!tap_is_state_stable(tap_get_state())) {
1808 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1809 return ERROR_FAIL;
1810 }
1811
1812 num_cycles = cmd->cmd.stableclocks->num_cycles;
1813
1814 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1815 if (tap_get_state() == TAP_RESET)
1816 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1817 else
1818 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1819
1820 if (ret != ERROR_OK)
1821 return ret;
1822
1823 while (num_cycles > 0) {
1824 if (num_cycles > 0xFFFF) {
1825 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1826 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1827 num_cycles -= 0xFFFF;
1828 } else {
1829 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1830 num_cycles = 0;
1831 }
1832
1833 if (ret != ERROR_OK)
1834 return ret;
1835 }
1836
1837 return ERROR_OK;
1838 }
1839
1840 /**
1841 * Post-process JTAG_SCAN command
1842 *
1843 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1844 * @return on success: ERROR_OK
1845 * @return on failure: ERROR_FAIL
1846 */
1847 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1848 {
1849 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1850 int ret;
1851
1852 switch (jtag_scan_type(cmd->cmd.scan)) {
1853 case SCAN_IN:
1854 case SCAN_IO:
1855 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1856 break;
1857 case SCAN_OUT:
1858 /* Nothing to do for OUT scans */
1859 ret = ERROR_OK;
1860 break;
1861 default:
1862 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1863 " JTAG scan type");
1864 ret = ERROR_FAIL;
1865 break;
1866 }
1867
1868 return ret;
1869 }
1870
1871 /**
1872 * Perform post-processing of commands after OpenULINK queue has been executed.
1873 *
1874 * @param device pointer to struct ulink identifying ULINK driver instance.
1875 * @return on success: ERROR_OK
1876 * @return on failure: ERROR_FAIL
1877 */
1878 int ulink_post_process_queue(struct ulink *device)
1879 {
1880 struct ulink_cmd *current;
1881 struct jtag_command *openocd_cmd;
1882 int ret;
1883
1884 current = device->queue_start;
1885
1886 while (current != NULL) {
1887 openocd_cmd = current->cmd_origin;
1888
1889 /* Check if a corresponding OpenOCD command is stored for this
1890 * OpenULINK command */
1891 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1892 switch (openocd_cmd->type) {
1893 case JTAG_SCAN:
1894 ret = ulink_post_process_scan(current);
1895 break;
1896 case JTAG_TLR_RESET:
1897 case JTAG_RUNTEST:
1898 case JTAG_RESET:
1899 case JTAG_PATHMOVE:
1900 case JTAG_SLEEP:
1901 case JTAG_STABLECLOCKS:
1902 /* Nothing to do for these commands */
1903 ret = ERROR_OK;
1904 break;
1905 default:
1906 ret = ERROR_FAIL;
1907 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1908 "command type");
1909 break;
1910 }
1911
1912 if (ret != ERROR_OK)
1913 return ret;
1914 }
1915
1916 current = current->next;
1917 }
1918
1919 return ERROR_OK;
1920 }
1921
1922 /**************************** JTAG driver functions ***************************/
1923
1924 /**
1925 * Executes the JTAG Command Queue.
1926 *
1927 * This is done in three stages: First, all OpenOCD commands are processed into
1928 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1929 * ULINK device and data received from the ULINK device is cached. Finally,
1930 * the post-processing function writes back data to the corresponding OpenOCD
1931 * commands.
1932 *
1933 * @return on success: ERROR_OK
1934 * @return on failure: ERROR_FAIL
1935 */
1936 static int ulink_execute_queue(void)
1937 {
1938 struct jtag_command *cmd = jtag_command_queue;
1939 int ret;
1940
1941 while (cmd) {
1942 switch (cmd->type) {
1943 case JTAG_SCAN:
1944 ret = ulink_queue_scan(ulink_handle, cmd);
1945 break;
1946 case JTAG_TLR_RESET:
1947 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1948 break;
1949 case JTAG_RUNTEST:
1950 ret = ulink_queue_runtest(ulink_handle, cmd);
1951 break;
1952 case JTAG_RESET:
1953 ret = ulink_queue_reset(ulink_handle, cmd);
1954 break;
1955 case JTAG_PATHMOVE:
1956 ret = ulink_queue_pathmove(ulink_handle, cmd);
1957 break;
1958 case JTAG_SLEEP:
1959 ret = ulink_queue_sleep(ulink_handle, cmd);
1960 break;
1961 case JTAG_STABLECLOCKS:
1962 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1963 break;
1964 default:
1965 ret = ERROR_FAIL;
1966 LOG_ERROR("BUG: encountered unknown JTAG command type");
1967 break;
1968 }
1969
1970 if (ret != ERROR_OK)
1971 return ret;
1972
1973 cmd = cmd->next;
1974 }
1975
1976 if (ulink_handle->commands_in_queue > 0) {
1977 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1978 if (ret != ERROR_OK)
1979 return ret;
1980
1981 ret = ulink_post_process_queue(ulink_handle);
1982 if (ret != ERROR_OK)
1983 return ret;
1984
1985 ulink_clear_queue(ulink_handle);
1986 }
1987
1988 return ERROR_OK;
1989 }
1990
1991 /**
1992 * Set the TCK frequency of the ULINK adapter.
