Remove FSF address from GPL notices
[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 #ifdef _DEBUG_JTAG_IO_
191 const char *ulink_cmd_id_string(uint8_t id);
192 void ulink_print_command(struct ulink_cmd *ulink_cmd);
193 void ulink_print_queue(struct ulink *device);
194 static int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f);
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
228 /* Interface between OpenULINK and OpenOCD */
229 static void ulink_set_end_state(tap_state_t endstate);
230 int ulink_queue_statemove(struct ulink *device);
231
232 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
233 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
234 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
235 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
236 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
237 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
238 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
239
240 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
241 int ulink_post_process_queue(struct ulink *device);
242
243 /* JTAG driver functions (registered in struct jtag_interface) */
244 static int ulink_execute_queue(void);
245 static int ulink_khz(int khz, int *jtag_speed);
246 static int ulink_speed(int speed);
247 static int ulink_speed_div(int speed, int *khz);
248 static int ulink_init(void);
249 static int ulink_quit(void);
250
251 /****************************** Global Variables ******************************/
252
253 struct ulink *ulink_handle;
254
255 /**************************** USB helper functions ****************************/
256
257 /**
258 * Opens the ULINK device and claims its USB interface.
259 *
260 * Currently, only the original ULINK is supported
261 *
262 * @param device pointer to struct ulink identifying ULINK driver instance.
263 * @return on success: ERROR_OK
264 * @return on failure: ERROR_FAIL
265 */
266 int ulink_usb_open(struct ulink **device)
267 {
268 ssize_t num_devices, i;
269 bool found;
270 libusb_device **usb_devices;
271 struct libusb_device_descriptor usb_desc;
272 struct libusb_device_handle *usb_device_handle;
273
274 num_devices = libusb_get_device_list((*device)->libusb_ctx, &usb_devices);
275
276 if (num_devices <= 0)
277 return ERROR_FAIL;
278
279 found = false;
280 for (i = 0; i < num_devices; i++) {
281 if (libusb_get_device_descriptor(usb_devices[i], &usb_desc) != 0)
282 continue;
283 else if (usb_desc.idVendor == ULINK_VID && usb_desc.idProduct == ULINK_PID) {
284 found = true;
285 break;
286 }
287 }
288
289 if (!found)
290 return ERROR_FAIL;
291
292 if (libusb_open(usb_devices[i], &usb_device_handle) != 0)
293 return ERROR_FAIL;
294 libusb_free_device_list(usb_devices, 1);
295
296 if (libusb_claim_interface(usb_device_handle, 0) != 0)
297 return ERROR_FAIL;
298
299 (*device)->usb_device_handle = usb_device_handle;
300 (*device)->type = ULINK_1;
301
302 return ERROR_OK;
303 }
304
305 /**
306 * Releases the ULINK interface and closes the USB device handle.
307 *
308 * @param device pointer to struct ulink identifying ULINK driver instance.
309 * @return on success: ERROR_OK
310 * @return on failure: ERROR_FAIL
311 */
312 int ulink_usb_close(struct ulink **device)
313 {
314 if (libusb_release_interface((*device)->usb_device_handle, 0) != 0)
315 return ERROR_FAIL;
316
317 libusb_close((*device)->usb_device_handle);
318
319 (*device)->usb_device_handle = NULL;
320
321 return ERROR_OK;
322 }
323
324 /******************* ULINK CPU (EZ-USB) specific functions ********************/
325
326 /**
327 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
328 * or out of reset.
329 *
330 * @param device pointer to struct ulink identifying ULINK driver instance.
331 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
332 * @return on success: ERROR_OK
333 * @return on failure: ERROR_FAIL
334 */
335 int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit)
336 {
337 int ret;
338
339 ret = libusb_control_transfer(device->usb_device_handle,
340 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
341 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
342
343 /* usb_control_msg() returns the number of bytes transferred during the
344 * DATA stage of the control transfer - must be exactly 1 in this case! */
345 if (ret != 1)
346 return ERROR_FAIL;
347 return ERROR_OK;
348 }
349
350 /**
351 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
352 * the firmware image, resumes the microcontroller and re-enumerates
353 * USB devices.
354 *
355 * @param device pointer to struct ulink identifying ULINK driver instance.
356 * The usb_handle member will be modified during re-enumeration.
357 * @param filename path to the Intel HEX file containing the firmware image.
358 * @param delay the delay to wait for the device to re-enumerate.
359 * @return on success: ERROR_OK
360 * @return on failure: ERROR_FAIL
361 */
362 int ulink_load_firmware_and_renumerate(struct ulink **device,
363 const char *filename, uint32_t delay)
364 {
365 int ret;
366
367 /* Basic process: After downloading the firmware, the ULINK will disconnect
368 * itself and re-connect after a short amount of time so we have to close
369 * the handle and re-enumerate USB devices */
370
371 ret = ulink_load_firmware(*device, filename);
372 if (ret != ERROR_OK)
373 return ret;
374
375 ret = ulink_usb_close(device);
376 if (ret != ERROR_OK)
377 return ret;
378
379 usleep(delay);
380
381 ret = ulink_usb_open(device);
382 if (ret != ERROR_OK)
383 return ret;
384
385 return ERROR_OK;
386 }
387
388 /**
389 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
390 * over the USB bus.
391 *
392 * @param device pointer to struct ulink identifying ULINK driver instance.
393 * @param filename an absolute or relative path to the Intel HEX file
394 * containing the firmware image.
395 * @return on success: ERROR_OK
396 * @return on failure: ERROR_FAIL
397 */
398 int ulink_load_firmware(struct ulink *device, const char *filename)
399 {
400 struct image ulink_firmware_image;
401 int ret, i;
402
403 ret = ulink_cpu_reset(device, CPU_RESET);
404 if (ret != ERROR_OK) {
405 LOG_ERROR("Could not halt ULINK CPU");
406 return ret;
407 }
408
409 ulink_firmware_image.base_address = 0;
410 ulink_firmware_image.base_address_set = 0;
411
412 ret = image_open(&ulink_firmware_image, filename, "ihex");
413 if (ret != ERROR_OK) {
414 LOG_ERROR("Could not load firmware image");
415 return ret;
416 }
417
418 /* Download all sections in the image to ULINK */
419 for (i = 0; i < ulink_firmware_image.num_sections; i++) {
420 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
421 if (ret != ERROR_OK)
422 return ret;
423 }
424
425 image_close(&ulink_firmware_image);
426
427 ret = ulink_cpu_reset(device, CPU_START);
428 if (ret != ERROR_OK) {
429 LOG_ERROR("Could not restart ULINK CPU");
430 return ret;
431 }
432
433 return ERROR_OK;
434 }
435
436 /**
437 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
438 * over the USB bus.
439 *
440 * @param device pointer to struct ulink identifying ULINK driver instance.
441 * @param firmware_image pointer to the firmware image that contains the section
442 * which should be sent to the ULINK's EZ-USB microcontroller.
443 * @param section_index index of the section within the firmware image.
