Clean up const usage to avoid excessive casting
[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, write to the *
17 * Free Software Foundation, Inc., *
18 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
19 ***************************************************************************/
20
21 #ifdef HAVE_CONFIG_H
22 #include "config.h"
23 #endif
24
25 #include <math.h>
26 #include <jtag/interface.h>
27 #include <jtag/commands.h>
28 #include <target/image.h>
29 #include <libusb-1.0/libusb.h>
30 #include "OpenULINK/include/msgtypes.h"
31
32 /** USB Vendor ID of ULINK device in unconfigured state (no firmware loaded
33 * yet) or with OpenULINK firmware. */
34 #define ULINK_VID 0xC251
35
36 /** USB Product ID of ULINK device in unconfigured state (no firmware loaded
37 * yet) or with OpenULINK firmware. */
38 #define ULINK_PID 0x2710
39
40 /** Address of EZ-USB CPU Control & Status register. This register can be
41 * written by issuing a Control EP0 vendor request. */
42 #define CPUCS_REG 0x7F92
43
44 /** USB Control EP0 bRequest: "Firmware Load". */
45 #define REQUEST_FIRMWARE_LOAD 0xA0
46
47 /** Value to write into CPUCS to put EZ-USB into reset. */
48 #define CPU_RESET 0x01
49
50 /** Value to write into CPUCS to put EZ-USB out of reset. */
51 #define CPU_START 0x00
52
53 /** Base address of firmware in EZ-USB code space. */
54 #define FIRMWARE_ADDR 0x0000
55
56 /** USB interface number */
57 #define USB_INTERFACE 0
58
59 /** libusb timeout in ms */
60 #define USB_TIMEOUT 5000
61
62 /** Delay (in microseconds) to wait while EZ-USB performs ReNumeration. */
63 #define ULINK_RENUMERATION_DELAY 1500000
64
65 /** Default location of OpenULINK firmware image. */
66 #define ULINK_FIRMWARE_FILE PKGDATADIR "/OpenULINK/ulink_firmware.hex"
67
68 /** Maximum size of a single firmware section. Entire EZ-USB code space = 8kB */
69 #define SECTION_BUFFERSIZE 8192
70
71 /** Tuning of OpenOCD SCAN commands split into multiple OpenULINK commands. */
72 #define SPLIT_SCAN_THRESHOLD 10
73
74 /** ULINK hardware type */
75 enum ulink_type {
76 /** Original ULINK adapter, based on Cypress EZ-USB (AN2131):
77 * Full JTAG support, no SWD support. */
78 ULINK_1,
79
80 /** Newer ULINK adapter, based on NXP LPC2148. Currently unsupported. */
81 ULINK_2,
82
83 /** Newer ULINK adapter, based on EZ-USB FX2 + FPGA. Currently unsupported. */
84 ULINK_PRO,
85
86 /** Newer ULINK adapter, possibly based on ULINK 2. Currently unsupported. */
87 ULINK_ME
88 };
89
90 enum ulink_payload_direction {
91 PAYLOAD_DIRECTION_OUT,
92 PAYLOAD_DIRECTION_IN
93 };
94
95 enum ulink_delay_type {
96 DELAY_CLOCK_TCK,
97 DELAY_CLOCK_TMS,
98 DELAY_SCAN_IN,
99 DELAY_SCAN_OUT,
100 DELAY_SCAN_IO
101 };
102
103 /**
104 * OpenULINK command (OpenULINK command queue element).
105 *
106 * For the OUT direction payload, things are quite easy: Payload is stored
107 * in a rather small array (up to 63 bytes), the payload is always allocated
108 * by the function generating the command and freed by ulink_clear_queue().
109 *
110 * For the IN direction payload, things get a little bit more complicated:
111 * The maximum IN payload size for a single command is 64 bytes. Assume that
112 * a single OpenOCD command needs to scan 256 bytes. This results in the
113 * generation of four OpenULINK commands. The function generating these
114 * commands shall allocate an uint8_t[256] array. Each command's #payload_in
115 * pointer shall point to the corresponding offset where IN data shall be
116 * placed, while #payload_in_start shall point to the first element of the 256
117 * byte array.
118 * - first command: #payload_in_start + 0
119 * - second command: #payload_in_start + 64
120 * - third command: #payload_in_start + 128
121 * - fourth command: #payload_in_start + 192
122 *
123 * The last command sets #needs_postprocessing to true.
124 */
125 struct ulink_cmd {
126 uint8_t id; /**< ULINK command ID */
127
128 uint8_t *payload_out; /**< OUT direction payload data */
129 uint8_t payload_out_size; /**< OUT direction payload size for this command */
130
131 uint8_t *payload_in_start; /**< Pointer to first element of IN payload array */
132 uint8_t *payload_in; /**< Pointer where IN payload shall be stored */
133 uint8_t payload_in_size; /**< IN direction payload size for this command */
134
135 /** Indicates if this command needs post-processing */
136 bool needs_postprocessing;
137
138 /** Indicates if ulink_clear_queue() should free payload_in_start */
139 bool free_payload_in_start;
140
141 /** Pointer to corresponding OpenOCD command for post-processing */
142 struct jtag_command *cmd_origin;
143
144 struct ulink_cmd *next; /**< Pointer to next command (linked list) */
145 };
146
147 /** Describes one driver instance */
148 struct ulink {
149 struct libusb_context *libusb_ctx;
150 struct libusb_device_handle *usb_device_handle;
151 enum ulink_type type;
152
153 int delay_scan_in; /**< Delay value for SCAN_IN commands */
154 int delay_scan_out; /**< Delay value for SCAN_OUT commands */
155 int delay_scan_io; /**< Delay value for SCAN_IO commands */
156 int delay_clock_tck; /**< Delay value for CLOCK_TMS commands */
157 int delay_clock_tms; /**< Delay value for CLOCK_TCK commands */
158
159 int commands_in_queue; /**< Number of commands in queue */
160 struct ulink_cmd *queue_start; /**< Pointer to first command in queue */
161 struct ulink_cmd *queue_end; /**< Pointer to last command in queue */
162 };
163
164 /**************************** Function Prototypes *****************************/
165
166 /* USB helper functions */
167 int ulink_usb_open(struct ulink **device);
168 int ulink_usb_close(struct ulink **device);
169
170 /* ULINK MCU (Cypress EZ-USB) specific functions */
171 int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit);
172 int ulink_load_firmware_and_renumerate(struct ulink **device, const char *filename,
173 uint32_t delay);
174 int ulink_load_firmware(struct ulink *device, const char *filename);
175 int ulink_write_firmware_section(struct ulink *device,
176 struct image *firmware_image, int section_index);
177
178 /* Generic helper functions */
179 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals);
180
181 /* OpenULINK command generation helper functions */
182 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
183 enum ulink_payload_direction direction);
184
185 /* OpenULINK command queue helper functions */
186 int ulink_get_queue_size(struct ulink *device,
187 enum ulink_payload_direction direction);
188 void ulink_clear_queue(struct ulink *device);
189 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd);
190 int ulink_execute_queued_commands(struct ulink *device, int timeout);
191
192 #ifdef _DEBUG_JTAG_IO_
193 const char *ulink_cmd_id_string(uint8_t id);
194 void ulink_print_command(struct ulink_cmd *ulink_cmd);
195 void ulink_print_queue(struct ulink *device);
196 #endif
197
198 int ulink_append_scan_cmd(struct ulink *device,
199 enum scan_type scan_type,
200 int scan_size_bits,
201 uint8_t *tdi,
202 uint8_t *tdo_start,
203 uint8_t *tdo,
204 uint8_t tms_count_start,
205 uint8_t tms_sequence_start,
206 uint8_t tms_count_end,
207 uint8_t tms_sequence_end,
208 struct jtag_command *origin,
209 bool postprocess);
210 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
211 uint8_t sequence);
212 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count);
213 int ulink_append_get_signals_cmd(struct ulink *device);
214 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
215 uint8_t high);
216 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us);
217 int ulink_append_configure_tck_cmd(struct ulink *device,
218 int delay_scan_in,
219 int delay_scan_out,
220 int delay_scan_io,
221 int delay_tck,
222 int delay_tms);
223 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state);
224 int ulink_append_test_cmd(struct ulink *device);
225
226 /* OpenULINK TCK frequency helper functions */
227 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay);
228 int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f);
229
230 /* Interface between OpenULINK and OpenOCD */
231 static void ulink_set_end_state(tap_state_t endstate);
232 int ulink_queue_statemove(struct ulink *device);
233
234 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd);
235 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd);
236 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd);
237 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd);
238 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd);
239 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd);
240 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd);
241
242 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd);
243 int ulink_post_process_queue(struct ulink *device);
244
245 /* JTAG driver functions (registered in struct jtag_interface) */
246 static int ulink_execute_queue(void);
247 static int ulink_khz(int khz, int *jtag_speed);
248 static int ulink_speed(int speed);
249 static int ulink_speed_div(int speed, int *khz);
250 static int ulink_init(void);
251 static int ulink_quit(void);
252
253 /****************************** Global Variables ******************************/
254
255 struct ulink *ulink_handle;
256
257 /**************************** USB helper functions ****************************/
258
259 /**
260 * Opens the ULINK device and claims its USB interface.
261 *
262 * Currently, only the original ULINK is supported
263 *
264 * @param device pointer to struct ulink identifying ULINK driver instance.
265 * @return on success: ERROR_OK
266 * @return on failure: ERROR_FAIL
267 */
268 int ulink_usb_open(struct ulink **device)
269 {
270 ssize_t num_devices, i;
271 bool found;
272 libusb_device **usb_devices;
273 struct libusb_device_descriptor usb_desc;
274 struct libusb_device_handle *usb_device_handle;
275
276 num_devices = libusb_get_device_list((*device)->libusb_ctx, &usb_devices);
277
278 if (num_devices <= 0)
279 return ERROR_FAIL;
280
281 found = false;
282 for (i = 0; i < num_devices; i++) {
283 if (libusb_get_device_descriptor(usb_devices[i], &usb_desc) != 0)
284 continue;
285 else if (usb_desc.idVendor == ULINK_VID && usb_desc.idProduct == ULINK_PID) {
286 found = true;
287 break;
288 }
289 }
290
291 if (!found)
292 return ERROR_FAIL;
293
294 if (libusb_open(usb_devices[i], &usb_device_handle) != 0)
295 return ERROR_FAIL;
296 libusb_free_device_list(usb_devices, 1);
297
298 if (libusb_claim_interface(usb_device_handle, 0) != 0)
299 return ERROR_FAIL;
300
301 (*device)->usb_device_handle = usb_device_handle;
302 (*device)->type = ULINK_1;
303
304 return ERROR_OK;
305 }
306
307 /**
308 * Releases the ULINK interface and closes the USB device handle.