1993 *
1994 * @param khz desired JTAG TCK frequency.
1995 * @param jtag_speed where to store corresponding adapter-specific speed value.
1996 * @return on success: ERROR_OK
1997 * @return on failure: ERROR_FAIL
1998 */
1999 static int ulink_khz(int khz, int *jtag_speed)
2000 {
2001 int ret;
2002
2003 if (khz == 0) {
2004 LOG_ERROR("RCLK not supported");
2005 return ERROR_FAIL;
2006 }
2007
2008 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2009 * setting can be done independently from all other commands. */
2010 if (khz >= 375)
2011 ulink_handle->delay_clock_tck = -1;
2012 else {
2013 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
2014 &ulink_handle->delay_clock_tck);
2015 if (ret != ERROR_OK)
2016 return ret;
2017 }
2018
2019 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2020 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2021 * commands, all SCAN commands MUST also use the variable frequency
2022 * implementation! */
2023 if (khz >= 176) {
2024 ulink_handle->delay_clock_tms = -1;
2025 ulink_handle->delay_scan_in = -1;
2026 ulink_handle->delay_scan_out = -1;
2027 ulink_handle->delay_scan_io = -1;
2028 } else {
2029 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2030 &ulink_handle->delay_clock_tms);
2031 if (ret != ERROR_OK)
2032 return ret;
2033
2034 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2035 &ulink_handle->delay_scan_in);
2036 if (ret != ERROR_OK)
2037 return ret;
2038
2039 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2040 &ulink_handle->delay_scan_out);
2041 if (ret != ERROR_OK)
2042 return ret;
2043
2044 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2045 &ulink_handle->delay_scan_io);
2046 if (ret != ERROR_OK)
2047 return ret;
2048 }
2049
2050 LOG_DEBUG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2051 ulink_handle->delay_clock_tck,
2052 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck));
2053 LOG_DEBUG_IO(" delay_tms = %i (%li Hz),",
2054 ulink_handle->delay_clock_tms,
2055 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms));
2056 LOG_DEBUG_IO(" delay_scan_in = %i (%li Hz),",
2057 ulink_handle->delay_scan_in,
2058 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in));
2059 LOG_DEBUG_IO(" delay_scan_out = %i (%li Hz),",
2060 ulink_handle->delay_scan_out,
2061 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out));
2062 LOG_DEBUG_IO(" delay_scan_io = %i (%li Hz),",
2063 ulink_handle->delay_scan_io,
2064 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io));
2065
2066 /* Configure the ULINK device with the new delay values */
2067 ret = ulink_append_configure_tck_cmd(ulink_handle,
2068 ulink_handle->delay_scan_in,
2069 ulink_handle->delay_scan_out,
2070 ulink_handle->delay_scan_io,
2071 ulink_handle->delay_clock_tck,
2072 ulink_handle->delay_clock_tms);
2073
2074 if (ret != ERROR_OK)
2075 return ret;
2076
2077 *jtag_speed = khz;
2078
2079 return ERROR_OK;
2080 }
2081
2082 /**
2083 * Set the TCK frequency of the ULINK adapter.
2084 *
2085 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2086 * there are five different speed settings. To simplify things, the
2087 * adapter-specific speed setting value is identical to the TCK frequency in
2088 * khz.
2089 *
2090 * @param speed desired adapter-specific speed value.
2091 * @return on success: ERROR_OK
2092 * @return on failure: ERROR_FAIL
2093 */
2094 static int ulink_speed(int speed)
2095 {
2096 int dummy;
2097
2098 return ulink_khz(speed, &dummy);
2099 }
2100
2101 /**
2102 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2103 *
2104 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2105 * there are five different speed settings. To simplify things, the
2106 * adapter-specific speed setting value is identical to the TCK frequency in
2107 * khz.
2108 *
2109 * @param speed adapter-specific speed value.
2110 * @param khz where to store corresponding TCK frequency in kHz.
2111 * @return on success: ERROR_OK
2112 * @return on failure: ERROR_FAIL
2113 */
2114 static int ulink_speed_div(int speed, int *khz)
2115 {
2116 *khz = speed;
2117
2118 return ERROR_OK;
2119 }
2120
2121 /**
2122 * Initiates the firmware download to the ULINK adapter and prepares
2123 * the USB handle.