444 * @return on success: ERROR_OK
445 * @return on failure: ERROR_FAIL
446 */
447 int ulink_write_firmware_section(struct ulink *device,
448 struct image *firmware_image, int section_index)
449 {
450 uint16_t addr, size, bytes_remaining, chunk_size;
451 uint8_t data[SECTION_BUFFERSIZE];
452 uint8_t *data_ptr = data;
453 size_t size_read;
454 int ret;
455
456 size = (uint16_t)firmware_image->sections[section_index].size;
457 addr = (uint16_t)firmware_image->sections[section_index].base_address;
458
459 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
460 size);
461
462 /* Copy section contents to local buffer */
463 ret = image_read_section(firmware_image, section_index, 0, size, data,
464 &size_read);
465
466 if ((ret != ERROR_OK) || (size_read != size)) {
467 /* Propagating the return code would return '0' (misleadingly indicating
468 * successful execution of the function) if only the size check fails. */
469 return ERROR_FAIL;
470 }
471
472 bytes_remaining = size;
473
474 /* Send section data in chunks of up to 64 bytes to ULINK */
475 while (bytes_remaining > 0) {
476 if (bytes_remaining > 64)
477 chunk_size = 64;
478 else
479 chunk_size = bytes_remaining;
480
481 ret = libusb_control_transfer(device->usb_device_handle,
482 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
483 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (unsigned char *)data_ptr,
484 chunk_size, USB_TIMEOUT);
485
486 if (ret != (int)chunk_size) {
487 /* Abort if libusb sent less data than requested */
488 return ERROR_FAIL;
489 }
490
491 bytes_remaining -= chunk_size;
492 addr += chunk_size;
493 data_ptr += chunk_size;
494 }
495
496 return ERROR_OK;
497 }
498
499 /************************** Generic helper functions **************************/
500
501 /**
502 * Print state of interesting signals via LOG_INFO().
503 *
504 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
505 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
506 */
507 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
508 {
509 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
510 " SRST: %i",
511 (output_signals & SIGNAL_TDI ? 1 : 0),
512 (input_signals & SIGNAL_TDO ? 1 : 0),
513 (output_signals & SIGNAL_TMS ? 1 : 0),
514 (output_signals & SIGNAL_TCK ? 1 : 0),
515 (output_signals & SIGNAL_TRST ? 0 : 1), /* Inverted by hardware */
516 (output_signals & SIGNAL_RESET ? 0 : 1)); /* Inverted by hardware */
517 }
518
519 /**************** OpenULINK command generation helper functions ***************/
520
521 /**
522 * Allocate and initialize space in memory for OpenULINK command payload.
523 *
524 * @param ulink_cmd pointer to command whose payload should be allocated.
525 * @param size the amount of memory to allocate (bytes).
526 * @param direction which payload to allocate.
527 * @return on success: ERROR_OK
528 * @return on failure: ERROR_FAIL
529 */
530 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
531 enum ulink_payload_direction direction)
532 {
533 uint8_t *payload;
534
535 payload = calloc(size, sizeof(uint8_t));
536
537 if (payload == NULL) {
538 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
539 return ERROR_FAIL;
540 }
541
542 switch (direction) {
543 case PAYLOAD_DIRECTION_OUT:
544 if (ulink_cmd->payload_out != NULL) {
545 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
546 free(payload);
547 return ERROR_FAIL;
548 } else {
549 ulink_cmd->payload_out = payload;
550 ulink_cmd->payload_out_size = size;
551 }
552 break;
553 case PAYLOAD_DIRECTION_IN:
554 if (ulink_cmd->payload_in_start != NULL) {
555 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
556 free(payload);
557 return ERROR_FAIL;
558 } else {
559 ulink_cmd->payload_in_start = payload;
560 ulink_cmd->payload_in = payload;
561 ulink_cmd->payload_in_size = size;
562
563 /* By default, free payload_in_start in ulink_clear_queue(). Commands
564 * that do not want this behavior (e. g. split scans) must turn it off
565 * separately! */
566 ulink_cmd->free_payload_in_start = true;
567 }
568 break;
569 }
570
571 return ERROR_OK;
572 }
573
574 /****************** OpenULINK command queue helper functions ******************/
575
576 /**
577 * Get the current number of bytes in the queue, including command IDs.
578 *
579 * @param device pointer to struct ulink identifying ULINK driver instance.
580 * @param direction the transfer direction for which to get byte count.
581 * @return the number of bytes currently stored in the queue for the specified
582 * direction.
583 */
584 int ulink_get_queue_size(struct ulink *device,
585 enum ulink_payload_direction direction)
586 {
587 struct ulink_cmd *current = device->queue_start;
588 int sum = 0;
589
590 while (current != NULL) {
591 switch (direction) {
592 case PAYLOAD_DIRECTION_OUT:
593 sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
594 break;
595 case PAYLOAD_DIRECTION_IN:
596 sum += current->payload_in_size;
597 break;
598 }
599
600 current = current->next;
601 }
602
603 return sum;
604 }
605
606 /**
607 * Clear the OpenULINK command queue.
608 *
609 * @param device pointer to struct ulink identifying ULINK driver instance.
610 * @return on success: ERROR_OK
611 * @return on failure: ERROR_FAIL
612 */
613 void ulink_clear_queue(struct ulink *device)
614 {
615 struct ulink_cmd *current = device->queue_start;
616 struct ulink_cmd *next = NULL;
617
618 while (current != NULL) {
619 /* Save pointer to next element */
620 next = current->next;
621
622 /* Free payloads: OUT payload can be freed immediately */
623 free(current->payload_out);
624 current->payload_out = NULL;
625
626 /* IN payload MUST be freed ONLY if no other commands use the
627 * payload_in_start buffer */
628 if (current->free_payload_in_start == true) {
629 free(current->payload_in_start);
630 current->payload_in_start = NULL;
631 current->payload_in = NULL;
632 }
633
634 /* Free queue element */
635 free(current);
636
637 /* Proceed with next element */
638 current = next;
639 }
640
641 device->commands_in_queue = 0;
642 device->queue_start = NULL;
643 device->queue_end = NULL;
644 }
645
646 /**
647 * Add a command to the OpenULINK command queue.
648 *
649 * @param device pointer to struct ulink identifying ULINK driver instance.
650 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
651 * command queue.
652 * @return on success: ERROR_OK
653 * @return on failure: ERROR_FAIL
654 */
655 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
656 {
657 int newsize_out, newsize_in;
658 int ret;
659
660 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
661 + ulink_cmd->payload_out_size;
662
663 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
664 + ulink_cmd->payload_in_size;
665
666 /* Check if the current command can be appended to the queue */
667 if ((newsize_out > 64) || (newsize_in > 64)) {
668 /* New command does not fit. Execute all commands in queue before starting
669 * new queue with the current command as first entry. */
670 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
671 if (ret != ERROR_OK)
672 return ret;
673
674 ret = ulink_post_process_queue(device);
675 if (ret != ERROR_OK)
676 return ret;
677
678 ulink_clear_queue(device);
679 }
680
681 if (device->queue_start == NULL) {
682 /* Queue was empty */
683 device->commands_in_queue = 1;
684
685 device->queue_start = ulink_cmd;
686 device->queue_end = ulink_cmd;
687 } else {
688 /* There are already commands in the queue */
689 device->commands_in_queue++;
690
691 device->queue_end->next = ulink_cmd;
692 device->queue_end = ulink_cmd;
693 }
694
695 return ERROR_OK;
696 }
697
698 /**
699 * Sends all queued OpenULINK commands to the ULINK for execution.
700 *
701 * @param device pointer to struct ulink identifying ULINK driver instance.