309 *
310 * @param device pointer to struct ulink identifying ULINK driver instance.
311 * @return on success: ERROR_OK
312 * @return on failure: ERROR_FAIL
313 */
314 int ulink_usb_close(struct ulink **device)
315 {
316 if (libusb_release_interface((*device)->usb_device_handle, 0) != 0)
317 return ERROR_FAIL;
318
319 libusb_close((*device)->usb_device_handle);
320
321 (*device)->usb_device_handle = NULL;
322
323 return ERROR_OK;
324 }
325
326 /******************* ULINK CPU (EZ-USB) specific functions ********************/
327
328 /**
329 * Writes '0' or '1' to the CPUCS register, putting the EZ-USB CPU into reset
330 * or out of reset.
331 *
332 * @param device pointer to struct ulink identifying ULINK driver instance.
333 * @param reset_bit 0 to put CPU into reset, 1 to put CPU out of reset.
334 * @return on success: ERROR_OK
335 * @return on failure: ERROR_FAIL
336 */
337 int ulink_cpu_reset(struct ulink *device, unsigned char reset_bit)
338 {
339 int ret;
340
341 ret = libusb_control_transfer(device->usb_device_handle,
342 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
343 REQUEST_FIRMWARE_LOAD, CPUCS_REG, 0, &reset_bit, 1, USB_TIMEOUT);
344
345 /* usb_control_msg() returns the number of bytes transferred during the
346 * DATA stage of the control transfer - must be exactly 1 in this case! */
347 if (ret != 1)
348 return ERROR_FAIL;
349 return ERROR_OK;
350 }
351
352 /**
353 * Puts the ULINK's EZ-USB microcontroller into reset state, downloads
354 * the firmware image, resumes the microcontroller and re-enumerates
355 * USB devices.
356 *
357 * @param device pointer to struct ulink identifying ULINK driver instance.
358 * The usb_handle member will be modified during re-enumeration.
359 * @param filename path to the Intel HEX file containing the firmware image.
360 * @param delay the delay to wait for the device to re-enumerate.
361 * @return on success: ERROR_OK
362 * @return on failure: ERROR_FAIL
363 */
364 int ulink_load_firmware_and_renumerate(struct ulink **device,
365 const char *filename, uint32_t delay)
366 {
367 int ret;
368
369 /* Basic process: After downloading the firmware, the ULINK will disconnect
370 * itself and re-connect after a short amount of time so we have to close
371 * the handle and re-enumerate USB devices */
372
373 ret = ulink_load_firmware(*device, filename);
374 if (ret != ERROR_OK)
375 return ret;
376
377 ret = ulink_usb_close(device);
378 if (ret != ERROR_OK)
379 return ret;
380
381 usleep(delay);
382
383 ret = ulink_usb_open(device);
384 if (ret != ERROR_OK)
385 return ret;
386
387 return ERROR_OK;
388 }
389
390 /**
391 * Downloads a firmware image to the ULINK's EZ-USB microcontroller
392 * over the USB bus.
393 *
394 * @param device pointer to struct ulink identifying ULINK driver instance.
395 * @param filename an absolute or relative path to the Intel HEX file
396 * containing the firmware image.
397 * @return on success: ERROR_OK
398 * @return on failure: ERROR_FAIL
399 */
400 int ulink_load_firmware(struct ulink *device, const char *filename)
401 {
402 struct image ulink_firmware_image;
403 int ret, i;
404
405 ret = ulink_cpu_reset(device, CPU_RESET);
406 if (ret != ERROR_OK) {
407 LOG_ERROR("Could not halt ULINK CPU");
408 return ret;
409 }
410
411 ulink_firmware_image.base_address = 0;
412 ulink_firmware_image.base_address_set = 0;
413
414 ret = image_open(&ulink_firmware_image, filename, "ihex");
415 if (ret != ERROR_OK) {
416 LOG_ERROR("Could not load firmware image");
417 return ret;
418 }
419
420 /* Download all sections in the image to ULINK */
421 for (i = 0; i < ulink_firmware_image.num_sections; i++) {
422 ret = ulink_write_firmware_section(device, &ulink_firmware_image, i);
423 if (ret != ERROR_OK)
424 return ret;
425 }
426
427 image_close(&ulink_firmware_image);
428
429 ret = ulink_cpu_reset(device, CPU_START);
430 if (ret != ERROR_OK) {
431 LOG_ERROR("Could not restart ULINK CPU");
432 return ret;
433 }
434
435 return ERROR_OK;
436 }
437
438 /**
439 * Send one contiguous firmware section to the ULINK's EZ-USB microcontroller
440 * over the USB bus.
441 *
442 * @param device pointer to struct ulink identifying ULINK driver instance.
443 * @param firmware_image pointer to the firmware image that contains the section
444 * which should be sent to the ULINK's EZ-USB microcontroller.
445 * @param section_index index of the section within the firmware image.
446 * @return on success: ERROR_OK
447 * @return on failure: ERROR_FAIL
448 */
449 int ulink_write_firmware_section(struct ulink *device,
450 struct image *firmware_image, int section_index)
451 {
452 uint16_t addr, size, bytes_remaining, chunk_size;
453 uint8_t data[SECTION_BUFFERSIZE];
454 uint8_t *data_ptr = data;
455 size_t size_read;
456 int ret;
457
458 size = (uint16_t)firmware_image->sections[section_index].size;
459 addr = (uint16_t)firmware_image->sections[section_index].base_address;
460
461 LOG_DEBUG("section %02i at addr 0x%04x (size 0x%04x)", section_index, addr,
462 size);
463
464 if (data == NULL)
465 return ERROR_FAIL;
466
467 /* Copy section contents to local buffer */
468 ret = image_read_section(firmware_image, section_index, 0, size, data,
469 &size_read);
470
471 if ((ret != ERROR_OK) || (size_read != size)) {
472 /* Propagating the return code would return '0' (misleadingly indicating
473 * successful execution of the function) if only the size check fails. */
474 return ERROR_FAIL;
475 }
476
477 bytes_remaining = size;
478
479 /* Send section data in chunks of up to 64 bytes to ULINK */
480 while (bytes_remaining > 0) {
481 if (bytes_remaining > 64)
482 chunk_size = 64;
483 else
484 chunk_size = bytes_remaining;
485
486 ret = libusb_control_transfer(device->usb_device_handle,
487 (LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE),
488 REQUEST_FIRMWARE_LOAD, addr, FIRMWARE_ADDR, (unsigned char *)data_ptr,
489 chunk_size, USB_TIMEOUT);
490
491 if (ret != (int)chunk_size) {
492 /* Abort if libusb sent less data than requested */
493 return ERROR_FAIL;
494 }
495
496 bytes_remaining -= chunk_size;
497 addr += chunk_size;
498 data_ptr += chunk_size;
499 }
500
501 return ERROR_OK;
502 }
503
504 /************************** Generic helper functions **************************/
505
506 /**
507 * Print state of interesting signals via LOG_INFO().
508 *
509 * @param input_signals input signal states as returned by CMD_GET_SIGNALS
510 * @param output_signals output signal states as returned by CMD_GET_SIGNALS
511 */
512 void ulink_print_signal_states(uint8_t input_signals, uint8_t output_signals)
513 {
514 LOG_INFO("ULINK signal states: TDI: %i, TDO: %i, TMS: %i, TCK: %i, TRST: %i,"
515 " SRST: %i",
516 (output_signals & SIGNAL_TDI ? 1 : 0),
517 (input_signals & SIGNAL_TDO ? 1 : 0),
518 (output_signals & SIGNAL_TMS ? 1 : 0),
519 (output_signals & SIGNAL_TCK ? 1 : 0),
520 (output_signals & SIGNAL_TRST ? 0 : 1), /* Inverted by hardware */
521 (output_signals & SIGNAL_RESET ? 0 : 1)); /* Inverted by hardware */
522 }
523
524 /**************** OpenULINK command generation helper functions ***************/
525
526 /**
527 * Allocate and initialize space in memory for OpenULINK command payload.
528 *
529 * @param ulink_cmd pointer to command whose payload should be allocated.
530 * @param size the amount of memory to allocate (bytes).
531 * @param direction which payload to allocate.
532 * @return on success: ERROR_OK
533 * @return on failure: ERROR_FAIL
534 */
535 int ulink_allocate_payload(struct ulink_cmd *ulink_cmd, int size,
536 enum ulink_payload_direction direction)
537 {
538 uint8_t *payload;
539
540 payload = calloc(size, sizeof(uint8_t));
541
542 if (payload == NULL) {
543 LOG_ERROR("Could not allocate OpenULINK command payload: out of memory");
544 return ERROR_FAIL;
545 }
546
547 switch (direction) {
548 case PAYLOAD_DIRECTION_OUT:
549 if (ulink_cmd->payload_out != NULL) {
550 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
551 free(payload);
552 return ERROR_FAIL;
553 } else {
554 ulink_cmd->payload_out = payload;
555 ulink_cmd->payload_out_size = size;
556 }
557 break;
558 case PAYLOAD_DIRECTION_IN:
559 if (ulink_cmd->payload_in_start != NULL) {
560 LOG_ERROR("BUG: Duplicate payload allocation for OpenULINK command");
561 free(payload);
562 return ERROR_FAIL;
563 } else {
564 ulink_cmd->payload_in_start = payload;
565 ulink_cmd->payload_in = payload;
566 ulink_cmd->payload_in_size = size;
567
568 /* By default, free payload_in_start in ulink_clear_queue(). Commands
569 * that do not want this behavior (e. g. split scans) must turn it off
570 * separately! */
571 ulink_cmd->free_payload_in_start = true;
572 }
573 break;
574 }
575
576 return ERROR_OK;
577 }
578
579 /****************** OpenULINK command queue helper functions ******************/
580
581 /**
582 * Get the current number of bytes in the queue, including command IDs.
583 *
584 * @param device pointer to struct ulink identifying ULINK driver instance.
585 * @param direction the transfer direction for which to get byte count.
586 * @return the number of bytes currently stored in the queue for the specified
587 * direction.