2124 *
2125 * @return on success: ERROR_OK
2126 * @return on failure: ERROR_FAIL
2127 */
2128 static int ulink_init(void)
2129 {
2130 int ret, transferred;
2131 char str_manufacturer[20];
2132 bool download_firmware = false;
2133 unsigned char *dummy;
2134 uint8_t input_signals, output_signals;
2135
2136 ulink_handle = calloc(1, sizeof(struct ulink));
2137 if (ulink_handle == NULL)
2138 return ERROR_FAIL;
2139
2140 libusb_init(&ulink_handle->libusb_ctx);
2141
2142 ret = ulink_usb_open(&ulink_handle);
2143 if (ret != ERROR_OK) {
2144 LOG_ERROR("Could not open ULINK device");
2145 free(ulink_handle);
2146 ulink_handle = NULL;
2147 return ret;
2148 }
2149
2150 /* Get String Descriptor to determine if firmware needs to be loaded */
2151 ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2152 if (ret < 0) {
2153 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2154 download_firmware = true;
2155 } else {
2156 /* We got a String Descriptor, check if it is the correct one */
2157 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2158 download_firmware = true;
2159 }
2160
2161 if (download_firmware == true) {
2162 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2163 " ULINK device.");
2164 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2165 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2166 if (ret != ERROR_OK) {
2167 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2168 free(ulink_handle);
2169 ulink_handle = NULL;
2170 return ret;
2171 }
2172 } else
2173 LOG_INFO("ULINK device is already running OpenULINK firmware");
2174
2175 /* Initialize OpenULINK command queue */
2176 ulink_clear_queue(ulink_handle);
2177
2178 /* Issue one test command with short timeout */
2179 ret = ulink_append_test_cmd(ulink_handle);
2180 if (ret != ERROR_OK)
2181 return ret;
2182
2183 ret = ulink_execute_queued_commands(ulink_handle, 200);
2184 if (ret != ERROR_OK) {
2185 /* Sending test command failed. The ULINK device may be forever waiting for
2186 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2187 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2188 dummy = calloc(64, sizeof(uint8_t));
2189
2190 ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
2191 dummy, 64, &transferred, 200);
2192
2193 free(dummy);
2194
2195 if (ret != 0 || transferred == 0) {
2196 /* Bulk IN transfer failed -> unrecoverable error condition */
2197 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2198 "the USB port and re-connect, then re-run OpenOCD");
2199 free(ulink_handle);
2200 ulink_handle = NULL;
2201 return ERROR_FAIL;
2202 }
2203 #ifdef _DEBUG_USB_COMMS_
2204 else {
2205 /* Successfully received Bulk IN packet -> continue */
2206 LOG_INFO("Recovered from lost Bulk IN packet");
2207 }
2208 #endif
2209 }
2210 ulink_clear_queue(ulink_handle);
2211
2212 ulink_append_get_signals_cmd(ulink_handle);
2213 ulink_execute_queued_commands(ulink_handle, 200);
2214
2215 /* Post-process the single CMD_GET_SIGNALS command */
2216 input_signals = ulink_handle->queue_start->payload_in[0];
2217 output_signals = ulink_handle->queue_start->payload_in[1];
2218
2219 ulink_print_signal_states(input_signals, output_signals);
2220
2221 ulink_clear_queue(ulink_handle);
2222
2223 return ERROR_OK;
2224 }
2225
2226 /**
2227 * Closes the USB handle for the ULINK device.
2228 *
2229 * @return on success: ERROR_OK
2230 * @return on failure: ERROR_FAIL
2231 */
2232 static int ulink_quit(void)
2233 {
2234 int ret;
2235
2236 ret = ulink_usb_close(&ulink_handle);
2237 free(ulink_handle);
2238
2239 return ret;
2240 }
2241
2242 /**
2243 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2244 */
2245 COMMAND_HANDLER(ulink_download_firmware_handler)
2246 {
2247 int ret;
2248
2249 if (CMD_ARGC != 1)
2250 return ERROR_COMMAND_SYNTAX_ERROR;
2251
2252
2253 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2254
2255 /* Download firmware image in CMD_ARGV[0] */
2256 ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2257 ULINK_RENUMERATION_DELAY);
2258
2259 return ret;
2260 }
2261
2262 /*************************** Command Registration **************************/
2263
2264 static const struct command_registration ulink_command_handlers[] = {
2265 {
2266 .name = "ulink_download_firmware",
2267 .handler = &ulink_download_firmware_handler,
2268 .mode = COMMAND_EXEC,
2269 .help = "download firmware image to ULINK device",
2270 .usage = "path/to/ulink_firmware.hex",
2271 },
2272 COMMAND_REGISTRATION_DONE,
2273 };
2274
2275 struct jtag_interface ulink_interface = {
2276 .name = "ulink",
2277
2278 .commands = ulink_command_handlers,
2279 .transports = jtag_only,
2280
2281 .execute_queue = ulink_execute_queue,
2282 .khz = ulink_khz,
2283 .speed = ulink_speed,
2284 .speed_div = ulink_speed_div,
2285
2286 .init = ulink_init,
2287 .quit = ulink_quit
2288 };