702 * @return on success: ERROR_OK
703 * @return on failure: ERROR_FAIL
704 */
705 int ulink_execute_queued_commands(struct ulink *device, int timeout)
706 {
707 struct ulink_cmd *current;
708 int ret, i, index_out, index_in, count_out, count_in, transferred;
709 uint8_t buffer[64];
710
711 #ifdef _DEBUG_JTAG_IO_
712 ulink_print_queue(device);
713 #endif
714
715 index_out = 0;
716 count_out = 0;
717 count_in = 0;
718
719 for (current = device->queue_start; current; current = current->next) {
720 /* Add command to packet */
721 buffer[index_out] = current->id;
722 index_out++;
723 count_out++;
724
725 for (i = 0; i < current->payload_out_size; i++)
726 buffer[index_out + i] = current->payload_out[i];
727 index_out += current->payload_out_size;
728 count_in += current->payload_in_size;
729 count_out += current->payload_out_size;
730 }
731
732 /* Send packet to ULINK */
733 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_OUT),
734 (unsigned char *)buffer, count_out, &transferred, timeout);
735 if (ret != 0)
736 return ERROR_FAIL;
737 if (transferred != count_out)
738 return ERROR_FAIL;
739
740 /* Wait for response if commands contain IN payload data */
741 if (count_in > 0) {
742 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
743 (unsigned char *)buffer, 64, &transferred, timeout);
744 if (ret != 0)
745 return ERROR_FAIL;
746 if (transferred != count_in)
747 return ERROR_FAIL;
748
749 /* Write back IN payload data */
750 index_in = 0;
751 for (current = device->queue_start; current; current = current->next) {
752 for (i = 0; i < current->payload_in_size; i++) {
753 current->payload_in[i] = buffer[index_in];
754 index_in++;
755 }
756 }
757 }
758
759 return ERROR_OK;
760 }
761
762 #ifdef _DEBUG_JTAG_IO_
763
764 /**
765 * Convert an OpenULINK command ID (\a id) to a human-readable string.
766 *
767 * @param id the OpenULINK command ID.
768 * @return the corresponding human-readable string.
769 */
770 const char *ulink_cmd_id_string(uint8_t id)
771 {
772 switch (id) {
773 case CMD_SCAN_IN:
774 return "CMD_SCAN_IN";
775 break;
776 case CMD_SLOW_SCAN_IN:
777 return "CMD_SLOW_SCAN_IN";
778 break;
779 case CMD_SCAN_OUT:
780 return "CMD_SCAN_OUT";
781 break;
782 case CMD_SLOW_SCAN_OUT:
783 return "CMD_SLOW_SCAN_OUT";
784 break;
785 case CMD_SCAN_IO:
786 return "CMD_SCAN_IO";
787 break;
788 case CMD_SLOW_SCAN_IO:
789 return "CMD_SLOW_SCAN_IO";
790 break;
791 case CMD_CLOCK_TMS:
792 return "CMD_CLOCK_TMS";
793 break;
794 case CMD_SLOW_CLOCK_TMS:
795 return "CMD_SLOW_CLOCK_TMS";
796 break;
797 case CMD_CLOCK_TCK:
798 return "CMD_CLOCK_TCK";
799 break;
800 case CMD_SLOW_CLOCK_TCK:
801 return "CMD_SLOW_CLOCK_TCK";
802 break;
803 case CMD_SLEEP_US:
804 return "CMD_SLEEP_US";
805 break;
806 case CMD_SLEEP_MS:
807 return "CMD_SLEEP_MS";
808 break;
809 case CMD_GET_SIGNALS:
810 return "CMD_GET_SIGNALS";
811 break;
812 case CMD_SET_SIGNALS:
813 return "CMD_SET_SIGNALS";
814 break;
815 case CMD_CONFIGURE_TCK_FREQ:
816 return "CMD_CONFIGURE_TCK_FREQ";
817 break;
818 case CMD_SET_LEDS:
819 return "CMD_SET_LEDS";
820 break;
821 case CMD_TEST:
822 return "CMD_TEST";
823 break;
824 default:
825 return "CMD_UNKNOWN";
826 break;
827 }
828 }
829
830 /**
831 * Print one OpenULINK command to stdout.
832 *
833 * @param ulink_cmd pointer to OpenULINK command.
834 */
835 void ulink_print_command(struct ulink_cmd *ulink_cmd)
836 {
837 int i;
838
839 printf(" %-22s | OUT size = %i, bytes = 0x",
840 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
841
842 for (i = 0; i < ulink_cmd->payload_out_size; i++)
843 printf("%02X ", ulink_cmd->payload_out[i]);
844 printf("\n | IN size = %i\n",
845 ulink_cmd->payload_in_size);
846 }
847
848 /**
849 * Print the OpenULINK command queue to stdout.
850 *
851 * @param device pointer to struct ulink identifying ULINK driver instance.
852 */
853 void ulink_print_queue(struct ulink *device)
854 {
855 struct ulink_cmd *current;
856
857 printf("OpenULINK command queue:\n");
858
859 for (current = device->queue_start; current; current = current->next)
860 ulink_print_command(current);
861 }
862
863 #endif /* _DEBUG_JTAG_IO_ */
864
865 /**
866 * Perform JTAG scan
867 *
868 * Creates and appends a JTAG scan command to the OpenULINK command queue.
869 * A JTAG scan consists of three steps:
870 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
871 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
872 * - Move to the desired end state.
873 *
874 * @param device pointer to struct ulink identifying ULINK driver instance.
875 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
876 * @param scan_size_bits number of bits to shift into the JTAG chain.
877 * @param tdi pointer to array containing TDI data.
878 * @param tdo_start pointer to first element of array where TDO data shall be
879 * stored. See #ulink_cmd for details.
880 * @param tdo pointer to array where TDO data shall be stored
881 * @param tms_count_start number of TMS state transitions to perform BEFORE
882 * shifting data into the JTAG chain.
883 * @param tms_sequence_start sequence of TMS state transitions that will be
884 * performed BEFORE shifting data into the JTAG chain.
885 * @param tms_count_end number of TMS state transitions to perform AFTER
886 * shifting data into the JTAG chain.
887 * @param tms_sequence_end sequence of TMS state transitions that will be
888 * performed AFTER shifting data into the JTAG chain.
889 * @param origin pointer to OpenOCD command that generated this scan command.
890 * @param postprocess whether this command needs to be post-processed after
891 * execution.
892 * @return on success: ERROR_OK
893 * @return on failure: ERROR_FAIL
894 */
895 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
896 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
897 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
898 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
899 {
900 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
901 int ret, i, scan_size_bytes;
902 uint8_t bits_last_byte;
903
904 if (cmd == NULL)
905 return ERROR_FAIL;
906
907 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
908 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
909 if (scan_size_bits > (58 * 8)) {
910 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
911 " large payload");
912 free(cmd);
913 return ERROR_FAIL;
914 }
915
916 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
917
918 bits_last_byte = scan_size_bits % 8;
919 if (bits_last_byte == 0)
920 bits_last_byte = 8;
921
922 /* Allocate out_payload depending on scan type */
923 switch (scan_type) {
924 case SCAN_IN:
925 if (device->delay_scan_in < 0)
926 cmd->id = CMD_SCAN_IN;
927 else
928 cmd->id = CMD_SLOW_SCAN_IN;
929 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
930 break;
931 case SCAN_OUT:
932 if (device->delay_scan_out < 0)
933 cmd->id = CMD_SCAN_OUT;
934 else
935 cmd->id = CMD_SLOW_SCAN_OUT;
936 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
937 break;
938 case SCAN_IO:
939 if (device->delay_scan_io < 0)
940 cmd->id = CMD_SCAN_IO;
941 else
942 cmd->id = CMD_SLOW_SCAN_IO;
943 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
944 break;
945 default:
946 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
947 ret = ERROR_FAIL;
948 break;
949 }
950
951 if (ret != ERROR_OK) {
952 free(cmd);
953 return ret;
954 }
955
956 /* Build payload_out that is common to all scan types */
957 cmd->payload_out[0] = scan_size_bytes & 0xFF;
958 cmd->payload_out[1] = bits_last_byte & 0xFF;
959 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
960 cmd->payload_out[3] = tms_sequence_start;
961 cmd->payload_out[4] = tms_sequence_end;
962
963 /* Setup payload_out for types with OUT transfer */
964 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
965 for (i = 0; i < scan_size_bytes; i++)
966 cmd->payload_out[i + 5] = tdi[i];
967 }
968
969 /* Setup payload_in pointers for types with IN transfer */
970 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
971 cmd->payload_in_start = tdo_start;
972 cmd->payload_in = tdo;
973 cmd->payload_in_size = scan_size_bytes;
974 }
975
976 cmd->needs_postprocessing = postprocess;
977 cmd->cmd_origin = origin;
978
979 /* For scan commands, we free payload_in_start only when the command is
980 * the last in a series of split commands or a stand-alone command */
981 cmd->free_payload_in_start = postprocess;
982
983 return ulink_append_queue(device, cmd);
984 }
985
986 /**
987 * Perform TAP state transitions
988 *
989 * @param device pointer to struct ulink identifying ULINK driver instance.