588 */
589 int ulink_get_queue_size(struct ulink *device,
590 enum ulink_payload_direction direction)
591 {
592 struct ulink_cmd *current = device->queue_start;
593 int sum = 0;
594
595 while (current != NULL) {
596 switch (direction) {
597 case PAYLOAD_DIRECTION_OUT:
598 sum += current->payload_out_size + 1; /* + 1 byte for Command ID */
599 break;
600 case PAYLOAD_DIRECTION_IN:
601 sum += current->payload_in_size;
602 break;
603 }
604
605 current = current->next;
606 }
607
608 return sum;
609 }
610
611 /**
612 * Clear the OpenULINK command queue.
613 *
614 * @param device pointer to struct ulink identifying ULINK driver instance.
615 * @return on success: ERROR_OK
616 * @return on failure: ERROR_FAIL
617 */
618 void ulink_clear_queue(struct ulink *device)
619 {
620 struct ulink_cmd *current = device->queue_start;
621 struct ulink_cmd *next = NULL;
622
623 while (current != NULL) {
624 /* Save pointer to next element */
625 next = current->next;
626
627 /* Free payloads: OUT payload can be freed immediately */
628 free(current->payload_out);
629 current->payload_out = NULL;
630
631 /* IN payload MUST be freed ONLY if no other commands use the
632 * payload_in_start buffer */
633 if (current->free_payload_in_start == true) {
634 free(current->payload_in_start);
635 current->payload_in_start = NULL;
636 current->payload_in = NULL;
637 }
638
639 /* Free queue element */
640 free(current);
641
642 /* Proceed with next element */
643 current = next;
644 }
645
646 device->commands_in_queue = 0;
647 device->queue_start = NULL;
648 device->queue_end = NULL;
649 }
650
651 /**
652 * Add a command to the OpenULINK command queue.
653 *
654 * @param device pointer to struct ulink identifying ULINK driver instance.
655 * @param ulink_cmd pointer to command that shall be appended to the OpenULINK
656 * command queue.
657 * @return on success: ERROR_OK
658 * @return on failure: ERROR_FAIL
659 */
660 int ulink_append_queue(struct ulink *device, struct ulink_cmd *ulink_cmd)
661 {
662 int newsize_out, newsize_in;
663 int ret;
664
665 newsize_out = ulink_get_queue_size(device, PAYLOAD_DIRECTION_OUT) + 1
666 + ulink_cmd->payload_out_size;
667
668 newsize_in = ulink_get_queue_size(device, PAYLOAD_DIRECTION_IN)
669 + ulink_cmd->payload_in_size;
670
671 /* Check if the current command can be appended to the queue */
672 if ((newsize_out > 64) || (newsize_in > 64)) {
673 /* New command does not fit. Execute all commands in queue before starting
674 * new queue with the current command as first entry. */
675 ret = ulink_execute_queued_commands(device, USB_TIMEOUT);
676 if (ret != ERROR_OK)
677 return ret;
678
679 ret = ulink_post_process_queue(device);
680 if (ret != ERROR_OK)
681 return ret;
682
683 ulink_clear_queue(device);
684 }
685
686 if (device->queue_start == NULL) {
687 /* Queue was empty */
688 device->commands_in_queue = 1;
689
690 device->queue_start = ulink_cmd;
691 device->queue_end = ulink_cmd;
692 } else {
693 /* There are already commands in the queue */
694 device->commands_in_queue++;
695
696 device->queue_end->next = ulink_cmd;
697 device->queue_end = ulink_cmd;
698 }
699
700 return ERROR_OK;
701 }
702
703 /**
704 * Sends all queued OpenULINK commands to the ULINK for execution.
705 *
706 * @param device pointer to struct ulink identifying ULINK driver instance.
707 * @return on success: ERROR_OK
708 * @return on failure: ERROR_FAIL
709 */
710 int ulink_execute_queued_commands(struct ulink *device, int timeout)
711 {
712 struct ulink_cmd *current;
713 int ret, i, index_out, index_in, count_out, count_in, transferred;
714 uint8_t buffer[64];
715
716 #ifdef _DEBUG_JTAG_IO_
717 ulink_print_queue(device);
718 #endif
719
720 index_out = 0;
721 count_out = 0;
722 count_in = 0;
723
724 for (current = device->queue_start; current; current = current->next) {
725 /* Add command to packet */
726 buffer[index_out] = current->id;
727 index_out++;
728 count_out++;
729
730 for (i = 0; i < current->payload_out_size; i++)
731 buffer[index_out + i] = current->payload_out[i];
732 index_out += current->payload_out_size;
733 count_in += current->payload_in_size;
734 count_out += current->payload_out_size;
735 }
736
737 /* Send packet to ULINK */
738 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_OUT),
739 (unsigned char *)buffer, count_out, &transferred, timeout);
740 if (ret != 0)
741 return ERROR_FAIL;
742 if (transferred != count_out)
743 return ERROR_FAIL;
744
745 /* Wait for response if commands contain IN payload data */
746 if (count_in > 0) {
747 ret = libusb_bulk_transfer(device->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
748 (unsigned char *)buffer, 64, &transferred, timeout);
749 if (ret != 0)
750 return ERROR_FAIL;
751 if (transferred != count_in)
752 return ERROR_FAIL;
753
754 /* Write back IN payload data */
755 index_in = 0;
756 for (current = device->queue_start; current; current = current->next) {
757 for (i = 0; i < current->payload_in_size; i++) {
758 current->payload_in[i] = buffer[index_in];
759 index_in++;
760 }
761 }
762 }
763
764 return ERROR_OK;
765 }
766
767 #ifdef _DEBUG_JTAG_IO_
768
769 /**
770 * Convert an OpenULINK command ID (\a id) to a human-readable string.
771 *
772 * @param id the OpenULINK command ID.
773 * @return the corresponding human-readable string.
774 */
775 const char *ulink_cmd_id_string(uint8_t id)
776 {
777 switch (id) {
778 case CMD_SCAN_IN:
779 return "CMD_SCAN_IN";
780 break;
781 case CMD_SLOW_SCAN_IN:
782 return "CMD_SLOW_SCAN_IN";
783 break;
784 case CMD_SCAN_OUT:
785 return "CMD_SCAN_OUT";
786 break;
787 case CMD_SLOW_SCAN_OUT:
788 return "CMD_SLOW_SCAN_OUT";
789 break;
790 case CMD_SCAN_IO:
791 return "CMD_SCAN_IO";
792 break;
793 case CMD_SLOW_SCAN_IO:
794 return "CMD_SLOW_SCAN_IO";
795 break;
796 case CMD_CLOCK_TMS:
797 return "CMD_CLOCK_TMS";
798 break;
799 case CMD_SLOW_CLOCK_TMS:
800 return "CMD_SLOW_CLOCK_TMS";
801 break;
802 case CMD_CLOCK_TCK:
803 return "CMD_CLOCK_TCK";
804 break;
805 case CMD_SLOW_CLOCK_TCK:
806 return "CMD_SLOW_CLOCK_TCK";
807 break;
808 case CMD_SLEEP_US:
809 return "CMD_SLEEP_US";
810 break;
811 case CMD_SLEEP_MS:
812 return "CMD_SLEEP_MS";
813 break;
814 case CMD_GET_SIGNALS:
815 return "CMD_GET_SIGNALS";
816 break;
817 case CMD_SET_SIGNALS:
818 return "CMD_SET_SIGNALS";
819 break;
820 case CMD_CONFIGURE_TCK_FREQ:
821 return "CMD_CONFIGURE_TCK_FREQ";
822 break;
823 case CMD_SET_LEDS:
824 return "CMD_SET_LEDS";
825 break;
826 case CMD_TEST:
827 return "CMD_TEST";
828 break;
829 default:
830 return "CMD_UNKNOWN";
831 break;
832 }
833 }
834
835 /**
836 * Print one OpenULINK command to stdout.
837 *
838 * @param ulink_cmd pointer to OpenULINK command.
839 */
840 void ulink_print_command(struct ulink_cmd *ulink_cmd)
841 {
842 int i;
843
844 printf(" %-22s | OUT size = %i, bytes = 0x",
845 ulink_cmd_id_string(ulink_cmd->id), ulink_cmd->payload_out_size);
846
847 for (i = 0; i < ulink_cmd->payload_out_size; i++)
848 printf("%02X ", ulink_cmd->payload_out[i]);
849 printf("\n | IN size = %i\n",
850 ulink_cmd->payload_in_size);
851 }
852
853 /**
854 * Print the OpenULINK command queue to stdout.
855 *
856 * @param device pointer to struct ulink identifying ULINK driver instance.
857 */
858 void ulink_print_queue(struct ulink *device)
859 {
860 struct ulink_cmd *current;
861
862 printf("OpenULINK command queue:\n");
863
864 for (current = device->queue_start; current; current = current->next)
865 ulink_print_command(current);
866 }
867
868 #endif /* _DEBUG_JTAG_IO_ */
869
870 /**
871 * Perform JTAG scan
872 *
873 * Creates and appends a JTAG scan command to the OpenULINK command queue.
874 * A JTAG scan consists of three steps:
875 * - Move to the desired SHIFT state, depending on scan type (IR/DR scan).
876 * - Shift TDI data into the JTAG chain, optionally reading the TDO pin.
877 * - Move to the desired end state.
878 *
879 * @param device pointer to struct ulink identifying ULINK driver instance.
880 * @param scan_type the type of the scan (IN, OUT, IO (bidirectional)).
881 * @param scan_size_bits number of bits to shift into the JTAG chain.
882 * @param tdi pointer to array containing TDI data.
883 * @param tdo_start pointer to first element of array where TDO data shall be
884 * stored. See #ulink_cmd for details.
885 * @param tdo pointer to array where TDO data shall be stored
886 * @param tms_count_start number of TMS state transitions to perform BEFORE
887 * shifting data into the JTAG chain.
888 * @param tms_sequence_start sequence of TMS state transitions that will be
889 * performed BEFORE shifting data into the JTAG chain.
890 * @param tms_count_end number of TMS state transitions to perform AFTER
891 * shifting data into the JTAG chain.
892 * @param tms_sequence_end sequence of TMS state transitions that will be
893 * performed AFTER shifting data into the JTAG chain.
894 * @param origin pointer to OpenOCD command that generated this scan command.
895 * @param postprocess whether this command needs to be post-processed after
896 * execution.