990 * @param count defines the number of TCK clock cycles generated (up to 8).
991 * @param sequence defines the TMS pin levels for each state transition. The
992 * Least-Significant Bit is read first.
993 * @return on success: ERROR_OK
994 * @return on failure: ERROR_FAIL
995 */
996 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
997 uint8_t sequence)
998 {
999 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1000 int ret;
1001
1002 if (cmd == NULL)
1003 return ERROR_FAIL;
1004
1005 if (device->delay_clock_tms < 0)
1006 cmd->id = CMD_CLOCK_TMS;
1007 else
1008 cmd->id = CMD_SLOW_CLOCK_TMS;
1009
1010 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1011 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1012 if (ret != ERROR_OK) {
1013 free(cmd);
1014 return ret;
1015 }
1016
1017 cmd->payload_out[0] = count;
1018 cmd->payload_out[1] = sequence;
1019
1020 return ulink_append_queue(device, cmd);
1021 }
1022
1023 /**
1024 * Generate a defined amount of TCK clock cycles
1025 *
1026 * All other JTAG signals are left unchanged.
1027 *
1028 * @param device pointer to struct ulink identifying ULINK driver instance.
1029 * @param count the number of TCK clock cycles to generate.
1030 * @return on success: ERROR_OK
1031 * @return on failure: ERROR_FAIL
1032 */
1033 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1034 {
1035 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1036 int ret;
1037
1038 if (cmd == NULL)
1039 return ERROR_FAIL;
1040
1041 if (device->delay_clock_tck < 0)
1042 cmd->id = CMD_CLOCK_TCK;
1043 else
1044 cmd->id = CMD_SLOW_CLOCK_TCK;
1045
1046 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1047 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1048 if (ret != ERROR_OK) {
1049 free(cmd);
1050 return ret;
1051 }
1052
1053 cmd->payload_out[0] = count & 0xff;
1054 cmd->payload_out[1] = (count >> 8) & 0xff;
1055
1056 return ulink_append_queue(device, cmd);
1057 }
1058
1059 /**
1060 * Read JTAG signals.
1061 *
1062 * @param device pointer to struct ulink identifying ULINK driver instance.
1063 * @return on success: ERROR_OK
1064 * @return on failure: ERROR_FAIL
1065 */
1066 int ulink_append_get_signals_cmd(struct ulink *device)
1067 {
1068 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1069 int ret;
1070
1071 if (cmd == NULL)
1072 return ERROR_FAIL;
1073
1074 cmd->id = CMD_GET_SIGNALS;
1075 cmd->needs_postprocessing = true;
1076
1077 /* CMD_GET_SIGNALS has two IN payload bytes */
1078 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1079
1080 if (ret != ERROR_OK) {
1081 free(cmd);
1082 return ret;
1083 }
1084
1085 return ulink_append_queue(device, cmd);
1086 }
1087
1088 /**
1089 * Arbitrarily set JTAG output signals.
1090 *
1091 * @param device pointer to struct ulink identifying ULINK driver instance.
1092 * @param low defines which signals will be de-asserted. Each bit corresponds
1093 * to a JTAG signal:
1094 * - SIGNAL_TDI
1095 * - SIGNAL_TMS
1096 * - SIGNAL_TCK
1097 * - SIGNAL_TRST
1098 * - SIGNAL_BRKIN
1099 * - SIGNAL_RESET
1100 * - SIGNAL_OCDSE
1101 * @param high defines which signals will be asserted.
1102 * @return on success: ERROR_OK
1103 * @return on failure: ERROR_FAIL
1104 */
1105 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1106 uint8_t high)
1107 {
1108 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1109 int ret;
1110
1111 if (cmd == NULL)
1112 return ERROR_FAIL;
1113
1114 cmd->id = CMD_SET_SIGNALS;
1115
1116 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1117 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1118
1119 if (ret != ERROR_OK) {
1120 free(cmd);
1121 return ret;
1122 }
1123
1124 cmd->payload_out[0] = low;
1125 cmd->payload_out[1] = high;
1126
1127 return ulink_append_queue(device, cmd);
1128 }
1129
1130 /**
1131 * Sleep for a pre-defined number of microseconds
1132 *
1133 * @param device pointer to struct ulink identifying ULINK driver instance.
1134 * @param us the number microseconds to sleep.
1135 * @return on success: ERROR_OK
1136 * @return on failure: ERROR_FAIL
1137 */
1138 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1139 {
1140 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1141 int ret;
1142
1143 if (cmd == NULL)
1144 return ERROR_FAIL;
1145
1146 cmd->id = CMD_SLEEP_US;
1147
1148 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1149 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1150
1151 if (ret != ERROR_OK) {
1152 free(cmd);
1153 return ret;
1154 }
1155
1156 cmd->payload_out[0] = us & 0x00ff;
1157 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1158
1159 return ulink_append_queue(device, cmd);
1160 }
1161
1162 /**
1163 * Set TCK delay counters
1164 *
1165 * @param device pointer to struct ulink identifying ULINK driver instance.
1166 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1167 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1168 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1169 * @param delay_tck delay count top value in jtag_clock_tck() function.
1170 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1171 * @return on success: ERROR_OK
1172 * @return on failure: ERROR_FAIL
1173 */
1174 int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1175 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1176 {
1177 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1178 int ret;
1179
1180 if (cmd == NULL)
1181 return ERROR_FAIL;
1182
1183 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1184
1185 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1186 * IN payload bytes */
1187 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1188 if (ret != ERROR_OK) {
1189 free(cmd);
1190 return ret;
1191 }
1192
1193 if (delay_scan_in < 0)
1194 cmd->payload_out[0] = 0;
1195 else
1196 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1197
1198 if (delay_scan_out < 0)
1199 cmd->payload_out[1] = 0;
1200 else
1201 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1202
1203 if (delay_scan_io < 0)
1204 cmd->payload_out[2] = 0;
1205 else
1206 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1207
1208 if (delay_tck < 0)
1209 cmd->payload_out[3] = 0;
1210 else
1211 cmd->payload_out[3] = (uint8_t)delay_tck;
1212
1213 if (delay_tms < 0)
1214 cmd->payload_out[4] = 0;
1215 else
1216 cmd->payload_out[4] = (uint8_t)delay_tms;
1217
1218 return ulink_append_queue(device, cmd);
1219 }
1220
1221 /**
1222 * Turn on/off ULINK LEDs.
1223 *
1224 * @param device pointer to struct ulink identifying ULINK driver instance.
1225 * @param led_state which LED(s) to turn on or off. The following bits
1226 * influence the LEDS:
1227 * - Bit 0: Turn COM LED on
1228 * - Bit 1: Turn RUN LED on
1229 * - Bit 2: Turn COM LED off
1230 * - Bit 3: Turn RUN LED off
1231 * If both the on-bit and the off-bit for the same LED is set, the LED is
1232 * turned off.
1233 * @return on success: ERROR_OK
1234 * @return on failure: ERROR_FAIL
1235 */
1236 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1237 {
1238 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1239 int ret;
1240
1241 if (cmd == NULL)
1242 return ERROR_FAIL;
1243
1244 cmd->id = CMD_SET_LEDS;
1245
1246 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1247 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1248 if (ret != ERROR_OK) {
1249 free(cmd);
1250 return ret;
1251 }
1252
1253 cmd->payload_out[0] = led_state;
1254
1255 return ulink_append_queue(device, cmd);
1256 }
1257
1258 /**
1259 * Test command. Used to check if the ULINK device is ready to accept new
1260 * commands.
1261 *
1262 * @param device pointer to struct ulink identifying ULINK driver instance.
1263 * @return on success: ERROR_OK
1264 * @return on failure: ERROR_FAIL
1265 */
1266 int ulink_append_test_cmd(struct ulink *device)
1267 {
1268 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1269 int ret;
1270
1271 if (cmd == NULL)
1272 return ERROR_FAIL;
1273
1274 cmd->id = CMD_TEST;
1275
1276 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1277 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1278 if (ret != ERROR_OK) {
1279 free(cmd);
1280 return ret;
1281 }
1282
1283 cmd->payload_out[0] = 0xAA;
1284
1285 return ulink_append_queue(device, cmd);
1286 }
1287
1288 /****************** OpenULINK TCK frequency helper functions ******************/
1289
1290 /**
1291 * Calculate delay values for a given TCK frequency.
1292 *
1293 * The OpenULINK firmware uses five different speed values for different
1294 * commands. These speed values are calculated in these functions.
1295 *
1296 * The five different commands which support variable TCK frequency are
1297 * implemented twice in the firmware:
1298 * 1. Maximum possible frequency without any artificial delay
1299 * 2. Variable frequency with artificial linear delay loop
1300 *
1301 * To set the ULINK to maximum frequency, it is only neccessary to use the
1302 * corresponding command IDs. To set the ULINK to a lower frequency, the
1303 * delay loop top values have to be calculated first. Then, a
1304 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1305 *
1306 * The delay values are described by linear equations:
1307 * t = k * x + d
1308 * (t = period, k = constant, x = delay value, d = constant)
1309 *
1310 * Thus, the delay can be calculated as in the following equation:
1311 * x = (t - d) / k
1312 *
1313 * The constants in these equations have been determined and validated by
1314 * measuring the frequency resulting from different delay values.
1315 *
1316 * @param type for which command to calculate the delay value.
1317 * @param f TCK frequency for which to calculate the delay value in Hz.
1318 * @param delay where to store resulting delay value.
1319 * @return on success: ERROR_OK
1320 * @return on failure: ERROR_FAIL
1321 */
1322 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1323 {
1324 float t, x, x_ceil;
1325
1326 /* Calculate period of requested TCK frequency */
1327 t = 1.0 / (float)(f);
1328
1329 switch (type) {
1330 case DELAY_CLOCK_TCK:
1331 x = (t - (float)(6E-6)) / (float)(4E-6);
1332 break;
1333 case DELAY_CLOCK_TMS:
1334 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1335 break;
1336 case DELAY_SCAN_IN:
1337 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1338 break;
1339 case DELAY_SCAN_OUT:
1340 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1341 break;
1342 case DELAY_SCAN_IO:
1343 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1344 break;
1345 default:
1346 return ERROR_FAIL;
1347 break;
1348 }
1349
1350 /* Check if the delay value is negative. This happens when a frequency is
1351 * requested that is too high for the delay loop implementation. In this
1352 * case, set delay value to zero. */
1353 if (x < 0)
1354 x = 0;
1355
1356 /* We need to convert the exact delay value to an integer. Therefore, we
1357 * round the exact value UP to ensure that the resulting frequency is NOT
1358 * higher than the requested frequency. */
1359 x_ceil = ceilf(x);
1360
1361 /* Check if the value is within limits */
1362 if (x_ceil > 255)
1363 return ERROR_FAIL;
1364
1365 *delay = (int)x_ceil;
1366
1367 return ERROR_OK;
1368 }
1369
1370 #ifdef _DEBUG_JTAG_IO_
1371 /**
1372 * Calculate frequency for a given delay value.
1373 *
1374 * Similar to the #ulink_calculate_delay function, this function calculates the
1375 * TCK frequency for a given delay value by using linear equations of the form:
1376 * t = k * x + d
1377 * (t = period, k = constant, x = delay value, d = constant)
1378 *
1379 * @param type for which command to calculate the delay value.
1380 * @param delay delay value for which to calculate the resulting TCK frequency.
1381 * @param f where to store the resulting TCK frequency.
1382 * @return on success: ERROR_OK
1383 * @return on failure: ERROR_FAIL
1384 */
1385 static int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f)
1386 {
1387 float t, f_float, f_rounded;
1388
1389 if (delay > 255)
1390 return ERROR_FAIL;
1391
1392 switch (type) {
1393 case DELAY_CLOCK_TCK:
1394 if (delay < 0)
1395 t = (float)(2.666E-6);
1396 else
1397 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1398 break;
1399 case DELAY_CLOCK_TMS:
1400 if (delay < 0)
1401 t = (float)(5.666E-6);
1402 else
1403 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1404 break;
1405 case DELAY_SCAN_IN:
1406 if (delay < 0)
1407 t = (float)(5.5E-6);
1408 else
1409 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1410 break;
1411 case DELAY_SCAN_OUT:
1412 if (delay < 0)
1413 t = (float)(7.0E-6);
1414 else
1415 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1416 break;
1417 case DELAY_SCAN_IO:
1418 if (delay < 0)
1419 t = (float)(9.926E-6);
1420 else
1421 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1422 break;
1423 default:
1424 return ERROR_FAIL;
1425 break;
1426 }
1427
1428 f_float = 1.0 / t;
1429 f_rounded = roundf(f_float);
1430 *f = (long)f_rounded;
1431
1432 return ERROR_OK;
1433 }
1434 #endif
1435
1436 /******************* Interface between OpenULINK and OpenOCD ******************/
1437
1438 /**
1439 * Sets the end state follower (see interface.h) if \a endstate is a stable
1440 * state.
1441 *
1442 * @param endstate the state the end state follower should be set to.
1443 */
1444 static void ulink_set_end_state(tap_state_t endstate)
1445 {
1446 if (tap_is_state_stable(endstate))
1447 tap_set_end_state(endstate);
1448 else {
1449 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1450 exit(EXIT_FAILURE);
1451 }
1452 }
1453
1454 /**
1455 * Move from the current TAP state to the current TAP end state.
1456 *
1457 * @param device pointer to struct ulink identifying ULINK driver instance.
1458 * @return on success: ERROR_OK
1459 * @return on failure: ERROR_FAIL
1460 */
1461 int ulink_queue_statemove(struct ulink *device)
1462 {
1463 uint8_t tms_sequence, tms_count;
1464 int ret;
1465
1466 if (tap_get_state() == tap_get_end_state()) {
1467 /* Do nothing if we are already there */
1468 return ERROR_OK;
1469 }
1470
1471 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1472 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1473
1474 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1475
1476 if (ret == ERROR_OK)
1477 tap_set_state(tap_get_end_state());
1478
1479 return ret;
1480 }
1481
1482 /**
1483 * Perform a scan operation on a JTAG register.
1484 *
1485 * @param device pointer to struct ulink identifying ULINK driver instance.
1486 * @param cmd pointer to the command that shall be executed.