897 * @return on success: ERROR_OK
898 * @return on failure: ERROR_FAIL
899 */
900 int ulink_append_scan_cmd(struct ulink *device, enum scan_type scan_type,
901 int scan_size_bits, uint8_t *tdi, uint8_t *tdo_start, uint8_t *tdo,
902 uint8_t tms_count_start, uint8_t tms_sequence_start, uint8_t tms_count_end,
903 uint8_t tms_sequence_end, struct jtag_command *origin, bool postprocess)
904 {
905 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
906 int ret, i, scan_size_bytes;
907 uint8_t bits_last_byte;
908
909 if (cmd == NULL)
910 return ERROR_FAIL;
911
912 /* Check size of command. USB buffer can hold 64 bytes, 1 byte is command ID,
913 * 5 bytes are setup data -> 58 remaining payload bytes for TDI data */
914 if (scan_size_bits > (58 * 8)) {
915 LOG_ERROR("BUG: Tried to create CMD_SCAN_IO OpenULINK command with too"
916 " large payload");
917 free(cmd);
918 return ERROR_FAIL;
919 }
920
921 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
922
923 bits_last_byte = scan_size_bits % 8;
924 if (bits_last_byte == 0)
925 bits_last_byte = 8;
926
927 /* Allocate out_payload depending on scan type */
928 switch (scan_type) {
929 case SCAN_IN:
930 if (device->delay_scan_in < 0)
931 cmd->id = CMD_SCAN_IN;
932 else
933 cmd->id = CMD_SLOW_SCAN_IN;
934 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
935 break;
936 case SCAN_OUT:
937 if (device->delay_scan_out < 0)
938 cmd->id = CMD_SCAN_OUT;
939 else
940 cmd->id = CMD_SLOW_SCAN_OUT;
941 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
942 break;
943 case SCAN_IO:
944 if (device->delay_scan_io < 0)
945 cmd->id = CMD_SCAN_IO;
946 else
947 cmd->id = CMD_SLOW_SCAN_IO;
948 ret = ulink_allocate_payload(cmd, scan_size_bytes + 5, PAYLOAD_DIRECTION_OUT);
949 break;
950 default:
951 LOG_ERROR("BUG: ulink_append_scan_cmd() encountered an unknown scan type");
952 ret = ERROR_FAIL;
953 break;
954 }
955
956 if (ret != ERROR_OK) {
957 free(cmd);
958 return ret;
959 }
960
961 /* Build payload_out that is common to all scan types */
962 cmd->payload_out[0] = scan_size_bytes & 0xFF;
963 cmd->payload_out[1] = bits_last_byte & 0xFF;
964 cmd->payload_out[2] = ((tms_count_start & 0x0F) << 4) | (tms_count_end & 0x0F);
965 cmd->payload_out[3] = tms_sequence_start;
966 cmd->payload_out[4] = tms_sequence_end;
967
968 /* Setup payload_out for types with OUT transfer */
969 if ((scan_type == SCAN_OUT) || (scan_type == SCAN_IO)) {
970 for (i = 0; i < scan_size_bytes; i++)
971 cmd->payload_out[i + 5] = tdi[i];
972 }
973
974 /* Setup payload_in pointers for types with IN transfer */
975 if ((scan_type == SCAN_IN) || (scan_type == SCAN_IO)) {
976 cmd->payload_in_start = tdo_start;
977 cmd->payload_in = tdo;
978 cmd->payload_in_size = scan_size_bytes;
979 }
980
981 cmd->needs_postprocessing = postprocess;
982 cmd->cmd_origin = origin;
983
984 /* For scan commands, we free payload_in_start only when the command is
985 * the last in a series of split commands or a stand-alone command */
986 cmd->free_payload_in_start = postprocess;
987
988 return ulink_append_queue(device, cmd);
989 }
990
991 /**
992 * Perform TAP state transitions
993 *
994 * @param device pointer to struct ulink identifying ULINK driver instance.
995 * @param count defines the number of TCK clock cycles generated (up to 8).
996 * @param sequence defines the TMS pin levels for each state transition. The
997 * Least-Significant Bit is read first.
998 * @return on success: ERROR_OK
999 * @return on failure: ERROR_FAIL
1000 */
1001 int ulink_append_clock_tms_cmd(struct ulink *device, uint8_t count,
1002 uint8_t sequence)
1003 {
1004 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1005 int ret;
1006
1007 if (cmd == NULL)
1008 return ERROR_FAIL;
1009
1010 if (device->delay_clock_tms < 0)
1011 cmd->id = CMD_CLOCK_TMS;
1012 else
1013 cmd->id = CMD_SLOW_CLOCK_TMS;
1014
1015 /* CMD_CLOCK_TMS has two OUT payload bytes and zero IN payload bytes */
1016 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1017 if (ret != ERROR_OK) {
1018 free(cmd);
1019 return ret;
1020 }
1021
1022 cmd->payload_out[0] = count;
1023 cmd->payload_out[1] = sequence;
1024
1025 return ulink_append_queue(device, cmd);
1026 }
1027
1028 /**
1029 * Generate a defined amount of TCK clock cycles
1030 *
1031 * All other JTAG signals are left unchanged.
1032 *
1033 * @param device pointer to struct ulink identifying ULINK driver instance.
1034 * @param count the number of TCK clock cycles to generate.
1035 * @return on success: ERROR_OK
1036 * @return on failure: ERROR_FAIL
1037 */
1038 int ulink_append_clock_tck_cmd(struct ulink *device, uint16_t count)
1039 {
1040 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1041 int ret;
1042
1043 if (cmd == NULL)
1044 return ERROR_FAIL;
1045
1046 if (device->delay_clock_tck < 0)
1047 cmd->id = CMD_CLOCK_TCK;
1048 else
1049 cmd->id = CMD_SLOW_CLOCK_TCK;
1050
1051 /* CMD_CLOCK_TCK has two OUT payload bytes and zero IN payload bytes */
1052 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1053 if (ret != ERROR_OK) {
1054 free(cmd);
1055 return ret;
1056 }
1057
1058 cmd->payload_out[0] = count & 0xff;
1059 cmd->payload_out[1] = (count >> 8) & 0xff;
1060
1061 return ulink_append_queue(device, cmd);
1062 }
1063
1064 /**
1065 * Read JTAG signals.
1066 *
1067 * @param device pointer to struct ulink identifying ULINK driver instance.
1068 * @return on success: ERROR_OK
1069 * @return on failure: ERROR_FAIL
1070 */
1071 int ulink_append_get_signals_cmd(struct ulink *device)
1072 {
1073 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1074 int ret;
1075
1076 if (cmd == NULL)
1077 return ERROR_FAIL;
1078
1079 cmd->id = CMD_GET_SIGNALS;
1080 cmd->needs_postprocessing = true;
1081
1082 /* CMD_GET_SIGNALS has two IN payload bytes */
1083 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_IN);
1084
1085 if (ret != ERROR_OK) {
1086 free(cmd);
1087 return ret;
1088 }
1089
1090 return ulink_append_queue(device, cmd);
1091 }
1092
1093 /**
1094 * Arbitrarily set JTAG output signals.
1095 *
1096 * @param device pointer to struct ulink identifying ULINK driver instance.
1097 * @param low defines which signals will be de-asserted. Each bit corresponds
1098 * to a JTAG signal:
1099 * - SIGNAL_TDI
1100 * - SIGNAL_TMS
1101 * - SIGNAL_TCK
1102 * - SIGNAL_TRST
1103 * - SIGNAL_BRKIN
1104 * - SIGNAL_RESET
1105 * - SIGNAL_OCDSE
1106 * @param high defines which signals will be asserted.
1107 * @return on success: ERROR_OK
1108 * @return on failure: ERROR_FAIL
1109 */
1110 int ulink_append_set_signals_cmd(struct ulink *device, uint8_t low,
1111 uint8_t high)
1112 {
1113 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1114 int ret;
1115
1116 if (cmd == NULL)
1117 return ERROR_FAIL;
1118
1119 cmd->id = CMD_SET_SIGNALS;
1120
1121 /* CMD_SET_SIGNALS has two OUT payload bytes and zero IN payload bytes */
1122 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1123
1124 if (ret != ERROR_OK) {
1125 free(cmd);
1126 return ret;
1127 }
1128
1129 cmd->payload_out[0] = low;
1130 cmd->payload_out[1] = high;
1131
1132 return ulink_append_queue(device, cmd);
1133 }
1134
1135 /**
1136 * Sleep for a pre-defined number of microseconds
1137 *
1138 * @param device pointer to struct ulink identifying ULINK driver instance.
1139 * @param us the number microseconds to sleep.
1140 * @return on success: ERROR_OK
1141 * @return on failure: ERROR_FAIL
1142 */
1143 int ulink_append_sleep_cmd(struct ulink *device, uint32_t us)
1144 {
1145 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1146 int ret;
1147
1148 if (cmd == NULL)
1149 return ERROR_FAIL;
1150
1151 cmd->id = CMD_SLEEP_US;
1152
1153 /* CMD_SLEEP_US has two OUT payload bytes and zero IN payload bytes */
1154 ret = ulink_allocate_payload(cmd, 2, PAYLOAD_DIRECTION_OUT);
1155
1156 if (ret != ERROR_OK) {
1157 free(cmd);
1158 return ret;
1159 }
1160
1161 cmd->payload_out[0] = us & 0x00ff;
1162 cmd->payload_out[1] = (us >> 8) & 0x00ff;
1163
1164 return ulink_append_queue(device, cmd);
1165 }
1166
1167 /**
1168 * Set TCK delay counters
1169 *
1170 * @param device pointer to struct ulink identifying ULINK driver instance.
1171 * @param delay_scan_in delay count top value in jtag_slow_scan_in() function.
1172 * @param delay_scan_out delay count top value in jtag_slow_scan_out() function.
1173 * @param delay_scan_io delay count top value in jtag_slow_scan_io() function.
1174 * @param delay_tck delay count top value in jtag_clock_tck() function.
1175 * @param delay_tms delay count top value in jtag_slow_clock_tms() function.