1487 * @return on success: ERROR_OK
1488 * @return on failure: ERROR_FAIL
1489 */
1490 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1491 {
1492 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1493 uint32_t scans_max_payload, bytecount;
1494 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1495 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1496
1497 uint8_t first_tms_count, first_tms_sequence;
1498 uint8_t last_tms_count, last_tms_sequence;
1499
1500 uint8_t tms_count_pause, tms_sequence_pause;
1501 uint8_t tms_count_resume, tms_sequence_resume;
1502
1503 uint8_t tms_count_start, tms_sequence_start;
1504 uint8_t tms_count_end, tms_sequence_end;
1505
1506 enum scan_type type;
1507 int ret;
1508
1509 /* Determine scan size */
1510 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1511 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1512
1513 /* Determine scan type (IN/OUT/IO) */
1514 type = jtag_scan_type(cmd->cmd.scan);
1515
1516 /* Determine number of scan commands with maximum payload */
1517 scans_max_payload = scan_size_bytes / 58;
1518
1519 /* Determine size of last shift command */
1520 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1521
1522 /* Allocate TDO buffer if required */
1523 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1524 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1525
1526 if (tdo_buffer_start == NULL)
1527 return ERROR_FAIL;
1528
1529 tdo_buffer = tdo_buffer_start;
1530 }
1531
1532 /* Fill TDI buffer if required */
1533 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1534 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1535 tdi_buffer = tdi_buffer_start;
1536 }
1537
1538 /* Get TAP state transitions */
1539 if (cmd->cmd.scan->ir_scan) {
1540 ulink_set_end_state(TAP_IRSHIFT);
1541 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1542 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1543
1544 tap_set_state(TAP_IRSHIFT);
1545 tap_set_end_state(cmd->cmd.scan->end_state);
1546 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1547 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1548
1549 /* TAP state transitions for split scans */
1550 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1551 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1552 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1553 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1554 } else {
1555 ulink_set_end_state(TAP_DRSHIFT);
1556 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1557 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1558
1559 tap_set_state(TAP_DRSHIFT);
1560 tap_set_end_state(cmd->cmd.scan->end_state);
1561 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1562 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1563
1564 /* TAP state transitions for split scans */
1565 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1566 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1567 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1568 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1569 }
1570
1571 /* Generate scan commands */
1572 bytecount = scan_size_bytes;
1573 while (bytecount > 0) {
1574 if (bytecount == scan_size_bytes) {
1575 /* This is the first scan */
1576 tms_count_start = first_tms_count;
1577 tms_sequence_start = first_tms_sequence;
1578 } else {
1579 /* Resume from previous scan */
1580 tms_count_start = tms_count_resume;
1581 tms_sequence_start = tms_sequence_resume;
1582 }
1583
1584 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1585 tms_count_end = tms_count_pause;
1586 tms_sequence_end = tms_sequence_pause;
1587
1588 ret = ulink_append_scan_cmd(device,
1589 type,
1590 58 * 8,
1591 tdi_buffer,
1592 tdo_buffer_start,
1593 tdo_buffer,
1594 tms_count_start,
1595 tms_sequence_start,
1596 tms_count_end,
1597 tms_sequence_end,
1598 cmd,
1599 false);
1600
1601 bytecount -= 58;
1602
1603 /* Update TDI and TDO buffer pointers */
1604 if (tdi_buffer_start != NULL)
1605 tdi_buffer += 58;
1606 if (tdo_buffer_start != NULL)
1607 tdo_buffer += 58;
1608 } else if (bytecount == 58) { /* Full scan, 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 58 * 8,
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 } else {/* Scan with less than maximum payload, no further scans */
1627 tms_count_end = last_tms_count;
1628 tms_sequence_end = last_tms_sequence;
1629
1630 ret = ulink_append_scan_cmd(device,
1631 type,
1632 bits_last_scan,
1633 tdi_buffer,
1634 tdo_buffer_start,
1635 tdo_buffer,
1636 tms_count_start,
1637 tms_sequence_start,
1638 tms_count_end,
1639 tms_sequence_end,
1640 cmd,
1641 true);
1642
1643 bytecount = 0;
1644 }
1645
1646 if (ret != ERROR_OK) {
1647 free(tdi_buffer_start);
1648 return ret;
1649 }
1650 }
1651
1652 free(tdi_buffer_start);
1653
1654 /* Set current state to the end state requested by the command */
1655 tap_set_state(cmd->cmd.scan->end_state);
1656
1657 return ERROR_OK;
1658 }
1659
1660 /**
1661 * Move the TAP into the Test Logic Reset state.
1662 *
1663 * @param device pointer to struct ulink identifying ULINK driver instance.
1664 * @param cmd pointer to the command that shall be executed.
1665 * @return on success: ERROR_OK
1666 * @return on failure: ERROR_FAIL
1667 */
1668 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1669 {
1670 int ret;
1671
1672 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1673
1674 if (ret == ERROR_OK)
1675 tap_set_state(TAP_RESET);
1676
1677 return ret;
1678 }
1679
1680 /**
1681 * Run Test.
1682 *
1683 * Generate TCK clock cycles while remaining
1684 * in the Run-Test/Idle state.
1685 *
1686 * @param device pointer to struct ulink identifying ULINK driver instance.
1687 * @param cmd pointer to the command that shall be executed.
1688 * @return on success: ERROR_OK
1689 * @return on failure: ERROR_FAIL
1690 */
1691 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1692 {
1693 int ret;
1694
1695 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1696 if (tap_get_state() != TAP_IDLE) {
1697 ulink_set_end_state(TAP_IDLE);
1698 ulink_queue_statemove(device);
1699 }
1700
1701 /* Generate the clock cycles */
1702 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1703 if (ret != ERROR_OK)
1704 return ret;
1705
1706 /* Move to end state specified in command */
1707 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1708 tap_set_end_state(cmd->cmd.runtest->end_state);
1709 ulink_queue_statemove(device);
1710 }
1711
1712 return ERROR_OK;
1713 }
1714
1715 /**
1716 * Execute a JTAG_RESET command
1717 *
1718 * @param cmd pointer to the command that shall be executed.
1719 * @return on success: ERROR_OK
1720 * @return on failure: ERROR_FAIL
1721 */
1722 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1723 {
1724 uint8_t low = 0, high = 0;
1725
1726 if (cmd->cmd.reset->trst) {
1727 tap_set_state(TAP_RESET);
1728 high |= SIGNAL_TRST;
1729 } else
1730 low |= SIGNAL_TRST;
1731
1732 if (cmd->cmd.reset->srst)
1733 high |= SIGNAL_RESET;
1734 else
1735 low |= SIGNAL_RESET;
1736
1737 return ulink_append_set_signals_cmd(device, low, high);
1738 }
1739
1740 /**
1741 * Move to one TAP state or several states in succession.
1742 *
1743 * @param device pointer to struct ulink identifying ULINK driver instance.
1744 * @param cmd pointer to the command that shall be executed.
1745 * @return on success: ERROR_OK
1746 * @return on failure: ERROR_FAIL
1747 */
1748 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1749 {
1750 int ret, i, num_states, batch_size, state_count;
1751 tap_state_t *path;
1752 uint8_t tms_sequence;
1753
1754 num_states = cmd->cmd.pathmove->num_states;
1755 path = cmd->cmd.pathmove->path;
1756 state_count = 0;
1757
1758 while (num_states > 0) {
1759 tms_sequence = 0;
1760
1761 /* Determine batch size */
1762 if (num_states >= 8)
1763 batch_size = 8;
1764 else
1765 batch_size = num_states;
1766
1767 for (i = 0; i < batch_size; i++) {
1768 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1769 /* Append '0' transition: clear bit 'i' in tms_sequence */
1770 buf_set_u32(&tms_sequence, i, 1, 0x0);
1771 } else if (tap_state_transition(tap_get_state(), true)
1772 == path[state_count]) {
1773 /* Append '1' transition: set bit 'i' in tms_sequence */
1774 buf_set_u32(&tms_sequence, i, 1, 0x1);
1775 } else {
1776 /* Invalid state transition */
1777 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1778 tap_state_name(tap_get_state()),
1779 tap_state_name(path[state_count]));
1780 return ERROR_FAIL;
1781 }
1782
1783 tap_set_state(path[state_count]);
1784 state_count++;
1785 num_states--;
1786 }
1787
1788 /* Append CLOCK_TMS command to OpenULINK command queue */
1789 LOG_INFO(
1790 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1791 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1792 if (ret != ERROR_OK)
1793 return ret;
1794 }
1795
1796 return ERROR_OK;
1797 }
1798
1799 /**
1800 * Sleep for a specific amount of time.