1176 * @return on success: ERROR_OK
1177 * @return on failure: ERROR_FAIL
1178 */
1179 int ulink_append_configure_tck_cmd(struct ulink *device, int delay_scan_in,
1180 int delay_scan_out, int delay_scan_io, int delay_tck, int delay_tms)
1181 {
1182 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1183 int ret;
1184
1185 if (cmd == NULL)
1186 return ERROR_FAIL;
1187
1188 cmd->id = CMD_CONFIGURE_TCK_FREQ;
1189
1190 /* CMD_CONFIGURE_TCK_FREQ has five OUT payload bytes and zero
1191 * IN payload bytes */
1192 ret = ulink_allocate_payload(cmd, 5, PAYLOAD_DIRECTION_OUT);
1193 if (ret != ERROR_OK) {
1194 free(cmd);
1195 return ret;
1196 }
1197
1198 if (delay_scan_in < 0)
1199 cmd->payload_out[0] = 0;
1200 else
1201 cmd->payload_out[0] = (uint8_t)delay_scan_in;
1202
1203 if (delay_scan_out < 0)
1204 cmd->payload_out[1] = 0;
1205 else
1206 cmd->payload_out[1] = (uint8_t)delay_scan_out;
1207
1208 if (delay_scan_io < 0)
1209 cmd->payload_out[2] = 0;
1210 else
1211 cmd->payload_out[2] = (uint8_t)delay_scan_io;
1212
1213 if (delay_tck < 0)
1214 cmd->payload_out[3] = 0;
1215 else
1216 cmd->payload_out[3] = (uint8_t)delay_tck;
1217
1218 if (delay_tms < 0)
1219 cmd->payload_out[4] = 0;
1220 else
1221 cmd->payload_out[4] = (uint8_t)delay_tms;
1222
1223 return ulink_append_queue(device, cmd);
1224 }
1225
1226 /**
1227 * Turn on/off ULINK LEDs.
1228 *
1229 * @param device pointer to struct ulink identifying ULINK driver instance.
1230 * @param led_state which LED(s) to turn on or off. The following bits
1231 * influence the LEDS:
1232 * - Bit 0: Turn COM LED on
1233 * - Bit 1: Turn RUN LED on
1234 * - Bit 2: Turn COM LED off
1235 * - Bit 3: Turn RUN LED off
1236 * If both the on-bit and the off-bit for the same LED is set, the LED is
1237 * turned off.
1238 * @return on success: ERROR_OK
1239 * @return on failure: ERROR_FAIL
1240 */
1241 int ulink_append_led_cmd(struct ulink *device, uint8_t led_state)
1242 {
1243 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1244 int ret;
1245
1246 if (cmd == NULL)
1247 return ERROR_FAIL;
1248
1249 cmd->id = CMD_SET_LEDS;
1250
1251 /* CMD_SET_LEDS has one OUT payload byte and zero IN payload bytes */
1252 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1253 if (ret != ERROR_OK) {
1254 free(cmd);
1255 return ret;
1256 }
1257
1258 cmd->payload_out[0] = led_state;
1259
1260 return ulink_append_queue(device, cmd);
1261 }
1262
1263 /**
1264 * Test command. Used to check if the ULINK device is ready to accept new
1265 * commands.
1266 *
1267 * @param device pointer to struct ulink identifying ULINK driver instance.
1268 * @return on success: ERROR_OK
1269 * @return on failure: ERROR_FAIL
1270 */
1271 int ulink_append_test_cmd(struct ulink *device)
1272 {
1273 struct ulink_cmd *cmd = calloc(1, sizeof(struct ulink_cmd));
1274 int ret;
1275
1276 if (cmd == NULL)
1277 return ERROR_FAIL;
1278
1279 cmd->id = CMD_TEST;
1280
1281 /* CMD_TEST has one OUT payload byte and zero IN payload bytes */
1282 ret = ulink_allocate_payload(cmd, 1, PAYLOAD_DIRECTION_OUT);
1283 if (ret != ERROR_OK) {
1284 free(cmd);
1285 return ret;
1286 }
1287
1288 cmd->payload_out[0] = 0xAA;
1289
1290 return ulink_append_queue(device, cmd);
1291 }
1292
1293 /****************** OpenULINK TCK frequency helper functions ******************/
1294
1295 /**
1296 * Calculate delay values for a given TCK frequency.
1297 *
1298 * The OpenULINK firmware uses five different speed values for different
1299 * commands. These speed values are calculated in these functions.
1300 *
1301 * The five different commands which support variable TCK frequency are
1302 * implemented twice in the firmware:
1303 * 1. Maximum possible frequency without any artificial delay
1304 * 2. Variable frequency with artificial linear delay loop
1305 *
1306 * To set the ULINK to maximum frequency, it is only neccessary to use the
1307 * corresponding command IDs. To set the ULINK to a lower frequency, the
1308 * delay loop top values have to be calculated first. Then, a
1309 * CMD_CONFIGURE_TCK_FREQ command needs to be sent to the ULINK device.
1310 *
1311 * The delay values are described by linear equations:
1312 * t = k * x + d
1313 * (t = period, k = constant, x = delay value, d = constant)
1314 *
1315 * Thus, the delay can be calculated as in the following equation:
1316 * x = (t - d) / k
1317 *
1318 * The constants in these equations have been determined and validated by
1319 * measuring the frequency resulting from different delay values.
1320 *
1321 * @param type for which command to calculate the delay value.
1322 * @param f TCK frequency for which to calculate the delay value in Hz.
1323 * @param delay where to store resulting delay value.
1324 * @return on success: ERROR_OK
1325 * @return on failure: ERROR_FAIL
1326 */
1327 int ulink_calculate_delay(enum ulink_delay_type type, long f, int *delay)
1328 {
1329 float t, x, x_ceil;
1330
1331 /* Calculate period of requested TCK frequency */
1332 t = 1.0 / (float)(f);
1333
1334 switch (type) {
1335 case DELAY_CLOCK_TCK:
1336 x = (t - (float)(6E-6)) / (float)(4E-6);
1337 break;
1338 case DELAY_CLOCK_TMS:
1339 x = (t - (float)(8.5E-6)) / (float)(4E-6);
1340 break;
1341 case DELAY_SCAN_IN:
1342 x = (t - (float)(8.8308E-6)) / (float)(4E-6);
1343 break;
1344 case DELAY_SCAN_OUT:
1345 x = (t - (float)(1.0527E-5)) / (float)(4E-6);
1346 break;
1347 case DELAY_SCAN_IO:
1348 x = (t - (float)(1.3132E-5)) / (float)(4E-6);
1349 break;
1350 default:
1351 return ERROR_FAIL;
1352 break;
1353 }
1354
1355 /* Check if the delay value is negative. This happens when a frequency is
1356 * requested that is too high for the delay loop implementation. In this
1357 * case, set delay value to zero. */
1358 if (x < 0)
1359 x = 0;
1360
1361 /* We need to convert the exact delay value to an integer. Therefore, we
1362 * round the exact value UP to ensure that the resulting frequency is NOT
1363 * higher than the requested frequency. */
1364 x_ceil = ceilf(x);
1365
1366 /* Check if the value is within limits */
1367 if (x_ceil > 255)
1368 return ERROR_FAIL;
1369
1370 *delay = (int)x_ceil;
1371
1372 return ERROR_OK;
1373 }
1374
1375 /**
1376 * Calculate frequency for a given delay value.
1377 *
1378 * Similar to the #ulink_calculate_delay function, this function calculates the
1379 * TCK frequency for a given delay value by using linear equations of the form:
1380 * t = k * x + d
1381 * (t = period, k = constant, x = delay value, d = constant)
1382 *
1383 * @param type for which command to calculate the delay value.
1384 * @param delay delay value for which to calculate the resulting TCK frequency.
1385 * @param f where to store the resulting TCK frequency.
1386 * @return on success: ERROR_OK
1387 * @return on failure: ERROR_FAIL
1388 */
1389 int ulink_calculate_frequency(enum ulink_delay_type type, int delay, long *f)
1390 {
1391 float t, f_float, f_rounded;
1392
1393 if (delay > 255)
1394 return ERROR_FAIL;
1395
1396 switch (type) {
1397 case DELAY_CLOCK_TCK:
1398 if (delay < 0)
1399 t = (float)(2.666E-6);
1400 else
1401 t = (float)(4E-6) * (float)(delay) + (float)(6E-6);
1402 break;
1403 case DELAY_CLOCK_TMS:
1404 if (delay < 0)
1405 t = (float)(5.666E-6);
1406 else
1407 t = (float)(4E-6) * (float)(delay) + (float)(8.5E-6);
1408 break;
1409 case DELAY_SCAN_IN:
1410 if (delay < 0)
1411 t = (float)(5.5E-6);
1412 else
1413 t = (float)(4E-6) * (float)(delay) + (float)(8.8308E-6);
1414 break;
1415 case DELAY_SCAN_OUT:
1416 if (delay < 0)
1417 t = (float)(7.0E-6);
1418 else
1419 t = (float)(4E-6) * (float)(delay) + (float)(1.0527E-5);
1420 break;
1421 case DELAY_SCAN_IO:
1422 if (delay < 0)
1423 t = (float)(9.926E-6);
1424 else
1425 t = (float)(4E-6) * (float)(delay) + (float)(1.3132E-5);
1426 break;
1427 default:
1428 return ERROR_FAIL;
1429 break;
1430 }
1431
1432 f_float = 1.0 / t;
1433 f_rounded = roundf(f_float);
1434 *f = (long)f_rounded;
1435
1436 return ERROR_OK;
1437 }
1438
1439 /******************* Interface between OpenULINK and OpenOCD ******************/
1440
1441 /**
1442 * Sets the end state follower (see interface.h) if \a endstate is a stable
1443 * state.
1444 *
1445 * @param endstate the state the end state follower should be set to.
1446 */
1447 static void ulink_set_end_state(tap_state_t endstate)
1448 {
1449 if (tap_is_state_stable(endstate))
1450 tap_set_end_state(endstate);
1451 else {
1452 LOG_ERROR("BUG: %s is not a valid end state", tap_state_name(endstate));
1453 exit(EXIT_FAILURE);
1454 }
1455 }
1456
1457 /**
1458 * Move from the current TAP state to the current TAP end state.
1459 *
1460 * @param device pointer to struct ulink identifying ULINK driver instance.
1461 * @return on success: ERROR_OK
1462 * @return on failure: ERROR_FAIL
1463 */
1464 int ulink_queue_statemove(struct ulink *device)
1465 {
1466 uint8_t tms_sequence, tms_count;
1467 int ret;
1468
1469 if (tap_get_state() == tap_get_end_state()) {
1470 /* Do nothing if we are already there */
1471 return ERROR_OK;
1472 }
1473
1474 tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1475 tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1476
1477 ret = ulink_append_clock_tms_cmd(device, tms_count, tms_sequence);
1478
1479 if (ret == ERROR_OK)
1480 tap_set_state(tap_get_end_state());
1481
1482 return ret;
1483 }
1484
1485 /**
1486 * Perform a scan operation on a JTAG register.
1487 *
1488 * @param device pointer to struct ulink identifying ULINK driver instance.
1489 * @param cmd pointer to the command that shall be executed.
1490 * @return on success: ERROR_OK
1491 * @return on failure: ERROR_FAIL
1492 */
1493 int ulink_queue_scan(struct ulink *device, struct jtag_command *cmd)
1494 {
1495 uint32_t scan_size_bits, scan_size_bytes, bits_last_scan;
1496 uint32_t scans_max_payload, bytecount;
1497 uint8_t *tdi_buffer_start = NULL, *tdi_buffer = NULL;
1498 uint8_t *tdo_buffer_start = NULL, *tdo_buffer = NULL;
1499
1500 uint8_t first_tms_count, first_tms_sequence;
1501 uint8_t last_tms_count, last_tms_sequence;
1502
1503 uint8_t tms_count_pause, tms_sequence_pause;
1504 uint8_t tms_count_resume, tms_sequence_resume;
1505
1506 uint8_t tms_count_start, tms_sequence_start;
1507 uint8_t tms_count_end, tms_sequence_end;
1508
1509 enum scan_type type;
1510 int ret;
1511
1512 /* Determine scan size */
1513 scan_size_bits = jtag_scan_size(cmd->cmd.scan);
1514 scan_size_bytes = DIV_ROUND_UP(scan_size_bits, 8);
1515
1516 /* Determine scan type (IN/OUT/IO) */
1517 type = jtag_scan_type(cmd->cmd.scan);
1518
1519 /* Determine number of scan commands with maximum payload */
1520 scans_max_payload = scan_size_bytes / 58;
1521
1522 /* Determine size of last shift command */
1523 bits_last_scan = scan_size_bits - (scans_max_payload * 58 * 8);
1524
1525 /* Allocate TDO buffer if required */
1526 if ((type == SCAN_IN) || (type == SCAN_IO)) {
1527 tdo_buffer_start = calloc(sizeof(uint8_t), scan_size_bytes);
1528
1529 if (tdo_buffer_start == NULL)
1530 return ERROR_FAIL;
1531
1532 tdo_buffer = tdo_buffer_start;
1533 }
1534
1535 /* Fill TDI buffer if required */
1536 if ((type == SCAN_OUT) || (type == SCAN_IO)) {
1537 jtag_build_buffer(cmd->cmd.scan, &tdi_buffer_start);
1538 tdi_buffer = tdi_buffer_start;
1539 }
1540
1541 /* Get TAP state transitions */
1542 if (cmd->cmd.scan->ir_scan) {
1543 ulink_set_end_state(TAP_IRSHIFT);
1544 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1545 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1546
1547 tap_set_state(TAP_IRSHIFT);
1548 tap_set_end_state(cmd->cmd.scan->end_state);
1549 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1550 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1551
1552 /* TAP state transitions for split scans */
1553 tms_count_pause = tap_get_tms_path_len(TAP_IRSHIFT, TAP_IRPAUSE);
1554 tms_sequence_pause = tap_get_tms_path(TAP_IRSHIFT, TAP_IRPAUSE);
1555 tms_count_resume = tap_get_tms_path_len(TAP_IRPAUSE, TAP_IRSHIFT);
1556 tms_sequence_resume = tap_get_tms_path(TAP_IRPAUSE, TAP_IRSHIFT);
1557 } else {
1558 ulink_set_end_state(TAP_DRSHIFT);
1559 first_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1560 first_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1561
1562 tap_set_state(TAP_DRSHIFT);
1563 tap_set_end_state(cmd->cmd.scan->end_state);
1564 last_tms_count = tap_get_tms_path_len(tap_get_state(), tap_get_end_state());
1565 last_tms_sequence = tap_get_tms_path(tap_get_state(), tap_get_end_state());
1566
1567 /* TAP state transitions for split scans */
1568 tms_count_pause = tap_get_tms_path_len(TAP_DRSHIFT, TAP_DRPAUSE);
1569 tms_sequence_pause = tap_get_tms_path(TAP_DRSHIFT, TAP_DRPAUSE);
1570 tms_count_resume = tap_get_tms_path_len(TAP_DRPAUSE, TAP_DRSHIFT);
1571 tms_sequence_resume = tap_get_tms_path(TAP_DRPAUSE, TAP_DRSHIFT);
1572 }
1573
1574 /* Generate scan commands */
1575 bytecount = scan_size_bytes;
1576 while (bytecount > 0) {
1577 if (bytecount == scan_size_bytes) {
1578 /* This is the first scan */
1579 tms_count_start = first_tms_count;
1580 tms_sequence_start = first_tms_sequence;
1581 } else {
1582 /* Resume from previous scan */
1583 tms_count_start = tms_count_resume;
1584 tms_sequence_start = tms_sequence_resume;
1585 }
1586
1587 if (bytecount > 58) { /* Full scan, at least one scan will follow */
1588 tms_count_end = tms_count_pause;
1589 tms_sequence_end = tms_sequence_pause;
1590
1591 ret = ulink_append_scan_cmd(device,
1592 type,
1593 58 * 8,
1594 tdi_buffer,
1595 tdo_buffer_start,
1596 tdo_buffer,
1597 tms_count_start,
1598 tms_sequence_start,
1599 tms_count_end,
1600 tms_sequence_end,
1601 cmd,
1602 false);
1603
1604 bytecount -= 58;
1605
1606 /* Update TDI and TDO buffer pointers */
1607 if (tdi_buffer_start != NULL)
1608 tdi_buffer += 58;
1609 if (tdo_buffer_start != NULL)
1610 tdo_buffer += 58;
1611 } else if (bytecount == 58) { /* Full scan, no further scans */
1612 tms_count_end = last_tms_count;
1613 tms_sequence_end = last_tms_sequence;
1614
1615 ret = ulink_append_scan_cmd(device,
1616 type,
1617 58 * 8,
1618 tdi_buffer,
1619 tdo_buffer_start,
1620 tdo_buffer,
1621 tms_count_start,
1622 tms_sequence_start,
1623 tms_count_end,
1624 tms_sequence_end,
1625 cmd,
1626 true);
1627
1628 bytecount = 0;
1629 } else {/* Scan with less than maximum payload, no further scans */
1630 tms_count_end = last_tms_count;
1631 tms_sequence_end = last_tms_sequence;
1632
1633 ret = ulink_append_scan_cmd(device,
1634 type,
1635 bits_last_scan,
1636 tdi_buffer,
1637 tdo_buffer_start,
1638 tdo_buffer,
1639 tms_count_start,
1640 tms_sequence_start,
1641 tms_count_end,
1642 tms_sequence_end,
1643 cmd,
1644 true);
1645
1646 bytecount = 0;
1647 }
1648
1649 if (ret != ERROR_OK) {
1650 free(tdi_buffer_start);
1651 return ret;
1652 }
1653 }
1654
1655 free(tdi_buffer_start);
1656
1657 /* Set current state to the end state requested by the command */
1658 tap_set_state(cmd->cmd.scan->end_state);
1659
1660 return ERROR_OK;
1661 }
1662
1663 /**
1664 * Move the TAP into the Test Logic Reset state.
1665 *
1666 * @param device pointer to struct ulink identifying ULINK driver instance.
1667 * @param cmd pointer to the command that shall be executed.
1668 * @return on success: ERROR_OK
1669 * @return on failure: ERROR_FAIL
1670 */
1671 int ulink_queue_tlr_reset(struct ulink *device, struct jtag_command *cmd)
1672 {
1673 int ret;
1674
1675 ret = ulink_append_clock_tms_cmd(device, 5, 0xff);
1676
1677 if (ret == ERROR_OK)
1678 tap_set_state(TAP_RESET);
1679
1680 return ret;
1681 }
1682
1683 /**
1684 * Run Test.
1685 *
1686 * Generate TCK clock cycles while remaining
1687 * in the Run-Test/Idle state.
1688 *
1689 * @param device pointer to struct ulink identifying ULINK driver instance.
1690 * @param cmd pointer to the command that shall be executed.
1691 * @return on success: ERROR_OK
1692 * @return on failure: ERROR_FAIL
1693 */
1694 int ulink_queue_runtest(struct ulink *device, struct jtag_command *cmd)
1695 {
1696 int ret;
1697
1698 /* Only perform statemove if the TAP currently isn't in the TAP_IDLE state */
1699 if (tap_get_state() != TAP_IDLE) {
1700 ulink_set_end_state(TAP_IDLE);
1701 ulink_queue_statemove(device);
1702 }
1703
1704 /* Generate the clock cycles */
1705 ret = ulink_append_clock_tck_cmd(device, cmd->cmd.runtest->num_cycles);
1706 if (ret != ERROR_OK)
1707 return ret;
1708
1709 /* Move to end state specified in command */
1710 if (cmd->cmd.runtest->end_state != tap_get_state()) {
1711 tap_set_end_state(cmd->cmd.runtest->end_state);
1712 ulink_queue_statemove(device);
1713 }
1714
1715 return ERROR_OK;
1716 }
1717
1718 /**
1719 * Execute a JTAG_RESET command
1720 *
1721 * @param cmd pointer to the command that shall be executed.
1722 * @return on success: ERROR_OK
1723 * @return on failure: ERROR_FAIL
1724 */
1725 int ulink_queue_reset(struct ulink *device, struct jtag_command *cmd)
1726 {
1727 uint8_t low = 0, high = 0;
1728
1729 if (cmd->cmd.reset->trst) {
1730 tap_set_state(TAP_RESET);
1731 high |= SIGNAL_TRST;
1732 } else
1733 low |= SIGNAL_TRST;
1734
1735 if (cmd->cmd.reset->srst)
1736 high |= SIGNAL_RESET;
1737 else
1738 low |= SIGNAL_RESET;
1739
1740 return ulink_append_set_signals_cmd(device, low, high);
1741 }
1742
1743 /**
1744 * Move to one TAP state or several states in succession.
1745 *
1746 * @param device pointer to struct ulink identifying ULINK driver instance.
1747 * @param cmd pointer to the command that shall be executed.