1801 *
1802 * @param device pointer to struct ulink identifying ULINK driver instance.
1803 * @param cmd pointer to the command that shall be executed.
1804 * @return on success: ERROR_OK
1805 * @return on failure: ERROR_FAIL
1806 */
1807 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1808 {
1809 /* IMPORTANT! Due to the time offset in command execution introduced by
1810 * command queueing, this needs to be implemented in the ULINK device */
1811 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1812 }
1813
1814 /**
1815 * Generate TCK cycles while remaining in a stable state.
1816 *
1817 * @param device pointer to struct ulink identifying ULINK driver instance.
1818 * @param cmd pointer to the command that shall be executed.
1819 */
1820 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1821 {
1822 int ret;
1823 unsigned num_cycles;
1824
1825 if (!tap_is_state_stable(tap_get_state())) {
1826 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1827 return ERROR_FAIL;
1828 }
1829
1830 num_cycles = cmd->cmd.stableclocks->num_cycles;
1831
1832 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1833 if (tap_get_state() == TAP_RESET)
1834 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1835 else
1836 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1837
1838 if (ret != ERROR_OK)
1839 return ret;
1840
1841 while (num_cycles > 0) {
1842 if (num_cycles > 0xFFFF) {
1843 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1844 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1845 num_cycles -= 0xFFFF;
1846 } else {
1847 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1848 num_cycles = 0;
1849 }
1850
1851 if (ret != ERROR_OK)
1852 return ret;
1853 }
1854
1855 return ERROR_OK;
1856 }
1857
1858 /**
1859 * Post-process JTAG_SCAN command
1860 *
1861 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1862 * @return on success: ERROR_OK
1863 * @return on failure: ERROR_FAIL
1864 */
1865 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1866 {
1867 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1868 int ret;
1869
1870 switch (jtag_scan_type(cmd->cmd.scan)) {
1871 case SCAN_IN:
1872 case SCAN_IO:
1873 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1874 break;
1875 case SCAN_OUT:
1876 /* Nothing to do for OUT scans */
1877 ret = ERROR_OK;
1878 break;
1879 default:
1880 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1881 " JTAG scan type");
1882 ret = ERROR_FAIL;
1883 break;
1884 }
1885
1886 return ret;
1887 }
1888
1889 /**
1890 * Perform post-processing of commands after OpenULINK queue has been executed.
1891 *
1892 * @param device pointer to struct ulink identifying ULINK driver instance.
1893 * @return on success: ERROR_OK
1894 * @return on failure: ERROR_FAIL
1895 */
1896 int ulink_post_process_queue(struct ulink *device)
1897 {
1898 struct ulink_cmd *current;
1899 struct jtag_command *openocd_cmd;
1900 int ret;
1901
1902 current = device->queue_start;
1903
1904 while (current != NULL) {
1905 openocd_cmd = current->cmd_origin;
1906
1907 /* Check if a corresponding OpenOCD command is stored for this
1908 * OpenULINK command */
1909 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1910 switch (openocd_cmd->type) {
1911 case JTAG_SCAN:
1912 ret = ulink_post_process_scan(current);
1913 break;
1914 case JTAG_TLR_RESET:
1915 case JTAG_RUNTEST:
1916 case JTAG_RESET:
1917 case JTAG_PATHMOVE:
1918 case JTAG_SLEEP:
1919 case JTAG_STABLECLOCKS:
1920 /* Nothing to do for these commands */
1921 ret = ERROR_OK;
1922 break;
1923 default:
1924 ret = ERROR_FAIL;
1925 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1926 "command type");
1927 break;
1928 }
1929
1930 if (ret != ERROR_OK)
1931 return ret;
1932 }
1933
1934 current = current->next;
1935 }
1936
1937 return ERROR_OK;
1938 }
1939
1940 /**************************** JTAG driver functions ***************************/
1941
1942 /**
1943 * Executes the JTAG Command Queue.
1944 *
1945 * This is done in three stages: First, all OpenOCD commands are processed into
1946 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1947 * ULINK device and data received from the ULINK device is cached. Finally,
1948 * the post-processing function writes back data to the corresponding OpenOCD
1949 * commands.
1950 *
1951 * @return on success: ERROR_OK
1952 * @return on failure: ERROR_FAIL
1953 */
1954 static int ulink_execute_queue(void)
1955 {
1956 struct jtag_command *cmd = jtag_command_queue;
1957 int ret;
1958
1959 while (cmd) {
1960 switch (cmd->type) {
1961 case JTAG_SCAN:
1962 ret = ulink_queue_scan(ulink_handle, cmd);
1963 break;
1964 case JTAG_TLR_RESET:
1965 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1966 break;
1967 case JTAG_RUNTEST:
1968 ret = ulink_queue_runtest(ulink_handle, cmd);
1969 break;
1970 case JTAG_RESET:
1971 ret = ulink_queue_reset(ulink_handle, cmd);
1972 break;
1973 case JTAG_PATHMOVE:
1974 ret = ulink_queue_pathmove(ulink_handle, cmd);
1975 break;
1976 case JTAG_SLEEP:
1977 ret = ulink_queue_sleep(ulink_handle, cmd);
1978 break;
1979 case JTAG_STABLECLOCKS:
1980 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1981 break;
1982 default:
1983 ret = ERROR_FAIL;
1984 LOG_ERROR("BUG: encountered unknown JTAG command type");
1985 break;
1986 }
1987
1988 if (ret != ERROR_OK)
1989 return ret;
1990
1991 cmd = cmd->next;
1992 }
1993
1994 if (ulink_handle->commands_in_queue > 0) {
1995 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1996 if (ret != ERROR_OK)
1997 return ret;
1998
1999 ret = ulink_post_process_queue(ulink_handle);
2000 if (ret != ERROR_OK)
2001 return ret;
2002
2003 ulink_clear_queue(ulink_handle);
2004 }
2005
2006 return ERROR_OK;
2007 }
2008
2009 /**
2010 * Set the TCK frequency of the ULINK adapter.
2011 *
2012 * @param khz desired JTAG TCK frequency.
2013 * @param jtag_speed where to store corresponding adapter-specific speed value.
2014 * @return on success: ERROR_OK
2015 * @return on failure: ERROR_FAIL
2016 */
2017 static int ulink_khz(int khz, int *jtag_speed)
2018 {
2019 int ret;
2020
2021 if (khz == 0) {
2022 LOG_ERROR("RCLK not supported");
2023 return ERROR_FAIL;
2024 }
2025
2026 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2027 * setting can be done independently from all other commands. */
2028 if (khz >= 375)
2029 ulink_handle->delay_clock_tck = -1;
2030 else {
2031 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
2032 &ulink_handle->delay_clock_tck);
2033 if (ret != ERROR_OK)
2034 return ret;
2035 }
2036
2037 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2038 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2039 * commands, all SCAN commands MUST also use the variable frequency
2040 * implementation! */
2041 if (khz >= 176) {
2042 ulink_handle->delay_clock_tms = -1;
2043 ulink_handle->delay_scan_in = -1;
2044 ulink_handle->delay_scan_out = -1;
2045 ulink_handle->delay_scan_io = -1;
2046 } else {
2047 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2048 &ulink_handle->delay_clock_tms);
2049 if (ret != ERROR_OK)
2050 return ret;
2051
2052 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2053 &ulink_handle->delay_scan_in);
2054 if (ret != ERROR_OK)
2055 return ret;
2056
2057 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2058 &ulink_handle->delay_scan_out);
2059 if (ret != ERROR_OK)
2060 return ret;
2061
2062 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2063 &ulink_handle->delay_scan_io);
2064 if (ret != ERROR_OK)
2065 return ret;
2066 }
2067
2068 #ifdef _DEBUG_JTAG_IO_
2069 long f_tck, f_tms, f_scan_in, f_scan_out, f_scan_io;
2070
2071 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck,
2072 &f_tck);
2073 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms,
2074 &f_tms);
2075 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in,
2076 &f_scan_in);
2077 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out,
2078 &f_scan_out);
2079 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io,
2080 &f_scan_io);
2081
2082 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2083 ulink_handle->delay_clock_tck, f_tck);
2084 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2085 ulink_handle->delay_clock_tms, f_tms);
2086 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2087 ulink_handle->delay_scan_in, f_scan_in);
2088 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2089 ulink_handle->delay_scan_out, f_scan_out);
2090 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2091 ulink_handle->delay_scan_io, f_scan_io);
2092 #endif
2093
2094 /* Configure the ULINK device with the new delay values */
2095 ret = ulink_append_configure_tck_cmd(ulink_handle,
2096 ulink_handle->delay_scan_in,
2097 ulink_handle->delay_scan_out,
2098 ulink_handle->delay_scan_io,
2099 ulink_handle->delay_clock_tck,
2100 ulink_handle->delay_clock_tms);
2101
2102 if (ret != ERROR_OK)
2103 return ret;
2104
2105 *jtag_speed = khz;
2106
2107 return ERROR_OK;
2108 }
2109
2110 /**
2111 * Set the TCK frequency of the ULINK adapter.
2112 *
2113 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2114 * there are five different speed settings. To simplify things, the
2115 * adapter-specific speed setting value is identical to the TCK frequency in
2116 * khz.
2117 *
2118 * @param speed desired adapter-specific speed value.
2119 * @return on success: ERROR_OK
2120 * @return on failure: ERROR_FAIL
2121 */
2122 static int ulink_speed(int speed)
2123 {
2124 int dummy;
2125
2126 return ulink_khz(speed, &dummy);
2127 }
2128
2129 /**
2130 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2131 *
2132 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2133 * there are five different speed settings. To simplify things, the
2134 * adapter-specific speed setting value is identical to the TCK frequency in
2135 * khz.
2136 *
2137 * @param speed adapter-specific speed value.
2138 * @param khz where to store corresponding TCK frequency in kHz.
2139 * @return on success: ERROR_OK
2140 * @return on failure: ERROR_FAIL
2141 */
2142 static int ulink_speed_div(int speed, int *khz)
2143 {
2144 *khz = speed;
2145
2146 return ERROR_OK;
2147 }
2148
2149 /**
2150 * Initiates the firmware download to the ULINK adapter and prepares
2151 * the USB handle.
2152 *
2153 * @return on success: ERROR_OK
2154 * @return on failure: ERROR_FAIL
2155 */
2156 static int ulink_init(void)
2157 {
2158 int ret, transferred;
2159 char str_manufacturer[20];
2160 bool download_firmware = false;
2161 unsigned char *dummy;
2162 uint8_t input_signals, output_signals;
2163
2164 ulink_handle = calloc(1, sizeof(struct ulink));
2165 if (ulink_handle == NULL)
2166 return ERROR_FAIL;
2167
2168 libusb_init(&ulink_handle->libusb_ctx);
2169
2170 ret = ulink_usb_open(&ulink_handle);
2171 if (ret != ERROR_OK) {
2172 LOG_ERROR("Could not open ULINK device");
2173 free(ulink_handle);
2174 ulink_handle = NULL;
2175 return ret;
2176 }
2177
2178 /* Get String Descriptor to determine if firmware needs to be loaded */
2179 ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2180 if (ret < 0) {
2181 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2182 download_firmware = true;
2183 } else {
2184 /* We got a String Descriptor, check if it is the correct one */
2185 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2186 download_firmware = true;
2187 }
2188
2189 if (download_firmware == true) {
2190 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2191 " ULINK device.");
2192 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2193 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2194 if (ret != ERROR_OK) {
2195 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2196 free(ulink_handle);
2197 ulink_handle = NULL;
2198 return ret;
2199 }
2200 } else
2201 LOG_INFO("ULINK device is already running OpenULINK firmware");
2202
2203 /* Initialize OpenULINK command queue */
2204 ulink_clear_queue(ulink_handle);
2205
2206 /* Issue one test command with short timeout */
2207 ret = ulink_append_test_cmd(ulink_handle);
2208 if (ret != ERROR_OK)
2209 return ret;
2210
2211 ret = ulink_execute_queued_commands(ulink_handle, 200);
2212 if (ret != ERROR_OK) {
2213 /* Sending test command failed. The ULINK device may be forever waiting for
2214 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2215 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2216 dummy = calloc(64, sizeof(uint8_t));
2217
2218 ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
2219 dummy, 64, &transferred, 200);
2220
2221 free(dummy);
2222
2223 if (ret != 0 || transferred == 0) {
2224 /* Bulk IN transfer failed -> unrecoverable error condition */
2225 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2226 "the USB port and re-connect, then re-run OpenOCD");
2227 free(ulink_handle);
2228 ulink_handle = NULL;
2229 return ERROR_FAIL;
2230 }
2231 #ifdef _DEBUG_USB_COMMS_
2232 else {
2233 /* Successfully received Bulk IN packet -> continue */
2234 LOG_INFO("Recovered from lost Bulk IN packet");
2235 }
2236 #endif
2237 }
2238 ulink_clear_queue(ulink_handle);
2239
2240 ulink_append_get_signals_cmd(ulink_handle);
2241 ulink_execute_queued_commands(ulink_handle, 200);
2242
2243 /* Post-process the single CMD_GET_SIGNALS command */
2244 input_signals = ulink_handle->queue_start->payload_in[0];
2245 output_signals = ulink_handle->queue_start->payload_in[1];
2246
2247 ulink_print_signal_states(input_signals, output_signals);
2248
2249 ulink_clear_queue(ulink_handle);
2250
2251 return ERROR_OK;
2252 }
2253
2254 /**
2255 * Closes the USB handle for the ULINK device.
2256 *
2257 * @return on success: ERROR_OK
2258 * @return on failure: ERROR_FAIL
2259 */
2260 static int ulink_quit(void)
2261 {
2262 int ret;
2263
2264 ret = ulink_usb_close(&ulink_handle);
2265 free(ulink_handle);
2266
2267 return ret;
2268 }
2269
2270 /**
2271 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2272 */
2273 COMMAND_HANDLER(ulink_download_firmware_handler)
2274 {
2275 int ret;
2276
2277 if (CMD_ARGC != 1)
2278 return ERROR_COMMAND_SYNTAX_ERROR;
2279
2280
2281 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2282
2283 /* Download firmware image in CMD_ARGV[0] */
2284 ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2285 ULINK_RENUMERATION_DELAY);
2286
2287 return ret;
2288 }
2289
2290 /*************************** Command Registration **************************/
2291
2292 static const struct command_registration ulink_command_handlers[] = {
2293 {
2294 .name = "ulink_download_firmware",
2295 .handler = &ulink_download_firmware_handler,
2296 .mode = COMMAND_EXEC,
2297 .help = "download firmware image to ULINK device",
2298 .usage = "path/to/ulink_firmware.hex",
2299 },
2300 COMMAND_REGISTRATION_DONE,
2301 };
2302
2303 struct jtag_interface ulink_interface = {
2304 .name = "ulink",
2305
2306 .commands = ulink_command_handlers,
2307 .transports = jtag_only,
2308
2309 .execute_queue = ulink_execute_queue,
2310 .khz = ulink_khz,
2311 .speed = ulink_speed,
2312 .speed_div = ulink_speed_div,
2313
2314 .init = ulink_init,
2315 .quit = ulink_quit
2316 };