1748 * @return on success: ERROR_OK
1749 * @return on failure: ERROR_FAIL
1750 */
1751 int ulink_queue_pathmove(struct ulink *device, struct jtag_command *cmd)
1752 {
1753 int ret, i, num_states, batch_size, state_count;
1754 tap_state_t *path;
1755 uint8_t tms_sequence;
1756
1757 num_states = cmd->cmd.pathmove->num_states;
1758 path = cmd->cmd.pathmove->path;
1759 state_count = 0;
1760
1761 while (num_states > 0) {
1762 tms_sequence = 0;
1763
1764 /* Determine batch size */
1765 if (num_states >= 8)
1766 batch_size = 8;
1767 else
1768 batch_size = num_states;
1769
1770 for (i = 0; i < batch_size; i++) {
1771 if (tap_state_transition(tap_get_state(), false) == path[state_count]) {
1772 /* Append '0' transition: clear bit 'i' in tms_sequence */
1773 buf_set_u32(&tms_sequence, i, 1, 0x0);
1774 } else if (tap_state_transition(tap_get_state(), true)
1775 == path[state_count]) {
1776 /* Append '1' transition: set bit 'i' in tms_sequence */
1777 buf_set_u32(&tms_sequence, i, 1, 0x1);
1778 } else {
1779 /* Invalid state transition */
1780 LOG_ERROR("BUG: %s -> %s isn't a valid TAP state transition",
1781 tap_state_name(tap_get_state()),
1782 tap_state_name(path[state_count]));
1783 return ERROR_FAIL;
1784 }
1785
1786 tap_set_state(path[state_count]);
1787 state_count++;
1788 num_states--;
1789 }
1790
1791 /* Append CLOCK_TMS command to OpenULINK command queue */
1792 LOG_INFO(
1793 "pathmove batch: count = %i, sequence = 0x%x", batch_size, tms_sequence);
1794 ret = ulink_append_clock_tms_cmd(ulink_handle, batch_size, tms_sequence);
1795 if (ret != ERROR_OK)
1796 return ret;
1797 }
1798
1799 return ERROR_OK;
1800 }
1801
1802 /**
1803 * Sleep for a specific amount of time.
1804 *
1805 * @param device pointer to struct ulink identifying ULINK driver instance.
1806 * @param cmd pointer to the command that shall be executed.
1807 * @return on success: ERROR_OK
1808 * @return on failure: ERROR_FAIL
1809 */
1810 int ulink_queue_sleep(struct ulink *device, struct jtag_command *cmd)
1811 {
1812 /* IMPORTANT! Due to the time offset in command execution introduced by
1813 * command queueing, this needs to be implemented in the ULINK device */
1814 return ulink_append_sleep_cmd(device, cmd->cmd.sleep->us);
1815 }
1816
1817 /**
1818 * Generate TCK cycles while remaining in a stable state.
1819 *
1820 * @param device pointer to struct ulink identifying ULINK driver instance.
1821 * @param cmd pointer to the command that shall be executed.
1822 */
1823 int ulink_queue_stableclocks(struct ulink *device, struct jtag_command *cmd)
1824 {
1825 int ret;
1826 unsigned num_cycles;
1827
1828 if (!tap_is_state_stable(tap_get_state())) {
1829 LOG_ERROR("JTAG_STABLECLOCKS: state not stable");
1830 return ERROR_FAIL;
1831 }
1832
1833 num_cycles = cmd->cmd.stableclocks->num_cycles;
1834
1835 /* TMS stays either high (Test Logic Reset state) or low (all other states) */
1836 if (tap_get_state() == TAP_RESET)
1837 ret = ulink_append_set_signals_cmd(device, 0, SIGNAL_TMS);
1838 else
1839 ret = ulink_append_set_signals_cmd(device, SIGNAL_TMS, 0);
1840
1841 if (ret != ERROR_OK)
1842 return ret;
1843
1844 while (num_cycles > 0) {
1845 if (num_cycles > 0xFFFF) {
1846 /* OpenULINK CMD_CLOCK_TCK can generate up to 0xFFFF (uint16_t) cycles */
1847 ret = ulink_append_clock_tck_cmd(device, 0xFFFF);
1848 num_cycles -= 0xFFFF;
1849 } else {
1850 ret = ulink_append_clock_tck_cmd(device, num_cycles);
1851 num_cycles = 0;
1852 }
1853
1854 if (ret != ERROR_OK)
1855 return ret;
1856 }
1857
1858 return ERROR_OK;
1859 }
1860
1861 /**
1862 * Post-process JTAG_SCAN command
1863 *
1864 * @param ulink_cmd pointer to OpenULINK command that shall be processed.
1865 * @return on success: ERROR_OK
1866 * @return on failure: ERROR_FAIL
1867 */
1868 int ulink_post_process_scan(struct ulink_cmd *ulink_cmd)
1869 {
1870 struct jtag_command *cmd = ulink_cmd->cmd_origin;
1871 int ret;
1872
1873 switch (jtag_scan_type(cmd->cmd.scan)) {
1874 case SCAN_IN:
1875 case SCAN_IO:
1876 ret = jtag_read_buffer(ulink_cmd->payload_in_start, cmd->cmd.scan);
1877 break;
1878 case SCAN_OUT:
1879 /* Nothing to do for OUT scans */
1880 ret = ERROR_OK;
1881 break;
1882 default:
1883 LOG_ERROR("BUG: ulink_post_process_scan() encountered an unknown"
1884 " JTAG scan type");
1885 ret = ERROR_FAIL;
1886 break;
1887 }
1888
1889 return ret;
1890 }
1891
1892 /**
1893 * Perform post-processing of commands after OpenULINK queue has been executed.
1894 *
1895 * @param device pointer to struct ulink identifying ULINK driver instance.
1896 * @return on success: ERROR_OK
1897 * @return on failure: ERROR_FAIL
1898 */
1899 int ulink_post_process_queue(struct ulink *device)
1900 {
1901 struct ulink_cmd *current;
1902 struct jtag_command *openocd_cmd;
1903 int ret;
1904
1905 current = device->queue_start;
1906
1907 while (current != NULL) {
1908 openocd_cmd = current->cmd_origin;
1909
1910 /* Check if a corresponding OpenOCD command is stored for this
1911 * OpenULINK command */
1912 if ((current->needs_postprocessing == true) && (openocd_cmd != NULL)) {
1913 switch (openocd_cmd->type) {
1914 case JTAG_SCAN:
1915 ret = ulink_post_process_scan(current);
1916 break;
1917 case JTAG_TLR_RESET:
1918 case JTAG_RUNTEST:
1919 case JTAG_RESET:
1920 case JTAG_PATHMOVE:
1921 case JTAG_SLEEP:
1922 case JTAG_STABLECLOCKS:
1923 /* Nothing to do for these commands */
1924 ret = ERROR_OK;
1925 break;
1926 default:
1927 ret = ERROR_FAIL;
1928 LOG_ERROR("BUG: ulink_post_process_queue() encountered unknown JTAG "
1929 "command type");
1930 break;
1931 }
1932
1933 if (ret != ERROR_OK)
1934 return ret;
1935 }
1936
1937 current = current->next;
1938 }
1939
1940 return ERROR_OK;
1941 }
1942
1943 /**************************** JTAG driver functions ***************************/
1944
1945 /**
1946 * Executes the JTAG Command Queue.
1947 *
1948 * This is done in three stages: First, all OpenOCD commands are processed into
1949 * queued OpenULINK commands. Next, the OpenULINK command queue is sent to the
1950 * ULINK device and data received from the ULINK device is cached. Finally,
1951 * the post-processing function writes back data to the corresponding OpenOCD
1952 * commands.
1953 *
1954 * @return on success: ERROR_OK
1955 * @return on failure: ERROR_FAIL
1956 */
1957 static int ulink_execute_queue(void)
1958 {
1959 struct jtag_command *cmd = jtag_command_queue;
1960 int ret;
1961
1962 while (cmd) {
1963 switch (cmd->type) {
1964 case JTAG_SCAN:
1965 ret = ulink_queue_scan(ulink_handle, cmd);
1966 break;
1967 case JTAG_TLR_RESET:
1968 ret = ulink_queue_tlr_reset(ulink_handle, cmd);
1969 break;
1970 case JTAG_RUNTEST:
1971 ret = ulink_queue_runtest(ulink_handle, cmd);
1972 break;
1973 case JTAG_RESET:
1974 ret = ulink_queue_reset(ulink_handle, cmd);
1975 break;
1976 case JTAG_PATHMOVE:
1977 ret = ulink_queue_pathmove(ulink_handle, cmd);
1978 break;
1979 case JTAG_SLEEP:
1980 ret = ulink_queue_sleep(ulink_handle, cmd);
1981 break;
1982 case JTAG_STABLECLOCKS:
1983 ret = ulink_queue_stableclocks(ulink_handle, cmd);
1984 break;
1985 default:
1986 ret = ERROR_FAIL;
1987 LOG_ERROR("BUG: encountered unknown JTAG command type");
1988 break;
1989 }
1990
1991 if (ret != ERROR_OK)
1992 return ret;
1993
1994 cmd = cmd->next;
1995 }
1996
1997 if (ulink_handle->commands_in_queue > 0) {
1998 ret = ulink_execute_queued_commands(ulink_handle, USB_TIMEOUT);
1999 if (ret != ERROR_OK)
2000 return ret;
2001
2002 ret = ulink_post_process_queue(ulink_handle);
2003 if (ret != ERROR_OK)
2004 return ret;
2005
2006 ulink_clear_queue(ulink_handle);
2007 }
2008
2009 return ERROR_OK;
2010 }
2011
2012 /**
2013 * Set the TCK frequency of the ULINK adapter.
2014 *
2015 * @param khz desired JTAG TCK frequency.
2016 * @param jtag_speed where to store corresponding adapter-specific speed value.
2017 * @return on success: ERROR_OK
2018 * @return on failure: ERROR_FAIL
2019 */
2020 static int ulink_khz(int khz, int *jtag_speed)
2021 {
2022 int ret;
2023
2024 if (khz == 0) {
2025 LOG_ERROR("RCLK not supported");
2026 return ERROR_FAIL;
2027 }
2028
2029 /* CLOCK_TCK commands are decoupled from others. Therefore, the frequency
2030 * setting can be done independently from all other commands. */
2031 if (khz >= 375)
2032 ulink_handle->delay_clock_tck = -1;
2033 else {
2034 ret = ulink_calculate_delay(DELAY_CLOCK_TCK, khz * 1000,
2035 &ulink_handle->delay_clock_tck);
2036 if (ret != ERROR_OK)
2037 return ret;
2038 }
2039
2040 /* SCAN_{IN,OUT,IO} commands invoke CLOCK_TMS commands. Therefore, if the
2041 * requested frequency goes below the maximum frequency for SLOW_CLOCK_TMS
2042 * commands, all SCAN commands MUST also use the variable frequency
2043 * implementation! */
2044 if (khz >= 176) {
2045 ulink_handle->delay_clock_tms = -1;
2046 ulink_handle->delay_scan_in = -1;
2047 ulink_handle->delay_scan_out = -1;
2048 ulink_handle->delay_scan_io = -1;
2049 } else {
2050 ret = ulink_calculate_delay(DELAY_CLOCK_TMS, khz * 1000,
2051 &ulink_handle->delay_clock_tms);
2052 if (ret != ERROR_OK)
2053 return ret;
2054
2055 ret = ulink_calculate_delay(DELAY_SCAN_IN, khz * 1000,
2056 &ulink_handle->delay_scan_in);
2057 if (ret != ERROR_OK)
2058 return ret;
2059
2060 ret = ulink_calculate_delay(DELAY_SCAN_OUT, khz * 1000,
2061 &ulink_handle->delay_scan_out);
2062 if (ret != ERROR_OK)
2063 return ret;
2064
2065 ret = ulink_calculate_delay(DELAY_SCAN_IO, khz * 1000,
2066 &ulink_handle->delay_scan_io);
2067 if (ret != ERROR_OK)
2068 return ret;
2069 }
2070
2071 #ifdef _DEBUG_JTAG_IO_
2072 long f_tck, f_tms, f_scan_in, f_scan_out, f_scan_io;
2073
2074 ulink_calculate_frequency(DELAY_CLOCK_TCK, ulink_handle->delay_clock_tck,
2075 &f_tck);
2076 ulink_calculate_frequency(DELAY_CLOCK_TMS, ulink_handle->delay_clock_tms,
2077 &f_tms);
2078 ulink_calculate_frequency(DELAY_SCAN_IN, ulink_handle->delay_scan_in,
2079 &f_scan_in);
2080 ulink_calculate_frequency(DELAY_SCAN_OUT, ulink_handle->delay_scan_out,
2081 &f_scan_out);
2082 ulink_calculate_frequency(DELAY_SCAN_IO, ulink_handle->delay_scan_io,
2083 &f_scan_io);
2084
2085 DEBUG_JTAG_IO("ULINK TCK setup: delay_tck = %i (%li Hz),",
2086 ulink_handle->delay_clock_tck, f_tck);
2087 DEBUG_JTAG_IO(" delay_tms = %i (%li Hz),",
2088 ulink_handle->delay_clock_tms, f_tms);
2089 DEBUG_JTAG_IO(" delay_scan_in = %i (%li Hz),",
2090 ulink_handle->delay_scan_in, f_scan_in);
2091 DEBUG_JTAG_IO(" delay_scan_out = %i (%li Hz),",
2092 ulink_handle->delay_scan_out, f_scan_out);
2093 DEBUG_JTAG_IO(" delay_scan_io = %i (%li Hz),",
2094 ulink_handle->delay_scan_io, f_scan_io);
2095 #endif
2096
2097 /* Configure the ULINK device with the new delay values */
2098 ret = ulink_append_configure_tck_cmd(ulink_handle,
2099 ulink_handle->delay_scan_in,
2100 ulink_handle->delay_scan_out,
2101 ulink_handle->delay_scan_io,
2102 ulink_handle->delay_clock_tck,
2103 ulink_handle->delay_clock_tms);
2104
2105 if (ret != ERROR_OK)
2106 return ret;
2107
2108 *jtag_speed = khz;
2109
2110 return ERROR_OK;
2111 }
2112
2113 /**
2114 * Set the TCK frequency of the ULINK adapter.
2115 *
2116 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2117 * there are five different speed settings. To simplify things, the
2118 * adapter-specific speed setting value is identical to the TCK frequency in
2119 * khz.
2120 *
2121 * @param speed desired adapter-specific speed value.
2122 * @return on success: ERROR_OK
2123 * @return on failure: ERROR_FAIL
2124 */
2125 static int ulink_speed(int speed)
2126 {
2127 int dummy;
2128
2129 return ulink_khz(speed, &dummy);
2130 }
2131
2132 /**
2133 * Convert adapter-specific speed value to corresponding TCK frequency in kHz.
2134 *
2135 * Because of the way the TCK frequency is set up in the OpenULINK firmware,
2136 * there are five different speed settings. To simplify things, the
2137 * adapter-specific speed setting value is identical to the TCK frequency in
2138 * khz.
2139 *
2140 * @param speed adapter-specific speed value.
2141 * @param khz where to store corresponding TCK frequency in kHz.
2142 * @return on success: ERROR_OK
2143 * @return on failure: ERROR_FAIL
2144 */
2145 static int ulink_speed_div(int speed, int *khz)
2146 {
2147 *khz = speed;
2148
2149 return ERROR_OK;
2150 }
2151
2152 /**
2153 * Initiates the firmware download to the ULINK adapter and prepares
2154 * the USB handle.
2155 *
2156 * @return on success: ERROR_OK
2157 * @return on failure: ERROR_FAIL
2158 */
2159 static int ulink_init(void)
2160 {
2161 int ret, transferred;
2162 char str_manufacturer[20];
2163 bool download_firmware = false;
2164 unsigned char *dummy;
2165 uint8_t input_signals, output_signals;
2166
2167 ulink_handle = calloc(1, sizeof(struct ulink));
2168 if (ulink_handle == NULL)
2169 return ERROR_FAIL;
2170
2171 libusb_init(&ulink_handle->libusb_ctx);
2172
2173 ret = ulink_usb_open(&ulink_handle);
2174 if (ret != ERROR_OK) {
2175 LOG_ERROR("Could not open ULINK device");
2176 free(ulink_handle);
2177 ulink_handle = NULL;
2178 return ret;
2179 }
2180
2181 /* Get String Descriptor to determine if firmware needs to be loaded */
2182 ret = libusb_get_string_descriptor_ascii(ulink_handle->usb_device_handle, 1, (unsigned char *)str_manufacturer, 20);
2183 if (ret < 0) {
2184 /* Could not get descriptor -> Unconfigured or original Keil firmware */
2185 download_firmware = true;
2186 } else {
2187 /* We got a String Descriptor, check if it is the correct one */
2188 if (strncmp(str_manufacturer, "OpenULINK", 9) != 0)
2189 download_firmware = true;
2190 }
2191
2192 if (download_firmware == true) {
2193 LOG_INFO("Loading OpenULINK firmware. This is reversible by power-cycling"
2194 " ULINK device.");
2195 ret = ulink_load_firmware_and_renumerate(&ulink_handle,
2196 ULINK_FIRMWARE_FILE, ULINK_RENUMERATION_DELAY);
2197 if (ret != ERROR_OK) {
2198 LOG_ERROR("Could not download firmware and re-numerate ULINK");
2199 free(ulink_handle);
2200 ulink_handle = NULL;
2201 return ret;
2202 }
2203 } else
2204 LOG_INFO("ULINK device is already running OpenULINK firmware");
2205
2206 /* Initialize OpenULINK command queue */
2207 ulink_clear_queue(ulink_handle);
2208
2209 /* Issue one test command with short timeout */
2210 ret = ulink_append_test_cmd(ulink_handle);
2211 if (ret != ERROR_OK)
2212 return ret;
2213
2214 ret = ulink_execute_queued_commands(ulink_handle, 200);
2215 if (ret != ERROR_OK) {
2216 /* Sending test command failed. The ULINK device may be forever waiting for
2217 * the host to fetch an USB Bulk IN packet (e. g. OpenOCD crashed or was
2218 * shut down by the user via Ctrl-C. Try to retrieve this Bulk IN packet. */
2219 dummy = calloc(64, sizeof(uint8_t));
2220
2221 ret = libusb_bulk_transfer(ulink_handle->usb_device_handle, (2 | LIBUSB_ENDPOINT_IN),
2222 dummy, 64, &transferred, 200);
2223
2224 free(dummy);
2225
2226 if (ret != 0 || transferred == 0) {
2227 /* Bulk IN transfer failed -> unrecoverable error condition */
2228 LOG_ERROR("Cannot communicate with ULINK device. Disconnect ULINK from "
2229 "the USB port and re-connect, then re-run OpenOCD");
2230 free(ulink_handle);
2231 ulink_handle = NULL;
2232 return ERROR_FAIL;
2233 }
2234 #ifdef _DEBUG_USB_COMMS_
2235 else {
2236 /* Successfully received Bulk IN packet -> continue */
2237 LOG_INFO("Recovered from lost Bulk IN packet");
2238 }
2239 #endif
2240 }
2241 ulink_clear_queue(ulink_handle);
2242
2243 ulink_append_get_signals_cmd(ulink_handle);
2244 ulink_execute_queued_commands(ulink_handle, 200);
2245
2246 /* Post-process the single CMD_GET_SIGNALS command */
2247 input_signals = ulink_handle->queue_start->payload_in[0];
2248 output_signals = ulink_handle->queue_start->payload_in[1];
2249
2250 ulink_print_signal_states(input_signals, output_signals);
2251
2252 ulink_clear_queue(ulink_handle);
2253
2254 return ERROR_OK;
2255 }
2256
2257 /**
2258 * Closes the USB handle for the ULINK device.
2259 *
2260 * @return on success: ERROR_OK
2261 * @return on failure: ERROR_FAIL
2262 */
2263 static int ulink_quit(void)
2264 {
2265 int ret;
2266
2267 ret = ulink_usb_close(&ulink_handle);
2268 free(ulink_handle);
2269
2270 return ret;
2271 }
2272
2273 /**
2274 * Set a custom path to ULINK firmware image and force downloading to ULINK.
2275 */
2276 COMMAND_HANDLER(ulink_download_firmware_handler)
2277 {
2278 int ret;
2279
2280 if (CMD_ARGC != 1)
2281 return ERROR_COMMAND_SYNTAX_ERROR;
2282
2283
2284 LOG_INFO("Downloading ULINK firmware image %s", CMD_ARGV[0]);
2285
2286 /* Download firmware image in CMD_ARGV[0] */
2287 ret = ulink_load_firmware_and_renumerate(&ulink_handle, CMD_ARGV[0],
2288 ULINK_RENUMERATION_DELAY);
2289
2290 return ret;
2291 }
2292
2293 /*************************** Command Registration **************************/
2294
2295 static const struct command_registration ulink_command_handlers[] = {
2296 {
2297 .name = "ulink_download_firmware",
2298 .handler = &ulink_download_firmware_handler,
2299 .mode = COMMAND_EXEC,
2300 .help = "download firmware image to ULINK device",
2301 .usage = "path/to/ulink_firmware.hex",
2302 },
2303 COMMAND_REGISTRATION_DONE,
2304 };
2305
2306 struct jtag_interface ulink_interface = {
2307 .name = "ulink",
2308
2309 .commands = ulink_command_handlers,
2310 .transports = jtag_only,
2311
2312 .execute_queue = ulink_execute_queue,
2313 .khz = ulink_khz,
2314 .speed = ulink_speed,
2315 .speed_div = ulink_speed_div,
2316
2317 .init = ulink_init,
2318 .quit = ulink_quit
2319 };